+ python -m lidar_slam --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters Centerline goodness : 0.295069 Centerline is valid? [0, False] SLAMing on 0.035099893 meters Centerline goodness : 0.143127 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99990784 0.01075659 -0.00828343 0.03882783] [-0.01077899 0.99993836 -0.00266425 -0.00634809] [ 0.00825426 0.00275329 0.99996214 -0.00635627] [ 0. 0. 0. 1. ]] SLAMing on 0.06509989299999999 meters Centerline goodness : 0.141764 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99994147 0.01059611 -0.002187 0.05148685] [-0.01059225 0.99994233 0.00177083 -0.01039491] [ 0.00220564 -0.00174756 0.99999604 -0.00340339] [ 0. 0. 0. 1. ]] SLAMing on 0.09509989299999999 meters Centerline goodness : 0.142133 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99992535 0.01188581 -0.00283371 0.05387469] [-0.01187587 0.99992336 0.00349787 -0.01401598] [ 0.00287507 -0.00346396 0.99998987 -0.00463593] [ 0. 0. 0. 1. ]] SLAMing on 0.125099893 meters Centerline goodness : 0.142296 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99994669 0.00850864 -0.0058492 0.06459162] [-0.00850157 0.9999631 0.00123233 -0.01524207] [ 0.00585947 -0.00118254 0.99998213 -0.01312703] [ 0. 0. 0. 1. ]] SLAMing on 0.155099893 meters Centerline goodness : 0.141403 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.01 [[ 0.99995181 -0.00815739 -0.00546216 0.09236397] [ 0.00810031 0.9999132 -0.01039145 -0.02402719] [ 0.00554646 0.0103467 0.99993109 -0.01408193] [ 0. 0. 0. 1. ]] SLAMing on 0.185099893 meters Centerline goodness : 0.136821 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99992216 -0.01195675 -0.00356392 0.1134226 ] [ 0.01193524 0.99991079 -0.00599705 -0.02948624] [ 0.00363531 0.00595405 0.99997567 -0.01513054] [ 0. 0. 0. 1. ]] SLAMing on 0.215099893 meters Centerline goodness : 0.141165 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.02 [[ 9.99991464e-01 4.12511396e-03 -2.34343296e-04 1.43934598e-01] [-4.12686031e-03 9.99959344e-01 -8.01745051e-03 -2.44216052e-02] [ 2.01260872e-04 8.01834918e-03 9.99967832e-01 -1.67251948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24509989299999999 meters Centerline goodness : 0.137685 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.02 [[ 0.9999129 0.01304755 -0.00199011 0.16531566] [-0.01306954 0.99984883 -0.01146752 -0.01762523] [ 0.00184018 0.01149254 0.99993227 -0.01898787] [ 0. 0. 0. 1. ]] SLAMing on 0.27509989300000004 meters Centerline goodness : 0.140751 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.02 [[ 0.99996843 0.00787074 -0.00109216 0.17974052] [-0.00787517 0.99996053 -0.00411283 -0.01405608] [ 0.00105974 0.0041213 0.99999095 -0.02320681] [ 0. 0. 0. 1. ]] SLAMing on 0.305099893 meters Centerline goodness : 0.138961 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.03 [[ 9.99966606e-01 -8.15670388e-03 5.05378769e-04 1.90906512e-01] [ 8.15766992e-03 9.99964844e-01 -1.93988082e-03 -2.07050122e-02] [-4.89537968e-04 1.94393875e-03 9.99997991e-01 -2.75611217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.335099893 meters Centerline goodness : 0.132756 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 9.99882960e-01 -1.52798299e-02 -7.70532630e-04 1.97024163e-01] [ 1.52735872e-02 9.99854891e-01 -7.54418784e-03 -2.66092774e-02] [ 8.85694725e-04 7.53153607e-03 9.99971245e-01 -2.95436917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.365099893 meters Centerline goodness : 0.123254 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.03 [[ 9.99996176e-01 -5.17960501e-04 -2.71674116e-03 2.34517357e-01] [ 4.68619455e-04 9.99835507e-01 -1.81311488e-02 -2.01881200e-02] [ 2.72568549e-03 1.81298064e-02 9.99831926e-01 -2.77893874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39509989300000004 meters Centerline goodness : 0.112862 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.03 [[ 0.99996738 0.00687244 -0.00424477 0.25421001] [-0.00696719 0.99971747 -0.02272535 -0.02032238] [ 0.0040874 0.02275418 0.99973273 -0.02773545] [ 0. 0. 0. 1. ]] SLAMing on 0.425099893 meters Centerline goodness : 0.111543 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.03 [[ 0.99997854 0.00558421 -0.00342705 0.27633767] [-0.00563799 0.99985785 -0.01588982 -0.02823602] [ 0.00333783 0.0159088 0.99986788 -0.03055362] [ 0. 0. 0. 1. ]] SLAMing on 0.455099893 meters Centerline goodness : 0.107060 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.04 [[ 0.99997961 0.00259683 -0.00583427 0.30323638] [-0.00261656 0.99999088 -0.0033769 -0.04521099] [ 0.00582545 0.00339209 0.99997728 -0.03530648] [ 0. 0. 0. 1. ]] SLAMing on 0.485099893 meters Centerline goodness : 0.107198 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.04 [[ 0.99997055 0.00315569 -0.006996 0.31886601] [-0.00321669 0.99995675 -0.00872629 -0.05381588] [ 0.00696816 0.00874854 0.99993745 -0.03947953] [ 0. 0. 0. 1. ]] SLAMing on 0.515099893 meters Centerline goodness : 0.109772 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.04 [[ 0.99994669 0.00585543 -0.00850433 0.34543449] [-0.0060202 0.99979212 -0.01948019 -0.06107982] [ 0.0083885 0.01953035 0.99977407 -0.03911295] [ 0. 0. 0. 1. ]] SLAMing on 0.5450998930000001 meters Centerline goodness : 0.129206 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.04 [[ 0.99992353 0.01147631 -0.00460827 0.38081286] [-0.01155691 0.99977365 -0.0178628 -0.06683377] [ 0.00440223 0.01791469 0.99982983 -0.03508402] [ 0. 0. 0. 1. ]] SLAMing on 0.575099893 meters Centerline goodness : 0.136826 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.04 [[ 0.99993834 0.01007107 -0.00467903 0.38533919] [-0.01016646 0.99973129 -0.02083264 -0.07108411] [ 0.00446797 0.02087892 0.99977203 -0.03507075] [ 0. 0. 0. 1. ]] SLAMing on 0.605099893 meters Centerline goodness : 0.135897 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.04 [[ 0.99995997 0.00774307 -0.00448452 0.38872358] [-0.00785201 0.99966143 -0.02480676 -0.07177981] [ 0.00429092 0.02484098 0.99968221 -0.03573515] [ 0. 0. 0. 1. ]] SLAMing on 0.635099893 meters Centerline goodness : 0.138920 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99991585 0.01154363 -0.00591923 0.40102901] [-0.01167183 0.99968759 -0.02210187 -0.07103873] [ 0.00566225 0.0221691 0.9997382 -0.04523345] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters Centerline goodness : 0.141872 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.05 [[ 0.9999166 0.01065888 -0.00729195 0.42091782] [-0.01075245 0.99985879 -0.0129147 -0.07135386] [ 0.00715327 0.01299203 0.99989001 -0.05091374] [ 0. 0. 0. 1. ]] SLAMing on 0.695099893 meters Centerline goodness : 0.148298 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.06 [[ 0.99987826 0.01335622 -0.00806686 0.42882135] [-0.0134381 0.99985785 -0.01018299 -0.07455143] [ 0.00792971 0.01029015 0.99991561 -0.05585762] [ 0. 0. 0. 1. ]] SLAMing on 0.725099893 meters Centerline goodness : 0.153384 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.06 [[ 0.99985942 0.01354372 -0.00988499 0.44256334] [-0.01370064 0.99977839 -0.01598304 -0.07751565] [ 0.00966633 0.01611623 0.9998234 -0.05807935] [ 0. 0. 0. 1. ]] SLAMing on 0.755099893 meters Centerline goodness : 0.152476 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.06 [[ 0.99987492 0.00818838 -0.01353144 0.47192271] [-0.00847365 0.99974018 -0.02116078 -0.08120727] [ 0.01335465 0.02127279 0.99968451 -0.05689466] [ 0. 0. 0. 1. ]] SLAMing on 0.785099893 meters Centerline goodness : 0.415012 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.06 [[ 0.99988272 0.00754016 -0.01332978 0.47658307] [-0.00781843 0.99974998 -0.02094856 -0.0906 ] [ 0.01316849 0.02105032 0.99969169 -0.05889582] [ 0. 0. 0. 1. ]] SLAMing on 0.815099893 meters Centerline goodness : 0.526101 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.06 [[ 0.99985166 0.00886408 -0.01476797 0.48833482] [-0.00917904 0.99972891 -0.02139745 -0.106192 ] [ 0.0145743 0.02152983 0.99966197 -0.06207051] [ 0. 0. 0. 1. ]] SLAMing on 0.845099893 meters Centerline goodness : 0.514838 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.07 [[ 0.99989031 0.00617134 -0.01346411 0.50950241] [-0.00640914 0.99982297 -0.01769066 -0.11561541] [ 0.01335255 0.01777501 0.99975285 -0.06527856] [ 0. 0. 0. 1. ]] SLAMing on 0.875099893 meters Centerline goodness : 0.451433 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 0.99986301 0.00838085 -0.01427343 0.51878817] [-0.00855873 0.9998859 -0.01244715 -0.12619888] [ 0.01416748 0.01256761 0.99982065 -0.07477323] [ 0. 0. 0. 1. ]] SLAMing on 0.9050998929999999 meters Centerline goodness : 0.236464 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.08 [[ 0.99986811 0.00666064 -0.0148121 0.52716106] [-0.00685456 0.99989096 -0.01307956 -0.13479454] [ 0.01472336 0.01317937 0.99980474 -0.08083666] [ 0. 0. 0. 1. ]] SLAMing on 0.935099893 meters Centerline goodness : 0.236464 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.08 [[ 0.99986811 0.00666064 -0.0148121 0.52716106] [-0.00685456 0.99989096 -0.01307956 -0.13479454] [ 0.01472336 0.01317937 0.99980474 -0.08083666] [ 0. 0. 0. 1. ]] SLAMing on 0.965099893 meters Centerline goodness : 0.189671 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.09 [[ 0.99985508 0.00168468 -0.01694079 0.54117569] [-0.00204517 0.99977137 -0.02128443 -0.14161215] [ 0.01690106 0.02131599 0.99962992 -0.08516904] [ 0. 0. 0. 1. ]] SLAMing on 0.995099893 meters Centerline goodness : 0.382206 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.09 [[ 0.99982242 0.00115533 -0.01880939 0.55470075] [-0.00165642 0.99964354 -0.02664681 -0.14547942] [ 0.0187719 0.02667323 0.99946794 -0.08766085] [ 0. 0. 0. 1. ]] SLAMing on 1.025099893 meters Centerline goodness : 0.260452 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.09 [[ 0.99984245 0.0100036 -0.01466268 0.58076973] [-0.01052629 0.99929581 -0.03601515 -0.14635457] [ 0.01429207 0.03616382 0.99924367 -0.08655502] [ 0. 0. 0. 1. ]] SLAMing on 1.055099893 meters Centerline goodness : 0.264746 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.09 [[ 0.9998555 0.00695838 -0.01551026 0.60659983] [-0.00745846 0.99944649 -0.0324205 -0.15322419] [ 0.01527608 0.0325315 0.99935396 -0.09189591] [ 0. 0. 0. 1. ]] SLAMing on 1.085099893 meters Centerline goodness : 0.210032 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99988296 0.00176039 -0.01519746 0.62201976] [-0.00211117 0.99973101 -0.02309657 -0.16041992] [ 0.01515271 0.02312595 0.99961772 -0.09811491] [ 0. 0. 0. 1. ]] SLAMing on 1.1150998929999998 meters Centerline goodness : 0.235815 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.10 [[ 9.99921399e-01 2.92445392e-04 -1.25343951e-02 6.35812670e-01] [-4.48429176e-04 9.99922477e-01 -1.24434571e-02 -1.64759578e-01] [ 1.25297844e-02 1.24480998e-02 9.99844012e-01 -1.02741140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1450998929999998 meters Centerline goodness : 0.115812 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.11 [[ 0.99990752 0.00301691 -0.01326064 0.64462787] [-0.00315811 0.99993841 -0.0106397 -0.16349445] [ 0.01322773 0.01068059 0.99985547 -0.11060706] [ 0. 0. 0. 1. ]] SLAMing on 1.1750998929999998 meters Centerline goodness : 0.125201 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.12 [[ 9.99890086e-01 6.99790302e-04 -1.48096354e-02 6.54805293e-01] [-8.94387453e-04 9.99913301e-01 -1.31373604e-02 -1.61897084e-01] [ 1.47991580e-02 1.31491620e-02 9.99804023e-01 -1.18197297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2050998929999999 meters Centerline goodness : 0.372110 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.12 [[ 0.99986308 -0.00297458 -0.01627803 0.66013879] [ 0.00271981 0.99987382 -0.01565087 -0.1638849 ] [ 0.01632253 0.01560446 0.99974501 -0.12079305] [ 0. 0. 0. 1. ]] SLAMing on 1.235099893 meters Centerline goodness : 0.213336 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.12 [[ 0.99975527 -0.01097355 -0.0192087 0.6725337 ] [ 0.01049274 0.9996335 -0.02495514 -0.17217333] [ 0.0194755 0.02474748 0.99950401 -0.12325872] [ 0. 0. 0. 1. ]] SLAMing on 1.265099893 meters Centerline goodness : 0.260891 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.13 [[ 0.99970111 -0.01435333 -0.01979079 0.67922771] [ 0.01381165 0.99953348 -0.02724078 -0.18045966] [ 0.02017255 0.02695929 0.99943297 -0.12800396] [ 0. 0. 0. 1. ]] SLAMing on 1.295099893 meters Centerline goodness : 0.129641 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.13 [[ 0.99971814 -0.01020633 -0.02143547 0.69083912] [ 0.00963538 0.99960045 -0.02657243 -0.19338601] [ 0.02169811 0.0263584 0.99941704 -0.12905505] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters Centerline goodness : 0.535049 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.13 [[ 0.99971966 -0.00227807 -0.02356708 0.70457527] [ 0.00174549 0.99974319 -0.02259433 -0.20683906] [ 0.0236125 0.02254686 0.9994669 -0.13138841] [ 0. 0. 0. 1. ]] SLAMing on 1.3550998929999998 meters Centerline goodness : 0.536617 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.13 [[ 0.99968784 0.00151683 -0.02493845 0.72581361] [-0.00181632 0.99992646 -0.01199084 -0.21618368] [ 0.02491843 0.01203239 0.99961707 -0.13373718] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters Centerline goodness : 0.396646 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.22, Z:-0.14 [[ 0.99957288 0.01065007 -0.02721448 0.74153567] [-0.01089669 0.99990076 -0.00892981 -0.22369767] [ 0.02711668 0.00922255 0.99958973 -0.13621898] [ 0. 0. 0. 1. ]] SLAMing on 1.4150998929999998 meters Centerline goodness : 0.162311 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.23, Z:-0.14 [[ 0.9995584 0.01249261 -0.02696176 0.74750532] [-0.01269503 0.9998924 -0.00734948 -0.22749204] [ 0.02686704 0.00768851 0.99960945 -0.14152499] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999999 meters Centerline goodness : 0.163517 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.23, Z:-0.15 [[ 0.99952558 0.01448042 -0.02718346 0.75665914] [-0.0146614 0.99987158 -0.00647026 -0.22917255] [ 0.02708627 0.00686574 0.99960952 -0.14876623] [ 0. 0. 0. 1. ]] SLAMing on 1.4750998929999999 meters Centerline goodness : 0.464546 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.23, Z:-0.15 [[ 0.9994435 0.01947349 -0.02708283 0.76218081] [-0.01956948 0.99980311 -0.00328363 -0.22529213] [ 0.02701355 0.0038118 0.9996278 -0.15191169] [ 0. 0. 0. 1. ]] SLAMing on 1.505099893 meters Centerline goodness : 0.123129 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.22, Z:-0.15 [[ 0.99943636 0.02052265 -0.02656663 0.7638176 ] [-0.02064149 0.99977809 -0.00420675 -0.2217705 ] [ 0.0264744 0.00475275 0.99963819 -0.15206041] [ 0. 0. 0. 1. ]] SLAMing on 1.535099893 meters Centerline goodness : 0.173860 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.15 [[ 0.99929649 0.02233078 -0.03013069 0.7901065 ] [-0.02243956 0.99974283 -0.00327697 -0.2196539 ] [ 0.03004977 0.00395079 0.9995406 -0.15268059] [ 0. 0. 0. 1. ]] SLAMing on 1.565099893 meters Centerline goodness : 0.468870 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:-0.16 [[ 9.99170427e-01 2.70680995e-02 -3.04265619e-02 7.96454333e-01] [-2.70844404e-02 9.99633141e-01 -1.24975568e-04 -2.15606082e-01] [ 3.04120168e-02 9.48958293e-04 9.99536997e-01 -1.56131792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5950998929999998 meters Centerline goodness : 0.134856 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.21, Z:-0.16 [[ 9.99141679e-01 2.77686313e-02 -3.07377461e-02 8.01585253e-01] [-2.78066543e-02 9.99612992e-01 -8.10163055e-04 -2.11383627e-01] [ 3.07033532e-02 1.66418155e-03 9.99527156e-01 -1.58637363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6250998929999998 meters Centerline goodness : 0.167513 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.21, Z:-0.16 [[ 0.99913268 0.02691627 -0.03177106 0.80725303] [-0.02699336 0.99963361 -0.0020002 -0.20963367] [ 0.03170558 0.00285608 0.99949317 -0.16268756] [ 0. 0. 0. 1. ]] SLAMing on 1.6550998929999998 meters Centerline goodness : 0.432675 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.21, Z:-0.16 [[ 0.99913451 0.02633485 -0.03219799 0.8087672 ] [-0.02644418 0.99964587 -0.00297461 -0.2071049 ] [ 0.03210826 0.00382349 0.99947708 -0.16366175] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999998 meters Centerline goodness : 0.418624 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.16 [[ 9.99492838e-01 1.35066137e-02 -2.88381531e-02 8.08486741e-01] [-1.35096059e-02 9.99908737e-01 9.10858820e-05 -2.00550163e-01] [ 2.88367515e-02 2.98552395e-04 9.99584090e-01 -1.63029359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7150998929999999 meters Centerline goodness : 0.865847 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.17 [[ 9.99552457e-01 -1.06054465e-04 -2.99144474e-02 8.13431640e-01] [ 2.06297380e-04 9.99994374e-01 3.34792027e-03 -2.00265477e-01] [ 2.99139241e-02 -3.35259320e-03 9.99546856e-01 -1.66473753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745099893 meters Centerline goodness : 0.146192 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 0.99927364 -0.01570754 -0.03471972 0.81851247] [ 0.01563748 0.99987511 -0.00228853 -0.20062774] [ 0.03475133 0.00174394 0.99939447 -0.17620431] [ 0. 0. 0. 1. ]] SLAMing on 1.775099893 meters Centerline goodness : 0.874317 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 0.99915175 -0.02011136 -0.03593477 0.82215534] [ 0.01991096 0.99978419 -0.00592608 -0.20096661] [ 0.0360462 0.00520555 0.99933657 -0.17788837] [ 0. 0. 0. 1. ]] SLAMing on 1.8050998929999997 meters Centerline goodness : 0.878498 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 0.99905263 -0.02430319 -0.03609989 0.82429317] [ 0.02396258 0.99966445 -0.0098381 -0.20172607] [ 0.03632687 0.00896374 0.99929976 -0.17813537] [ 0. 0. 0. 1. ]] SLAMing on 1.8350998929999998 meters Centerline goodness : 0.832458 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.20, Z:-0.18 [[ 0.99913158 -0.01940987 -0.03686921 0.82852945] [ 0.01924065 0.99980268 -0.00493915 -0.20198124] [ 0.0369578 0.00422547 0.99930789 -0.18040553] [ 0. 0. 0. 1. ]] SLAMing on 1.8650998929999998 meters Centerline goodness : 0.131252 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.20, Z:-0.18 [[ 0.99913427 -0.01720061 -0.03787947 0.83339254] [ 0.01707364 0.99984749 -0.00367295 -0.19869714] [ 0.03793687 0.00302303 0.99927557 -0.18278147] [ 0. 0. 0. 1. ]] SLAMing on 1.8950998929999998 meters Centerline goodness : 0.790275 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.20, Z:-0.18 [[ 0.99914545 -0.01644976 -0.03791808 0.83591115] [ 0.01633436 0.99986097 -0.00335105 -0.19876182] [ 0.03796793 0.00272882 0.99927523 -0.18392124] [ 0. 0. 0. 1. ]] SLAMing on 1.9250998929999998 meters Centerline goodness : 0.811053 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.20, Z:-0.18 [[ 0.99915459 -0.01602574 -0.03785869 0.83724712] [ 0.01591453 0.99986812 -0.00323722 -0.19875147] [ 0.03790558 0.00263198 0.99927786 -0.18437645] [ 0. 0. 0. 1. ]] SLAMing on 1.9550998929999999 meters Centerline goodness : 0.714992 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.20, Z:-0.19 [[ 0.99911985 -0.01591273 -0.03881111 0.84072648] [ 0.01580699 0.99987047 -0.00302983 -0.19861888] [ 0.03885429 0.00241368 0.99924197 -0.18573545] [ 0. 0. 0. 1. ]] SLAMing on 1.985099893 meters Centerline goodness : 0.171367 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.20, Z:-0.19 [[ 0.99904414 -0.01605037 -0.04065939 0.848035 ] [ 0.01595257 0.99986903 -0.00272864 -0.19899504] [ 0.04069786 0.00207741 0.99916934 -0.18986114] [ 0. 0. 0. 1. ]] SLAMing on 2.015099893 meters Centerline goodness : 0.650822 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.20, Z:-0.19 [[ 0.99907032 -0.01160781 -0.04151805 0.85008732] [ 0.01171514 0.99992863 0.00234277 -0.20115773] [ 0.04148789 -0.00282699 0.99913501 -0.19043618] [ 0. 0. 0. 1. ]] SLAMing on 2.045099893 meters Centerline goodness : 0.578703 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.20, Z:-0.19 [[ 9.99133533e-01 -2.87000672e-03 -4.15204341e-02 8.58618565e-01] [ 2.89540694e-03 9.99995656e-01 5.51629853e-04 -1.95069536e-01] [ 4.15186706e-02 -6.71370437e-04 9.99137503e-01 -1.86414398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.075099893 meters Centerline goodness : 0.512612 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.19, Z:-0.18 [[ 0.99914478 0.01067058 -0.03994815 0.86812307] [-0.01058649 0.99994128 0.00231602 -0.18812877] [ 0.03997051 -0.00189112 0.99919907 -0.18352278] [ 0. 0. 0. 1. ]] SLAMing on 2.105099893 meters Centerline goodness : 0.629685 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.18, Z:-0.18 [[ 9.99001644e-01 1.82004914e-02 -4.07977704e-02 8.73938477e-01] [-1.81958448e-02 9.99834324e-01 4.85249962e-04 -1.80162596e-01] [ 4.07998430e-02 2.57584391e-04 9.99167307e-01 -1.77644416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135099893 meters Centerline goodness : 0.458256 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:-0.18 [[ 9.98974602e-01 1.80987185e-02 -4.14991790e-02 8.75922049e-01] [-1.81191539e-02 9.99835828e-01 -1.16324166e-04 -1.78289296e-01] [ 4.14902607e-02 8.68134900e-04 9.99138531e-01 -1.77974755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1650998930000003 meters Centerline goodness : 0.470692 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.18, Z:-0.18 [[ 0.99917109 0.01064312 -0.03929203 0.88930816] [-0.0104955 0.99993707 0.00396151 -0.18178655] [ 0.03933172 -0.00354584 0.99921992 -0.18155764] [ 0. 0. 0. 1. ]] SLAMing on 2.195099893 meters Centerline goodness : 0.685747 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.19 [[ 0.9993921 0.00401256 -0.03463121 0.90332483] [-0.00376822 0.99996757 0.00711782 -0.18812659] [ 0.03465865 -0.00698299 0.99937481 -0.18549522] [ 0. 0. 0. 1. ]] SLAMing on 2.225099893 meters Centerline goodness : 0.718527 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.18 [[ 9.99553075e-01 -2.92727374e-04 -2.98925639e-02 9.18594145e-01] [ 5.23742772e-04 9.99970058e-01 7.72065219e-03 -1.92954622e-01] [ 2.98894088e-02 -7.73285765e-03 9.99523299e-01 -1.84222526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255099893 meters Centerline goodness : 0.698151 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.20, Z:-0.19 [[ 0.99950838 0.00176522 -0.03130305 0.92266669] [-0.00145033 0.99994815 0.0100794 -0.19697689] [ 0.03131922 -0.01002905 0.99945912 -0.18589794] [ 0. 0. 0. 1. ]] SLAMing on 2.285099893 meters Centerline goodness : 0.648192 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.19 [[ 0.99946704 0.0040191 -0.03239557 0.92619708] [-0.00360217 0.99991007 0.01291811 -0.20238958] [ 0.03244457 -0.01279453 0.99939164 -0.18764478] [ 0. 0. 0. 1. ]] SLAMing on 2.315099893 meters Centerline goodness : 0.449768 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.18 [[ 0.99941282 0.00918186 -0.03301072 0.93081325] [-0.0088602 0.99991197 0.00987714 -0.20523125] [ 0.0330985 -0.00957886 0.99940619 -0.18068894] [ 0. 0. 0. 1. ]] SLAMing on 2.345099893 meters Centerline goodness : 0.494648 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.18 [[ 0.99943118 0.00543723 -0.03328283 0.93110905] [-0.00527369 0.9999736 0.00499946 -0.20288256] [ 0.03330914 -0.00482109 0.99943347 -0.18012409] [ 0. 0. 0. 1. ]] SLAMing on 2.3750998930000002 meters Centerline goodness : 0.509172 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.20, Z:-0.18 [[ 0.99940786 0.00124308 -0.03438582 0.93662142] [-0.00119942 0.99999845 0.00129026 -0.20483642] [ 0.03438737 -0.00124826 0.9994078 -0.18414316] [ 0. 0. 0. 1. ]] SLAMing on 2.405099893 meters Centerline goodness : 0.976055 Centerline is valid? [False, True] Translation: X:0.94, Y:-0.21, Z:-0.19 [[ 0.99933114 -0.00566863 -0.03612673 0.94270554] [ 0.00554345 0.99997828 -0.00356429 -0.21144581] [ 0.03614615 0.00336164 0.99934086 -0.18817552] [ 0. 0. 0. 1. ]] SLAMing on 2.435099893 meters Centerline goodness : 0.980991 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.23, Z:-0.18 [[ 0.99928006 0.01254939 -0.03580327 0.89250763] [-0.01219325 0.99987416 0.01014817 -0.23010703] [ 0.03592612 -0.0097043 0.99930733 -0.1779091 ] [ 0. 0. 0. 1. ]] SLAMing on 2.465099893 meters Centerline goodness : 0.983088 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.23, Z:-0.17 [[ 0.99929828 0.01070751 -0.03589292 0.90868901] [-0.01059018 0.99993795 0.00345745 -0.23093798] [ 0.03592771 -0.00307492 0.99934966 -0.17242546] [ 0. 0. 0. 1. ]] SLAMing on 2.495099893 meters Centerline goodness : 0.987805 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.24, Z:-0.17 [[ 0.99908949 0.02305522 -0.03589776 0.90517387] [-0.02297529 0.99973255 0.00263746 -0.24255066] [ 0.03594897 -0.00181029 0.99935199 -0.16720557] [ 0. 0. 0. 1. ]] SLAMing on 2.525099893 meters Centerline goodness : 0.989104 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.24, Z:-0.16 [[ 9.98933311e-01 2.90353547e-02 -3.59052573e-02 9.33316665e-01] [-2.90503318e-02 9.99577945e-01 1.04607046e-04 -2.39906859e-01] [ 3.58931406e-02 9.38564176e-04 9.99355193e-01 -1.62710372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.555099893 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.24, Z:-0.17 [[ 9.98763058e-01 3.43971563e-02 -3.59052790e-02 9.60437279e-01] [-3.44158834e-02 9.99407593e-01 9.65390609e-05 -2.35915631e-01] [ 3.58873291e-02 1.13929225e-03 9.99355193e-01 -1.66527654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585099893 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.23, Z:-0.17 [[ 9.98947959e-01 2.85264763e-02 -3.59056558e-02 9.89346553e-01] [-2.85468877e-02 9.99592453e-01 -5.58347441e-05 -2.34760963e-01] [ 3.58894298e-02 1.08077073e-03 9.99355182e-01 -1.67206682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.615099893 meters Centerline goodness : 0.991641 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.23, Z:-0.16 [[ 9.99230189e-01 1.58058338e-02 -3.59054977e-02 1.01720966e+00] [-1.58156863e-02 9.99874924e-01 9.62811349e-06 -2.34655066e-01] [ 3.59011590e-02 5.58249385e-04 9.99355190e-01 -1.63184801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.645099893 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.24, Z:-0.17 [[ 9.99344929e-01 -4.52711570e-03 -3.59056716e-02 1.04671445e+00] [ 4.52754645e-03 9.99989748e-01 -6.93121360e-05 -2.38918810e-01] [ 3.59056173e-02 -9.32978642e-05 9.99355181e-01 -1.69490704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.675099893 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.24, Z:-0.17 [[ 9.99204706e-01 -1.73423449e-02 -3.59053988e-02 1.07552451e+00] [ 1.73556021e-02 9.99849379e-01 5.75538274e-05 -2.40900604e-01] [ 3.58989926e-02 -6.80667870e-04 9.99355192e-01 -1.69467524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.25, Z:-0.17 [[ 9.98977833e-01 -2.74607533e-02 -3.59053768e-02 1.10373704e+00] [ 2.74809247e-02 9.99622326e-01 6.83030334e-05 -2.45197985e-01] [ 3.58899406e-02 -1.05494617e-03 9.99355192e-01 -1.65698764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.735099893 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.24, Z:-0.16 [[ 9.99086927e-01 -2.31541765e-02 -3.59053713e-02 1.13160582e+00] [ 2.31716689e-02 9.99731498e-01 7.10715476e-05 -2.44933305e-01] [ 3.58940850e-02 -9.02994028e-04 9.99355192e-01 -1.61856340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.24, Z:-0.16 [[ 9.99274169e-01 -1.27255119e-02 -3.59053765e-02 1.15983211e+00] [ 1.27361764e-02 9.99918889e-01 6.82987244e-05 -2.39666936e-01] [ 3.59015951e-02 -5.25546359e-04 9.99355192e-01 -1.61544822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795099893 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.23, Z:-0.16 [[ 9.99314932e-01 8.97043679e-03 -3.59053911e-02 1.18787167e+00] [-8.97408756e-03 9.99959730e-01 5.94855172e-05 -2.30055927e-01] [ 3.59044789e-02 2.62773358e-04 9.99355192e-01 -1.60903285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.825099893 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.23, Z:-0.16 [[ 9.99317079e-01 8.72803597e-03 -3.59054035e-02 1.21628440e+00] [-8.73184456e-03 9.99961875e-01 5.07394079e-05 -2.29975698e-01] [ 3.59044775e-02 2.62815646e-04 9.99355192e-01 -1.59880636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855099893 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.22, Z:-0.16 [[ 9.99177113e-01 1.88652580e-02 -3.59054137e-02 1.24410651e+00] [-1.88759203e-02 9.99821833e-01 4.20356194e-05 -2.23817154e-01] [ 3.58998096e-02 6.35746697e-04 9.99355192e-01 -1.59179120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885099893 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.21, Z:-0.16 [[ 9.98988536e-01 2.70685470e-02 -3.59054218e-02 1.27328728e+00] [-2.70848140e-02 9.99633139e-01 3.33645927e-05 -2.11937057e-01] [ 3.58931526e-02 9.39160824e-04 9.99355192e-01 -1.58647710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.915099893 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.20, Z:-0.16 [[ 9.99126877e-01 2.13607831e-02 -3.59054272e-02 1.30123455e+00] [-2.13736379e-02 9.99771557e-01 2.58276713e-05 -2.03854750e-01] [ 3.58977766e-02 7.41624478e-04 9.99355192e-01 -1.63346561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945099893 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.20, Z:-0.16 [[ 9.99217979e-01 1.65599086e-02 -3.59054316e-02 1.32921272e+00] [-1.65700160e-02 9.99862708e-01 1.60746743e-05 -2.00842118e-01] [ 3.59007682e-02 5.78891472e-04 9.99355192e-01 -1.61511089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.975099893 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.19, Z:-0.16 [[ 9.99232924e-01 1.56321549e-02 -3.59054326e-02 1.35786875e+00] [-1.56417721e-02 9.99877660e-01 1.30550455e-05 -1.93435386e-01] [ 3.59012441e-02 5.48579564e-04 9.99355192e-01 -1.63029515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005099893 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.19, Z:-0.17 [[ 9.99189812e-01 1.81801683e-02 -3.59054337e-02 1.38597749e+00] [-1.81917326e-02 9.99834517e-01 4.62190150e-06 -1.89314313e-01] [ 3.58995760e-02 6.48563892e-04 9.99355192e-01 -1.65185561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.035099893 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.18, Z:-0.16 [[ 9.99057772e-01 2.43796663e-02 -3.59054339e-02 1.41315968e+00] [-2.43953378e-02 9.99702389e-01 1.63822419e-06 -1.84909698e-01] [ 3.58947880e-02 8.74288508e-04 9.99355192e-01 -1.58626660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065099893 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.18, Z:-0.15 [[ 9.98961755e-01 2.80394635e-02 -3.59054338e-02 1.44121647e+00] [-2.80576025e-02 9.99606308e-01 -1.31803661e-06 -1.81433831e-01] [ 3.58912611e-02 1.00873706e-03 9.99355192e-01 -1.53633231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095099893 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.18, Z:-0.16 [[ 9.98912093e-01 2.97561921e-02 -3.59054334e-02 1.46940260e+00] [-2.97755441e-02 9.99556610e-01 -4.24737994e-06 -1.80183205e-01] [ 3.58893869e-02 1.07334657e-03 9.99355192e-01 -1.57015127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1250998930000002 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.18, Z:-0.16 [[ 9.99022630e-01 2.57795330e-02 -3.59054328e-02 1.49761897e+00] [-2.57964233e-02 9.99667217e-01 -7.14892074e-06 -1.82301942e-01] [ 3.58932998e-02 9.33373678e-04 9.99355192e-01 -1.59732325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155099893 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.18, Z:-0.16 [[ 9.99144676e-01 2.05113624e-02 -3.59054320e-02 1.52619804e+00] [-2.05249566e-02 9.99789341e-01 -1.00164306e-05 -1.83109263e-01] [ 3.58976628e-02 7.46965297e-04 9.99355192e-01 -1.55170767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.19, Z:-0.16 [[ 9.99310717e-01 9.42824466e-03 -3.59054281e-02 1.55405025e+00] [-9.43497253e-03 9.99955489e-01 -1.79404036e-05 -1.88295414e-01] [ 3.59036608e-02 3.56694765e-04 9.99355192e-01 -1.55248660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215099893 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.19, Z:-0.15 [[ 9.99349538e-01 -3.36172788e-03 -3.59054255e-02 1.58207480e+00] [ 3.36310019e-03 9.99994345e-01 -2.21762413e-05 -1.91239911e-01] [ 3.59052970e-02 -9.85917268e-05 9.99355192e-01 -1.46522554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.245099893 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.19, Z:-0.15 [[ 9.99310158e-01 -9.48726795e-03 -3.59054300e-02 1.60898625e+00] [ 9.49282071e-03 9.99954942e-01 -1.58281102e-05 -1.91662138e-01] [ 3.59039624e-02 -3.25026618e-04 9.99355192e-01 -1.46161789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275099893 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.19, Z:-0.15 [[ 9.99185535e-01 -1.84138225e-02 -3.59054051e-02 1.63584152e+00] [ 1.84241732e-02 9.99830260e-01 -4.26015609e-05 -1.94451586e-01] [ 3.59000949e-02 -6.18960538e-04 9.99355192e-01 -1.49379078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.305099893 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.20, Z:-0.15 [[ 9.99091011e-01 -2.29772613e-02 -3.59053821e-02 1.66453350e+00] [ 2.29898393e-02 9.99735697e-01 -6.25676896e-05 -1.95792805e-01] [ 3.58973298e-02 -7.62948149e-04 9.99355192e-01 -1.53573974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.335099893 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.19, Z:-0.15 [[ 9.98935145e-01 -2.89720238e-02 -3.59054038e-02 1.69119294e+00] [ 2.89890879e-02 9.99579727e-01 -4.53659027e-05 -1.90198511e-01] [ 3.58916281e-02 -9.95547315e-04 9.99355192e-01 -1.52066903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365099893 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.18, Z:-0.15 [[ 9.98904910e-01 -2.99963785e-02 -3.59053987e-02 1.71913500e+00] [ 3.00139675e-02 9.99549478e-01 -4.91555173e-05 -1.82925092e-01] [ 3.58906970e-02 -1.02856178e-03 9.99355192e-01 -1.51708884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.395099893 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.18, Z:-0.15 [[ 9.98952236e-01 -2.83766334e-02 -3.59053848e-02 1.74673786e+00] [ 2.83928681e-02 9.99596840e-01 -5.77615738e-05 -1.77609818e-01] [ 3.58925483e-02 -9.61755804e-04 9.99355192e-01 -1.52953738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425099893 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.17, Z:-0.15 [[ 9.99011245e-01 -2.62171123e-02 -3.59053689e-02 1.77440045e+00] [ 2.62316442e-02 9.99655889e-01 -6.63730450e-05 -1.65454597e-01] [ 3.58947536e-02 -8.75549445e-04 9.99355192e-01 -1.54182286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.455099893 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.16, Z:-0.15 [[ 9.99032764e-01 -2.53839020e-02 -3.59053510e-02 1.80248853e+00] [ 2.53975881e-02 9.99677426e-01 -7.49532515e-05 -1.56376549e-01] [ 3.58956715e-02 -8.37028561e-04 9.99355192e-01 -1.52260757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485099893 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.15, Z:-0.15 [[ 9.99007236e-01 -2.63694975e-02 -3.59053310e-02 1.82910104e+00] [ 2.63835112e-02 9.99651891e-01 -8.35378571e-05 -1.45305492e-01] [ 3.58950349e-02 -8.63853780e-04 9.99355192e-01 -1.50295529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.515099893 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.13, Z:-0.16 [[ 9.98798074e-01 -3.33648753e-02 -3.59053220e-02 1.85763967e+00] [ 3.33832694e-02 9.99442620e-01 -8.72615231e-05 -1.33639774e-01] [ 3.58882205e-02 -1.11148039e-03 9.99355192e-01 -1.55206956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545099893 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.13, Z:-0.16 [[ 9.98583921e-01 -3.92550901e-02 -3.59053025e-02 1.88506171e+00] [ 3.92770202e-02 9.99228356e-01 -9.46448775e-05 -1.26927333e-01] [ 3.58813117e-02 -1.31574244e-03 9.99355192e-01 -1.56814415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.575099893 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.12, Z:-0.16 [[ 9.98361725e-01 -4.45496996e-02 -3.59052954e-02 1.91315153e+00] [ 4.45749526e-02 9.99006038e-01 -9.72660085e-05 -1.20725116e-01] [ 3.58739401e-02 -1.50337018e-03 9.99355192e-01 -1.56513199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.11, Z:-0.16 [[ 9.98153509e-01 -4.89936964e-02 -3.59052882e-02 1.94140139e+00] [ 4.90217240e-02 9.98797708e-01 -9.98659565e-05 -1.09888232e-01] [ 3.58670123e-02 -1.66045757e-03 9.99355192e-01 -1.55477304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635099893 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.10, Z:-0.15 [[ 9.98021496e-01 -5.16130332e-02 -3.59052665e-02 1.96914425e+00] [ 5.16424905e-02 9.98665631e-01 -1.07133845e-04 -1.01311721e-01] [ 3.58628851e-02 -1.74731550e-03 9.99355192e-01 -1.51968911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.665099893 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.09, Z:-0.15 [[ 9.98012090e-01 -5.17946149e-02 -3.59052397e-02 1.99704215e+00] [ 5.18238906e-02 9.98656233e-01 -1.15459431e-04 -9.46982531e-02] [ 3.58629716e-02 -1.74551931e-03 9.99355192e-01 -1.46342030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695099893 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.09, Z:-0.14 [[ 9.98057645e-01 -5.09092437e-02 -3.59052312e-02 2.02489591e+00] [ 5.09378554e-02 9.98701818e-01 -1.18039406e-04 -8.89201381e-02] [ 3.58646290e-02 -1.71112534e-03 9.99355192e-01 -1.42255991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.725099893 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.08, Z:-0.14 [[ 9.98071875e-01 -5.06295187e-02 -3.59052227e-02 2.05258742e+00] [ 5.06578582e-02 9.98716059e-01 -1.20594152e-04 -8.48908058e-02] [ 3.58652281e-02 -1.69852005e-03 9.99355192e-01 -1.41793645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755099893 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.08, Z:-0.14 [[ 9.98013598e-01 -5.17655686e-02 -3.59052140e-02 2.07989590e+00] [ 5.17945504e-02 9.98657754e-01 -1.23126882e-04 -8.19688126e-02] [ 3.58633941e-02 -1.73681211e-03 9.99355192e-01 -1.40764925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.785099893 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.08, Z:-0.14 [[ 9.98069515e-01 -5.06760366e-02 -3.59052006e-02 2.10828723e+00] [ 5.07041793e-02 9.98713708e-01 -1.26911261e-04 -7.95790025e-02] [ 3.58654474e-02 -1.69387747e-03 9.99355192e-01 -1.40431561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.08, Z:-0.14 [[ 9.98151473e-01 -4.90352441e-02 -3.59051744e-02 2.13730931e+00] [ 4.90620759e-02 9.98795722e-01 -1.33927391e-04 -7.83113397e-02] [ 3.58685018e-02 -1.62790257e-03 9.99355192e-01 -1.39536197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.08, Z:-0.14 [[ 9.98414099e-01 -4.33602160e-02 -3.59051470e-02 2.16550210e+00] [ 4.33831343e-02 9.99058499e-01 -1.40908823e-04 -7.57503386e-02] [ 3.58774521e-02 -1.41699246e-03 9.99355192e-01 -1.38891679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.875099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.07, Z:-0.14 [[ 9.98609593e-01 -3.85966683e-02 -3.59051371e-02 2.19418775e+00] [ 3.86164232e-02 9.99254097e-01 -1.43386331e-04 -7.34494781e-02] [ 3.58838896e-02 -1.24334101e-03 9.99355192e-01 -1.40180941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.07, Z:-0.14 [[ 9.98822643e-01 -3.26213427e-02 -3.59051082e-02 2.22323224e+00] [ 3.26369934e-02 9.99467260e-01 -1.50287260e-04 -7.18906915e-02] [ 3.58908827e-02 -1.02172446e-03 9.99355192e-01 -1.41074848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.935099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.07, Z:-0.14 [[ 9.98928610e-01 -2.91968856e-02 -3.59050782e-02 2.25147966e+00] [ 2.92100798e-02 9.99573282e-01 -1.57148608e-04 -6.91565395e-02] [ 3.58943451e-02 -8.91809958e-04 9.99355192e-01 -1.38107480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.07, Z:-0.13 [[ 9.98946380e-01 -2.85824657e-02 -3.59050471e-02 2.27964246e+00] [ 2.85950185e-02 9.99591065e-01 -1.63964973e-04 -6.76444836e-02] [ 3.58950508e-02 -8.62913269e-04 9.99355192e-01 -1.32271750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.995099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.07, Z:-0.14 [[ 9.98852356e-01 -3.16986080e-02 -3.59050078e-02 2.30824286e+00] [ 3.17128771e-02 9.99497005e-01 -1.72168583e-04 -6.89866150e-02] [ 3.58924052e-02 -9.66680104e-04 9.99355192e-01 -1.36018252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.07, Z:-0.14 [[ 9.98719784e-01 -3.56318090e-02 -3.59049669e-02 2.33675846e+00] [ 3.56483247e-02 9.99364380e-01 -1.80296258e-04 -6.97949697e-02] [ 3.58885693e-02 -1.09988648e-03 9.99355193e-01 -1.39325689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0550998929999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.07, Z:-0.14 [[ 9.98517066e-01 -4.09207177e-02 -3.59049245e-02 2.36448941e+00] [ 4.09403565e-02 9.99161574e-01 -1.88387279e-04 -6.83497494e-02] [ 3.58825298e-02 -1.28185250e-03 9.99355193e-01 -1.37840016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.07, Z:-0.14 [[ 9.98338382e-01 -4.50700889e-02 -3.59049011e-02 2.39270230e+00] [ 4.50922495e-02 9.98982809e-01 -1.92747835e-04 -7.10655178e-02] [ 3.58770661e-02 -1.42660520e-03 9.99355193e-01 -1.36858184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.07, Z:-0.14 [[ 9.98256218e-01 -4.68547006e-02 -3.59048767e-02 2.42078819e+00] [ 4.68778539e-02 9.98900610e-01 -1.97182698e-04 -7.34255888e-02] [ 3.58746422e-02 -1.48630471e-03 9.99355193e-01 -1.37242705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.07, Z:-0.13 [[ 9.98246829e-01 -4.70543232e-02 -3.59048612e-02 2.44842117e+00] [ 4.70775053e-02 9.98891220e-01 -1.99970662e-04 -7.28454454e-02] [ 3.58744601e-02 -1.49069121e-03 9.99355193e-01 -1.31742024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.07, Z:-0.12 [[ 9.98395181e-01 -4.37938934e-02 -3.59048456e-02 2.47632610e+00] [ 4.38148713e-02 9.99039647e-01 -2.02742193e-04 -6.94263010e-02] [ 3.58792431e-02 -1.37074936e-03 9.99355193e-01 -1.21931680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.07, Z:-0.12 [[ 9.98490708e-01 -4.15589937e-02 -3.59048330e-02 2.50409056e+00] [ 4.15784501e-02 9.99135221e-01 -2.04938719e-04 -7.05378092e-02] [ 3.58823003e-02 -1.28823790e-03 9.99355193e-01 -1.22952559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.235099892999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.08, Z:-0.13 [[ 9.98479569e-01 -4.18257613e-02 -3.59048173e-02 2.53207680e+00] [ 4.18452925e-02 9.99124081e-01 -2.07650503e-04 -7.51443933e-02] [ 3.58820527e-02 -1.29511280e-03 9.99355193e-01 -1.29215382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.08, Z:-0.13 [[ 9.98403895e-01 -4.35948141e-02 -3.59048016e-02 2.56044597e+00] [ 4.36153905e-02 9.99048374e-01 -2.10343649e-04 -7.60879359e-02] [ 3.58798035e-02 -1.35599402e-03 9.99355193e-01 -1.31292737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295099893 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.07, Z:-0.13 [[ 9.98418141e-01 -4.32673551e-02 -3.59047561e-02 2.58970940e+00] [ 4.32874514e-02 9.99062635e-01 -2.17829016e-04 -7.49866990e-02] [ 3.58805252e-02 -1.33674094e-03 9.99355193e-01 -1.33090572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.07, Z:-0.13 [[ 9.98498620e-01 -4.13685622e-02 -3.59047130e-02 2.61695082e+00] [ 4.13871852e-02 9.99143158e-01 -2.24720423e-04 -7.43735055e-02] [ 3.58832447e-02 -1.26161198e-03 9.99355193e-01 -1.32049685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355099892999999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.08, Z:-0.13 [[ 9.98526655e-01 -4.06862776e-02 -3.59046896e-02 2.64580050e+00] [ 4.07043282e-02 9.99171209e-01 -2.28396992e-04 -7.56930098e-02] [ 3.58842248e-02 -1.23341578e-03 9.99355193e-01 -1.30243357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.08, Z:-0.13 [[ 9.98505430e-01 -4.12039179e-02 -3.59046419e-02 2.67365035e+00] [ 4.12220413e-02 9.99149983e-01 -2.35674119e-04 -7.61634034e-02] [ 3.58838330e-02 -1.24474074e-03 9.99355193e-01 -1.25920477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415099893 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.08, Z:-0.13 [[ 9.98499331e-01 -4.13514716e-02 -3.59046157e-02 2.70253206e+00] [ 4.13695492e-02 9.99143885e-01 -2.39600938e-04 -7.63942243e-02] [ 3.58837850e-02 -1.24611639e-03 9.99355193e-01 -1.31180888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.08, Z:-0.12 [[ 9.98565202e-01 -3.97290779e-02 -3.59045666e-02 2.73073099e+00] [ 3.97458518e-02 9.99209791e-01 -2.46740528e-04 -7.59349214e-02] [ 3.58859973e-02 -1.18067108e-03 9.99355193e-01 -1.22315885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475099892999999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.07, Z:-0.13 [[ 9.98684634e-01 -3.66042075e-02 -3.59045024e-02 2.75873667e+00] [ 3.66186403e-02 9.99329280e-01 -2.55758746e-04 -7.32575853e-02] [ 3.58897823e-02 -1.05935173e-03 9.99355193e-01 -1.26849360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.07, Z:-0.11 [[ 9.98769381e-01 -3.42139288e-02 -3.59044659e-02 2.78675669e+00] [ 3.42266383e-02 9.99414063e-01 -2.60783647e-04 -7.06419418e-02] [ 3.58923505e-02 -9.68426442e-04 9.99355193e-01 -1.09279241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.07, Z:-0.11 [[ 9.98877613e-01 -3.08931923e-02 -3.59043991e-02 2.81498451e+00] [ 3.09034391e-02 9.99522338e-01 -2.69669959e-04 -7.06623778e-02] [ 3.58955799e-02 -8.40202127e-04 9.99355193e-01 -1.08679492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.11 [[ 9.98975175e-01 -2.75586467e-02 -3.59043187e-02 2.84329026e+00] [ 2.75663707e-02 9.99619936e-01 -2.79984158e-04 -6.97585108e-02] [ 3.58983887e-02 -7.10054536e-04 9.99355193e-01 -1.10929189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5950998929999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.07, Z:-0.11 [[ 9.99061382e-01 -2.42330372e-02 -3.59042467e-02 2.87223970e+00] [ 2.42382936e-02 9.99706168e-01 -2.88924699e-04 -6.61676973e-02] [ 3.59006984e-02 -5.81604165e-04 9.99355193e-01 -1.09181614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.06, Z:-0.11 [[ 9.99172621e-01 -1.91040329e-02 -3.59041718e-02 2.90116119e+00] [ 1.91056549e-02 9.99817426e-01 -2.97951026e-04 -6.24085324e-02] [ 3.59033087e-02 -3.88268209e-04 9.99355193e-01 -1.05997916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655099892999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.06, Z:-0.11 [[ 9.99279232e-01 -1.23252713e-02 -3.59040946e-02 2.92969910e+00] [ 1.23221942e-02 9.99924032e-01 -3.06989727e-04 -5.94468314e-02] [ 3.59051507e-02 -1.35648768e-04 9.99355193e-01 -1.06249703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.06, Z:-0.11 [[ 9.99330832e-01 -6.98490839e-03 -3.59040156e-02 2.95795522e+00] [ 6.97806300e-03 9.99975603e-01 -3.15966783e-04 -5.50559001e-02] [ 3.59053466e-02 6.52148659e-05 9.99355193e-01 -1.06053104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.05, Z:-0.11 [[ 9.99341407e-01 -5.25937877e-03 -3.59039208e-02 2.98550471e+00] [ 5.25104541e-03 9.99986160e-01 -3.26395231e-04 -4.97293448e-02] [ 3.59051405e-02 1.37647151e-04 9.99355193e-01 -1.05321990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.05, Z:-0.10 [[ 9.99339885e-01 -5.54119511e-03 -3.59038912e-02 3.01386036e+00] [ 5.53292776e-03 9.99984639e-01 -3.29618859e-04 -4.94058244e-02] [ 3.59051661e-02 1.30747637e-04 9.99355193e-01 -1.04301933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.775099892999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.05, Z:-0.10 [[ 9.99301744e-01 -1.03412847e-02 -3.59037953e-02 3.04173850e+00] [ 1.03357505e-02 9.99946527e-01 -3.39746184e-04 -4.54651706e-02] [ 3.59053889e-02 -3.15837179e-05 9.99355193e-01 -1.03182489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8050998929999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.05, Z:-0.10 [[ 9.99203995e-01 -1.73867828e-02 -3.59036953e-02 3.07019057e+00] [ 1.73854262e-02 9.99848801e-01 -3.50009086e-04 -4.65838226e-02] [ 3.59043522e-02 -2.74470566e-04 9.99355193e-01 -1.04330321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.05, Z:-0.10 [[ 9.99050864e-01 -2.46637793e-02 -3.59035989e-02 3.09732770e+00] [ 2.46667734e-02 9.99695664e-01 -3.59629896e-04 -4.71530998e-02] [ 3.59015420e-02 -5.26337379e-04 9.99355193e-01 -1.03832464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.05, Z:-0.10 [[ 9.98877359e-01 -3.09023615e-02 -3.59035538e-02 3.12615116e+00] [ 3.09092222e-02 9.99522130e-01 -3.64083925e-04 -4.64850904e-02] [ 3.58976476e-02 -7.46075732e-04 9.99355193e-01 -9.66900468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895099892999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.05, Z:-0.10 [[ 9.98891636e-01 -3.04374804e-02 -3.59034612e-02 3.15376593e+00] [ 3.04437209e-02 9.99536413e-01 -3.72994058e-04 -4.75012774e-02] [ 3.58981698e-02 -7.20454308e-04 9.99355193e-01 -9.70923205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.05, Z:-0.09 [[ 9.98979768e-01 -2.73929272e-02 -3.59033522e-02 3.18259444e+00] [ 2.73968358e-02 9.99624563e-01 -3.83201172e-04 -4.89427164e-02] [ 3.59003698e-02 -6.00828029e-04 9.99355193e-01 -9.07672950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.05, Z:-0.09 [[ 9.99034752e-01 -2.53085223e-02 -3.59032544e-02 3.21003111e+00] [ 2.53107635e-02 9.99679554e-01 -3.92163792e-04 -4.81618163e-02] [ 3.59016744e-02 -5.16953525e-04 9.99355193e-01 -8.91843589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.05, Z:-0.09 [[ 9.98947714e-01 -2.85382040e-02 -3.59031404e-02 3.23845989e+00] [ 2.85421645e-02 9.99592508e-01 -4.02331991e-04 -4.72981923e-02] [ 3.58999920e-02 -6.22844716e-04 9.99355193e-01 -9.43644027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0150998929999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.05, Z:-0.10 [[ 9.98766090e-01 -3.43113496e-02 -3.59030394e-02 3.26686004e+00] [ 3.43187196e-02 9.99410855e-01 -4.11156438e-04 -4.69398180e-02] [ 3.58959946e-02 -8.21497233e-04 9.99355193e-01 -1.01531369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.05, Z:-0.10 [[ 9.98609214e-01 -3.86084436e-02 -3.59030106e-02 3.29569580e+00] [ 3.86184982e-02 9.99253942e-01 -4.13649873e-04 -4.90340434e-02] [ 3.58921953e-02 -9.73445778e-04 9.99355193e-01 -1.04400067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075099892999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.06, Z:-0.11 [[ 9.98552854e-01 -4.00396534e-02 -3.59029811e-02 3.32495059e+00] [ 4.00505404e-02 9.99197569e-01 -4.16200793e-04 -5.57334252e-02] [ 3.58908359e-02 -1.02233530e-03 9.99355193e-01 -1.05516011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.06, Z:-0.10 [[ 9.98507980e-01 -4.11436198e-02 -3.59028745e-02 3.35319429e+00] [ 4.11548965e-02 9.99152688e-01 -4.25198036e-04 -5.65794782e-02] [ 3.58899478e-02 -1.05301545e-03 9.99355194e-01 -1.02311401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.05, Z:-0.10 [[ 9.98310291e-01 -4.56897685e-02 -3.59027493e-02 3.38193199e+00] [ 4.57036098e-02 9.98954949e-01 -4.35519563e-04 -5.43115938e-02] [ 3.58851279e-02 -1.20610158e-03 9.99355194e-01 -9.94484633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.05, Z:-0.10 [[ 9.98050096e-01 -5.10588454e-02 -3.59026373e-02 3.41013120e+00] [ 5.10758291e-02 9.98694679e-01 -4.44566202e-04 -5.25791937e-02] [ 3.58784719e-02 -1.39005763e-03 9.99355194e-01 -9.78422527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195099892999999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.05, Z:-0.10 [[ 9.97968679e-01 -5.26262042e-02 -3.59026134e-02 3.44124627e+00] [ 5.26441311e-02 9.98613236e-01 -4.46488079e-04 -5.37550042e-02] [ 3.58763219e-02 -1.44448077e-03 9.99355194e-01 -9.87196647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.06, Z:-0.10 [[ 9.98018041e-01 -5.16816309e-02 -3.59026214e-02 3.47142169e+00] [ 5.16989710e-02 9.98662615e-01 -4.45841906e-04 -5.54957157e-02] [ 3.58776476e-02 -1.41117032e-03 9.99355194e-01 -9.56364005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.06, Z:-0.09 [[ 9.98213902e-01 -4.77494199e-02 -3.59026214e-02 3.50140912e+00] [ 4.77642205e-02 9.98858539e-01 -4.45841906e-04 -5.72732491e-02] [ 3.58829286e-02 -1.26981514e-03 9.99355194e-01 -8.92066783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.06, Z:-0.09 [[ 9.98303397e-01 -4.58402729e-02 -3.59026134e-02 3.53111900e+00] [ 4.58538174e-02 9.98948061e-01 -4.46486044e-04 -5.69941451e-02] [ 3.58853131e-02 -1.20054335e-03 9.99355194e-01 -8.53270976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.315099892999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.06, Z:-0.08 [[ 9.98281423e-01 -4.63163322e-02 -3.59026054e-02 3.56042115e+00] [ 4.63301612e-02 9.98926081e-01 -4.47124931e-04 -5.80565466e-02] [ 3.58847582e-02 -1.21701698e-03 9.99355194e-01 -8.15809319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3450998929999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.06, Z:-0.08 [[ 9.98130616e-01 -4.94598485e-02 -3.59025892e-02 3.58906818e+00] [ 4.94756610e-02 9.98775229e-01 -4.48422526e-04 -6.13650310e-02] [ 3.58807957e-02 -1.32872008e-03 9.99355194e-01 -8.27544405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.07, Z:-0.08 [[ 9.97861628e-01 -5.46184775e-02 -3.59025650e-02 3.61871051e+00] [ 5.46375524e-02 9.98506152e-01 -4.50352287e-04 -6.56816799e-02] [ 3.58735296e-02 -1.51223901e-03 9.99355194e-01 -8.16303444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.07, Z:-0.08 [[ 9.97542004e-01 -6.01743844e-02 -3.59025489e-02 3.64898813e+00] [ 6.01970021e-02 9.98186414e-01 -4.51635714e-04 -6.86261637e-02] [ 3.58646134e-02 -1.71070021e-03 9.99355194e-01 -7.77539462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435099892999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.07, Z:-0.07 [[ 9.97558317e-01 -5.99033514e-02 -3.59025569e-02 3.67972320e+00] [ 5.99258168e-02 9.98202731e-01 -4.50999003e-04 -6.92644731e-02] [ 3.58650467e-02 -1.70159224e-03 9.99355194e-01 -7.23719624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.07, Z:-0.07 [[ 9.97882083e-01 -5.42434632e-02 -3.59025648e-02 3.71045117e+00] [ 5.42622953e-02 9.98526615e-01 -4.50367097e-04 -7.04633663e-02] [ 3.58740960e-02 -1.49874232e-03 9.99355194e-01 -6.98817150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.07, Z:-0.06 [[ 9.98536787e-01 -4.04386978e-02 -3.59025889e-02 3.74126287e+00] [ 4.04486844e-02 9.99181516e-01 -4.48434951e-04 -7.20196222e-02] [ 3.58913374e-02 -1.00443369e-03 9.99355194e-01 -6.38014274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.07, Z:-0.06 [[ 9.98785583e-01 -3.37396341e-02 -3.59025889e-02 3.76941631e+00] [ 3.37452957e-02 9.99430365e-01 -4.48434951e-04 -7.20068844e-02] [ 3.58972676e-02 -7.63653118e-04 9.99355194e-01 -6.33765664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5550998929999995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.08, Z:-0.07 [[ 9.98824422e-01 -3.25697356e-02 -3.59024597e-02 3.79714950e+00] [ 3.25742784e-02 9.99469212e-01 -4.58554409e-04 -7.62255662e-02] [ 3.58983381e-02 -7.11481375e-04 9.99355194e-01 -6.61152779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.08, Z:-0.07 [[ 9.98629371e-01 -3.80841514e-02 -3.59023288e-02 3.82478494e+00] [ 3.80918940e-02 9.99274131e-01 -4.68581893e-04 -8.26314887e-02] [ 3.58941140e-02 -8.99648062e-04 9.99355194e-01 -6.86621198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615099892999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.09, Z:-0.07 [[ 9.98314994e-01 -4.55873281e-02 -3.59021914e-02 3.85241434e+00] [ 4.55995455e-02 9.98959685e-01 -4.78881362e-04 -8.87199463e-02] [ 3.58866728e-02 -1.15904917e-03 9.99355194e-01 -7.15390474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645099892999999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.09, Z:-0.08 [[ 9.97947851e-01 -5.30200139e-02 -3.59021486e-02 3.88103827e+00] [ 5.30369171e-02 9.98592436e-01 -4.82071196e-04 -9.12863173e-02] [ 3.58771735e-02 -1.42305736e-03 9.99355194e-01 -7.57900989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.09, Z:-0.08 [[ 9.97693618e-01 -5.76063294e-02 -3.59020278e-02 3.91050763e+00] [ 5.76258779e-02 9.98338128e-01 -4.90903240e-04 -9.25938551e-02] [ 3.58706424e-02 -1.57911484e-03 9.99355194e-01 -8.00689983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099893 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.10, Z:-0.08 [[ 9.97534287e-01 -6.03025554e-02 -3.59019142e-02 3.94070735e+00] [ 6.03235521e-02 9.98178752e-01 -4.99079523e-04 -9.60749342e-02] [ 3.58666237e-02 -1.66788205e-03 9.99355194e-01 -8.17878393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.735099892999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.10, Z:-0.08 [[ 9.97766047e-01 -5.63379933e-02 -3.59018806e-02 3.97050199e+00] [ 5.63563424e-02 9.98410592e-01 -5.01484936e-04 -9.89041907e-02] [ 3.58730705e-02 -1.52293403e-03 9.99355194e-01 -7.94767699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7650998929999995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.10, Z:-0.08 [[ 9.98187556e-01 -4.82976123e-02 -3.59018631e-02 3.99901316e+00] [ 4.83107231e-02 9.98832229e-01 -5.02734876e-04 -9.68067764e-02] [ 3.58842188e-02 -1.23262127e-03 9.99355194e-01 -7.64328595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795099893 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.09, Z:-0.07 [[ 9.98735225e-01 -3.51996687e-02 -3.59017356e-02 4.02646562e+00] [ 3.52040005e-02 9.99380016e-01 -5.11678890e-04 -9.35633857e-02] [ 3.58974880e-02 -7.52852987e-04 9.99355194e-01 -7.46863675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.09, Z:-0.07 [[ 9.99191755e-01 -1.80805646e-02 -3.59016667e-02 4.05469949e+00] [ 1.80736747e-02 9.99836524e-01 -5.16470111e-04 -9.24386076e-02] [ 3.59051357e-02 -1.32822367e-04 9.99355194e-01 -6.93552124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855099892999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.09, Z:-0.06 [[ 9.99354357e-01 -1.39601533e-03 -3.59015359e-02 4.08340057e+00] [ 1.37804051e-03 9.99998912e-01 -5.25409977e-04 -9.02999240e-02] [ 3.59022303e-02 4.75596979e-04 9.99355194e-01 -6.33032016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.09, Z:-0.06 [[ 9.99275252e-01 1.26514897e-02 -3.59014027e-02 4.11223878e+00] [-1.26788441e-02 9.99919477e-01 -5.34357936e-04 -8.56732878e-02] [ 3.58917514e-02 9.89158949e-04 9.99355194e-01 -5.88737304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915099893 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.09, Z:-0.06 [[ 9.99290796e-01 1.13579734e-02 -3.59012670e-02 4.13913273e+00] [-1.13848159e-02 9.99935043e-01 -5.43326202e-04 -8.63391060e-02] [ 3.58927638e-02 9.51670189e-04 9.99355194e-01 -6.00313338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.09, Z:-0.06 [[ 9.99354841e-01 1.00290241e-03 -3.59011994e-02 4.16745323e+00] [-1.02322698e-03 9.99999326e-01 -5.47755964e-04 -9.04201857e-02] [ 3.59006258e-02 5.84137650e-04 9.99355194e-01 -5.94441710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975099892999999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.10, Z:-0.06 [[ 9.99194507e-01 -1.79290844e-02 -3.59010424e-02 4.19614656e+00] [ 1.79206098e-02 9.99839257e-01 -5.57855324e-04 -9.64785115e-02] [ 3.59052734e-02 -8.59625965e-05 9.99355194e-01 -6.22447697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.10, Z:-0.06 [[ 9.98965151e-01 -2.79239271e-02 -3.59010031e-02 4.22469382e+00] [ 2.79218123e-02 9.99609953e-01 -5.60376138e-04 -1.00099654e-01] [ 3.59026479e-02 -4.42624835e-04 9.99355194e-01 -6.41497483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035099892999999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.10, Z:-0.06 [[ 9.98828790e-01 -3.24371626e-02 -3.59009635e-02 4.25291254e+00] [ 3.24378703e-02 9.99473595e-01 -5.62903975e-04 -1.01300596e-01] [ 3.59003240e-02 -6.02306099e-04 9.99355194e-01 -6.14690289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.10, Z:-0.05 [[ 9.99178900e-01 -1.87791787e-02 -3.59008012e-02 4.28135469e+00] [ 1.87707060e-02 9.99823651e-01 -5.73068993e-04 -9.52225763e-02] [ 3.59052319e-02 -1.01284937e-04 9.99355194e-01 -5.38219888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0950998929999995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.09, Z:-0.05 [[ 9.99354425e-01 -1.36970162e-03 -3.59006561e-02 4.30987911e+00] [ 1.34967667e-03 9.99998920e-01 -5.82016766e-04 -8.66915997e-02] [ 3.59014146e-02 5.33186752e-04 9.99355194e-01 -4.83003245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.08, Z:-0.05 [[ 9.99200394e-01 1.75990567e-02 -3.59005090e-02 4.33745228e+00] [-1.76316318e-02 9.99844376e-01 -5.90956376e-04 -7.53881818e-02] [ 3.58845217e-02 1.22346840e-03 9.99355194e-01 -5.03947540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155099892999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.07, Z:-0.05 [[ 9.99167015e-01 1.94020880e-02 -3.59003389e-02 4.36631029e+00] [-1.94361896e-02 9.99810919e-01 -6.01112572e-04 -6.96436902e-02] [ 3.58818880e-02 1.29837765e-03 9.99355194e-01 -4.81467748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185099892999999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.06, Z:-0.04 [[ 9.99262125e-01 1.36521576e-02 -3.59001881e-02 4.39392622e+00] [-1.36828720e-02 9.99906199e-01 -6.09989829e-04 -6.37423027e-02] [ 3.58884930e-02 1.10075741e-03 9.99355194e-01 -4.35942831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215099893 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.06, Z:-0.05 [[ 9.99352903e-01 2.22601529e-03 -3.59001345e-02 4.42150647e+00] [-2.24947627e-03 9.99997282e-01 -6.13128697e-04 -6.03211175e-02] [ 3.58986721e-02 6.93488444e-04 9.99355194e-01 -4.53127625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.06, Z:-0.05 [[ 9.99209209e-01 -1.70923942e-02 -3.58999603e-02 4.45019933e+00] [ 1.70810332e-02 9.99853914e-01 -6.23162873e-04 -5.94699932e-02] [ 3.59053672e-02 9.46166687e-06 9.99355194e-01 -4.93430468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.275099892999999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.06, Z:-0.05 [[ 9.99095038e-01 -2.28100975e-02 -3.58999155e-02 4.47848313e+00] [ 2.28023336e-02 9.99739797e-01 -6.25734500e-04 -5.82096512e-02] [ 3.59048473e-02 -1.93433616e-04 9.99355194e-01 -5.01552742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3050998929999995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.06, Z:-0.05 [[ 9.98864177e-01 -3.13298056e-02 -3.58998594e-02 4.50630669e+00] [ 3.13274257e-02 9.99508978e-01 -6.28935821e-04 -5.56975197e-02] [ 3.59019362e-02 -4.96428716e-04 9.99355194e-01 -5.26802666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.04, Z:-0.05 [[ 9.99010054e-01 -2.62700583e-02 -3.58998038e-02 4.53556303e+00] [ 2.62642990e-02 9.99654834e-01 -6.32092821e-04 -4.39241682e-02] [ 3.59040176e-02 -3.11416100e-04 9.99355194e-01 -5.27728179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.03, Z:-0.05 [[ 9.99249244e-01 -1.45655277e-02 -3.58997814e-02 4.56444355e+00] [ 1.45521699e-02 9.99893911e-01 -6.33363349e-04 -3.40776404e-02] [ 3.59051981e-02 1.10468127e-04 9.99355194e-01 -4.62340792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395099892999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.02, Z:-0.04 [[ 9.99355295e-01 4.50383077e-04 -3.58997472e-02 4.59282380e+00] [-4.73495152e-04 9.99999686e-01 -6.35295602e-04 -2.41182180e-02] [ 3.58994498e-02 6.51884380e-04 9.99355194e-01 -3.86758680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.02, Z:-0.04 [[ 9.98842453e-01 -3.20150559e-02 -3.58997133e-02 4.62140475e+00] [ 3.20128210e-02 9.99487255e-01 -6.37208508e-04 -1.68683045e-02] [ 3.59017061e-02 -5.12780186e-04 9.99355194e-01 -4.27804776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.03, Z:-0.05 [[ 9.98773805e-01 -3.40895883e-02 -3.58996687e-02 4.65059576e+00] [ 3.40886029e-02 9.99418610e-01 -6.39708339e-04 -2.83744688e-02] [ 3.59006044e-02 -5.84845620e-04 9.99355194e-01 -5.00845362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.02, Z:-0.04 [[ 9.98907359e-01 -2.99216406e-02 -3.58996235e-02 4.67912653e+00] [ 2.99178738e-02 9.99552154e-01 -6.42235033e-04 -2.45129734e-02] [ 3.59027627e-02 -4.32507107e-04 9.99355194e-01 -4.37934684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5150998929999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.02, Z:-0.04 [[ 9.98978583e-01 -2.74411973e-02 -3.58994636e-02 4.70691712e+00] [ 2.74355126e-02 9.99623363e-01 -6.51052656e-04 -2.01295299e-02] [ 3.59038082e-02 -3.34532526e-04 9.99355194e-01 -4.08369357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.02, Z:-0.04 [[ 9.98966507e-01 -2.78774079e-02 -3.58994068e-02 4.73515968e+00] [ 2.78718927e-02 9.99611289e-01 -6.54170340e-04 -1.81527332e-02] [ 3.59036889e-02 -3.47090156e-04 9.99355194e-01 -3.65813663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575099892999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.02, Z:-0.03 [[ 9.98932116e-01 -2.90838755e-02 -3.58992447e-02 4.76406329e+00] [ 2.90788237e-02 9.99576902e-01 -6.62946798e-04 -1.69575612e-02] [ 3.59033369e-02 -3.81668959e-04 9.99355194e-01 -3.43541040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605099892999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.02, Z:-0.03 [[ 9.98883168e-01 -3.07192698e-02 -3.58990819e-02 4.79141012e+00] [ 3.07149610e-02 9.99527959e-01 -6.71647777e-04 -1.66750602e-02] [ 3.59027686e-02 -4.31741241e-04 9.99355195e-01 -3.26914419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.02, Z:-0.03 [[ 9.98874590e-01 -3.09971579e-02 -3.58988924e-02 4.81976112e+00] [ 3.09926698e-02 9.99519379e-01 -6.81628408e-04 -1.60623181e-02] [ 3.59027672e-02 -4.31741225e-04 9.99355195e-01 -3.16687830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.02, Z:-0.03 [[ 9.98802218e-01 -3.32477315e-02 -3.58987002e-02 4.84816529e+00] [ 3.32443376e-02 9.99447015e-01 -6.91608986e-04 -1.65681366e-02] [ 3.59018431e-02 -5.02647918e-04 9.99355195e-01 -3.26172306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695099892999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.02, Z:-0.03 [[ 9.98711261e-01 -3.58763601e-02 -3.58985288e-02 4.87645737e+00] [ 3.58743475e-02 9.99356063e-01 -7.00393030e-04 -1.69378312e-02] [ 3.59005399e-02 -5.88345892e-04 9.99355195e-01 -3.31164743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725099892999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.02, Z:-0.03 [[ 9.98579249e-01 -3.93801133e-02 -3.58983313e-02 4.90315726e+00] [ 3.93800044e-02 9.99224054e-01 -7.10373505e-04 -1.64871289e-02] [ 3.58984507e-02 -7.04312202e-04 9.99355195e-01 -3.39024695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.02, Z:-0.03 [[ 9.98568774e-01 -3.96449735e-02 -3.58981942e-02 4.93151172e+00] [ 3.96447891e-02 9.99213579e-01 -7.17234119e-04 -1.58286948e-02] [ 3.58983978e-02 -7.06968744e-04 9.99355195e-01 -3.28808593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.01, Z:-0.03 [[ 9.98506400e-01 -4.11861974e-02 -3.58980015e-02 4.95989703e+00] [ 4.11866661e-02 9.99151205e-01 -7.26752934e-04 -1.41862977e-02] [ 3.58974636e-02 -7.52851547e-04 9.99355195e-01 -3.01591068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.815099892999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.01, Z:-0.03 [[ 9.98522798e-01 -4.07868681e-02 -3.58978272e-02 4.98813762e+00] [ 4.07867731e-02 9.99167603e-01 -7.35264218e-04 -1.06722643e-02] [ 3.58979350e-02 -7.29978448e-04 9.99355195e-01 -2.71210010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8450998929999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.01, Z:-0.03 [[ 9.99028449e-01 -2.55639822e-02 -3.58976474e-02 5.01696722e+00] [ 2.55537483e-02 9.99673173e-01 -7.43938120e-04 -1.36663405e-02] [ 3.59049331e-02 -1.74104102e-04 9.99355195e-01 -2.77654880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.01, Z:-0.03 [[ 9.99066280e-01 -2.40403774e-02 -3.58974609e-02 5.04602969e+00] [ 2.40288407e-02 9.99710982e-01 -7.52832731e-04 -1.20492335e-02] [ 3.59051843e-02 -1.10444572e-04 9.99355195e-01 -2.51450571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.01, Z:-0.02 [[ 9.99118844e-01 -2.17467367e-02 -3.58972729e-02 5.07441244e+00] [ 2.17334017e-02 9.99763512e-01 -7.61691384e-04 -8.05170420e-03] [ 3.59053479e-02 -1.91496381e-05 9.99355195e-01 -2.10169580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935099892999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.01, Z:-0.02 [[ 9.99118005e-01 -2.17855847e-02 -3.58970840e-02 5.10107631e+00] [ 2.17719587e-02 9.99762666e-01 -7.70490779e-04 -6.42081055e-03] [ 3.59053500e-02 -1.17386204e-05 9.99355195e-01 -2.11518608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.01, Z:-0.02 [[ 9.99097587e-01 -2.27029118e-02 -3.58969344e-02 5.12910464e+00] [ 2.26896293e-02 9.99742255e-01 -7.77401407e-04 -5.25607506e-03] [ 3.59053314e-02 -3.77882664e-05 9.99355195e-01 -2.01536252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995099892999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.00, Z:-0.02 [[ 9.99076108e-01 -2.36295662e-02 -3.58967130e-02 5.15699633e+00] [ 2.36165191e-02 9.99720781e-01 -7.87492101e-04 -3.89073913e-03] [ 3.59052981e-02 -6.09908669e-05 9.99355195e-01 -1.78898381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.00, Z:-0.02 [[ 9.99032395e-01 -2.54107131e-02 -3.58966443e-02 5.18482019e+00] [ 2.53987033e-02 9.99677088e-01 -7.90611128e-04 -2.24406897e-03] [ 3.59051429e-02 -1.21882091e-04 9.99355195e-01 -1.52774234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0550998929999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.00, Z:-0.01 [[ 9.98965950e-01 -2.79012197e-02 -3.58964198e-02 5.21307011e+00] [ 2.78904555e-02 9.99610665e-01 -8.00677210e-04 -1.18910555e-03] [ 3.59047839e-02 -2.01318229e-04 9.99355195e-01 -1.32297450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.00, Z:-0.01 [[ 9.98898719e-01 -3.02127816e-02 -3.58961939e-02 5.24098025e+00] [ 3.02031499e-02 9.99543452e-01 -8.10678764e-04 -7.03954170e-04] [ 3.59042985e-02 -2.74392148e-04 9.99355195e-01 -1.37083362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.00, Z:-0.01 [[ 9.98691187e-01 -3.64333990e-02 -3.58959627e-02 5.26877485e+00] [ 3.64274195e-02 9.99335964e-01 -8.20790269e-04 -1.36996436e-03] [ 3.59020307e-02 -4.87881285e-04 9.99355195e-01 -1.46567281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.00, Z:-0.02 [[ 9.98489862e-01 -4.15871568e-02 -3.58957267e-02 5.29705041e+00] [ 4.15841387e-02 9.99134660e-01 -8.30986453e-04 -2.84755886e-03] [ 3.58992230e-02 -6.62961329e-04 9.99355195e-01 -1.91218293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.01, Z:-0.02 [[ 9.98045269e-01 -5.11580152e-02 -3.58956533e-02 5.32570217e+00] [ 5.11610656e-02 9.98690067e-01 -8.34143088e-04 -5.83928493e-03] [ 3.58913055e-02 -1.00394731e-03 9.99355195e-01 -1.52747186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.36, Y:0.00, Z:-0.01 [[ 9.98595021e-01 -3.89807707e-02 -3.58954468e-02 5.35700677e+00] [ 3.89756400e-02 9.99239806e-01 -8.42938114e-04 2.92847303e-03] [ 3.59010177e-02 -5.57294208e-04 9.99355195e-01 -1.02485931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.235099892999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.00, Z:-0.01 [[ 9.98371057e-01 -4.43480361e-02 -3.58954764e-02 5.38619850e+00] [ 4.43464169e-02 9.99015859e-01 -8.41673711e-04 -2.39480744e-03] [ 3.58974768e-02 -7.51533091e-04 9.99355195e-01 -1.36131315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2650998929999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.01, Z:-0.01 [[ 9.98222797e-01 -4.75686665e-02 -3.58952676e-02 5.41531597e+00] [ 4.75688109e-02 9.98867601e-01 -8.50486393e-04 -5.15466188e-03] [ 3.58950764e-02 -8.58520292e-04 9.99355195e-01 -1.48838541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.01, Z:-0.02 [[ 9.97972078e-01 -5.25667710e-02 -3.58952232e-02 5.44464034e+00] [ 5.25700769e-02 9.98616874e-01 -8.52359207e-04 -8.54438494e-03] [ 3.58903813e-02 -1.03638395e-03 9.99355195e-01 -1.57858799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.01, Z:-0.01 [[ 9.97972076e-01 -5.25668166e-02 -3.58951929e-02 5.47560883e+00] [ 5.25700769e-02 9.98616873e-01 -8.53630760e-04 -7.80730442e-03] [ 3.58904180e-02 -1.03511339e-03 9.99355195e-01 -1.46724362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355099892999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.01, Z:-0.01 [[ 9.97854737e-01 -5.47490534e-02 -3.58951929e-02 5.50598893e+00] [ 5.47537237e-02 9.98499525e-01 -8.53630760e-04 -7.52586744e-03] [ 3.58880686e-02 -1.11359598e-03 9.99355195e-01 -1.26253199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.01, Z:-0.01 [[ 9.97876755e-01 -5.43462670e-02 -3.58952079e-02 5.53763430e+00] [ 5.43506997e-02 9.98521544e-01 -8.53000156e-04 -6.45054840e-03] [ 3.58884958e-02 -1.09974064e-03 9.99355195e-01 -1.11785051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.57, Y:0.00, Z:-0.01 [[ 9.98664367e-01 -3.71619884e-02 -3.58952379e-02 5.56789246e+00] [ 3.71553672e-02 9.99309138e-01 -8.51737062e-04 1.57908005e-03] [ 3.59020915e-02 -4.83101292e-04 9.99355195e-01 -7.58271241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:5.60, Y:0.00, Z:-0.01 [[ 9.98555881e-01 -3.99710356e-02 -3.58952379e-02 5.59685031e+00] [ 3.99662281e-02 9.99200668e-01 -8.51737062e-04 2.32408239e-03] [ 3.59005905e-02 -5.84090213e-04 9.99355195e-01 -8.06225449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475099892999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:5.63, Y:0.00, Z:-0.01 [[ 9.98516835e-01 -4.09350415e-02 -3.58950240e-02 5.62524274e+00] [ 4.09305359e-02 9.99161624e-01 -8.60657173e-04 1.91648786e-03] [ 3.59001615e-02 -6.09821893e-04 9.99355195e-01 -1.37082403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.65, Y:0.01, Z:-0.01 [[ 9.98913595e-01 -2.97183896e-02 -3.58949480e-02 5.65331081e+00] [ 2.97065294e-02 9.99558290e-01 -8.63816365e-04 6.48536140e-03] [ 3.59047641e-02 -2.03436417e-04 9.99355195e-01 -5.54188715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535099892999999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:5.68, Y:0.01, Z:-0.00 [[ 9.98950705e-01 -2.84439453e-02 -3.58947329e-02 5.68156611e+00] [ 2.84309448e-02 9.99595378e-01 -8.72662486e-04 7.68084000e-03] [ 3.59050311e-02 -1.48774364e-04 9.99355195e-01 -4.35354729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.71, Y:0.01, Z:-0.00 [[ 9.98930667e-01 -2.91394458e-02 -3.58945147e-02 5.70873677e+00] [ 2.91265748e-02 9.99575343e-01 -8.81548338e-04 8.59934379e-03] [ 3.59049597e-02 -1.64878599e-04 9.99355195e-01 -1.58595161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5950998929999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:5.74, Y:0.01, Z:-0.00 [[ 9.98897804e-01 -3.02451812e-02 -3.58943794e-02 5.73620184e+00] [ 3.02328271e-02 9.99542490e-01 -8.87022453e-04 9.74146258e-03] [ 3.59047855e-02 -1.99143787e-04 9.99355195e-01 -1.09755068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.76, Y:0.01, Z:0.00 [[ 9.98848844e-01 -3.18213497e-02 -3.58941247e-02 5.76399443e+00] [ 3.18096467e-02 9.99493542e-01 -8.97213119e-04 1.11096508e-02] [ 3.59044964e-02 -2.45599140e-04 9.99355196e-01 8.67934845e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655099892999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.79, Y:0.01, Z:0.00 [[ 9.98790909e-01 -3.35909313e-02 -3.58938665e-02 5.79072981e+00] [ 3.35800035e-02 9.99435621e-01 -9.07426312e-04 1.22243870e-02] [ 3.59040900e-02 -2.98987013e-04 9.99355196e-01 2.28179754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685099892999999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:5.82, Y:0.01, Z:0.00 [[ 9.98714867e-01 -3.57806786e-02 -3.58936876e-02 5.81887779e+00] [ 3.57709120e-02 9.99359598e-01 -9.14446853e-04 1.30540580e-02] [ 3.59034208e-02 -3.70678276e-04 9.99355196e-01 3.09255618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:5.85, Y:0.01, Z:0.00 [[ 9.98566086e-01 -3.97169164e-02 -3.58934218e-02 5.84565639e+00] [ 3.97093204e-02 9.99210846e-01 -9.24763105e-04 1.25985607e-02] [ 3.59018251e-02 -5.01866315e-04 9.99355196e-01 3.46653473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.87, Y:0.01, Z:0.00 [[ 9.98490927e-01 -4.15636871e-02 -3.58933063e-02 5.87342497e+00] [ 4.15571232e-02 9.99135698e-01 -9.29228394e-04 1.28483960e-02] [ 3.59009057e-02 -5.63796429e-04 9.99355196e-01 4.49141292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.775099892999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:5.90, Y:0.01, Z:0.01 [[ 9.98483908e-01 -4.17321733e-02 -3.58930425e-02 5.90234722e+00] [ 4.17253560e-02 9.99128677e-01 -9.39307015e-04 1.36064165e-02] [ 3.59009674e-02 -5.59767036e-04 9.99355196e-01 9.40393550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8050998929999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:5.93, Y:0.01, Z:0.00 [[ 9.98592512e-01 -3.90474364e-02 -3.58928075e-02 5.93190666e+00] [ 3.90385658e-02 9.99237255e-01 -9.48202465e-04 1.49814557e-02] [ 3.59024553e-02 -4.54335848e-04 9.99355196e-01 3.75283971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:5.96, Y:0.02, Z:0.01 [[ 9.98738948e-01 -3.51032216e-02 -3.58925821e-02 5.95974564e+00] [ 3.50915009e-02 9.99383646e-01 -9.56657600e-04 1.84472414e-02] [ 3.59040414e-02 -3.04073374e-04 9.99355196e-01 7.98718151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:5.99, Y:0.02, Z:0.01 [[ 9.98765891e-01 -3.43282350e-02 -3.58924504e-02 5.98861006e+00] [ 3.43158373e-02 9.99410576e-01 -9.61575413e-04 2.08299319e-02] [ 3.59043037e-02 -2.71290764e-04 9.99355196e-01 1.15481859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895099892999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:6.02, Y:0.02, Z:0.01 [[ 9.98779379e-01 -3.39337811e-02 -3.58922124e-02 6.01692435e+00] [ 3.39208124e-02 9.99424053e-01 -9.70379462e-04 2.21466657e-02] [ 3.59044690e-02 -2.48298008e-04 9.99355196e-01 1.40475609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.04, Y:0.02, Z:0.01 [[ 9.98673844e-01 -3.69096285e-02 -3.58919709e-02 6.04470892e+00] [ 3.68982628e-02 9.99318547e-01 -9.79228842e-04 2.14493339e-02] [ 3.59036552e-02 -3.46421144e-04 9.99355196e-01 1.35638101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955099892999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.07, Y:0.02, Z:0.02 [[ 9.98923060e-01 -2.94024995e-02 -3.58916916e-02 6.07278129e+00] [ 2.93859244e-02 9.99567651e-01 -9.89361869e-04 2.23553543e-02] [ 3.59052636e-02 -6.64141510e-05 9.99355196e-01 1.60499630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.10, Y:0.02, Z:0.02 [[ 9.98898853e-01 -3.02138114e-02 -3.58916050e-02 6.10056292e+00] [ 3.01976472e-02 9.99543454e-01 -9.92495807e-04 2.24046521e-02] [ 3.59052059e-02 -9.24390995e-05 9.99355196e-01 1.83394181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.13, Y:0.02, Z:0.02 [[ 9.98851149e-01 -3.17520754e-02 -3.58913245e-02 6.12957960e+00] [ 3.17365432e-02 9.99495766e-01 -1.00253605e-03 2.13053794e-02] [ 3.59050595e-02 -1.37682281e-04 9.99355196e-01 1.53790268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:6.16, Y:0.02, Z:0.02 [[ 9.98935775e-01 -2.89680703e-02 -3.58910729e-02 6.15883035e+00] [ 2.89504207e-02 9.99580337e-01 -1.01146528e-03 2.18441610e-02] [ 3.59053109e-02 -2.86728061e-05 9.99355196e-01 1.62275134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:6.19, Y:0.02, Z:0.02 [[ 9.98483453e-01 -4.17449745e-02 -3.58908360e-02 6.18651490e+00] [ 4.17352724e-02 9.99128183e-01 -1.01980287e-03 2.35534285e-02] [ 3.59021174e-02 -4.79657531e-04 9.99355196e-01 2.01521692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.22, Y:0.02, Z:0.02 [[ 9.98552941e-01 -4.00484464e-02 -3.58907455e-02 6.21542118e+00] [ 4.00375348e-02 9.99197653e-01 -1.02297876e-03 2.29634116e-02] [ 3.59029173e-02 -4.15478521e-04 9.99355196e-01 1.96158837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:6.24, Y:0.02, Z:0.02 [[ 9.98563109e-01 -3.97943570e-02 -3.58904880e-02 6.24319386e+00] [ 3.97829596e-02 9.99207812e-01 -1.03193416e-03 2.40690759e-02] [ 3.59031211e-02 -3.97378454e-04 9.99355196e-01 2.13954290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099893 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:6.27, Y:0.03, Z:0.02 [[ 9.99265924e-01 -1.33975127e-02 -3.58903967e-02 6.27241589e+00] [ 1.33689720e-02 9.99910096e-01 -1.03509720e-03 2.58357560e-02] [ 3.59010378e-02 5.54519650e-04 9.99355196e-01 1.90176341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.30, Y:0.03, Z:0.02 [[ 9.99352923e-01 -2.37326338e-03 -3.58901387e-02 6.30113129e+00] [ 2.33729985e-03 9.99996724e-01 -1.04396801e-03 2.61084277e-02] [ 3.58924987e-02 9.59406463e-04 9.99355196e-01 2.06601393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.03, Z:0.03 [[ 9.99334952e-01 6.44642700e-03 -3.58900658e-02 6.32955485e+00] [-6.48816049e-03 9.99978404e-01 -1.04646692e-03 2.65180813e-02] [ 3.58825448e-02 1.27863148e-03 9.99355196e-01 2.69505867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.36, Y:0.03, Z:0.03 [[ 9.99283630e-01 1.20062325e-02 -3.58898040e-02 6.35775179e+00] [-1.20518645e-02 9.99926817e-01 -1.05537167e-03 2.70097060e-02] [ 3.58745064e-02 1.48715469e-03 9.99355196e-01 3.06316252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:6.39, Y:0.03, Z:0.03 [[ 9.99280967e-01 1.22261032e-02 -3.58897099e-02 6.38588055e+00] [-1.22719911e-02 9.99924136e-01 -1.05856072e-03 2.61424462e-02] [ 3.58740451e-02 1.49823778e-03 9.99355196e-01 3.26921405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315099893000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.41, Y:0.01, Z:0.03 [[ 9.98985686e-01 -2.71944006e-02 -3.58896164e-02 6.41491977e+00] [ 2.71738010e-02 9.99630160e-01 -1.06172369e-03 1.33018844e-02] [ 3.59052159e-02 8.53894790e-05 9.99355196e-01 3.30601481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:6.44, Y:0.01, Z:0.03 [[ 9.98233633e-01 -4.73450710e-02 -3.58895410e-02 6.44364350e+00] [ 4.73373876e-02 9.98878391e-01 -1.06426413e-03 7.07485524e-03] [ 3.58996746e-02 -6.36532867e-04 9.99355196e-01 2.79833136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.47, Y:0.02, Z:0.03 [[ 9.98284573e-01 -4.62585938e-02 -3.58894657e-02 6.47339927e+00] [ 4.62501175e-02 9.98929321e-01 -1.06680008e-03 1.62069066e-02] [ 3.59003882e-02 -5.94921944e-04 9.99355196e-01 3.15144617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:6.50, Y:0.03, Z:0.03 [[ 9.98550917e-01 -4.01000350e-02 -3.58894657e-02 6.50226737e+00] [ 4.00875819e-02 9.99195600e-01 -1.06680008e-03 2.73096357e-02] [ 3.59033749e-02 -3.73467697e-04 9.99355196e-01 3.47000616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:0.03 [[ 9.98757932e-01 -3.45621151e-02 -3.58894619e-02 6.53054314e+00] [ 3.45460827e-02 9.99402536e-01 -1.06692532e-03 3.05900129e-02] [ 3.59048945e-02 -1.74240195e-04 9.99355196e-01 2.83421187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.56, Y:0.03, Z:0.03 [[ 9.98687142e-01 -3.65505910e-02 -3.58893685e-02 6.55960021e+00] [ 3.65357294e-02 9.99331774e-01 -1.07005906e-03 3.20905341e-02] [ 3.59044976e-02 -2.42590031e-04 9.99355196e-01 2.85627765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.59, Y:0.03, Z:0.04 [[ 9.98748612e-01 -3.48307736e-02 -3.58891015e-02 6.58783195e+00] [ 3.48144829e-02 9.99393210e-01 -1.07893960e-03 3.46350867e-02] [ 3.59049047e-02 -1.71871084e-04 9.99355196e-01 3.53085507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:6.62, Y:0.04, Z:0.04 [[ 9.98960510e-01 -2.81050176e-02 -3.58888314e-02 6.61614779e+00] [ 2.80840668e-02 9.99604973e-01 -1.08785010e-03 3.97887499e-02] [ 3.59052284e-02 7.88149500e-05 9.99355196e-01 4.10522915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:6.64, Y:0.04, Z:0.04 [[ 9.98952474e-01 -2.83895383e-02 -3.58885584e-02 6.64448633e+00] [ 2.83684501e-02 9.99596933e-01 -1.09678472e-03 4.07185773e-02] [ 3.59052301e-02 7.75330362e-05 9.99355196e-01 4.20744821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.67, Y:0.04, Z:0.04 [[ 9.99053192e-01 -2.45917212e-02 -3.58882432e-02 6.67214712e+00] [ 2.45678161e-02 9.99697553e-01 -1.10700140e-03 3.79433452e-02] [ 3.59046120e-02 2.24257522e-04 9.99355196e-01 3.95526697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.70, Y:0.04, Z:0.04 [[ 9.99204072e-01 -1.74149215e-02 -3.58879229e-02 6.69925083e+00] [ 1.73860192e-02 9.99848227e-01 -1.11729044e-03 3.92081291e-02] [ 3.59019336e-02 4.92453038e-04 9.99355196e-01 4.27616747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893000001 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:6.73, Y:0.04, Z:0.04 [[ 9.99134158e-01 -2.10476091e-02 -3.58877837e-02 6.72726753e+00] [ 2.10208890e-02 9.99778407e-01 -1.12174482e-03 3.67279162e-02] [ 3.59034413e-02 3.66380445e-04 9.99355196e-01 4.05530225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:6.75, Y:0.04, Z:0.04 [[ 9.98944690e-01 -2.86635197e-02 -3.58874620e-02 6.75488576e+00] [ 2.86413452e-02 9.99589112e-01 -1.13194234e-03 3.70019626e-02] [ 3.59051618e-02 1.02882602e-04 9.99355197e-01 4.32382858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.78, Y:0.04, Z:0.04 [[ 9.98489281e-01 -4.16083730e-02 -3.58873141e-02 6.78363185e+00] [ 4.15943848e-02 9.99133933e-01 -1.13661297e-03 3.64387488e-02] [ 3.59035259e-02 -3.57814885e-04 9.99355197e-01 4.12646310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735099893000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.81, Y:0.04, Z:0.04 [[ 9.98292380e-01 -4.60915427e-02 -3.58872337e-02 6.81111968e+00] [ 4.60803583e-02 9.98937087e-01 -1.13914665e-03 3.56350514e-02] [ 3.59015937e-02 -5.16495164e-04 9.99355197e-01 4.07682690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:6.84, Y:0.04, Z:0.04 [[ 9.98174979e-01 -4.85677758e-02 -3.58870806e-02 6.84095737e+00] [ 4.85580181e-02 9.98819709e-01 -1.14394802e-03 3.65355621e-02] [ 3.59002824e-02 -6.00745222e-04 9.99355197e-01 4.30618676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:6.87, Y:0.04, Z:0.04 [[ 9.98188332e-01 -4.82925872e-02 -3.58870408e-02 6.87144364e+00] [ 4.82826069e-02 9.98833058e-01 -1.14519681e-03 3.73852226e-02] [ 3.59004672e-02 -5.89597792e-04 9.99355197e-01 4.34794228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:6.90, Y:0.04, Z:0.04 [[ 9.98197197e-01 -4.81089946e-02 -3.58870408e-02 6.90167997e+00] [ 4.80988957e-02 9.98841922e-01 -1.14519681e-03 3.68193848e-02] [ 3.59005751e-02 -5.82994787e-04 9.99355197e-01 4.33756722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.93, Y:0.04, Z:0.05 [[ 9.98164551e-01 -4.87816426e-02 -3.58870408e-02 6.93236805e+00] [ 4.87719782e-02 9.98809282e-01 -1.14519681e-03 3.72109998e-02] [ 3.59001740e-02 -6.07187110e-04 9.99355197e-01 4.63057585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:6.96, Y:0.04, Z:0.05 [[ 9.98086339e-01 -5.03565219e-02 -3.58870408e-02 6.96254089e+00] [ 5.03478747e-02 9.98731085e-01 -1.14519681e-03 3.80313741e-02] [ 3.58991713e-02 -6.63830943e-04 9.99355197e-01 4.74312569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:6.99, Y:0.04, Z:0.05 [[ 9.98042483e-01 -5.12183822e-02 -3.58870408e-02 6.99377920e+00] [ 5.12102918e-02 9.98687236e-01 -1.14519681e-03 3.91686538e-02] [ 3.58985847e-02 -6.94830764e-04 9.99355197e-01 5.06830165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:7.02, Y:0.04, Z:0.04 [[ 9.97837448e-01 -5.50685468e-02 -3.58870820e-02 7.02361218e+00] [ 5.50629906e-02 9.98482227e-01 -1.14390258e-03 3.77124412e-02] [ 3.58956067e-02 -8.34621230e-04 9.99355197e-01 4.05147999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.05, Y:0.04, Z:0.05 [[ 9.97997894e-01 -5.20799674e-02 -3.58870616e-02 7.05467249e+00] [ 5.20724570e-02 9.98642653e-01 -1.14454495e-03 4.26899591e-02] [ 3.58979582e-02 -7.26474022e-04 9.99355197e-01 4.94108106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.09, Y:0.04, Z:0.05 [[ 9.98559157e-01 -3.98964354e-02 -3.58871023e-02 7.08616458e+00] [ 3.98811028e-02 9.99203778e-01 -1.14326709e-03 4.06407395e-02] [ 3.59041405e-02 -2.89597389e-04 9.99355197e-01 4.73586545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.11, Y:0.04, Z:0.05 [[ 9.98843499e-01 -3.19965315e-02 -3.58871429e-02 7.11497397e+00] [ 3.19761463e-02 9.99487980e-01 -1.14199044e-03 4.46485367e-02] [ 3.59053077e-02 -6.86280795e-06 9.99355197e-01 5.04036162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.14, Y:0.05, Z:0.05 [[ 9.99008113e-01 -2.63614064e-02 -3.58868560e-02 7.14256526e+00] [ 2.63370646e-02 9.99652457e-01 -1.15093477e-03 4.76595832e-02] [ 3.59047241e-02 2.04638728e-04 9.99355197e-01 5.42469081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:7.17, Y:0.05, Z:0.05 [[ 9.99107631e-01 -2.22729008e-02 -3.58867545e-02 7.17091611e+00] [ 2.22458090e-02 9.99751865e-01 -1.15409324e-03 4.59699792e-02] [ 3.59035547e-02 3.54733481e-04 9.99355197e-01 5.42499576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:7.20, Y:0.05, Z:0.06 [[ 9.99086787e-01 -2.31895643e-02 -3.58864263e-02 7.19919533e+00] [ 2.31627002e-02 9.99731031e-01 -1.16420818e-03 4.88111541e-02] [ 3.59037715e-02 3.31918475e-04 9.99355197e-01 5.63182223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155099893000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:7.23, Y:0.05, Z:0.06 [[ 9.99064725e-01 -2.41217905e-02 -3.58861364e-02 7.22737651e+00] [ 2.40952091e-02 9.99708980e-01 -1.17307602e-03 5.06037149e-02] [ 3.59039896e-02 3.07294910e-04 9.99355197e-01 5.84819442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:7.26, Y:0.05, Z:0.06 [[ 9.99023928e-01 -2.57565640e-02 -3.58858042e-02 7.25628878e+00] [ 2.57306749e-02 9.99668211e-01 -1.18315261e-03 4.84918352e-02] [ 3.59043717e-02 2.58631805e-04 9.99355197e-01 5.88710782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.28, Y:0.05, Z:0.06 [[ 9.98846372e-01 -3.19085521e-02 -3.58855085e-02 7.28432372e+00] [ 3.18863114e-02 9.99490791e-01 -1.19205629e-03 4.86196006e-02] [ 3.59052720e-02 4.64246017e-05 9.99355197e-01 6.09509885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.31, Y:0.05, Z:0.07 [[ 9.98327417e-01 -4.53277565e-02 -3.58854035e-02 7.31259855e+00] [ 4.53140640e-02 9.98972075e-01 -1.19520779e-03 5.12101971e-02] [ 3.59026921e-02 -4.32904764e-04 9.99355197e-01 6.70066477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.34, Y:0.05, Z:0.06 [[ 9.97660015e-01 -5.81956859e-02 -3.58853173e-02 7.34214525e+00] [ 5.81902134e-02 9.98304795e-01 -1.19779115e-03 5.27582532e-02] [ 3.58941906e-02 -8.93185932e-04 9.99355197e-01 5.93269559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:7.37, Y:0.05, Z:0.06 [[ 9.97689126e-01 -5.76944812e-02 -3.58852958e-02 7.37391579e+00] [ 5.76886617e-02 9.98333903e-01 -1.19843403e-03 5.26004216e-02] [ 3.58946504e-02 -8.74510087e-04 9.99355197e-01 5.76165661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:7.40, Y:0.05, Z:0.06 [[ 9.97832679e-01 -5.51559995e-02 -3.58853804e-02 7.40486931e+00] [ 5.51486308e-02 9.98477440e-01 -1.19589439e-03 5.23611791e-02] [ 3.58967035e-02 -7.85727091e-04 9.99355197e-01 5.93739871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.44, Y:0.05, Z:0.06 [[ 9.97961002e-01 -5.27832822e-02 -3.58854222e-02 7.43633148e+00] [ 5.27744256e-02 9.98605744e-01 -1.19463943e-03 5.38729650e-02] [ 3.58984458e-02 -7.01628986e-04 9.99355197e-01 6.19399801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.47, Y:0.06, Z:0.06 [[ 9.98010199e-01 -5.18447256e-02 -3.58854641e-02 7.46725566e+00] [ 5.18353079e-02 9.98654934e-01 -1.19338046e-03 5.54266861e-02] [ 3.58990662e-02 -6.69128213e-04 9.99355197e-01 6.23892313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:7.50, Y:0.06, Z:0.06 [[ 9.97869822e-01 -5.44798038e-02 -3.58855066e-02 7.49749232e+00] [ 5.44721346e-02 9.98514579e-01 -1.19210158e-03 5.91329736e-02] [ 3.58971470e-02 -7.65197947e-04 9.99355197e-01 6.40578669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.53, Y:0.06, Z:0.06 [[ 9.97721068e-01 -5.71393027e-02 -3.58855276e-02 7.52856542e+00] [ 5.71333748e-02 9.98365844e-01 -1.19146742e-03 5.85166811e-02] [ 3.58949647e-02 -8.61509151e-04 9.99355197e-01 6.46272038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.56, Y:0.06, Z:0.06 [[ 9.97554902e-01 -5.99703610e-02 -3.58855697e-02 7.56064980e+00] [ 5.99663084e-02 9.98199692e-01 -1.19019943e-03 5.52002803e-02] [ 3.58923413e-02 -9.64635861e-04 9.99355197e-01 6.30594198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515099893 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:7.59, Y:0.05, Z:0.06 [[ 9.97453267e-01 -6.16376707e-02 -3.58856327e-02 7.59214430e+00] [ 6.16347643e-02 9.98098063e-01 -1.18829458e-03 5.41935450e-02] [ 3.58906243e-02 -1.02653420e-03 9.99355197e-01 5.98167359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:7.62, Y:0.06, Z:0.06 [[ 9.97594988e-01 -5.92997269e-02 -3.58856744e-02 7.62428334e+00] [ 5.92953547e-02 9.98239777e-01 -1.18703404e-03 5.87572692e-02] [ 3.58928984e-02 -9.43674583e-04 9.99355197e-01 6.24840458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.66, Y:0.06, Z:0.07 [[ 9.97752586e-01 -5.65861300e-02 -3.58857589e-02 7.65619125e+00] [ 5.65800960e-02 9.98397361e-01 -1.18447469e-03 6.31353762e-02] [ 3.58952718e-02 -8.48606999e-04 9.99355197e-01 6.54880886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:7.69, Y:0.06, Z:0.07 [[ 9.97777252e-01 -5.61494612e-02 -3.58858446e-02 7.68692598e+00] [ 5.61432386e-02 9.98422025e-01 -1.18187283e-03 6.33670531e-02] [ 3.58955792e-02 -8.35501707e-04 9.99355197e-01 6.78494190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:7.72, Y:0.06, Z:0.07 [[ 9.97758536e-01 -5.64809735e-02 -3.58859731e-02 7.71888696e+00] [ 5.64751057e-02 9.98403313e-01 -1.17795840e-03 6.21727995e-02] [ 3.58952067e-02 -8.51346074e-04 9.99355197e-01 6.96805495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:7.75, Y:0.06, Z:0.07 [[ 9.97753369e-01 -5.65721190e-02 -3.58860582e-02 7.75032194e+00] [ 5.65664036e-02 9.98398147e-01 -1.17535874e-03 6.15082130e-02] [ 3.58950666e-02 -8.57227113e-04 9.99355197e-01 7.01901874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:0.06, Z:0.07 [[ 9.97653815e-01 -5.83013917e-02 -3.58861218e-02 7.78197166e+00] [ 5.82968637e-02 9.98298602e-01 -1.17341629e-03 6.39860618e-02] [ 3.58934770e-02 -9.21385109e-04 9.99355197e-01 7.46666912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.81, Y:0.07, Z:0.07 [[ 9.97613384e-01 -5.89891170e-02 -3.58862065e-02 7.81292056e+00] [ 5.89851268e-02 9.98258175e-01 -1.17082021e-03 6.60668886e-02] [ 3.58927646e-02 -9.48726530e-04 9.99355197e-01 7.28476316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.84, Y:0.07, Z:0.08 [[ 9.97859476e-01 -5.46684752e-02 -3.58862696e-02 7.84496575e+00] [ 5.46617625e-02 9.98504244e-01 -1.16888309e-03 7.29682505e-02] [ 3.58964935e-02 -7.95225673e-04 9.99355197e-01 8.01208202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:7.88, Y:0.07, Z:0.08 [[ 9.97943988e-01 -5.31033512e-02 -3.58863524e-02 7.87682504e+00] [ 5.30957189e-02 9.98588746e-01 -1.16633305e-03 7.18632919e-02] [ 3.58976439e-02 -7.41476626e-04 9.99355197e-01 7.80705787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815099893000001 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.91, Y:0.07, Z:0.07 [[ 9.97992644e-01 -5.21809241e-02 -3.58863935e-02 7.90875760e+00] [ 5.21727412e-02 9.98637395e-01 -1.16506857e-03 6.73295883e-02] [ 3.58982889e-02 -7.09561661e-04 9.99355197e-01 7.34581802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:7.94, Y:0.07, Z:0.08 [[ 9.98120014e-01 -4.96850148e-02 -3.58864343e-02 7.94014413e+00] [ 4.96752648e-02 9.98764744e-01 -1.16381073e-03 7.00680439e-02] [ 3.58999293e-02 -6.21045347e-04 9.99355197e-01 7.77001184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.97, Y:0.07, Z:0.08 [[ 9.98115743e-01 -4.97707163e-02 -3.58864748e-02 7.97077032e+00] [ 4.97610667e-02 9.98760474e-01 -1.16255855e-03 7.42687188e-02] [ 3.58998540e-02 -6.25381276e-04 9.99355197e-01 7.95964828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.00, Y:0.07, Z:0.08 [[ 9.97896926e-01 -5.39804191e-02 -3.58864748e-02 8.00188202e+00] [ 5.39734892e-02 9.98541692e-01 -1.16255855e-03 6.97428597e-02] [ 3.58968967e-02 -7.76804656e-04 9.99355197e-01 7.71966482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:8.03, Y:0.07, Z:0.07 [[ 9.97635236e-01 -5.86182291e-02 -3.58864748e-02 8.03376274e+00] [ 5.86142962e-02 9.98280027e-01 -1.16255855e-03 6.77615367e-02] [ 3.58928982e-02 -9.43651092e-04 9.99355197e-01 7.45796345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.07, Y:0.07, Z:0.08 [[ 9.97430370e-01 -6.20065737e-02 -3.58865164e-02 8.06506050e+00] [ 6.20048771e-02 9.98075171e-01 -1.16127561e-03 7.21110389e-02] [ 3.58894477e-02 -1.06684747e-03 9.99355197e-01 8.07851232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:8.10, Y:0.07, Z:0.08 [[ 9.97525529e-01 -6.04563219e-02 -3.58866504e-02 8.09655591e+00] [ 6.04537726e-02 9.98170327e-01 -1.15711907e-03 7.37059939e-02] [ 3.58909447e-02 -1.01522759e-03 9.99355197e-01 8.22561253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:8.13, Y:0.07, Z:0.08 [[ 9.97812514e-01 -5.55187504e-02 -3.58867116e-02 8.12911047e+00] [ 5.55130783e-02 9.98457292e-01 -1.15521591e-03 7.43230263e-02] [ 3.58954851e-02 -8.39492941e-04 9.99355197e-01 8.27227462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.16, Y:0.08, Z:0.08 [[ 9.97934864e-01 -5.32742427e-02 -3.58867930e-02 8.16016609e+00] [ 5.32672115e-02 9.98579629e-01 -1.15268170e-03 7.73295677e-02] [ 3.58972287e-02 -7.61288141e-04 9.99355197e-01 8.45376188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.19, Y:0.08, Z:0.08 [[ 9.97829389e-01 -5.52145471e-02 -3.58868337e-02 8.19124327e+00] [ 5.52088152e-02 9.98474166e-01 -1.15141432e-03 7.84529806e-02] [ 3.58956512e-02 -8.32354524e-04 9.99355197e-01 8.28791375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:8.22, Y:0.08, Z:0.09 [[ 9.97635225e-01 -5.86181685e-02 -3.58868740e-02 8.22297577e+00] [ 5.86146814e-02 9.98280019e-01 -1.15015646e-03 7.66125182e-02] [ 3.58925693e-02 -9.56061085e-04 9.99355197e-01 8.55404449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.26, Y:0.08, Z:0.09 [[ 9.97646450e-01 -5.84267378e-02 -3.58870053e-02 8.25530961e+00] [ 5.84232746e-02 9.98291244e-01 -1.14604712e-03 7.99776068e-02] [ 3.58926429e-02 -9.53286524e-04 9.99355197e-01 8.83900678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:8.29, Y:0.08, Z:0.09 [[ 9.97754306e-01 -5.65549448e-02 -3.58870859e-02 8.28696849e+00] [ 5.65503630e-02 9.98399093e-01 -1.14351525e-03 7.88355379e-02] [ 3.58943055e-02 -8.88480473e-04 9.99355197e-01 8.65897902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.32, Y:0.09, Z:0.09 [[ 9.98221138e-01 -4.76095914e-02 -3.58871264e-02 8.31737217e+00] [ 4.75992762e-02 9.98865859e-01 -1.14224271e-03 8.57000546e-02] [ 3.59008071e-02 -5.67990424e-04 9.99355197e-01 9.24742820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235099893000001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:8.35, Y:0.09, Z:0.09 [[ 9.98311423e-01 -4.56772118e-02 -3.58872668e-02 8.34784588e+00] [ 4.56658077e-02 9.98956125e-01 -1.13781464e-03 8.70356604e-02] [ 3.59017772e-02 -5.02927678e-04 9.99355197e-01 9.35431464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:8.38, Y:0.09, Z:0.10 [[ 9.98325020e-01 -4.53790640e-02 -3.58872668e-02 8.37755763e+00] [ 4.53674674e-02 9.98969718e-01 -1.13781464e-03 8.74861838e-02] [ 3.59019258e-02 -4.92205587e-04 9.99355197e-01 9.51883670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.41, Y:0.09, Z:0.10 [[ 9.98316298e-01 -4.55705689e-02 -3.58872267e-02 8.40678789e+00] [ 4.55590504e-02 9.98960998e-01 -1.13907919e-03 8.79631067e-02] [ 3.59018483e-02 -4.97826649e-04 9.99355197e-01 9.64700335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:8.44, Y:0.09, Z:0.10 [[ 9.98300535e-01 -4.59146067e-02 -3.58871864e-02 8.43678355e+00] [ 4.59032649e-02 9.98945239e-01 -1.14034651e-03 8.81305058e-02] [ 3.59016926e-02 -5.08930496e-04 9.99355197e-01 9.68864956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.47, Y:0.09, Z:0.10 [[ 9.98259030e-01 -4.68083553e-02 -3.58871460e-02 8.46669055e+00] [ 4.67975450e-02 9.98903742e-01 -1.14161843e-03 8.83994962e-02] [ 3.59012417e-02 -5.39799421e-04 9.99355197e-01 9.81749207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.50, Y:0.09, Z:0.10 [[ 9.98224340e-01 -4.75424374e-02 -3.58871052e-02 8.49645930e+00] [ 4.75320552e-02 9.98869059e-01 -1.14289835e-03 8.83860212e-02] [ 3.59008552e-02 -5.64918912e-04 9.99355197e-01 9.78810587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.53, Y:0.09, Z:0.10 [[ 9.98169745e-01 -4.86752327e-02 -3.58870850e-02 8.52674915e+00] [ 4.86655593e-02 9.98814475e-01 -1.14353351e-03 8.88150316e-02] [ 3.59002017e-02 -6.05024509e-04 9.99355197e-01 9.94401248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.56, Y:0.09, Z:0.10 [[ 9.98169745e-01 -4.86752327e-02 -3.58870850e-02 8.55771102e+00] [ 4.86655593e-02 9.98814475e-01 -1.14353351e-03 8.98016245e-02] [ 3.59002017e-02 -6.05024509e-04 9.99355197e-01 1.00553102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:8.59, Y:0.09, Z:0.10 [[ 9.98112398e-01 -4.98373199e-02 -3.58870850e-02 8.58743322e+00] [ 4.98283972e-02 9.98757139e-01 -1.14353351e-03 9.08204954e-02] [ 3.58994730e-02 -6.46820949e-04 9.99355197e-01 1.01565770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.62, Y:0.09, Z:0.10 [[ 9.98053744e-01 -5.09984658e-02 -3.58870650e-02 8.61647218e+00] [ 5.09902706e-02 9.98698495e-01 -1.14416072e-03 9.19276604e-02] [ 3.58987082e-02 -6.87957265e-04 9.99355197e-01 1.01812719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.65, Y:0.10, Z:0.11 [[ 9.98355287e-01 -4.47083877e-02 -3.58870452e-02 8.64740383e+00] [ 4.46961076e-02 9.98999974e-01 -1.14478079e-03 9.83154095e-02] [ 3.59023385e-02 -4.61113276e-04 9.99355197e-01 1.07087116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.68, Y:0.10, Z:0.11 [[ 9.98404054e-01 -4.36057520e-02 -3.58870846e-02 8.67697490e+00] [ 4.35928043e-02 9.99048727e-01 -1.14354293e-03 9.92867185e-02] [ 3.59028113e-02 -4.22700763e-04 9.99355197e-01 1.05990078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.71, Y:0.10, Z:0.11 [[ 9.98446806e-01 -4.26156676e-02 -3.58870447e-02 8.70654628e+00] [ 4.26020357e-02 9.99091465e-01 -1.14479607e-03 1.00222904e-01] [ 3.59032263e-02 -3.85843174e-04 9.99355197e-01 1.06174134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.73, Y:0.10, Z:0.11 [[ 9.98467722e-01 -4.21228053e-02 -3.58870048e-02 8.73491988e+00] [ 4.21088103e-02 9.99112373e-01 -1.14604435e-03 1.01920535e-01] [ 3.59034251e-02 -3.66870785e-04 9.99355197e-01 1.08378584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655099893000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.76, Y:0.10, Z:0.11 [[ 9.98483016e-01 -4.17589562e-02 -3.58867193e-02 8.76342649e+00] [ 4.17444075e-02 9.99127655e-01 -1.15491431e-03 1.03730062e-01] [ 3.59036417e-02 -3.44907510e-04 9.99355197e-01 1.10174959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:8.79, Y:0.11, Z:0.11 [[ 9.98457935e-01 -4.23544625e-02 -3.58866586e-02 8.79240565e+00] [ 4.23402305e-02 9.99102581e-01 -1.15679764e-03 1.05475143e-01] [ 3.59034488e-02 -3.64435615e-04 9.99355197e-01 1.11113208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.82, Y:0.11, Z:0.11 [[ 9.98431111e-01 -4.29823802e-02 -3.58863680e-02 8.82176804e+00] [ 4.29682321e-02 9.99075759e-01 -1.16574387e-03 1.07660334e-01] [ 3.59033068e-02 -3.78058847e-04 9.99355197e-01 1.13248825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.85, Y:0.11, Z:0.11 [[ 9.98429590e-01 -4.30177419e-02 -3.58863267e-02 8.85188060e+00] [ 4.30035711e-02 9.99074237e-01 -1.16701458e-03 1.08668735e-01] [ 3.59033068e-02 -3.78058317e-04 9.99355197e-01 1.14331821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.88, Y:0.11, Z:0.12 [[ 9.98384024e-01 -4.40626295e-02 -3.58862853e-02 8.88027784e+00] [ 4.40490877e-02 9.99028685e-01 -1.16828475e-03 1.09934694e-01] [ 3.59029061e-02 -4.14361296e-04 9.99355197e-01 1.15140037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:8.91, Y:0.11, Z:0.12 [[ 9.98319689e-01 -4.54970087e-02 -3.58862237e-02 8.91019494e+00] [ 4.54843251e-02 9.98964367e-01 -1.17017485e-03 1.10949153e-01] [ 3.59022982e-02 -4.64052072e-04 9.99355197e-01 1.16946361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.94, Y:0.11, Z:0.12 [[ 9.98256292e-01 -4.68674484e-02 -3.58861831e-02 8.94085563e+00] [ 4.68556052e-02 9.98900986e-01 -1.17141764e-03 1.11460608e-01] [ 3.59016451e-02 -5.12093801e-04 9.99355197e-01 1.16523278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:8.97, Y:0.11, Z:0.12 [[ 9.98187701e-01 -4.83062598e-02 -3.58861831e-02 8.97090851e+00] [ 4.82953459e-02 9.98832412e-01 -1.17141764e-03 1.11640856e-01] [ 3.59008697e-02 -5.63840947e-04 9.99355197e-01 1.16775699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.00, Y:0.11, Z:0.12 [[ 9.98116496e-01 -4.97558364e-02 -3.58861831e-02 9.00091765e+00] [ 4.97458588e-02 9.98761221e-01 -1.17141764e-03 1.10641342e-01] [ 3.59000130e-02 -6.15977728e-04 9.99355197e-01 1.15289417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:9.03, Y:0.11, Z:0.12 [[ 9.98089478e-01 -5.02948760e-02 -3.58862037e-02 9.03106757e+00] [ 5.02852693e-02 9.98734209e-01 -1.17078661e-03 1.10928111e-01] [ 3.58996639e-02 -6.35997623e-04 9.99355197e-01 1.17450026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.06, Y:0.11, Z:0.12 [[ 9.98192136e-01 -4.82145309e-02 -3.58862037e-02 9.06180613e+00] [ 4.82035804e-02 9.98836846e-01 -1.17078661e-03 1.12074338e-01] [ 3.59009115e-02 -5.61173521e-04 9.99355197e-01 1.20788694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893000001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:9.09, Y:0.11, Z:0.12 [[ 9.98420710e-01 -4.32234334e-02 -3.58862246e-02 9.09159496e+00] [ 4.32092827e-02 9.99065358e-01 -1.17014786e-03 1.13496001e-01] [ 3.59032616e-02 -3.82318168e-04 9.99355197e-01 1.20059410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:9.12, Y:0.12, Z:0.12 [[ 9.98418736e-01 -4.32690133e-02 -3.58862039e-02 9.12155638e+00] [ 4.32548693e-02 9.99063384e-01 -1.17078129e-03 1.15331648e-01] [ 3.59032509e-02 -3.83323083e-04 9.99355197e-01 1.22523517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.15, Y:0.12, Z:0.13 [[ 9.98386879e-01 -4.39979940e-02 -3.58861618e-02 9.15021170e+00] [ 4.39842744e-02 9.99031536e-01 -1.17206873e-03 1.17344437e-01] [ 3.59029761e-02 -4.08248749e-04 9.99355197e-01 1.25182919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.18, Y:0.12, Z:0.13 [[ 9.98770202e-01 -3.42092459e-02 -3.58860868e-02 9.17952342e+00] [ 3.41891254e-02 9.99414691e-01 -1.17436041e-03 1.17677510e-01] [ 3.59052564e-02 -5.39977404e-05 9.99355197e-01 1.27683275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.21, Y:0.12, Z:0.13 [[ 9.98760147e-01 -3.45016052e-02 -3.58860454e-02 9.20731586e+00] [ 3.44816280e-02 9.99404640e-01 -1.17562493e-03 1.19388028e-01] [ 3.59052413e-02 -6.32419449e-05 9.99355197e-01 1.29461051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.24, Y:0.12, Z:0.13 [[ 9.98729355e-01 -3.53818483e-02 -3.58859424e-02 9.23636828e+00] [ 3.53623264e-02 9.99373862e-01 -1.17876095e-03 1.18392733e-01] [ 3.59051796e-02 -9.17472468e-05 9.99355197e-01 1.28908033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:9.27, Y:0.12, Z:0.13 [[ 9.98712957e-01 -3.58420170e-02 -3.58856444e-02 9.26502638e+00] [ 3.58224685e-02 9.99357464e-01 -1.18776414e-03 1.17388827e-01] [ 3.59051584e-02 -9.92769306e-05 9.99355197e-01 1.27052518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:9.29, Y:0.12, Z:0.13 [[ 9.98708008e-01 -3.59799478e-02 -3.58853436e-02 9.29270458e+00] [ 3.59601643e-02 9.99352508e-01 -1.19678369e-03 1.18427696e-01] [ 3.59051683e-02 -9.52054019e-05 9.99355197e-01 1.29337114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:9.32, Y:0.12, Z:0.13 [[ 9.98699292e-01 -3.62211718e-02 -3.58852370e-02 9.32103194e+00] [ 3.62014294e-02 9.99343793e-01 -1.19997234e-03 1.19742020e-01] [ 3.59051533e-02 -1.00685346e-04 9.99355197e-01 1.34407382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.35, Y:0.12, Z:0.14 [[ 9.98623019e-01 -3.82666653e-02 -3.58849371e-02 9.34904654e+00] [ 3.82479231e-02 9.99267549e-01 -1.20887588e-03 1.19676430e-01] [ 3.59049128e-02 -1.65313034e-04 9.99355197e-01 1.35872428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:9.38, Y:0.12, Z:0.14 [[ 9.98596042e-01 -3.89646102e-02 -3.58845847e-02 9.37660484e+00] [ 3.89459458e-02 9.99240575e-01 -1.21924648e-03 1.20245247e-01] [ 3.59048405e-02 -1.80024377e-04 9.99355197e-01 1.37166689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.40, Y:0.12, Z:0.14 [[ 9.98546349e-01 -4.02180624e-02 -3.58844754e-02 9.40460535e+00] [ 4.02000917e-02 9.99190902e-01 -1.22245517e-03 1.21396425e-01] [ 3.59046061e-02 -2.21881054e-04 9.99355197e-01 1.37915776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.43, Y:0.12, Z:0.14 [[ 9.98168033e-01 -4.87125024e-02 -3.58841272e-02 9.43346396e+00] [ 4.86996521e-02 9.98812707e-01 -1.23259309e-03 1.21561299e-01] [ 3.59015649e-02 -5.17209484e-04 9.99355197e-01 1.36886754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:9.46, Y:0.12, Z:0.13 [[ 9.97698388e-01 -5.75350194e-02 -3.58838126e-02 9.46361147e+00] [ 5.75275420e-02 9.98343147e-01 -1.24168497e-03 1.21800396e-01] [ 3.58957987e-02 -8.25480447e-04 9.99355197e-01 1.34608820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893000001 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:9.50, Y:0.12, Z:0.14 [[ 9.97711415e-01 -5.73086688e-02 -3.58838126e-02 9.49595907e+00] [ 5.73010452e-02 9.98356173e-01 -1.24168497e-03 1.24435304e-01] [ 3.58959851e-02 -8.17336699e-04 9.99355197e-01 1.35549588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.53, Y:0.13, Z:0.14 [[ 9.98202118e-01 -4.80091457e-02 -3.58839030e-02 9.52661799e+00] [ 4.79956085e-02 9.98846778e-01 -1.23906512e-03 1.30280648e-01] [ 3.59020074e-02 -4.85432333e-04 9.99355197e-01 1.42482939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.56, Y:0.13, Z:0.14 [[ 9.98327214e-01 -4.53333682e-02 -3.58839704e-02 9.55662992e+00] [ 4.53181733e-02 9.98971838e-01 -1.23710932e-03 1.31756172e-01] [ 3.59031582e-02 -3.91156090e-04 9.99355197e-01 1.42096301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.59, Y:0.13, Z:0.14 [[ 9.98297388e-01 -4.59854911e-02 -3.58839704e-02 9.58648588e+00] [ 4.59707174e-02 9.98942022e-01 -1.23710932e-03 1.31440617e-01] [ 3.59028951e-02 -4.14608859e-04 9.99355197e-01 1.42070383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:9.62, Y:0.13, Z:0.14 [[ 9.98184795e-01 -4.83679316e-02 -3.58839485e-02 9.61749162e+00] [ 4.83546734e-02 9.98829462e-01 -1.23774695e-03 1.30416727e-01] [ 3.59018122e-02 -4.99656427e-04 9.99355197e-01 1.40317576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.65, Y:0.13, Z:0.14 [[ 9.98128169e-01 -4.95227312e-02 -3.58839485e-02 9.64780741e+00] [ 4.95102189e-02 9.98772850e-01 -1.23774695e-03 1.30573144e-01] [ 3.59012101e-02 -5.41192051e-04 9.99355197e-01 1.40958835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:9.68, Y:0.13, Z:0.14 [[ 9.98004291e-01 -5.19593738e-02 -3.58839703e-02 9.67870402e+00] [ 5.19484582e-02 9.98649001e-01 -1.23711314e-03 1.31489067e-01] [ 3.58997707e-02 -6.29472712e-04 9.99355197e-01 1.41975119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.71, Y:0.13, Z:0.14 [[ 9.97963997e-01 -5.27275770e-02 -3.58840137e-02 9.71038237e+00] [ 5.27172030e-02 9.98608717e-01 -1.23585422e-03 1.32785605e-01] [ 3.58992524e-02 -6.58366816e-04 9.99355197e-01 1.43308986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.74, Y:0.13, Z:0.14 [[ 9.97874247e-01 -5.43996424e-02 -3.58840570e-02 9.74127475e+00] [ 5.43903939e-02 9.98518984e-01 -1.23459361e-03 1.33658412e-01] [ 3.58980736e-02 -7.19778831e-04 9.99355197e-01 1.44942620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.77, Y:0.13, Z:0.14 [[ 9.97795726e-01 -5.58213288e-02 -3.58841001e-02 9.77292368e+00] [ 5.58130441e-02 9.98440475e-01 -1.23333933e-03 1.34428598e-01] [ 3.58969846e-02 -7.72180152e-04 9.99355197e-01 1.43843266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.80, Y:0.14, Z:0.14 [[ 9.97786486e-01 -5.59862218e-02 -3.58841437e-02 9.80491895e+00] [ 5.59780892e-02 9.98431237e-01 -1.23207192e-03 1.35252555e-01] [ 3.58968290e-02 -7.79381085e-04 9.99355197e-01 1.44191318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735099893000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:9.84, Y:0.14, Z:0.15 [[ 9.97975693e-01 -5.25055992e-02 -3.58842302e-02 9.83607164e+00] [ 5.24953085e-02 9.98620414e-01 -1.22954601e-03 1.37500241e-01] [ 3.58992829e-02 -6.56696708e-04 9.99355197e-01 1.47651555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.87, Y:0.14, Z:0.15 [[ 9.98153419e-01 -4.90109309e-02 -3.58842731e-02 9.86686951e+00] [ 4.89984279e-02 9.98798100e-01 -1.22829275e-03 1.39843519e-01] [ 3.59013436e-02 -5.32248356e-04 9.99355197e-01 1.52078637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:9.90, Y:0.14, Z:0.16 [[ 9.98305030e-01 -4.58190324e-02 -3.58843166e-02 9.89660794e+00] [ 4.58045137e-02 9.98949669e-01 -1.22702151e-03 1.40055487e-01] [ 3.59028471e-02 -4.18721930e-04 9.99355197e-01 1.55182481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.93, Y:0.14, Z:0.16 [[ 9.98236194e-01 -4.72949959e-02 -3.58843119e-02 9.92731979e+00] [ 4.72814254e-02 9.98880854e-01 -1.22715725e-03 1.40349247e-01] [ 3.59021906e-02 -4.71668637e-04 9.99355197e-01 1.58048541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.96, Y:0.14, Z:0.15 [[ 9.98070892e-01 -5.06636969e-02 -3.58843119e-02 9.95818264e+00] [ 5.06523022e-02 9.98715594e-01 -1.22715725e-03 1.41767923e-01] [ 3.59003942e-02 -5.92833083e-04 9.99355197e-01 1.54098617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.99, Y:0.14, Z:0.15 [[ 9.98019560e-01 -5.16650022e-02 -3.58843337e-02 9.98913640e+00] [ 5.16542771e-02 9.98664274e-01 -1.22652172e-03 1.41048689e-01] [ 3.58997702e-02 -6.29486647e-04 9.99355197e-01 1.52203730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.02, Y:0.14, Z:0.15 [[ 9.98025443e-01 -5.15512245e-02 -3.58843337e-02 1.00200284e+01] [ 5.15404259e-02 9.98670156e-01 -1.22652172e-03 1.41064850e-01] [ 3.58998418e-02 -6.25393957e-04 9.99355197e-01 1.53268643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:10.05, Y:0.14, Z:0.15 [[ 9.98128422e-01 -4.95173099e-02 -3.58843774e-02 1.00516428e+01] [ 4.95052437e-02 9.98773112e-01 -1.22524048e-03 1.43167555e-01] [ 3.59010219e-02 -5.53517500e-04 9.99355197e-01 1.53308593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.08, Y:0.15, Z:0.15 [[ 9.98219441e-01 -4.76471972e-02 -3.58844215e-02 1.00819908e+01] [ 4.76339695e-02 9.98864108e-01 -1.22394867e-03 1.45242581e-01] [ 3.59019784e-02 -4.87548077e-04 9.99355197e-01 1.54505629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.11, Y:0.15, Z:0.16 [[ 9.98368959e-01 -4.44041620e-02 -3.58844215e-02 1.01114701e+01] [ 4.43888401e-02 9.99013580e-01 -1.22394867e-03 1.46181702e-01] [ 3.59033728e-02 -3.70915485e-04 9.99355197e-01 1.56936252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.14, Y:0.15, Z:0.16 [[ 9.98627026e-01 -3.81624559e-02 -3.58843998e-02 1.01396707e+01] [ 3.81430820e-02 9.99271538e-01 -1.22458378e-03 1.45470547e-01] [ 3.59049925e-02 -1.45839142e-04 9.99355197e-01 1.61216310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.17, Y:0.15, Z:0.16 [[ 9.98789458e-01 -3.36442253e-02 -3.58843121e-02 1.01671022e+01] [ 3.36218436e-02 9.99433873e-01 -1.22714837e-03 1.49592145e-01] [ 3.59052834e-02 1.91661260e-05 9.99355197e-01 1.64395914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.19, Y:0.15, Z:0.17 [[ 9.98816371e-01 -3.28359185e-02 -3.58839618e-02 1.01947306e+01] [ 3.28126504e-02 9.99460754e-01 -1.23730611e-03 1.53182513e-01] [ 3.59052396e-02 5.83936994e-05 9.99355197e-01 1.65922619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.22, Y:0.15, Z:0.16 [[ 9.98738182e-01 -3.51341709e-02 -3.58836063e-02 1.02238629e+01] [ 3.51120182e-02 9.99382604e-01 -1.24753281e-03 1.49753506e-01] [ 3.59052829e-02 -1.39871874e-05 9.99355197e-01 1.59987237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155099893000001 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.25, Y:0.15, Z:0.16 [[ 9.98708652e-01 -3.59641197e-02 -3.58832941e-02 1.02528426e+01] [ 3.59421821e-02 9.99353081e-01 -1.25645001e-03 1.47681797e-01] [ 3.59052676e-02 -3.48963995e-05 9.99355197e-01 1.59211925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.28, Y:0.15, Z:0.16 [[ 9.98808600e-01 -3.30725403e-02 -3.58829749e-02 1.02808417e+01] [ 3.30484119e-02 9.99452951e-01 -1.26550001e-03 1.50249386e-01] [ 3.59051984e-02 7.81169540e-05 9.99355197e-01 1.63162263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.31, Y:0.15, Z:0.17 [[ 9.98921468e-01 -2.94673012e-02 -3.58828619e-02 1.03097547e+01] [ 2.94407326e-02 9.99565723e-01 -1.26869680e-03 1.51744094e-01] [ 3.59046638e-02 2.10910732e-04 9.99355197e-01 1.66234902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.34, Y:0.15, Z:0.17 [[ 9.98945058e-01 -2.86568214e-02 -3.58825439e-02 1.03372719e+01] [ 2.86294093e-02 9.99589278e-01 -1.27762591e-03 1.52644968e-01] [ 3.59044189e-02 2.48982056e-04 9.99355197e-01 1.67748576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:10.37, Y:0.15, Z:0.17 [[ 9.98843950e-01 -3.19877343e-02 -3.58824312e-02 1.03657795e+01] [ 3.19623571e-02 9.99488253e-01 -1.28078563e-03 1.53755430e-01] [ 3.59050379e-02 1.32417898e-04 9.99355197e-01 1.71744862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.39, Y:0.15, Z:0.17 [[ 9.98659291e-01 -3.73107950e-02 -3.58821079e-02 1.03936020e+01] [ 3.72885289e-02 9.99303709e-01 -1.28977970e-03 1.53241228e-01] [ 3.59052462e-02 -4.99405312e-05 9.99355198e-01 1.70240119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:10.42, Y:0.15, Z:0.17 [[ 9.98358999e-01 -4.46297036e-02 -3.58817334e-02 1.04221176e+01] [ 4.46117900e-02 9.99003552e-01 -1.30011575e-03 1.51201003e-01] [ 3.59040029e-02 -3.02766094e-04 9.99355198e-01 1.66823914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:10.45, Y:0.15, Z:0.17 [[ 9.98357402e-01 -4.46656764e-02 -3.58814062e-02 1.04522265e+01] [ 4.46474637e-02 9.99001947e-01 -1.30908310e-03 1.52332058e-01] [ 3.59040657e-02 -2.95080976e-04 9.99355198e-01 1.67909812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.48, Y:0.15, Z:0.17 [[ 9.97758443e-01 -5.64855532e-02 -3.58813594e-02 1.04811975e+01] [ 5.64749287e-02 9.98403158e-01 -1.31036523e-03 1.51063831e-01] [ 3.58980792e-02 -7.18969239e-04 9.99355198e-01 1.66721530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.51, Y:0.15, Z:0.17 [[ 9.97445657e-01 -6.17633625e-02 -3.58810311e-02 1.05133892e+01] [ 6.17558281e-02 9.98090415e-01 -1.31929397e-03 1.53616376e-01] [ 3.58939972e-02 -8.99938749e-04 9.99355198e-01 1.68921355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:10.55, Y:0.16, Z:0.17 [[ 9.97308497e-01 -6.39398626e-02 -3.58811244e-02 1.05452058e+01] [ 6.39338266e-02 9.97953271e-01 -1.31675225e-03 1.55529501e-01] [ 3.58918784e-02 -9.80809374e-04 9.99355198e-01 1.71580281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.58, Y:0.15, Z:0.17 [[ 9.97396868e-01 -6.25461901e-02 -3.58812170e-02 1.05774014e+01] [ 6.25393440e-02 9.98041634e-01 -1.31422315e-03 1.54241527e-01] [ 3.58931481e-02 -9.33185716e-04 9.99355198e-01 1.70904768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.61, Y:0.16, Z:0.17 [[ 9.97586974e-01 -5.94370392e-02 -3.58813100e-02 1.06096066e+01] [ 5.94282749e-02 9.98231716e-01 -1.31167904e-03 1.55543994e-01] [ 3.58958240e-02 -8.23850432e-04 9.99355198e-01 1.71534917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.64, Y:0.16, Z:0.18 [[ 9.97910317e-01 -5.37356942e-02 -3.58814032e-02 1.06400373e+01] [ 5.37233377e-02 9.98555001e-01 -1.30912561e-03 1.61731578e-01] [ 3.58999013e-02 -6.21278787e-04 9.99355198e-01 1.76354463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.67, Y:0.16, Z:0.18 [[ 9.98063549e-01 -5.08101662e-02 -3.58814724e-02 1.06715859e+01] [ 5.07959882e-02 9.98708195e-01 -1.30722431e-03 1.62969285e-01] [ 3.59015408e-02 -5.17941919e-04 9.99355198e-01 1.78388405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.70, Y:0.16, Z:0.18 [[ 9.98009310e-01 -5.18645655e-02 -3.58815186e-02 1.07020979e+01] [ 5.18511142e-02 9.98653972e-01 -1.30595488e-03 1.60886573e-01] [ 3.59009539e-02 -5.57141594e-04 9.99355198e-01 1.77751654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:10.73, Y:0.16, Z:0.18 [[ 9.97844223e-01 -5.49492704e-02 -3.58815186e-02 1.07338833e+01] [ 5.49378119e-02 9.98488924e-01 -1.30595488e-03 1.59924908e-01] [ 3.58990602e-02 -6.68112591e-04 9.99355198e-01 1.78021634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.77, Y:0.16, Z:0.18 [[ 9.97647158e-01 -5.84179939e-02 -3.58815649e-02 1.07656104e+01] [ 5.84088226e-02 9.98291895e-01 -1.30468134e-03 1.60426572e-01] [ 3.58964923e-02 -7.94188326e-04 9.99355198e-01 1.78997828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.80, Y:0.16, Z:0.18 [[ 9.97476806e-01 -6.12579171e-02 -3.58816120e-02 1.07968029e+01] [ 6.12506278e-02 9.98121567e-01 -1.30338553e-03 1.61505844e-01] [ 3.58940535e-02 -8.97674433e-04 9.99355198e-01 1.79756870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.83, Y:0.16, Z:0.18 [[ 9.97422475e-01 -6.21362321e-02 -3.58816824e-02 1.08292518e+01] [ 6.21295804e-02 9.98067243e-01 -1.30144578e-03 1.62823457e-01] [ 3.58931987e-02 -9.31222601e-04 9.99355198e-01 1.81294866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.86, Y:0.17, Z:0.18 [[ 9.97374344e-01 -6.29040193e-02 -3.58817756e-02 1.08600499e+01] [ 6.28979565e-02 9.98019118e-01 -1.29886917e-03 1.65261810e-01] [ 3.58924022e-02 -9.61431572e-04 9.99355198e-01 1.83478323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:10.89, Y:0.17, Z:0.19 [[ 9.97347088e-01 -6.33346563e-02 -3.58818449e-02 1.08917789e+01] [ 6.33289409e-02 9.97991865e-01 -1.29695154e-03 1.68283955e-01] [ 3.58919313e-02 -9.78848391e-04 9.99355198e-01 1.85128163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.92, Y:0.17, Z:0.19 [[ 9.97355402e-01 -6.32035455e-02 -3.58819375e-02 1.09239848e+01] [ 6.31978375e-02 9.98000179e-01 -1.29438441e-03 1.70056624e-01] [ 3.58919898e-02 -9.76699580e-04 9.99355198e-01 1.85995251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:10.96, Y:0.17, Z:0.18 [[ 9.97379016e-01 -6.28297519e-02 -3.58820294e-02 1.09556902e+01] [ 6.28238941e-02 9.98023792e-01 -1.29183333e-03 1.70306433e-01] [ 3.58922846e-02 -9.65801354e-04 9.99355198e-01 1.84781551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:10.99, Y:0.17, Z:0.19 [[ 9.97403092e-01 -6.24463494e-02 -3.58820978e-02 1.09874840e+01] [ 6.24403121e-02 9.98047866e-01 -1.28993043e-03 1.72118852e-01] [ 3.58926026e-02 -9.53908787e-04 9.99355198e-01 1.86898910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.02, Y:0.17, Z:0.19 [[ 9.97381740e-01 -6.27864134e-02 -3.58821897e-02 1.10195380e+01] [ 6.27806880e-02 9.98026517e-01 -1.28736784e-03 1.72631208e-01] [ 3.58922060e-02 -9.68711379e-04 9.99355198e-01 1.89205707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.05, Y:0.17, Z:0.19 [[ 9.97298174e-01 -6.41000345e-02 -3.58822808e-02 1.10520587e+01] [ 6.40952499e-02 9.97942958e-01 -1.28482393e-03 1.71520520e-01] [ 3.58908267e-02 -1.01853119e-03 9.99355198e-01 1.90048150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.08, Y:0.17, Z:0.19 [[ 9.97226887e-01 -6.51996301e-02 -3.58823726e-02 1.10838479e+01] [ 6.51956487e-02 9.97871677e-01 -1.28225649e-03 1.73214520e-01] [ 3.58896059e-02 -1.06067392e-03 9.99355198e-01 1.92679889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.12, Y:0.17, Z:0.19 [[ 9.97170722e-01 -6.60530022e-02 -3.58824654e-02 1.11155560e+01] [ 6.60496662e-02 9.97815516e-01 -1.27965377e-03 1.74792913e-01] [ 3.58886057e-02 -1.09399159e-03 9.99355198e-01 1.92940693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.15, Y:0.18, Z:0.19 [[ 9.97133750e-01 -6.66087526e-02 -3.58825575e-02 1.11464384e+01] [ 6.66058690e-02 9.97778546e-01 -1.27706538e-03 1.76014694e-01] [ 3.58879098e-02 -1.11658394e-03 9.99355198e-01 1.93820848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.18, Y:0.18, Z:0.20 [[ 9.97143539e-01 -6.64619757e-02 -3.58827033e-02 1.11790770e+01] [ 6.64591449e-02 9.97788335e-01 -1.27295709e-03 1.76758105e-01] [ 3.58879460e-02 -1.11541284e-03 9.99355198e-01 1.95125802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:11.21, Y:0.18, Z:0.20 [[ 9.97140678e-01 -6.65048343e-02 -3.58827949e-02 1.12107890e+01] [ 6.65021243e-02 9.97785475e-01 -1.27036840e-03 1.77224176e-01] [ 3.58878172e-02 -1.11954608e-03 9.99355198e-01 1.95098470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.24, Y:0.18, Z:0.20 [[ 9.97057822e-01 -6.77356629e-02 -3.58828630e-02 1.12426846e+01] [ 6.77338181e-02 9.97702621e-01 -1.26844205e-03 1.78439774e-01] [ 3.58863453e-02 -1.16577325e-03 9.99355198e-01 1.97504541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.27, Y:0.18, Z:0.20 [[ 9.97015061e-01 -6.83621420e-02 -3.58829561e-02 1.12738056e+01] [ 6.83607972e-02 9.97659861e-01 -1.26580276e-03 1.79034214e-01] [ 3.58855180e-02 -1.19096308e-03 9.99355198e-01 1.97016483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175099893 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:11.31, Y:0.18, Z:0.20 [[ 9.96986938e-01 -6.87709803e-02 -3.58831096e-02 1.13059230e+01] [ 6.87700570e-02 9.97631740e-01 -1.26143562e-03 1.79581468e-01] [ 3.58848793e-02 -1.21004866e-03 9.99355198e-01 1.96402746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.34, Y:0.18, Z:0.20 [[ 9.97031267e-01 -6.81252452e-02 -3.58831997e-02 1.13383248e+01] [ 6.81239965e-02 9.97676068e-01 -1.25886947e-03 1.80255514e-01] [ 3.58855703e-02 -1.18937475e-03 9.99355198e-01 1.96928167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.37, Y:0.18, Z:0.20 [[ 9.97095474e-01 -6.71789114e-02 -3.58832904e-02 1.13700956e+01] [ 6.71771438e-02 9.97740273e-01 -1.25627855e-03 1.79480954e-01] [ 3.58865994e-02 -1.15790730e-03 9.99355198e-01 1.97385891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:11.40, Y:0.18, Z:0.20 [[ 9.97256567e-01 -6.47434806e-02 -3.58834308e-02 1.14006698e+01] [ 6.47402828e-02 9.97901362e-01 -1.25225485e-03 1.81426052e-01] [ 3.58891998e-02 -1.07428408e-03 9.99355198e-01 1.99908990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.43, Y:0.18, Z:0.20 [[ 9.97292708e-01 -6.41842906e-02 -3.58835869e-02 1.14325837e+01] [ 6.41808927e-02 9.97937501e-01 -1.24776582e-03 1.84090537e-01] [ 3.58896640e-02 -1.05865289e-03 9.99355198e-01 2.04466836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.46, Y:0.19, Z:0.21 [[ 9.97378467e-01 -6.28375266e-02 -3.58836759e-02 1.14635337e+01] [ 6.28333502e-02 9.98023256e-01 -1.24520071e-03 1.88104185e-01] [ 3.58909884e-02 -1.01275520e-03 9.99355198e-01 2.07684915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.50, Y:0.19, Z:0.20 [[ 9.97412897e-01 -6.22886027e-02 -3.58837422e-02 1.14958784e+01] [ 6.22841402e-02 9.98057684e-01 -1.24328818e-03 1.89033330e-01] [ 3.58914873e-02 -9.94916364e-04 9.99355198e-01 2.04162512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.53, Y:0.19, Z:0.20 [[ 9.97356484e-01 -6.31853971e-02 -3.58838299e-02 1.15287721e+01] [ 6.31816055e-02 9.98001275e-01 -1.24075207e-03 1.87482572e-01] [ 3.58905054e-02 -1.02972586e-03 9.99355198e-01 2.00749485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.56, Y:0.19, Z:0.20 [[ 9.97253015e-01 -6.47978891e-02 -3.58839537e-02 1.15609940e+01] [ 6.47952692e-02 9.97897812e-01 -1.23716089e-03 1.87615941e-01] [ 3.58886842e-02 -1.09134801e-03 9.99355198e-01 2.02035514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.59, Y:0.19, Z:0.21 [[ 9.97240739e-01 -6.49864943e-02 -3.58840414e-02 1.15925211e+01] [ 6.49840880e-02 9.97885537e-01 -1.23460968e-03 1.91475716e-01] [ 3.58883989e-02 -1.10068864e-03 9.99355198e-01 2.07885565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.62, Y:0.19, Z:0.21 [[ 9.97338197e-01 -6.34732263e-02 -3.58841306e-02 1.16230714e+01] [ 6.34699350e-02 9.97982991e-01 -1.23201403e-03 1.94770409e-01] [ 3.58899518e-02 -1.04882878e-03 9.99355198e-01 2.10503014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:11.66, Y:0.19, Z:0.21 [[ 9.97473919e-01 -6.13033862e-02 -3.58841968e-02 1.16554325e+01] [ 6.12987616e-02 9.98118705e-01 -1.23008049e-03 1.94730186e-01] [ 3.58920962e-02 -9.72683618e-04 9.99355198e-01 2.10661445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.69, Y:0.19, Z:0.21 [[ 9.97623759e-01 -5.88145732e-02 -3.58842844e-02 1.16879065e+01] [ 5.88084320e-02 9.98268532e-01 -1.22752018e-03 1.94479888e-01] [ 3.58943480e-02 -8.85695206e-04 9.99355198e-01 2.11534346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.72, Y:0.20, Z:0.21 [[ 9.97652970e-01 -5.83169164e-02 -3.58843729e-02 1.17195277e+01] [ 5.83105467e-02 9.98297741e-01 -1.22492918e-03 1.96191671e-01] [ 3.58947225e-02 -8.70383160e-04 9.99355198e-01 2.13585806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.75, Y:0.20, Z:0.22 [[ 9.97713434e-01 -5.72730718e-02 -3.58845150e-02 1.17515714e+01] [ 5.72661776e-02 9.98358200e-01 -1.22075151e-03 1.98980435e-01] [ 3.58955160e-02 -8.37008831e-04 9.99355198e-01 2.15801074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.78, Y:0.20, Z:0.22 [[ 9.97801932e-01 -5.57099561e-02 -3.58846033e-02 1.17837969e+01] [ 5.57021453e-02 9.98446687e-01 -1.21815113e-03 2.00498449e-01] [ 3.58967264e-02 -7.83375836e-04 9.99355198e-01 2.16776581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655099893000001 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:11.81, Y:0.20, Z:0.21 [[ 9.97858053e-01 -5.46954777e-02 -3.58846920e-02 1.18139970e+01] [ 5.46871056e-02 9.98502801e-01 -1.21553010e-03 2.00072597e-01] [ 3.58974495e-02 -7.49503440e-04 9.99355198e-01 2.14853396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.85, Y:0.20, Z:0.22 [[ 9.97829472e-01 -5.52144220e-02 -3.58847139e-02 1.18452848e+01] [ 5.52064085e-02 9.98474224e-01 -1.21488381e-03 2.00999862e-01] [ 3.58970410e-02 -7.68819300e-04 9.99355198e-01 2.15422542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:11.88, Y:0.20, Z:0.22 [[ 9.97801655e-01 -5.57148173e-02 -3.58847577e-02 1.18769316e+01] [ 5.57071736e-02 9.98446412e-01 -1.21358857e-03 2.02371748e-01] [ 3.58966225e-02 -7.88117750e-04 9.99355198e-01 2.15686425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.91, Y:0.20, Z:0.22 [[ 9.97814477e-01 -5.54846954e-02 -3.58848012e-02 1.19078620e+01] [ 5.54769493e-02 9.98459232e-01 -1.21230151e-03 2.04329393e-01] [ 3.58967752e-02 -7.81127305e-04 9.99355198e-01 2.18176305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.94, Y:0.21, Z:0.22 [[ 9.97920739e-01 -5.35394209e-02 -3.58849387e-02 1.19393862e+01] [ 5.35305647e-02 9.98565481e-01 -1.20821869e-03 2.05388292e-01] [ 3.58981484e-02 -7.15234539e-04 9.99355198e-01 2.19956117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.97, Y:0.21, Z:0.22 [[ 9.98037205e-01 -5.13225702e-02 -3.58849811e-02 1.19705612e+01] [ 5.13123273e-02 9.98681926e-01 -1.20695583e-03 2.08485545e-01] [ 3.58996261e-02 -6.36755070e-04 9.99355198e-01 2.22690738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.00, Y:0.21, Z:0.23 [[ 9.98075461e-01 -5.05731139e-02 -3.58850241e-02 1.20015298e+01] [ 5.05624328e-02 9.98720174e-01 -1.20567631e-03 2.12388609e-01] [ 3.59000724e-02 -6.11078178e-04 9.99355198e-01 2.27474742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:12.03, Y:0.21, Z:0.23 [[ 9.98046755e-01 -5.11364464e-02 -3.58850669e-02 1.20322890e+01] [ 5.11261750e-02 9.98691476e-01 -1.20440212e-03 2.14038341e-01] [ 3.58996993e-02 -6.32616580e-04 9.99355198e-01 2.27562593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.06, Y:0.21, Z:0.23 [[ 9.97905458e-01 -5.38234121e-02 -3.58850669e-02 1.20637363e+01] [ 5.38148766e-02 9.98550203e-01 -1.20440212e-03 2.14515866e-01] [ 3.58978659e-02 -7.29270994e-04 9.99355198e-01 2.30215851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.09, Y:0.21, Z:0.23 [[ 9.97754567e-01 -5.65516039e-02 -3.58851098e-02 1.20948938e+01] [ 5.65448772e-02 9.98399334e-01 -1.20312273e-03 2.13518300e-01] [ 3.58957082e-02 -8.28697929e-04 9.99355198e-01 2.26812528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.13, Y:0.21, Z:0.23 [[ 9.97671908e-01 -5.79915554e-02 -3.58851533e-02 1.21262210e+01] [ 5.79858060e-02 9.98316684e-01 -1.20182320e-03 2.14366040e-01] [ 3.58944429e-02 -8.81804294e-04 9.99355198e-01 2.28031683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.16, Y:0.22, Z:0.23 [[ 9.97624504e-01 -5.88013055e-02 -3.58852995e-02 1.21581503e+01] [ 5.87962369e-02 9.98269287e-01 -1.19744144e-03 2.15840822e-01] [ 3.58936035e-02 -9.15323650e-04 9.99355198e-01 2.28146279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:12.19, Y:0.22, Z:0.23 [[ 9.97693433e-01 -5.76198990e-02 -3.58853852e-02 1.21894133e+01] [ 5.76141594e-02 9.98338210e-01 -1.19486947e-03 2.16078879e-01] [ 3.58945994e-02 -8.75392881e-04 9.99355198e-01 2.30056718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:12.22, Y:0.21, Z:0.23 [[ 9.97835003e-01 -5.51138926e-02 -3.58854490e-02 1.22211368e+01] [ 5.51066026e-02 9.98479764e-01 -1.19294903e-03 2.13628958e-01] [ 3.58966427e-02 -7.87158877e-04 9.99355198e-01 2.34173923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.25, Y:0.22, Z:0.24 [[ 9.97943721e-01 -5.31089211e-02 -3.58855356e-02 1.22518590e+01] [ 5.31004295e-02 9.98588468e-01 -1.19033775e-03 2.17562758e-01] [ 3.58980996e-02 -7.17647272e-04 9.99355198e-01 2.36099533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.28, Y:0.22, Z:0.24 [[ 9.98246476e-01 -4.70765067e-02 -3.58856000e-02 1.22831258e+01] [ 4.70641883e-02 9.98891160e-01 -1.18839512e-03 2.24166680e-01] [ 3.59017541e-02 -5.02615396e-04 9.99355198e-01 2.40092733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.31, Y:0.23, Z:0.24 [[ 9.98531411e-01 -4.05862230e-02 -3.58856419e-02 1.23130566e+01] [ 4.05697596e-02 9.99176003e-01 -1.18712607e-03 2.26041832e-01] [ 3.59042533e-02 -2.70489198e-04 9.99355198e-01 2.36474450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:12.34, Y:0.21, Z:0.24 [[ 9.98770178e-01 -3.42104549e-02 -3.58855992e-02 1.23422493e+01] [ 3.41898302e-02 9.99414650e-01 -1.18841525e-03 2.13750437e-01] [ 3.59052498e-02 -3.99688336e-05 9.99355198e-01 2.40892440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:12.37, Y:0.21, Z:0.24 [[ 9.98842087e-01 -3.20426374e-02 -3.58852995e-02 1.23703080e+01] [ 3.20202912e-02 9.99486502e-01 -1.19739988e-03 2.12699159e-01] [ 3.59052403e-02 4.69556552e-05 9.99355198e-01 2.39600064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.40, Y:0.21, Z:0.24 [[ 9.98861833e-01 -3.14212034e-02 -3.58851933e-02 1.23980612e+01] [ 3.13983423e-02 9.99506229e-01 -1.20057396e-03 2.13244681e-01] [ 3.59051977e-02 7.24719246e-05 9.99355198e-01 2.43281256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.43, Y:0.21, Z:0.24 [[ 9.98852874e-01 -3.17051121e-02 -3.58848492e-02 1.24264026e+01] [ 3.16820678e-02 9.99497264e-01 -1.21077074e-03 2.14266169e-01] [ 3.59051962e-02 7.24756098e-05 9.99355198e-01 2.44303963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.45, Y:0.22, Z:0.25 [[ 9.98843834e-01 -3.19890181e-02 -3.58845024e-02 1.24547437e+01] [ 3.19657907e-02 9.99488218e-01 -1.22096374e-03 2.15295706e-01] [ 3.59051948e-02 7.24756069e-05 9.99355198e-01 2.45326669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:12.48, Y:0.22, Z:0.24 [[ 9.98872982e-01 -3.10659464e-02 -3.58841527e-02 1.24818030e+01] [ 3.10417574e-02 9.99517330e-01 -1.23115663e-03 2.16404028e-01] [ 3.59050796e-02 1.15861937e-04 9.99355198e-01 2.44426555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:12.51, Y:0.22, Z:0.25 [[ 9.98892256e-01 -3.04400990e-02 -3.58840007e-02 1.25092593e+01] [ 3.04153477e-02 9.99536583e-01 -1.23557239e-03 2.17747762e-01] [ 3.59049823e-02 1.42779334e-04 9.99355198e-01 2.46209297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.54, Y:0.22, Z:0.25 [[ 9.98893646e-01 -3.03948808e-02 -3.58836452e-02 1.25365744e+01] [ 3.03697326e-02 9.99537957e-01 -1.24581048e-03 2.19088099e-01] [ 3.59049317e-02 1.54655460e-04 9.99355198e-01 2.47834028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.56, Y:0.22, Z:0.25 [[ 9.98884969e-01 -3.06791132e-02 -3.58832880e-02 1.25649140e+01] [ 3.06537816e-02 9.99529273e-01 -1.25601696e-03 2.20143950e-01] [ 3.59049302e-02 1.54657992e-04 9.99355198e-01 2.48856726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.59, Y:0.22, Z:0.25 [[ 9.98897495e-01 -3.02689703e-02 -3.58829279e-02 1.25929802e+01] [ 3.02430076e-02 9.99541774e-01 -1.26622080e-03 2.21203356e-01] [ 3.59048126e-02 1.79617128e-04 9.99355198e-01 2.48903096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.62, Y:0.22, Z:0.25 [[ 9.98888903e-01 -3.05515993e-02 -3.58825670e-02 1.26213194e+01] [ 3.05254544e-02 9.99533175e-01 -1.27636695e-03 2.22277343e-01] [ 3.59048112e-02 1.79617121e-04 9.99355198e-01 2.49925781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:12.65, Y:0.22, Z:0.25 [[ 9.98883306e-01 -3.07344734e-02 -3.58822032e-02 1.26488072e+01] [ 3.07080820e-02 9.99527568e-01 -1.28651300e-03 2.23379197e-01] [ 3.59047916e-02 1.83202715e-04 9.99355198e-01 2.49686093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:12.68, Y:0.22, Z:0.25 [[ 9.98874597e-01 -3.10166478e-02 -3.58818372e-02 1.26771456e+01] [ 3.09900746e-02 9.99518851e-01 -1.29664276e-03 2.24469543e-01] [ 3.59047902e-02 1.83202708e-04 9.99355198e-01 2.50708767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:12.71, Y:0.23, Z:0.25 [[ 9.98870183e-01 -3.11589035e-02 -3.58814683e-02 1.27053416e+01] [ 3.11320582e-02 9.99514426e-01 -1.30677243e-03 2.25456274e-01] [ 3.59047627e-02 1.88232056e-04 9.99355198e-01 2.51410621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:12.73, Y:0.23, Z:0.25 [[ 9.98861211e-01 -3.14456385e-02 -3.58810907e-02 1.27336776e+01] [ 3.14186085e-02 9.99505446e-01 -1.31705950e-03 2.26557080e-01] [ 3.59047613e-02 1.88225708e-04 9.99355198e-01 2.52433284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:12.76, Y:0.23, Z:0.25 [[ 9.98846066e-01 -3.19235125e-02 -3.58807099e-02 1.27619178e+01] [ 3.18964210e-02 9.99490298e-01 -1.32735281e-03 2.27194695e-01] [ 3.59047952e-02 1.81354902e-04 9.99355199e-01 2.52629470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:12.79, Y:0.23, Z:0.25 [[ 9.98836881e-01 -3.22100642e-02 -3.58803263e-02 1.27902537e+01] [ 3.21827880e-02 9.99481105e-01 -1.33764224e-03 2.28311734e-01] [ 3.59047937e-02 1.81357474e-04 9.99355199e-01 2.53652144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.82, Y:0.23, Z:0.25 [[ 9.98811318e-01 -3.29936530e-02 -3.58799398e-02 1.28184223e+01] [ 3.29665126e-02 9.99455548e-01 -1.34792899e-03 2.28642655e-01] [ 3.59048780e-02 1.63490242e-04 9.99355199e-01 2.54354838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.85, Y:0.23, Z:0.26 [[ 9.98801727e-01 -3.32831453e-02 -3.58795464e-02 1.28467565e+01] [ 3.32558183e-02 9.99445949e-01 -1.35832155e-03 2.29771935e-01] [ 3.59048765e-02 1.63490235e-04 9.99355199e-01 2.55377500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.87, Y:0.23, Z:0.26 [[ 9.98767151e-01 -3.43054624e-02 -3.58791499e-02 1.28741142e+01] [ 3.42784215e-02 9.99411385e-01 -1.36871400e-03 2.30349931e-01] [ 3.59049853e-02 1.37145954e-04 9.99355199e-01 2.55749445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.90, Y:0.23, Z:0.26 [[ 9.98757293e-01 -3.45915590e-02 -3.58788761e-02 1.29024496e+01] [ 3.45644461e-02 9.99401524e-01 -1.37585507e-03 2.31496341e-01] [ 3.59049964e-02 1.34011805e-04 9.99355199e-01 2.56770967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:12.93, Y:0.23, Z:0.26 [[ 9.98675128e-01 -3.68879777e-02 -3.58784791e-02 1.29303339e+01] [ 3.68619771e-02 9.99319405e-01 -1.38612992e-03 2.32852279e-01] [ 3.59051920e-02 6.17417960e-05 9.99355199e-01 2.56382286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:12.96, Y:0.24, Z:0.26 [[ 9.97667565e-01 -5.80704172e-02 -3.58783560e-02 1.29588945e+01] [ 5.80579790e-02 9.98312246e-01 -1.38930901e-03 2.44088799e-01] [ 3.58984800e-02 -6.96956303e-04 9.99355199e-01 2.57386754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:12.99, Y:0.25, Z:0.26 [[ 9.97745881e-01 -5.67089681e-02 -3.58782563e-02 1.29900034e+01] [ 5.66955578e-02 9.98390543e-01 -1.39187883e-03 2.45860392e-01] [ 3.58994438e-02 -6.45396389e-04 9.99355199e-01 2.57847277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.02, Y:0.25, Z:0.26 [[ 9.97796921e-01 -5.58036775e-02 -3.58783310e-02 1.30219204e+01] [ 5.57897516e-02 9.98441571e-01 -1.38995170e-03 2.47789980e-01] [ 3.58999816e-02 -6.14753645e-04 9.99355199e-01 2.60153103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.05, Y:0.25, Z:0.26 [[ 9.97800982e-01 -5.57309459e-02 -3.58784320e-02 1.30545752e+01] [ 5.57170668e-02 9.98445634e-01 -1.38734094e-03 2.48995859e-01] [ 3.58999816e-02 -6.14750839e-04 9.99355199e-01 2.61326138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:13.09, Y:0.25, Z:0.26 [[ 9.97822612e-01 -5.53422701e-02 -3.58785328e-02 1.30859692e+01] [ 5.53282338e-02 9.98467260e-01 -1.38472736e-03 2.50780985e-01] [ 3.59001743e-02 -6.03383578e-04 9.99355199e-01 2.63436074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.12, Y:0.25, Z:0.26 [[ 9.97827585e-01 -5.52524219e-02 -3.58786944e-02 1.31180927e+01] [ 5.52384786e-02 9.98472235e-01 -1.38052773e-03 2.52461996e-01] [ 3.59001577e-02 -6.04355847e-04 9.99355199e-01 2.63989602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.15, Y:0.25, Z:0.27 [[ 9.97831509e-01 -5.51814420e-02 -3.58787923e-02 1.31507472e+01] [ 5.51675444e-02 9.98476161e-01 -1.37797795e-03 2.53657455e-01] [ 3.59001576e-02 -6.04355057e-04 9.99355199e-01 2.65162631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:13.18, Y:0.26, Z:0.27 [[ 9.97807578e-01 -5.56124269e-02 -3.58788901e-02 1.31826432e+01] [ 5.55988995e-02 9.98452238e-01 -1.37542737e-03 2.55231761e-01] [ 3.58998490e-02 -6.22414951e-04 9.99355199e-01 2.65745808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:13.22, Y:0.26, Z:0.27 [[ 9.97811638e-01 -5.55394685e-02 -3.58789904e-02 1.32152984e+01] [ 5.55259881e-02 9.98456299e-01 -1.37280789e-03 2.56425072e-01] [ 3.58998489e-02 -6.22412707e-04 9.99355199e-01 2.66918834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.25, Y:0.26, Z:0.27 [[ 9.97774188e-01 -5.62081928e-02 -3.58790905e-02 1.32462535e+01] [ 5.61952388e-02 9.98418859e-01 -1.37018615e-03 2.57463043e-01] [ 3.58993763e-02 -6.49097684e-04 9.99355199e-01 2.68303923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.28, Y:0.26, Z:0.27 [[ 9.97778246e-01 -5.61360648e-02 -3.58791649e-02 1.32789086e+01] [ 5.61231344e-02 9.98422917e-01 -1.36823332e-03 2.58650824e-01] [ 3.58993878e-02 -6.48457752e-04 9.99355199e-01 2.69477197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.31, Y:0.26, Z:0.27 [[ 9.97736181e-01 -5.68787369e-02 -3.58792636e-02 1.33115886e+01] [ 5.68663795e-02 9.98380864e-01 -1.36564050e-03 2.59011391e-01] [ 3.58988461e-02 -6.77774881e-04 9.99355199e-01 2.70428340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.34, Y:0.26, Z:0.27 [[ 9.97740290e-01 -5.68065500e-02 -3.58793624e-02 1.33442440e+01] [ 5.67942394e-02 9.98384974e-01 -1.36304132e-03 2.60194823e-01] [ 3.58988460e-02 -6.77779851e-04 9.99355199e-01 2.71601371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.38, Y:0.26, Z:0.27 [[ 9.97716174e-01 -5.72284985e-02 -3.58794607e-02 1.33750974e+01] [ 5.72165538e-02 9.98360864e-01 -1.36044711e-03 2.59879499e-01] [ 3.58985058e-02 -6.95559011e-04 9.99355199e-01 2.69425214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.41, Y:0.26, Z:0.27 [[ 9.97718170e-01 -5.71936385e-02 -3.58795339e-02 1.34069029e+01] [ 5.71817408e-02 9.98362861e-01 -1.35851464e-03 2.61053252e-01] [ 3.58984925e-02 -6.96239469e-04 9.99355199e-01 2.70567978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:13.44, Y:0.26, Z:0.27 [[ 9.97685582e-01 -5.77592876e-02 -3.58795813e-02 1.34392134e+01] [ 5.77478003e-02 9.98330281e-01 -1.35726270e-03 2.61273028e-01] [ 3.58980670e-02 -7.17845465e-04 9.99355199e-01 2.71756458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:13.47, Y:0.26, Z:0.27 [[ 9.97666687e-01 -5.80846880e-02 -3.58796778e-02 1.34706028e+01] [ 5.80735029e-02 9.98311391e-01 -1.35470727e-03 2.63309460e-01] [ 3.58977788e-02 -7.32112259e-04 9.99355199e-01 2.74925468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.50, Y:0.26, Z:0.28 [[ 9.97555392e-01 -5.99656331e-02 -3.58798295e-02 1.35028424e+01] [ 5.99558085e-02 9.98200119e-01 -1.35067499e-03 2.63667787e-01] [ 3.58962442e-02 -8.03831076e-04 9.99355199e-01 2.80185609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.54, Y:0.26, Z:0.28 [[ 9.97363067e-01 -6.30836179e-02 -3.58799275e-02 1.35353406e+01] [ 6.30759024e-02 9.98007822e-01 -1.34806884e-03 2.62776090e-01] [ 3.58934893e-02 -9.18644727e-04 9.99355199e-01 2.80105851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:13.57, Y:0.26, Z:0.28 [[ 9.97359038e-01 -6.31472383e-02 -3.58800246e-02 1.35668967e+01] [ 6.31396571e-02 9.98003794e-01 -1.34547816e-03 2.64613212e-01] [ 3.58933639e-02 -9.23527646e-04 9.99355199e-01 2.81558334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.60, Y:0.27, Z:0.28 [[ 9.97477365e-01 -6.12496920e-02 -3.58800969e-02 1.35981485e+01] [ 6.12409536e-02 9.98122107e-01 -1.34354647e-03 2.68129291e-01] [ 3.58950098e-02 -8.57174157e-04 9.99355199e-01 2.81521004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:13.63, Y:0.27, Z:0.28 [[ 9.97571715e-01 -5.96932783e-02 -3.58801674e-02 1.36299492e+01] [ 5.96836017e-02 9.98216443e-01 -1.34166225e-03 2.70180978e-01] [ 3.58962613e-02 -8.03053311e-04 9.99355199e-01 2.81317375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.66, Y:0.27, Z:0.28 [[ 9.97679867e-01 -5.78575036e-02 -3.58802618e-02 1.36613181e+01] [ 5.78467316e-02 9.98324578e-01 -1.33913190e-03 2.70662904e-01] [ 3.58976261e-02 -7.39530935e-04 9.99355199e-01 2.80588506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:13.69, Y:0.27, Z:0.28 [[ 9.97700331e-01 -5.75034896e-02 -3.58803321e-02 1.36934825e+01] [ 5.74925566e-02 9.98345039e-01 -1.33724592e-03 2.70259234e-01] [ 3.58978479e-02 -7.28681326e-04 9.99355199e-01 2.81149746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:13.73, Y:0.27, Z:0.28 [[ 9.97704461e-01 -5.74317320e-02 -3.58804281e-02 1.37261380e+01] [ 5.74208453e-02 9.98349170e-01 -1.33466725e-03 2.71416078e-01] [ 3.58978478e-02 -7.28681043e-04 9.99355199e-01 2.82322762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.76, Y:0.27, Z:0.28 [[ 9.97701098e-01 -5.74900673e-02 -3.58805238e-02 1.37570982e+01] [ 5.74793110e-02 9.98345809e-01 -1.33208829e-03 2.70913192e-01] [ 3.58977524e-02 -7.33361843e-04 9.99355199e-01 2.81860474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:13.79, Y:0.27, Z:0.28 [[ 9.97693882e-01 -5.76151011e-02 -3.58805950e-02 1.37885310e+01] [ 5.76044947e-02 9.98338596e-01 -1.33016710e-03 2.71087509e-01] [ 3.58976206e-02 -7.39783970e-04 9.99355199e-01 2.82508998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:13.82, Y:0.27, Z:0.28 [[ 9.97670614e-01 -5.80165957e-02 -3.58806416e-02 1.38206769e+01] [ 5.80062940e-02 9.98315333e-01 -1.32891010e-03 2.72219198e-01] [ 3.58972935e-02 -7.55488485e-04 9.99355199e-01 2.84259502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.85, Y:0.28, Z:0.29 [[ 9.97941656e-01 -5.31509521e-02 -3.58807359e-02 1.38522450e+01] [ 5.31375983e-02 9.98586319e-01 -1.32635912e-03 2.77336148e-01] [ 3.59005092e-02 -5.82987109e-04 9.99355199e-01 2.93104944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.88, Y:0.28, Z:0.29 [[ 9.97939879e-01 -5.31842357e-02 -3.58808323e-02 1.38830236e+01] [ 5.31709974e-02 9.98584545e-01 -1.32374538e-03 2.78414320e-01] [ 3.59004470e-02 -5.86801335e-04 9.99355199e-01 2.91515158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:13.91, Y:0.28, Z:0.29 [[ 9.97902972e-01 -5.38722517e-02 -3.58809040e-02 1.39140322e+01] [ 5.38595277e-02 9.98547647e-01 -1.32180032e-03 2.78780699e-01] [ 3.59000006e-02 -6.13500071e-04 9.99355199e-01 2.92068866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.94, Y:0.28, Z:0.29 [[ 9.97822293e-01 -5.53464639e-02 -3.58809272e-02 1.39445976e+01] [ 5.53347151e-02 9.98466987e-01 -1.32116843e-03 2.78709037e-01] [ 3.58990433e-02 -6.67169569e-04 9.99355199e-01 2.89547654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:13.98, Y:0.28, Z:0.29 [[ 9.97723865e-01 -5.70933149e-02 -3.58809503e-02 1.39762268e+01] [ 5.70827174e-02 9.98368579e-01 -1.32054118e-03 2.78625105e-01] [ 3.58978074e-02 -7.30646691e-04 9.99355199e-01 2.90578968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.01, Y:0.28, Z:0.29 [[ 9.97727966e-01 -5.70215719e-02 -3.58809976e-02 1.40088824e+01] [ 5.70109742e-02 9.98372680e-01 -1.31925602e-03 2.79768470e-01] [ 3.58978338e-02 -7.29352000e-04 9.99355199e-01 2.91752462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.04, Y:0.28, Z:0.29 [[ 9.97616460e-01 -5.89401840e-02 -3.58810922e-02 1.40403469e+01] [ 5.89309190e-02 9.98261195e-01 -1.31667593e-03 2.79984200e-01] [ 3.58963071e-02 -8.00968158e-04 9.99355199e-01 2.91336878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.07, Y:0.28, Z:0.29 [[ 9.97620612e-01 -5.88698355e-02 -3.58811627e-02 1.40730020e+01] [ 5.88605941e-02 9.98265346e-01 -1.31475391e-03 2.81121317e-01] [ 3.58963206e-02 -8.00360952e-04 9.99355199e-01 2.92510108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:14.10, Y:0.28, Z:0.29 [[ 9.97519674e-01 -6.05560549e-02 -3.58812552e-02 1.41048803e+01] [ 6.05479942e-02 9.98164425e-01 -1.31222454e-03 2.82001364e-01] [ 3.58948556e-02 -8.63568232e-04 9.99355199e-01 2.93896104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:14.14, Y:0.28, Z:0.30 [[ 9.97443265e-01 -6.18018019e-02 -3.58813492e-02 1.41364016e+01] [ 6.17946390e-02 9.98088026e-01 -1.30964797e-03 2.83103146e-01] [ 3.58936836e-02 -9.10975476e-04 9.99355199e-01 2.95092435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.17, Y:0.28, Z:0.30 [[ 9.97273756e-01 -6.44792999e-02 -3.58814193e-02 1.41691197e+01] [ 6.44739371e-02 9.97918534e-01 -1.30772513e-03 2.78912021e-01] [ 3.58910546e-02 -1.00925642e-03 9.99355199e-01 2.96789448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:14.20, Y:0.28, Z:0.30 [[ 9.97080430e-01 -6.74027727e-02 -3.58815123e-02 1.42017421e+01] [ 6.73993922e-02 9.97725222e-01 -1.30516850e-03 2.78313027e-01] [ 3.58878618e-02 -1.11703415e-03 9.99355199e-01 2.97516329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.23, Y:0.28, Z:0.30 [[ 9.97041538e-01 -6.79756040e-02 -3.58816059e-02 1.42340560e+01] [ 6.79726867e-02 9.97686332e-01 -1.30258946e-03 2.78901276e-01] [ 3.58871321e-02 -1.14023336e-03 9.99355199e-01 2.97759045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.27, Y:0.28, Z:0.30 [[ 9.96982371e-01 -6.88378866e-02 -3.58817006e-02 1.42652606e+01] [ 6.88356209e-02 9.97627169e-01 -1.29997454e-03 2.79477902e-01] [ 3.58860469e-02 -1.17388745e-03 9.99355199e-01 2.99211224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.30, Y:0.28, Z:0.30 [[ 9.96942178e-01 -6.94175227e-02 -3.58817713e-02 1.42965635e+01] [ 6.94157021e-02 9.97586976e-01 -1.29802157e-03 2.79637037e-01] [ 3.58852932e-02 -1.19670590e-03 9.99355199e-01 2.98541180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.33, Y:0.28, Z:0.30 [[ 9.96947054e-01 -6.93474178e-02 -3.58818405e-02 1.43292184e+01] [ 6.93456208e-02 9.97591853e-01 -1.29610574e-03 2.80756346e-01] [ 3.58853133e-02 -1.19609970e-03 9.99355199e-01 2.99714399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.36, Y:0.28, Z:0.30 [[ 9.96898525e-01 -7.00415436e-02 -3.58819314e-02 1.43610338e+01] [ 7.00402863e-02 9.97543325e-01 -1.29358338e-03 2.81103700e-01] [ 3.58843858e-02 -1.22360938e-03 9.99355199e-01 3.01609766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.39, Y:0.28, Z:0.30 [[ 9.96903467e-01 -6.99711293e-02 -3.58820225e-02 1.43936893e+01] [ 6.99699173e-02 9.97548266e-01 -1.29105292e-03 2.82218377e-01] [ 3.58843858e-02 -1.22360702e-03 9.99355199e-01 3.02782778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.43, Y:0.28, Z:0.30 [[ 9.96908403e-01 -6.99007144e-02 -3.58821134e-02 1.44263449e+01] [ 6.98995480e-02 9.97553203e-01 -1.28852008e-03 2.83330747e-01] [ 3.58843857e-02 -1.22360701e-03 9.99355199e-01 3.03955789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:14.46, Y:0.28, Z:0.30 [[ 9.96794257e-01 -7.15099799e-02 -3.58822042e-02 1.44585803e+01] [ 7.15099454e-02 9.97439058e-01 -1.28598724e-03 2.84221858e-01] [ 3.58822729e-02 -1.28406977e-03 9.99355199e-01 3.04091246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.49, Y:0.29, Z:0.30 [[ 9.96773587e-01 -7.17974671e-02 -3.58822955e-02 1.44894534e+01] [ 7.17977104e-02 9.97418388e-01 -1.28343402e-03 2.86962380e-01] [ 3.58818087e-02 -1.29697353e-03 9.99355199e-01 3.04616060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.52, Y:0.29, Z:0.31 [[ 9.96887149e-01 -7.02030541e-02 -3.58823634e-02 1.45209948e+01] [ 7.02023344e-02 9.97531949e-01 -1.28153346e-03 2.91039718e-01] [ 3.58837715e-02 -1.24148144e-03 9.99355199e-01 3.08528905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:14.55, Y:0.29, Z:0.31 [[ 9.97335552e-01 -6.35157126e-02 -3.58824555e-02 1.45531205e+01] [ 6.35107614e-02 9.97980334e-01 -1.27894863e-03 2.91612182e-01] [ 3.58912183e-02 -1.00338113e-03 9.99355199e-01 3.06542598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:0.30, Z:0.31 [[ 9.97438729e-01 -6.18742654e-02 -3.58825474e-02 1.45850038e+01] [ 6.18683458e-02 9.98083503e-01 -1.27636707e-03 2.95200891e-01] [ 3.58927528e-02 -9.46895902e-04 9.99355199e-01 3.14288227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.62, Y:0.30, Z:0.31 [[ 9.97360545e-01 -6.31219383e-02 -3.58826397e-02 1.46164814e+01] [ 6.31169188e-02 9.98005327e-01 -1.27376655e-03 2.98422092e-01] [ 3.58914682e-02 -9.94397154e-04 9.99355199e-01 3.14398994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.65, Y:0.30, Z:0.31 [[ 9.97118447e-01 -6.68373652e-02 -3.58827084e-02 1.46487307e+01] [ 6.68348177e-02 9.97763243e-01 -1.27182696e-03 2.98268228e-01] [ 3.58874531e-02 -1.13005215e-03 9.99355199e-01 3.12248494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:14.68, Y:0.30, Z:0.31 [[ 9.96828969e-01 -7.10241632e-02 -3.58827988e-02 1.46813082e+01] [ 7.10244153e-02 9.97473770e-01 -1.26927343e-03 2.95957802e-01] [ 3.58822996e-02 -1.28330627e-03 9.99355199e-01 3.09703590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:14.71, Y:0.29, Z:0.31 [[ 9.96631924e-01 -7.37375512e-02 -3.58828882e-02 1.47140870e+01] [ 7.37396498e-02 9.97276722e-01 -1.26673950e-03 2.94892091e-01] [ 3.58785754e-02 -1.38351859e-03 9.99355199e-01 3.08772794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.75, Y:0.30, Z:0.31 [[ 9.96728641e-01 -7.24184266e-02 -3.58829783e-02 1.47459365e+01] [ 7.24197637e-02 9.97373440e-01 -1.26418276e-03 2.96183867e-01] [ 3.58802796e-02 -1.33858965e-03 9.99355199e-01 3.13339635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:14.78, Y:0.30, Z:0.32 [[ 9.96897829e-01 -7.00508632e-02 -3.58830689e-02 1.47781095e+01] [ 7.00507615e-02 9.97542630e-01 -1.26160470e-03 2.98313111e-01] [ 3.58832675e-02 -1.25594532e-03 9.99355199e-01 3.16100110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:14.81, Y:0.30, Z:0.32 [[ 9.97082957e-01 -6.73645025e-02 -3.58831593e-02 1.48107881e+01] [ 6.73627560e-02 9.97727755e-01 -1.25903016e-03 2.98802785e-01] [ 3.58864379e-02 -1.16183099e-03 9.99355199e-01 3.15671519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.84, Y:0.30, Z:0.32 [[ 9.96964541e-01 -6.90948392e-02 -3.58832495e-02 1.48418601e+01] [ 6.90943044e-02 9.97609342e-01 -1.25645209e-03 2.97456376e-01] [ 3.58842793e-02 -1.22668999e-03 9.99355199e-01 3.16124516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.87, Y:0.30, Z:0.32 [[ 9.96867411e-01 -7.04822855e-02 -3.58833166e-02 1.48733915e+01] [ 7.04827171e-02 9.97512212e-01 -1.25453257e-03 3.00633867e-01] [ 3.58824689e-02 -1.27855102e-03 9.99355199e-01 3.19984927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.91, Y:0.31, Z:0.32 [[ 9.96895872e-01 -7.00785425e-02 -3.58834051e-02 1.49054216e+01] [ 7.00788042e-02 9.97540673e-01 -1.25199650e-03 3.05685474e-01] [ 3.58828942e-02 -1.26655598e-03 9.99355199e-01 3.22432991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.94, Y:0.31, Z:0.32 [[ 9.96900050e-01 -7.00190367e-02 -3.58834944e-02 1.49365545e+01] [ 7.00193521e-02 9.97544851e-01 -1.24943167e-03 3.07086703e-01] [ 3.58828791e-02 -1.26698053e-03 9.99355199e-01 3.19327379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.97, Y:0.30, Z:0.32 [[ 9.96912807e-01 -6.98371400e-02 -3.58835610e-02 1.49689838e+01] [ 6.98374065e-02 9.97557608e-01 -1.24751815e-03 3.04203539e-01] [ 3.58830423e-02 -1.26234801e-03 9.99355199e-01 3.17487927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:15.00, Y:0.30, Z:0.32 [[ 9.96899609e-01 -7.00252292e-02 -3.58836527e-02 1.50003980e+01] [ 7.00257125e-02 9.97544410e-01 -1.24487251e-03 3.03939548e-01] [ 3.58827097e-02 -1.27176543e-03 9.99355199e-01 3.21398830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.03, Y:0.31, Z:0.33 [[ 9.96919595e-01 -6.97400891e-02 -3.58837210e-02 1.50322545e+01] [ 6.97404588e-02 9.97564396e-01 -1.24290200e-03 3.07303869e-01] [ 3.58830025e-02 -1.26347380e-03 9.99355199e-01 3.25201640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:15.06, Y:0.31, Z:0.32 [[ 9.97001761e-01 -6.85553874e-02 -3.58838110e-02 1.50647957e+01] [ 6.85550844e-02 9.97646562e-01 -1.24029808e-03 3.08499764e-01] [ 3.58843898e-02 -1.22343832e-03 9.99355199e-01 3.23707055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:15.10, Y:0.31, Z:0.32 [[ 9.96946177e-01 -6.93589636e-02 -3.58839010e-02 1.50969488e+01] [ 6.93592743e-02 9.97590978e-01 -1.23768775e-03 3.06623431e-01] [ 3.58833007e-02 -1.25497327e-03 9.99355199e-01 3.18582587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:15.13, Y:0.31, Z:0.32 [[ 9.96935992e-01 -6.95051658e-02 -3.58839902e-02 1.51276060e+01] [ 6.95056641e-02 9.97580792e-01 -1.23509787e-03 3.08753500e-01] [ 3.58830250e-02 -1.26282704e-03 9.99355199e-01 3.19709512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.16, Y:0.31, Z:0.33 [[ 9.96991368e-01 -6.87062396e-02 -3.58840565e-02 1.51597581e+01] [ 6.87062906e-02 9.97636169e-01 -1.23316700e-03 3.12915588e-01] [ 3.58839589e-02 -1.23600356e-03 9.99355199e-01 3.25528490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:15.19, Y:0.31, Z:0.33 [[ 9.97155236e-01 -6.62854636e-02 -3.58841454e-02 1.51908381e+01] [ 6.62840422e-02 9.97800036e-01 -1.23057464e-03 3.14614909e-01] [ 3.58867708e-02 -1.15147227e-03 9.99355199e-01 3.26637289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:15.22, Y:0.31, Z:0.33 [[ 9.97234266e-01 -6.50856552e-02 -3.58842116e-02 1.52230201e+01] [ 6.50835275e-02 9.97879063e-01 -1.22864273e-03 3.12824733e-01] [ 3.58880704e-02 -1.11022644e-03 9.99355199e-01 3.26978530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:15.26, Y:0.31, Z:0.33 [[ 9.97232987e-01 -6.51051904e-02 -3.58843003e-02 1.52555413e+01] [ 6.51031686e-02 9.97877785e-01 -1.22604706e-03 3.13733799e-01] [ 3.58879681e-02 -1.11352708e-03 9.99355199e-01 3.29880469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.29, Y:0.32, Z:0.34 [[ 9.97249642e-01 -6.48495285e-02 -3.58843895e-02 1.52874124e+01] [ 6.48474356e-02 9.97894440e-01 -1.22342942e-03 3.22002829e-01] [ 3.58881716e-02 -1.10694608e-03 9.99355199e-01 3.36659323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:15.32, Y:0.32, Z:0.34 [[ 9.97303376e-01 -6.40178195e-02 -3.58844788e-02 1.53181443e+01] [ 6.40152832e-02 9.97948172e-01 -1.22080446e-03 3.24245721e-01] [ 3.58890033e-02 -1.07964266e-03 9.99355199e-01 3.36299708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.35, Y:0.32, Z:0.33 [[ 9.97457657e-01 -6.15671741e-02 -3.58846208e-02 1.53507776e+01] [ 6.15632040e-02 9.98102446e-01 -1.21661759e-03 3.19916554e-01] [ 3.58914314e-02 -9.95647694e-04 9.99355199e-01 3.32622749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:15.38, Y:0.32, Z:0.33 [[ 9.97411545e-01 -6.23096899e-02 -3.58847067e-02 1.53828994e+01] [ 6.23062911e-02 9.98056337e-01 -1.21407800e-03 3.17625707e-01] [ 3.58906077e-02 -1.02490756e-03 9.99355199e-01 3.30682015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.41, Y:0.32, Z:0.33 [[ 9.97181291e-01 -6.58919941e-02 -3.58847929e-02 1.54148861e+01] [ 6.58910032e-02 9.97826091e-01 -1.21152461e-03 3.21786830e-01] [ 3.58866124e-02 -1.15637533e-03 9.99355199e-01 3.33840016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:15.45, Y:0.32, Z:0.33 [[ 9.96995075e-01 -6.86519931e-02 -3.58848796e-02 1.54471859e+01] [ 6.86528796e-02 9.97639875e-01 -1.20895023e-03 3.24876228e-01] [ 3.58831837e-02 -1.25828290e-03 9.99355199e-01 3.33324929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.48, Y:0.32, Z:0.33 [[ 9.96776484e-01 -7.17559001e-02 -3.58849660e-02 1.54794514e+01] [ 7.17588865e-02 9.97421279e-01 -1.20638179e-03 3.23415699e-01] [ 3.58789936e-02 -1.37257220e-03 9.99355199e-01 3.29314790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:15.51, Y:0.32, Z:0.33 [[ 9.96705260e-01 -7.27384820e-02 -3.58850518e-02 1.55118444e+01] [ 7.27421961e-02 9.97350051e-01 -1.20382356e-03 3.21525617e-01] [ 3.58775225e-02 -1.41050019e-03 9.99355199e-01 3.29649840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.54, Y:0.32, Z:0.33 [[ 9.96790773e-01 -7.15570495e-02 -3.58851376e-02 1.55433606e+01] [ 7.15600915e-02 9.97435567e-01 -1.20125863e-03 3.23203425e-01] [ 3.58790711e-02 -1.37054022e-03 9.99355199e-01 3.34535598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.57, Y:0.33, Z:0.34 [[ 9.97304535e-01 -6.39993544e-02 -3.58852026e-02 1.55737324e+01] [ 6.39975786e-02 9.97949333e-01 -1.19931519e-03 3.27513923e-01] [ 3.58883694e-02 -1.10048359e-03 9.99355199e-01 3.39658644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.61, Y:0.33, Z:0.34 [[ 9.97617046e-01 -5.89277459e-02 -3.58852457e-02 1.56055402e+01] [ 5.89227380e-02 9.98261827e-01 -1.19802454e-03 3.30031235e-01] [ 3.58934678e-02 -9.19287233e-04 9.99355199e-01 3.42583199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:15.64, Y:0.33, Z:0.35 [[ 9.97768133e-01 -5.63116040e-02 -3.58853307e-02 1.56372328e+01] [ 5.63049972e-02 9.98412900e-01 -1.19547323e-03 3.31806924e-01] [ 3.58956961e-02 -8.27718352e-04 9.99355199e-01 3.45593334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:15.67, Y:0.33, Z:0.35 [[ 9.97777131e-01 -5.61518754e-02 -3.58854158e-02 1.56682124e+01] [ 5.61452573e-02 9.98421898e-01 -1.19291390e-03 3.33598147e-01] [ 3.58957693e-02 -8.24533688e-04 9.99355199e-01 3.48092821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.70, Y:0.33, Z:0.35 [[ 9.97699650e-01 -5.75120973e-02 -3.58854582e-02 1.57001726e+01] [ 5.75064043e-02 9.98344426e-01 -1.19163437e-03 3.34661138e-01] [ 3.58945806e-02 -8.74750477e-04 9.99355199e-01 3.51853477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.73, Y:0.33, Z:0.35 [[ 9.97517955e-01 -6.05818273e-02 -3.58855442e-02 1.57307585e+01] [ 6.05782115e-02 9.98162745e-01 -1.18904110e-03 3.32813524e-01] [ 3.58916476e-02 -9.87792243e-04 9.99355199e-01 3.46567074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:15.76, Y:0.33, Z:0.35 [[ 9.97411955e-01 -6.23026316e-02 -3.58855654e-02 1.57632576e+01] [ 6.23001512e-02 9.98056751e-01 -1.18840035e-03 3.34551981e-01] [ 3.58898713e-02 -1.05035144e-03 9.99355199e-01 3.46678322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.80, Y:0.34, Z:0.35 [[ 9.97381181e-01 -6.27933082e-02 -3.58856497e-02 1.57955463e+01] [ 6.27912368e-02 9.98025979e-01 -1.18584929e-03 3.36755670e-01] [ 3.58892741e-02 -1.07056056e-03 9.99355199e-01 3.49818442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:15.83, Y:0.35, Z:0.36 [[ 9.98426179e-01 -4.30973176e-02 -3.58857345e-02 1.58276313e+01] [ 4.30826136e-02 9.99070812e-01 -1.18327837e-03 3.48518745e-01] [ 3.59033860e-02 -3.64635125e-04 9.99355199e-01 3.55077233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:15.86, Y:0.35, Z:0.36 [[ 9.98526447e-01 -4.07080110e-02 -3.58858205e-02 1.58569683e+01] [ 4.06918585e-02 9.99171046e-01 -1.18066203e-03 3.49107555e-01] [ 3.59041352e-02 -2.81338465e-04 9.99355199e-01 3.57630484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.89, Y:0.35, Z:0.36 [[ 9.98590780e-01 -3.90981587e-02 -3.58857781e-02 1.58853899e+01] [ 3.90809207e-02 9.99235350e-01 -1.18195190e-03 3.48906303e-01] [ 3.59045501e-02 -2.22162974e-04 9.99355199e-01 3.57589632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:15.91, Y:0.35, Z:0.36 [[ 9.98654524e-01 -3.74349366e-02 -3.58854784e-02 1.59129799e+01] [ 3.74163006e-02 9.99299055e-01 -1.19098181e-03 3.48880801e-01] [ 3.59049090e-02 -1.53322474e-04 9.99355199e-01 3.58042351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:15.94, Y:0.35, Z:0.36 [[ 9.98688692e-01 -3.65121354e-02 -3.58853721e-02 1.59409116e+01] [ 3.64927891e-02 9.99333203e-01 -1.19417481e-03 3.49506610e-01] [ 3.59050457e-02 -1.16948440e-04 9.99355199e-01 3.60272483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:15.97, Y:0.35, Z:0.36 [[ 9.98719063e-01 -3.56720976e-02 -3.58850201e-02 1.59688046e+01] [ 3.56518324e-02 9.99363545e-01 -1.20466123e-03 3.50446871e-01] [ 3.59051537e-02 -7.62485894e-05 9.99355199e-01 3.60899956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:16.00, Y:0.35, Z:0.36 [[ 9.98708934e-01 -3.59546695e-02 -3.58849110e-02 1.59971413e+01] [ 3.59344701e-02 9.99353418e-01 -1.20790263e-03 3.51463691e-01] [ 3.59051382e-02 -8.31621154e-05 9.99355199e-01 3.61919947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:16.02, Y:0.35, Z:0.36 [[ 9.98733765e-01 -3.52585307e-02 -3.58845663e-02 1.60245603e+01] [ 3.52375173e-02 9.99378224e-01 -1.21805802e-03 3.52604953e-01] [ 3.59052010e-02 -4.79673502e-05 9.99355199e-01 3.63912644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:16.05, Y:0.35, Z:0.36 [[ 9.98723594e-01 -3.55458360e-02 -3.58842133e-02 1.60528952e+01] [ 3.55246375e-02 9.99368046e-01 -1.22836903e-03 3.53635596e-01] [ 3.59051995e-02 -4.79725328e-05 9.99355199e-01 3.64935303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:16.08, Y:0.35, Z:0.37 [[ 9.98766190e-01 -3.43285114e-02 -3.58838572e-02 1.60810569e+01] [ 3.43061567e-02 9.99410603e-01 -1.23868513e-03 3.54528530e-01] [ 3.59052296e-02 6.11959836e-06 9.99355199e-01 3.65308928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:16.11, Y:0.36, Z:0.37 [[ 9.98799341e-01 -3.33501731e-02 -3.58837468e-02 1.61088746e+01] [ 3.33270726e-02 9.99443727e-01 -1.24187632e-03 3.55716758e-01] [ 3.59052024e-02 4.44850182e-05 9.99355199e-01 3.65908870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.14, Y:0.36, Z:0.37 [[ 9.98844763e-01 -3.19612591e-02 -3.58833884e-02 1.61355056e+01] [ 3.19368936e-02 9.99489103e-01 -1.25214743e-03 3.56721454e-01] [ 3.59050758e-02 1.04696948e-04 9.99355199e-01 3.67148344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.16, Y:0.36, Z:0.37 [[ 9.98835755e-01 -3.22417082e-02 -3.58832327e-02 1.61638417e+01] [ 3.22173639e-02 9.99480096e-01 -1.25659337e-03 3.57780249e-01] [ 3.59050915e-02 9.90672231e-05 9.99355199e-01 3.68168832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:16.19, Y:0.36, Z:0.37 [[ 9.98945560e-01 -2.86389257e-02 -3.58828770e-02 1.61914826e+01] [ 2.86118956e-02 9.99589793e-01 -1.26666914e-03 3.57464787e-01] [ 3.59044336e-02 2.38656377e-04 9.99355199e-01 3.69271719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:16.22, Y:0.36, Z:0.37 [[ 9.99000187e-01 -2.66659421e-02 -3.58825090e-02 1.62194716e+01] [ 2.66372684e-02 9.99644349e-01 -1.27700801e-03 3.57311518e-01] [ 3.59038000e-02 3.19919219e-04 9.99355200e-01 3.69873115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:16.25, Y:0.32, Z:0.38 [[ 9.99167998e-01 -1.93851392e-02 -3.58821406e-02 1.62494867e+01] [ 1.93514032e-02 9.99811915e-01 -1.28727876e-03 3.18356403e-01] [ 3.59003458e-02 5.91837973e-04 9.99355200e-01 3.76675702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:16.28, Y:0.32, Z:0.38 [[ 9.99149814e-01 -2.03013653e-02 -3.58818107e-02 1.62776900e+01] [ 2.02678921e-02 9.99793745e-01 -1.29640797e-03 3.16632535e-01] [ 3.59007288e-02 5.68057113e-04 9.99355200e-01 3.78168388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035099892999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.31, Y:0.32, Z:0.38 [[ 9.99137166e-01 -2.09152210e-02 -3.58814335e-02 1.63056894e+01] [ 2.08817715e-02 9.99781098e-01 -1.30676600e-03 3.15442699e-01] [ 3.59009103e-02 5.56370581e-04 9.99355200e-01 3.79733650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.33, Y:0.32, Z:0.38 [[ 9.99131374e-01 -2.11903161e-02 -3.58813166e-02 1.63340399e+01] [ 2.11569290e-02 9.99775309e-01 -1.30996733e-03 3.16547884e-01] [ 3.59010131e-02 5.49690992e-04 9.99355200e-01 3.80754088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:16.36, Y:0.32, Z:0.38 [[ 9.99121936e-01 -2.16313237e-02 -3.58809532e-02 1.63623426e+01] [ 2.15978660e-02 9.99765868e-01 -1.31984881e-03 3.15182363e-01] [ 3.59011024e-02 5.43737877e-04 9.99355200e-01 3.83042933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:16.39, Y:0.31, Z:0.38 [[ 9.99103664e-01 -2.24596372e-02 -3.58808342e-02 1.63906774e+01] [ 2.24265975e-02 9.99747617e-01 -1.32307615e-03 3.10754635e-01] [ 3.59014943e-02 5.17205207e-04 9.99355200e-01 3.84646494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:16.42, Y:0.31, Z:0.39 [[ 9.99101970e-01 -2.25350163e-02 -3.58807158e-02 1.64191123e+01] [ 2.25019102e-02 9.99745920e-01 -1.32627744e-03 3.05740024e-01] [ 3.59014870e-02 5.17701754e-04 9.99355200e-01 3.85180072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.45, Y:0.27, Z:0.39 [[ 9.99124227e-01 -2.15262529e-02 -3.58803361e-02 1.64490915e+01] [ 2.14921306e-02 9.99768124e-01 -1.33647294e-03 2.68726719e-01] [ 3.59007855e-02 5.64157622e-04 9.99355200e-01 3.85277717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.48, Y:0.27, Z:0.39 [[ 9.99134672e-01 -2.10364501e-02 -3.58799958e-02 1.64769344e+01] [ 2.10016864e-02 9.99778535e-01 -1.34554715e-03 2.68167430e-01] [ 3.59003551e-02 5.90842390e-04 9.99355200e-01 3.85720970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.50, Y:0.27, Z:0.39 [[ 9.99140916e-01 -2.07381236e-02 -3.58798132e-02 1.65043670e+01] [ 2.07029935e-02 9.99784758e-01 -1.35039729e-03 2.67469988e-01] [ 3.59000951e-02 6.06417643e-04 9.99355200e-01 3.88020355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.53, Y:0.27, Z:0.39 [[ 9.99134822e-01 -2.10303573e-02 -3.58794155e-02 1.65327266e+01] [ 2.09950390e-02 9.99778654e-01 -1.36088475e-03 2.68595810e-01] [ 3.59000936e-02 6.06417618e-04 9.99355200e-01 3.89043018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.56, Y:0.27, Z:0.39 [[ 9.99148071e-01 -2.03918787e-02 -3.58790146e-02 1.65606681e+01] [ 2.03557726e-02 9.99791859e-01 -1.37137210e-03 2.66680010e-01] [ 3.58995116e-02 6.39858728e-04 9.99355200e-01 3.88650263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.59, Y:0.26, Z:0.39 [[ 9.99155731e-01 -2.00132797e-02 -3.58788903e-02 1.65893875e+01] [ 1.99768131e-02 9.99799499e-01 -1.37461572e-03 2.63207017e-01] [ 3.58992071e-02 6.56709285e-04 9.99355200e-01 3.86824268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.62, Y:0.26, Z:0.39 [[ 9.99149988e-01 -2.02985601e-02 -3.58785451e-02 1.66177491e+01] [ 2.02619560e-02 9.99793748e-01 -1.38356813e-03 2.64359530e-01] [ 3.58992295e-02 6.55422581e-04 9.99355200e-01 3.87846542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:16.65, Y:0.26, Z:0.39 [[ 9.99145758e-01 -2.05064236e-02 -3.58781473e-02 1.66462631e+01] [ 2.04695859e-02 9.99789505e-01 -1.39380721e-03 2.55307874e-01] [ 3.58991772e-02 6.58205739e-04 9.99355200e-01 3.87517124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:16.67, Y:0.26, Z:0.39 [[ 9.99139820e-01 -2.07944210e-02 -3.58777428e-02 1.66746264e+01] [ 2.07573977e-02 9.99783556e-01 -1.40414471e-03 2.56473381e-01] [ 3.58991756e-02 6.58208316e-04 9.99355200e-01 3.88539748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.70, Y:0.25, Z:0.39 [[ 9.99076369e-01 -2.36479593e-02 -3.58773353e-02 1.67036763e+01] [ 2.36124037e-02 9.99720188e-01 -1.41447949e-03 2.52081082e-01] [ 3.59007459e-02 5.66022908e-04 9.99355200e-01 3.91422056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:16.73, Y:0.25, Z:0.39 [[ 9.99027659e-01 -2.56238141e-02 -3.58769776e-02 1.67314950e+01] [ 2.55892082e-02 9.99671529e-01 -1.42349489e-03 2.51895902e-01] [ 3.59016684e-02 5.04047315e-04 9.99355200e-01 3.93278858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.76, Y:0.25, Z:0.39 [[ 9.98977129e-01 -2.75239649e-02 -3.58765584e-02 1.67581678e+01] [ 2.74902070e-02 9.99621044e-01 -1.43398420e-03 2.51557746e-01] [ 3.59024317e-02 4.46263401e-04 9.99355200e-01 3.94804825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099893 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:16.79, Y:0.25, Z:0.39 [[ 9.98873788e-01 -3.10490092e-02 -3.58763762e-02 1.67865928e+01] [ 3.10173607e-02 9.99517811e-01 -1.43852753e-03 2.45072071e-01] [ 3.59037418e-02 3.24116940e-04 9.99355200e-01 3.93775233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.24, Z:0.40 [[ 9.98784629e-01 -3.37958416e-02 -3.58762476e-02 1.68149559e+01] [ 3.37658494e-02 9.99428731e-01 -1.44172674e-03 2.41118988e-01] [ 3.59044770e-02 2.28582535e-04 9.99355200e-01 3.99051085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:16.84, Y:0.24, Z:0.40 [[ 9.98726554e-01 -3.54710042e-02 -3.58758758e-02 1.68432380e+01] [ 3.54417621e-02 9.99370690e-01 -1.45092033e-03 2.37302788e-01] [ 3.59047644e-02 1.77568407e-04 9.99355200e-01 3.95985685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.87, Y:0.24, Z:0.40 [[ 9.98628488e-01 -3.81323271e-02 -3.58757439e-02 1.68716532e+01] [ 3.81046847e-02 9.99272695e-01 -1.45417437e-03 2.35669640e-01] [ 3.59051023e-02 8.51460407e-05 9.99355200e-01 3.96814299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.90, Y:0.24, Z:0.40 [[ 9.98455334e-01 -4.24253244e-02 -3.58753158e-02 1.69004169e+01] [ 4.24000751e-02 9.99099639e-01 -1.46466064e-03 2.35051172e-01] [ 3.59051538e-02 -5.87178582e-05 9.99355200e-01 3.99667783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:16.93, Y:0.24, Z:0.40 [[ 9.98347785e-01 -4.48852818e-02 -3.58749392e-02 1.69289672e+01] [ 4.48612907e-02 9.98992138e-01 -1.47382625e-03 2.35162275e-01] [ 3.59049354e-02 -1.38004907e-04 9.99355200e-01 4.04230587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.96, Y:0.23, Z:0.40 [[ 9.98256678e-01 -4.68681300e-02 -3.58745611e-02 1.69560299e+01] [ 4.68450900e-02 9.98901065e-01 -1.48297479e-03 2.33956272e-01] [ 3.59046415e-02 -2.00157553e-04 9.99355200e-01 4.03208041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:16.98, Y:0.23, Z:0.40 [[ 9.98030467e-01 -5.14608229e-02 -3.58743730e-02 1.69846700e+01] [ 5.14405851e-02 9.98674949e-01 -1.48751114e-03 2.27553887e-01] [ 3.59033861e-02 -3.60817301e-04 9.99355200e-01 4.03101931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:17.01, Y:0.22, Z:0.41 [[ 9.97739757e-01 -5.68193420e-02 -3.58739464e-02 1.70130254e+01] [ 5.68021979e-02 9.98384328e-01 -1.49772883e-03 2.23760729e-01] [ 3.59010858e-02 -5.43375401e-04 9.99355201e-01 4.05360110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815099893 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:17.04, Y:0.22, Z:0.40 [[ 9.97613399e-01 -5.89965821e-02 -3.58735137e-02 1.70414456e+01] [ 5.89804747e-02 9.98257997e-01 -1.50802266e-03 2.24565766e-01] [ 3.58999901e-02 -6.11413254e-04 9.99355201e-01 4.04510408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099893 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:17.07, Y:0.23, Z:0.40 [[ 9.97392689e-01 -6.26174268e-02 -3.58731351e-02 1.70704344e+01] [ 6.26033374e-02 9.98037334e-01 -1.51697574e-03 2.26963596e-01] [ 3.58977172e-02 -7.32757466e-04 9.99355201e-01 4.03418433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875099893 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:17.10, Y:0.23, Z:0.40 [[ 9.97271017e-01 -6.45264584e-02 -3.58727565e-02 1.70987248e+01] [ 6.45132830e-02 9.97915682e-01 -1.52587626e-03 2.27179086e-01] [ 3.58964456e-02 -7.92557121e-04 9.99355201e-01 4.03919877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:17.13, Y:0.23, Z:0.41 [[ 9.97186195e-01 -6.58245302e-02 -3.58723131e-02 1.71269588e+01] [ 6.58118218e-02 9.97830869e-01 -1.53622904e-03 2.27537227e-01] [ 3.58956229e-02 -8.28915886e-04 9.99355201e-01 4.06287849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935099893 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:17.16, Y:0.23, Z:0.41 [[ 9.97084692e-01 -6.73447079e-02 -3.58721033e-02 1.71560309e+01] [ 6.73328066e-02 9.97729381e-01 -1.54111382e-03 2.32315883e-01] [ 3.58944373e-02 -8.78748388e-04 9.99355201e-01 4.05783830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:17.18, Y:0.24, Z:0.41 [[ 9.96989675e-01 -6.87372356e-02 -3.58717125e-02 1.71841438e+01] [ 6.87259096e-02 9.97634375e-01 -1.55015679e-03 2.35101634e-01] [ 3.58934070e-02 -9.19825756e-04 9.99355201e-01 4.06658250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:17.21, Y:0.24, Z:0.41 [[ 9.96914626e-01 -6.98174813e-02 -3.58712537e-02 1.72105351e+01] [ 6.98064748e-02 9.97559332e-01 -1.56070069e-03 2.38146975e-01] [ 3.58926681e-02 -9.48160420e-04 9.99355201e-01 4.06650700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.24, Y:0.24, Z:0.41 [[ 9.96875776e-01 -7.03701305e-02 -3.58710545e-02 1.72388933e+01] [ 7.03593172e-02 9.97520484e-01 -1.56526616e-03 2.44735230e-01] [ 3.58922597e-02 -9.63486986e-04 9.99355201e-01 4.10954320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:17.27, Y:0.25, Z:0.42 [[ 9.96813271e-01 -7.12502606e-02 -3.58706500e-02 1.72676072e+01] [ 7.12396851e-02 9.97457983e-01 -1.57448204e-03 2.52079550e-01] [ 3.58916485e-02 -9.85949221e-04 9.99355201e-01 4.15701595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:17.30, Y:0.26, Z:0.42 [[ 9.96674921e-01 -7.31602868e-02 -3.58702441e-02 1.72963809e+01] [ 7.31506162e-02 9.97319648e-01 -1.58367631e-03 2.58322598e-01] [ 3.58899614e-02 -1.04551999e-03 9.99355201e-01 4.15887154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:17.33, Y:0.26, Z:0.41 [[ 9.96469087e-01 -7.59123981e-02 -3.58701361e-02 1.73263477e+01] [ 7.59044201e-02 9.97113837e-01 -1.58611818e-03 2.62725430e-01] [ 3.58870151e-02 -1.14218414e-03 9.99355201e-01 4.14721991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099893 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:17.36, Y:0.27, Z:0.41 [[ 9.96259946e-01 -7.86095243e-02 -3.58700783e-02 1.73555111e+01] [ 7.86032447e-02 9.96904715e-01 -1.58742543e-03 2.67690362e-01] [ 3.58838369e-02 -1.23801617e-03 9.99355201e-01 4.13323450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:17.39, Y:0.28, Z:0.42 [[ 9.96079357e-01 -8.08656505e-02 -3.58700495e-02 1.73855086e+01] [ 8.08608079e-02 9.96724138e-01 -1.58807425e-03 2.81213256e-01] [ 3.58809649e-02 -1.31863321e-03 9.99355201e-01 4.17122583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:17.42, Y:0.29, Z:0.42 [[ 9.96144566e-01 -8.00583736e-02 -3.58700495e-02 1.74151065e+01] [ 8.00530084e-02 9.96789343e-01 -1.58807425e-03 2.89311524e-01] [ 3.58820217e-02 -1.28955385e-03 9.99355201e-01 4.18765764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235099893 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:17.45, Y:0.30, Z:0.42 [[ 9.96190709e-01 -7.94821314e-02 -3.58700783e-02 1.74452742e+01] [ 7.94764166e-02 9.96835483e-01 -1.58742368e-03 2.96661154e-01] [ 3.58827386e-02 -1.26944857e-03 9.99355201e-01 4.19193997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:17.48, Y:0.31, Z:0.42 [[ 9.96292077e-01 -7.82012304e-02 -3.58701063e-02 1.74756733e+01] [ 7.81947094e-02 9.96936843e-01 -1.58679123e-03 3.07879449e-01] [ 3.58843196e-02 -1.22394500e-03 9.99355201e-01 4.21351333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:17.51, Y:0.32, Z:0.42 [[ 9.96390862e-01 -7.69323195e-02 -3.58701640e-02 1.75070981e+01] [ 7.69250242e-02 9.97035620e-01 -1.58548572e-03 3.16112540e-01] [ 3.58858063e-02 -1.17954975e-03 9.99355201e-01 4.20956449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099893 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:17.54, Y:0.32, Z:0.42 [[ 9.96456204e-01 -7.60812481e-02 -3.58702803e-02 1.75378089e+01] [ 7.60734969e-02 9.97100957e-01 -1.58284963e-03 3.20544430e-01] [ 3.58867160e-02 -1.15153733e-03 9.99355201e-01 4.20430689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:17.57, Y:0.33, Z:0.42 [[ 9.96606698e-01 -7.40837947e-02 -3.58703378e-02 1.75692652e+01] [ 7.40747981e-02 9.97251434e-01 -1.58154703e-03 3.28278219e-01] [ 3.58889128e-02 -1.08090766e-03 9.99355201e-01 4.20806439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.60, Y:0.34, Z:0.43 [[ 9.96846765e-01 -7.07802107e-02 -3.58704514e-02 1.76006711e+01] [ 7.07691700e-02 9.97491469e-01 -1.57896553e-03 3.38279887e-01] [ 3.58922288e-02 -9.64535389e-04 9.99355201e-01 4.26551633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415099893 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:17.63, Y:0.34, Z:0.43 [[ 9.97037306e-01 -6.80434581e-02 -3.58705643e-02 1.76319025e+01] [ 6.80307401e-02 9.97681980e-01 -1.57639570e-03 3.44598699e-01] [ 3.58946791e-02 -8.68575716e-04 9.99355201e-01 4.26994254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:17.66, Y:0.36, Z:0.43 [[ 9.97467201e-01 -6.14205370e-02 -3.58706215e-02 1.76628277e+01] [ 6.14035847e-02 9.98111777e-01 -1.57509379e-03 3.55117528e-01] [ 3.58996329e-02 -6.31480356e-04 9.99355201e-01 4.29907571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.69, Y:0.36, Z:0.43 [[ 9.97691535e-01 -5.76618964e-02 -3.58707066e-02 1.76943852e+01] [ 5.76425854e-02 9.98336044e-01 -1.57315218e-03 3.60092958e-01] [ 3.59017303e-02 -4.98159661e-04 9.99355201e-01 4.31392637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:17.73, Y:0.37, Z:0.43 [[ 9.98104415e-01 -5.00086451e-02 -3.58707622e-02 1.77250418e+01] [ 4.99844373e-02 9.98748760e-01 -1.57188353e-03 3.68442926e-01] [ 3.59044871e-02 -2.24075978e-04 9.99355201e-01 4.31227044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535099892999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:17.75, Y:0.38, Z:0.43 [[ 9.98482150e-01 -4.17933622e-02 -3.58707622e-02 1.77542104e+01] [ 4.17638528e-02 9.99126273e-01 -1.57188353e-03 3.76793321e-01] [ 3.59051153e-02 7.13964072e-05 9.99355201e-01 4.34270616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:17.78, Y:0.39, Z:0.44 [[ 9.98872873e-01 -3.10849762e-02 -3.58707062e-02 1.77822756e+01] [ 3.10485162e-02 9.99516641e-01 -1.57316179e-03 3.88308436e-01] [ 3.59022694e-02 4.57656435e-04 9.99355201e-01 4.36762382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:17.81, Y:0.40, Z:0.44 [[ 9.99002113e-01 -2.66101196e-02 -3.58703128e-02 1.78096198e+01] [ 2.65704559e-02 9.99645691e-01 -1.58208177e-03 3.95864558e-01] [ 3.58997030e-02 6.27412465e-04 9.99355201e-01 4.39471269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099893 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:17.84, Y:0.40, Z:0.44 [[ 9.99064178e-01 -2.41686117e-02 -3.58698483e-02 1.78372223e+01] [ 2.41269999e-02 9.99707633e-01 -1.59254382e-03 4.02139115e-01] [ 3.58978507e-02 7.25621658e-04 9.99355201e-01 4.38132407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:17.86, Y:0.41, Z:0.44 [[ 9.99039709e-01 -2.51599859e-02 -3.58697045e-02 1.78648355e+01] [ 2.51188966e-02 9.99683197e-01 -1.59577631e-03 4.06956228e-01] [ 3.58984905e-02 6.93236498e-04 9.99355201e-01 4.39328775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:17.89, Y:0.41, Z:0.44 [[ 9.99014047e-01 -2.61597091e-02 -3.58692461e-02 1.78928394e+01] [ 2.61188963e-02 9.99657553e-01 -1.60601284e-03 4.09659664e-01] [ 3.58989757e-02 6.67564267e-04 9.99355201e-01 4.39115460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.92, Y:0.41, Z:0.44 [[ 9.98923845e-01 -2.94034023e-02 -3.58691040e-02 1.79211784e+01] [ 2.93645655e-02 9.99567473e-01 -1.60918122e-03 4.13780935e-01] [ 3.59009050e-02 5.54168835e-04 9.99355201e-01 4.39307171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:17.95, Y:0.42, Z:0.44 [[ 9.98819882e-01 -3.27456911e-02 -3.58686961e-02 1.79496326e+01] [ 3.27086835e-02 9.99463618e-01 -1.61822136e-03 4.18534398e-01] [ 3.59024466e-02 4.43093840e-04 9.99355201e-01 4.38600637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:17.98, Y:0.42, Z:0.44 [[ 9.98704350e-01 -3.60982903e-02 -3.58682857e-02 1.79776658e+01] [ 3.60631189e-02 9.99348189e-01 -1.62726766e-03 4.23829213e-01] [ 3.59036480e-02 3.31637035e-04 9.99355201e-01 4.39724935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.01, Y:0.43, Z:0.44 [[ 9.98598591e-01 -3.89144003e-02 -3.58681401e-02 1.80056870e+01] [ 3.88809295e-02 9.99242521e-01 -1.63047218e-03 4.27872728e-01] [ 3.59044195e-02 2.33600598e-04 9.99355201e-01 4.43403552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:18.03, Y:0.43, Z:0.45 [[ 9.98527084e-01 -4.07080992e-02 -3.58679946e-02 1.80341104e+01] [ 4.06756704e-02 9.99171067e-01 -1.63366631e-03 4.31580850e-01] [ 3.59047659e-02 1.72305332e-04 9.99355201e-01 4.45521275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.06, Y:0.44, Z:0.45 [[ 9.98439832e-01 -4.27950753e-02 -3.58675842e-02 1.80619867e+01] [ 4.27636707e-02 9.99083865e-01 -1.64262819e-03 4.36156588e-01] [ 3.59050210e-02 1.06235852e-04 9.99355201e-01 4.46767383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:18.09, Y:0.44, Z:0.45 [[ 9.98361011e-01 -4.45961800e-02 -3.58674385e-02 1.80911915e+01] [ 4.45658232e-02 9.99005094e-01 -1.64580234e-03 4.38420249e-01] [ 3.59051503e-02 4.46429620e-05 9.99355201e-01 4.48875933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.12, Y:0.44, Z:0.45 [[ 9.98276033e-01 -4.64595864e-02 -3.58673809e-02 1.81209151e+01] [ 4.64303868e-02 9.98920170e-01 -1.64705711e-03 4.39562610e-01] [ 3.59051718e-02 -2.11187330e-05 9.99355201e-01 4.48898092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.15, Y:0.44, Z:0.44 [[ 9.98145418e-01 -4.91859721e-02 -3.58673232e-02 1.81506760e+01] [ 4.91584868e-02 9.98789631e-01 -1.64831252e-03 4.38904976e-01] [ 3.59049843e-02 -1.17927745e-04 9.99355201e-01 4.44976268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.18, Y:0.44, Z:0.45 [[ 9.98145418e-01 -4.91859945e-02 -3.58672946e-02 1.81816203e+01] [ 4.91584868e-02 9.98789630e-01 -1.64893548e-03 4.40327882e-01] [ 3.59049864e-02 -1.17304532e-04 9.99355201e-01 4.46089455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.21, Y:0.44, Z:0.45 [[ 9.97985330e-01 -5.23337234e-02 -3.58672946e-02 1.82117897e+01] [ 5.23082476e-02 9.98629625e-01 -1.64893548e-03 4.38451829e-01] [ 3.59044379e-02 -2.30541903e-04 9.99355201e-01 4.47297135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:18.24, Y:0.44, Z:0.45 [[ 9.97971335e-01 -5.25999205e-02 -3.58672946e-02 1.82428530e+01] [ 5.25746165e-02 9.98615637e-01 -1.64893548e-03 4.39634279e-01] [ 3.59043751e-02 -2.40118915e-04 9.99355201e-01 4.46147625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.27, Y:0.44, Z:0.45 [[ 9.98049593e-01 -5.10935218e-02 -3.58672762e-02 1.82727713e+01] [ 5.10672310e-02 9.98693856e-01 -1.64933548e-03 4.40974728e-01] [ 3.59046987e-02 -1.85523870e-04 9.99355201e-01 4.47195005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:18.30, Y:0.44, Z:0.45 [[ 9.98351178e-01 -4.48158566e-02 -3.58673050e-02 1.83027595e+01] [ 4.47855371e-02 9.98995264e-01 -1.64870847e-03 4.41213387e-01] [ 3.59051561e-02 3.96535270e-05 9.99355201e-01 4.50974997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:18.33, Y:0.44, Z:0.45 [[ 9.98605576e-01 -3.87355144e-02 -3.58673050e-02 1.83314700e+01] [ 3.87012733e-02 9.99249465e-01 -1.64870847e-03 4.41423921e-01] [ 3.59042489e-02 2.58299100e-04 9.99355201e-01 4.53367967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:18.36, Y:0.44, Z:0.46 [[ 9.98804917e-01 -3.32006115e-02 -3.58672184e-02 1.83590871e+01] [ 3.31627349e-02 9.99448602e-01 -1.65059078e-03 4.41985267e-01] [ 3.59022419e-02 4.59163133e-04 9.99355201e-01 4.55682461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:18.38, Y:0.45, Z:0.46 [[ 9.98887742e-01 -3.06080900e-02 -3.58667471e-02 1.83834537e+01] [ 3.05681774e-02 9.99531304e-01 -1.66076862e-03 4.46343719e-01] [ 3.59007695e-02 5.62540328e-04 9.99355201e-01 4.56323490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.41, Y:0.45, Z:0.46 [[ 9.98994185e-01 -2.69298018e-02 -3.58525334e-02 1.84145913e+01] [ 2.68765783e-02 9.99636827e-01 -1.96572530e-03 4.45094854e-01] [ 3.58924494e-02 1.00015473e-03 9.99355158e-01 4.59180440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:18.44, Y:0.44, Z:0.46 [[ 9.99067865e-01 -2.40210398e-02 -3.58662984e-02 1.84428325e+01] [ 2.39765477e-02 9.99711126e-01 -1.67015977e-03 4.44368034e-01] [ 3.58960565e-02 8.08652938e-04 9.99355202e-01 4.58142242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:18.47, Y:0.44, Z:0.46 [[ 9.99090722e-01 -2.30509894e-02 -3.58661499e-02 1.84708468e+01] [ 2.30057585e-02 9.99733932e-01 -1.67334240e-03 4.44313558e-01] [ 3.58951793e-02 8.46692888e-04 9.99355202e-01 4.56912905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:18.50, Y:0.44, Z:0.46 [[ 9.99112294e-01 -2.20965979e-02 -3.58659305e-02 1.84991604e+01] [ 2.20505844e-02 9.99755448e-01 -1.67803176e-03 4.44453884e-01] [ 3.58942382e-02 8.85677433e-04 9.99355202e-01 4.58171314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:18.53, Y:0.45, Z:0.46 [[ 9.99104151e-01 -2.24625016e-02 -3.58654575e-02 1.85265144e+01] [ 2.24163631e-02 9.99747297e-01 -1.68808064e-03 4.46204767e-01] [ 3.58943127e-02 8.82595257e-04 9.99355202e-01 4.60831639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375099893 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:18.55, Y:0.45, Z:0.46 [[ 9.99051878e-01 -2.46784171e-02 -3.58653111e-02 1.85544618e+01] [ 2.46335937e-02 9.99695116e-01 -1.69118743e-03 4.47618065e-01] [ 3.58961121e-02 8.06092477e-04 9.99355202e-01 4.64610931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:18.58, Y:0.45, Z:0.47 [[ 9.98932127e-01 -2.91259304e-02 -3.58648179e-02 1.85816351e+01] [ 2.90835982e-02 9.99575534e-01 -1.70158099e-03 4.50115244e-01] [ 3.58991547e-02 6.56685963e-04 9.99355202e-01 4.67956305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.61, Y:0.45, Z:0.47 [[ 9.98846585e-01 -3.19253083e-02 -3.58646650e-02 1.86094850e+01] [ 3.18846638e-02 9.99490101e-01 -1.70479805e-03 4.51572226e-01] [ 3.59008039e-02 5.59298918e-04 9.99355202e-01 4.67854435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099893 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:18.63, Y:0.46, Z:0.47 [[ 9.98636918e-01 -3.79218326e-02 -3.58641834e-02 1.86343054e+01] [ 3.78846908e-02 9.99280646e-01 -1.71487104e-03 4.57077955e-01] [ 3.59034154e-02 3.53830029e-04 9.99355202e-01 4.67114820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:18.67, Y:0.45, Z:0.47 [[ 9.98641924e-01 -3.78177340e-02 -3.58347108e-02 1.86672080e+01] [ 3.77587768e-02 9.99284188e-01 -2.32082544e-03 4.54713975e-01] [ 3.58968282e-02 9.64598736e-04 9.99355036e-01 4.68584729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:18.70, Y:0.45, Z:0.47 [[ 9.98342148e-01 -4.50197823e-02 -3.58632746e-02 1.86958250e+01] [ 4.49867383e-02 9.98986089e-01 -1.72820901e-03 4.54519187e-01] [ 3.59047160e-02 1.11972149e-04 9.99355212e-01 4.68486087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.73, Y:0.46, Z:0.47 [[ 9.98258510e-01 -4.68380580e-02 -3.58628377e-02 1.87255738e+01] [ 4.68058629e-02 9.98902494e-01 -1.73722912e-03 4.55952609e-01] [ 3.59048464e-02 5.56126916e-05 9.99355212e-01 4.70445944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:18.75, Y:0.46, Z:0.47 [[ 9.98081411e-01 -5.04713586e-02 -3.58627746e-02 1.87546998e+01] [ 5.04414611e-02 9.98725506e-01 -1.73853067e-03 4.59453261e-01] [ 3.59048137e-02 -7.37756063e-05 9.99355212e-01 4.73459316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:18.79, Y:0.46, Z:0.48 [[ 9.97958457e-01 -5.28467838e-02 -3.58627432e-02 1.87852779e+01] [ 5.28183962e-02 9.98602620e-01 -1.73917668e-03 4.61968840e-01] [ 3.59045392e-02 -1.58586508e-04 9.99355212e-01 4.77351658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:18.82, Y:0.46, Z:0.48 [[ 9.97706317e-01 -5.74105033e-02 -3.58627742e-02 1.88165242e+01] [ 5.73850851e-02 9.98350604e-01 -1.73853868e-03 4.63107091e-01] [ 3.59034326e-02 -3.23437325e-04 9.99355212e-01 4.77076247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:18.85, Y:0.46, Z:0.48 [[ 9.97570735e-01 -5.97200620e-02 -3.58628377e-02 1.88482132e+01] [ 5.96961825e-02 9.98215081e-01 -1.73722727e-03 4.63616906e-01] [ 3.59025727e-02 -4.07867424e-04 9.99355212e-01 4.76200823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:18.88, Y:0.46, Z:0.48 [[ 9.97336314e-01 -6.35147716e-02 -3.58629326e-02 1.88801332e+01] [ 6.34934141e-02 9.97980749e-01 -1.73526612e-03 4.64779427e-01] [ 3.59007313e-02 -5.46416115e-04 9.99355212e-01 4.76842359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:18.91, Y:0.47, Z:0.48 [[ 9.97174668e-01 -6.60039550e-02 -3.58630579e-02 1.89112066e+01] [ 6.59842994e-02 9.97819157e-01 -1.73267171e-03 4.69564299e-01] [ 3.58992094e-02 -6.38622416e-04 9.99355212e-01 4.78045443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:18.94, Y:0.47, Z:0.48 [[ 9.97277558e-01 -6.44305645e-02 -3.58632705e-02 1.89433139e+01] [ 6.44100506e-02 9.97922020e-01 -1.72825985e-03 4.72746528e-01] [ 3.59001001e-02 -5.86400308e-04 9.99355212e-01 4.78187809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.98, Y:0.48, Z:0.48 [[ 9.97461795e-01 -6.15124801e-02 -3.58633947e-02 1.89752948e+01] [ 6.14901736e-02 9.98106197e-01 -1.72567858e-03 4.76098301e-01] [ 3.59016273e-02 -4.83947916e-04 9.99355212e-01 4.80206204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:19.01, Y:0.48, Z:0.48 [[ 9.97557733e-01 -5.99364438e-02 -3.58635203e-02 1.90062223e+01] [ 5.99132131e-02 9.98202103e-01 -1.72306610e-03 4.79091272e-01] [ 3.59023158e-02 -4.29840822e-04 9.99355212e-01 4.81870830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:19.04, Y:0.49, Z:0.49 [[ 9.97933885e-01 -5.33081783e-02 -3.58636137e-02 1.90376285e+01] [ 5.32807374e-02 9.98578089e-01 -1.72111951e-03 4.86565923e-01] [ 3.59043686e-02 -1.93276305e-04 9.99355212e-01 4.85330155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:19.07, Y:0.49, Z:0.48 [[ 9.98098336e-01 -5.01348510e-02 -3.58637398e-02 1.90678562e+01] [ 5.01054565e-02 9.98742454e-01 -1.71848788e-03 4.88674091e-01] [ 3.59047956e-02 -8.17491569e-05 9.99355212e-01 4.83443548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:19.10, Y:0.49, Z:0.49 [[ 9.97825503e-01 -5.52996924e-02 -3.58637709e-02 1.90990049e+01] [ 5.52736551e-02 9.98469765e-01 -1.71783867e-03 4.87696995e-01] [ 3.59038868e-02 -2.68218467e-04 9.99355212e-01 4.86681273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:19.13, Y:0.49, Z:0.49 [[ 9.97736998e-01 -5.68741474e-02 -3.58638317e-02 1.91316184e+01] [ 5.68491725e-02 9.98381302e-01 -1.71656855e-03 4.86743729e-01] [ 3.59034073e-02 -3.26145198e-04 9.99355212e-01 4.88223335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:19.16, Y:0.49, Z:0.49 [[ 9.97691528e-01 -5.76662175e-02 -3.58639534e-02 1.91633453e+01] [ 5.76418455e-02 9.98335855e-01 -1.71402222e-03 4.87489242e-01] [ 3.59031117e-02 -3.57199012e-04 9.99355212e-01 4.90004346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:19.19, Y:0.49, Z:0.49 [[ 9.97651526e-01 -5.83540968e-02 -3.58640759e-02 1.91946935e+01] [ 5.83302613e-02 9.98295874e-01 -1.71145528e-03 4.88025008e-01] [ 3.59028294e-02 -3.84524940e-04 9.99355212e-01 4.93001842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035099892999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:19.23, Y:0.49, Z:0.50 [[ 9.97622318e-01 -5.88512759e-02 -3.58641670e-02 1.92268263e+01] [ 5.88278303e-02 9.98266680e-01 -1.70954380e-03 4.88326657e-01] [ 3.59026117e-02 -4.04332080e-04 9.99355212e-01 4.95546752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:19.26, Y:0.49, Z:0.50 [[ 9.97616452e-01 -5.89505445e-02 -3.58642871e-02 1.92590122e+01] [ 5.89272537e-02 9.98260820e-01 -1.70701929e-03 4.88256809e-01] [ 3.59025424e-02 -4.10433416e-04 9.99355212e-01 4.95030901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.29, Y:0.49, Z:0.50 [[ 9.97607346e-01 -5.91043787e-02 -3.58644069e-02 1.92908503e+01] [ 5.90812779e-02 9.98251720e-01 -1.70449920e-03 4.88068969e-01] [ 3.59024493e-02 -4.18494063e-04 9.99355212e-01 4.95987171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:19.32, Y:0.48, Z:0.50 [[ 9.97851188e-01 -5.48337772e-02 -3.58645269e-02 1.93227992e+01] [ 5.48080094e-02 9.98495461e-01 -1.70197024e-03 4.83073012e-01] [ 3.59038928e-02 -2.67350304e-04 9.99355212e-01 4.96941718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:19.35, Y:0.48, Z:0.50 [[ 9.98568238e-01 -3.96888166e-02 -3.58646200e-02 1.93525996e+01] [ 3.96533478e-02 9.99212051e-01 -1.70000627e-03 4.84104523e-01] [ 3.59038317e-02 2.75420012e-04 9.99355212e-01 4.99994345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:19.38, Y:0.48, Z:0.50 [[ 9.98686635e-01 -3.65886786e-02 -3.58646506e-02 1.93807608e+01] [ 3.65512346e-02 9.99330335e-01 -1.69935972e-03 4.81920995e-01] [ 3.59028107e-02 3.86230584e-04 9.99355212e-01 4.96968426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.41, Y:0.48, Z:0.50 [[ 9.98652824e-01 -3.75003292e-02 -3.58645010e-02 1.94089782e+01] [ 3.74633596e-02 9.99296552e-01 -1.70251231e-03 4.84043556e-01] [ 3.59031169e-02 3.56614030e-04 9.99355212e-01 4.99237870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.44, Y:0.49, Z:0.50 [[ 9.98642003e-01 -3.77878608e-02 -3.58640083e-02 1.94373021e+01] [ 3.77507062e-02 9.99285720e-01 -1.71282907e-03 4.85454249e-01] [ 3.59031155e-02 3.56611418e-04 9.99355212e-01 5.00260525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:19.46, Y:0.49, Z:0.50 [[ 9.98640028e-01 -3.78404894e-02 -3.58635125e-02 1.94640844e+01] [ 3.78029981e-02 9.99283726e-01 -1.72314829e-03 4.86686907e-01] [ 3.59030291e-02 3.65056559e-04 9.99355212e-01 5.01554706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.49, Y:0.49, Z:0.50 [[ 9.98615524e-01 -3.84819393e-02 -3.58632973e-02 1.94924350e+01] [ 3.84447011e-02 9.99259236e-01 -1.72761451e-03 4.87486406e-01] [ 3.59032130e-02 3.46468927e-04 9.99355212e-01 5.02763984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.52, Y:0.49, Z:0.50 [[ 9.98577503e-01 -3.94566418e-02 -3.58628374e-02 1.95199018e+01] [ 3.94196909e-02 9.99221232e-01 -1.73711010e-03 4.87976914e-01] [ 3.59034491e-02 3.20937107e-04 9.99355212e-01 5.02656361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.55, Y:0.49, Z:0.50 [[ 9.98566335e-01 -3.97387300e-02 -3.58623433e-02 1.95482261e+01] [ 3.97015968e-02 9.99210053e-01 -1.74725053e-03 4.89422314e-01] [ 3.59034475e-02 3.20953267e-04 9.99355212e-01 5.03679012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.58, Y:0.49, Z:0.50 [[ 9.98518841e-01 -4.09151702e-02 -3.58618472e-02 1.95774789e+01] [ 4.08784318e-02 9.99162582e-01 -1.75737466e-03 4.90372106e-01] [ 3.59037191e-02 2.88795629e-04 9.99355212e-01 5.01373309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.61, Y:0.49, Z:0.50 [[ 9.98445675e-01 -4.26637167e-02 -3.58614096e-02 1.96054525e+01] [ 4.26277866e-02 9.99089462e-01 -1.76626033e-03 4.91654595e-01] [ 3.59041116e-02 2.34822478e-04 9.99355212e-01 5.02740811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.63, Y:0.49, Z:0.50 [[ 9.98230279e-01 -4.74373956e-02 -3.58608998e-02 1.96344371e+01] [ 4.74041746e-02 9.98874210e-01 -1.77655054e-03 4.93889737e-01] [ 3.59048029e-02 7.34501855e-05 9.99355212e-01 5.02692824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.66, Y:0.50, Z:0.50 [[ 9.98171866e-01 -4.86513561e-02 -3.58604512e-02 1.96639318e+01] [ 4.86185945e-02 9.98815821e-01 -1.78555974e-03 4.95391901e-01] [ 3.59048559e-02 3.88107577e-05 9.99355212e-01 5.04003535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:19.69, Y:0.50, Z:0.51 [[ 9.98137527e-01 -4.93508524e-02 -3.58604194e-02 1.96941248e+01] [ 4.93185192e-02 9.98781504e-01 -1.78619727e-03 4.96389931e-01] [ 3.59048740e-02 1.42877446e-05 9.99355212e-01 5.05158180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.72, Y:0.50, Z:0.51 [[ 9.98145118e-01 -4.91970968e-02 -3.58604194e-02 1.97245496e+01] [ 4.91646644e-02 9.98789089e-01 -1.78619727e-03 4.97066858e-01] [ 3.59048714e-02 1.98186018e-05 9.99355212e-01 5.05315040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:19.75, Y:0.50, Z:0.51 [[ 9.98163380e-01 -4.88251704e-02 -3.58604194e-02 1.97546312e+01] [ 4.87924981e-02 9.98807340e-01 -1.78619727e-03 4.97922151e-01] [ 3.59048615e-02 3.31972611e-05 9.99355212e-01 5.06529608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.78, Y:0.50, Z:0.51 [[ 9.98217898e-01 -4.76975687e-02 -3.58604194e-02 1.97843365e+01] [ 4.76641689e-02 9.98861821e-01 -1.78619727e-03 4.99414235e-01] [ 3.59048011e-02 7.37569991e-05 9.99355212e-01 5.05381189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:19.81, Y:0.50, Z:0.51 [[ 9.98282375e-01 -4.63285342e-02 -3.58603877e-02 1.98135737e+01] [ 4.62942284e-02 9.98926249e-01 -1.78683454e-03 5.01754624e-01] [ 3.59046640e-02 1.23636451e-04 9.99355212e-01 5.07733756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.84, Y:0.51, Z:0.52 [[ 9.98563894e-01 -3.98018349e-02 -3.58603234e-02 1.98423504e+01] [ 3.97632746e-02 9.99207528e-01 -1.78812417e-03 5.08333387e-01] [ 3.59030757e-02 3.59632354e-04 9.99355212e-01 5.16027098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:19.87, Y:0.51, Z:0.52 [[ 9.98691173e-01 -3.64689155e-02 -3.58602595e-02 1.98698100e+01] [ 3.64281614e-02 9.99334672e-01 -1.78940488e-03 5.10709983e-01] [ 3.59016583e-02 4.80739541e-04 9.99355212e-01 5.15056983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:19.90, Y:0.51, Z:0.52 [[ 9.98691486e-01 -3.64605186e-02 -3.58601009e-02 1.98986759e+01] [ 3.64196451e-02 9.99334977e-01 -1.79257806e-03 5.12824779e-01] [ 3.59016114e-02 4.84220303e-04 9.99355212e-01 5.17510881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:19.93, Y:0.52, Z:0.52 [[ 9.98510990e-01 -4.11082672e-02 -3.58596435e-02 1.99257941e+01] [ 4.10700622e-02 9.99154645e-01 -1.80168056e-03 5.16797031e-01] [ 3.59033933e-02 3.26240043e-04 9.99355212e-01 5.19800399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.95, Y:0.52, Z:0.52 [[ 9.98410839e-01 -4.34729022e-02 -3.58594816e-02 1.99536964e+01] [ 4.34361061e-02 9.99054577e-01 -1.80489747e-03 5.18690916e-01] [ 3.59040433e-02 2.44432952e-04 9.99355212e-01 5.21043713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.98, Y:0.52, Z:0.52 [[ 9.98313069e-01 -4.56632293e-02 -3.58592466e-02 1.99820670e+01] [ 4.56276784e-02 9.98956876e-01 -1.80955385e-03 5.19904866e-01] [ 3.59044711e-02 1.70327084e-04 9.99355212e-01 5.19807760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:20.01, Y:0.52, Z:0.52 [[ 9.98192382e-01 -4.82298151e-02 -3.58587983e-02 2.00113949e+01] [ 4.81956020e-02 9.98836262e-01 -1.81839505e-03 5.21213728e-01] [ 3.59047689e-02 8.68717166e-05 9.99355212e-01 5.19789896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875099892999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:20.04, Y:0.52, Z:0.52 [[ 9.98192382e-01 -4.82298616e-02 -3.58587327e-02 2.00423329e+01] [ 4.81956020e-02 9.98836259e-01 -1.81968859e-03 5.22784316e-01] [ 3.59047657e-02 8.81660840e-05 9.99355212e-01 5.20903349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:20.07, Y:0.53, Z:0.52 [[ 9.97924957e-01 -5.34783212e-02 -3.58587327e-02 2.00726558e+01] [ 5.34474480e-02 9.98569006e-01 -1.81968859e-03 5.25185365e-01] [ 3.59047329e-02 -1.00645088e-04 9.99355212e-01 5.20685706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:20.10, Y:0.53, Z:0.52 [[ 9.97564316e-01 -5.98296308e-02 -3.58587652e-02 2.01039081e+01] [ 5.98028811e-02 9.98208549e-01 -1.81904657e-03 5.28356579e-01] [ 3.59033589e-02 -3.29841524e-04 9.99355212e-01 5.24819890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:20.14, Y:0.53, Z:0.53 [[ 9.97351399e-01 -6.32797927e-02 -3.58588300e-02 2.01363910e+01] [ 6.32553174e-02 9.97995722e-01 -1.81776932e-03 5.29796708e-01] [ 3.59019870e-02 -4.55306902e-04 9.99355212e-01 5.26749207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.17, Y:0.53, Z:0.53 [[ 9.97152823e-01 -6.63353849e-02 -3.58589610e-02 2.01680294e+01] [ 6.63129770e-02 9.97797221e-01 -1.81518125e-03 5.30718047e-01] [ 3.59003824e-02 -5.67901343e-04 9.99355212e-01 5.27544300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.20, Y:0.53, Z:0.53 [[ 9.96806747e-01 -7.13472937e-02 -3.58590585e-02 2.01994709e+01] [ 7.13281949e-02 9.97451252e-01 -1.81325334e-03 5.32575384e-01] [ 3.58970335e-02 -7.50298748e-04 9.99355212e-01 5.28451874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:20.23, Y:0.54, Z:0.53 [[ 9.96538135e-01 -7.50057783e-02 -3.58591546e-02 2.02313910e+01] [ 7.49891137e-02 9.97182707e-01 -1.81135065e-03 5.35840027e-01] [ 3.58939906e-02 -8.83966220e-04 9.99355212e-01 5.28792523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:20.26, Y:0.54, Z:0.53 [[ 9.96371686e-01 -7.71853294e-02 -3.58592814e-02 2.02646380e+01] [ 7.71701652e-02 9.97016296e-01 -1.80883560e-03 5.38455332e-01] [ 3.58919035e-02 -9.64994097e-04 9.99355212e-01 5.30134757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.30, Y:0.54, Z:0.53 [[ 9.96075136e-01 -8.09223153e-02 -3.58594764e-02 2.02955212e+01] [ 8.09097086e-02 9.96719801e-01 -1.80496178e-03 5.41500910e-01] [ 3.58879119e-02 -1.10350224e-03 9.99355212e-01 5.31163056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:20.33, Y:0.54, Z:0.53 [[ 9.95800284e-01 -8.42370748e-02 -3.58595731e-02 2.03281834e+01] [ 8.42266829e-02 9.96444988e-01 -1.80304012e-03 5.43634073e-01] [ 3.58839747e-02 -1.22486503e-03 9.99355212e-01 5.31607930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.36, Y:0.55, Z:0.53 [[ 9.95637756e-01 -8.61367084e-02 -3.58598032e-02 2.03609667e+01] [ 8.61277115e-02 9.96282481e-01 -1.79845203e-03 5.45885898e-01] [ 3.58814064e-02 -1.29791603e-03 9.99355212e-01 5.34061909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:20.39, Y:0.55, Z:0.53 [[ 9.95691074e-01 -8.55181056e-02 -3.58599975e-02 2.03929095e+01] [ 8.55088478e-02 9.96335795e-01 -1.79456793e-03 5.50399025e-01] [ 3.58820672e-02 -1.27951180e-03 9.99355212e-01 5.32720365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:20.42, Y:0.55, Z:0.53 [[ 9.95993298e-01 -8.19231443e-02 -3.58601257e-02 2.04239598e+01] [ 8.19116514e-02 9.96637983e-01 -1.79200343e-03 5.54432331e-01] [ 3.58863699e-02 -1.15253871e-03 9.99355212e-01 5.32505003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:20.46, Y:0.55, Z:0.53 [[ 9.96282688e-01 -7.83252893e-02 -3.58602210e-02 2.04565232e+01] [ 7.83115367e-02 9.96927329e-01 -1.79009374e-03 5.54470444e-01] [ 3.58902440e-02 -1.02482961e-03 9.99355212e-01 5.31424280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:20.49, Y:0.55, Z:0.53 [[ 9.96491362e-01 -7.56240808e-02 -3.58603498e-02 2.04891603e+01] [ 7.56086736e-02 9.97135965e-01 -1.78750914e-03 5.54375097e-01] [ 3.58928233e-02 -9.30116073e-04 9.99355212e-01 5.32601315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:20.52, Y:0.56, Z:0.54 [[ 9.96638024e-01 -7.36659726e-02 -3.58604786e-02 2.05207962e+01] [ 7.36493919e-02 9.97282598e-01 -1.78492343e-03 5.56887773e-01] [ 3.58945194e-02 -8.62179876e-04 9.99355212e-01 5.36083890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.55, Y:0.56, Z:0.54 [[ 9.96827972e-01 -7.10493590e-02 -3.58606060e-02 2.05524285e+01] [ 7.10311784e-02 9.97472503e-01 -1.78235997e-03 5.62394955e-01] [ 3.58966039e-02 -7.70514826e-04 9.99355212e-01 5.44648327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:20.58, Y:0.57, Z:0.54 [[ 9.96974042e-01 -6.89693266e-02 -3.58607368e-02 2.05845528e+01] [ 6.89498960e-02 9.97618537e-01 -1.77972458e-03 5.65963278e-01] [ 3.58980821e-02 -6.98254862e-04 9.99355212e-01 5.44903861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:20.62, Y:0.57, Z:0.55 [[ 9.97209033e-01 -6.54838090e-02 -3.58610599e-02 2.06161934e+01] [ 6.54623605e-02 9.97853464e-01 -1.77318933e-03 5.68512071e-01] [ 3.59001980e-02 -5.79309214e-04 9.99355212e-01 5.45916067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:20.65, Y:0.57, Z:0.54 [[ 9.97394552e-01 -6.25945916e-02 -3.58611872e-02 2.06476357e+01] [ 6.25713689e-02 9.98038921e-01 -1.77061176e-03 5.68341491e-01] [ 3.59016913e-02 -4.77885053e-04 9.99355212e-01 5.44747444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:20.68, Y:0.57, Z:0.54 [[ 9.97531481e-01 -6.03731212e-02 -3.58612820e-02 2.06795365e+01] [ 6.03485326e-02 9.98175799e-01 -1.76868818e-03 5.68482955e-01] [ 3.59026451e-02 -3.99853611e-04 9.99355212e-01 5.43660618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.71, Y:0.57, Z:0.55 [[ 9.97668235e-01 -5.80693726e-02 -3.58614075e-02 2.07108748e+01] [ 5.80433877e-02 9.98312499e-01 -1.76614097e-03 5.70245842e-01] [ 3.59034500e-02 -3.19494836e-04 9.99355212e-01 5.45271562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535099892999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.74, Y:0.57, Z:0.55 [[ 9.97782603e-01 -5.60698595e-02 -3.58615008e-02 2.07433583e+01] [ 5.60426517e-02 9.98426817e-01 -1.76424407e-03 5.73139688e-01] [ 3.59040050e-02 -2.49441560e-04 9.99355212e-01 5.48207376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099893 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:20.78, Y:0.58, Z:0.55 [[ 9.98209757e-01 -4.78667483e-02 -3.58616276e-02 2.07752537e+01] [ 4.78343391e-02 9.98853729e-01 -1.76166292e-03 5.78396546e-01] [ 3.59048455e-02 4.30918621e-05 9.99355212e-01 5.50711496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.81, Y:0.58, Z:0.55 [[ 9.98301293e-01 -4.59179995e-02 -3.58617547e-02 2.08059419e+01] [ 4.58844262e-02 9.98945206e-01 -1.75907246e-03 5.79492301e-01] [ 3.59047010e-02 1.10588281e-04 9.99355212e-01 5.52179434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:20.84, Y:0.58, Z:0.55 [[ 9.98443630e-01 -4.27112390e-02 -3.58617860e-02 2.08363831e+01] [ 4.26756206e-02 9.99087433e-01 -1.75843274e-03 5.76732773e-01] [ 3.59041646e-02 2.25271996e-04 9.99355212e-01 5.49616138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.87, Y:0.57, Z:0.55 [[ 9.98554413e-01 -4.00376821e-02 -3.58617860e-02 2.08652495e+01] [ 4.00003401e-02 9.99198119e-01 -1.75843274e-03 5.74813065e-01] [ 3.59034327e-02 3.21407140e-04 9.99355212e-01 5.49588770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.89, Y:0.58, Z:0.56 [[ 9.98672578e-01 -3.69732561e-02 -3.58616909e-02 2.08937980e+01] [ 3.69338693e-02 9.99316161e-01 -1.76037091e-03 5.78429216e-01] [ 3.59022539e-02 4.33523152e-04 9.99355212e-01 5.55537476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.92, Y:0.58, Z:0.56 [[ 9.98789414e-01 -3.36701159e-02 -3.58612576e-02 2.09213015e+01] [ 3.36282855e-02 9.99432843e-01 -1.76915367e-03 5.81286358e-01] [ 3.59004863e-02 5.61059351e-04 9.99355212e-01 5.58859483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099893 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:20.95, Y:0.58, Z:0.56 [[ 9.98837211e-01 -3.22216229e-02 -3.58607505e-02 2.09498067e+01] [ 3.21784927e-02 9.99480554e-01 -1.77937386e-03 5.78813871e-01] [ 3.58994571e-02 6.23359931e-04 9.99355212e-01 5.55483261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:20.98, Y:0.57, Z:0.56 [[ 9.98758262e-01 -3.45828348e-02 -3.58603097e-02 2.09778766e+01] [ 3.45409083e-02 9.99401685e-01 -1.78821347e-03 5.74222997e-01] [ 3.59006954e-02 5.47345309e-04 9.99355212e-01 5.55688161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:21.01, Y:0.58, Z:0.56 [[ 9.98691821e-01 -3.64516264e-02 -3.58598005e-02 2.10065757e+01] [ 3.64105394e-02 9.99335298e-01 -1.79836688e-03 5.75544132e-01] [ 3.59015178e-02 4.90339614e-04 9.99355212e-01 5.58235036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:21.03, Y:0.58, Z:0.56 [[ 9.98603831e-01 -3.87878409e-02 -3.58593481e-02 2.10347084e+01] [ 3.87479371e-02 9.99247382e-01 -1.80734298e-03 5.76682010e-01] [ 3.59024627e-02 4.15343859e-04 9.99355212e-01 5.61864790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:21.06, Y:0.57, Z:0.56 [[ 9.98537631e-01 -4.04567019e-02 -3.58588286e-02 2.10632779e+01] [ 4.04175055e-02 9.99181226e-01 -1.81759306e-03 5.74138795e-01] [ 3.59030021e-02 3.65610663e-04 9.99355213e-01 5.60290539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:21.09, Y:0.57, Z:0.56 [[ 9.98482560e-01 -4.17942574e-02 -3.58582937e-02 2.10917038e+01] [ 4.17555465e-02 9.99126184e-01 -1.82808362e-03 5.71546239e-01] [ 3.59033636e-02 3.28026959e-04 9.99355213e-01 5.59368432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:21.12, Y:0.57, Z:0.56 [[ 9.98342691e-01 -4.50118417e-02 -3.58581281e-02 2.11201216e+01] [ 4.49750888e-02 9.98986430e-01 -1.83132674e-03 5.74051872e-01] [ 3.59042148e-02 2.15569171e-04 9.99355213e-01 5.63249068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:21.15, Y:0.58, Z:0.57 [[ 9.98276118e-01 -4.64652702e-02 -3.58576557e-02 2.11491623e+01] [ 4.64291239e-02 9.98919891e-01 -1.84053066e-03 5.75297294e-01] [ 3.59044463e-02 1.72518261e-04 9.99355213e-01 5.66624374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:21.18, Y:0.57, Z:0.56 [[ 9.98132492e-01 -4.94546243e-02 -3.58576222e-02 2.11790423e+01] [ 4.94203827e-02 9.98776369e-01 -1.84118202e-03 5.72678894e-01] [ 3.59048007e-02 6.56461828e-05 9.99355213e-01 5.64232481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:21.21, Y:0.57, Z:0.56 [[ 9.97986792e-01 -5.23125170e-02 -3.58575564e-02 2.12089541e+01] [ 5.22800732e-02 9.98630762e-01 -1.84246263e-03 5.68082554e-01] [ 3.59048428e-02 -3.58823076e-05 9.99355213e-01 5.60586780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.24, Y:0.57, Z:0.56 [[ 9.97868176e-01 -5.45283310e-02 -3.58575692e-02 2.12405956e+01] [ 5.44973261e-02 9.98512217e-01 -1.84221393e-03 5.68590924e-01] [ 3.59046738e-02 -1.15854994e-04 9.99355213e-01 5.61616033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.27, Y:0.57, Z:0.57 [[ 9.97804636e-01 -5.56788889e-02 -3.58576341e-02 2.12712896e+01] [ 5.56486721e-02 9.98448715e-01 -1.84094981e-03 5.71486865e-01] [ 3.59045107e-02 -1.58521472e-04 9.99355213e-01 5.65430374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.30, Y:0.57, Z:0.56 [[ 9.97854759e-01 -5.47732229e-02 -3.58577006e-02 2.13014004e+01] [ 5.47424681e-02 9.98498812e-01 -1.83965485e-03 5.69711921e-01] [ 3.59046352e-02 -1.27230679e-04 9.99355213e-01 5.64317657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:21.33, Y:0.57, Z:0.57 [[ 9.97788031e-01 -5.59755436e-02 -3.58578165e-02 2.13298325e+01] [ 5.59456461e-02 9.98432125e-01 -1.83739142e-03 5.73555859e-01] [ 3.59044450e-02 -1.72761543e-04 9.99355213e-01 5.69156453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.36, Y:0.57, Z:0.57 [[ 9.97981421e-01 -5.24293393e-02 -3.58363969e-02 2.13614911e+01] [ 5.23822291e-02 9.98624567e-01 -2.25287481e-03 5.72785188e-01] [ 3.59052231e-02 3.71136855e-04 9.99355131e-01 5.69156610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:21.39, Y:0.58, Z:0.57 [[ 9.98138054e-01 -4.93421952e-02 -3.58576853e-02 2.13911998e+01] [ 4.93080131e-02 9.98781930e-01 -1.83750602e-03 5.77588177e-01] [ 3.59046747e-02 6.60134633e-05 9.99355217e-01 5.73517099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.42, Y:0.58, Z:0.57 [[ 9.98385297e-01 -4.40569801e-02 -3.58577919e-02 2.14205006e+01] [ 4.40194643e-02 9.99028988e-01 -1.83542434e-03 5.79475814e-01] [ 3.59038368e-02 2.54019881e-04 9.99355217e-01 5.74902905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:21.45, Y:0.58, Z:0.57 [[ 9.98508512e-01 -4.11700635e-02 -3.58577261e-02 2.14496181e+01] [ 4.11306406e-02 9.99152089e-01 -1.83670791e-03 5.78428995e-01] [ 3.59029394e-02 3.59117239e-04 9.99355217e-01 5.73164521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.48, Y:0.58, Z:0.58 [[ 9.98555930e-01 -4.00038916e-02 -3.58572531e-02 2.14774000e+01] [ 3.99633872e-02 9.99199440e-01 -1.84589673e-03 5.80016790e-01] [ 3.59023903e-02 4.10253838e-04 9.99355217e-01 5.75323841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315099893 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:21.51, Y:0.59, Z:0.58 [[ 9.98785677e-01 -3.37852280e-02 -3.58570856e-02 2.15052918e+01] [ 3.37406008e-02 9.99428913e-01 -1.84914425e-03 5.86002457e-01] [ 3.58990819e-02 6.37059176e-04 9.99355217e-01 5.78139746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:21.53, Y:0.59, Z:0.58 [[ 9.98827514e-01 -3.25250564e-02 -3.58569195e-02 2.15328569e+01] [ 3.24795022e-02 9.99470685e-01 -1.85236093e-03 5.86627867e-01] [ 3.58981880e-02 6.85574172e-04 9.99355217e-01 5.78667176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375099892999998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.56, Y:0.59, Z:0.58 [[ 9.98883176e-01 -3.07688293e-02 -3.58563860e-02 2.15609937e+01] [ 3.07217759e-02 9.99526239e-01 -1.86262945e-03 5.85645887e-01] [ 3.58967096e-02 7.58977366e-04 9.99355217e-01 5.75735615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.59, Y:0.59, Z:0.58 [[ 9.98831934e-01 -3.23897991e-02 -3.58562209e-02 2.15894152e+01] [ 3.23436755e-02 9.99475065e-01 -1.86580261e-03 5.89813893e-01] [ 3.58978317e-02 7.03901257e-04 9.99355217e-01 5.81375321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.62, Y:0.59, Z:0.58 [[ 9.98687595e-01 -3.65711850e-02 -3.58557552e-02 2.16173773e+01] [ 3.65274345e-02 9.99330892e-01 -1.87471096e-03 5.91181336e-01] [ 3.59003242e-02 5.62531837e-04 9.99355217e-01 5.82096709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:21.64, Y:0.59, Z:0.58 [[ 9.98567046e-01 -3.97272954e-02 -3.58552052e-02 2.16438743e+01] [ 3.96852027e-02 9.99210454e-01 -1.88517141e-03 5.91356453e-01] [ 3.59017886e-02 4.59548968e-04 9.99355217e-01 5.82219946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:21.67, Y:0.59, Z:0.58 [[ 9.98264681e-01 -4.67125142e-02 -3.58548101e-02 2.16714569e+01] [ 4.66746552e-02 9.98908351e-01 -1.89265635e-03 5.90377655e-01] [ 3.59040800e-02 2.15861094e-04 9.99355217e-01 5.81130961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:21.70, Y:0.59, Z:0.58 [[ 9.97858807e-01 -5.47014691e-02 -3.58545726e-02 2.17006850e+01] [ 5.46686021e-02 9.98502752e-01 -1.89714495e-03 5.92036378e-01] [ 3.59046660e-02 -6.70365695e-05 9.99355217e-01 5.82657507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.73, Y:0.59, Z:0.58 [[ 9.97096878e-01 -6.71734300e-02 -3.58545041e-02 2.17317895e+01] [ 6.71485703e-02 9.97741182e-01 -1.89843847e-03 5.92494742e-01] [ 3.59010399e-02 -5.14651620e-04 9.99355217e-01 5.81090297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.76, Y:0.59, Z:0.58 [[ 9.96870353e-01 -7.04552851e-02 -3.58546066e-02 2.17642177e+01] [ 7.04326162e-02 9.97514737e-01 -1.89650018e-03 5.92820895e-01] [ 3.58991169e-02 -6.34768939e-04 9.99355217e-01 5.81454238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.80, Y:0.59, Z:0.58 [[ 9.96375095e-01 -7.71434231e-02 -3.58547428e-02 2.17967717e+01] [ 7.71251716e-02 9.97019619e-01 -1.89392199e-03 5.94585018e-01] [ 3.58939856e-02 -8.78246492e-04 9.99355217e-01 5.83917784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.83, Y:0.60, Z:0.59 [[ 9.95923870e-01 -8.27651669e-02 -3.58548786e-02 2.18286398e+01] [ 8.27506457e-02 9.96568489e-01 -1.89134840e-03 5.99649216e-01] [ 3.58883799e-02 -1.08337533e-03 9.99355217e-01 5.86944063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.86, Y:0.60, Z:0.59 [[ 9.95714307e-01 -8.52492649e-02 -3.58550137e-02 2.18602983e+01] [ 8.52364440e-02 9.96358962e-01 -1.88878291e-03 6.02289630e-01] [ 3.58854816e-02 -1.17546570e-03 9.99355217e-01 5.87434663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:21.89, Y:0.60, Z:0.59 [[ 9.95499585e-01 -8.77210450e-02 -3.58551822e-02 2.18927456e+01] [ 8.77099399e-02 9.96144272e-01 -1.88557791e-03 6.04363064e-01] [ 3.58823393e-02 -1.26776385e-03 9.99355217e-01 5.87160668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.92, Y:0.61, Z:0.58 [[ 9.95268827e-01 -9.03014880e-02 -3.58553184e-02 2.19210995e+01] [ 9.02921476e-02 9.95913542e-01 -1.88298434e-03 6.09331356e-01] [ 3.58788335e-02 -1.36337809e-03 9.99355217e-01 5.84126055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:21.96, Y:0.61, Z:0.59 [[ 9.95336810e-01 -8.95554208e-02 -3.58393823e-02 2.19566392e+01] [ 8.95346973e-02 9.95981305e-01 -2.18599796e-03 6.10129727e-01] [ 3.58911227e-02 -1.03306401e-03 9.99355172e-01 5.88308699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:21.99, Y:0.61, Z:0.59 [[ 9.95346974e-01 -8.94357817e-02 -3.58558655e-02 2.19901330e+01] [ 8.94263483e-02 9.95991682e-01 -1.86997516e-03 6.11641778e-01] [ 3.58793865e-02 -1.34518500e-03 9.99355222e-01 5.89398386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:22.02, Y:0.61, Z:0.59 [[ 9.95356704e-01 -8.93273376e-02 -3.58560687e-02 2.20236152e+01] [ 8.93179744e-02 9.96001414e-01 -1.86607115e-03 6.13297141e-01] [ 3.58793863e-02 -1.34518500e-03 9.99355222e-01 5.90601373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.06, Y:0.62, Z:0.59 [[ 9.95273694e-01 -9.02474433e-02 -3.58562715e-02 2.20557198e+01] [ 9.02388165e-02 9.95918414e-01 -1.86216712e-03 6.16844537e-01] [ 3.58779768e-02 -1.38226155e-03 9.99355222e-01 5.94395825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:22.09, Y:0.62, Z:0.59 [[ 9.95280554e-01 -9.01716272e-02 -3.58566045e-02 2.20865349e+01] [ 9.01631828e-02 9.95925277e-01 -1.85573118e-03 6.24636455e-01] [ 3.58778331e-02 -1.38597243e-03 9.99355222e-01 5.94343509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:22.12, Y:0.63, Z:0.59 [[ 9.95871223e-01 -8.33954718e-02 -3.58567030e-02 2.21186450e+01] [ 8.33827081e-02 9.96515874e-01 -1.85382605e-03 6.28424452e-01] [ 3.58863745e-02 -1.14365698e-03 9.99355222e-01 5.92163424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:22.15, Y:0.63, Z:0.59 [[ 9.96236675e-01 -7.89099099e-02 -3.58568355e-02 2.21511352e+01] [ 7.88943355e-02 9.96881265e-01 -1.85125964e-03 6.30725918e-01] [ 3.58910903e-02 -9.84608466e-04 9.99355222e-01 5.90618679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.18, Y:0.64, Z:0.59 [[ 9.96439667e-01 -7.63037907e-02 -3.58569696e-02 2.21826001e+01] [ 7.62866238e-02 9.97084216e-01 -1.84865987e-03 6.36612334e-01] [ 3.58934782e-02 -8.93329122e-04 9.99355222e-01 5.94593022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.21, Y:0.64, Z:0.60 [[ 9.96511158e-01 -7.53643169e-02 -3.58571026e-02 2.22145235e+01] [ 7.53466352e-02 9.97155693e-01 -1.84607659e-03 6.41128331e-01] [ 3.58942423e-02 -8.62076104e-04 9.99355222e-01 5.97891686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035099892999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.25, Y:0.64, Z:0.60 [[ 9.96519376e-01 -7.52555046e-02 -3.58572360e-02 2.22480084e+01] [ 7.52378458e-02 9.97163912e-01 -1.84348150e-03 6.42764204e-01] [ 3.58942739e-02 -8.60756155e-04 9.99355222e-01 5.99095167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.28, Y:0.65, Z:0.60 [[ 9.96737626e-01 -7.23073201e-02 -3.58574368e-02 2.22786167e+01] [ 7.22878955e-02 9.97382111e-01 -1.83956696e-03 6.47652004e-01] [ 3.58965802e-02 -7.58493046e-04 9.99355222e-01 6.02518058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.31, Y:0.65, Z:0.60 [[ 9.97160754e-01 -6.62168250e-02 -3.58575361e-02 2.23113532e+01] [ 6.61935332e-02 9.97805111e-01 -1.83762955e-03 6.48115316e-01] [ 3.59005148e-02 -5.41124945e-04 9.99355222e-01 6.01258322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:22.34, Y:0.65, Z:0.60 [[ 9.97518783e-01 -6.05846526e-02 -3.58577326e-02 2.23434584e+01] [ 6.05578605e-02 9.98163004e-01 -1.83378760e-03 6.50504576e-01] [ 3.59029615e-02 -3.42229990e-04 9.99355222e-01 6.03770372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:22.38, Y:0.65, Z:0.60 [[ 9.97683491e-01 -5.78088734e-02 -3.58578631e-02 2.23759488e+01] [ 5.77803808e-02 9.98327639e-01 -1.83123265e-03 6.52781151e-01] [ 3.59037573e-02 -2.44890395e-04 9.99355222e-01 6.04820666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.41, Y:0.65, Z:0.61 [[ 9.97764350e-01 -5.63959790e-02 -3.58579939e-02 2.24080237e+01] [ 5.63666664e-02 9.98408461e-01 -1.82866695e-03 6.54047189e-01] [ 3.59040540e-02 -1.96616890e-04 9.99355222e-01 6.06831916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:22.44, Y:0.66, Z:0.61 [[ 9.97790135e-01 -5.59378357e-02 -3.58581259e-02 2.24396438e+01] [ 5.59083205e-02 9.98434237e-01 -1.82607428e-03 6.55809054e-01] [ 3.59041273e-02 -1.82728695e-04 9.99355222e-01 6.07368961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:22.47, Y:0.66, Z:0.61 [[ 9.97823065e-01 -5.53472491e-02 -3.58582242e-02 2.24702957e+01] [ 5.53174220e-02 9.98467153e-01 -1.82414377e-03 6.57737380e-01] [ 3.59042203e-02 -1.63411793e-04 9.99355222e-01 6.08296344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:22.50, Y:0.66, Z:0.61 [[ 9.98038391e-01 -5.13180455e-02 -3.58584490e-02 2.25022747e+01] [ 5.12857773e-02 9.98682361e-01 -1.81971329e-03 6.60057602e-01] [ 3.59045846e-02 -2.28847092e-05 9.99355222e-01 6.10490849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.53, Y:0.66, Z:0.61 [[ 9.98364871e-01 -4.45168086e-02 -3.58585805e-02 2.25322772e+01] [ 4.44802468e-02 9.99008611e-01 -1.81711838e-03 6.60011358e-01] [ 3.59039230e-02 2.19148652e-04 9.99355222e-01 6.11839757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.56, Y:0.66, Z:0.61 [[ 9.98588082e-01 -3.91918571e-02 -3.58586130e-02 2.25623168e+01] [ 3.91518857e-02 9.99231620e-01 -1.81647724e-03 6.60559754e-01] [ 3.59022510e-02 4.09980211e-04 9.99355222e-01 6.13612741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:22.59, Y:0.66, Z:0.61 [[ 9.98687116e-01 -3.65814645e-02 -3.58586130e-02 2.25896749e+01] [ 3.65398111e-02 9.99330547e-01 -1.81647724e-03 6.61659101e-01] [ 3.59010567e-02 5.03825476e-04 9.99355222e-01 6.14116717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.62, Y:0.66, Z:0.62 [[ 9.98757170e-01 -3.46163523e-02 -3.58583688e-02 2.26176552e+01] [ 3.45732604e-02 9.99400507e-01 -1.82128489e-03 6.63101364e-01] [ 3.58999182e-02 5.79280620e-04 9.99355222e-01 6.15553039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:22.65, Y:0.66, Z:0.61 [[ 9.98828351e-01 -3.24983038e-02 -3.58578526e-02 2.26452502e+01] [ 3.24534850e-02 9.99471569e-01 -1.83139177e-03 6.64325309e-01] [ 3.58984213e-02 6.65533745e-04 9.99355222e-01 6.14873905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:22.67, Y:0.67, Z:0.62 [[ 9.98856464e-01 -3.16226293e-02 -3.58576928e-02 2.26727846e+01] [ 3.15771346e-02 9.99499634e-01 -1.83451442e-03 6.66061520e-01] [ 3.58977630e-02 7.00133397e-04 9.99355222e-01 6.15915316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.70, Y:0.67, Z:0.62 [[ 9.98879027e-01 -3.09022965e-02 -3.58571731e-02 2.27008680e+01] [ 3.08559755e-02 9.99522139e-01 -1.84461749e-03 6.67697943e-01] [ 3.58970413e-02 7.36141671e-04 9.99355222e-01 6.16483963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:22.73, Y:0.67, Z:0.62 [[ 9.98917033e-01 -2.96485239e-02 -3.58570120e-02 2.27294847e+01] [ 2.96012835e-02 9.99560078e-01 -1.84774424e-03 6.67460535e-01] [ 3.58960206e-02 7.84329618e-04 9.99355222e-01 6.16929475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099893 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:22.76, Y:0.67, Z:0.62 [[ 9.98962313e-01 -2.80821028e-02 -3.58565535e-02 2.27577416e+01] [ 2.80335365e-02 9.99605259e-01 -1.85659877e-03 6.65885737e-01] [ 3.58945366e-02 8.49486197e-04 9.99355222e-01 6.17514928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.79, Y:0.66, Z:0.62 [[ 9.99044093e-01 -2.50043839e-02 -3.58563910e-02 2.27869127e+01] [ 2.49537247e-02 9.99686877e-01 -1.85973092e-03 6.63433771e-01] [ 3.58916650e-02 9.63202679e-04 9.99355222e-01 6.21488066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.81, Y:0.66, Z:0.62 [[ 9.99091016e-01 -2.30541738e-02 -3.58559190e-02 2.28148057e+01] [ 2.30019351e-02 9.99733674e-01 -1.86878862e-03 6.62513770e-01] [ 3.58894530e-02 1.04233439e-03 9.99355222e-01 6.23208228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.84, Y:0.66, Z:0.62 [[ 9.99097568e-01 -2.27687073e-02 -3.58557520e-02 2.28428797e+01] [ 2.27161704e-02 9.99740202e-01 -1.87198600e-03 6.62146715e-01] [ 3.58890595e-02 1.05579129e-03 9.99355222e-01 6.24701290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:22.87, Y:0.66, Z:0.62 [[ 9.99095362e-01 -2.28661496e-02 -3.58552152e-02 2.28712542e+01] [ 2.28133086e-02 9.99737971e-01 -1.88221226e-03 6.59168435e-01] [ 3.58888590e-02 1.06253345e-03 9.99355223e-01 6.24547383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:22.90, Y:0.66, Z:0.63 [[ 9.99053009e-01 -2.46480856e-02 -3.58546747e-02 2.28994019e+01] [ 2.45960237e-02 9.99695681e-01 -1.89245231e-03 6.57412043e-01] [ 3.58904088e-02 1.00877774e-03 9.99355223e-01 6.27013898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.93, Y:0.65, Z:0.62 [[ 9.98934281e-01 -2.90651585e-02 -3.58541316e-02 2.29274985e+01] [ 2.90155716e-02 9.99577149e-01 -1.90268708e-03 6.52871917e-01] [ 3.58942725e-02 8.60331229e-04 9.99355223e-01 6.24537853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.96, Y:0.65, Z:0.62 [[ 9.98878578e-01 -3.09205445e-02 -3.58539632e-02 2.29561523e+01] [ 3.08720380e-02 9.99521528e-01 -1.90585412e-03 6.51561592e-01] [ 3.58957382e-02 7.96831937e-04 9.99355223e-01 6.22115138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:22.98, Y:0.65, Z:0.62 [[ 9.98753799e-01 -3.47185257e-02 -3.58534880e-02 2.29839354e+01] [ 3.46721450e-02 9.99396906e-01 -1.91475385e-03 6.47695975e-01] [ 3.58983424e-02 6.69250345e-04 9.99355223e-01 6.20848786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:23.01, Y:0.65, Z:0.63 [[ 9.98484992e-01 -4.17407149e-02 -3.58529386e-02 2.30113354e+01] [ 4.16984902e-02 9.99128385e-01 -1.92498573e-03 6.47251864e-01] [ 3.59020389e-02 4.27055948e-04 9.99355223e-01 6.25528520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:23.04, Y:0.64, Z:0.63 [[ 9.97988779e-01 -5.22781358e-02 -3.58523871e-02 2.30405864e+01] [ 5.22423379e-02 9.98632562e-01 -1.93520353e-03 6.40956943e-01] [ 3.59045300e-02 5.82988893e-05 9.99355223e-01 6.28355298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875099892999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:23.07, Y:0.64, Z:0.63 [[ 9.97447276e-01 -6.17541357e-02 -3.58518986e-02 2.30713502e+01] [ 6.17241300e-02 9.98091354e-01 -1.94421058e-03 6.39601313e-01] [ 3.59035331e-02 -2.73679703e-04 9.99355223e-01 6.32413721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099893 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:23.10, Y:0.64, Z:0.63 [[ 9.97042476e-01 -6.79775170e-02 -3.58518986e-02 2.31026482e+01] [ 6.79515313e-02 9.97686729e-01 -1.94421058e-03 6.39310018e-01] [ 3.59011261e-02 -4.97730881e-04 9.99355223e-01 6.29229468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935099893 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:23.14, Y:0.64, Z:0.63 [[ 9.96244753e-01 -7.88100617e-02 -3.58520038e-02 2.31355857e+01] [ 7.87911495e-02 9.96889253e-01 -1.94226998e-03 6.36897869e-01] [ 3.58935477e-02 -8.89844308e-04 9.99355223e-01 6.26280771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.17, Y:0.64, Z:0.63 [[ 9.95718650e-01 -8.51997137e-02 -3.58521802e-02 2.31678728e+01] [ 8.51850539e-02 9.96363260e-01 -1.93900864e-03 6.38263126e-01] [ 3.58869981e-02 -1.12336283e-03 9.99355223e-01 6.29045833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.20, Y:0.64, Z:0.63 [[ 9.95400627e-01 -8.88380706e-02 -3.58523215e-02 2.32003828e+01] [ 8.88258608e-02 9.96045289e-01 -1.93639110e-03 6.41396616e-01] [ 3.58825612e-02 -1.25712841e-03 9.99355223e-01 6.31285519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:23.23, Y:0.64, Z:0.63 [[ 9.95307292e-01 -8.98776432e-02 -3.58525374e-02 2.32323516e+01] [ 8.98662508e-02 9.95951968e-01 -1.93238590e-03 6.43833191e-01] [ 3.58810835e-02 -1.29861534e-03 9.99355223e-01 6.30479891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:23.27, Y:0.65, Z:0.63 [[ 9.95317015e-01 -8.97698337e-02 -3.58527161e-02 2.32658272e+01] [ 8.97584909e-02 9.95961692e-01 -1.92906465e-03 6.45547058e-01] [ 3.58811036e-02 -1.29805483e-03 9.99355223e-01 6.31683063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.30, Y:0.65, Z:0.63 [[ 9.95341954e-01 -8.94928112e-02 -3.58529245e-02 2.32985487e+01] [ 8.94814287e-02 9.95986630e-01 -1.92518295e-03 6.47874760e-01] [ 3.58813235e-02 -1.29195556e-03 9.99355223e-01 6.32167918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.33, Y:0.65, Z:0.64 [[ 9.95354668e-01 -8.93511982e-02 -3.58531355e-02 2.33302784e+01] [ 8.93398656e-02 9.95999346e-01 -1.92124653e-03 6.51135706e-01] [ 3.58813652e-02 -1.29079260e-03 9.99355223e-01 6.35192162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.36, Y:0.66, Z:0.64 [[ 9.95439992e-01 -8.83955011e-02 -3.58532749e-02 2.33616635e+01] [ 8.83836431e-02 9.96084660e-01 -1.91864204e-03 6.55093353e-01] [ 3.58824964e-02 -1.25895003e-03 9.99355223e-01 6.36762476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:23.39, Y:0.66, Z:0.64 [[ 9.95531156e-01 -8.73627312e-02 -3.58534484e-02 2.33931411e+01] [ 8.73503213e-02 9.96175814e-01 -1.91539285e-03 6.59538022e-01] [ 3.58836721e-02 -1.22497698e-03 9.99355223e-01 6.38209377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.43, Y:0.66, Z:0.64 [[ 9.95610541e-01 -8.64532711e-02 -3.58536171e-02 2.34258288e+01] [ 8.64403862e-02 9.96255190e-01 -1.91222948e-03 6.64232671e-01] [ 3.58846706e-02 -1.19536468e-03 9.99355223e-01 6.40775241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.46, Y:0.67, Z:0.64 [[ 9.95697837e-01 -8.54419122e-02 -3.58538241e-02 2.34570031e+01] [ 8.54285124e-02 9.96342475e-01 -1.90834069e-03 6.70630068e-01] [ 3.58857402e-02 -1.16280816e-03 9.99355223e-01 6.41639540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:23.49, Y:0.67, Z:0.64 [[ 9.95676894e-01 -8.56855766e-02 -3.58539264e-02 2.34890216e+01] [ 8.56724037e-02 9.96321537e-01 -1.90641670e-03 6.74083444e-01] [ 3.58853915e-02 -1.17351700e-03 9.99355223e-01 6.41456271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.52, Y:0.68, Z:0.64 [[ 9.95416575e-01 -8.86584969e-02 -3.58540629e-02 2.35206847e+01] [ 8.86473415e-02 9.96061255e-01 -1.90384670e-03 6.78026721e-01] [ 3.58816351e-02 -1.28324680e-03 9.99355223e-01 6.43793834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.55, Y:0.68, Z:0.64 [[ 9.95047577e-01 -9.27081226e-02 -3.58542003e-02 2.35518148e+01] [ 9.26996837e-02 9.95692299e-01 -1.90125650e-03 6.81475041e-01] [ 3.58760130e-02 -1.43183235e-03 9.99355223e-01 6.41687509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:23.58, Y:0.69, Z:0.64 [[ 9.94768451e-01 -9.56566655e-02 -3.58543026e-02 2.35841913e+01] [ 9.56502069e-02 9.95413196e-01 -1.89932377e-03 6.86440341e-01] [ 3.58715290e-02 -1.54008410e-03 9.99355223e-01 6.41001027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:23.62, Y:0.69, Z:0.64 [[ 9.94694795e-01 -9.64195194e-02 -3.58544402e-02 2.36159842e+01] [ 9.64136488e-02 9.95339545e-01 -1.89672308e-03 6.90235195e-01] [ 3.58702234e-02 -1.57019683e-03 9.99355223e-01 6.41596625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:23.65, Y:0.69, Z:0.64 [[ 9.94692064e-01 -9.64476393e-02 -3.58545781e-02 2.36478752e+01] [ 9.64418808e-02 9.95336815e-01 -1.89411265e-03 6.94022840e-01] [ 3.58700643e-02 -1.57382413e-03 9.99355223e-01 6.41634026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.68, Y:0.70, Z:0.64 [[ 9.94919822e-01 -9.40690595e-02 -3.58547158e-02 2.36799766e+01] [ 9.40618534e-02 9.95564558e-01 -1.89150221e-03 6.99019185e-01] [ 3.58736162e-02 -1.49066798e-03 9.99355223e-01 6.42211044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:23.71, Y:0.70, Z:0.64 [[ 9.95135023e-01 -9.17643823e-02 -3.58550556e-02 2.37129103e+01] [ 9.17559154e-02 9.95779744e-01 -1.88503999e-03 7.03394032e-01] [ 3.58767176e-02 -1.41404413e-03 9.99355223e-01 6.43603410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:23.74, Y:0.71, Z:0.65 [[ 9.95736293e-01 -8.49919676e-02 -3.58552582e-02 2.37437625e+01] [ 8.49792535e-02 9.96380945e-01 -1.88117725e-03 7.11422012e-01] [ 3.58853810e-02 -1.17379662e-03 9.99355223e-01 6.46548299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535099892999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:23.77, Y:0.72, Z:0.65 [[ 9.96387389e-01 -7.69841807e-02 -3.58553585e-02 2.37749069e+01] [ 7.69663532e-02 9.97031920e-01 -1.87926523e-03 7.19898553e-01] [ 3.58936106e-02 -8.87180012e-04 9.99355223e-01 6.51152128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.81, Y:0.73, Z:0.65 [[ 9.96883995e-01 -7.02615567e-02 -3.58554594e-02 2.38081103e+01] [ 7.02394515e-02 9.97528393e-01 -1.87733669e-03 7.25568874e-01] [ 3.58987434e-02 -6.46980898e-04 9.99355223e-01 6.53762003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.84, Y:0.72, Z:0.65 [[ 9.97082068e-01 -6.73922988e-02 -3.58556628e-02 2.38398111e+01] [ 6.73684791e-02 9.97726404e-01 -1.87344397e-03 7.24962389e-01] [ 3.59003972e-02 -5.47564084e-04 9.99355223e-01 6.50317337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:23.87, Y:0.72, Z:0.65 [[ 9.97078969e-01 -6.74379963e-02 -3.58559077e-02 2.38714948e+01] [ 6.74143751e-02 9.97723313e-01 -1.86874456e-03 7.23950535e-01] [ 3.59002995e-02 -5.53917717e-04 9.99355223e-01 6.48680878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.90, Y:0.72, Z:0.65 [[ 9.97056701e-01 -6.77663826e-02 -3.58560057e-02 2.39034772e+01] [ 6.77430412e-02 9.97701055e-01 -1.86686411e-03 7.24667703e-01] [ 3.59000853e-02 -5.67625494e-04 9.99355223e-01 6.51641489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.94, Y:0.73, Z:0.65 [[ 9.97061454e-01 -6.76963420e-02 -3.58561364e-02 2.39361094e+01] [ 6.76730458e-02 9.97705810e-01 -1.86434928e-03 7.26304414e-01] [ 3.59000852e-02 -5.67623155e-04 9.99355223e-01 6.52814414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715099892999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:23.97, Y:0.73, Z:0.65 [[ 9.97089566e-01 -6.72809464e-02 -3.58562671e-02 2.39678899e+01] [ 6.72574722e-02 9.97733915e-01 -1.86183210e-03 7.27252917e-01] [ 3.59002796e-02 -5.55188524e-04 9.99355223e-01 6.53972576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:24.00, Y:0.73, Z:0.66 [[ 9.97194303e-01 -6.57102715e-02 -3.58564020e-02 2.39999968e+01] [ 6.56858759e-02 9.97838619e-01 -1.85923128e-03 7.28069475e-01] [ 3.59010732e-02 -5.01244333e-04 9.99355223e-01 6.57208030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.03, Y:0.73, Z:0.66 [[ 9.97538976e-01 -6.02519746e-02 -3.58565365e-02 2.40316552e+01] [ 6.02241466e-02 9.98183152e-01 -1.85663403e-03 7.30865779e-01] [ 3.59032565e-02 -3.07364495e-04 9.99355223e-01 6.60235593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:24.06, Y:0.73, Z:0.66 [[ 9.97788360e-01 -5.59704243e-02 -3.58566705e-02 2.40633867e+01] [ 5.59399251e-02 9.98432415e-01 -1.85404256e-03 7.33677533e-01] [ 3.59042336e-02 -1.55877369e-04 9.99355223e-01 6.61691092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:24.09, Y:0.74, Z:0.66 [[ 9.97899706e-01 -5.39487393e-02 -3.58568069e-02 2.40941850e+01] [ 5.39170302e-02 9.98543703e-01 -1.85140035e-03 7.35431277e-01] [ 3.59044694e-02 -8.57806789e-05 9.99355223e-01 6.62018334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.12, Y:0.74, Z:0.66 [[ 9.98089921e-01 -5.03069761e-02 -3.58569083e-02 2.41247133e+01] [ 5.02729879e-02 9.98733802e-01 -1.84943406e-03 7.36608355e-01] [ 3.59045458e-02 4.32675751e-05 9.99355223e-01 6.61671263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.15, Y:0.74, Z:0.67 [[ 9.98011396e-01 -5.18414243e-02 -3.58569413e-02 2.41544073e+01] [ 5.18084490e-02 9.98655329e-01 -1.84879355e-03 7.40048825e-01] [ 3.59045696e-02 -1.25754862e-05 9.99355223e-01 6.65649173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.19, Y:0.74, Z:0.67 [[ 9.97209692e-01 -6.54760133e-02 -3.58569740e-02 2.41859877e+01] [ 6.54518643e-02 9.97854016e-01 -1.84816048e-03 7.42177572e-01] [ 3.59010357e-02 -5.03902247e-04 9.99355223e-01 6.65467401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.22, Y:0.74, Z:0.66 [[ 9.96662306e-01 -7.33384006e-02 -3.58570393e-02 2.42170579e+01] [ 7.33193794e-02 9.97306802e-01 -1.84689192e-03 7.44498223e-01] [ 3.58959173e-02 -7.88288312e-04 9.99355223e-01 6.64878354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.25, Y:0.74, Z:0.66 [[ 9.96178724e-01 -7.96380232e-02 -3.58571371e-02 2.42498964e+01] [ 7.96231453e-02 9.96823330e-01 -1.84499190e-03 7.39433824e-01] [ 3.58901623e-02 -1.01711635e-03 9.99355223e-01 6.60545844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:24.28, Y:0.75, Z:0.66 [[ 9.98238493e-01 -4.72669903e-02 -3.58572675e-02 2.42816753e+01] [ 4.72312920e-02 9.98882281e-01 -1.84245293e-03 7.46195039e-01] [ 3.59042764e-02 1.45622362e-04 9.99355223e-01 6.63999036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:24.31, Y:0.75, Z:0.67 [[ 9.98561820e-01 -3.98564683e-02 -3.58573972e-02 2.43112975e+01] [ 3.98160834e-02 9.99205331e-01 -1.83992551e-03 7.45448495e-01] [ 3.59022354e-02 4.09578250e-04 9.99355223e-01 6.70074921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:0.74, Z:0.68 [[ 9.98481087e-01 -4.18302635e-02 -3.58573315e-02 2.43390665e+01] [ 4.17911047e-02 9.99124674e-01 -1.84120504e-03 7.44062799e-01] [ 3.59029627e-02 3.39890911e-04 9.99355223e-01 6.77129930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:24.37, Y:0.73, Z:0.67 [[ 9.97882070e-01 -5.42737258e-02 -3.58571684e-02 2.43691582e+01] [ 5.42424789e-02 9.98526090e-01 -1.84437532e-03 7.27398892e-01] [ 3.59044193e-02 -1.04512642e-04 9.99355223e-01 6.68291779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:24.40, Y:0.73, Z:0.67 [[ 9.97703815e-01 -5.74575596e-02 -3.58570360e-02 2.43989003e+01] [ 5.74282754e-02 9.98347926e-01 -1.84694739e-03 7.28915315e-01] [ 3.59039186e-02 -2.16501279e-04 9.99355223e-01 6.71613560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.43, Y:0.73, Z:0.67 [[ 9.97568854e-01 -5.97549271e-02 -3.58570689e-02 2.44306010e+01] [ 5.97271492e-02 9.98213033e-01 -1.84630769e-03 7.29749094e-01] [ 3.59033195e-02 -2.99821458e-04 9.99355223e-01 6.74663207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:24.46, Y:0.73, Z:0.67 [[ 9.97340846e-01 -6.34468446e-02 -3.58571345e-02 2.44632145e+01] [ 6.34214971e-02 9.97985125e-01 -1.84503330e-03 7.29619356e-01] [ 3.59019484e-02 -4.33986080e-04 9.99355223e-01 6.73239164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:24.50, Y:0.73, Z:0.67 [[ 9.97109929e-01 -6.69779464e-02 -3.58572682e-02 2.44951110e+01] [ 6.69549739e-02 9.97754297e-01 -1.84243101e-03 7.30147619e-01] [ 3.59001456e-02 -5.63716198e-04 9.99355223e-01 6.71774148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:24.53, Y:0.73, Z:0.67 [[ 9.96801170e-01 -7.14260167e-02 -3.58573675e-02 2.45261170e+01] [ 7.14059890e-02 9.97445636e-01 -1.84049548e-03 7.32385074e-01] [ 3.58972340e-02 -7.25822741e-04 9.99355223e-01 6.72487910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:24.56, Y:0.73, Z:0.67 [[ 9.96544169e-01 -7.49263688e-02 -3.58574665e-02 2.45580827e+01] [ 7.49086740e-02 9.97188703e-01 -1.83856501e-03 7.33936079e-01] [ 3.58944175e-02 -8.53824028e-04 9.99355223e-01 6.70930223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:24.59, Y:0.74, Z:0.67 [[ 9.96537217e-01 -7.50187222e-02 -3.58575974e-02 2.45902512e+01] [ 7.50011791e-02 9.97181755e-01 -1.83600874e-03 7.38719569e-01] [ 3.58942769e-02 -8.59711047e-04 9.99355223e-01 6.74098331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.62, Y:0.74, Z:0.67 [[ 9.96848174e-01 -7.07668127e-02 -3.58577289e-02 2.46220401e+01] [ 7.07466126e-02 9.97492634e-01 -1.83343739e-03 7.42712042e-01] [ 3.58975669e-02 -7.09154143e-04 9.99355223e-01 6.74607161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375099892999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:24.65, Y:0.75, Z:0.68 [[ 9.97082939e-01 -6.73782406e-02 -3.58578606e-02 2.46534186e+01] [ 6.73559429e-02 9.97727330e-01 -1.83085679e-03 7.46470578e-01] [ 3.58997275e-02 -5.89723944e-04 9.99355223e-01 6.79003261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:24.68, Y:0.75, Z:0.68 [[ 9.97190778e-01 -6.57628970e-02 -3.58579605e-02 2.46844378e+01] [ 6.57396258e-02 9.97835135e-01 -1.82889864e-03 7.50160215e-01] [ 3.59006065e-02 -5.33528045e-04 9.99355223e-01 6.80994969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.72, Y:0.75, Z:0.69 [[ 9.97293180e-01 -6.41912269e-02 -3.58580593e-02 2.47166937e+01] [ 6.41670100e-02 9.97937502e-01 -1.82695935e-03 7.54546069e-01] [ 3.59013769e-02 -4.78890347e-04 9.99355223e-01 6.85561112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.75, Y:0.76, Z:0.69 [[ 9.97395486e-01 -6.25814195e-02 -3.58581921e-02 2.47474115e+01] [ 6.25562564e-02 9.98039772e-01 -1.82434977e-03 7.58719925e-01] [ 3.59020722e-02 -4.23556029e-04 9.99355223e-01 6.87206542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.78, Y:0.76, Z:0.69 [[ 9.97477621e-01 -6.12582925e-02 -3.58582910e-02 2.47796162e+01] [ 6.12323448e-02 9.98121876e-01 -1.82240243e-03 7.62153510e-01] [ 3.59025820e-02 -3.77881597e-04 9.99355223e-01 6.89359106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.81, Y:0.76, Z:0.69 [[ 9.97541040e-01 -6.02166711e-02 -3.58584188e-02 2.48112688e+01] [ 6.01901411e-02 9.98185271e-01 -1.81988484e-03 7.64560567e-01] [ 3.59029329e-02 -3.42913477e-04 9.99355223e-01 6.90278792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.84, Y:0.77, Z:0.69 [[ 9.97599011e-01 -5.92484470e-02 -3.58585514e-02 2.48425184e+01] [ 5.92213857e-02 9.98243219e-01 -1.81726937e-03 7.66098266e-01] [ 3.59032261e-02 -3.10686978e-04 9.99355223e-01 6.88930200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.88, Y:0.77, Z:0.69 [[ 9.97603189e-01 -5.91779204e-02 -3.58587676e-02 2.48751541e+01] [ 5.91509674e-02 9.98247402e-01 -1.81299228e-03 7.67688467e-01] [ 3.59032107e-02 -3.12433915e-04 9.99355223e-01 6.90102521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:24.91, Y:0.77, Z:0.69 [[ 9.97648236e-01 -5.84135000e-02 -3.58588954e-02 2.49076049e+01] [ 5.83861443e-02 9.98292432e-01 -1.81046108e-03 7.69174667e-01] [ 3.59034193e-02 -2.87459338e-04 9.99355223e-01 6.89126633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.94, Y:0.78, Z:0.69 [[ 9.97859578e-01 -5.46844866e-02 -3.58590239e-02 2.49396305e+01] [ 5.46548151e-02 9.98503672e-01 -1.80791192e-03 7.76279982e-01] [ 3.59042318e-02 -1.55826099e-04 9.99355223e-01 6.92439787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:24.97, Y:0.78, Z:0.69 [[ 9.97919433e-01 -5.35810213e-02 -3.58591526e-02 2.49696507e+01] [ 5.35507294e-02 9.98563498e-01 -1.80535660e-03 7.79425617e-01] [ 3.59043737e-02 -1.18683339e-04 9.99355223e-01 6.92518886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.00, Y:0.78, Z:0.69 [[ 9.97962923e-01 -5.27647888e-02 -3.58591844e-02 2.50012256e+01] [ 5.27339928e-02 9.98606964e-01 -1.80472468e-03 7.81611979e-01] [ 3.59044572e-02 -8.99496591e-05 9.99355223e-01 6.94761380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:25.03, Y:0.78, Z:0.69 [[ 9.97998386e-01 -5.20896838e-02 -3.58592494e-02 2.50330897e+01] [ 5.20584986e-02 9.98642409e-01 -1.80343145e-03 7.82741907e-01] [ 3.59045074e-02 -6.69570102e-05 9.99355223e-01 6.91749279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:25.06, Y:0.79, Z:0.70 [[ 9.97660533e-01 -5.82028372e-02 -3.58593149e-02 2.50627637e+01] [ 5.81756449e-02 9.98304736e-01 -1.80212926e-03 7.86472808e-01] [ 3.59034129e-02 -2.88225536e-04 9.99355223e-01 6.95806785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.09, Y:0.79, Z:0.70 [[ 9.97304111e-01 -6.40204434e-02 -3.58593473e-02 2.50917472e+01] [ 6.39970319e-02 9.97948463e-01 -1.80148424e-03 7.88588310e-01] [ 3.59011123e-02 -4.98264151e-04 9.99355223e-01 6.96497353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:25.13, Y:0.79, Z:0.70 [[ 9.97126074e-01 -6.67459910e-02 -3.58408442e-02 2.51261786e+01] [ 6.67111910e-02 9.97769973e-01 -2.16729617e-03 7.85045946e-01] [ 3.59055765e-02 -2.29917883e-04 9.99355160e-01 6.99343149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.16, Y:0.79, Z:0.70 [[ 9.97031283e-01 -6.81376357e-02 -3.58592179e-02 2.51584643e+01] [ 6.81168792e-02 9.97675721e-01 -1.80163956e-03 7.86247026e-01] [ 3.58986306e-02 -6.46327018e-04 9.99355227e-01 7.01431206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.19, Y:0.79, Z:0.70 [[ 9.96978349e-01 -6.89077620e-02 -3.58593485e-02 2.51902273e+01] [ 6.88875968e-02 9.97622806e-01 -1.79903713e-03 7.87632843e-01] [ 3.58980715e-02 -6.76663280e-04 9.99355227e-01 7.03145826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.22, Y:0.79, Z:0.70 [[ 9.96940955e-01 -6.94466051e-02 -3.58594783e-02 2.52216587e+01] [ 6.94268815e-02 9.97585425e-01 -1.79644683e-03 7.88763926e-01] [ 3.58976500e-02 -6.98660327e-04 9.99355227e-01 7.03147635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:25.25, Y:0.79, Z:0.70 [[ 9.96879022e-01 -7.03299253e-02 -3.58596980e-02 2.52536265e+01] [ 7.03109308e-02 9.97523514e-01 -1.79204917e-03 7.90065851e-01] [ 3.58969267e-02 -7.34872522e-04 9.99355227e-01 7.04051972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.29, Y:0.79, Z:0.70 [[ 9.96862475e-01 -7.05640048e-02 -3.58598242e-02 2.52858953e+01] [ 7.05452526e-02 9.97506975e-01 -1.78952027e-03 7.91034616e-01] [ 3.58967005e-02 -7.45834751e-04 9.99355227e-01 7.04596612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.32, Y:0.79, Z:0.71 [[ 9.96867458e-01 -7.04935055e-02 -3.58599504e-02 2.53185314e+01] [ 7.04747987e-02 9.97511960e-01 -1.78698822e-03 7.92601350e-01] [ 3.58967005e-02 -7.45832381e-04 9.99355227e-01 7.05769548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035099892999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:25.35, Y:0.79, Z:0.70 [[ 9.96922089e-01 -6.97165997e-02 -3.58600765e-02 2.53513359e+01] [ 6.96974818e-02 9.97566578e-01 -1.78445380e-03 7.93024782e-01] [ 3.58972199e-02 -7.20395625e-04 9.99355227e-01 7.03680274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.38, Y:0.79, Z:0.71 [[ 9.97195239e-01 -6.56939775e-02 -3.58602340e-02 2.53834551e+01] [ 6.56723735e-02 9.97839650e-01 -1.78128451e-03 7.94891037e-01] [ 3.58997830e-02 -5.78738244e-04 9.99355227e-01 7.06111589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.41, Y:0.80, Z:0.71 [[ 9.97515349e-01 -6.06396178e-02 -3.58603640e-02 2.54142112e+01] [ 6.06148426e-02 9.98159645e-01 -1.77866273e-03 7.98727314e-01] [ 3.59022256e-02 -3.99426944e-04 9.99355227e-01 7.09428739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.44, Y:0.80, Z:0.71 [[ 9.97909557e-01 -5.37637703e-02 -3.58604608e-02 2.54447886e+01] [ 5.37346257e-02 9.98553671e-01 -1.77670987e-03 8.01642852e-01] [ 3.59041173e-02 -1.53952672e-04 9.99355227e-01 7.09791145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.48, Y:0.80, Z:0.71 [[ 9.98542486e-01 -4.03351683e-02 -3.58605241e-02 2.54758865e+01] [ 4.02974078e-02 9.99186152e-01 -1.77543117e-03 8.04637559e-01] [ 3.59029514e-02 3.27757298e-04 9.99355227e-01 7.13840758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.50, Y:0.81, Z:0.71 [[ 9.98650305e-01 -3.75710984e-02 -3.58605887e-02 2.55033351e+01] [ 3.75316033e-02 9.99293866e-01 -1.77412531e-03 8.05076509e-01] [ 3.59019221e-02 4.25825398e-04 9.99355227e-01 7.13528573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215099892999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.53, Y:0.80, Z:0.71 [[ 9.98688997e-01 -3.65283023e-02 -3.58604286e-02 2.55323857e+01] [ 3.64880192e-02 9.99332510e-01 -1.77735526e-03 8.04548634e-01] [ 3.59014159e-02 4.66549139e-04 9.99355227e-01 7.13078942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.56, Y:0.80, Z:0.71 [[ 9.98672751e-01 -3.69702134e-02 -3.58599928e-02 2.55611456e+01] [ 3.69299009e-02 9.99316262e-01 -1.78610459e-03 8.03826919e-01] [ 3.59015066e-02 4.59428005e-04 9.99355228e-01 7.14627005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:25.59, Y:0.80, Z:0.71 [[ 9.98634370e-01 -3.79932702e-02 -3.58595515e-02 2.55901367e+01] [ 3.79533005e-02 9.99277902e-01 -1.79492031e-03 8.03953497e-01] [ 3.59018523e-02 4.31480775e-04 9.99355228e-01 7.12235991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:25.62, Y:0.80, Z:0.71 [[ 9.98590253e-01 -3.91360433e-02 -3.58591103e-02 2.56180509e+01] [ 3.90964951e-02 9.99233812e-01 -1.80369277e-03 8.04601376e-01] [ 3.59022249e-02 3.99184489e-04 9.99355228e-01 7.13586374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.65, Y:0.80, Z:0.72 [[ 9.98540820e-01 -4.03781141e-02 -3.58585952e-02 2.56467289e+01] [ 4.03390008e-02 9.99184405e-01 -1.81387587e-03 8.04496877e-01] [ 3.59025900e-02 3.64729204e-04 9.99355228e-01 7.16676912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:25.67, Y:0.80, Z:0.72 [[ 9.98463294e-01 -4.22521501e-02 -3.58581359e-02 2.56747229e+01] [ 4.22139202e-02 9.99106932e-01 -1.82291130e-03 8.04749247e-01] [ 3.59031340e-02 3.06397535e-04 9.99355228e-01 7.17605711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.70, Y:0.81, Z:0.72 [[ 9.98331515e-01 -4.52594597e-02 -3.58576053e-02 2.57032123e+01] [ 4.52227960e-02 9.98975244e-01 -1.83328842e-03 8.05126358e-01] [ 3.59038336e-02 2.08648432e-04 9.99355228e-01 7.18285136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.73, Y:0.81, Z:0.72 [[ 9.98237304e-01 -4.72921840e-02 -3.58571347e-02 2.57316258e+01] [ 4.72565022e-02 9.98881088e-01 -1.84244737e-03 8.06442142e-01] [ 3.59041471e-02 1.44716927e-04 9.99355228e-01 7.18184148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:25.76, Y:0.81, Z:0.72 [[ 9.98131397e-01 -4.94771314e-02 -3.58570347e-02 2.57614790e+01] [ 4.94427890e-02 9.98775254e-01 -1.84439146e-03 8.07933108e-01] [ 3.59043741e-02 6.80732209e-05 9.99355228e-01 7.18819818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:25.79, Y:0.81, Z:0.72 [[ 9.98009268e-01 -5.18822976e-02 -3.58570389e-02 2.57919441e+01] [ 5.18495098e-02 9.98653207e-01 -1.84430909e-03 8.09582923e-01] [ 3.59044339e-02 -1.85323222e-05 9.99355228e-01 7.21077708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:25.82, Y:0.81, Z:0.72 [[ 9.97759341e-01 -5.64851394e-02 -3.58570389e-02 2.58228851e+01] [ 5.64553222e-02 9.98403423e-01 -1.84430909e-03 8.11371384e-01] [ 3.59039665e-02 -1.84144060e-04 9.99355228e-01 7.24296053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:25.85, Y:0.82, Z:0.72 [[ 9.97188401e-01 -6.57993987e-02 -3.58571041e-02 2.58514957e+01] [ 6.57756427e-02 9.97832735e-01 -1.84304040e-03 8.15561522e-01] [ 3.59006633e-02 -5.20665562e-04 9.99355228e-01 7.24642676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:25.89, Y:0.82, Z:0.73 [[ 9.96309658e-01 -7.79901200e-02 -3.58414039e-02 2.58859444e+01] [ 7.79633210e-02 9.96953917e-01 -2.14684507e-03 8.15279755e-01] [ 3.58996607e-02 -6.55392404e-04 9.99355185e-01 7.26970403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:25.92, Y:0.82, Z:0.73 [[ 9.96318174e-01 -7.78739445e-02 -3.58572889e-02 2.59194384e+01] [ 7.78582205e-02 9.96962749e-01 -1.83677370e-03 8.16759440e-01] [ 3.58914182e-02 -9.61773695e-04 9.99355233e-01 7.28060147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:25.95, Y:0.82, Z:0.73 [[ 9.95920672e-01 -8.28025157e-02 -3.58574823e-02 2.59470327e+01] [ 8.27901172e-02 9.96565320e-01 -1.83299053e-03 8.23505195e-01] [ 3.58860996e-02 -1.14313201e-03 9.99355233e-01 7.26730501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:25.98, Y:0.82, Z:0.73 [[ 9.96248664e-01 -7.87670633e-02 -3.58378065e-02 2.59819071e+01] [ 7.87382758e-02 9.96892859e-01 -2.21611949e-03 8.24980213e-01] [ 3.59010106e-02 -6.14001007e-04 9.99355162e-01 7.31914403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.01, Y:0.83, Z:0.73 [[ 9.96360259e-01 -7.73334029e-02 -3.58577615e-02 2.60142612e+01] [ 7.73177939e-02 9.97004831e-01 -1.82384833e-03 8.29176840e-01] [ 3.58914058e-02 -9.55233012e-04 9.99355239e-01 7.34522079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.05, Y:0.83, Z:0.74 [[ 9.96368627e-01 -7.72254483e-02 -3.58578924e-02 2.60477464e+01] [ 7.72098621e-02 9.97013200e-01 -1.82127128e-03 8.30790714e-01] [ 3.58914405e-02 -9.53925361e-04 9.99355239e-01 7.35725531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:26.08, Y:0.84, Z:0.74 [[ 9.96604138e-01 -7.41241563e-02 -3.58580893e-02 2.60808939e+01] [ 7.41067038e-02 9.97248662e-01 -1.81738693e-03 8.37692582e-01] [ 3.58941438e-02 -8.46109463e-04 9.99355239e-01 7.38569650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.11, Y:0.84, Z:0.74 [[ 9.99019708e-01 -2.59577963e-02 -3.58582851e-02 2.61129468e+01] [ 2.59094086e-02 9.99662650e-01 -1.81351532e-03 8.39712830e-01] [ 3.58932631e-02 8.82670583e-04 9.99355239e-01 7.39769580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:26.14, Y:0.84, Z:0.74 [[ 9.98974884e-01 -2.76288906e-02 -3.58584146e-02 2.61419816e+01] [ 2.75816706e-02 9.99617913e-01 -1.81095094e-03 8.36904687e-01] [ 3.58947481e-02 8.20059525e-04 9.99355239e-01 7.41447971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:26.17, Y:0.84, Z:0.74 [[ 9.98927671e-01 -2.92867751e-02 -3.58579649e-02 2.61705628e+01] [ 2.92403043e-02 9.99570754e-01 -1.81981182e-03 8.36901374e-01] [ 3.58958694e-02 7.69362572e-04 9.99355239e-01 7.41677049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875099892999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:26.20, Y:0.83, Z:0.74 [[ 9.98677294e-01 -3.68497123e-02 -3.58575002e-02 2.61989704e+01] [ 3.68077853e-02 9.99320690e-01 -1.82892220e-03 8.33604939e-01] [ 3.59005371e-02 5.06667904e-04 9.99355240e-01 7.38906558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:26.23, Y:0.83, Z:0.74 [[ 9.98535867e-01 -4.05015177e-02 -3.58573354e-02 2.62269090e+01] [ 4.04618279e-02 9.99179405e-01 -1.83214743e-03 8.34153721e-01] [ 3.59021158e-02 3.78611589e-04 9.99355240e-01 7.41980188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.25, Y:0.83, Z:0.75 [[ 9.98021965e-01 -5.16376500e-02 -3.58568012e-02 2.62543407e+01] [ 5.16047678e-02 9.98665887e-01 -1.84254394e-03 8.32718203e-01] [ 3.59041088e-02 -1.14825768e-05 9.99355240e-01 7.45156108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:26.29, Y:0.83, Z:0.74 [[ 9.97661813e-01 -5.81825487e-02 -3.58566356e-02 2.62854897e+01] [ 5.81537751e-02 9.98305931e-01 -1.84576060e-03 8.31890047e-01] [ 3.59032830e-02 -2.43753856e-04 9.99355240e-01 7.43504302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:26.32, Y:0.83, Z:0.75 [[ 9.97397985e-01 -6.25424619e-02 -3.58566682e-02 2.63175746e+01] [ 6.25165267e-02 9.98042223e-01 -1.84512605e-03 8.34042743e-01] [ 3.59018676e-02 -4.01309352e-04 9.99355240e-01 7.46204064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.35, Y:0.84, Z:0.75 [[ 9.97312227e-01 -6.38953248e-02 -3.58568005e-02 2.63491634e+01] [ 6.38703559e-02 9.97956503e-01 -1.84255232e-03 8.36209191e-01] [ 3.59012577e-02 -4.52586648e-04 9.99355240e-01 7.46840563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:26.38, Y:0.84, Z:0.75 [[ 9.97186591e-01 -6.58269293e-02 -3.58568990e-02 2.63814046e+01] [ 6.58032774e-02 9.97830918e-01 -1.84063342e-03 8.38591943e-01] [ 3.59002857e-02 -5.24046508e-04 9.99355240e-01 7.47687664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.41, Y:0.86, Z:0.75 [[ 9.98500683e-01 -4.13601134e-02 -3.58570323e-02 2.64111901e+01] [ 4.13207657e-02 9.99144242e-01 -1.83803365e-03 8.59449866e-01] [ 3.59023686e-02 3.53637827e-04 9.99355240e-01 7.50971451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:26.44, Y:0.86, Z:0.75 [[ 9.98432814e-01 -4.29672153e-02 -3.58571314e-02 2.64398823e+01] [ 4.29289730e-02 9.99076440e-01 -1.83609708e-03 8.59940216e-01] [ 3.59029072e-02 2.93909744e-04 9.99355240e-01 7.50149117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.47, Y:0.86, Z:0.75 [[ 9.98290990e-01 -4.61451168e-02 -3.58570345e-02 2.64693482e+01] [ 4.61088555e-02 9.98934730e-01 -1.83798798e-03 8.58980211e-01] [ 3.59036513e-02 1.81520024e-04 9.99355240e-01 7.51558889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.50, Y:0.86, Z:0.75 [[ 9.97604226e-01 -5.91615303e-02 -3.58569680e-02 2.64995733e+01] [ 5.91336216e-02 9.98248382e-01 -1.83928517e-03 8.57663967e-01] [ 3.59029752e-02 -2.85473718e-04 9.99355240e-01 7.53324406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.53, Y:0.86, Z:0.75 [[ 9.97401000e-01 -6.24941833e-02 -3.58569680e-02 2.65304286e+01] [ 6.24684268e-02 9.98045246e-01 -1.83928517e-03 8.59849505e-01] [ 3.59018210e-02 -4.05423514e-04 9.99355240e-01 7.51973881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.56, Y:0.86, Z:0.75 [[ 9.97394999e-01 -6.25898251e-02 -3.58570665e-02 2.65621072e+01] [ 6.25641994e-02 9.98039250e-01 -1.83736262e-03 8.61527670e-01] [ 3.59017599e-02 -4.10792368e-04 9.99355240e-01 7.53569029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:26.59, Y:0.86, Z:0.75 [[ 9.97439798e-01 -6.18717334e-02 -3.58571999e-02 2.65934904e+01] [ 6.18457377e-02 9.98084034e-01 -1.83475451e-03 8.63566473e-01] [ 3.59020182e-02 -3.87557813e-04 9.99355240e-01 7.54613937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.62, Y:0.87, Z:0.76 [[ 9.97476261e-01 -6.12810192e-02 -3.58572992e-02 2.66249952e+01] [ 6.12547118e-02 9.98120484e-01 -1.83281259e-03 8.66017044e-01] [ 3.59022215e-02 -3.68241475e-04 9.99355240e-01 7.55834738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.66, Y:0.87, Z:0.76 [[ 9.97518390e-01 -6.05913208e-02 -3.58573971e-02 2.66571276e+01] [ 6.05646369e-02 9.98162598e-01 -1.83089547e-03 8.68683686e-01] [ 3.59024490e-02 -3.45338332e-04 9.99355240e-01 7.57662978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:26.69, Y:0.87, Z:0.76 [[ 9.97664343e-01 -5.81386031e-02 -3.58575289e-02 2.66895666e+01] [ 5.81104283e-02 9.98308487e-01 -1.82830998e-03 8.72930055e-01] [ 3.59031708e-02 -2.59656689e-04 9.99355240e-01 7.57392873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:26.72, Y:0.87, Z:0.76 [[ 9.97783087e-01 -5.60637062e-02 -3.58576603e-02 2.67211746e+01] [ 5.60342846e-02 9.98427176e-01 -1.82572940e-03 8.74750061e-01] [ 3.59036197e-02 -1.87576426e-04 9.99355240e-01 7.58793555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:26.75, Y:0.87, Z:0.76 [[ 9.98552606e-01 -4.00862486e-02 -3.58578647e-02 2.67523413e+01] [ 4.00466661e-02 9.99196150e-01 -1.82170557e-03 8.74010160e-01] [ 3.59020657e-02 3.83080913e-04 9.99355240e-01 7.61433507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.78, Y:0.88, Z:0.76 [[ 9.98711711e-01 -3.59044058e-02 -3.58579294e-02 2.67804647e+01] [ 3.58621745e-02 9.99355087e-01 -1.82043235e-03 8.75116671e-01] [ 3.59001657e-02 5.32143786e-04 9.99355240e-01 7.62448132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:26.81, Y:0.88, Z:0.76 [[ 9.98801295e-01 -3.33195623e-02 -3.58577694e-02 2.68087533e+01] [ 3.32755531e-02 9.99444552e-01 -1.82357851e-03 8.76170977e-01] [ 3.58986131e-02 6.28205465e-04 9.99355240e-01 7.64324410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:26.84, Y:0.88, Z:0.77 [[ 9.98658022e-01 -3.73685527e-02 -3.58573108e-02 2.68362288e+01] [ 3.73268296e-02 9.99301431e-01 -1.83255207e-03 8.78034278e-01] [ 3.59007418e-02 4.91653094e-04 9.99355240e-01 7.68358267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535099892999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.86, Y:0.88, Z:0.77 [[ 9.98270199e-01 -4.65926571e-02 -3.58571481e-02 2.68632744e+01] [ 4.65567655e-02 9.98913959e-01 -1.83572928e-03 8.76116279e-01] [ 3.59037373e-02 1.63160997e-04 9.99355240e-01 7.72287895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:0.87, Z:0.78 [[ 9.97439757e-01 -6.18801852e-02 -3.58437428e-02 2.68929354e+01] [ 6.18448118e-02 9.98083577e-01 -2.09583450e-03 8.70851492e-01] [ 3.59047417e-02 -1.26280877e-04 9.99355209e-01 7.77167324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.93, Y:0.87, Z:0.77 [[ 9.97452142e-01 -6.16728281e-02 -3.58564794e-02 2.69250672e+01] [ 6.16461975e-02 9.98096352e-01 -1.84884376e-03 8.68758472e-01] [ 3.59022447e-02 -3.66282442e-04 9.99355239e-01 7.69695903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.96, Y:0.87, Z:0.77 [[ 9.98165591e-01 -4.87827387e-02 -3.58566101e-02 2.69572222e+01] [ 4.87478797e-02 9.98809409e-01 -1.84630483e-03 8.72524270e-01] [ 3.59039873e-02 9.49842377e-05 9.99355239e-01 7.70542359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.99, Y:0.88, Z:0.77 [[ 9.98508320e-01 -4.11755909e-02 -3.58567411e-02 2.69878567e+01] [ 4.11359187e-02 9.99151859e-01 -1.84375662e-03 8.75551632e-01] [ 3.59022473e-02 3.66006337e-04 9.99355239e-01 7.71923765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.02, Y:0.88, Z:0.77 [[ 9.98498153e-01 -4.14213981e-02 -3.58567411e-02 2.70170220e+01] [ 4.13818843e-02 9.99141702e-01 -1.84375662e-03 8.77084066e-01] [ 3.59023363e-02 3.57168066e-04 9.99355239e-01 7.72973038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715099892999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.05, Y:0.88, Z:0.77 [[ 9.98805209e-01 -3.32036381e-02 -3.58562848e-02 2.70452073e+01] [ 3.31585131e-02 9.99448388e-01 -1.85258926e-03 8.80923789e-01] [ 3.58980187e-02 6.61434712e-04 9.99355240e-01 7.74040330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:27.07, Y:0.88, Z:0.78 [[ 9.98878769e-01 -3.09122113e-02 -3.58558267e-02 2.70732116e+01] [ 3.08652943e-02 9.99521820e-01 -1.86141393e-03 8.82511283e-01] [ 3.58962215e-02 7.52626214e-04 9.99355240e-01 7.75105187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.10, Y:0.88, Z:0.78 [[ 9.98922456e-01 -2.94673374e-02 -3.58552928e-02 2.71009937e+01] [ 2.94191234e-02 9.99565412e-01 -1.87164021e-03 8.83798778e-01] [ 3.58948628e-02 8.14792154e-04 9.99355240e-01 7.76046891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:27.13, Y:0.88, Z:0.78 [[ 9.98950985e-01 -2.84845012e-02 -3.58547583e-02 2.71286322e+01] [ 2.84352893e-02 9.99593864e-01 -1.88182476e-03 8.84680137e-01] [ 3.58937992e-02 8.60310271e-04 9.99355240e-01 7.76745661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.16, Y:0.89, Z:0.78 [[ 9.98971666e-01 -2.77504326e-02 -3.58542097e-02 2.71550917e+01] [ 2.77003754e-02 9.99614480e-01 -1.89222051e-03 8.85475804e-01] [ 3.58928971e-02 8.97099611e-04 9.99355240e-01 7.76998754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:27.18, Y:0.89, Z:0.78 [[ 9.98975257e-01 -2.76211463e-02 -3.58539716e-02 2.71841010e+01] [ 2.75708445e-02 9.99618053e-01 -1.89672132e-03 8.86214823e-01] [ 3.58926669e-02 9.06253397e-04 9.99355240e-01 7.77942174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:27.21, Y:0.89, Z:0.78 [[ 9.98976045e-01 -2.75932744e-02 -3.58534880e-02 2.72123001e+01] [ 2.75426284e-02 9.99618813e-01 -1.90581808e-03 8.86988036e-01] [ 3.58924089e-02 9.16367310e-04 9.99355240e-01 7.78593522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099893 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:27.24, Y:0.89, Z:0.78 [[ 9.98976267e-01 -2.75854556e-02 -3.58533168e-02 2.72401739e+01] [ 2.75346892e-02 9.99619026e-01 -1.90903412e-03 8.87465777e-01] [ 3.58923192e-02 9.19869842e-04 9.99355240e-01 7.79025443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.27, Y:0.89, Z:0.78 [[ 9.98959623e-01 -2.81824559e-02 -3.58527759e-02 2.72684043e+01] [ 2.81317112e-02 9.99602383e-01 -1.91913957e-03 8.88281651e-01] [ 3.58926063e-02 9.08543005e-04 9.99355240e-01 7.82526028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.30, Y:0.89, Z:0.78 [[ 9.98951532e-01 -2.84683870e-02 -3.58522939e-02 2.72967166e+01] [ 2.84175048e-02 9.99594282e-01 -1.92810167e-03 8.89860352e-01] [ 3.58926379e-02 9.07247384e-04 9.99355240e-01 7.83548125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:27.32, Y:0.89, Z:0.78 [[ 9.98942222e-01 -2.87939068e-02 -3.58517393e-02 2.73233660e+01] [ 2.87428662e-02 9.99584959e-01 -1.93835858e-03 8.90519050e-01] [ 3.58926723e-02 9.05826486e-04 9.99355240e-01 7.84136644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:27.35, Y:0.89, Z:0.79 [[ 9.98934107e-01 -2.90745455e-02 -3.58513570e-02 2.73516795e+01] [ 2.90234327e-02 9.99576838e-01 -1.94540570e-03 8.92118180e-01] [ 3.58927478e-02 9.02802665e-04 9.99355240e-01 7.85158106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.38, Y:0.89, Z:0.79 [[ 9.98918165e-01 -2.96178719e-02 -3.58508077e-02 2.73784738e+01] [ 2.95667476e-02 9.99560895e-01 -1.95547494e-03 8.92907538e-01] [ 3.58929825e-02 8.93367656e-04 9.99355240e-01 7.86528803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.41, Y:0.89, Z:0.79 [[ 9.98877853e-01 -3.09478844e-02 -3.58505693e-02 2.74061370e+01] [ 3.08974595e-02 9.99520638e-01 -1.95983614e-03 8.93691844e-01] [ 3.58940367e-02 8.49945399e-04 9.99355240e-01 7.88400087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.43, Y:0.90, Z:0.79 [[ 9.98869072e-01 -3.12306469e-02 -3.58500126e-02 2.74344492e+01] [ 3.11800404e-02 9.99511843e-01 -1.96996807e-03 8.95309805e-01] [ 3.58940355e-02 8.49935332e-04 9.99355240e-01 7.89422673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:27.46, Y:0.90, Z:0.79 [[ 9.98836058e-01 -3.22698818e-02 -3.58494524e-02 2.74628405e+01] [ 3.22195803e-02 9.99478853e-01 -1.98010986e-03 8.95151583e-01] [ 3.58946675e-02 8.22750822e-04 9.99355240e-01 7.89449659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.49, Y:0.90, Z:0.79 [[ 9.98779361e-01 -3.39800728e-02 -3.58488921e-02 2.74905732e+01] [ 3.39305099e-02 9.99422213e-01 -1.99020314e-03 8.95139859e-01] [ 3.58958063e-02 7.71402630e-04 9.99355240e-01 7.91390066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:27.52, Y:0.90, Z:0.79 [[ 9.98715224e-01 -3.58157856e-02 -3.58487185e-02 2.75181509e+01] [ 3.57672923e-02 9.99358158e-01 -1.99332500e-03 8.95049323e-01] [ 3.58971017e-02 7.08552436e-04 9.99355240e-01 7.91668571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.55, Y:0.90, Z:0.79 [[ 9.98632209e-01 -3.80607483e-02 -3.58481552e-02 2.75466886e+01] [ 3.80133387e-02 9.99275224e-01 -2.00340453e-03 8.95228883e-01] [ 3.58984243e-02 6.37956224e-04 9.99355240e-01 7.93967975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:27.57, Y:0.90, Z:0.79 [[ 9.98537786e-01 -4.04627519e-02 -3.58476615e-02 2.75742746e+01] [ 4.04165735e-02 9.99180890e-01 -2.01219960e-03 8.95517167e-01] [ 3.58997175e-02 5.60417687e-04 9.99355240e-01 7.94340561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.60, Y:0.88, Z:0.79 [[ 9.96991066e-01 -6.87299103e-02 -3.58470944e-02 2.76040306e+01] [ 6.87016048e-02 9.97635204e-01 -2.02225185e-03 8.80168096e-01] [ 3.59013125e-02 -4.46585891e-04 9.99355240e-01 7.94933577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.64, Y:0.88, Z:0.80 [[ 9.96800322e-01 -7.14430856e-02 -3.58469506e-02 2.76367443e+01] [ 7.14164418e-02 9.97444531e-01 -2.02479853e-03 8.78738691e-01] [ 3.59000026e-02 -5.41741832e-04 9.99355240e-01 7.96433704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375099892999998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.67, Y:0.88, Z:0.80 [[ 9.96742724e-01 -7.22421501e-02 -3.58470975e-02 2.76674699e+01] [ 7.22161164e-02 9.97386958e-01 -2.02219338e-03 8.79199836e-01] [ 3.58995151e-02 -5.73131633e-04 9.99355240e-01 7.97301137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:27.70, Y:0.88, Z:0.80 [[ 9.96675649e-01 -7.31616563e-02 -3.58472070e-02 2.76982598e+01] [ 7.31362868e-02 9.97319910e-01 -2.02025014e-03 8.79170947e-01] [ 3.58989381e-02 -6.08197490e-04 9.99355240e-01 7.98999592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.73, Y:0.88, Z:0.80 [[ 9.96685396e-01 -7.30286375e-02 -3.58474367e-02 2.77301225e+01] [ 7.30033288e-02 9.97329659e-01 -2.01616744e-03 8.79559128e-01] [ 3.58989497e-02 -6.07497558e-04 9.99355240e-01 7.99110120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.76, Y:0.88, Z:0.80 [[ 9.96831482e-01 -7.10066787e-02 -3.58475809e-02 2.77617411e+01] [ 7.09801555e-02 9.97475695e-01 -2.01359898e-03 8.82715292e-01] [ 3.59000697e-02 -5.37248014e-04 9.99355240e-01 7.99864763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.79, Y:0.88, Z:0.80 [[ 9.96836539e-01 -7.09355689e-02 -3.58477243e-02 2.77943648e+01] [ 7.09090916e-02 9.97480755e-01 -2.01104341e-03 8.84487091e-01] [ 3.59000696e-02 -5.37248013e-04 9.99355240e-01 8.01037703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:27.83, Y:0.89, Z:0.80 [[ 9.96922865e-01 -6.97117811e-02 -3.58478675e-02 2.78265059e+01] [ 6.96846048e-02 9.97567051e-01 -2.00848783e-03 8.86937990e-01] [ 3.59006667e-02 -4.95737037e-04 9.99355240e-01 8.02553249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555099892999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.86, Y:0.89, Z:0.80 [[ 9.97142461e-01 -6.64968603e-02 -3.58480128e-02 2.78574890e+01] [ 6.64677004e-02 9.97786561e-01 -2.00589092e-03 8.89590209e-01] [ 3.59020508e-02 -3.82575963e-04 9.99355240e-01 8.03335862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:27.89, Y:0.89, Z:0.80 [[ 9.97263081e-01 -6.46626524e-02 -3.58481210e-02 2.78896136e+01] [ 6.46323773e-02 9.97907130e-01 -2.00395587e-03 8.92096088e-01] [ 3.59026766e-02 -3.18478079e-04 9.99355240e-01 8.02804661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.92, Y:0.90, Z:0.81 [[ 9.97731449e-01 -5.69811985e-02 -3.58482636e-02 2.79200384e+01] [ 5.69460566e-02 9.98375251e-01 -2.00140026e-03 8.99410901e-01] [ 3.59040614e-02 -4.45572689e-05 9.99355240e-01 8.05991286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.95, Y:0.90, Z:0.81 [[ 9.97816330e-01 -5.54748234e-02 -3.58484957e-02 2.79511705e+01] [ 5.54388592e-02 9.98460086e-01 -1.99723577e-03 9.03161921e-01] [ 3.59040884e-02 5.47476459e-06 9.99355240e-01 8.06405921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.98, Y:0.91, Z:0.81 [[ 9.97802671e-01 -5.57199308e-02 -3.58485669e-02 2.79825479e+01] [ 5.56841707e-02 9.98446438e-01 -1.99595594e-03 9.06096268e-01] [ 3.59040885e-02 -4.62755555e-06 9.99355240e-01 8.07638475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.01, Y:0.91, Z:0.81 [[ 9.97787167e-01 -5.59968270e-02 -3.58486379e-02 2.80124081e+01] [ 5.59612915e-02 9.98430947e-01 -1.99467945e-03 9.08922712e-01] [ 3.59040852e-02 -1.58705172e-05 9.99355240e-01 8.10790781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.04, Y:0.91, Z:0.81 [[ 9.97800044e-01 -5.57668871e-02 -3.58486732e-02 2.80434779e+01] [ 5.57312259e-02 9.98443816e-01 -1.99404600e-03 9.14035261e-01] [ 3.59040878e-02 -8.23131391e-06 9.99355240e-01 8.12153521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.07, Y:0.92, Z:0.81 [[ 9.97777785e-01 -5.61636793e-02 -3.58487442e-02 2.80745221e+01] [ 5.61283200e-02 9.98421575e-01 -1.99276911e-03 9.17367627e-01] [ 3.59040808e-02 -2.37890376e-05 9.99355240e-01 8.14365640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:28.11, Y:0.92, Z:0.82 [[ 9.97758282e-01 -5.65090333e-02 -3.58488502e-02 2.81053883e+01] [ 5.64739655e-02 9.98402087e-01 -1.99086003e-03 9.20220819e-01] [ 3.59040684e-02 -3.81296489e-05 9.99355240e-01 8.15588145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:28.14, Y:0.92, Z:0.82 [[ 9.97721728e-01 -5.71507502e-02 -3.58489219e-02 2.81362665e+01] [ 5.71161428e-02 9.98365558e-01 -1.98956785e-03 9.22687766e-01] [ 3.59040342e-02 -6.25170669e-05 9.99355240e-01 8.16551740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.17, Y:0.93, Z:0.82 [[ 9.97314560e-01 -6.38632566e-02 -3.58490290e-02 2.81682156e+01] [ 6.38330520e-02 9.97958612e-01 -1.98763540e-03 9.28889280e-01] [ 3.59027841e-02 -3.06055207e-04 9.99355240e-01 8.17478136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:28.20, Y:0.94, Z:0.82 [[ 9.97255142e-01 -6.47843938e-02 -3.58491729e-02 2.81990520e+01] [ 6.47548774e-02 9.97899226e-01 -1.98503731e-03 9.36382960e-01] [ 3.59024613e-02 -3.41820135e-04 9.99355240e-01 8.22245109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.23, Y:0.94, Z:0.82 [[ 9.97309508e-01 -6.39419617e-02 -3.58492802e-02 2.82312262e+01] [ 6.39119710e-02 9.97953570e-01 -1.98309767e-03 9.40589551e-01] [ 3.59027203e-02 -3.13435990e-04 9.99355240e-01 8.22830487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:28.26, Y:0.95, Z:0.83 [[ 9.97431880e-01 -6.20037376e-02 -3.58494240e-02 2.82619009e+01] [ 6.19725889e-02 9.98075887e-01 -1.98049375e-03 9.48189488e-01] [ 3.59032437e-02 -2.46274015e-04 9.99355240e-01 8.25039728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975099893 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:28.29, Y:0.97, Z:0.82 [[ 9.98341030e-01 -4.50555086e-02 -3.58495312e-02 2.82918969e+01] [ 4.50134969e-02 9.98984420e-01 -1.97855307e-03 9.66914889e-01] [ 3.59022678e-02 3.61557946e-04 9.99355240e-01 8.20390036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.32, Y:0.97, Z:0.82 [[ 9.98367251e-01 -4.44706111e-02 -3.58496369e-02 2.83227040e+01] [ 4.44282914e-02 9.99010620e-01 -1.97663455e-03 9.67408130e-01] [ 3.59020702e-02 3.80669086e-04 9.99355240e-01 8.22467491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035099892999998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:28.35, Y:0.97, Z:0.82 [[ 9.98396897e-01 -4.37999852e-02 -3.58496369e-02 2.83533986e+01] [ 4.37572334e-02 9.99040238e-01 -1.97663455e-03 9.68012658e-01] [ 3.59018064e-02 4.04784872e-04 9.99355240e-01 8.21969548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099893 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:28.38, Y:0.97, Z:0.82 [[ 9.98396897e-01 -4.37999852e-02 -3.58496369e-02 2.83843287e+01] [ 4.37572334e-02 9.99040238e-01 -1.97663455e-03 9.69718047e-01] [ 3.59018064e-02 4.04784872e-04 9.99355240e-01 8.23082470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095099893 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:28.41, Y:0.97, Z:0.82 [[ 9.98396816e-01 -4.38018425e-02 -3.58496369e-02 2.84147617e+01] [ 4.37590919e-02 9.99040157e-01 -1.97663455e-03 9.70590815e-01] [ 3.59018071e-02 4.04718085e-04 9.99355240e-01 8.24362661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:28.44, Y:0.97, Z:0.83 [[ 9.98402911e-01 -4.36626836e-02 -3.58496369e-02 2.84449922e+01] [ 4.36198433e-02 9.99046246e-01 -1.97663455e-03 9.71823439e-01] [ 3.59017504e-02 4.09722144e-04 9.99355240e-01 8.26297438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:28.48, Y:0.97, Z:0.83 [[ 9.98402911e-01 -4.36626836e-02 -3.58496369e-02 2.84759229e+01] [ 4.36198433e-02 9.99046246e-01 -1.97663455e-03 9.73528854e-01] [ 3.59017504e-02 4.09722144e-04 9.99355240e-01 8.27410378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:28.51, Y:0.98, Z:0.83 [[ 9.98397915e-01 -4.37767899e-02 -3.58496369e-02 2.85066763e+01] [ 4.37340231e-02 9.99041254e-01 -1.97663455e-03 9.75582397e-01] [ 3.59017970e-02 4.05618962e-04 9.99355240e-01 8.30770256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215099892999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:28.54, Y:0.98, Z:0.83 [[ 9.98407076e-01 -4.35673525e-02 -3.58496369e-02 2.85355622e+01] [ 4.35244507e-02 9.99050407e-01 -1.97663455e-03 9.78017884e-01] [ 3.59017111e-02 4.13150165e-04 9.99355240e-01 8.32222364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:28.57, Y:0.98, Z:0.83 [[ 9.98407076e-01 -4.35673757e-02 -3.58496013e-02 2.85664932e+01] [ 4.35244507e-02 9.99050405e-01 -1.97728066e-03 9.79724179e-01] [ 3.59017036e-02 4.13796802e-04 9.99355240e-01 8.33335573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.60, Y:0.98, Z:0.84 [[ 9.98452175e-01 -4.25212848e-02 -3.58496013e-02 2.85971937e+01] [ 4.24776858e-02 9.99095459e-01 -1.97728067e-03 9.81208579e-01] [ 3.59012504e-02 4.51412081e-04 9.99355240e-01 8.35377209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:28.63, Y:0.98, Z:0.83 [[ 9.98559303e-01 -3.99264947e-02 -3.58496013e-02 2.86271784e+01] [ 3.98812243e-02 9.99202471e-01 -1.97728066e-03 9.81030662e-01] [ 3.58999561e-02 5.44706013e-04 9.99355240e-01 8.33209995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.66, Y:0.98, Z:0.84 [[ 9.98714825e-01 -3.58261135e-02 -3.58495308e-02 2.86555549e+01] [ 3.57781568e-02 9.99357798e-01 -1.97855817e-03 9.82792379e-01] [ 3.58973922e-02 6.93385244e-04 9.99355240e-01 8.37542760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:28.68, Y:0.98, Z:0.84 [[ 9.98786952e-01 -3.37560548e-02 -3.58490366e-02 2.86826535e+01] [ 3.37064456e-02 9.99429800e-01 -1.98747286e-03 9.82811291e-01] [ 3.58956847e-02 7.76718356e-04 9.99355240e-01 8.37660511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:28.71, Y:0.98, Z:0.84 [[ 9.98642423e-01 -3.77912155e-02 -3.58487910e-02 2.87116969e+01] [ 3.77440455e-02 9.99285454e-01 -1.99189248e-03 9.79823964e-01] [ 3.58984514e-02 6.36109935e-04 9.99355240e-01 8.36481899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:28.74, Y:0.98, Z:0.84 [[ 9.98633111e-01 -3.80369406e-02 -3.58482983e-02 2.87400791e+01] [ 3.79896120e-02 9.99276131e-01 -2.00072119e-03 9.75386386e-01] [ 3.58984501e-02 6.36123485e-04 9.99355240e-01 8.36704974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.77, Y:0.98, Z:0.84 [[ 9.98628101e-01 -3.81687852e-02 -3.58477195e-02 2.87677974e+01] [ 3.81211712e-02 9.99271100e-01 -2.01103846e-03 9.76940763e-01] [ 3.58983490e-02 6.41722464e-04 9.99355241e-01 8.40548886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:28.79, Y:0.98, Z:0.84 [[ 9.98646339e-01 -3.76887758e-02 -3.58475399e-02 2.87948757e+01] [ 3.76407381e-02 9.99289306e-01 -2.01423377e-03 9.78375645e-01] [ 3.58979773e-02 6.62179318e-04 9.99355241e-01 8.40058347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:28.82, Y:0.98, Z:0.84 [[ 9.98658007e-01 -3.73785566e-02 -3.58472906e-02 2.88222494e+01] [ 3.73301603e-02 9.99300948e-01 -2.01866100e-03 9.79513660e-01] [ 3.58976861e-02 6.77766862e-04 9.99355241e-01 8.42335360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:28.85, Y:0.98, Z:0.84 [[ 9.98647345e-01 -3.76628952e-02 -3.58467128e-02 2.88505569e+01] [ 3.76143156e-02 9.99290272e-01 -2.02887094e-03 9.81175970e-01] [ 3.58976845e-02 6.77777006e-04 9.99355241e-01 8.43357972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:28.88, Y:0.98, Z:0.84 [[ 9.98669244e-01 -3.70782434e-02 -3.58461326e-02 2.88783926e+01] [ 3.70289214e-02 9.99312114e-01 -2.03907055e-03 9.82035758e-01] [ 3.58970797e-02 7.09013416e-04 9.99355241e-01 8.44132468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:28.91, Y:0.98, Z:0.85 [[ 9.98658584e-01 -3.73648154e-02 -3.58455452e-02 2.89066990e+01] [ 3.73153093e-02 9.99301440e-01 -2.04934486e-03 9.83711687e-01] [ 3.58970783e-02 7.09008229e-04 9.99355241e-01 8.45155088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.93, Y:0.98, Z:0.85 [[ 9.98686581e-01 -3.66094534e-02 -3.58449545e-02 2.89343147e+01] [ 3.65590923e-02 9.99329370e-01 -2.05962415e-03 9.84396336e-01] [ 3.58963176e-02 7.46460001e-04 9.99355241e-01 8.45515370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.96, Y:0.98, Z:0.85 [[ 9.98818603e-01 -3.28112719e-02 -3.58443648e-02 2.89610710e+01] [ 3.27581004e-02 9.99461166e-01 -2.06983712e-03 9.83410371e-01] [ 3.58929646e-02 8.93198526e-04 9.99355241e-01 8.45215832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.99, Y:0.98, Z:0.85 [[ 9.98912837e-01 -2.98050864e-02 -3.58441088e-02 2.89893499e+01] [ 2.97498227e-02 9.99555224e-01 -2.07425984e-03 9.84103589e-01] [ 3.58899897e-02 1.00564890e-03 9.99355241e-01 8.48646475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.02, Y:0.98, Z:0.85 [[ 9.98932045e-01 -2.91548530e-02 -3.58436014e-02 2.90173622e+01] [ 2.90988581e-02 9.99574368e-01 -2.08299163e-03 9.82574116e-01] [ 3.58890745e-02 1.03775922e-03 9.99355241e-01 8.50673796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755099893 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:29.04, Y:0.98, Z:0.85 [[ 9.98838948e-01 -3.21874942e-02 -3.58429946e-02 2.90449991e+01] [ 3.21330771e-02 9.99481407e-01 -2.09338150e-03 9.78564711e-01] [ 3.58917874e-02 9.39205264e-04 9.99355241e-01 8.49996269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.07, Y:0.98, Z:0.85 [[ 9.98677068e-01 -3.68701342e-02 -3.58428067e-02 2.90725277e+01] [ 3.68186145e-02 9.99319766e-01 -2.09659388e-03 9.76699004e-01] [ 3.58957269e-02 7.74137742e-04 9.99355241e-01 8.51586900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.10, Y:0.97, Z:0.85 [[ 9.98355886e-01 -4.47309921e-02 -3.58422005e-02 2.91011568e+01] [ 4.46841635e-02 9.98998942e-01 -2.10690696e-03 9.73629527e-01] [ 3.59005644e-02 5.01864216e-04 9.99355241e-01 8.51893510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.13, Y:0.97, Z:0.85 [[ 9.97954287e-01 -5.29397572e-02 -3.58416318e-02 2.91305579e+01] [ 5.28978726e-02 9.98597684e-01 -2.11653743e-03 9.68826090e-01] [ 3.59034195e-02 2.16261534e-04 9.99355241e-01 8.53437893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875099892999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:29.16, Y:0.97, Z:0.85 [[ 9.97454560e-01 -6.16426549e-02 -3.58410880e-02 2.91613616e+01] [ 6.16060547e-02 9.98098279e-01 -2.12570505e-03 9.66104620e-01] [ 3.59039624e-02 -8.77338324e-05 9.99355241e-01 8.54601239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.19, Y:0.96, Z:0.85 [[ 9.97174475e-01 -6.60188077e-02 -3.58410880e-02 2.91935294e+01] [ 6.59850324e-02 9.97818349e-01 -2.12570505e-03 9.63980651e-01] [ 3.59032318e-02 -2.45276536e-04 9.99355241e-01 8.54151673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:29.23, Y:0.96, Z:0.85 [[ 9.97182698e-01 -6.58943969e-02 -3.58412439e-02 2.92251602e+01] [ 6.58606359e-02 9.97826573e-01 -2.12307365e-03 9.64946475e-01] [ 3.59032442e-02 -2.43434800e-04 9.99355241e-01 8.54960595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:29.26, Y:0.97, Z:0.86 [[ 9.97488060e-01 -6.10979389e-02 -3.58414893e-02 2.92570671e+01] [ 6.10612309e-02 9.98131773e-01 -2.11892365e-03 9.68192333e-01] [ 3.59039911e-02 -7.49244107e-05 9.99355241e-01 8.56441510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:29.29, Y:0.97, Z:0.86 [[ 9.97755232e-01 -5.65674278e-02 -3.58416430e-02 2.92888647e+01] [ 5.65278904e-02 9.98398777e-01 -2.11632000e-03 9.69357530e-01] [ 3.59039673e-02 8.55168878e-05 9.99355241e-01 8.57178867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:29.32, Y:0.97, Z:0.86 [[ 9.98119590e-01 -4.97257907e-02 -3.58417211e-02 2.93190189e+01] [ 4.96818898e-02 9.98762853e-01 -2.11499700e-03 9.72757062e-01] [ 3.59025495e-02 3.30335510e-04 9.99355241e-01 8.57888470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055099892999998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:29.35, Y:0.98, Z:0.86 [[ 9.98389607e-01 -4.39722851e-02 -3.58417598e-02 2.93489360e+01] [ 4.39247010e-02 9.99032607e-01 -2.11434066e-03 9.76516388e-01] [ 3.59000591e-02 5.36597154e-04 9.99355241e-01 8.58738527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099893 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:29.38, Y:0.98, Z:0.86 [[ 9.98394001e-01 -4.38724586e-02 -3.58416847e-02 2.93775669e+01] [ 4.38247645e-02 9.99036993e-01 -2.11561269e-03 9.78890976e-01] [ 3.58999860e-02 5.41461629e-04 9.99355241e-01 8.59107582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.41, Y:0.98, Z:0.86 [[ 9.97923137e-01 -5.35240593e-02 -3.58411472e-02 2.94055684e+01] [ 5.34822591e-02 9.98566539e-01 -2.12467915e-03 9.80818638e-01] [ 3.59034918e-02 2.03400960e-04 9.99355241e-01 8.60555778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:29.44, Y:0.98, Z:0.86 [[ 9.97531014e-01 -6.03931518e-02 -3.58405282e-02 2.94363298e+01] [ 6.03554088e-02 9.98174667e-01 -2.13507094e-03 9.81875659e-01] [ 3.59040510e-02 -3.33702543e-05 9.99355241e-01 8.60104523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:29.47, Y:0.99, Z:0.86 [[ 9.97577313e-01 -5.96234074e-02 -3.58406619e-02 2.94676376e+01] [ 5.95852485e-02 9.98220942e-01 -2.13282344e-03 9.85903342e-01] [ 3.59040655e-02 -7.91846465e-06 9.99355241e-01 8.64171874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:29.50, Y:0.99, Z:0.87 [[ 9.97786296e-01 -5.60174026e-02 -3.58407365e-02 2.94992030e+01] [ 5.59769627e-02 9.98429785e-01 -2.13157004e-03 9.88454541e-01] [ 3.59038638e-02 1.20595809e-04 9.99355241e-01 8.68206363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.53, Y:0.99, Z:0.87 [[ 9.97940663e-01 -5.31965144e-02 -3.58408131e-02 2.95293084e+01] [ 5.31543018e-02 9.98584039e-01 -2.13028116e-03 9.90609256e-01] [ 3.59033874e-02 2.20800799e-04 9.99355241e-01 8.72089561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.56, Y:0.99, Z:0.87 [[ 9.98019373e-01 -5.16987939e-02 -3.58408511e-02 2.95595700e+01] [ 5.16556387e-02 9.98662686e-01 -2.12964208e-03 9.93467057e-01] [ 3.59030205e-02 2.74042002e-04 9.99355241e-01 8.73471876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.59, Y:0.99, Z:0.87 [[ 9.97866007e-01 -5.45789910e-02 -3.58408511e-02 2.95906386e+01] [ 5.45376927e-02 9.98509441e-01 -2.12964208e-03 9.94557712e-01] [ 3.59036619e-02 1.70420118e-04 9.99355241e-01 8.71569774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:29.62, Y:1.00, Z:0.87 [[ 9.97570634e-01 -5.97349607e-02 -3.58408187e-02 2.96220995e+01] [ 5.96969685e-02 9.98214273e-01 -2.13018624e-03 9.95726416e-01] [ 3.59040634e-02 -1.45769846e-05 9.99355241e-01 8.71161896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.65, Y:1.00, Z:0.87 [[ 9.97339722e-01 -6.34736852e-02 -3.58408963e-02 2.96526876e+01] [ 6.34381527e-02 9.97983501e-01 -2.12888054e-03 9.98621891e-01] [ 3.59037510e-02 -1.50463125e-04 9.99355241e-01 8.69370710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.68, Y:1.00, Z:0.87 [[ 9.97183687e-01 -6.58795950e-02 -3.58409348e-02 2.96844920e+01] [ 6.58456390e-02 9.97827551e-01 -2.12823147e-03 1.00112810e+00] [ 3.59032792e-02 -2.37731556e-04 9.99355241e-01 8.70155315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.72, Y:1.00, Z:0.87 [[ 9.97188512e-01 -6.58064387e-02 -3.58410905e-02 2.97171098e+01] [ 6.57725299e-02 9.97832379e-01 -2.12560602e-03 1.00300737e+00] [ 3.59032792e-02 -2.37729298e-04 9.99355241e-01 8.71328209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.75, Y:1.01, Z:0.87 [[ 9.97161923e-01 -6.62080392e-02 -3.58412462e-02 2.97481551e+01] [ 6.61744842e-02 9.97805808e-01 -2.12297830e-03 1.00676370e+00] [ 3.59031618e-02 -2.54822853e-04 9.99355241e-01 8.71393501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.78, Y:1.01, Z:0.87 [[ 9.97164226e-01 -6.61732838e-02 -3.58413620e-02 2.97799449e+01] [ 6.61397767e-02 9.97808113e-01 -2.12102106e-03 1.00924712e+00] [ 3.59031567e-02 -2.55533358e-04 9.99355241e-01 8.72219228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099893 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:29.81, Y:1.01, Z:0.87 [[ 9.97242916e-01 -6.49765445e-02 -3.58415167e-02 2.98103855e+01] [ 6.49423587e-02 9.97886768e-01 -2.11840431e-03 1.01352570e+00] [ 3.59034218e-02 -2.15068942e-04 9.99355241e-01 8.74883407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535099892999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.84, Y:1.02, Z:0.88 [[ 9.97376506e-01 -6.28926552e-02 -3.58415938e-02 2.98421714e+01] [ 6.28571711e-02 9.98020287e-01 -2.11709783e-03 1.01842068e+00] [ 3.59037877e-02 -1.41357561e-04 9.99355241e-01 8.78100966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.87, Y:1.02, Z:0.88 [[ 9.97460386e-01 -6.15479333e-02 -3.58417427e-02 2.98744875e+01] [ 6.15116720e-02 9.98104124e-01 -2.11457387e-03 1.02136691e+00] [ 3.59039389e-02 -9.54818548e-05 9.99355241e-01 8.77122975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.91, Y:1.02, Z:0.88 [[ 9.97450662e-01 -6.17052398e-02 -3.58418906e-02 2.99069266e+01] [ 6.16691702e-02 9.98094411e-01 -2.11206416e-03 1.02400490e+00] [ 3.59039161e-02 -1.03659858e-04 9.99355241e-01 8.76391507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.94, Y:1.03, Z:0.88 [[ 9.97423427e-01 -6.21438247e-02 -3.58420413e-02 2.99380808e+01] [ 6.21081301e-02 9.98067197e-01 -2.10950444e-03 1.02773146e+00] [ 3.59038584e-02 -1.22013012e-04 9.99355241e-01 8.78862167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:1.03, Z:0.88 [[ 9.97407871e-01 -6.23929415e-02 -3.58421535e-02 2.99679560e+01] [ 6.23574763e-02 9.98051654e-01 -2.10759593e-03 1.03198287e+00] [ 3.59038197e-02 -1.32893470e-04 9.99355241e-01 8.80129610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:30.00, Y:1.04, Z:0.88 [[ 9.97534276e-01 -6.03453095e-02 -3.58303290e-02 3.00009717e+01] [ 6.03012963e-02 9.98177551e-01 -2.30875172e-03 1.03526942e+00] [ 3.59043524e-02 1.42443688e-04 9.99355221e-01 8.81555874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715099892999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:30.03, Y:1.04, Z:0.88 [[ 9.97666423e-01 -5.81120927e-02 -3.58426169e-02 3.00326704e+01] [ 5.80741764e-02 9.98310064e-01 -2.09892889e-03 1.03958887e+00] [ 3.59040184e-02 1.25004140e-05 9.99355243e-01 8.83987631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:30.06, Y:1.04, Z:0.88 [[ 9.97832132e-01 -5.51935842e-02 -3.58427703e-02 3.00644722e+01] [ 5.51538796e-02 9.98475666e-01 -2.09630698e-03 1.04353837e+00] [ 3.59038366e-02 1.14894626e-04 9.99355243e-01 8.83830090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.10, Y:1.05, Z:0.89 [[ 9.97892510e-01 -5.40908862e-02 -3.58429226e-02 3.00957213e+01] [ 5.40505642e-02 9.98536005e-01 -2.09369962e-03 1.04676892e+00] [ 3.59036988e-02 1.51956986e-04 9.99355243e-01 8.86224682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:30.13, Y:1.05, Z:0.89 [[ 9.97865716e-01 -5.45828741e-02 -3.58430358e-02 3.01267783e+01] [ 5.45429390e-02 9.98509235e-01 -2.09175930e-03 1.04923185e+00] [ 3.59037765e-02 1.32310369e-04 9.99355243e-01 8.88107209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.16, Y:1.05, Z:0.89 [[ 9.97734067e-01 -5.69385943e-02 -3.58431120e-02 3.01579687e+01] [ 5.69002255e-02 9.98377681e-01 -2.09045351e-03 1.05173898e+00] [ 3.59039905e-02 4.62355291e-05 9.99355243e-01 8.88764984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:1.05, Z:0.89 [[ 9.97588022e-01 -5.94424281e-02 -3.58432258e-02 3.01893735e+01] [ 5.94057449e-02 9.98231734e-01 -2.08849993e-03 1.05481947e+00] [ 3.59039910e-02 -4.58310131e-05 9.99355243e-01 8.93538222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:30.22, Y:1.06, Z:0.89 [[ 9.97594906e-01 -5.93267036e-02 -3.58433406e-02 3.02209197e+01] [ 5.92900166e-02 9.98238619e-01 -2.08652804e-03 1.05728993e+00] [ 3.59039937e-02 -4.36425141e-05 9.99355243e-01 8.93600362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.25, Y:1.06, Z:0.89 [[ 9.97670816e-01 -5.80360147e-02 -3.58435903e-02 3.02527744e+01] [ 5.79986494e-02 9.98314490e-01 -2.08222981e-03 1.06006612e+00] [ 3.59040199e-02 -1.49991282e-06 9.99355243e-01 8.93716111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.28, Y:1.06, Z:0.89 [[ 9.97817071e-01 -5.54645763e-02 -3.58437374e-02 3.02835804e+01] [ 5.54256432e-02 9.98460652e-01 -2.07969522e-03 1.06461430e+00] [ 3.59039108e-02 8.84931936e-05 9.99355243e-01 8.94990350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:30.32, Y:1.07, Z:0.89 [[ 9.97918257e-01 -5.36131640e-02 -3.58438469e-02 3.03152309e+01] [ 5.35731047e-02 9.98561768e-01 -2.07780610e-03 1.06721588e+00] [ 3.59036929e-02 1.53214480e-04 9.99355243e-01 8.93495974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.35, Y:1.07, Z:0.89 [[ 9.97970141e-01 -5.26384938e-02 -3.58439210e-02 3.03478030e+01] [ 5.25978520e-02 9.98613616e-01 -2.07652630e-03 1.07008852e+00] [ 3.59035328e-02 1.86997995e-04 9.99355243e-01 8.94222194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045099893 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:30.38, Y:1.07, Z:0.89 [[ 9.98043640e-01 -5.12259248e-02 -3.58440696e-02 3.03777921e+01] [ 5.11844645e-02 9.98687063e-01 -2.07395809e-03 1.07315033e+00] [ 3.59032490e-02 2.35241171e-04 9.99355243e-01 8.94380642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:30.41, Y:1.08, Z:0.90 [[ 9.98056866e-01 -5.09675597e-02 -3.58441064e-02 3.04085352e+01] [ 5.09259557e-02 9.98700280e-01 -2.07332215e-03 1.07588935e+00] [ 3.59031912e-02 2.43898033e-04 9.99355243e-01 8.95332678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:30.44, Y:1.08, Z:0.90 [[ 9.98063550e-01 -5.08364431e-02 -3.58441806e-02 3.04384511e+01] [ 5.07948007e-02 9.98706961e-01 -2.07203776e-03 1.07956328e+00] [ 3.59031678e-02 2.47327352e-04 9.99355243e-01 8.96667811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.47, Y:1.08, Z:0.90 [[ 9.98044124e-01 -5.12163818e-02 -3.58442175e-02 3.04692310e+01] [ 5.11750072e-02 9.98687553e-01 -2.07140036e-03 1.08171169e+00] [ 3.59032635e-02 2.33020868e-04 9.99355243e-01 8.99004379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:30.50, Y:1.08, Z:0.90 [[ 9.97935159e-01 -5.32973262e-02 -3.58442928e-02 3.05007828e+01] [ 5.32573402e-02 9.98578675e-01 -2.07009565e-03 1.08362820e+00] [ 3.59036770e-02 1.56849535e-04 9.99355243e-01 8.99868799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.53, Y:1.09, Z:0.90 [[ 9.97747427e-01 -5.67031989e-02 -3.58443679e-02 3.05318610e+01] [ 5.66654564e-02 9.98391079e-01 -2.06879469e-03 1.08535005e+00] [ 3.59040044e-02 3.29971135e-05 9.99355243e-01 9.02603970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.56, Y:1.09, Z:0.90 [[ 9.97644327e-01 -5.84890546e-02 -3.58444801e-02 3.05630238e+01] [ 5.84525341e-02 9.98288049e-01 -2.06684914e-03 1.08768890e+00] [ 3.59040042e-02 -3.32203767e-05 9.99355243e-01 9.04025236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:30.60, Y:1.09, Z:0.91 [[ 9.97276852e-01 -6.44518806e-02 -3.58445902e-02 3.05951136e+01] [ 6.44192777e-02 9.97920785e-01 -2.06493769e-03 1.09144668e+00] [ 3.59031507e-02 -2.49768045e-04 9.99355243e-01 9.07405093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.63, Y:1.09, Z:0.91 [[ 9.97002862e-01 -6.85598146e-02 -3.58447351e-02 3.06262943e+01] [ 6.85299552e-02 9.97646927e-01 -2.06241899e-03 1.09320397e+00] [ 3.59017889e-02 -4.00200461e-04 9.99355243e-01 9.08132946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:30.66, Y:1.09, Z:0.91 [[ 9.96699183e-01 -7.28415154e-02 -3.58448431e-02 3.06582231e+01] [ 7.28144903e-02 9.97343373e-01 -2.06053990e-03 1.09442114e+00] [ 3.58997096e-02 -5.56285551e-04 9.99355243e-01 9.08935908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.69, Y:1.10, Z:0.91 [[ 9.96546391e-01 -7.49027858e-02 -3.58449898e-02 3.06913139e+01] [ 7.48771849e-02 9.97190640e-01 -2.05798559e-03 1.09582065e+00] [ 3.58984372e-02 -6.33093816e-04 9.99355243e-01 9.09285710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.72, Y:1.10, Z:0.91 [[ 9.96197558e-01 -7.94074718e-02 -3.58452091e-02 3.07193846e+01] [ 7.93849215e-02 9.96841921e-01 -2.05415905e-03 1.10118485e+00] [ 3.58951226e-02 -7.99220880e-04 9.99355243e-01 9.10682402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.76, Y:1.10, Z:0.91 [[ 9.96161076e-01 -7.98774431e-02 -3.58148734e-02 3.07553800e+01] [ 7.98362671e-02 9.96804650e-01 -2.58063166e-03 1.10021224e+00] [ 3.59065667e-02 -2.88600990e-04 9.99355110e-01 9.12896502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.78, Y:1.11, Z:0.91 [[ 9.95983598e-01 -8.20473844e-02 -3.58454961e-02 3.07830478e+01] [ 8.20269219e-02 9.96628019e-01 -2.04358780e-03 1.10636297e+00] [ 3.58922967e-02 -9.04915779e-04 9.99355254e-01 9.11556347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:30.82, Y:1.11, Z:0.91 [[ 9.96309674e-01 -7.79979084e-02 -3.58240209e-02 3.08183445e+01] [ 7.79613456e-02 9.96953449e-01 -2.41851617e-03 1.10733359e+00] [ 3.59035203e-02 -3.83297814e-04 9.99355187e-01 9.12526661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:30.85, Y:1.11, Z:0.92 [[ 9.96611340e-01 -7.40332621e-02 -3.58456802e-02 3.08502056e+01] [ 7.40078350e-02 9.97255579e-01 -2.03751254e-03 1.11280542e+00] [ 3.58981482e-02 -6.22253086e-04 9.99355260e-01 9.17356371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:30.88, Y:1.12, Z:0.92 [[ 9.96969502e-01 -6.90426585e-02 -3.58458268e-02 3.08823736e+01] [ 6.90140991e-02 9.97613609e-01 -2.03492898e-03 1.11851015e+00] [ 3.59007816e-02 -4.45105316e-04 9.99355260e-01 9.19127866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:30.91, Y:1.12, Z:0.92 [[ 9.97210407e-01 -6.54711444e-02 -3.58459750e-02 3.09149025e+01] [ 6.54403719e-02 9.97854412e-01 -2.03231666e-03 1.12162557e+00] [ 3.59021224e-02 -3.19126610e-04 9.99355260e-01 9.19931489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:30.95, Y:1.12, Z:0.92 [[ 9.97415380e-01 -6.22704574e-02 -3.58461961e-02 3.09467292e+01] [ 6.22377587e-02 9.98059290e-01 -2.02840831e-03 1.12324065e+00] [ 3.59029390e-02 -2.07821258e-04 9.99355260e-01 9.20555387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.98, Y:1.12, Z:0.92 [[ 9.97495539e-01 -6.09728319e-02 -3.58463792e-02 3.09788494e+01] [ 6.09394121e-02 9.98139412e-01 -2.02516698e-03 1.12466585e+00] [ 3.59031641e-02 -1.64362248e-04 9.99355260e-01 9.23179604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:31.01, Y:1.13, Z:0.92 [[ 9.97619221e-01 -5.89144865e-02 -3.58465236e-02 3.10114683e+01] [ 5.88798301e-02 9.98263029e-01 -2.02260829e-03 1.12582443e+00] [ 3.59034202e-02 -9.28443117e-05 9.99355260e-01 9.21758654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:31.04, Y:1.13, Z:0.92 [[ 9.97736334e-01 -5.68966129e-02 -3.58466690e-02 3.10436971e+01] [ 5.68607472e-02 9.98380075e-01 -2.02002822e-03 1.12779454e+00] [ 3.59035329e-02 -2.28128288e-05 9.99355260e-01 9.23093730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:31.08, Y:1.13, Z:0.92 [[ 9.98068916e-01 -5.07291258e-02 -3.58468135e-02 3.10763095e+01] [ 5.06893744e-02 9.98712430e-01 -2.01746009e-03 1.12942071e+00] [ 3.59030022e-02 1.96511653e-04 9.99355260e-01 9.23573118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735099893 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.11, Y:1.13, Z:0.92 [[ 9.98486974e-01 -4.16984202e-02 -3.58469589e-02 3.11062631e+01] [ 4.16529419e-02 9.99130108e-01 -2.01487427e-03 1.13030066e+00] [ 3.58997930e-02 5.18694416e-04 9.99355260e-01 9.24830293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.14, Y:1.13, Z:0.93 [[ 9.98723239e-01 -3.55933301e-02 -3.58469948e-02 3.11351203e+01] [ 3.55439438e-02 9.99366085e-01 -2.01423568e-03 1.13129517e+00] [ 3.58959642e-02 7.37520417e-04 9.99355260e-01 9.26351431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.16, Y:1.13, Z:0.93 [[ 9.98802886e-01 -3.32835527e-02 -3.58468901e-02 3.11630602e+01] [ 3.32326131e-02 9.99445611e-01 -2.01609628e-03 1.13242144e+00] [ 3.58941198e-02 8.22396950e-04 9.99355260e-01 9.27005900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099893 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.19, Y:1.13, Z:0.93 [[ 9.98909088e-01 -2.99278249e-02 -3.58463322e-02 3.11912830e+01] [ 2.98743723e-02 9.99551608e-01 -2.02596821e-03 1.13199715e+00] [ 3.58908918e-02 9.52871387e-04 9.99355260e-01 9.29005371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.22, Y:1.13, Z:0.93 [[ 9.98923562e-01 -2.94414620e-02 -3.58457500e-02 3.12195372e+01] [ 2.93873290e-02 9.99566025e-01 -2.03621711e-03 1.13237027e+00] [ 3.58901430e-02 9.80614403e-04 9.99355260e-01 9.31171687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:31.24, Y:1.13, Z:0.93 [[ 9.98814074e-01 -3.29475450e-02 -3.58455662e-02 3.12429791e+01] [ 3.28955516e-02 9.99456714e-01 -2.03944743e-03 1.13499792e+00] [ 3.58932866e-02 8.57869119e-04 9.99355260e-01 9.30480453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:31.27, Y:1.13, Z:0.93 [[ 9.98722992e-01 -3.56225757e-02 -3.58248248e-02 3.12739422e+01] [ 3.55592366e-02 9.99364679e-01 -2.40382912e-03 1.13146309e+00] [ 3.58876951e-02 1.12685599e-03 9.99355194e-01 9.33004071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.30, Y:1.13, Z:0.93 [[ 9.98285708e-01 -4.62759960e-02 -3.58354173e-02 3.13035917e+01] [ 4.62262098e-02 9.98928537e-01 -2.21703640e-03 1.12575406e+00] [ 3.58996166e-02 5.56700235e-04 9.99355246e-01 9.32741186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.33, Y:1.12, Z:0.93 [[ 9.97905487e-01 -5.38490903e-02 -3.58457070e-02 3.13340429e+01] [ 5.38106893e-02 9.98549080e-01 -2.03587558e-03 1.12207508e+00] [ 3.59033278e-02 1.02729207e-04 9.99355262e-01 9.32010553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.37, Y:1.12, Z:0.93 [[ 9.97553267e-01 -6.00214741e-02 -3.58455428e-02 3.13658796e+01] [ 5.99869517e-02 9.98197079e-01 -2.03876239e-03 1.11899822e+00] [ 3.59032857e-02 -1.16490764e-04 9.99355262e-01 9.31168262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.40, Y:1.12, Z:0.93 [[ 9.97276658e-01 -6.44543112e-02 -3.58456162e-02 3.13967463e+01] [ 6.44226968e-02 9.97920621e-01 -2.03747266e-03 1.11724970e+00] [ 3.59024034e-02 -2.77347336e-04 9.99355262e-01 9.31774132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:31.43, Y:1.12, Z:0.93 [[ 9.97196749e-01 -6.56788952e-02 -3.58458708e-02 3.14293879e+01] [ 6.56482329e-02 9.97840757e-01 -2.03298222e-03 1.11762261e+00] [ 3.59019949e-02 -3.25934820e-04 9.99355262e-01 9.33912838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.46, Y:1.12, Z:0.94 [[ 9.97099024e-01 -6.71461065e-02 -3.58460194e-02 3.14604748e+01] [ 6.71164862e-02 9.97743081e-01 -2.03035895e-03 1.11695056e+00] [ 3.59014485e-02 -3.81389942e-04 9.99355262e-01 9.35933242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.49, Y:1.12, Z:0.94 [[ 9.97186060e-01 -6.58408474e-02 -3.58461300e-02 3.14922091e+01] [ 6.58104543e-02 9.97830081e-01 -2.02840416e-03 1.11728359e+00] [ 3.59018987e-02 -3.36353749e-04 9.99355262e-01 9.38162171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:31.52, Y:1.12, Z:0.94 [[ 9.97365685e-01 -6.30613630e-02 -3.58462735e-02 3.15240540e+01] [ 6.30292663e-02 9.98009623e-01 -2.02586597e-03 1.11832287e+00] [ 3.59026797e-02 -2.38835122e-04 9.99355262e-01 9.40416844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.56, Y:1.12, Z:0.94 [[ 9.97501141e-01 -6.08810991e-02 -3.58464184e-02 3.15560830e+01] [ 6.08476872e-02 9.98145012e-01 -2.02329894e-03 1.11909854e+00] [ 3.59031044e-02 -1.62928653e-04 9.99355262e-01 9.41872428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:31.59, Y:1.12, Z:0.94 [[ 9.97589508e-01 -5.94154617e-02 -3.58465636e-02 3.15878422e+01] [ 5.93811964e-02 9.98233335e-01 -2.02072350e-03 1.11948824e+00] [ 3.59032969e-02 -1.12759265e-04 9.99355262e-01 9.41137604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:31.62, Y:1.12, Z:0.94 [[ 9.97618422e-01 -5.89278970e-02 -3.58467074e-02 3.16192800e+01] [ 5.88934087e-02 9.98262237e-01 -2.01816935e-03 1.12100437e+00] [ 3.59033407e-02 -9.77718668e-05 9.99355262e-01 9.42933892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.65, Y:1.12, Z:0.94 [[ 9.97604885e-01 -5.91565910e-02 -3.58467785e-02 3.16507346e+01] [ 5.91222958e-02 9.98248710e-01 -2.01690443e-03 1.12111964e+00] [ 3.59033136e-02 -1.07270126e-04 9.99355262e-01 9.41058598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.68, Y:1.12, Z:0.94 [[ 9.97609190e-01 -5.90838973e-02 -3.58468517e-02 3.16833597e+01] [ 5.90496020e-02 9.98253015e-01 -2.01560325e-03 1.12289903e+00] [ 3.59033175e-02 -1.05957997e-04 9.99355262e-01 9.42231980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.72, Y:1.12, Z:0.94 [[ 9.97518297e-01 -6.05990128e-02 -3.58469984e-02 3.17151714e+01] [ 6.05657892e-02 9.98162178e-01 -2.01299115e-03 1.12185972e+00] [ 3.59031032e-02 -1.63106246e-04 9.99355262e-01 9.40287160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.75, Y:1.12, Z:0.94 [[ 9.97436620e-01 -6.19288001e-02 -3.58470710e-02 3.17464244e+01] [ 6.18964814e-02 9.98080547e-01 -2.01169658e-03 1.12162839e+00] [ 3.59028462e-02 -2.12267731e-04 9.99355262e-01 9.40351846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:31.78, Y:1.12, Z:0.94 [[ 9.97457687e-01 -6.15884969e-02 -3.58471795e-02 3.17771963e+01] [ 6.15560281e-02 9.98101606e-01 -2.00976136e-03 1.12366692e+00] [ 3.59029056e-02 -2.01958077e-04 9.99355262e-01 9.42493801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099893 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:31.81, Y:1.13, Z:0.95 [[ 9.97497713e-01 -6.09367298e-02 -3.58472863e-02 3.18091786e+01] [ 6.09039087e-02 9.98141614e-01 -2.00785515e-03 1.12537810e+00] [ 3.59030203e-02 -1.80408934e-04 9.99355262e-01 9.45489125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:31.84, Y:1.13, Z:0.95 [[ 9.97475401e-01 -6.13007810e-02 -3.58474328e-02 3.18402447e+01] [ 6.12682891e-02 9.98119319e-01 -2.00523573e-03 1.12589287e+00] [ 3.59029378e-02 -1.96137567e-04 9.99355262e-01 9.48380650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:31.87, Y:1.13, Z:0.95 [[ 9.97466403e-01 -6.14469762e-02 -3.58475054e-02 3.18714565e+01] [ 6.14146253e-02 9.98110329e-01 -2.00393769e-03 1.12749313e+00] [ 3.59029013e-02 -2.02700587e-04 9.99355262e-01 9.49638131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:31.90, Y:1.13, Z:0.95 [[ 9.97475049e-01 -6.13064122e-02 -3.58476136e-02 3.19037672e+01] [ 6.12740402e-02 9.98118973e-01 -2.00200000e-03 1.12990887e+00] [ 3.59029187e-02 -1.99583065e-04 9.99355262e-01 9.52286595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.93, Y:1.13, Z:0.96 [[ 9.97562463e-01 -5.98671125e-02 -3.58477576e-02 3.19348710e+01] [ 5.98339043e-02 9.98206345e-01 -1.99941740e-03 1.13308505e+00] [ 3.59031585e-02 -1.50367555e-04 9.99355262e-01 9.57058019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:31.97, Y:1.13, Z:0.96 [[ 9.97683446e-01 -5.78157790e-02 -3.58479781e-02 3.19666727e+01] [ 5.77813892e-02 9.98327266e-01 -1.99545602e-03 1.13461211e+00] [ 3.59033828e-02 -8.05125350e-05 9.99355262e-01 9.56541681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.00, Y:1.14, Z:0.96 [[ 9.97838931e-01 -5.50671052e-02 -3.58480495e-02 3.19981330e+01] [ 5.50309880e-02 9.98482656e-01 -1.99417325e-03 1.13524255e+00] [ 3.59034690e-02 1.71101224e-05 9.99355262e-01 9.56636395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635099892999996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.03, Y:1.14, Z:0.96 [[ 9.97975435e-01 -5.25351619e-02 -3.58481216e-02 3.20293624e+01] [ 5.24974582e-02 9.98619069e-01 -1.99287630e-03 1.13642360e+00] [ 3.59033139e-02 1.06906331e-04 9.99355262e-01 9.58362827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:32.06, Y:1.14, Z:0.96 [[ 9.98064212e-01 -5.08206223e-02 -3.58481933e-02 3.20595572e+01] [ 5.07818592e-02 9.98707783e-01 -1.99158538e-03 1.13791894e+00] [ 3.59030833e-02 1.67292192e-04 9.99355262e-01 9.57960065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:32.09, Y:1.14, Z:0.96 [[ 9.98089601e-01 -5.03195401e-02 -3.58481933e-02 3.20898043e+01] [ 5.02804539e-02 9.98733152e-01 -1.99158538e-03 1.13800039e+00] [ 3.59029948e-02 1.85317229e-04 9.99355262e-01 9.56726239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.12, Y:1.14, Z:0.96 [[ 9.98037554e-01 -5.13414830e-02 -3.58481933e-02 3.21190434e+01] [ 5.13030558e-02 9.98681145e-01 -1.99158538e-03 1.13816998e+00] [ 3.59031657e-02 1.48555143e-04 9.99355262e-01 9.57079702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:32.15, Y:1.14, Z:0.96 [[ 9.98006958e-01 -5.19328615e-02 -3.58481580e-02 3.21498665e+01] [ 5.18947928e-02 9.98650570e-01 -1.99222038e-03 1.13931240e+00] [ 3.59032452e-02 1.27917069e-04 9.99355262e-01 9.58199387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.18, Y:1.14, Z:0.96 [[ 9.97930802e-01 -5.33762490e-02 -3.58481580e-02 3.21798740e+01] [ 5.33391112e-02 9.98574469e-01 -1.99222038e-03 1.14063300e+00] [ 3.59033926e-02 7.59891963e-05 9.99355262e-01 9.58848522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.21, Y:1.14, Z:0.96 [[ 9.97841973e-01 -5.50118745e-02 -3.58481580e-02 3.22091435e+01] [ 5.49757918e-02 9.98485700e-01 -1.99222038e-03 1.14256829e+00] [ 3.59034689e-02 1.71402457e-05 9.99355262e-01 9.58461531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:32.24, Y:1.14, Z:0.96 [[ 9.97745603e-01 -5.67329113e-02 -3.58481223e-02 3.22397737e+01] [ 5.66979159e-02 9.98389390e-01 -1.99286233e-03 1.14324368e+00] [ 3.59034459e-02 -4.41442010e-05 9.99355262e-01 9.59360870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.27, Y:1.14, Z:0.96 [[ 9.97943386e-01 -5.31404771e-02 -3.58481223e-02 3.22711928e+01] [ 5.31031642e-02 9.98587043e-01 -1.99286233e-03 1.14452991e+00] [ 3.59033721e-02 8.51150516e-05 9.99355262e-01 9.64253966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905099893 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:32.30, Y:1.15, Z:0.97 [[ 9.98439560e-01 -4.28176663e-02 -3.58481939e-02 3.23011472e+01] [ 4.27737454e-02 9.99082800e-01 -1.99157373e-03 1.14717714e+00] [ 3.59005885e-02 4.55104473e-04 9.99355262e-01 9.65779970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:32.33, Y:1.15, Z:0.97 [[ 9.98630722e-01 -3.80997132e-02 -3.58481939e-02 3.23294670e+01] [ 3.80527537e-02 9.99273747e-01 -1.99157373e-03 1.14632567e+00] [ 3.58980375e-02 6.24724215e-04 9.99355262e-01 9.66464300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:32.36, Y:1.15, Z:0.97 [[ 9.98727011e-01 -3.54867091e-02 -3.58476119e-02 3.23568509e+01] [ 3.54376933e-02 9.99369882e-01 -2.00199641e-03 1.14673608e+00] [ 3.58960679e-02 7.29091216e-04 9.99355263e-01 9.67517189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995099893 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:32.38, Y:1.15, Z:0.97 [[ 9.98738109e-01 -3.51732430e-02 -3.58473593e-02 3.23840739e+01] [ 3.51238635e-02 9.99380952e-01 -2.00650874e-03 1.14784764e+00] [ 3.58957435e-02 7.44878993e-04 9.99355263e-01 9.67914246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:32.41, Y:1.15, Z:0.97 [[ 9.98716618e-01 -3.57785139e-02 -3.58471109e-02 3.24121205e+01] [ 3.57293652e-02 9.99359479e-01 -2.01093595e-03 1.14878943e+00] [ 3.58960984e-02 7.27560635e-04 9.99355263e-01 9.70416845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055099893 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:32.44, Y:1.15, Z:0.97 [[ 9.98667884e-01 -3.71144822e-02 -3.58465205e-02 3.24402474e+01] [ 3.70658178e-02 9.99310782e-01 -2.02140577e-03 1.14944173e+00] [ 3.58968379e-02 6.90032426e-04 9.99355263e-01 9.69548228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:32.47, Y:1.15, Z:0.97 [[ 9.98657530e-01 -3.73922858e-02 -3.58462560e-02 3.24685678e+01] [ 3.73436323e-02 9.99300429e-01 -2.02608674e-03 1.15110901e+00] [ 3.58969390e-02 6.84737379e-04 9.99355263e-01 9.70569049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:32.50, Y:1.15, Z:0.97 [[ 9.98491663e-01 -4.15870869e-02 -3.58456896e-02 3.24963230e+01] [ 4.15407766e-02 9.99134735e-01 -2.03605853e-03 1.14854256e+00] [ 3.58993473e-02 5.43929690e-04 9.99355263e-01 9.71056893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.52, Y:1.15, Z:0.97 [[ 9.98350071e-01 -4.48582654e-02 -3.58450951e-02 3.25243677e+01] [ 4.48136885e-02 9.98993266e-01 -2.04646989e-03 1.14833200e+00] [ 3.59008098e-02 4.36742437e-04 9.99355263e-01 9.72959032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:32.55, Y:1.15, Z:0.97 [[ 9.98037131e-01 -5.13522784e-02 -3.58444988e-02 3.25527446e+01] [ 5.13115137e-02 9.98680579e-01 -2.05686283e-03 1.14712763e+00] [ 3.59028294e-02 2.13589992e-04 9.99355263e-01 9.72583711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:32.58, Y:1.15, Z:0.97 [[ 9.97669011e-01 -5.80667982e-02 -3.58439794e-02 3.25823708e+01] [ 5.80300403e-02 9.98312700e-01 -2.06587403e-03 1.14693664e+00] [ 3.59034585e-02 -1.89690709e-05 9.99355263e-01 9.74818598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.61, Y:1.14, Z:0.97 [[ 9.97082136e-01 -6.73975415e-02 -3.58439044e-02 3.26130711e+01] [ 6.73667602e-02 9.97726138e-01 -2.06717420e-03 1.14305203e+00] [ 3.59017228e-02 -3.53545253e-04 9.99355263e-01 9.73403533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:32.65, Y:1.14, Z:0.97 [[ 9.96937499e-01 -6.95042114e-02 -3.58439417e-02 3.26454449e+01] [ 6.94748142e-02 9.97581565e-01 -2.06652830e-03 1.14313269e+00] [ 3.59008879e-02 -4.30051635e-04 9.99355263e-01 9.74243352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:32.68, Y:1.14, Z:0.98 [[ 9.96668010e-01 -7.32671763e-02 -3.58440908e-02 3.26766541e+01] [ 7.32403038e-02 9.97312187e-01 -2.06393912e-03 1.14353511e+00] [ 3.58989675e-02 -5.68170001e-04 9.99355263e-01 9.75841327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:32.71, Y:1.15, Z:0.98 [[ 9.96369512e-01 -7.72203846e-02 -3.58442018e-02 3.27081895e+01] [ 7.71961371e-02 9.97013794e-01 -2.06200855e-03 1.14512914e+00] [ 3.58963927e-02 -7.12511463e-04 9.99355263e-01 9.79021462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355099893 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:32.74, Y:1.15, Z:0.98 [[ 9.96236854e-01 -7.89133492e-02 -3.58443114e-02 3.27407363e+01] [ 7.88902652e-02 9.96881177e-01 -2.06010250e-03 1.14606865e+00] [ 3.58950889e-02 -7.75417192e-04 9.99355263e-01 9.79028271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:32.77, Y:1.15, Z:0.98 [[ 9.95774876e-01 -8.45433098e-02 -3.58444621e-02 3.27722609e+01] [ 8.45239626e-02 9.96419323e-01 -2.05747568e-03 1.14867809e+00] [ 3.58900605e-02 -9.80933390e-04 9.99355263e-01 9.80458249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:32.80, Y:1.15, Z:0.98 [[ 9.95545867e-01 -8.71985879e-02 -3.58445744e-02 3.28046163e+01] [ 8.71810298e-02 9.96190365e-01 -2.05551826e-03 1.15180696e+00] [ 3.58872579e-02 -1.07860420e-03 9.99355263e-01 9.80542726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:32.84, Y:1.15, Z:0.98 [[ 9.95538328e-01 -8.72845565e-02 -3.58447176e-02 3.28353006e+01] [ 8.72671441e-02 9.96182830e-01 -2.05301736e-03 1.15449343e+00] [ 3.58870890e-02 -1.08420867e-03 9.99355263e-01 9.80850911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.87, Y:1.16, Z:0.98 [[ 9.95577901e-01 -8.68319751e-02 -3.58448242e-02 3.28679525e+01] [ 8.68143367e-02 9.96222397e-01 -2.05115414e-03 1.15757925e+00] [ 3.58875225e-02 -1.06976090e-03 9.99355263e-01 9.81683575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:32.90, Y:1.16, Z:0.98 [[ 9.95676806e-01 -8.56903226e-02 -3.58450357e-02 3.29004616e+01] [ 8.56720784e-02 9.96321285e-01 -2.04745181e-03 1.16089453e+00] [ 3.58886189e-02 -1.03231843e-03 9.99355263e-01 9.83542626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.93, Y:1.16, Z:0.98 [[ 9.95827191e-01 -8.39245148e-02 -3.58452541e-02 3.29319458e+01] [ 8.39052654e-02 9.96471640e-01 -2.04362165e-03 1.16406751e+00] [ 3.58902891e-02 -9.72511551e-04 9.99355263e-01 9.83892878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.96, Y:1.17, Z:0.99 [[ 9.96232855e-01 -7.89633315e-02 -3.58453622e-02 3.29642011e+01] [ 7.89409407e-02 9.96877204e-01 -2.04172325e-03 1.16944690e+00] [ 3.58946457e-02 -7.95634826e-04 9.99355263e-01 9.87527122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.00, Y:1.18, Z:0.99 [[ 9.97074627e-01 -6.75076414e-02 -3.58455841e-02 3.29959753e+01] [ 6.74779864e-02 9.97718682e-01 -2.03782084e-03 1.17781407e+00] [ 3.59013774e-02 -3.86928378e-04 9.99355263e-01 9.89751542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.03, Y:1.18, Z:0.99 [[ 9.97559487e-01 -5.99178902e-02 -3.58457336e-02 3.30272526e+01] [ 5.98834294e-02 9.98203302e-01 -2.03518685e-03 1.18319015e+00] [ 3.59032738e-02 -1.16345509e-04 9.99355263e-01 9.91390517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:33.06, Y:1.19, Z:0.99 [[ 9.97742173e-01 -5.67946528e-02 -3.58458446e-02 3.30586908e+01] [ 5.67582469e-02 9.98385881e-01 -2.03323042e-03 1.18674845e+00] [ 3.59034618e-02 -5.90756610e-06 9.99355263e-01 9.93713945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685099893 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:33.09, Y:1.19, Z:0.99 [[ 9.97911863e-01 -5.37306517e-02 -3.58459174e-02 3.30896809e+01] [ 5.36923155e-02 9.98555460e-01 -2.03194651e-03 1.18961937e+00] [ 3.59033143e-02 1.03053220e-04 9.99355263e-01 9.94227738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715099893 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:33.12, Y:1.19, Z:0.99 [[ 9.98193591e-01 -4.82143140e-02 -3.58459916e-02 3.31200858e+01] [ 4.81724683e-02 9.98836969e-01 -2.03063571e-03 1.19309872e+00] [ 3.59022073e-02 3.00177658e-04 9.99355263e-01 9.94707491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:33.15, Y:1.20, Z:0.99 [[ 9.98382423e-01 -4.41316490e-02 -3.58459916e-02 3.31493874e+01] [ 4.40871725e-02 9.99025624e-01 -2.03063571e-03 1.19696022e+00] [ 3.59006795e-02 4.47002588e-04 9.99355263e-01 9.94837207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775099893 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:33.18, Y:1.20, Z:0.99 [[ 9.98453366e-01 -4.24964041e-02 -3.58459548e-02 3.31782211e+01] [ 4.24508508e-02 9.99096491e-01 -2.03128562e-03 1.20090372e+00] [ 3.58998900e-02 5.06452680e-04 9.99355263e-01 9.94635591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.21, Y:1.20, Z:1.00 [[ 9.98395833e-01 -4.38276852e-02 -3.58454409e-02 3.32068772e+01] [ 4.37826654e-02 9.99038996e-01 -2.04031373e-03 1.20423603e+00] [ 3.59004155e-02 4.67631779e-04 9.99355263e-01 9.97043341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835099893 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:33.23, Y:1.21, Z:1.00 [[ 9.98222344e-01 -4.76160994e-02 -3.58449251e-02 3.32348754e+01] [ 4.75731967e-02 9.98865652e-01 -2.04933548e-03 1.20611247e+00] [ 3.59018459e-02 3.40434795e-04 9.99355263e-01 9.97442647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865099893 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:33.26, Y:1.21, Z:1.00 [[ 9.97911775e-01 -5.37331582e-02 -3.58446373e-02 3.32635042e+01] [ 5.36940186e-02 9.98555322e-01 -2.05435831e-03 1.20686844e+00] [ 3.59032405e-02 1.25425725e-04 9.99355263e-01 9.98144184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.29, Y:1.21, Z:1.00 [[ 9.97491937e-01 -6.10328179e-02 -3.58445292e-02 3.32944443e+01] [ 6.09983201e-02 9.98135751e-01 -2.05624272e-03 1.20813048e+00] [ 3.59032043e-02 -1.35370529e-04 9.99355263e-01 1.00077355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:33.33, Y:1.21, Z:1.00 [[ 9.97030982e-01 -6.81497204e-02 -3.58446035e-02 3.33256392e+01] [ 6.81198646e-02 9.97675028e-01 -2.05494521e-03 1.20930386e+00] [ 3.59013098e-02 -3.92885494e-04 9.99355263e-01 1.00173779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955099892999996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:33.36, Y:1.21, Z:1.00 [[ 9.96820500e-01 -7.11621263e-02 -3.58447146e-02 3.33565254e+01] [ 7.11342864e-02 9.97464635e-01 -2.05300665e-03 1.21077041e+00] [ 3.58999315e-02 -5.03309080e-04 9.99355263e-01 1.00324511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:33.39, Y:1.21, Z:1.01 [[ 9.96448022e-01 -7.62003096e-02 -3.58448233e-02 3.33887119e+01] [ 7.61757946e-02 9.97092293e-01 -2.05110729e-03 1.21176332e+00] [ 3.58968920e-02 -6.86686094e-04 9.99355263e-01 1.00597826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:33.42, Y:1.21, Z:1.01 [[ 9.96103679e-01 -8.05766578e-02 -3.58449709e-02 3.34208980e+01] [ 8.05550661e-02 9.96748055e-01 -2.04852379e-03 1.21382541e+00] [ 3.58934682e-02 -8.46951913e-04 9.99355263e-01 1.00749210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.45, Y:1.22, Z:1.01 [[ 9.95795104e-01 -8.43044174e-02 -3.58451547e-02 3.34538460e+01] [ 8.42853535e-02 9.96439560e-01 -2.04530345e-03 1.21547113e+00] [ 3.58899582e-02 -9.84518370e-04 9.99355263e-01 1.00845089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.49, Y:1.22, Z:1.01 [[ 9.95492810e-01 -8.78018987e-02 -3.58453794e-02 3.34862934e+01] [ 8.77852406e-02 9.96137332e-01 -2.04135733e-03 1.21684060e+00] [ 3.58861556e-02 -1.11453871e-03 9.99355263e-01 1.00911114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:33.52, Y:1.22, Z:1.01 [[ 9.95186878e-01 -9.12039470e-02 -3.58457487e-02 3.35183846e+01] [ 9.11897260e-02 9.95831458e-01 -2.03485202e-03 1.21837078e+00] [ 3.58819107e-02 -1.24370597e-03 9.99355263e-01 1.00835734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135099892999996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:33.55, Y:1.22, Z:1.01 [[ 9.94976806e-01 -9.34677917e-02 -3.58458948e-02 3.35506804e+01] [ 9.34551299e-02 9.95621418e-01 -2.03227446e-03 1.22068595e+00] [ 3.58788928e-02 -1.32791680e-03 9.99355263e-01 1.00756588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:33.58, Y:1.22, Z:1.01 [[ 9.94842561e-01 -9.48859282e-02 -3.58460417e-02 3.35823370e+01] [ 9.48742786e-02 9.95487193e-01 -2.02968047e-03 1.22440758e+00] [ 3.58768635e-02 -1.38165483e-03 9.99355263e-01 1.00802428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.61, Y:1.23, Z:1.01 [[ 9.94783689e-01 -9.55011107e-02 -3.58461891e-02 3.36141479e+01] [ 9.54899535e-02 9.95428330e-01 -2.02707316e-03 1.22809444e+00] [ 3.58758999e-02 -1.40645162e-03 9.99355263e-01 1.00826635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.65, Y:1.23, Z:1.01 [[ 9.94793872e-01 -9.53949110e-02 -3.58463726e-02 3.36476208e+01] [ 9.53838020e-02 9.95438514e-01 -2.02382324e-03 1.22989425e+00] [ 3.58759223e-02 -1.40587634e-03 9.99355263e-01 1.00946949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:33.68, Y:1.23, Z:1.01 [[ 9.94801581e-01 -9.53144140e-02 -3.58465882e-02 3.36800832e+01] [ 9.53033904e-02 9.95446223e-01 -2.01999814e-03 1.23286664e+00] [ 3.58758857e-02 -1.40680404e-03 9.99355263e-01 1.00977879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:33.71, Y:1.24, Z:1.01 [[ 9.94752657e-01 -9.58236031e-02 -3.58467347e-02 3.37108763e+01] [ 9.58130031e-02 9.95397307e-01 -2.01739441e-03 1.23952007e+00] [ 3.58750572e-02 -1.42777485e-03 9.99355263e-01 1.01088895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.315099892999996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:33.74, Y:1.25, Z:1.01 [[ 9.94732468e-01 -9.60329117e-02 -3.58468436e-02 3.37434343e+01] [ 9.60225171e-02 9.95377122e-01 -2.01545654e-03 1.24572273e+00] [ 3.58746782e-02 -1.43726409e-03 9.99355263e-01 1.01317021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.78, Y:1.25, Z:1.01 [[ 9.94715065e-01 -9.62129247e-02 -3.58470613e-02 3.37761715e+01] [ 9.62027863e-02 9.95359723e-01 -2.01157711e-03 1.24961529e+00] [ 3.58742608e-02 -1.44764113e-03 9.99355263e-01 1.01484774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:33.81, Y:1.26, Z:1.02 [[ 9.94769779e-01 -9.56454931e-02 -3.58472776e-02 3.38091691e+01] [ 9.56351260e-02 9.95414432e-01 -2.00771523e-03 1.25681277e+00] [ 3.58749264e-02 -1.43104448e-03 9.99355263e-01 1.01603295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:33.84, Y:1.26, Z:1.02 [[ 9.94897695e-01 -9.43055288e-02 -3.58474944e-02 3.38396312e+01] [ 9.42944328e-02 9.95542337e-01 -2.00383737e-03 1.26304222e+00] [ 3.58766713e-02 -1.38660597e-03 9.99355263e-01 1.01840302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.87, Y:1.27, Z:1.02 [[ 9.95356616e-01 -8.93317225e-02 -3.58476017e-02 3.38693590e+01] [ 8.93174738e-02 9.96001195e-01 -2.00191635e-03 1.27216053e+00] [ 3.58830888e-02 -1.20919654e-03 9.99355263e-01 1.02018019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.90, Y:1.27, Z:1.02 [[ 9.95767347e-01 -8.46371954e-02 -3.58320517e-02 3.39033291e+01] [ 8.46099172e-02 9.96411544e-01 -2.27968515e-03 1.27412901e+00] [ 3.58964161e-02 -7.61710897e-04 9.99355226e-01 1.02107132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.94, Y:1.28, Z:1.02 [[ 9.95956672e-01 -8.23725357e-02 -3.58479192e-02 3.39354771e+01] [ 8.23540480e-02 9.96601140e-01 -1.99452163e-03 1.27692446e+00] [ 3.58903710e-02 -9.65764138e-04 9.99355266e-01 1.02175198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:33.97, Y:1.28, Z:1.02 [[ 9.96009625e-01 -8.17296962e-02 -3.58480635e-02 3.39675891e+01] [ 8.17108859e-02 9.96654084e-01 -1.99192500e-03 1.27934339e+00] [ 3.58909183e-02 -9.45200555e-04 9.99355266e-01 1.02316523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:34.00, Y:1.28, Z:1.02 [[ 9.96145509e-01 -8.00564039e-02 -3.58482429e-02 3.39998278e+01] [ 8.00366273e-02 9.96789939e-01 -1.98869107e-03 1.28170601e+00] [ 3.58923754e-02 -8.88146779e-04 9.99355266e-01 1.02334812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:34.03, Y:1.28, Z:1.02 [[ 9.96242234e-01 -7.88434476e-02 -3.58485911e-02 3.40323445e+01] [ 7.88231129e-02 9.96886647e-01 -1.98239463e-03 1.28276280e+00] [ 3.58932806e-02 -8.50752286e-04 9.99355266e-01 1.02471673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:34.06, Y:1.28, Z:1.02 [[ 9.96404628e-01 -7.67638350e-02 -3.58487317e-02 3.40642724e+01] [ 7.67422468e-02 9.97049000e-01 -1.97984832e-03 1.28374515e+00] [ 3.58949229e-02 -7.78382188e-04 9.99355266e-01 1.02471910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.10, Y:1.29, Z:1.03 [[ 9.96493760e-01 -7.55979019e-02 -3.58489068e-02 3.40963670e+01] [ 7.55756739e-02 9.97138110e-01 -1.97667421e-03 1.28530189e+00] [ 3.58957436e-02 -7.39561771e-04 9.99355266e-01 1.02734911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.13, Y:1.29, Z:1.03 [[ 9.96724344e-01 -7.24943307e-02 -3.58490466e-02 3.41294349e+01] [ 7.24701875e-02 9.97368625e-01 -1.97413476e-03 1.28714151e+00] [ 3.58978279e-02 -6.30318950e-04 9.99355266e-01 1.02795996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.16, Y:1.29, Z:1.03 [[ 9.96937990e-01 -6.94944216e-02 -3.58492592e-02 3.41601398e+01] [ 6.94684786e-02 9.97582201e-01 -1.97026737e-03 1.28986748e+00] [ 3.58995055e-02 -5.26159103e-04 9.99355266e-01 1.02872121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.19, Y:1.29, Z:1.03 [[ 9.97160027e-01 -6.62321911e-02 -3.58493642e-02 3.41917992e+01] [ 6.62042092e-02 9.97804153e-01 -1.96835487e-03 1.29217871e+00] [ 3.59010129e-02 -4.10614007e-04 9.99355266e-01 1.02986259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:34.22, Y:1.29, Z:1.03 [[ 9.97408407e-01 -6.23801438e-02 -3.58495040e-02 3.42243762e+01] [ 6.23497659e-02 9.98052425e-01 -1.96580399e-03 1.29389467e+00] [ 3.59023116e-02 -2.74498760e-04 9.99355266e-01 1.03122236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:34.26, Y:1.30, Z:1.03 [[ 9.97676191e-01 -5.79398017e-02 -3.58496469e-02 3.42554713e+01] [ 5.79066511e-02 9.98320072e-01 -1.96319532e-03 1.29618999e+00] [ 3.59031692e-02 -1.17299767e-04 9.99355267e-01 1.03140626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099893 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:34.29, Y:1.30, Z:1.04 [[ 9.98014071e-01 -5.17948032e-02 -3.58498704e-02 3.42869482e+01] [ 5.17578350e-02 9.98657743e-01 -1.95910487e-03 1.29876458e+00] [ 3.59032222e-02 9.97025495e-05 9.99355267e-01 1.03529849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:34.32, Y:1.30, Z:1.04 [[ 9.98131573e-01 -4.94787008e-02 -3.58499733e-02 3.43181885e+01] [ 4.94403067e-02 9.98775163e-01 -1.95722049e-03 1.29952358e+00] [ 3.59029036e-02 1.81129889e-04 9.99355267e-01 1.03761279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.35, Y:1.30, Z:1.04 [[ 9.98155832e-01 -4.89868277e-02 -3.58500420e-02 3.43488311e+01] [ 4.89481617e-02 9.98799405e-01 -1.95596055e-03 1.30006064e+00] [ 3.59028170e-02 1.97559773e-04 9.99355267e-01 1.03850725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915099893 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:34.38, Y:1.30, Z:1.04 [[ 9.98116219e-01 -4.97874216e-02 -3.58500420e-02 3.43806110e+01] [ 4.97492719e-02 9.98759823e-01 -1.95596055e-03 1.29935498e+00] [ 3.59029639e-02 1.68762461e-04 9.99355267e-01 1.03677142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.41, Y:1.30, Z:1.04 [[ 9.97868489e-01 -5.45275053e-02 -3.58501111e-02 3.44111806e+01] [ 5.44924583e-02 9.98512269e-01 -1.95469328e-03 1.29856024e+00] [ 3.59033604e-02 -3.03385363e-06 9.99355267e-01 1.03774007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975099893 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:34.44, Y:1.30, Z:1.04 [[ 9.97782595e-01 -5.60772654e-02 -3.58501454e-02 3.44429488e+01] [ 5.60432410e-02 9.98426430e-01 -1.95406399e-03 1.29962825e+00] [ 3.59033113e-02 -5.94272979e-05 9.99355267e-01 1.03595372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.48, Y:1.30, Z:1.04 [[ 9.97515828e-01 -6.06377433e-02 -3.58502135e-02 3.44751452e+01] [ 6.06067072e-02 9.98159814e-01 -1.95281526e-03 1.30017929e+00] [ 3.59026567e-02 -2.24799260e-04 9.99355267e-01 1.03751210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.51, Y:1.30, Z:1.04 [[ 9.97198597e-01 -6.56483866e-02 -3.58503529e-02 3.45074148e+01] [ 6.56206783e-02 9.97842735e-01 -1.95025253e-03 1.29964458e+00] [ 3.59010451e-02 -4.07735387e-04 9.99355267e-01 1.03694387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.54, Y:1.30, Z:1.04 [[ 9.97002831e-01 -6.85572472e-02 -3.58504942e-02 3.45388060e+01] [ 6.85315117e-02 9.97647051e-01 -1.94765185e-03 1.30039417e+00] [ 3.58996654e-02 -5.15074154e-04 9.99355267e-01 1.03817500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:34.57, Y:1.30, Z:1.04 [[ 9.96584269e-01 -7.43944189e-02 -3.58505994e-02 3.45703785e+01] [ 7.43725261e-02 9.97228631e-01 -1.94571296e-03 1.30130194e+00] [ 3.58959943e-02 -7.27232711e-04 9.99355267e-01 1.04228801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:34.60, Y:1.30, Z:1.04 [[ 9.96460582e-01 -7.60331207e-02 -3.58507059e-02 3.46015264e+01] [ 7.60123581e-02 9.97104981e-01 -1.94374785e-03 1.30202991e+00] [ 3.58947067e-02 -7.88228584e-04 9.99355267e-01 1.04341770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.63, Y:1.30, Z:1.05 [[ 9.96370782e-01 -7.72009292e-02 -3.58508114e-02 3.46336706e+01] [ 7.71809919e-02 9.97015207e-01 -1.94180009e-03 1.30251712e+00] [ 3.58937130e-02 -8.32248314e-04 9.99355267e-01 1.04645401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:34.67, Y:1.30, Z:1.05 [[ 9.96283639e-01 -7.83174285e-02 -3.58509509e-02 3.46661605e+01] [ 7.82983062e-02 9.96928089e-01 -1.93922217e-03 1.30246844e+00] [ 3.58926948e-02 -8.75053410e-04 9.99355267e-01 1.04882310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:34.70, Y:1.30, Z:1.05 [[ 9.96156255e-01 -7.99212993e-02 -3.58510912e-02 3.46983251e+01] [ 7.99033079e-02 9.96800738e-01 -1.93662393e-03 1.30221411e+00] [ 3.58911717e-02 -9.35440737e-04 9.99355267e-01 1.04861227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:34.73, Y:1.30, Z:1.05 [[ 9.96006244e-01 -8.17694844e-02 -3.58512661e-02 3.47295477e+01] [ 8.17528055e-02 9.96650762e-01 -1.93338080e-03 1.30267683e+00] [ 3.58892832e-02 -1.00528224e-03 9.99355267e-01 1.04688700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:34.76, Y:1.30, Z:1.04 [[ 9.95940065e-01 -8.25715839e-02 -3.58513694e-02 3.47618670e+01] [ 8.25554930e-02 9.96584598e-01 -1.93146299e-03 1.30358795e+00] [ 3.58884066e-02 -1.03610611e-03 9.99355267e-01 1.04452783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.79, Y:1.31, Z:1.04 [[ 9.96026249e-01 -8.15253426e-02 -3.58515068e-02 3.47938561e+01] [ 8.15086665e-02 9.96670766e-01 -1.92891090e-03 1.30552681e+00] [ 3.58894038e-02 -1.00096262e-03 9.99355267e-01 1.04338897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335099893 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:34.83, Y:1.31, Z:1.04 [[ 9.96331457e-01 -7.77064114e-02 -3.58516452e-02 3.48260714e+01] [ 7.76873572e-02 9.96975909e-01 -1.92633429e-03 1.30813227e+00] [ 3.58929151e-02 -8.65952118e-04 9.99355267e-01 1.04274637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.86, Y:1.31, Z:1.05 [[ 9.96809035e-01 -7.13189771e-02 -3.58517833e-02 3.48576859e+01] [ 7.12958854e-02 9.97453355e-01 -1.92375984e-03 1.31308682e+00] [ 3.58976822e-02 -6.38463446e-04 9.99355267e-01 1.04709766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.89, Y:1.32, Z:1.05 [[ 9.97480174e-01 -6.12204370e-02 -3.58519225e-02 3.48889591e+01] [ 6.11909147e-02 9.98124231e-01 -1.92116265e-03 1.31852110e+00] [ 3.59022870e-02 -2.77490280e-04 9.99355267e-01 1.04954892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099893 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:34.92, Y:1.32, Z:1.05 [[ 9.98095438e-01 -5.02008879e-02 -3.58520261e-02 3.49206946e+01] [ 5.01643242e-02 9.98739134e-01 -1.91922820e-03 1.32421985e+00] [ 3.59031684e-02 1.17080249e-04 9.99355267e-01 1.05164046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.95, Y:1.33, Z:1.06 [[ 9.98540652e-01 -4.03879832e-02 -3.58521641e-02 3.49511253e+01] [ 4.03451869e-02 9.99183963e-01 -1.91664664e-03 1.32933407e+00] [ 3.59003169e-02 4.67387328e-04 9.99355267e-01 1.05529504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.98, Y:1.33, Z:1.06 [[ 9.98812043e-01 -3.30018700e-02 -3.58521981e-02 3.49799584e+01] [ 3.29543399e-02 9.99455022e-01 -1.91600937e-03 1.33190347e+00] [ 3.58958914e-02 7.32247705e-04 9.99355267e-01 1.06003915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:35.01, Y:1.33, Z:1.06 [[ 9.98947764e-01 -2.86010331e-02 -3.58517112e-02 3.50074977e+01] [ 2.85503454e-02 9.99590502e-01 -1.92507849e-03 1.33265443e+00] [ 3.58920892e-02 8.99474121e-04 9.99355267e-01 1.06090070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545099893 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:35.04, Y:1.33, Z:1.06 [[ 9.98923020e-01 -2.94528050e-02 -3.58515388e-02 3.50359293e+01] [ 2.94025504e-02 9.99565792e-01 -1.92828289e-03 1.33258340e+00] [ 3.58927651e-02 8.72079488e-04 9.99355267e-01 1.06083919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:35.06, Y:1.33, Z:1.06 [[ 9.98785195e-01 -3.38058551e-02 -3.58510585e-02 3.50649896e+01] [ 3.37580833e-02 9.99428156e-01 -1.93717197e-03 1.33172100e+00] [ 3.58960451e-02 7.24555663e-04 9.99355267e-01 1.06016442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:35.09, Y:1.33, Z:1.06 [[ 9.98686504e-01 -3.66060531e-02 -3.58505704e-02 3.50931361e+01] [ 3.65597614e-02 9.99329573e-01 -1.94616432e-03 1.33113433e+00] [ 3.58977766e-02 6.32919744e-04 9.99355267e-01 1.06009033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635099892999996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:35.12, Y:1.33, Z:1.06 [[ 9.98442779e-01 -4.27406737e-02 -3.58503972e-02 3.51226101e+01] [ 4.26982191e-02 9.99086113e-01 -1.94934956e-03 1.32772901e+00] [ 3.59009505e-02 4.15565876e-04 9.99355267e-01 1.05918429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:35.15, Y:1.33, Z:1.06 [[ 9.98319941e-01 -4.55200726e-02 -3.58499373e-02 3.51511214e+01] [ 4.54791069e-02 9.98963372e-01 -1.95776955e-03 1.32690980e+00] [ 3.59018921e-02 3.24057246e-04 9.99355267e-01 1.05914097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695099893 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:35.18, Y:1.33, Z:1.06 [[ 9.98193184e-01 -4.82198984e-02 -3.58498038e-02 3.51805826e+01] [ 4.81805853e-02 9.98836718e-01 -1.96021274e-03 1.32715000e+00] [ 3.59026216e-02 2.29406472e-04 9.99355267e-01 1.06059371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:35.21, Y:1.33, Z:1.06 [[ 9.97850898e-01 -5.48487153e-02 -3.58497343e-02 3.52114803e+01] [ 5.48136317e-02 9.98494676e-01 -1.96148281e-03 1.32575602e+00] [ 3.59033536e-02 -7.78674359e-06 9.99355267e-01 1.06372073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:35.24, Y:1.32, Z:1.06 [[ 9.97605316e-01 -5.91475204e-02 -3.58497343e-02 3.52417574e+01] [ 5.91152108e-02 9.98249240e-01 -1.96148281e-03 1.32415572e+00] [ 3.59029868e-02 -1.62478916e-04 9.99355267e-01 1.06356964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:35.27, Y:1.32, Z:1.07 [[ 9.97299266e-01 -6.41012265e-02 -3.58497695e-02 3.52739457e+01] [ 6.40721385e-02 9.97943343e-01 -1.96083797e-03 1.32226933e+00] [ 3.59017310e-02 -3.41429128e-04 9.99355267e-01 1.06592239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.815099892999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:35.31, Y:1.32, Z:1.07 [[ 9.96914692e-01 -6.98275105e-02 -3.58499087e-02 3.53065874e+01] [ 6.98022134e-02 9.97558929e-01 -1.95828946e-03 1.32114838e+00] [ 3.58991390e-02 -5.50155449e-04 9.99355267e-01 1.06831071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.34, Y:1.32, Z:1.07 [[ 9.96415630e-01 -7.66202693e-02 -3.58500477e-02 3.53384646e+01] [ 7.65994551e-02 9.97060028e-01 -1.95574200e-03 1.32083948e+00] [ 3.58944990e-02 -7.97362228e-04 9.99355267e-01 1.07176758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.37, Y:1.32, Z:1.07 [[ 9.96148741e-01 -8.00153081e-02 -3.58501885e-02 3.53709843e+01] [ 7.99967829e-02 9.96793208e-01 -1.95315812e-03 1.32102732e+00] [ 3.58915069e-02 -9.22263739e-04 9.99355267e-01 1.07402728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:35.40, Y:1.32, Z:1.08 [[ 9.95268331e-01 -9.03089310e-02 -3.58503293e-02 3.54026977e+01] [ 9.02971622e-02 9.95912957e-01 -1.95057096e-03 1.31810428e+00] [ 3.58799614e-02 -1.29584149e-03 9.99355267e-01 1.07547365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:35.43, Y:1.32, Z:1.07 [[ 9.94758601e-01 -9.57604716e-02 -3.58505044e-02 3.54340470e+01] [ 9.57523507e-02 9.95403283e-01 -1.94734745e-03 1.31665116e+00] [ 3.58721886e-02 -1.49562945e-03 9.99355267e-01 1.07261745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.47, Y:1.32, Z:1.07 [[ 9.94389404e-01 -9.95210908e-02 -3.58506082e-02 3.54668292e+01] [ 9.95154764e-02 9.95034113e-01 -1.94543409e-03 1.31704134e+00] [ 3.58661898e-02 -1.63317131e-03 9.99355267e-01 1.07301647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.50, Y:1.32, Z:1.07 [[ 9.94308192e-01 -1.00329130e-01 -3.58508658e-02 3.54977417e+01] [ 1.00324211e-01 9.94952907e-01 -1.94067564e-03 1.31869271e+00] [ 3.58646294e-02 -1.66708011e-03 9.99355267e-01 1.07227568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:35.53, Y:1.32, Z:1.07 [[ 9.94358647e-01 -9.98277352e-02 -3.58511432e-02 3.55293656e+01] [ 9.98226757e-02 9.95003360e-01 -1.93553612e-03 1.32162945e+00] [ 3.58652282e-02 -1.65413997e-03 9.99355267e-01 1.07295600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.56, Y:1.32, Z:1.08 [[ 9.94507828e-01 -9.83303940e-02 -3.58512817e-02 3.55613219e+01] [ 9.83244562e-02 9.95152534e-01 -1.93296767e-03 1.32483024e+00] [ 3.58675633e-02 -1.60270630e-03 9.99355267e-01 1.07747261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.59, Y:1.33, Z:1.08 [[ 9.94805221e-01 -9.52745939e-02 -3.58514221e-02 3.55936344e+01] [ 9.52667693e-02 9.95449907e-01 -1.93035998e-03 1.32848018e+00] [ 3.58722091e-02 -1.49511698e-03 9.99355267e-01 1.07619023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.63, Y:1.33, Z:1.08 [[ 9.94815412e-01 -9.51679876e-02 -3.58517694e-02 3.56271112e+01] [ 9.51603267e-02 9.95460100e-01 -1.92388944e-03 1.33018563e+00] [ 3.58720986e-02 -1.49775121e-03 9.99355267e-01 1.07739222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.66, Y:1.33, Z:1.08 [[ 9.95160932e-01 -9.14841759e-02 -3.58519748e-02 3.56590496e+01] [ 9.14742661e-02 9.95805589e-01 -1.92005335e-03 1.33491843e+00] [ 3.58772514e-02 -1.36877100e-03 9.99355267e-01 1.08145307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.69, Y:1.34, Z:1.08 [[ 9.95429090e-01 -8.85186547e-02 -3.58521137e-02 3.56903990e+01] [ 8.85069177e-02 9.96073717e-01 -1.91745614e-03 1.33831767e+00] [ 3.58810788e-02 -1.26446845e-03 9.99355267e-01 1.07996012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.72, Y:1.34, Z:1.08 [[ 9.95701910e-01 -8.53950423e-02 -3.58523848e-02 3.57221607e+01] [ 8.53814655e-02 9.96346500e-01 -1.91237430e-03 1.34184047e+00] [ 3.58847054e-02 -1.15697441e-03 9.99355267e-01 1.08185105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:35.75, Y:1.35, Z:1.08 [[ 9.96266087e-01 -7.85396779e-02 -3.58525213e-02 3.57531303e+01] [ 7.85217570e-02 9.96910571e-01 -1.90981141e-03 1.34730629e+00] [ 3.58917534e-02 -9.12522620e-04 9.99355267e-01 1.08291678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:35.79, Y:1.35, Z:1.08 [[ 9.96845855e-01 -7.08019806e-02 -3.58527738e-02 3.57851844e+01] [ 7.07792272e-02 9.97490186e-01 -1.90505930e-03 1.35286503e+00] [ 3.58976720e-02 -6.38581156e-04 9.99355267e-01 1.08448286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.82, Y:1.36, Z:1.09 [[ 9.97333727e-01 -6.35610407e-02 -3.58529079e-02 3.58163569e+01] [ 6.35336995e-02 9.97977880e-01 -1.90253193e-03 1.35870508e+00] [ 3.59013359e-02 -3.80408618e-04 9.99355267e-01 1.08746977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:35.85, Y:1.36, Z:1.09 [[ 9.97693408e-01 -5.76404092e-02 -3.58531283e-02 3.58481237e+01] [ 5.76093949e-02 9.98337395e-01 -1.89836911e-03 1.36427615e+00] [ 3.59029415e-02 -1.71486680e-04 9.99355267e-01 1.08909514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.88, Y:1.37, Z:1.09 [[ 9.97968570e-01 -5.26619096e-02 -3.58532620e-02 3.58799344e+01] [ 5.26277734e-02 9.98612399e-01 -1.89584199e-03 1.37035423e+00] [ 3.59033506e-02 5.11337071e-06 9.99355267e-01 1.09134156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:35.91, Y:1.37, Z:1.09 [[ 9.98012374e-01 -5.18250426e-02 -3.58533949e-02 3.59117509e+01] [ 5.17904569e-02 9.98656179e-01 -1.89332474e-03 1.37286687e+00] [ 3.59033360e-02 3.26978186e-05 9.99355267e-01 1.09018659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:35.94, Y:1.38, Z:1.09 [[ 9.98013452e-01 -5.18042040e-02 -3.58534971e-02 3.59431479e+01] [ 5.17696745e-02 9.98657260e-01 -1.89138656e-03 1.37583178e+00] [ 3.59033370e-02 3.15053543e-05 9.99355267e-01 1.08984252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.97, Y:1.38, Z:1.09 [[ 9.97839526e-01 -5.50527225e-02 -3.58535656e-02 3.59738852e+01] [ 5.50203356e-02 9.98483445e-01 -1.89008831e-03 1.37629953e+00] [ 3.59032462e-02 -8.66703895e-05 9.99355267e-01 1.09043325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:36.00, Y:1.38, Z:1.09 [[ 9.97629216e-01 -5.87405460e-02 -3.58538031e-02 3.60048954e+01] [ 5.87107017e-02 9.98273258e-01 -1.88557219e-03 1.37737790e+00] [ 3.59026524e-02 -2.23900032e-04 9.99355267e-01 1.08928732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.04, Y:1.38, Z:1.09 [[ 9.97374758e-01 -6.29132828e-02 -3.58540297e-02 3.60361810e+01] [ 6.28862881e-02 9.98018925e-01 -1.88125279e-03 1.37849057e+00] [ 3.59013560e-02 -3.78412801e-04 9.99355267e-01 1.09227809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.07, Y:1.38, Z:1.10 [[ 9.97089656e-01 -6.72807566e-02 -3.58541270e-02 3.60678206e+01] [ 6.72566500e-02 9.97733938e-01 -1.87939721e-03 1.37880441e+00] [ 3.58993266e-02 -5.37500955e-04 9.99355267e-01 1.09554962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.10, Y:1.38, Z:1.10 [[ 9.96759306e-01 -7.20094498e-02 -3.58542262e-02 3.61003927e+01] [ 7.19884678e-02 9.97403697e-01 -1.87750168e-03 1.37908644e+00] [ 3.58963357e-02 -7.09673538e-04 9.99355267e-01 1.09598702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:36.13, Y:1.38, Z:1.10 [[ 9.96392928e-01 -7.69129286e-02 -3.58543595e-02 3.61323988e+01] [ 7.68952090e-02 9.97037417e-01 -1.87495258e-03 1.38012003e+00] [ 3.58923461e-02 -8.88838984e-04 9.99355267e-01 1.09555382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:36.16, Y:1.38, Z:1.10 [[ 9.96011141e-01 -8.17083867e-02 -3.58545256e-02 3.61646106e+01] [ 8.16938841e-02 9.96655711e-01 -1.87177236e-03 1.38101409e+00] [ 3.58875572e-02 -1.06478933e-03 9.99355267e-01 1.09916967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.20, Y:1.38, Z:1.10 [[ 9.95911953e-01 -8.29085384e-02 -3.58546616e-02 3.61968600e+01] [ 8.28949064e-02 9.96556542e-01 -1.86916332e-03 1.38010944e+00] [ 3.58861671e-02 -1.11064672e-03 9.99355267e-01 1.09876865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.23, Y:1.38, Z:1.10 [[ 9.95909105e-01 -8.29426840e-02 -3.58547968e-02 3.62276865e+01] [ 8.29291675e-02 9.96553696e-01 -1.86656482e-03 1.38021526e+00] [ 3.58860482e-02 -1.11447955e-03 9.99355267e-01 1.09968673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:36.26, Y:1.38, Z:1.10 [[ 9.95934483e-01 -8.26373548e-02 -3.58548978e-02 3.62601000e+01] [ 8.26237105e-02 9.96579071e-01 -1.86462385e-03 1.38198216e+00] [ 3.58863283e-02 -1.10542151e-03 9.99355267e-01 1.10216324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.29, Y:1.39, Z:1.10 [[ 9.95968436e-01 -8.22269846e-02 -3.58552161e-02 3.62925146e+01] [ 8.22132956e-02 9.96613024e-01 -1.85848206e-03 1.38517785e+00] [ 3.58865928e-02 -1.09678601e-03 9.99355267e-01 1.10477597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:36.32, Y:1.39, Z:1.11 [[ 9.95973957e-01 -8.21600021e-02 -3.58554206e-02 3.63240300e+01] [ 8.21464120e-02 9.96618547e-01 -1.85452930e-03 1.38750289e+00] [ 3.58865453e-02 -1.09833127e-03 9.99355267e-01 1.10609329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.36, Y:1.39, Z:1.11 [[ 9.95994535e-01 -8.19100181e-02 -3.58557564e-02 3.63560047e+01] [ 8.18965005e-02 9.96639126e-01 -1.84801315e-03 1.38846123e+00] [ 3.58866205e-02 -1.09584998e-03 9.99355267e-01 1.10614001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.39, Y:1.39, Z:1.11 [[ 9.96003278e-01 -8.18035636e-02 -3.58559233e-02 3.63880656e+01] [ 8.17900938e-02 9.96647870e-01 -1.84476959e-03 1.39061575e+00] [ 3.58866383e-02 -1.09526277e-03 9.99355267e-01 1.10805157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.42, Y:1.39, Z:1.11 [[ 9.96088362e-01 -8.07608665e-02 -3.58560568e-02 3.64189737e+01] [ 8.07468153e-02 9.96732942e-01 -1.84217210e-03 1.39326187e+00] [ 3.58876884e-02 -1.06029621e-03 9.99355267e-01 1.10708813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:36.45, Y:1.40, Z:1.11 [[ 9.96227471e-01 -7.90262637e-02 -3.58563203e-02 3.64506692e+01] [ 7.90112751e-02 9.96872030e-01 -1.83702832e-03 1.39641995e+00] [ 3.58893363e-02 -1.00295551e-03 9.99355267e-01 1.10974906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:36.48, Y:1.40, Z:1.11 [[ 9.96449087e-01 -7.61809128e-02 -3.58564558e-02 3.64821396e+01] [ 7.61641789e-02 9.97093603e-01 -1.83437953e-03 1.39982642e+00] [ 3.58919874e-02 -9.03111709e-04 9.99355267e-01 1.10948250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955099892999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:36.51, Y:1.40, Z:1.11 [[ 9.96698193e-01 -7.28492960e-02 -3.58565568e-02 3.65145334e+01] [ 7.28304785e-02 9.97342651e-01 -1.83240307e-03 1.40234083e+00] [ 3.58947627e-02 -7.85097365e-04 9.99355267e-01 1.10966640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.55, Y:1.40, Z:1.11 [[ 9.96946402e-01 -6.93697994e-02 -3.58566863e-02 3.65475390e+01] [ 6.93488237e-02 9.97590794e-01 -1.82986546e-03 1.40446483e+00] [ 3.58972376e-02 -6.62341234e-04 9.99355267e-01 1.11192973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.58, Y:1.41, Z:1.12 [[ 9.97378500e-01 -6.28523032e-02 -3.58568860e-02 3.65783777e+01] [ 6.28272572e-02 9.98022746e-01 -1.82594386e-03 1.40792898e+00] [ 3.59007526e-02 -4.31632651e-04 9.99355267e-01 1.11505093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:36.61, Y:1.41, Z:1.11 [[ 9.97754829e-01 -5.65648060e-02 -3.58569846e-02 3.66101922e+01] [ 5.65357696e-02 9.98398908e-01 -1.82400566e-03 1.41010372e+00] [ 3.59027488e-02 -2.07291760e-04 9.99355267e-01 1.11390115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.64, Y:1.41, Z:1.12 [[ 9.98028704e-01 -5.15070255e-02 -3.58571139e-02 3.66426683e+01] [ 5.14748165e-02 9.98672632e-01 -1.82146088e-03 1.41107798e+00] [ 3.59033363e-02 -2.78681187e-05 9.99355267e-01 1.11634354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.67, Y:1.41, Z:1.12 [[ 9.98246218e-01 -4.71035663e-02 -3.58572421e-02 3.66743980e+01] [ 4.70686077e-02 9.98890003e-01 -1.81893216e-03 1.41250855e+00] [ 3.59031189e-02 1.27991686e-04 9.99355267e-01 1.11912266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:36.70, Y:1.41, Z:1.12 [[ 9.98345484e-01 -4.49505114e-02 -3.58573072e-02 3.67044940e+01] [ 4.49142104e-02 9.98989194e-01 -1.81764973e-03 1.41407340e+00] [ 3.59027667e-02 2.04139756e-04 9.99355267e-01 1.12072900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:36.73, Y:1.42, Z:1.12 [[ 9.98475426e-01 -4.19651903e-02 -3.58573072e-02 3.67339658e+01] [ 4.19269647e-02 9.99119025e-01 -1.81764973e-03 1.41573200e+00] [ 3.59019958e-02 3.11490533e-04 9.99355267e-01 1.12148981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.76, Y:1.42, Z:1.12 [[ 9.98501567e-01 -4.13385694e-02 -3.58572745e-02 3.67630061e+01] [ 4.12999168e-02 9.99145140e-01 -1.81829448e-03 1.41660849e+00] [ 3.59017872e-02 3.34667436e-04 9.99355267e-01 1.12406441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225099893 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:36.79, Y:1.41, Z:1.12 [[ 9.98502331e-01 -4.13204961e-02 -3.58568081e-02 3.67906839e+01] [ 4.12815033e-02 9.99145884e-01 -1.82744482e-03 1.41499101e+00] [ 3.59016932e-02 3.44484971e-04 9.99355267e-01 1.12279107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.82, Y:1.41, Z:1.12 [[ 9.98413352e-01 -4.34175092e-02 -3.58566428e-02 3.68189845e+01] [ 4.33797518e-02 9.99056978e-01 -1.83068196e-03 1.41217982e+00] [ 3.59023129e-02 2.72325042e-04 9.99355267e-01 1.12465526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:36.85, Y:1.41, Z:1.13 [[ 9.98232242e-01 -4.73993365e-02 -3.58565613e-02 3.68481042e+01] [ 4.73640892e-02 9.98876011e-01 -1.83227851e-03 1.41074533e+00] [ 3.59031077e-02 1.30726118e-04 9.99355267e-01 1.12575663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.315099892999996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:36.88, Y:1.41, Z:1.13 [[ 9.98119969e-01 -4.97078191e-02 -3.58560923e-02 3.68773244e+01] [ 4.96737327e-02 9.98763801e-01 -1.84140964e-03 1.41096405e+00] [ 3.59032995e-02 5.68417918e-05 9.99355267e-01 1.12659704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:1.41, Z:1.13 [[ 9.97803624e-01 -5.56980328e-02 -3.58560591e-02 3.69075543e+01] [ 5.56677883e-02 9.98447647e-01 -1.84205615e-03 1.40931704e+00] [ 3.59029968e-02 -1.58017207e-04 9.99355267e-01 1.13111210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:36.94, Y:1.41, Z:1.13 [[ 9.97468526e-01 -6.14074992e-02 -3.58560914e-02 3.69396033e+01] [ 6.13809636e-02 9.98112712e-01 -1.84142708e-03 1.40731189e+00] [ 3.59014981e-02 -3.64115891e-04 9.99355267e-01 1.12859965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.97, Y:1.41, Z:1.13 [[ 9.97082763e-01 -6.73817529e-02 -3.58561556e-02 3.69713990e+01] [ 6.73591217e-02 9.97727098e-01 -1.84017596e-03 1.40633614e+00] [ 3.58986524e-02 -5.80431422e-04 9.99355267e-01 1.13144896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:37.00, Y:1.41, Z:1.13 [[ 9.96896559e-01 -7.00826446e-02 -3.58562869e-02 3.70023989e+01] [ 7.00618511e-02 9.97540957e-01 -1.83761523e-03 1.40675941e+00] [ 3.58968996e-02 -6.80245533e-04 9.99355267e-01 1.13127587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:37.03, Y:1.41, Z:1.13 [[ 9.96530794e-01 -7.51045679e-02 -3.58563847e-02 3.70349194e+01] [ 7.50870902e-02 9.97175290e-01 -1.83570336e-03 1.40558719e+00] [ 3.58929706e-02 -8.63016666e-04 9.99355267e-01 1.13054105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:37.07, Y:1.40, Z:1.13 [[ 9.96202454e-01 -7.93409118e-02 -3.58565144e-02 3.70669930e+01] [ 7.93262657e-02 9.96847021e-01 -1.83316814e-03 1.40462836e+00] [ 3.58889047e-02 -1.01815678e-03 9.99355267e-01 1.13071112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.10, Y:1.41, Z:1.13 [[ 9.95706184e-01 -8.53434004e-02 -3.58566446e-02 3.70994774e+01] [ 8.53327310e-02 9.96350829e-01 -1.83061647e-03 1.40503647e+00] [ 3.58820286e-02 -1.23698927e-03 9.99355267e-01 1.13373255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:37.13, Y:1.41, Z:1.13 [[ 9.95459130e-01 -8.81783013e-02 -3.58567746e-02 3.71321220e+01] [ 8.81695592e-02 9.96103803e-01 -1.82806720e-03 1.40630229e+00] [ 3.58782654e-02 -1.34170983e-03 9.99355267e-01 1.13490528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.16, Y:1.41, Z:1.14 [[ 9.95314983e-01 -8.97906524e-02 -3.58569721e-02 3.71641531e+01] [ 8.97830942e-02 9.95959672e-01 -1.82418461e-03 1.40642494e+00] [ 3.58758929e-02 -1.40371164e-03 9.99355267e-01 1.13547983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.20, Y:1.41, Z:1.14 [[ 9.95229429e-01 -9.07339444e-02 -3.58571356e-02 3.71962644e+01] [ 9.07271131e-02 9.95874126e-01 -1.82096453e-03 1.40816754e+00] [ 3.58744169e-02 -1.44093691e-03 9.99355267e-01 1.13670053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:37.23, Y:1.41, Z:1.14 [[ 9.95228973e-01 -9.07388963e-02 -3.58572652e-02 3.72276606e+01] [ 9.07321602e-02 9.95873671e-01 -1.81840935e-03 1.41140570e+00] [ 3.58743068e-02 -1.44367346e-03 9.99355267e-01 1.13637300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:37.26, Y:1.41, Z:1.14 [[ 9.95315012e-01 -8.97901830e-02 -3.58573617e-02 3.72603012e+01] [ 8.97829008e-02 9.95959704e-01 -1.81650518e-03 1.41404981e+00] [ 3.58755916e-02 -1.41138307e-03 9.99355267e-01 1.13571004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.29, Y:1.42, Z:1.14 [[ 9.95387898e-01 -8.89784788e-02 -3.58575248e-02 3.72916576e+01] [ 8.89707869e-02 9.96032585e-01 -1.81327920e-03 1.41597052e+00] [ 3.58766060e-02 -1.38535602e-03 9.99355267e-01 1.13542579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.32, Y:1.42, Z:1.14 [[ 9.95556013e-01 -8.70772986e-02 -3.58576220e-02 3.73242156e+01] [ 8.70684446e-02 9.96200685e-01 -1.81135502e-03 1.41965780e+00] [ 3.58791155e-02 -1.31876200e-03 9.99355267e-01 1.13617654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.35, Y:1.43, Z:1.14 [[ 9.95823729e-01 -8.39602301e-02 -3.58577807e-02 3.73547911e+01] [ 8.39494712e-02 9.96468372e-01 -1.80820849e-03 1.42529007e+00] [ 3.58829620e-02 -1.20958481e-03 9.99355267e-01 1.13901153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:37.39, Y:1.43, Z:1.14 [[ 9.96157411e-01 -7.99038487e-02 -3.58578752e-02 3.73864365e+01] [ 7.98905320e-02 9.96802006e-01 -1.80633199e-03 1.43086795e+00] [ 3.58875348e-02 -1.06531373e-03 9.99355267e-01 1.14270071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.42, Y:1.44, Z:1.15 [[ 9.96585657e-01 -7.43722468e-02 -3.58580037e-02 3.74180881e+01] [ 7.43554435e-02 9.97230171e-01 -1.80377703e-03 1.43752339e+00] [ 3.58928342e-02 -8.68619456e-04 9.99355267e-01 1.14717969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:37.45, Y:1.44, Z:1.15 [[ 9.96723726e-01 -7.24983386e-02 -3.58581346e-02 3.74499471e+01] [ 7.24804173e-02 9.97368209e-01 -1.80117107e-03 1.44125878e+00] [ 3.58943454e-02 -8.03742618e-04 9.99355267e-01 1.14691576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:37.48, Y:1.44, Z:1.15 [[ 9.96756085e-01 -7.20519906e-02 -3.58582974e-02 3.74822724e+01] [ 7.20338973e-02 9.97400564e-01 -1.79792594e-03 1.44404166e+00] [ 3.58946301e-02 -7.90919292e-04 9.99355267e-01 1.14825586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.51, Y:1.45, Z:1.15 [[ 9.96719938e-01 -7.25502531e-02 -3.58584256e-02 3.75139665e+01] [ 7.25325741e-02 9.97364428e-01 -1.79536370e-03 1.44795408e+00] [ 3.58941723e-02 -8.11429119e-04 9.99355267e-01 1.14950657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:37.55, Y:1.45, Z:1.15 [[ 9.96677567e-01 -7.31299585e-02 -3.58585531e-02 3.75456777e+01] [ 7.31127460e-02 9.97322070e-01 -1.79281457e-03 1.45148844e+00] [ 3.58936349e-02 -8.34859217e-04 9.99355267e-01 1.14981757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:37.58, Y:1.45, Z:1.15 [[ 9.96665413e-01 -7.32953591e-02 -3.58586814e-02 3.75779295e+01] [ 7.32783460e-02 9.97309921e-01 -1.79024531e-03 1.45418158e+00] [ 3.58934354e-02 -8.43389273e-04 9.99355267e-01 1.14937608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:37.61, Y:1.46, Z:1.15 [[ 9.96650664e-01 -7.34955778e-02 -3.58588089e-02 3.76096548e+01] [ 7.34787862e-02 9.97295178e-01 -1.78768789e-03 1.45715623e+00] [ 3.58932043e-02 -8.53161429e-04 9.99355267e-01 1.14983280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.64, Y:1.46, Z:1.15 [[ 9.96727233e-01 -7.24497057e-02 -3.58589382e-02 3.76409093e+01] [ 7.24323311e-02 9.97371732e-01 -1.78509047e-03 1.46071440e+00] [ 3.58940205e-02 -8.18098197e-04 9.99355267e-01 1.15097317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.67, Y:1.46, Z:1.15 [[ 9.96734994e-01 -7.23428102e-02 -3.58590344e-02 3.76743960e+01] [ 7.23254360e-02 9.97379492e-01 -1.78315564e-03 1.46229219e+00] [ 3.58940640e-02 -8.16186671e-04 9.99355267e-01 1.15217682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:37.71, Y:1.47, Z:1.16 [[ 9.96967659e-01 -6.90623182e-02 -3.58592252e-02 3.77067259e+01] [ 6.90429615e-02 9.97612101e-01 -1.77930990e-03 1.46644791e+00] [ 3.58964802e-02 -7.01912684e-04 9.99355267e-01 1.15529570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.74, Y:1.47, Z:1.16 [[ 9.97141653e-01 -6.65028627e-02 -3.58593554e-02 3.77388997e+01] [ 6.64819462e-02 9.97786046e-01 -1.77668227e-03 1.46861874e+00] [ 3.58981189e-02 -6.12395839e-04 9.99355267e-01 1.15628114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:37.77, Y:1.47, Z:1.16 [[ 9.97503621e-01 -6.08327266e-02 -3.58595170e-02 3.77699431e+01] [ 6.08082644e-02 9.98147890e-01 -1.77341445e-03 1.47012075e+00] [ 3.59009829e-02 -4.11567656e-04 9.99355267e-01 1.15747919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.80, Y:1.47, Z:1.16 [[ 9.97958386e-01 -5.28501675e-02 -3.58597159e-02 3.78004607e+01] [ 5.28206964e-02 9.98602445e-01 -1.76938379e-03 1.47356455e+00] [ 3.59031122e-02 -1.28363774e-04 9.99355267e-01 1.16155318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:37.83, Y:1.48, Z:1.16 [[ 9.98070051e-01 -5.07004864e-02 -3.58557248e-02 3.78321325e+01] [ 5.06667193e-02 9.98713903e-01 -1.85034637e-03 1.47550039e+00] [ 3.59034243e-02 3.00833543e-05 9.99355264e-01 1.16298090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:37.86, Y:1.48, Z:1.16 [[ 9.98246797e-01 -4.70893075e-02 -3.58598489e-02 3.78629346e+01] [ 4.70562182e-02 9.98890680e-01 -1.76663573e-03 1.47728115e+00] [ 3.59032586e-02 7.61095794e-05 9.99355267e-01 1.16408313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275099893 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:37.89, Y:1.48, Z:1.16 [[ 9.98347673e-01 -4.48997724e-02 -3.58599125e-02 3.78922361e+01] [ 4.48653174e-02 9.98991485e-01 -1.76534480e-03 1.47639774e+00] [ 3.59030108e-02 1.53561521e-04 9.99355267e-01 1.16279545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:37.92, Y:1.48, Z:1.16 [[ 9.98429080e-01 -4.30516095e-02 -3.58598809e-02 3.79220786e+01] [ 4.30159397e-02 9.99072825e-01 -1.76598548e-03 1.47519358e+00] [ 3.59026611e-02 2.20664777e-04 9.99355267e-01 1.16347951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:37.95, Y:1.48, Z:1.17 [[ 9.98545065e-01 -4.02719118e-02 -3.58598179e-02 3.79515544e+01] [ 4.02344041e-02 9.99188706e-01 -1.76726496e-03 1.47579867e+00] [ 3.59018961e-02 3.21895303e-04 9.99355267e-01 1.16665792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:37.98, Y:1.48, Z:1.17 [[ 9.98713689e-01 -3.58475355e-02 -3.58597540e-02 3.79796733e+01] [ 3.58071300e-02 9.99357154e-01 -1.76856032e-03 1.47754139e+00] [ 3.59001002e-02 4.82250531e-04 9.99355267e-01 1.16683731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:38.01, Y:1.48, Z:1.17 [[ 9.98873281e-01 -3.10846864e-02 -3.58595953e-02 3.80076323e+01] [ 3.10410977e-02 9.99516539e-01 -1.77177117e-03 1.47790666e+00] [ 3.58973336e-02 6.56653678e-04 9.99355267e-01 1.16833656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:38.04, Y:1.48, Z:1.17 [[ 9.98988037e-01 -2.71482608e-02 -3.58590871e-02 3.80355547e+01] [ 2.71017707e-02 9.99631091e-01 -1.78199853e-03 1.47686977e+00] [ 3.58942365e-02 8.08350461e-04 9.99355267e-01 1.16971627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455099892999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:38.06, Y:1.48, Z:1.17 [[ 9.99045790e-01 -2.49328268e-02 -3.58589299e-02 3.80638848e+01] [ 2.48847975e-02 9.99688732e-01 -1.78515618e-03 1.47659563e+00] [ 3.58922771e-02 8.91110556e-04 9.99355267e-01 1.17146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:38.09, Y:1.48, Z:1.17 [[ 9.99057978e-01 -2.44403380e-02 -3.58584193e-02 3.80914578e+01] [ 2.43916259e-02 9.99700868e-01 -1.79535559e-03 1.47590621e+00] [ 3.58915719e-02 9.19019176e-04 9.99355267e-01 1.17172131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:38.12, Y:1.47, Z:1.17 [[ 9.99023850e-01 -2.57983949e-02 -3.58579031e-02 3.81192315e+01] [ 2.57501891e-02 9.99666778e-01 -1.80560540e-03 1.47397058e+00] [ 3.58925362e-02 8.80495075e-04 9.99355267e-01 1.16943844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.15, Y:1.47, Z:1.17 [[ 9.98940818e-01 -2.88351088e-02 -3.58577431e-02 3.81475302e+01] [ 2.87887438e-02 9.99583882e-01 -1.80877705e-03 1.47139120e+00] [ 3.58949784e-02 7.74561850e-04 9.99355267e-01 1.17020951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.18, Y:1.47, Z:1.17 [[ 9.98816387e-01 -3.28646333e-02 -3.58572316e-02 3.81756719e+01] [ 3.28205009e-02 9.99459607e-01 -1.81886161e-03 1.46967000e+00] [ 3.58976308e-02 6.39856477e-04 9.99355268e-01 1.17012367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099893 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:38.20, Y:1.47, Z:1.17 [[ 9.98657898e-01 -3.73724182e-02 -3.58567177e-02 3.82036914e+01] [ 3.73308277e-02 9.99301288e-01 -1.82893745e-03 1.46799017e+00] [ 3.59000160e-02 4.87921882e-04 9.99355268e-01 1.17085893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635099892999996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:38.23, Y:1.47, Z:1.17 [[ 9.98492092e-01 -4.15677309e-02 -3.58561889e-02 3.82318339e+01] [ 4.15284737e-02 9.99135628e-01 -1.83924559e-03 1.46651277e+00] [ 3.59016491e-02 3.47419383e-04 9.99355268e-01 1.17115563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.26, Y:1.47, Z:1.17 [[ 9.98318062e-01 -4.55567578e-02 -3.58556608e-02 3.82602769e+01] [ 4.55197044e-02 9.98961729e-01 -1.84948336e-03 1.46571214e+00] [ 3.59026894e-02 2.14233561e-04 9.99355268e-01 1.17395651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:38.29, Y:1.46, Z:1.18 [[ 9.98165191e-01 -4.87919682e-02 -3.58551912e-02 3.82885808e+01] [ 4.87566756e-02 9.98808957e-01 -1.85854294e-03 1.46480380e+00] [ 3.59031681e-02 1.06952943e-04 9.99355268e-01 1.17687693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.32, Y:1.47, Z:1.18 [[ 9.98082932e-01 -5.04467332e-02 -3.58550914e-02 3.83178858e+01] [ 5.04124388e-02 9.98726752e-01 -1.86046752e-03 1.46503528e+00] [ 3.59032935e-02 4.93582748e-05 9.99355268e-01 1.17827686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.35, Y:1.46, Z:1.18 [[ 9.97868072e-01 -5.45319090e-02 -3.58550233e-02 3.83476314e+01] [ 5.45002033e-02 9.98512024e-01 -1.86177899e-03 1.46368416e+00] [ 3.59031982e-02 -9.62962499e-05 9.99355268e-01 1.17917777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.38, Y:1.46, Z:1.18 [[ 9.97587854e-01 -5.94381389e-02 -3.58549895e-02 3.83791031e+01] [ 5.94095767e-02 9.98231954e-01 -1.86242940e-03 1.46249705e+00] [ 3.59022956e-02 -2.72192802e-04 9.99355268e-01 1.18123384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.815099892999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:38.41, Y:1.46, Z:1.18 [[ 9.97265358e-01 -6.46236789e-02 -3.58550570e-02 3.84110204e+01] [ 6.45985124e-02 9.97909599e-01 -1.86112972e-03 1.46146291e+00] [ 3.59003786e-02 -4.60143148e-04 9.99355268e-01 1.18218779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.44, Y:1.46, Z:1.18 [[ 9.96933244e-01 -6.95594498e-02 -3.58551244e-02 3.84427407e+01] [ 6.95375194e-02 9.97577603e-01 -1.85983017e-03 1.45934377e+00] [ 3.58976378e-02 -6.39149885e-04 9.99355268e-01 1.18041075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.47, Y:1.46, Z:1.18 [[ 9.96754196e-01 -7.20796428e-02 -3.58552252e-02 3.84737644e+01] [ 7.20594115e-02 9.97398611e-01 -1.85788403e-03 1.45939579e+00] [ 3.58958674e-02 -7.31852719e-04 9.99355268e-01 1.18034326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905099893 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:38.51, Y:1.46, Z:1.18 [[ 9.96313822e-01 -7.79305051e-02 -3.58553251e-02 3.85058803e+01] [ 7.79141270e-02 9.96958346e-01 -1.85595368e-03 1.45870700e+00] [ 3.58909010e-02 -9.44524053e-04 9.99355268e-01 1.18115942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:38.54, Y:1.46, Z:1.18 [[ 9.96214438e-01 -7.91907775e-02 -3.58554604e-02 3.85382581e+01] [ 7.91753088e-02 9.96858985e-01 -1.85333591e-03 1.46004081e+00] [ 3.58896050e-02 -9.92547163e-04 9.99355268e-01 1.18319430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.57, Y:1.46, Z:1.18 [[ 9.96079007e-01 -8.08763718e-02 -3.58555950e-02 3.85705208e+01] [ 8.08620877e-02 9.96723581e-01 -1.85072792e-03 1.46063388e+00] [ 3.58877973e-02 -1.05588704e-03 9.99355268e-01 1.18235631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.60, Y:1.46, Z:1.18 [[ 9.95984594e-01 -8.20308142e-02 -3.58557284e-02 3.86023376e+01] [ 8.20173702e-02 9.96629186e-01 -1.84814146e-03 1.46061378e+00] [ 3.58864699e-02 -1.10007212e-03 9.99355268e-01 1.18180860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:38.63, Y:1.46, Z:1.18 [[ 9.95978156e-01 -8.21088910e-02 -3.58558616e-02 3.86335936e+01] [ 8.20955905e-02 9.96622751e-01 -1.84555390e-03 1.46234714e+00] [ 3.58863038e-02 -1.10547675e-03 9.99355268e-01 1.18157541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.67, Y:1.46, Z:1.18 [[ 9.96038543e-01 -8.13730316e-02 -3.58559606e-02 3.86655820e+01] [ 8.13593242e-02 9.96683130e-01 -1.84362718e-03 1.46494634e+00] [ 3.58870526e-02 -1.08089300e-03 9.99355268e-01 1.18465167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.70, Y:1.47, Z:1.18 [[ 9.96220196e-01 -7.91180213e-02 -3.58560945e-02 3.86971605e+01] [ 7.91029486e-02 9.96864752e-01 -1.84101915e-03 1.46573787e+00] [ 3.58893346e-02 -1.00226234e-03 9.99355268e-01 1.18442789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.73, Y:1.47, Z:1.19 [[ 9.96394055e-01 -7.68974373e-02 -3.58562612e-02 3.87292534e+01] [ 7.68810449e-02 9.97038579e-01 -1.83776795e-03 1.46750456e+00] [ 3.58913953e-02 -9.25525769e-04 9.99355268e-01 1.18663854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099893 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:38.76, Y:1.47, Z:1.19 [[ 9.96478403e-01 -7.57965156e-02 -3.58563961e-02 3.87610167e+01] [ 7.57795059e-02 9.97122911e-01 -1.83513174e-03 1.46998443e+00] [ 3.58923306e-02 -8.88510832e-04 9.99355268e-01 1.18815687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.79, Y:1.47, Z:1.19 [[ 9.96655823e-01 -7.34266977e-02 -3.58565298e-02 3.87915195e+01] [ 7.34082496e-02 9.97300291e-01 -1.83251501e-03 1.47362539e+00] [ 3.58942832e-02 -8.05778330e-04 9.99355268e-01 1.19035754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:38.82, Y:1.48, Z:1.19 [[ 9.96736687e-01 -7.23205990e-02 -3.58567610e-02 3.88236655e+01] [ 7.23015987e-02 9.97381139e-01 -1.82798087e-03 1.47596450e+00] [ 3.58950578e-02 -7.70485548e-04 9.99355268e-01 1.19112211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:38.86, Y:1.48, Z:1.19 [[ 9.96821018e-01 -7.11487316e-02 -3.58568914e-02 3.88552451e+01] [ 7.11290658e-02 9.97465450e-01 -1.82541874e-03 1.47842540e+00] [ 3.58958865e-02 -7.30851420e-04 9.99355268e-01 1.19389816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:38.89, Y:1.48, Z:1.19 [[ 9.96888725e-01 -7.01936142e-02 -3.58570257e-02 3.88859094e+01] [ 7.01734259e-02 9.97533141e-01 -1.82277765e-03 1.48126627e+00] [ 3.58965188e-02 -6.99103847e-04 9.99355268e-01 1.19411205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.92, Y:1.48, Z:1.20 [[ 9.96952565e-01 -6.92809544e-02 -3.58571256e-02 3.89182103e+01] [ 6.92602469e-02 9.97596964e-01 -1.82080966e-03 1.48404590e+00] [ 3.58971071e-02 -6.68212509e-04 9.99355268e-01 1.19582807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:38.95, Y:1.49, Z:1.20 [[ 9.97101861e-01 -6.70979572e-02 -3.58572554e-02 3.89499783e+01] [ 6.70759309e-02 9.97746217e-01 -1.81824993e-03 1.48864189e+00] [ 3.58984418e-02 -5.92178394e-04 9.99355268e-01 1.19640235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:38.98, Y:1.49, Z:1.20 [[ 9.97309263e-01 -6.39412441e-02 -3.58573846e-02 3.89814929e+01] [ 6.39172699e-02 9.97953549e-01 -1.81569742e-03 1.49380797e+00] [ 3.59001022e-02 -4.81094273e-04 9.99355268e-01 1.19930658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:39.01, Y:1.50, Z:1.20 [[ 9.97511888e-01 -6.06982096e-02 -3.58575132e-02 3.90136404e+01] [ 6.06722320e-02 9.98156096e-01 -1.81315605e-03 1.49864901e+00] [ 3.59014507e-02 -3.66910642e-04 9.99355268e-01 1.20047227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.04, Y:1.50, Z:1.20 [[ 9.97668243e-01 -5.80715624e-02 -3.58576408e-02 3.90449971e+01] [ 5.80439796e-02 9.98312385e-01 -1.81062862e-03 1.50281734e+00] [ 3.59022729e-02 -2.74913496e-04 9.99355268e-01 1.20082329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.08, Y:1.51, Z:1.20 [[ 9.97752747e-01 -5.66010629e-02 -3.58577058e-02 3.90773428e+01] [ 5.65725769e-02 9.98396850e-01 -1.80934077e-03 1.50665625e+00] [ 3.59026311e-02 -2.23288098e-04 9.99355268e-01 1.20210196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.11, Y:1.51, Z:1.20 [[ 9.97777020e-01 -5.61714676e-02 -3.58578374e-02 3.91079164e+01] [ 5.61427982e-02 9.98421115e-01 -1.80672787e-03 1.50999723e+00] [ 3.59027085e-02 -2.10447779e-04 9.99355268e-01 1.20317417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:39.14, Y:1.51, Z:1.20 [[ 9.97662862e-01 -5.81637615e-02 -3.58579354e-02 3.91393363e+01] [ 5.81364483e-02 9.98307015e-01 -1.80478137e-03 1.51219229e+00] [ 3.59022013e-02 -2.84089659e-04 9.99355268e-01 1.20297414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.17, Y:1.51, Z:1.20 [[ 9.97538746e-01 -6.02549079e-02 -3.58579996e-02 3.91715761e+01] [ 6.02289909e-02 9.98182957e-01 -1.80350415e-03 1.51446266e+00] [ 3.59015141e-02 -3.60625869e-04 9.99355268e-01 1.20427901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.20, Y:1.52, Z:1.21 [[ 9.97468918e-01 -6.13999363e-02 -3.58581300e-02 3.92039043e+01] [ 6.13748522e-02 9.98113162e-01 -1.80090899e-03 1.51666834e+00] [ 3.59010472e-02 -4.04436681e-04 9.99355268e-01 1.20566620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.24, Y:1.52, Z:1.21 [[ 9.97393646e-01 -6.26107100e-02 -3.58582602e-02 3.92358439e+01] [ 6.25865012e-02 9.98037923e-01 -1.79831163e-03 1.51892782e+00] [ 3.59004971e-02 -4.50618458e-04 9.99355268e-01 1.20651218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.27, Y:1.52, Z:1.21 [[ 9.97437476e-01 -6.19084516e-02 -3.58583897e-02 3.92673378e+01] [ 6.18838822e-02 9.98081740e-01 -1.79572607e-03 1.52163839e+00] [ 3.59007746e-02 -4.27931882e-04 9.99355268e-01 1.20606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:39.30, Y:1.53, Z:1.21 [[ 9.97699222e-01 -5.75363534e-02 -3.58584861e-02 3.92989150e+01] [ 5.75090298e-02 9.98343375e-01 -1.79379921e-03 1.52595139e+00] [ 3.59022907e-02 -2.72514673e-04 9.99355268e-01 1.20646419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.33, Y:1.53, Z:1.21 [[ 9.97926301e-01 -5.34533119e-02 -3.58586150e-02 3.93287754e+01] [ 5.34234454e-02 9.98570342e-01 -1.79121937e-03 1.53030813e+00] [ 3.59030960e-02 -1.28185840e-04 9.99355268e-01 1.20870101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.36, Y:1.54, Z:1.21 [[ 9.98279398e-01 -4.63939699e-02 -3.58586468e-02 3.93599121e+01] [ 4.63595719e-02 9.98923212e-01 -1.79058197e-03 1.53624421e+00] [ 3.59031068e-02 1.25109581e-04 9.99355268e-01 1.21102464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.39, Y:1.54, Z:1.21 [[ 9.98277736e-01 -4.64296692e-02 -3.58587110e-02 3.93900036e+01] [ 4.63953405e-02 9.98921554e-01 -1.78929598e-03 1.53777289e+00] [ 3.59031157e-02 1.22537237e-04 9.99355268e-01 1.21210664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:39.42, Y:1.54, Z:1.21 [[ 9.98490476e-01 -4.16044200e-02 -3.58586468e-02 3.94190168e+01] [ 4.15669339e-02 9.99134117e-01 -1.79058080e-03 1.54206033e+00] [ 3.59020935e-02 2.97343876e-04 9.99355268e-01 1.21419135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:39.45, Y:1.55, Z:1.22 [[ 9.98636753e-01 -3.79314631e-02 -3.58586150e-02 3.94472823e+01] [ 3.78915869e-02 9.99280251e-01 -1.79121804e-03 1.54520962e+00] [ 3.59007493e-02 4.30036342e-04 9.99355268e-01 1.21690847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.47, Y:1.55, Z:1.22 [[ 9.98657955e-01 -3.73695220e-02 -3.58581695e-02 3.94749262e+01] [ 3.73289652e-02 9.99301410e-01 -1.80009093e-03 1.54729592e+00] [ 3.59003879e-02 4.59126760e-04 9.99355268e-01 1.21859822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:39.50, Y:1.55, Z:1.22 [[ 9.98637574e-01 -3.79107285e-02 -3.58576576e-02 3.95027020e+01] [ 3.78701563e-02 9.99281029e-01 -1.81023254e-03 1.54839586e+00] [ 3.59005042e-02 4.49831133e-04 9.99355268e-01 1.21751719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.53, Y:1.55, Z:1.22 [[ 9.98495597e-01 -4.14826256e-02 -3.58571363e-02 3.95307098e+01] [ 4.14439867e-02 9.99139170e-01 -1.82049870e-03 1.54835705e+00] [ 3.59017885e-02 3.31697256e-04 9.99355268e-01 1.21805279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:39.56, Y:1.55, Z:1.22 [[ 9.98056069e-01 -5.09743805e-02 -3.58566081e-02 3.95586566e+01] [ 5.09414908e-02 9.98699961e-01 -1.83084434e-03 1.55012786e+00] [ 3.59033193e-02 6.96231374e-07 9.99355268e-01 1.21546943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955099892999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:39.59, Y:1.55, Z:1.22 [[ 9.98066575e-01 -5.07801437e-02 -3.58397540e-02 3.95896656e+01] [ 5.07353212e-02 9.98709799e-01 -2.15958228e-03 1.55175367e+00] [ 3.59031774e-02 3.37065462e-04 9.99355216e-01 1.21670812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:39.62, Y:1.55, Z:1.22 [[ 9.97758894e-01 -5.65040843e-02 -3.58396226e-02 3.96209710e+01] [ 5.64628598e-02 9.98402359e-01 -2.16214751e-03 1.54879171e+00] [ 3.59045339e-02 1.33694319e-04 9.99355215e-01 1.21706977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:39.65, Y:1.55, Z:1.22 [[ 9.97298991e-01 -6.41016246e-02 -3.58567160e-02 3.96523233e+01] [ 6.40773603e-02 9.97943263e-01 -1.82664803e-03 1.54858667e+00] [ 3.59000593e-02 -4.75889471e-04 9.99355272e-01 1.21743864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.68, Y:1.55, Z:1.22 [[ 9.96856499e-01 -7.06499043e-02 -3.58568143e-02 3.96841793e+01] [ 7.06299412e-02 9.97500918e-01 -1.82471679e-03 1.54968413e+00] [ 3.58961212e-02 -7.13583896e-04 9.99355272e-01 1.21958466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:39.72, Y:1.55, Z:1.22 [[ 9.96497865e-01 -7.55399566e-02 -3.58569460e-02 3.97164457e+01] [ 7.55232486e-02 9.97142376e-01 -1.82212420e-03 1.55179944e+00] [ 3.58921236e-02 -8.92290176e-04 9.99355272e-01 1.22228090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:39.75, Y:1.55, Z:1.22 [[ 9.96377026e-01 -7.71173922e-02 -3.58570775e-02 3.97479055e+01] [ 7.71017977e-02 9.97021566e-01 -1.81953408e-03 1.55364731e+00] [ 3.58905972e-02 -9.51703177e-04 9.99355272e-01 1.22167904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135099892999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:39.78, Y:1.56, Z:1.22 [[ 9.96262707e-01 -7.85803456e-02 -3.58573187e-02 3.97805507e+01] [ 7.85658690e-02 9.96907273e-01 -1.81476719e-03 1.55555060e+00] [ 3.58890269e-02 -1.00917653e-03 9.99355272e-01 1.22218668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:39.81, Y:1.56, Z:1.22 [[ 9.96128766e-01 -8.02603483e-02 -3.58574816e-02 3.98137992e+01] [ 8.02470747e-02 9.96773357e-01 -1.81154292e-03 1.55594304e+00] [ 3.58871774e-02 -1.07292799e-03 9.99355272e-01 1.22236761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:39.85, Y:1.56, Z:1.22 [[ 9.96047758e-01 -8.12594018e-02 -3.58576784e-02 3.98455978e+01] [ 8.12469152e-02 9.96692365e-01 -1.80763874e-03 1.55666692e+00] [ 3.58859620e-02 -1.11283125e-03 9.99355272e-01 1.22499166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.88, Y:1.56, Z:1.23 [[ 9.96025581e-01 -8.15307256e-02 -3.58578094e-02 3.98766097e+01] [ 8.15185081e-02 9.96670194e-01 -1.80503670e-03 1.55809262e+00] [ 3.58855758e-02 -1.12521240e-03 9.99355272e-01 1.22960164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:39.91, Y:1.56, Z:1.23 [[ 9.96000803e-01 -8.18328292e-02 -3.58579068e-02 3.99086153e+01] [ 8.18208769e-02 9.96645420e-01 -1.80310090e-03 1.55976809e+00] [ 3.58851714e-02 -1.13803543e-03 9.99355272e-01 1.23129191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.94, Y:1.56, Z:1.23 [[ 9.95957671e-01 -8.23560390e-02 -3.58580678e-02 3.99415409e+01] [ 8.23445406e-02 9.96602296e-01 -1.79989260e-03 1.56039089e+00] [ 3.58844647e-02 -1.16009928e-03 9.99355272e-01 1.23316595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.315099892999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.97, Y:1.56, Z:1.23 [[ 9.95969049e-01 -8.22182411e-02 -3.58582608e-02 3.99738614e+01] [ 8.22067922e-02 9.96613675e-01 -1.79603849e-03 1.56095685e+00] [ 3.58845002e-02 -1.15899385e-03 9.99355272e-01 1.23158740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:40.01, Y:1.56, Z:1.23 [[ 9.96104145e-01 -8.05649374e-02 -3.58583901e-02 4.00063054e+01] [ 8.05525114e-02 9.96748753e-01 -1.79345431e-03 1.56292920e+00] [ 3.58862951e-02 -1.10201611e-03 9.99355272e-01 1.23060756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:40.04, Y:1.57, Z:1.23 [[ 9.96242612e-01 -7.88341563e-02 -3.58585190e-02 4.00383851e+01] [ 7.88207032e-02 9.96887200e-01 -1.79087339e-03 1.56558167e+00] [ 3.58880806e-02 -1.04224930e-03 9.99355272e-01 1.23108773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.07, Y:1.57, Z:1.23 [[ 9.96582333e-01 -7.44164728e-02 -3.58586486e-02 4.00704694e+01] [ 7.44002554e-02 9.97226857e-01 -1.78827489e-03 1.57101987e+00] [ 3.58922845e-02 -8.85729453e-04 9.99355272e-01 1.23408981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:40.10, Y:1.57, Z:1.24 [[ 9.97009131e-01 -6.84612389e-02 -3.58587773e-02 4.01021774e+01] [ 6.84412641e-02 9.97653549e-01 -1.78569040e-03 1.57460330e+00] [ 3.58968870e-02 -6.73870416e-04 9.99355272e-01 1.23503561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:40.13, Y:1.58, Z:1.24 [[ 9.97400489e-01 -6.25012074e-02 -3.58589372e-02 4.01344369e+01] [ 6.24774972e-02 9.98044781e-01 -1.78247323e-03 1.57651295e+00] [ 3.59002318e-02 -4.62536978e-04 9.99355272e-01 1.23575260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.17, Y:1.58, Z:1.24 [[ 9.97735659e-01 -5.69006342e-02 -3.58590641e-02 4.01656560e+01] [ 5.68733990e-02 9.98379812e-01 -1.77991713e-03 1.57901173e+00] [ 3.59022440e-02 -2.63540071e-04 9.99355272e-01 1.23970442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:40.20, Y:1.58, Z:1.24 [[ 9.98052465e-01 -5.10430890e-02 -3.58591584e-02 4.01972908e+01] [ 5.10121416e-02 9.98696450e-01 -1.77801444e-03 1.58135168e+00] [ 3.59031696e-02 -5.47007673e-05 9.99355272e-01 1.24003125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:40.23, Y:1.58, Z:1.24 [[ 9.98298789e-01 -4.59743804e-02 -3.58592219e-02 4.02273167e+01] [ 4.59402093e-02 9.98942611e-01 -1.77673356e-03 1.58318543e+00] [ 3.59029890e-02 1.26330804e-04 9.99355272e-01 1.24303144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:40.26, Y:1.58, Z:1.25 [[ 9.98410447e-01 -4.34821267e-02 -3.58592219e-02 4.02572142e+01] [ 4.34463485e-02 9.99054182e-01 -1.77673356e-03 1.58462196e+00] [ 3.59025617e-02 2.15957099e-04 9.99355272e-01 1.24504910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:40.29, Y:1.59, Z:1.25 [[ 9.98582031e-01 -3.93452523e-02 -3.58591582e-02 4.02856441e+01] [ 3.93067612e-02 9.99225609e-01 -1.77801840e-03 1.58547698e+00] [ 3.59013457e-02 3.65989861e-04 9.99355272e-01 1.24763033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.31, Y:1.59, Z:1.25 [[ 9.98671899e-01 -3.69941359e-02 -3.58590633e-02 4.03132808e+01] [ 3.69540611e-02 9.99315380e-01 -1.77992914e-03 1.58563444e+00] [ 3.59003604e-02 4.52427199e-04 9.99355272e-01 1.25165997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:40.34, Y:1.59, Z:1.25 [[ 9.98747459e-01 -3.48952317e-02 -3.58585415e-02 4.03416392e+01] [ 3.48534294e-02 9.99390831e-01 -1.79038135e-03 1.58593554e+00] [ 3.58991733e-02 5.38345678e-04 9.99355272e-01 1.24819914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:40.37, Y:1.59, Z:1.25 [[ 9.98791339e-01 -3.36160255e-02 -3.58583798e-02 4.03699849e+01] [ 3.35732833e-02 9.99434649e-01 -1.79361281e-03 1.58552813e+00] [ 3.58984014e-02 5.87561398e-04 9.99355272e-01 1.24872556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:40.40, Y:1.58, Z:1.25 [[ 9.98789614e-01 -3.36677381e-02 -3.58579285e-02 4.03986850e+01] [ 3.36247069e-02 9.99432904e-01 -1.80259059e-03 1.58443418e+00] [ 3.58982828e-02 5.94696419e-04 9.99355272e-01 1.24863493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:40.43, Y:1.58, Z:1.25 [[ 9.98739020e-01 -3.51370461e-02 -3.58574758e-02 4.04262414e+01] [ 3.50946397e-02 9.99382352e-01 -1.81155196e-03 1.58275224e+00] [ 3.58989810e-02 5.50862435e-04 9.99355272e-01 1.24703193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:40.45, Y:1.58, Z:1.25 [[ 9.98632654e-01 -3.80404354e-02 -3.58573153e-02 4.04549702e+01] [ 3.79997856e-02 9.99276100e-01 -1.81472357e-03 1.58167890e+00] [ 3.59003910e-02 4.49671926e-04 9.99355272e-01 1.25015723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.48, Y:1.58, Z:1.25 [[ 9.98504875e-01 -4.12589354e-02 -3.58568536e-02 4.04832406e+01] [ 4.12200338e-02 9.99148429e-01 -1.82380023e-03 1.58120763e+00] [ 3.59015670e-02 3.43052701e-04 9.99355272e-01 1.25295937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.51, Y:1.58, Z:1.25 [[ 9.98354141e-01 -4.47585513e-02 -3.58563915e-02 4.05108845e+01] [ 4.47215810e-02 9.98997808e-01 -1.83283933e-03 1.57981159e+00] [ 3.59024918e-02 2.26268211e-04 9.99355272e-01 1.25421963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:40.54, Y:1.58, Z:1.26 [[ 9.98096906e-01 -5.01687546e-02 -3.58561440e-02 4.05399295e+01] [ 5.01351000e-02 9.98740755e-01 -1.83766877e-03 1.57836084e+00] [ 3.59031859e-02 3.65201452e-05 9.99355272e-01 1.25669614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.57, Y:1.58, Z:1.26 [[ 9.97767883e-01 -5.63349099e-02 -3.58556661e-02 4.05696956e+01] [ 5.63049007e-02 9.98411912e-01 -1.84694796e-03 1.57735606e+00] [ 3.59027718e-02 -1.76024362e-04 9.99355272e-01 1.25788225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:40.60, Y:1.58, Z:1.26 [[ 9.97405794e-01 -6.24183676e-02 -3.58556670e-02 4.06001285e+01] [ 6.23922869e-02 9.98049994e-01 -1.84692976e-03 1.57686771e+00] [ 3.59010306e-02 -3.94978622e-04 9.99355272e-01 1.25929602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.63, Y:1.58, Z:1.26 [[ 9.97229888e-01 -6.51683847e-02 -3.58557005e-02 4.06326472e+01] [ 6.51441038e-02 9.97874159e-01 -1.84627979e-03 1.57753460e+00] [ 3.58997960e-02 -4.94622080e-04 9.99355272e-01 1.26118325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.66, Y:1.58, Z:1.26 [[ 9.96969993e-01 -6.90303763e-02 -3.58558356e-02 4.06635307e+01] [ 6.90086855e-02 9.97614355e-01 -1.84365243e-03 1.57687225e+00] [ 3.58975643e-02 -6.36297929e-04 9.99355272e-01 1.26065306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.69, Y:1.58, Z:1.26 [[ 9.96842674e-01 -7.08451528e-02 -3.58559360e-02 4.06947980e+01] [ 7.08247053e-02 9.97487077e-01 -1.84169628e-03 1.57722243e+00] [ 3.58963081e-02 -7.03604664e-04 9.99355272e-01 1.25969093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:40.73, Y:1.58, Z:1.26 [[ 9.96939235e-01 -6.94730637e-02 -3.58560343e-02 4.07266982e+01] [ 6.94517982e-02 9.97583612e-01 -1.83978082e-03 1.57973411e+00] [ 3.58972074e-02 -6.56116373e-04 9.99355272e-01 1.26222454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:40.76, Y:1.58, Z:1.26 [[ 9.97099490e-01 -6.71337641e-02 -3.58561688e-02 4.07586048e+01] [ 6.71110811e-02 9.97743819e-01 -1.83715681e-03 1.58109952e+00] [ 3.58986060e-02 -5.74518128e-04 9.99355272e-01 1.26368703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.79, Y:1.58, Z:1.27 [[ 9.97611631e-01 -5.90363721e-02 -3.58572289e-02 4.07896998e+01] [ 5.90092031e-02 9.98255786e-01 -1.81644662e-03 1.58273543e+00] [ 3.59019226e-02 -3.03798221e-04 9.99355272e-01 1.26549585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.82, Y:1.58, Z:1.27 [[ 9.97845341e-01 -5.49453488e-02 -3.58564498e-02 4.08195384e+01] [ 5.49149907e-02 9.98489353e-01 -1.83169671e-03 1.58445369e+00] [ 3.59029266e-02 -1.41306582e-04 9.99355272e-01 1.26598397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.85, Y:1.59, Z:1.27 [[ 9.98441157e-01 -4.27734564e-02 -3.58564825e-02 4.08492861e+01] [ 4.27352705e-02 9.99084753e-01 -1.83105762e-03 1.58717675e+00] [ 3.59019856e-02 2.95866815e-04 9.99355272e-01 1.26900355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:40.88, Y:1.59, Z:1.27 [[ 9.98706015e-01 -3.60639115e-02 -3.58565147e-02 4.08772352e+01] [ 3.60214247e-02 9.99349342e-01 -1.83042574e-03 1.58752634e+00] [ 3.58991967e-02 5.36454454e-04 9.99355272e-01 1.26675170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:40.91, Y:1.59, Z:1.27 [[ 9.98841007e-01 -3.21090301e-02 -3.58559999e-02 4.09063703e+01] [ 3.20636364e-02 9.99484135e-01 -1.84045610e-03 1.58611648e+00] [ 3.58965983e-02 6.88649287e-04 9.99355272e-01 1.26644047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:40.93, Y:1.58, Z:1.27 [[ 9.98884382e-01 -3.07306457e-02 -3.58555302e-02 4.09347238e+01] [ 3.06840377e-02 9.99527423e-01 -1.84956180e-03 1.58478617e+00] [ 3.58954239e-02 7.47305959e-04 9.99355272e-01 1.26840776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:40.96, Y:1.58, Z:1.27 [[ 9.98847335e-01 -3.19126497e-02 -3.58550546e-02 4.09622077e+01] [ 3.18664736e-02 9.99490407e-01 -1.85873512e-03 1.58399943e+00] [ 3.58961003e-02 7.14018466e-04 9.99355272e-01 1.26901159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335099893 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:40.99, Y:1.58, Z:1.27 [[ 9.98775754e-01 -3.40796963e-02 -3.58548186e-02 4.09906782e+01] [ 3.40347525e-02 9.99418913e-01 -1.86327765e-03 1.58186220e+00] [ 3.58974837e-02 6.40686663e-04 9.99355272e-01 1.27089159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:41.02, Y:1.58, Z:1.27 [[ 9.98661040e-01 -3.72906498e-02 -3.58543435e-02 4.10198323e+01] [ 3.72474474e-02 9.99304319e-01 -1.87237462e-03 1.57898177e+00] [ 3.58992224e-02 5.34384814e-04 9.99355272e-01 1.27392569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:41.05, Y:1.58, Z:1.28 [[ 9.98485309e-01 -4.17323407e-02 -3.58538635e-02 4.10484018e+01] [ 4.16916717e-02 9.99128753e-01 -1.88152210e-03 1.57633221e+00] [ 3.59011462e-02 3.83864674e-04 9.99355272e-01 1.27699039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.08, Y:1.58, Z:1.28 [[ 9.98361389e-01 -4.45990118e-02 -3.58533778e-02 4.10764275e+01] [ 4.45598597e-02 9.99004927e-01 -1.89073141e-03 1.57561324e+00] [ 3.59020258e-02 2.90011750e-04 9.99355272e-01 1.27869107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455099892999996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:41.10, Y:1.57, Z:1.28 [[ 9.98211453e-01 -4.78379579e-02 -3.58528158e-02 4.11032684e+01] [ 4.78005133e-02 9.98855093e-01 -1.90132935e-03 1.57491491e+00] [ 3.59027234e-02 1.84145738e-04 9.99355272e-01 1.27919952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:41.13, Y:1.57, Z:1.28 [[ 9.98030128e-01 -5.14826897e-02 -3.58524276e-02 4.11308358e+01] [ 5.14473337e-02 9.98673885e-01 -1.90862093e-03 1.57440577e+00] [ 3.59031441e-02 6.03493851e-05 9.99355272e-01 1.27960894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:41.16, Y:1.57, Z:1.28 [[ 9.97310276e-01 -6.39285347e-02 -3.58518732e-02 4.11600553e+01] [ 6.39008396e-02 9.97954408e-01 -1.91897947e-03 1.56848554e+00] [ 3.59012124e-02 -3.77146858e-04 9.99355273e-01 1.27830447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.19, Y:1.56, Z:1.28 [[ 9.96697390e-01 -7.28628233e-02 -3.58513863e-02 4.11908625e+01] [ 7.28405758e-02 9.97341733e-01 -1.92803395e-03 1.56444668e+00] [ 3.58965657e-02 -6.89769209e-04 9.99355273e-01 1.27711710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.22, Y:1.56, Z:1.28 [[ 9.96387918e-01 -7.69791657e-02 -3.58514208e-02 4.12216614e+01] [ 7.69596030e-02 9.97032349e-01 -1.92739207e-03 1.56333318e+00] [ 3.58933953e-02 -8.38680941e-04 9.99355273e-01 1.27818001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.25, Y:1.56, Z:1.28 [[ 9.95782489e-01 -8.44505918e-02 -3.58515230e-02 4.12541736e+01] [ 8.44359318e-02 9.96427050e-01 -1.92548800e-03 1.56141635e+00] [ 3.58860359e-02 -1.10978952e-03 9.99355273e-01 1.28036032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635099892999996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.29, Y:1.56, Z:1.28 [[ 9.95393699e-01 -8.89159310e-02 -3.58516650e-02 4.12862155e+01] [ 8.89042574e-02 9.96038320e-01 -1.92284100e-03 1.56013140e+00] [ 3.58806034e-02 -1.27338184e-03 9.99355273e-01 1.27778539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:41.32, Y:1.56, Z:1.28 [[ 9.95438035e-01 -8.84181287e-02 -3.58518073e-02 4.13171065e+01] [ 8.84062283e-02 9.96082653e-01 -1.92018420e-03 1.56141253e+00] [ 3.58811424e-02 -1.25809867e-03 9.99355273e-01 1.27914413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.35, Y:1.57, Z:1.28 [[ 9.95872264e-01 -8.33850988e-02 -3.58519131e-02 4.13491566e+01] [ 8.33700111e-02 9.96516815e-01 -1.91820630e-03 1.56837239e+00] [ 3.58869841e-02 -1.07868594e-03 9.99355273e-01 1.28210033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.38, Y:1.57, Z:1.28 [[ 9.95871616e-01 -8.33927700e-02 -3.58520554e-02 4.13804363e+01] [ 8.33777831e-02 9.96516169e-01 -1.91554281e-03 1.57398515e+00] [ 3.58868954e-02 -1.08163019e-03 9.99355273e-01 1.28417880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:41.41, Y:1.58, Z:1.28 [[ 9.95885095e-01 -8.32316043e-02 -3.58521613e-02 4.14113007e+01] [ 8.32165844e-02 9.96529648e-01 -1.91355824e-03 1.57659390e+00] [ 3.58870102e-02 -1.07781028e-03 9.99355273e-01 1.28444847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.44, Y:1.58, Z:1.29 [[ 9.95914462e-01 -8.28793729e-02 -3.58523969e-02 4.14424119e+01] [ 8.28642842e-02 9.96559013e-01 -1.90913383e-03 1.57983672e+00] [ 3.58872571e-02 -1.06954921e-03 9.99355273e-01 1.28544388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.815099892999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.47, Y:1.58, Z:1.29 [[ 9.95997880e-01 -8.18707091e-02 -3.58526276e-02 4.14738863e+01] [ 8.18551237e-02 9.96642419e-01 -1.90479323e-03 1.58336694e+00] [ 3.58881962e-02 -1.03755125e-03 9.99355273e-01 1.28866062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.51, Y:1.59, Z:1.29 [[ 9.96003799e-01 -8.17986095e-02 -3.58527652e-02 4.15065154e+01] [ 8.17830709e-02 9.96648339e-01 -1.90219875e-03 1.58504021e+00] [ 3.58881961e-02 -1.03755206e-03 9.99355273e-01 1.28983359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.54, Y:1.59, Z:1.29 [[ 9.96121874e-01 -8.03478759e-02 -3.58529026e-02 4.15382614e+01] [ 8.03314918e-02 9.96766393e-01 -1.89960507e-03 1.58860094e+00] [ 3.58895977e-02 -9.87878991e-04 9.99355273e-01 1.28954858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.57, Y:1.59, Z:1.29 [[ 9.96127698e-01 -8.02755757e-02 -3.58530403e-02 4.15708904e+01] [ 8.02592383e-02 9.96772219e-01 -1.89700310e-03 1.59026991e+00] [ 3.58895975e-02 -9.87880380e-04 9.99355273e-01 1.29072154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935099893 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:41.60, Y:1.59, Z:1.29 [[ 9.96307550e-01 -7.80116382e-02 -3.58531777e-02 4.16028995e+01] [ 7.79939297e-02 9.96952034e-01 -1.89440250e-03 1.59393571e+00] [ 3.58916839e-02 -9.08922708e-04 9.99355273e-01 1.29147129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:41.63, Y:1.60, Z:1.29 [[ 9.96520349e-01 -7.52444935e-02 -3.58533151e-02 4.16337979e+01] [ 7.52250890e-02 9.97164784e-01 -1.89179801e-03 1.59770632e+00] [ 3.58940106e-02 -8.11853612e-04 9.99355273e-01 1.29258200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.995099892999995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:41.67, Y:1.60, Z:1.29 [[ 9.97036446e-01 -6.80651070e-02 -3.58534174e-02 4.16661868e+01] [ 6.80411312e-02 9.97680727e-01 -1.88985733e-03 1.60256476e+00] [ 3.58988969e-02 -5.55250442e-04 9.99355273e-01 1.29404567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.70, Y:1.61, Z:1.29 [[ 9.97560230e-01 -5.99008345e-02 -3.58535561e-02 4.16980247e+01] [ 5.98716799e-02 9.98204298e-01 -1.88722276e-03 1.60788315e+00] [ 3.59022200e-02 -2.63994260e-04 9.99355273e-01 1.29457290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.73, Y:1.61, Z:1.30 [[ 9.97960042e-01 -5.28229787e-02 -3.58536934e-02 4.17294084e+01] [ 5.27893499e-02 9.98603892e-01 -1.88461100e-03 1.61312756e+00] [ 3.59031885e-02 -1.19266926e-05 9.99355273e-01 1.29713853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:41.76, Y:1.62, Z:1.30 [[ 9.98184294e-01 -4.84006412e-02 -3.58537624e-02 4.17592187e+01] [ 4.83642071e-02 9.98827992e-01 -1.88329752e-03 1.61714014e+00] [ 3.59028943e-02 1.45839215e-04 9.99355273e-01 1.29673146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:41.79, Y:1.62, Z:1.30 [[ 9.98246498e-01 -4.71003214e-02 -3.58537282e-02 4.17879316e+01] [ 4.70630254e-02 9.98890145e-01 -1.88394874e-03 1.62021989e+00] [ 3.59026703e-02 1.93260314e-04 9.99355273e-01 1.29769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.82, Y:1.62, Z:1.30 [[ 9.98185988e-01 -4.83660786e-02 -3.58532492e-02 4.18161283e+01] [ 4.83292729e-02 9.98829664e-01 -1.89302033e-03 1.62138670e+00] [ 3.59028468e-02 1.56824907e-04 9.99355273e-01 1.29796413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:41.84, Y:1.62, Z:1.30 [[ 9.98100851e-01 -5.00923924e-02 -3.58530793e-02 4.18449148e+01] [ 5.00565848e-02 9.98744583e-01 -1.89623228e-03 1.62282697e+00] [ 3.59030556e-02 9.79483465e-05 9.99355273e-01 1.29732669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:41.87, Y:1.62, Z:1.30 [[ 9.97847335e-01 -5.49116419e-02 -3.58525943e-02 4.18732633e+01] [ 5.48786153e-02 9.98491215e-01 -1.90535825e-03 1.62486267e+00] [ 3.59031268e-02 -6.62840837e-05 9.99355273e-01 1.29959751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.90, Y:1.63, Z:1.30 [[ 9.97473622e-01 -6.13267667e-02 -3.58524913e-02 4.19032543e+01] [ 6.12978114e-02 9.98117699e-01 -1.90729408e-03 1.62654366e+00] [ 3.59019743e-02 -2.95203722e-04 9.99355273e-01 1.30295331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.93, Y:1.63, Z:1.30 [[ 9.96958970e-01 -6.91911248e-02 -3.58524913e-02 4.19338800e+01] [ 6.91672498e-02 9.97603255e-01 -1.90729408e-03 1.62788616e+00] [ 3.58985299e-02 -5.78324285e-04 9.99355273e-01 1.30388849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.97, Y:1.63, Z:1.30 [[ 9.96292988e-01 -7.81976839e-02 -3.58525255e-02 4.19659755e+01] [ 7.81796552e-02 9.96937464e-01 -1.90665102e-03 1.62876466e+00] [ 3.58918216e-02 -9.03355045e-04 9.99355273e-01 1.30336944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:42.00, Y:1.63, Z:1.31 [[ 9.94396169e-01 -9.94527274e-02 -3.58526622e-02 4.19985738e+01] [ 9.94485563e-02 9.95040883e-01 -1.90407759e-03 1.62971282e+00] [ 3.58642304e-02 -1.67208804e-03 9.99355273e-01 1.30511255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.03, Y:1.63, Z:1.31 [[ 9.94116850e-01 -1.02206971e-01 -3.58527990e-02 4.20306553e+01] [ 1.02204679e-01 9.94761573e-01 -1.90149817e-03 1.63149556e+00] [ 3.58593331e-02 -1.77401244e-03 9.99355273e-01 1.30543274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.06, Y:1.63, Z:1.31 [[ 9.94127480e-01 -1.02103468e-01 -3.58529698e-02 4.20641326e+01] [ 1.02101224e-01 9.94772203e-01 -1.89827270e-03 1.63317393e+00] [ 3.58593580e-02 -1.77350706e-03 9.99355273e-01 1.30663590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.10, Y:1.64, Z:1.31 [[ 9.93891709e-01 -1.04373466e-01 -3.58531669e-02 4.20969005e+01] [ 1.04372829e-01 9.94536436e-01 -1.89454160e-03 1.63504446e+00] [ 3.58550208e-02 -1.85912729e-03 9.99355273e-01 1.30891856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.13, Y:1.64, Z:1.31 [[ 9.93741534e-01 -1.05793668e-01 -3.58533701e-02 4.21295975e+01] [ 1.05794091e-01 9.94386261e-01 -1.89069007e-03 1.63660244e+00] [ 3.58521216e-02 -1.91421745e-03 9.99355273e-01 1.31035861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.16, Y:1.64, Z:1.31 [[ 9.93656008e-01 -1.06593892e-01 -3.58535785e-02 4.21618001e+01] [ 1.06594977e-01 9.94300735e-01 -1.88672979e-03 1.63934753e+00] [ 3.58503533e-02 -1.94705097e-03 9.99355273e-01 1.31004464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:42.19, Y:1.64, Z:1.31 [[ 9.93989217e-01 -1.03440535e-01 -3.58537508e-02 4.21948758e+01] [ 1.03439692e-01 9.94633944e-01 -1.88344879e-03 1.64389320e+00] [ 3.58561825e-02 -1.83657315e-03 9.99355273e-01 1.31045383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:42.23, Y:1.65, Z:1.31 [[ 9.94570470e-01 -9.76937744e-02 -3.58539543e-02 4.22272184e+01] [ 9.76893447e-02 9.95215182e-01 -1.87956698e-03 1.64877667e+00] [ 3.58660217e-02 -1.63318749e-03 9.99355273e-01 1.31125833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.26, Y:1.65, Z:1.31 [[ 9.94874602e-01 -9.45463187e-02 -3.58541598e-02 4.22588932e+01] [ 9.45399905e-02 9.95519298e-01 -1.87563975e-03 1.65217114e+00] [ 3.58708428e-02 -1.52362557e-03 9.99355273e-01 1.31264401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:42.29, Y:1.66, Z:1.31 [[ 9.95780285e-01 -8.44753203e-02 -3.58544971e-02 4.22912253e+01] [ 8.44627020e-02 9.96424888e-01 -1.86916872e-03 1.66016109e+00] [ 3.58842119e-02 -1.16708634e-03 9.99355273e-01 1.31248164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:42.32, Y:1.66, Z:1.31 [[ 9.96084456e-01 -8.08096671e-02 -3.58546347e-02 4.23234768e+01] [ 8.07947714e-02 9.96729011e-01 -1.86652637e-03 1.66390031e+00] [ 3.58881879e-02 -1.03764911e-03 9.99355273e-01 1.31334387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.35, Y:1.67, Z:1.32 [[ 9.96655283e-01 -7.34348688e-02 -3.58548054e-02 4.23541010e+01] [ 7.34153210e-02 9.97299714e-01 -1.86324069e-03 1.67135722e+00] [ 3.58948140e-02 -7.75283374e-04 9.99355273e-01 1.31502294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:42.39, Y:1.68, Z:1.31 [[ 9.97451960e-01 -6.16766808e-02 -3.58549050e-02 4.23850771e+01] [ 6.16496038e-02 9.98096119e-01 -1.86132269e-03 1.67993681e+00] [ 3.59014417e-02 -3.53860722e-04 9.99355273e-01 1.31169100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:1.69, Z:1.32 [[ 9.97900717e-01 -5.39312331e-02 -3.58550033e-02 4.24172271e+01] [ 5.38992242e-02 9.98544649e-01 -1.85942613e-03 1.68707400e+00] [ 3.59031029e-02 -7.70341947e-05 9.99355273e-01 1.31625965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.45, Y:1.70, Z:1.32 [[ 9.98305078e-01 -4.58408068e-02 -3.58551368e-02 4.24481094e+01] [ 4.58036721e-02 9.98948735e-01 -1.85684899e-03 1.69545894e+00] [ 3.59025630e-02 2.11404851e-04 9.99355273e-01 1.31605692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:42.48, Y:1.70, Z:1.32 [[ 9.98628670e-01 -3.81468791e-02 -3.58552038e-02 4.24767418e+01] [ 3.81048322e-02 9.99272024e-01 -1.85555358e-03 1.70240316e+00] [ 3.58998857e-02 4.86752476e-04 9.99355273e-01 1.31648971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805099893 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.50, Y:1.70, Z:1.32 [[ 9.98754677e-01 -3.46915830e-02 -3.58551040e-02 4.25042754e+01] [ 3.46472413e-02 9.99397878e-01 -1.85747978e-03 1.70431627e+00] [ 3.58979538e-02 6.12886177e-04 9.99355273e-01 1.31752895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:42.53, Y:1.71, Z:1.32 [[ 9.98752989e-01 -3.47403110e-02 -3.58549419e-02 4.25324927e+01] [ 3.46958886e-02 9.99396184e-01 -1.86060475e-03 1.70655376e+00] [ 3.58979301e-02 6.14265493e-04 9.99355273e-01 1.32111945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:42.56, Y:1.71, Z:1.32 [[ 9.98724995e-01 -3.55364547e-02 -3.58544847e-02 4.25600092e+01] [ 3.54922303e-02 9.99368204e-01 -1.86937414e-03 1.70908245e+00] [ 3.58982629e-02 5.94435057e-04 9.99355273e-01 1.32378025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:42.59, Y:1.71, Z:1.32 [[ 9.98650971e-01 -3.75593660e-02 -3.58543226e-02 4.25881158e+01] [ 3.75163331e-02 9.99294260e-01 -1.87247714e-03 1.71153249e+00] [ 3.58993478e-02 5.24828404e-04 9.99355273e-01 1.32494843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:42.62, Y:1.71, Z:1.33 [[ 9.98533721e-01 -4.05575228e-02 -3.58537981e-02 4.26162194e+01] [ 4.05160628e-02 9.99177114e-01 -1.88246688e-03 1.71273236e+00] [ 3.59006427e-02 4.27051925e-04 9.99355273e-01 1.32565511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955099892999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.64, Y:1.71, Z:1.33 [[ 9.98367802e-01 -4.44553163e-02 -3.58532580e-02 4.26444988e+01] [ 4.44160009e-02 9.99011330e-01 -1.89269885e-03 1.71067349e+00] [ 3.59019514e-02 2.97151256e-04 9.99355273e-01 1.32573339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:42.67, Y:1.71, Z:1.32 [[ 9.98279916e-01 -4.63874109e-02 -3.58527162e-02 4.26744111e+01] [ 4.63489745e-02 9.98923496e-01 -1.90290542e-03 1.71089882e+00] [ 3.59023915e-02 2.37895628e-04 9.99355273e-01 1.32444465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.70, Y:1.71, Z:1.33 [[ 9.98095805e-01 -5.01931371e-02 -3.58526479e-02 4.27042817e+01] [ 5.01571084e-02 9.98739525e-01 -1.90419300e-03 1.71096375e+00] [ 3.59030339e-02 1.02301901e-04 9.99355273e-01 1.32640299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:42.73, Y:1.71, Z:1.33 [[ 9.97919453e-01 -5.35850279e-02 -3.58526139e-02 4.27349948e+01] [ 5.35511643e-02 9.98563290e-01 -1.90483240e-03 1.71060091e+00] [ 3.59031746e-02 -1.90799042e-05 9.99355273e-01 1.32744528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.77, Y:1.71, Z:1.33 [[ 9.97834361e-01 -5.51468775e-02 -3.58526139e-02 4.27658900e+01] [ 5.51140216e-02 9.98478250e-01 -1.90483240e-03 1.71030018e+00] [ 3.59031007e-02 -7.52745108e-05 9.99355273e-01 1.33025392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:42.80, Y:1.71, Z:1.33 [[ 9.97870142e-01 -5.44955479e-02 -3.58526826e-02 4.27976522e+01] [ 5.44623183e-02 9.98514012e-01 -1.90353818e-03 1.70912495e+00] [ 3.59031403e-02 -5.31362941e-05 9.99355273e-01 1.32992881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135099892999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:42.83, Y:1.71, Z:1.33 [[ 9.97954914e-01 -5.29203139e-02 -3.58529026e-02 4.28288469e+01] [ 5.28862171e-02 9.98598738e-01 -1.89938556e-03 1.70917251e+00] [ 3.59031794e-02 -6.23240527e-07 9.99355273e-01 1.33115061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:42.86, Y:1.71, Z:1.33 [[ 9.98077768e-01 -5.05502984e-02 -3.58529702e-02 4.28596693e+01] [ 5.05147186e-02 9.98721513e-01 -1.89810905e-03 1.71077674e+00] [ 3.59030826e-02 8.33577407e-05 9.99355273e-01 1.33262265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.89, Y:1.71, Z:1.33 [[ 9.98193258e-01 -4.82160215e-02 -3.58529702e-02 4.28902786e+01] [ 4.81789363e-02 9.98836917e-01 -1.89810905e-03 1.71248703e+00] [ 3.59027895e-02 1.67321684e-04 9.99355273e-01 1.33329939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:42.92, Y:1.71, Z:1.33 [[ 9.98265857e-01 -4.66887912e-02 -3.58529702e-02 4.29195513e+01] [ 4.66507214e-02 9.98909459e-01 -1.89810905e-03 1.71325549e+00] [ 3.59024915e-02 2.22250531e-04 9.99355273e-01 1.33340253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.95, Y:1.71, Z:1.33 [[ 9.98276499e-01 -4.64607153e-02 -3.58529358e-02 4.29491742e+01] [ 4.64224750e-02 9.98920091e-01 -1.89875907e-03 1.71361631e+00] [ 3.59024356e-02 2.31104549e-04 9.99355273e-01 1.33477060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.98, Y:1.71, Z:1.33 [[ 9.98252589e-01 -4.69717029e-02 -3.58528676e-02 4.29781099e+01] [ 4.69337460e-02 9.98896197e-01 -1.90004423e-03 1.71479268e+00] [ 3.59025415e-02 2.14014692e-04 9.99355273e-01 1.33342910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.315099892999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.01, Y:1.72, Z:1.34 [[ 9.98239228e-01 -4.72548915e-02 -3.58527452e-02 4.30073861e+01] [ 4.72170342e-02 9.98882842e-01 -1.90235174e-03 1.71783119e+00] [ 3.59025875e-02 2.06141837e-04 9.99355273e-01 1.33674448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:43.04, Y:1.72, Z:1.34 [[ 9.98208330e-01 -4.79031794e-02 -3.58526773e-02 4.30366549e+01] [ 4.78656942e-02 9.98851967e-01 -1.90363043e-03 1.71862149e+00] [ 3.59027072e-02 1.84106469e-04 9.99355273e-01 1.33553231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.07, Y:1.72, Z:1.33 [[ 9.98180894e-01 -4.84715763e-02 -3.58526090e-02 4.30663699e+01] [ 4.84344115e-02 9.98824549e-01 -1.90491667e-03 1.71952777e+00] [ 3.59028003e-02 1.64951409e-04 9.99355273e-01 1.33451067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:43.10, Y:1.72, Z:1.34 [[ 9.98119594e-01 -4.97179028e-02 -3.58525751e-02 4.30960586e+01] [ 4.96815187e-02 9.98763293e-01 -1.90555493e-03 1.72110573e+00] [ 3.59029761e-02 1.20761339e-04 9.99355273e-01 1.33744816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:43.13, Y:1.72, Z:1.34 [[ 9.98082888e-01 -5.04494401e-02 -3.58525060e-02 4.31263671e+01] [ 5.04134811e-02 9.98726612e-01 -1.90685320e-03 1.72345210e+00] [ 3.59030515e-02 9.57479099e-05 9.99355273e-01 1.33997741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:1.73, Z:1.34 [[ 9.98014000e-01 -5.17943454e-02 -3.58525060e-02 4.31564794e+01] [ 5.17592539e-02 9.98657771e-01 -1.90685320e-03 1.72626793e+00] [ 3.59031479e-02 4.73672226e-05 9.99355273e-01 1.34387232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.495099892999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.19, Y:1.73, Z:1.34 [[ 9.97947465e-01 -5.30607833e-02 -3.58526181e-02 4.31882981e+01] [ 5.30265846e-02 9.98591284e-01 -1.90474411e-03 1.72792408e+00] [ 3.59031791e-02 -3.07325573e-07 9.99355273e-01 1.34166343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.22, Y:1.73, Z:1.34 [[ 9.97814955e-01 -5.54968431e-02 -3.58526871e-02 4.32186720e+01] [ 5.54642629e-02 9.98458859e-01 -1.90344285e-03 1.72938209e+00] [ 3.59030682e-02 -8.92591217e-05 9.99355273e-01 1.34222462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:43.25, Y:1.73, Z:1.34 [[ 9.97600945e-01 -5.92194010e-02 -3.58527214e-02 4.32487253e+01] [ 5.91892468e-02 9.98244966e-01 -1.90279768e-03 1.73184266e+00] [ 3.59024812e-02 -2.23862806e-04 9.99355273e-01 1.34379122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.28, Y:1.73, Z:1.35 [[ 9.97341178e-01 -6.34440648e-02 -3.58528311e-02 4.32812703e+01] [ 6.34167129e-02 9.97985324e-01 -1.90072818e-03 1.73460916e+00] [ 3.59011892e-02 -3.77994213e-04 9.99355273e-01 1.34551746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.31, Y:1.74, Z:1.35 [[ 9.97201081e-01 -6.56092196e-02 -3.58529660e-02 4.33127086e+01] [ 6.55833578e-02 9.97845289e-01 -1.89817945e-03 1.73652014e+00] [ 3.59002513e-02 -4.58491302e-04 9.99355273e-01 1.34637755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.34, Y:1.74, Z:1.35 [[ 9.96894008e-01 -7.01205754e-02 -3.58530664e-02 4.33445016e+01] [ 7.00976970e-02 9.97538329e-01 -1.89628221e-03 1.73870196e+00] [ 3.58977763e-02 -6.22825008e-04 9.99355273e-01 1.34741256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.38, Y:1.74, Z:1.35 [[ 9.96826866e-01 -7.10686109e-02 -3.58532021e-02 4.33767041e+01] [ 7.10464376e-02 9.97471211e-01 -1.89371334e-03 1.74048804e+00] [ 3.58971205e-02 -6.59537945e-04 9.99355273e-01 1.34726755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.41, Y:1.74, Z:1.35 [[ 9.96792147e-01 -7.15538466e-02 -3.58533375e-02 4.34087069e+01] [ 7.15320793e-02 9.97436507e-01 -1.89114582e-03 1.74263852e+00] [ 3.58967465e-02 -6.79584476e-04 9.99355273e-01 1.34833991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.44, Y:1.74, Z:1.35 [[ 9.96797293e-01 -7.14820559e-02 -3.58534733e-02 4.34413403e+01] [ 7.14603349e-02 9.97441654e-01 -1.88856772e-03 1.74429971e+00] [ 3.58967464e-02 -6.79582018e-04 9.99355273e-01 1.34951288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:43.47, Y:1.75, Z:1.35 [[ 9.96769539e-01 -7.18679625e-02 -3.58536090e-02 4.34729298e+01] [ 7.18465837e-02 9.97413912e-01 -1.88598715e-03 1.74768349e+00] [ 3.58964305e-02 -6.96064780e-04 9.99355273e-01 1.35066749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.51, Y:1.75, Z:1.35 [[ 9.96763746e-01 -7.19481976e-02 -3.58537457e-02 4.35054160e+01] [ 7.19269643e-02 9.97408123e-01 -1.88338512e-03 1.75090043e+00] [ 3.58963234e-02 -7.01561076e-04 9.99355273e-01 1.35278591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.54, Y:1.75, Z:1.35 [[ 9.96852247e-01 -7.07113593e-02 -3.58538813e-02 4.35373352e+01] [ 7.06894193e-02 9.97496601e-01 -1.88080127e-03 1.75274892e+00] [ 3.58971187e-02 -6.59609075e-04 9.99355273e-01 1.34975806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:43.57, Y:1.75, Z:1.35 [[ 9.96937015e-01 -6.95059516e-02 -3.58540179e-02 4.35682590e+01] [ 6.94833263e-02 9.97581345e-01 -1.87819228e-03 1.75448949e+00] [ 3.58978450e-02 -6.18817022e-04 9.99355273e-01 1.34972962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.60, Y:1.76, Z:1.35 [[ 9.97096928e-01 -6.71728952e-02 -3.58541194e-02 4.36001351e+01] [ 6.71488319e-02 9.97741206e-01 -1.87625402e-03 1.75673924e+00] [ 3.58991657e-02 -5.36755110e-04 9.99355273e-01 1.35265081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.63, Y:1.76, Z:1.36 [[ 9.97317548e-01 -6.38136371e-02 -3.58542555e-02 4.36310917e+01] [ 6.37874972e-02 9.97961745e-01 -1.87364946e-03 1.75848136e+00] [ 3.59007397e-02 -4.18429736e-04 9.99355273e-01 1.35516576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:43.66, Y:1.76, Z:1.36 [[ 9.97529125e-01 -6.04161361e-02 -3.58543567e-02 4.36634911e+01] [ 6.03878718e-02 9.98173232e-01 -1.87170955e-03 1.75965282e+00] [ 3.59019406e-02 -2.98083506e-04 9.99355273e-01 1.35860924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:43.69, Y:1.76, Z:1.36 [[ 9.97693187e-01 -5.76433815e-02 -3.58544926e-02 4.36945482e+01] [ 5.76134207e-02 9.98337218e-01 -1.86910415e-03 1.76021975e+00] [ 3.59026158e-02 -2.00907489e-04 9.99355273e-01 1.35927714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.73, Y:1.76, Z:1.36 [[ 9.97839540e-01 -5.50517948e-02 -3.58545936e-02 4.37262707e+01] [ 5.50202310e-02 9.98483494e-01 -1.86716423e-03 1.76161887e+00] [ 3.59030106e-02 -1.09597725e-04 9.99355273e-01 1.36094134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.76, Y:1.76, Z:1.36 [[ 9.98031882e-01 -5.14471181e-02 -3.58546610e-02 4.37562227e+01] [ 5.14132750e-02 9.98675720e-01 -1.86586952e-03 1.76382954e+00] [ 3.59031730e-02 1.87917234e-05 9.99355273e-01 1.36207500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:43.79, Y:1.77, Z:1.36 [[ 9.98157807e-01 -4.89431680e-02 -3.58546943e-02 4.37865993e+01] [ 4.89077328e-02 9.98801559e-01 -1.86522784e-03 1.76549665e+00] [ 3.59030148e-02 1.08219921e-04 9.99355273e-01 1.36231815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.82, Y:1.77, Z:1.36 [[ 9.98282968e-01 -4.63201615e-02 -3.58546943e-02 4.38171813e+01] [ 4.62830349e-02 9.98926625e-01 -1.86522784e-03 1.76708603e+00] [ 3.59026065e-02 2.02561116e-04 9.99355273e-01 1.36386480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:43.85, Y:1.77, Z:1.36 [[ 9.98527526e-01 -4.07089745e-02 -3.58546943e-02 4.38471477e+01] [ 4.06682310e-02 9.99170964e-01 -1.86522784e-03 1.76851329e+00] [ 3.59009010e-02 4.04334350e-04 9.99355273e-01 1.36317356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155099893 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:43.87, Y:1.77, Z:1.36 [[ 9.98711842e-01 -3.59040841e-02 -3.58546277e-02 4.38743912e+01] [ 3.58601993e-02 9.99355073e-01 -1.86650835e-03 1.77036163e+00] [ 3.58985193e-02 5.78349896e-04 9.99355273e-01 1.36443863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:43.90, Y:1.77, Z:1.37 [[ 9.98805927e-01 -3.31840097e-02 -3.58544622e-02 4.39034057e+01] [ 3.31382594e-02 9.99449028e-01 -1.86968103e-03 1.77162232e+00] [ 3.58967510e-02 6.79294026e-04 9.99355273e-01 1.36753461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.93, Y:1.77, Z:1.37 [[ 9.98811440e-01 -3.30181393e-02 -3.58539967e-02 4.39312058e+01] [ 3.29719633e-02 9.99454512e-01 -1.87856686e-03 1.77150740e+00] [ 3.58964655e-02 6.94157411e-04 9.99355273e-01 1.36841490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:43.96, Y:1.77, Z:1.37 [[ 9.98771243e-01 -3.42130730e-02 -3.58534591e-02 4.39587365e+01] [ 3.41673002e-02 9.99414343e-01 -1.88877110e-03 1.77197434e+00] [ 3.58970819e-02 6.61434353e-04 9.99355273e-01 1.36903052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:43.99, Y:1.77, Z:1.37 [[ 9.98629974e-01 -3.81148780e-02 -3.58529140e-02 4.39859018e+01] [ 3.80712487e-02 9.99273223e-01 -1.89906159e-03 1.77129637e+00] [ 3.58992395e-02 5.31494622e-04 9.99355273e-01 1.36881540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305099893 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:44.01, Y:1.77, Z:1.37 [[ 9.98400736e-01 -4.37100198e-02 -3.58525380e-02 4.40138450e+01] [ 4.36697416e-02 9.99044203e-01 -1.90613531e-03 1.77090427e+00] [ 3.59015874e-02 3.37415833e-04 9.99355273e-01 1.37021149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.04, Y:1.77, Z:1.37 [[ 9.98096799e-01 -5.01738355e-02 -3.58519917e-02 4.40421033e+01] [ 5.01373575e-02 9.98740493e-01 -1.91635556e-03 1.77075172e+00] [ 3.59029868e-02 1.15184222e-04 9.99355273e-01 1.37186115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:44.07, Y:1.77, Z:1.37 [[ 9.97900389e-01 -5.39394795e-02 -3.58517357e-02 4.40724593e+01] [ 5.39052590e-02 9.98544206e-01 -1.92113186e-03 1.77139330e+00] [ 3.59031679e-02 -1.54988694e-05 9.99355273e-01 1.37357657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.10, Y:1.77, Z:1.37 [[ 9.97122213e-01 -6.67977883e-02 -3.58517357e-02 4.41044440e+01] [ 6.67718693e-02 9.97766419e-01 -1.92113186e-03 1.76791756e+00] [ 3.58999853e-02 -4.78284159e-04 9.99355273e-01 1.37271794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.14, Y:1.77, Z:1.37 [[ 9.96822181e-01 -7.11350009e-02 -3.58518058e-02 4.41363062e+01] [ 7.11119318e-02 9.97466494e-01 -1.91982268e-03 1.76817272e+00] [ 3.58975417e-02 -6.35769339e-04 9.99355273e-01 1.37209045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455099892999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.17, Y:1.77, Z:1.37 [[ 9.96226255e-01 -7.90435791e-02 -3.58519465e-02 4.41675040e+01] [ 7.90257186e-02 9.96870734e-01 -1.91719276e-03 1.76807440e+00] [ 3.58912980e-02 -9.23268070e-04 9.99355273e-01 1.37413756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.20, Y:1.77, Z:1.38 [[ 9.95994582e-01 -8.19110736e-02 -3.58520512e-02 4.41992182e+01] [ 8.18951388e-02 9.96639111e-01 -1.91523304e-03 1.76901810e+00] [ 3.58884352e-02 -1.02854698e-03 9.99355273e-01 1.37547096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.23, Y:1.77, Z:1.38 [[ 9.95500431e-01 -8.77126549e-02 -3.58522223e-02 4.42303796e+01] [ 8.77005911e-02 9.96145045e-01 -1.91202393e-03 1.76941948e+00] [ 3.58817223e-02 -1.24084044e-03 9.99355273e-01 1.37534523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.26, Y:1.77, Z:1.38 [[ 9.95254256e-01 -9.04631285e-02 -3.58523235e-02 4.42631392e+01] [ 9.04529143e-02 9.95898901e-01 -1.91012496e-03 1.77156468e+00] [ 3.58780854e-02 -1.34188715e-03 9.99355273e-01 1.37748646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.29, Y:1.77, Z:1.38 [[ 9.95130896e-01 -9.18101043e-02 -3.58525301e-02 4.42938595e+01] [ 9.18009024e-02 9.95775557e-01 -1.90623958e-03 1.77375508e+00] [ 3.58760852e-02 -1.39433671e-03 9.99355273e-01 1.37881420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.33, Y:1.78, Z:1.38 [[ 9.94943633e-01 -9.38176694e-02 -3.58526323e-02 4.43265609e+01] [ 9.38098374e-02 9.95588313e-01 -1.90431464e-03 1.77657178e+00] [ 3.58731201e-02 -1.46864388e-03 9.99355273e-01 1.38153329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635099892999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.36, Y:1.78, Z:1.38 [[ 9.94927921e-01 -9.39840705e-02 -3.58528398e-02 4.43591794e+01] [ 9.39764871e-02 9.95572603e-01 -1.90040060e-03 1.77853433e+00] [ 3.58727124e-02 -1.47856232e-03 9.99355273e-01 1.38131123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.39, Y:1.78, Z:1.38 [[ 9.94976329e-01 -9.34701450e-02 -3.58529766e-02 4.43914212e+01] [ 9.34623217e-02 9.95621009e-01 -1.89781543e-03 1.78116548e+00] [ 3.58733658e-02 -1.46262100e-03 9.99355273e-01 1.38236701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:44.42, Y:1.78, Z:1.38 [[ 9.95148946e-01 -9.16140290e-02 -3.58531148e-02 4.44229866e+01] [ 9.16050972e-02 9.95793610e-01 -1.89520036e-03 1.78384123e+00] [ 3.58759296e-02 -1.39832143e-03 9.99355273e-01 1.38293169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.46, Y:1.79, Z:1.38 [[ 9.95595822e-01 -8.66227074e-02 -3.58533840e-02 4.44553582e+01] [ 8.66107267e-02 9.96240438e-01 -1.89009462e-03 1.78742941e+00] [ 3.58823161e-02 -1.22351733e-03 9.99355273e-01 1.38281739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.49, Y:1.79, Z:1.39 [[ 9.95803880e-01 -8.41971299e-02 -3.58535209e-02 4.44876604e+01] [ 8.41836724e-02 9.96448467e-01 -1.88749400e-03 1.79056269e+00] [ 3.58851075e-02 -1.13870721e-03 9.99355273e-01 1.38584839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.52, Y:1.79, Z:1.39 [[ 9.96066141e-01 -8.10355373e-02 -3.58536571e-02 4.45199169e+01] [ 8.10201268e-02 9.96710683e-01 -1.88490413e-03 1.79369293e+00] [ 3.58884673e-02 -1.02737866e-03 9.99355273e-01 1.38627398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.815099892999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.55, Y:1.80, Z:1.39 [[ 9.96634541e-01 -7.37163256e-02 -3.58537935e-02 4.45518504e+01] [ 7.36962742e-02 9.97278956e-01 -1.88230460e-03 1.79841729e+00] [ 3.58949904e-02 -7.66321224e-04 9.99355273e-01 1.38626212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.58, Y:1.80, Z:1.39 [[ 9.97190255e-01 -6.57730249e-02 -3.58539319e-02 4.45824234e+01] [ 6.57479345e-02 9.97834493e-01 -1.87966601e-03 1.80331039e+00] [ 3.58999213e-02 -4.82937340e-04 9.99355273e-01 1.38587119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:44.61, Y:1.81, Z:1.39 [[ 9.97689545e-01 -5.77065971e-02 -3.58541631e-02 4.46142039e+01] [ 5.76764565e-02 9.98333566e-01 -1.87524418e-03 1.80881064e+00] [ 3.59026285e-02 -1.97029566e-04 9.99355273e-01 1.39084424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:44.64, Y:1.81, Z:1.39 [[ 9.97919155e-01 -5.35894446e-02 -3.58543002e-02 4.46449735e+01] [ 5.35567411e-02 9.98563052e-01 -1.87261918e-03 1.81189484e+00] [ 3.59031321e-02 -5.15169234e-05 9.99355273e-01 1.39116198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:44.68, Y:1.82, Z:1.39 [[ 9.98349442e-01 -4.48648445e-02 -3.58544022e-02 4.46759581e+01] [ 4.48265843e-02 9.98993032e-01 -1.87066583e-03 1.81614192e+00] [ 3.59022251e-02 2.60347800e-04 9.99355273e-01 1.39321839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:44.70, Y:1.82, Z:1.39 [[ 9.98768632e-01 -3.42881439e-02 -3.58544691e-02 4.47044410e+01] [ 3.42431153e-02 9.99411784e-01 -1.86938107e-03 1.81986136e+00] [ 3.58974766e-02 6.39310451e-04 9.99355273e-01 1.39461995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.995099892999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:44.73, Y:1.82, Z:1.40 [[ 9.98874584e-01 -3.10488148e-02 -3.58543694e-02 4.47320317e+01] [ 3.10016321e-02 9.99517582e-01 -1.87129236e-03 1.82033147e+00] [ 3.58951740e-02 7.57642410e-04 9.99355273e-01 1.39682575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:44.76, Y:1.82, Z:1.40 [[ 9.98928844e-01 -2.92513335e-02 -3.58542067e-02 4.47598917e+01] [ 2.92028822e-02 9.99571747e-01 -1.87440357e-03 1.81916680e+00] [ 3.58936809e-02 8.25349617e-04 9.99355273e-01 1.39715820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:44.79, Y:1.82, Z:1.40 [[ 9.98864528e-01 -3.13714733e-02 -3.58536707e-02 4.47889909e+01] [ 3.13240207e-02 9.99507506e-01 -1.88460129e-03 1.81608377e+00] [ 3.58951357e-02 7.59380251e-04 9.99355273e-01 1.39853759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085099893 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:44.82, Y:1.82, Z:1.40 [[ 9.98815015e-01 -3.29107113e-02 -3.58531944e-02 4.48165764e+01] [ 3.28639261e-02 9.99458041e-01 -1.89361897e-03 1.81550003e+00] [ 3.58960838e-02 7.13098329e-04 9.99355273e-01 1.39753661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.84, Y:1.81, Z:1.40 [[ 9.98730330e-01 -3.53876755e-02 -3.58530258e-02 4.48439747e+01] [ 3.53423707e-02 9.99373463e-01 -1.89680743e-03 1.81483837e+00] [ 3.58976861e-02 6.27268187e-04 9.99355273e-01 1.39943599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.87, Y:1.81, Z:1.40 [[ 9.98638052e-01 -3.79026840e-02 -3.58528588e-02 4.48721870e+01] [ 3.78588859e-02 9.99281289e-01 -1.89995738e-03 1.81386048e+00] [ 3.58991045e-02 5.40020445e-04 9.99355274e-01 1.40017621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.90, Y:1.81, Z:1.40 [[ 9.98531838e-01 -4.06051738e-02 -3.58523024e-02 4.48999336e+01] [ 4.05627418e-02 9.99175167e-01 -1.91039978e-03 1.81330528e+00] [ 3.59003024e-02 4.53327319e-04 9.99355274e-01 1.40069732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:44.93, Y:1.81, Z:1.40 [[ 9.98430928e-01 -4.30155030e-02 -3.58517453e-02 4.49274658e+01] [ 4.29742507e-02 9.99074334e-01 -1.92079866e-03 1.81317675e+00] [ 3.59011826e-02 3.77082898e-04 9.99355274e-01 1.40133372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.96, Y:1.81, Z:1.40 [[ 9.98267117e-01 -4.66632150e-02 -3.58511875e-02 4.49552924e+01] [ 4.66239419e-02 9.98910646e-01 -1.93115438e-03 1.81273081e+00] [ 3.59022467e-02 2.56284231e-04 9.99355274e-01 1.40367722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.98, Y:1.81, Z:1.40 [[ 9.98153186e-01 -4.90402964e-02 -3.58506279e-02 4.49841069e+01] [ 4.90021848e-02 9.98796784e-01 -1.94148667e-03 1.81186723e+00] [ 3.59027030e-02 1.81142010e-04 9.99355274e-01 1.40454011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:45.01, Y:1.81, Z:1.40 [[ 9.98040971e-01 -5.12734173e-02 -3.58504925e-02 4.50125709e+01] [ 5.12366560e-02 9.98684648e-01 -1.94398357e-03 1.80931607e+00] [ 3.59030112e-02 1.03315894e-04 9.99355274e-01 1.40454806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:45.04, Y:1.81, Z:1.41 [[ 9.97912043e-01 -5.37243289e-02 -3.58503892e-02 4.50426187e+01] [ 5.36890801e-02 9.98555805e-01 -1.94588788e-03 1.80679796e+00] [ 3.59031557e-02 1.70505391e-05 9.99355274e-01 1.40517395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.07, Y:1.81, Z:1.41 [[ 9.97844337e-01 -5.49675627e-02 -3.58503189e-02 4.50726960e+01] [ 5.49330695e-02 9.98488140e-01 -1.94718180e-03 1.80562231e+00] [ 3.59031501e-02 -2.63837226e-05 9.99355274e-01 1.40698993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.10, Y:1.80, Z:1.41 [[ 9.97927014e-01 -5.34455577e-02 -3.58503537e-02 4.51032161e+01] [ 5.34101056e-02 9.98570764e-01 -1.94654048e-03 1.80431654e+00] [ 3.59031490e-02 2.77341468e-05 9.99355274e-01 1.40893179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.13, Y:1.80, Z:1.41 [[ 9.97956310e-01 -5.28957080e-02 -3.58503537e-02 4.51331599e+01] [ 5.28599012e-02 9.98600041e-01 -1.94654048e-03 1.80481026e+00] [ 3.59031283e-02 4.75161950e-05 9.99355274e-01 1.40985917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:45.16, Y:1.80, Z:1.41 [[ 9.98000785e-01 -5.20498622e-02 -3.58503194e-02 4.51624777e+01] [ 5.20134872e-02 9.98644484e-01 -1.94717236e-03 1.80383249e+00] [ 3.59030738e-02 7.85794157e-05 9.99355274e-01 1.40995415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.19, Y:1.80, Z:1.41 [[ 9.97990972e-01 -5.22377108e-02 -3.58502512e-02 4.51925106e+01] [ 5.22014119e-02 9.98634676e-01 -1.94842717e-03 1.80428809e+00] [ 3.59030854e-02 7.30790023e-05 9.99355274e-01 1.41182675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.22, Y:1.80, Z:1.41 [[ 9.97956049e-01 -5.29007365e-02 -3.58501819e-02 4.52222417e+01] [ 5.28648195e-02 9.98599774e-01 -1.94970070e-03 1.80488798e+00] [ 3.59031242e-02 5.05022149e-05 9.99355274e-01 1.41212669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.25, Y:1.80, Z:1.41 [[ 9.97845530e-01 -5.49460131e-02 -3.58501475e-02 4.52515755e+01] [ 5.49113929e-02 9.98489327e-01 -1.95033265e-03 1.80391458e+00] [ 3.59031527e-02 -2.24508214e-05 9.99355274e-01 1.41183827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.28, Y:1.80, Z:1.41 [[ 9.97700675e-01 -5.75163435e-02 -3.58501550e-02 4.52826490e+01] [ 5.74833867e-02 9.98344558e-01 -1.95019619e-03 1.80260546e+00] [ 3.59029753e-02 -1.15076264e-04 9.99355274e-01 1.41253158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.31, Y:1.80, Z:1.41 [[ 9.97582778e-01 -5.95261984e-02 -3.58501550e-02 4.53130888e+01] [ 5.94945388e-02 9.98226726e-01 -1.95019619e-03 1.80293719e+00] [ 3.59026706e-02 -1.87406301e-04 9.99355274e-01 1.41489937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.34, Y:1.80, Z:1.42 [[ 9.97532643e-01 -6.03605241e-02 -3.58501550e-02 4.53424774e+01] [ 6.03294031e-02 9.98176618e-01 -1.95019619e-03 1.80450369e+00] [ 3.59025013e-02 -2.17434089e-04 9.99355274e-01 1.41569894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.37, Y:1.81, Z:1.42 [[ 9.97532643e-01 -6.03605471e-02 -3.58501201e-02 4.53734089e+01] [ 6.03294031e-02 9.98176616e-01 -1.95083703e-03 1.80618718e+00] [ 3.59025052e-02 -2.16792733e-04 9.99355274e-01 1.41681205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.40, Y:1.81, Z:1.42 [[ 9.97460188e-01 -6.15462530e-02 -3.58501201e-02 4.54037971e+01] [ 6.15158745e-02 9.98104199e-01 -1.95083703e-03 1.80699908e+00] [ 3.59022221e-02 -2.59469220e-04 9.99355274e-01 1.41813444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.43, Y:1.81, Z:1.42 [[ 9.97402702e-01 -6.24709460e-02 -3.58501201e-02 4.54347762e+01] [ 6.24411646e-02 9.98046740e-01 -1.95083703e-03 1.80671375e+00] [ 3.59019661e-02 -2.92753128e-04 9.99355274e-01 1.41940244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.47, Y:1.81, Z:1.42 [[ 9.97357257e-01 -6.31923288e-02 -3.58501201e-02 4.54657465e+01] [ 6.31630132e-02 9.98001317e-01 -1.95083703e-03 1.80653760e+00] [ 3.59017450e-02 -3.18720144e-04 9.99355274e-01 1.41995348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.50, Y:1.81, Z:1.42 [[ 9.97328441e-01 -6.36454616e-02 -3.58501899e-02 4.54970410e+01] [ 6.36164848e-02 9.97972516e-01 -1.94955351e-03 1.80753984e+00] [ 3.59015844e-02 -3.36317900e-04 9.99355274e-01 1.42127047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:45.53, Y:1.81, Z:1.42 [[ 9.97371035e-01 -6.29744144e-02 -3.58502594e-02 4.55273072e+01] [ 6.29450502e-02 9.98015093e-01 -1.94827415e-03 1.80774158e+00] [ 3.59017914e-02 -3.13444170e-04 9.99355274e-01 1.42206225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:45.56, Y:1.81, Z:1.42 [[ 9.97521738e-01 -6.05403443e-02 -3.58503726e-02 4.55585818e+01] [ 6.05094834e-02 9.98165725e-01 -1.94618936e-03 1.80884183e+00] [ 3.59024361e-02 -2.27921334e-04 9.99355274e-01 1.42393107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:45.59, Y:1.81, Z:1.43 [[ 9.97748324e-01 -5.66835695e-02 -3.58504411e-02 4.55882971e+01] [ 5.66502646e-02 9.98392190e-01 -1.94492614e-03 1.81117174e+00] [ 3.59030458e-02 -9.03901741e-05 9.99355274e-01 1.42779880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.62, Y:1.81, Z:1.43 [[ 9.98023755e-01 -5.16073369e-02 -3.58506106e-02 4.56176173e+01] [ 5.15708696e-02 9.98667450e-01 -1.94179720e-03 1.81395915e+00] [ 3.59030488e-02 8.91125669e-05 9.99355274e-01 1.43211336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.65, Y:1.82, Z:1.43 [[ 9.98266139e-01 -4.66846209e-02 -3.58505403e-02 4.56471095e+01] [ 4.66449328e-02 9.98909643e-01 -1.94309359e-03 1.81651227e+00] [ 3.59021630e-02 2.67478495e-04 9.99355274e-01 1.43285580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955099892999996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:45.67, Y:1.82, Z:1.43 [[ 9.98410121e-01 -4.34968367e-02 -3.58504700e-02 4.56746630e+01] [ 4.34550475e-02 9.99053491e-01 -1.94439054e-03 1.81853244e+00] [ 3.59011120e-02 3.83415319e-04 9.99355274e-01 1.43308419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.70, Y:1.82, Z:1.43 [[ 9.98464936e-01 -4.22203208e-02 -3.58499022e-02 4.57022372e+01] [ 4.21773353e-02 9.99108228e-01 -1.95480330e-03 1.82079578e+00] [ 3.59004647e-02 4.39749208e-04 9.99355274e-01 1.43449936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.73, Y:1.82, Z:1.43 [[ 9.98440062e-01 -4.28049949e-02 -3.58493305e-02 4.57306324e+01] [ 4.27620117e-02 9.99083354e-01 -1.96523272e-03 1.82290498e+00] [ 3.59005911e-02 4.29177592e-04 9.99355274e-01 1.43431549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.76, Y:1.82, Z:1.43 [[ 9.98402254e-01 -4.36783711e-02 -3.58488296e-02 4.57589099e+01] [ 4.36356240e-02 9.99045562e-01 -1.97432830e-03 1.82453807e+00] [ 3.59008495e-02 4.06887773e-04 9.99355274e-01 1.43387931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:45.79, Y:1.83, Z:1.43 [[ 9.98288879e-01 -4.61975176e-02 -3.58483296e-02 4.57880405e+01] [ 4.61560695e-02 9.98932272e-01 -1.98336536e-03 1.82601916e+00] [ 3.59016799e-02 3.25353597e-04 9.99355274e-01 1.43299766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.82, Y:1.83, Z:1.43 [[ 9.98137732e-01 -4.93558594e-02 -3.58478238e-02 4.58162899e+01] [ 4.93161204e-02 9.98781232e-01 -1.99246486e-03 1.82706382e+00] [ 3.59024735e-02 2.20878757e-04 9.99355274e-01 1.43487959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135099892999996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.85, Y:1.83, Z:1.44 [[ 9.97946587e-01 -5.30806634e-02 -3.58476430e-02 4.58451093e+01] [ 5.30432096e-02 9.98590224e-01 -1.99571323e-03 1.82834239e+00] [ 3.59030396e-02 9.01411693e-05 9.99355274e-01 1.43574076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.87, Y:1.83, Z:1.44 [[ 9.97824724e-01 -5.53245307e-02 -3.58471298e-02 4.58739531e+01] [ 5.52881946e-02 9.98468425e-01 -2.00488876e-03 1.82993969e+00] [ 3.59031468e-02 1.86044858e-05 9.99355274e-01 1.43753550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.90, Y:1.83, Z:1.44 [[ 9.97515126e-01 -6.06511695e-02 -3.58470206e-02 4.59039602e+01] [ 6.06182006e-02 9.98159009e-01 -2.00683852e-03 1.83060073e+00] [ 3.59027437e-02 -1.71130111e-04 9.99355274e-01 1.43748199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.93, Y:1.83, Z:1.44 [[ 9.97110296e-01 -6.69779836e-02 -3.58469850e-02 4.59348337e+01] [ 6.69490772e-02 9.97754374e-01 -2.00747495e-03 1.83054941e+00] [ 3.59009427e-02 -3.98248620e-04 9.99355274e-01 1.44015739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.97, Y:1.83, Z:1.44 [[ 9.96875392e-01 -7.03878042e-02 -3.58470211e-02 4.59659266e+01] [ 7.03611239e-02 9.97519566e-01 -2.00683050e-03 1.83198019e+00] [ 3.58993613e-02 -5.21676750e-04 9.99355274e-01 1.44176111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099893 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:46.00, Y:1.83, Z:1.44 [[ 9.96456440e-01 -7.60890762e-02 -3.58471290e-02 4.59979391e+01] [ 7.60661506e-02 9.97100758e-01 -2.00490059e-03 1.83335700e+00] [ 3.58957505e-02 -7.28957016e-04 9.99355274e-01 1.44449139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.315099892999996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:46.03, Y:1.83, Z:1.45 [[ 9.96031903e-01 -8.14580979e-02 -3.58472755e-02 4.60305027e+01] [ 8.14387393e-02 9.96676338e-01 -2.00227723e-03 1.83469138e+00] [ 3.58912330e-02 -9.25024934e-04 9.99355274e-01 1.44573156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:46.06, Y:1.84, Z:1.45 [[ 9.95601286e-01 -8.65623531e-02 -3.58474210e-02 4.60616549e+01] [ 8.65463918e-02 9.96245815e-01 -1.99966954e-03 1.83537275e+00] [ 3.58859392e-02 -1.11159137e-03 9.99355274e-01 1.44625993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:46.09, Y:1.84, Z:1.45 [[ 9.95251286e-01 -9.04976918e-02 -3.58475293e-02 4.60934844e+01] [ 9.04843487e-02 9.95895874e-01 -1.99772547e-03 1.83713485e+00] [ 3.58811961e-02 -1.25540150e-03 9.99355274e-01 1.44676021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:46.13, Y:1.84, Z:1.45 [[ 9.95088114e-01 -9.22745294e-02 -3.58476756e-02 4.61251553e+01] [ 9.22624317e-02 9.95732727e-01 -1.99509728e-03 1.83990173e+00] [ 3.58788005e-02 -1.32209613e-03 9.99355274e-01 1.44737541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:46.16, Y:1.84, Z:1.45 [[ 9.95071693e-01 -9.24513881e-02 -3.58478233e-02 4.61560633e+01] [ 9.24395006e-02 9.95716309e-01 -1.99243933e-03 1.84328190e+00] [ 3.58784661e-02 -1.33113491e-03 9.99355274e-01 1.44735901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:46.19, Y:1.85, Z:1.45 [[ 9.95162266e-01 -9.14712477e-02 -3.58479333e-02 4.61866617e+01] [ 9.14587965e-02 9.95806872e-01 -1.99045887e-03 1.84711402e+00] [ 3.58796881e-02 -1.29777928e-03 9.99355274e-01 1.44871878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.495099892999995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:46.22, Y:1.85, Z:1.45 [[ 9.95220128e-01 -9.08394980e-02 -3.58480420e-02 4.62173097e+01] [ 9.08267081e-02 9.95864727e-01 -1.98849959e-03 1.85017283e+00] [ 3.58804349e-02 -1.27696483e-03 9.99355274e-01 1.45125108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:46.25, Y:1.85, Z:1.45 [[ 9.95314575e-01 -8.97987068e-02 -3.58481494e-02 4.62497714e+01] [ 8.97853126e-02 9.95959161e-01 -1.98656084e-03 1.85441090e+00] [ 3.58816834e-02 -1.24138435e-03 9.99355274e-01 1.45132578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:46.28, Y:1.86, Z:1.45 [[ 9.95354107e-01 -8.93593907e-02 -3.58482932e-02 4.62822526e+01] [ 8.93458054e-02 9.95998690e-01 -1.98396281e-03 1.85883714e+00] [ 3.58821388e-02 -1.22814910e-03 9.99355274e-01 1.45177613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:46.31, Y:1.86, Z:1.45 [[ 9.95382443e-01 -8.90431346e-02 -3.58484744e-02 4.63133918e+01] [ 8.90294624e-02 9.96027024e-01 -1.98068394e-03 1.86419674e+00] [ 3.58824155e-02 -1.22003239e-03 9.99355274e-01 1.45265173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:46.35, Y:1.87, Z:1.45 [[ 9.95433933e-01 -8.84656090e-02 -3.58485824e-02 4.63459578e+01] [ 8.84516334e-02 9.96078508e-01 -1.97872630e-03 1.86776788e+00] [ 3.58830517e-02 -1.20117437e-03 9.99355274e-01 1.45390477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.38, Y:1.87, Z:1.45 [[ 9.95536885e-01 -8.72993340e-02 -3.58487963e-02 4.63773830e+01] [ 8.72847428e-02 9.96181446e-01 -1.97484459e-03 1.87366836e+00] [ 3.58843083e-02 -1.16302233e-03 9.99355274e-01 1.45463315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.41, Y:1.88, Z:1.46 [[ 9.95755359e-01 -8.47709791e-02 -3.58489372e-02 4.64090366e+01] [ 8.47548433e-02 9.96399883e-01 -1.97228304e-03 1.87935520e+00] [ 3.58870692e-02 -1.07445965e-03 9.99355274e-01 1.45659111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:46.44, Y:1.88, Z:1.46 [[ 9.96077728e-01 -8.08950190e-02 -3.58490780e-02 4.64406516e+01] [ 8.08764671e-02 9.96722187e-01 -1.96972040e-03 1.88444417e+00] [ 3.58909120e-02 -9.37352157e-04 9.99355274e-01 1.45770110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:46.47, Y:1.89, Z:1.46 [[ 9.96235581e-01 -7.89275795e-02 -3.58483470e-02 4.64717057e+01] [ 7.89072756e-02 9.96879987e-01 -1.98304537e-03 1.88800662e+00] [ 3.58930166e-02 -8.53115037e-04 9.99355274e-01 1.45747121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:46.50, Y:1.90, Z:1.46 [[ 9.96598703e-01 -7.42013558e-02 -3.58494522e-02 4.65037962e+01] [ 7.41787214e-02 9.97243032e-01 -1.96285914e-03 1.89596594e+00] [ 3.58962632e-02 -7.03083657e-04 9.99355274e-01 1.45920092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:46.54, Y:1.90, Z:1.46 [[ 9.96944595e-01 -6.93994370e-02 -3.58495910e-02 4.65360150e+01] [ 6.93737901e-02 9.97588810e-01 -1.96032203e-03 1.90368790e+00] [ 3.58991960e-02 -5.32689543e-04 9.99355274e-01 1.45980859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:46.57, Y:1.91, Z:1.46 [[ 9.97162315e-01 -6.61975407e-02 -3.58497284e-02 4.65683592e+01] [ 6.61699156e-02 9.97806449e-01 -1.95780531e-03 1.90973076e+00] [ 3.59006921e-02 -4.19923823e-04 9.99355274e-01 1.46166933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:46.60, Y:1.92, Z:1.46 [[ 9.97241656e-01 -6.49912888e-02 -3.58498658e-02 4.66007612e+01] [ 6.49629751e-02 9.97885759e-01 -1.95528625e-03 1.91505177e+00] [ 3.59011471e-02 -3.79021046e-04 9.99355274e-01 1.46300676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:46.63, Y:1.92, Z:1.47 [[ 9.97179669e-01 -6.59354554e-02 -3.58500048e-02 4.66327190e+01] [ 6.59078433e-02 9.97823804e-01 -1.95273399e-03 1.91998187e+00] [ 3.59007426e-02 -4.15569867e-04 9.99355274e-01 1.46624344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:46.66, Y:1.93, Z:1.47 [[ 9.97106796e-01 -6.70283834e-02 -3.58501430e-02 4.66649200e+01] [ 6.70015686e-02 9.97750964e-01 -1.95019314e-03 1.92507236e+00] [ 3.59002331e-02 -4.57464986e-04 9.99355274e-01 1.46953893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:46.70, Y:1.93, Z:1.47 [[ 9.96996878e-01 -6.86438888e-02 -3.58502800e-02 4.66972555e+01] [ 6.86182084e-02 9.97641092e-01 -1.94767274e-03 1.92904374e+00] [ 3.58994083e-02 -5.18158345e-04 9.99355274e-01 1.47211352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:46.73, Y:1.93, Z:1.47 [[ 9.96831416e-01 -7.10061666e-02 -3.58504215e-02 4.67288980e+01] [ 7.09821066e-02 9.97475693e-01 -1.94506401e-03 1.93100403e+00] [ 3.58980356e-02 -6.05837529e-04 9.99355274e-01 1.47343247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:46.76, Y:1.93, Z:1.47 [[ 9.96592247e-01 -7.42874902e-02 -3.58505620e-02 4.67601348e+01] [ 7.42656446e-02 9.97236602e-01 -1.94247189e-03 1.93207466e+00] [ 3.58957939e-02 -7.26612672e-04 9.99355274e-01 1.47257902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.79, Y:1.93, Z:1.47 [[ 9.96331432e-01 -7.77071835e-02 -3.58506666e-02 4.67919776e+01] [ 7.76876188e-02 9.96975861e-01 -1.94053935e-03 1.93222980e+00] [ 3.58930430e-02 -8.51732570e-04 9.99355274e-01 1.47256849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:46.82, Y:1.93, Z:1.47 [[ 9.96072545e-01 -8.09579562e-02 -3.58509966e-02 4.68239958e+01] [ 8.09407145e-02 9.96717040e-01 -1.93442349e-03 1.93168559e+00] [ 3.58899062e-02 -9.74979147e-04 9.99355274e-01 1.47128131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:46.86, Y:1.93, Z:1.47 [[ 9.95934629e-01 -8.26372290e-02 -3.58511348e-02 4.68557002e+01] [ 8.26211662e-02 9.96579154e-01 -1.93185856e-03 1.93159904e+00] [ 3.58881370e-02 -1.03805773e-03 9.99355274e-01 1.46958298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:46.89, Y:1.93, Z:1.47 [[ 9.95961906e-01 -8.23077769e-02 -3.58512378e-02 4.68883938e+01] [ 8.22915697e-02 9.96606428e-01 -1.92994437e-03 1.93319172e+00] [ 3.58884235e-02 -1.02810356e-03 9.99355274e-01 1.47092560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.92, Y:1.94, Z:1.47 [[ 9.96040568e-01 -8.13502397e-02 -3.58514429e-02 4.69205167e+01] [ 8.13335502e-02 9.96685077e-01 -1.92612753e-03 1.93509758e+00] [ 3.58892891e-02 -9.97423969e-04 9.99355274e-01 1.47482058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.95, Y:1.94, Z:1.47 [[ 9.96205621e-01 -7.93033653e-02 -3.58515825e-02 4.69522727e+01] [ 7.92854450e-02 9.96850098e-01 -1.92352595e-03 1.93716589e+00] [ 3.58911956e-02 -9.26281305e-04 9.99355274e-01 1.47499628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.98, Y:1.94, Z:1.48 [[ 9.96560204e-01 -7.47155357e-02 -3.58517562e-02 4.69839458e+01] [ 7.46947647e-02 9.97204595e-01 -1.92028277e-03 1.93986412e+00] [ 3.58950109e-02 -7.64261105e-04 9.99355274e-01 1.47849864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.02, Y:1.94, Z:1.48 [[ 9.96925336e-01 -6.96743538e-02 -3.58518934e-02 4.70155785e+01] [ 6.96504163e-02 9.97569618e-01 -1.91771670e-03 1.94149621e+00] [ 3.58983753e-02 -5.85278932e-04 9.99355274e-01 1.48262756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:47.05, Y:1.94, Z:1.48 [[ 9.97091805e-01 -6.72500102e-02 -3.58520302e-02 4.70475642e+01] [ 6.72245981e-02 9.97736030e-01 -1.91515627e-03 1.94311756e+00] [ 3.58996566e-02 -5.00551695e-04 9.99355274e-01 1.48396508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.08, Y:1.95, Z:1.49 [[ 9.97466343e-01 -6.14452252e-02 -3.58521700e-02 4.70782131e+01] [ 6.14161581e-02 9.98110414e-01 -1.91253622e-03 1.94581864e+00] [ 3.59019404e-02 -2.94212032e-04 9.99355274e-01 1.48634721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:47.11, Y:1.95, Z:1.49 [[ 9.97644578e-01 -5.84799939e-02 -3.58522741e-02 4.71107848e+01] [ 5.84490825e-02 9.98288563e-01 -1.91058214e-03 1.94802248e+00] [ 3.59026460e-02 -1.89450610e-04 9.99355274e-01 1.48610710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.14, Y:1.95, Z:1.48 [[ 9.97734340e-01 -5.69279417e-02 -3.58524106e-02 4.71430855e+01] [ 5.68961208e-02 9.98378280e-01 -1.90801712e-03 1.94869916e+00] [ 3.59028875e-02 -1.36168882e-04 9.99355274e-01 1.48493496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:47.17, Y:1.95, Z:1.48 [[ 9.97709316e-01 -5.73647622e-02 -3.58525459e-02 4.71743107e+01] [ 5.73333147e-02 9.98353274e-01 -1.90547160e-03 1.94867072e+00] [ 3.59028135e-02 -1.54438533e-04 9.99355274e-01 1.48475164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:47.21, Y:1.95, Z:1.48 [[ 9.97614363e-01 -5.89929906e-02 -3.58526129e-02 4.72060158e+01] [ 5.89626394e-02 9.98258374e-01 -1.90421040e-03 1.94994461e+00] [ 3.59025061e-02 -2.14297037e-04 9.99355274e-01 1.48478532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455099892999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.24, Y:1.95, Z:1.49 [[ 9.97446230e-01 -6.17705688e-02 -3.58526795e-02 4.72385461e+01] [ 6.17420561e-02 9.98090325e-01 -1.90295426e-03 1.95248002e+00] [ 3.59017592e-02 -3.15523596e-04 9.99355274e-01 1.48626162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:47.27, Y:1.95, Z:1.49 [[ 9.97232538e-01 -6.51294118e-02 -3.58528159e-02 4.72708376e+01] [ 6.51031610e-02 9.97876729e-01 -1.90038110e-03 1.95395118e+00] [ 3.59004614e-02 -4.39009777e-04 9.99355274e-01 1.48745630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:47.30, Y:1.96, Z:1.49 [[ 9.97082851e-01 -6.73821547e-02 -3.58529530e-02 4.73021509e+01] [ 6.73574523e-02 9.97727103e-01 -1.89779128e-03 1.95531315e+00] [ 3.58993402e-02 -5.22708433e-04 9.99355274e-01 1.48916665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:47.33, Y:1.96, Z:1.49 [[ 9.97087671e-01 -6.73107283e-02 -3.58530551e-02 4.73347799e+01] [ 6.72860492e-02 9.97731925e-01 -1.89586024e-03 1.95698094e+00] [ 3.58993494e-02 -5.22071564e-04 9.99355274e-01 1.49033969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.37, Y:1.96, Z:1.49 [[ 9.96950003e-01 -6.93198412e-02 -3.58531907e-02 4.73673874e+01] [ 6.92965527e-02 9.97594308e-01 -1.89329272e-03 1.95803639e+00] [ 3.58981817e-02 -5.96984333e-04 9.99355274e-01 1.49178703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:47.40, Y:1.96, Z:1.49 [[ 9.96600089e-01 -7.41808767e-02 -3.58533262e-02 4.73983487e+01] [ 7.41608230e-02 9.97244502e-01 -1.89072277e-03 1.95972125e+00] [ 3.58947880e-02 -7.74617704e-04 9.99355274e-01 1.49184661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.43, Y:1.96, Z:1.50 [[ 9.96197050e-01 -7.94101386e-02 -3.58534271e-02 4.74305554e+01] [ 7.93935360e-02 9.96841562e-01 -1.88880926e-03 1.96281533e+00] [ 3.58901768e-02 -9.64904138e-04 9.99355274e-01 1.49649895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.46, Y:1.96, Z:1.50 [[ 9.95806505e-01 -8.41660614e-02 -3.58535628e-02 4.74630738e+01] [ 8.41526293e-02 9.96451091e-01 -1.88622978e-03 1.96486609e+00] [ 3.58850783e-02 -1.13885169e-03 9.99355274e-01 1.49919127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:47.50, Y:1.97, Z:1.50 [[ 9.95626028e-01 -8.62747072e-02 -3.58536993e-02 4.74950243e+01] [ 8.62627336e-02 9.96270642e-01 -1.88363165e-03 1.96628972e+00] [ 3.58824978e-02 -1.21744541e-03 9.99355274e-01 1.49947896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:47.53, Y:1.97, Z:1.50 [[ 9.95324105e-01 -8.96907278e-02 -3.58538689e-02 4.75273786e+01] [ 8.96810827e-02 9.95968758e-01 -1.88039721e-03 1.96641401e+00] [ 3.58779875e-02 -1.34380911e-03 9.99355274e-01 1.50021830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:47.56, Y:1.97, Z:1.50 [[ 9.95252156e-01 -9.04855572e-02 -3.58540050e-02 4.75607746e+01] [ 9.04765203e-02 9.95896819e-01 -1.87779905e-03 1.96725132e+00] [ 3.58768032e-02 -1.37506206e-03 9.99355274e-01 1.50162692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:47.59, Y:1.97, Z:1.50 [[ 9.95308071e-01 -8.98683460e-02 -3.58542110e-02 4.75917887e+01] [ 8.98590511e-02 9.95952730e-01 -1.87385748e-03 1.96767549e+00] [ 3.58774997e-02 -1.35675991e-03 9.99355274e-01 1.50113656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.815099892999996 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:47.62, Y:1.97, Z:1.50 [[ 9.95422777e-01 -8.85886663e-02 -3.58544799e-02 4.76244006e+01] [ 8.85787282e-02 9.96067426e-01 -1.86869810e-03 1.96843070e+00] [ 3.58790249e-02 -1.31579957e-03 9.99355274e-01 1.50182958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:47.66, Y:1.97, Z:1.50 [[ 9.95415485e-01 -8.86705050e-02 -3.58546173e-02 4.76557043e+01] [ 8.86607150e-02 9.96060136e-01 -1.86605689e-03 1.96889917e+00] [ 3.58788192e-02 -1.32139408e-03 9.99355274e-01 1.50360879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:47.69, Y:1.97, Z:1.51 [[ 9.95402710e-01 -8.88137580e-02 -3.58547191e-02 4.76881928e+01] [ 8.88041311e-02 9.96047364e-01 -1.86409975e-03 1.97027902e+00] [ 3.58785561e-02 -1.32851723e-03 9.99355274e-01 1.50504380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:47.72, Y:1.97, Z:1.51 [[ 9.95524715e-01 -8.74355226e-02 -3.58548530e-02 4.77198032e+01] [ 8.74250960e-02 9.96169357e-01 -1.86151937e-03 1.97205152e+00] [ 3.58802688e-02 -1.28142542e-03 9.99355274e-01 1.50575393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:47.75, Y:1.97, Z:1.51 [[ 9.95813661e-01 -8.40806926e-02 -3.58551140e-02 4.77519033e+01] [ 8.40682753e-02 9.96458267e-01 -1.85647994e-03 1.97373552e+00] [ 3.58842189e-02 -1.16556951e-03 9.99355274e-01 1.50664889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:47.78, Y:1.98, Z:1.51 [[ 9.96556260e-01 -7.47664531e-02 -3.58552498e-02 4.77829088e+01] [ 7.47481039e-02 9.97200724e-01 -1.85385232e-03 1.97783255e+00] [ 3.58934871e-02 -8.32643807e-04 9.99355274e-01 1.50695073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.995099892999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:47.81, Y:1.98, Z:1.51 [[ 9.96827630e-01 -7.10568053e-02 -3.58553511e-02 4.78135920e+01] [ 7.10361280e-02 9.97472024e-01 -1.85189159e-03 1.98103300e+00] [ 3.58962991e-02 -7.01008608e-04 9.99355274e-01 1.51012422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:47.85, Y:1.99, Z:1.51 [[ 9.97390654e-01 -6.26599588e-02 -3.58554501e-02 4.78451988e+01] [ 6.26339248e-02 9.98034854e-01 -1.84997196e-03 1.98528405e+00] [ 3.59009081e-02 -4.00622825e-04 9.99355274e-01 1.51258577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:47.88, Y:1.99, Z:1.51 [[ 9.97866255e-01 -5.45647800e-02 -3.58555821e-02 4.78770216e+01] [ 5.45336116e-02 9.98510226e-01 -1.84741128e-03 1.98761904e+00] [ 3.59029690e-02 -1.11865016e-04 9.99355274e-01 1.51351265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:47.91, Y:1.99, Z:1.52 [[ 9.98074405e-01 -5.06147152e-02 -3.58557148e-02 4.79079379e+01] [ 5.05810909e-02 9.98718253e-01 -1.84483193e-03 1.98948907e+00] [ 3.59031325e-02 2.76583571e-05 9.99355274e-01 1.51516018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:47.94, Y:1.99, Z:1.52 [[ 9.98508128e-01 -4.11810749e-02 -3.58557809e-02 4.79376495e+01] [ 4.11414141e-02 9.99151633e-01 -1.84354645e-03 1.99198247e+00] [ 3.59012812e-02 3.65638584e-04 9.99355274e-01 1.51663463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.96, Y:1.99, Z:1.51 [[ 9.98587384e-01 -3.92122245e-02 -3.58557809e-02 4.79649869e+01] [ 3.91712951e-02 9.99230810e-01 -1.84354645e-03 1.99497983e+00] [ 3.59004905e-02 4.36424854e-04 9.99355274e-01 1.51480019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.00, Y:1.99, Z:1.52 [[ 9.98596938e-01 -3.89867535e-02 -3.58355642e-02 4.79958200e+01] [ 3.89316866e-02 9.99239379e-01 -2.23343103e-03 1.99002536e+00] [ 3.58953811e-02 8.35158438e-04 9.99355204e-01 1.51863169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:48.03, Y:1.99, Z:1.52 [[ 9.98434990e-01 -4.29182732e-02 -3.58551500e-02 4.80251443e+01] [ 4.28793250e-02 9.99078537e-01 -1.85488362e-03 1.98904419e+00] [ 3.59017192e-02 3.14536076e-04 9.99355276e-01 1.51688906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.05, Y:1.99, Z:1.52 [[ 9.98177421e-01 -4.85415037e-02 -3.58546935e-02 4.80540432e+01] [ 4.85058655e-02 9.98821159e-01 -1.86366671e-03 1.98800146e+00] [ 3.59028917e-02 1.21107091e-04 9.99355276e-01 1.52035425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:48.08, Y:1.99, Z:1.52 [[ 9.98039843e-01 -5.12927538e-02 -3.58542199e-02 4.80839285e+01] [ 5.12585645e-02 9.98683660e-01 -1.87273440e-03 1.98832490e+00] [ 3.59030812e-02 3.12277114e-05 9.99355276e-01 1.52061519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.11, Y:1.99, Z:1.52 [[ 9.97757502e-01 -5.65194184e-02 -3.58541863e-02 4.81147081e+01] [ 5.64885785e-02 9.98401488e-01 -1.87337646e-03 1.98753276e+00] [ 3.59027551e-02 -1.56176605e-04 9.99355276e-01 1.52170099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.15, Y:1.99, Z:1.52 [[ 9.97605210e-01 -5.91465588e-02 -3.58542888e-02 4.81457522e+01] [ 5.91174854e-02 9.98249278e-01 -1.87141207e-03 1.98823682e+00] [ 3.59022055e-02 -2.52684962e-04 9.99355276e-01 1.52474110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.18, Y:1.99, Z:1.53 [[ 9.97478462e-01 -6.12469043e-02 -3.58543555e-02 4.81768707e+01] [ 6.12192330e-02 9.98122592e-01 -1.87013324e-03 1.98892091e+00] [ 3.59015822e-02 -3.29558520e-04 9.99355276e-01 1.52604726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.21, Y:1.99, Z:1.53 [[ 9.97227953e-01 -6.51986849e-02 -3.58544552e-02 4.82094692e+01] [ 6.51736348e-02 9.97872190e-01 -1.86822127e-03 1.98865409e+00] [ 3.58999693e-02 -4.73722699e-04 9.99355276e-01 1.52875780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.24, Y:1.99, Z:1.53 [[ 9.97114362e-01 -6.69133542e-02 -3.58545918e-02 4.82420295e+01] [ 6.68895063e-02 9.97758645e-01 -1.86559625e-03 1.98912057e+00] [ 3.58990622e-02 -5.38083129e-04 9.99355276e-01 1.53017827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:48.27, Y:1.99, Z:1.53 [[ 9.97011382e-01 -6.84305617e-02 -3.58547275e-02 4.82734322e+01] [ 6.84077881e-02 9.97655704e-01 -1.86298358e-03 1.98867388e+00] [ 3.58981584e-02 -5.95326769e-04 9.99355276e-01 1.53064411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:48.30, Y:1.99, Z:1.53 [[ 9.98503363e-01 -4.12972692e-02 -3.58548285e-02 4.83046456e+01] [ 4.12570553e-02 9.99146832e-01 -1.86103725e-03 1.98923059e+00] [ 3.59010941e-02 3.78987307e-04 9.99355276e-01 1.52905584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.33, Y:1.99, Z:1.53 [[ 9.98688031e-01 -3.65601202e-02 -3.58548957e-02 4.83328526e+01] [ 3.65169008e-02 9.99331305e-01 -1.85974184e-03 1.99160087e+00] [ 3.58989121e-02 5.47992252e-04 9.99355276e-01 1.53131148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.36, Y:1.99, Z:1.53 [[ 9.98766334e-01 -3.43551422e-02 -3.58543524e-02 4.83610141e+01] [ 3.43101289e-02 9.99409484e-01 -1.87015854e-03 1.99270931e+00] [ 3.58974294e-02 6.37683937e-04 9.99355276e-01 1.53007337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:48.39, Y:1.99, Z:1.53 [[ 9.98816570e-01 -3.28623818e-02 -3.58541842e-02 4.83893152e+01] [ 3.28162918e-02 9.99459645e-01 -1.87337771e-03 1.99373669e+00] [ 3.58963739e-02 6.94559325e-04 9.99355276e-01 1.53145713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:48.42, Y:1.99, Z:1.53 [[ 9.98868706e-01 -3.12381179e-02 -3.58537123e-02 4.84172444e+01] [ 3.11906597e-02 9.99511680e-01 -1.88236670e-03 1.99394928e+00] [ 3.58950058e-02 7.61936249e-04 9.99355276e-01 1.53047937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.44, Y:1.99, Z:1.53 [[ 9.98857205e-01 -3.16038980e-02 -3.58535447e-02 4.84449221e+01] [ 3.15565609e-02 9.99500189e-01 -1.88555221e-03 1.99487567e+00] [ 3.58952155e-02 7.51982847e-04 9.99355276e-01 1.53250416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:48.47, Y:2.00, Z:1.53 [[ 9.98836023e-01 -3.22670155e-02 -3.58530037e-02 4.84726864e+01] [ 3.22197382e-02 9.99479012e-01 -1.89578411e-03 1.99615177e+00] [ 3.58954960e-02 7.38403069e-04 9.99355276e-01 1.53443392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:48.50, Y:2.00, Z:1.54 [[ 9.98750140e-01 -3.48242968e-02 -3.58528361e-02 4.85014624e+01] [ 3.47785524e-02 9.99393239e-01 -1.89894842e-03 1.99738422e+00] [ 3.58972116e-02 6.49665257e-04 9.99355276e-01 1.53732632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.53, Y:1.99, Z:1.54 [[ 9.98118035e-01 -4.97493233e-02 -3.58523666e-02 4.85306293e+01] [ 4.97128799e-02 9.98761728e-01 -1.90777224e-03 1.99197123e+00] [ 3.59028820e-02 1.21857484e-04 9.99355276e-01 1.53908203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:48.56, Y:1.99, Z:1.54 [[ 9.97509673e-01 -6.07377156e-02 -3.58522281e-02 4.85591567e+01] [ 6.07082694e-02 9.98153724e-01 -1.91037107e-03 1.98916062e+00] [ 3.59020666e-02 -2.70913103e-04 9.99355276e-01 1.54125487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.59, Y:1.99, Z:1.54 [[ 9.97479222e-01 -6.12358232e-02 -3.58521246e-02 4.85911512e+01] [ 6.12066288e-02 9.98123285e-01 -1.91231139e-03 1.99016213e+00] [ 3.59019423e-02 -2.86896805e-04 9.99355276e-01 1.54221875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.62, Y:1.99, Z:1.54 [[ 9.97461952e-01 -6.15164195e-02 -3.58522638e-02 4.86236571e+01] [ 6.14875002e-02 9.98106027e-01 -1.90969861e-03 1.99173589e+00] [ 3.59018384e-02 -2.99614371e-04 9.99355276e-01 1.54366129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:48.65, Y:1.99, Z:1.55 [[ 9.97495159e-01 -6.09755146e-02 -3.58524024e-02 4.86545201e+01] [ 6.09463398e-02 9.98139222e-01 -1.90709197e-03 1.99442339e+00] [ 3.59019750e-02 -2.82757696e-04 9.99355276e-01 1.54663488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:48.69, Y:2.00, Z:1.55 [[ 9.97557430e-01 -5.99480888e-02 -3.58524715e-02 4.86851121e+01] [ 5.99182973e-02 9.98201465e-01 -1.90579307e-03 1.99655446e+00] [ 3.59022382e-02 -2.47081010e-04 9.99355276e-01 1.54844318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:48.72, Y:2.00, Z:1.55 [[ 9.97616535e-01 -5.89561924e-02 -3.58527109e-02 4.87176777e+01] [ 5.89259229e-02 9.98260548e-01 -1.90127811e-03 1.99818942e+00] [ 3.59024389e-02 -2.15907595e-04 9.99355276e-01 1.55013562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:48.75, Y:2.00, Z:1.55 [[ 9.97662372e-01 -5.81752847e-02 -3.58528504e-02 4.87490794e+01] [ 5.81446057e-02 9.98306366e-01 -1.89864444e-03 1.99917112e+00] [ 3.59025829e-02 -1.90443735e-04 9.99355276e-01 1.54983222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955099892999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.78, Y:2.00, Z:1.55 [[ 9.97706343e-01 -5.74161847e-02 -3.58529542e-02 4.87799873e+01] [ 5.73850862e-02 9.98350317e-01 -1.89668216e-03 1.99934354e+00] [ 3.59027084e-02 -1.65093041e-04 9.99355276e-01 1.55024250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:48.81, Y:1.99, Z:1.55 [[ 9.97128516e-01 -6.67029527e-02 -3.58530223e-02 4.88106178e+01] [ 6.66778977e-02 9.97772752e-01 -1.89539339e-03 1.99222613e+00] [ 3.58995971e-02 -5.00653357e-04 9.99355276e-01 1.55390407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:48.84, Y:1.99, Z:1.55 [[ 9.96780628e-01 -7.17142463e-02 -3.58531188e-02 4.88434153e+01] [ 7.16924955e-02 9.97424985e-01 -1.89356671e-03 1.98957409e+00] [ 3.58965922e-02 -6.82928941e-04 9.99355276e-01 1.55279658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:48.88, Y:1.99, Z:1.55 [[ 9.96292996e-01 -7.81972540e-02 -3.58532546e-02 4.88754257e+01] [ 7.81797882e-02 9.96937483e-01 -1.89099216e-03 1.98932094e+00] [ 3.58913238e-02 -9.19017606e-04 9.99355276e-01 1.55426339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:48.91, Y:1.99, Z:1.56 [[ 9.95377166e-01 -8.91001273e-02 -3.58533914e-02 4.89077581e+01] [ 8.90898118e-02 9.96021807e-01 -1.88839486e-03 1.98596466e+00] [ 3.58790159e-02 -1.31450677e-03 9.99355276e-01 1.55700573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099893 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:48.94, Y:1.99, Z:1.56 [[ 9.95255760e-01 -9.04460968e-02 -3.58535285e-02 4.89393478e+01] [ 9.04367469e-02 9.95900416e-01 -1.88578702e-03 1.98765839e+00] [ 3.58771061e-02 -1.36563609e-03 9.99355276e-01 1.55767866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135099892999996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:48.97, Y:1.99, Z:1.56 [[ 9.95058481e-01 -9.25912311e-02 -3.58536308e-02 4.89701361e+01] [ 9.25833409e-02 9.95703157e-01 -1.88384076e-03 1.98913342e+00] [ 3.58740005e-02 -1.44491720e-03 9.99355276e-01 1.55776055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:49.00, Y:1.99, Z:1.56 [[ 9.95068316e-01 -9.24854366e-02 -3.58537317e-02 4.90036108e+01] [ 9.24775470e-02 9.95712992e-01 -1.88191860e-03 1.99080023e+00] [ 3.58740765e-02 -1.44302759e-03 9.99355276e-01 1.55896404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:49.04, Y:1.99, Z:1.56 [[ 9.94778108e-01 -9.55563296e-02 -3.58539314e-02 4.90355035e+01] [ 9.55505669e-02 9.95422806e-01 -1.87810666e-03 1.99219830e+00] [ 3.58692859e-02 -1.55756408e-03 9.99355276e-01 1.55974543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:49.07, Y:1.99, Z:1.56 [[ 9.94788664e-01 -9.54463176e-02 -3.58540693e-02 4.90689789e+01] [ 9.54405786e-02 9.95433362e-01 -1.87546920e-03 1.99386509e+00] [ 3.58693434e-02 -1.55623763e-03 9.99355276e-01 1.56094870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255099893 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:49.10, Y:2.00, Z:1.56 [[ 9.94662203e-01 -9.67552203e-02 -3.58542763e-02 4.91009382e+01] [ 9.67504722e-02 9.95306909e-01 -1.87150497e-03 1.99548000e+00] [ 3.58670868e-02 -1.60740290e-03 9.99355276e-01 1.56068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:49.13, Y:2.00, Z:1.56 [[ 9.94532500e-01 -9.80793970e-02 -3.58544128e-02 4.91321312e+01] [ 9.80756015e-02 9.95177212e-01 -1.86888587e-03 1.99736797e+00] [ 3.58647938e-02 -1.65777537e-03 9.99355276e-01 1.56164817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.315099892999996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:49.17, Y:2.00, Z:1.56 [[ 9.94542932e-01 -9.79735141e-02 -3.58545145e-02 4.91656058e+01] [ 9.79697202e-02 9.95187645e-01 -1.86693167e-03 1.99902134e+00] [ 3.58648797e-02 -1.65591306e-03 9.99355276e-01 1.56285161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.20, Y:2.00, Z:1.57 [[ 9.94437359e-01 -9.90392808e-02 -3.58547129e-02 4.91980529e+01] [ 9.90363152e-02 9.95082076e-01 -1.86311449e-03 2.00112028e+00] [ 3.58629036e-02 -1.69816800e-03 9.99355276e-01 1.56574557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.23, Y:2.00, Z:1.57 [[ 9.94377390e-01 -9.96395281e-02 -3.58548473e-02 4.92305186e+01] [ 9.96370448e-02 9.95022109e-01 -1.86052425e-03 2.00358526e+00] [ 3.58617475e-02 -1.72240778e-03 9.99355276e-01 1.56740122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:49.26, Y:2.01, Z:1.57 [[ 9.94372507e-01 -9.96881740e-02 -3.58550517e-02 4.92629569e+01] [ 9.96858642e-02 9.95017227e-01 -1.85657706e-03 2.00589120e+00] [ 3.58614729e-02 -1.72811262e-03 9.99355276e-01 1.56886455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.29, Y:2.01, Z:1.57 [[ 9.94382551e-01 -9.95878899e-02 -3.58551874e-02 4.92947460e+01] [ 9.95856095e-02 9.95027271e-01 -1.85395312e-03 2.00845090e+00] [ 3.58615205e-02 -1.72712205e-03 9.99355276e-01 1.56950363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.33, Y:2.01, Z:1.57 [[ 9.94505888e-01 -9.83485216e-02 -3.58553561e-02 4.93269344e+01] [ 9.83455553e-02 9.95150605e-01 -1.85068390e-03 2.01243287e+00] [ 3.58634913e-02 -1.68569887e-03 9.99355276e-01 1.57117050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.495099892999995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.36, Y:2.01, Z:1.57 [[ 9.94516553e-01 -9.82405733e-02 -3.58554894e-02 4.93604121e+01] [ 9.82376301e-02 9.95161270e-01 -1.84809718e-03 2.01407089e+00] [ 3.58635525e-02 -1.68439507e-03 9.99355276e-01 1.57237381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.39, Y:2.02, Z:1.57 [[ 9.94588029e-01 -9.75142193e-02 -3.58556896e-02 4.93912474e+01] [ 9.75109452e-02 9.95232744e-01 -1.84420609e-03 2.01707694e+00] [ 3.58645926e-02 -1.66209688e-03 9.99355276e-01 1.57384284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:49.42, Y:2.02, Z:1.58 [[ 9.94682245e-01 -9.65484003e-02 -3.58557885e-02 4.94230558e+01] [ 9.65445695e-02 9.95326957e-01 -1.84228018e-03 2.02140535e+00] [ 3.58661021e-02 -1.62919828e-03 9.99355276e-01 1.57613456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:49.46, Y:2.02, Z:1.58 [[ 9.94718365e-01 -9.61755034e-02 -3.58559228e-02 4.94558993e+01] [ 9.61715250e-02 9.95363076e-01 -1.83966350e-03 2.02427813e+00] [ 3.58665922e-02 -1.61837171e-03 9.99355276e-01 1.57711138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.49, Y:2.03, Z:1.58 [[ 9.94740006e-01 -9.59513360e-02 -3.58561242e-02 4.94874275e+01] [ 9.59473538e-02 9.95384717e-01 -1.83572890e-03 2.02724739e+00] [ 3.58667787e-02 -1.61422726e-03 9.99355276e-01 1.57825548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:2.03, Z:1.58 [[ 9.94708965e-01 -9.62724987e-02 -3.58563847e-02 4.95194131e+01] [ 9.62689082e-02 9.95353679e-01 -1.83062771e-03 2.03035656e+00] [ 3.58660235e-02 -1.63091321e-03 9.99355276e-01 1.58224940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.675099892999995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:49.55, Y:2.03, Z:1.58 [[ 9.94771567e-01 -9.56234214e-02 -3.58565176e-02 4.95507962e+01] [ 9.56195040e-02 9.95416279e-01 -1.82802076e-03 2.03303897e+00] [ 3.58669629e-02 -1.61011935e-03 9.99355276e-01 1.57924476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:49.58, Y:2.04, Z:1.58 [[ 9.94793079e-01 -9.53992748e-02 -3.58567793e-02 4.95813561e+01] [ 9.53953973e-02 9.95437791e-01 -1.82287161e-03 2.03600681e+00] [ 3.58670938e-02 -1.60719165e-03 9.99355276e-01 1.58080874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:49.61, Y:2.04, Z:1.58 [[ 9.94803236e-01 -9.52932189e-02 -3.58570049e-02 4.96148364e+01] [ 9.52894327e-02 9.95447948e-01 -1.81842332e-03 2.03761404e+00] [ 3.58670654e-02 -1.60782025e-03 9.99355276e-01 1.58201143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:49.65, Y:2.04, Z:1.58 [[ 9.94812612e-01 -9.51952077e-02 -3.58571982e-02 4.96462219e+01] [ 9.51914954e-02 9.95457325e-01 -1.81460386e-03 2.04094167e+00] [ 3.58670522e-02 -1.60810951e-03 9.99355276e-01 1.58368024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:49.68, Y:2.04, Z:1.58 [[ 9.94822528e-01 -9.50914359e-02 -3.58574439e-02 4.96797023e+01] [ 9.50878315e-02 9.95467242e-01 -1.80973604e-03 2.04253746e+00] [ 3.58670012e-02 -1.60924040e-03 9.99355276e-01 1.58488276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.71, Y:2.05, Z:1.59 [[ 9.94829586e-01 -9.50175038e-02 -3.58576321e-02 4.97128600e+01] [ 9.50139858e-02 9.95474299e-01 -1.80599953e-03 2.04584848e+00] [ 3.58669527e-02 -1.61031478e-03 9.99355276e-01 1.58678177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.75, Y:2.05, Z:1.59 [[ 9.94839701e-01 -9.49114665e-02 -3.58578240e-02 4.97463417e+01] [ 9.49080173e-02 9.95484415e-01 -1.80218043e-03 2.04744071e+00] [ 3.58669526e-02 -1.61031434e-03 9.99355276e-01 1.58798468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:49.78, Y:2.05, Z:1.59 [[ 9.94786764e-01 -9.54646335e-02 -3.58580156e-02 4.97787310e+01] [ 9.54616801e-02 9.95431481e-01 -1.79836088e-03 2.05066941e+00] [ 3.58658774e-02 -1.63408081e-03 9.99355276e-01 1.58915361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.81, Y:2.05, Z:1.59 [[ 9.94733465e-01 -9.60183728e-02 -3.58581446e-02 4.98110111e+01] [ 9.60158709e-02 9.95378183e-01 -1.79578489e-03 2.05335235e+00] [ 3.58648432e-02 -1.65662366e-03 9.99355276e-01 1.58942686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:49.84, Y:2.06, Z:1.59 [[ 9.94657863e-01 -9.67983442e-02 -3.58582730e-02 4.98431598e+01] [ 9.67964402e-02 9.95302584e-01 -1.79321702e-03 2.05568779e+00] [ 3.58634122e-02 -1.68731577e-03 9.99355276e-01 1.58957145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.88, Y:2.06, Z:1.59 [[ 9.94516695e-01 -9.82380708e-02 -3.58584040e-02 4.98751173e+01] [ 9.82371945e-02 9.95161418e-01 -1.79059313e-03 2.05805408e+00] [ 3.58608046e-02 -1.74185425e-03 9.99355276e-01 1.59082112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.91, Y:2.06, Z:1.59 [[ 9.94418383e-01 -9.92282402e-02 -3.58585670e-02 4.99058273e+01] [ 9.92281234e-02 9.95063106e-01 -1.78732361e-03 2.06053315e+00] [ 3.58588900e-02 -1.78083085e-03 9.99355276e-01 1.59006088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.94, Y:2.06, Z:1.59 [[ 9.94314535e-01 -1.00263461e-01 -3.58586611e-02 4.99384061e+01] [ 1.00264083e-01 9.94959258e-01 -1.78543449e-03 2.06346259e+00] [ 3.58569207e-02 -1.82005230e-03 9.99355276e-01 1.59332630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:49.97, Y:2.07, Z:1.59 [[ 9.94219472e-01 -1.01201698e-01 -3.58588551e-02 4.99709458e+01] [ 1.01203069e-01 9.94864194e-01 -1.78152853e-03 2.06841873e+00] [ 3.58549847e-02 -1.85779584e-03 9.99355276e-01 1.59481511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.00, Y:2.07, Z:1.60 [[ 9.94230349e-01 -1.01094720e-01 -3.58590498e-02 5.00024149e+01] [ 1.01096163e-01 9.94875071e-01 -1.77760077e-03 2.07223345e+00] [ 3.58549808e-02 -1.85786771e-03 9.99355277e-01 1.59915002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.04, Y:2.08, Z:1.60 [[ 9.94343945e-01 -9.99711913e-02 -3.58591780e-02 5.00358080e+01] [ 9.99719992e-02 9.94988668e-01 -1.77501050e-03 2.07572579e+00] [ 3.58569257e-02 -1.81994278e-03 9.99355277e-01 1.59937204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:50.07, Y:2.08, Z:1.60 [[ 9.94509272e-01 -9.83128352e-02 -3.58593691e-02 5.00675721e+01] [ 9.83127071e-02 9.95153995e-01 -1.77114201e-03 2.08024521e+00] [ 3.58597204e-02 -1.76401450e-03 9.99355277e-01 1.60122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:50.10, Y:2.08, Z:1.60 [[ 9.94598935e-01 -9.74015140e-02 -3.58594978e-02 5.00994113e+01] [ 9.74008889e-02 9.95243658e-01 -1.76853345e-03 2.08314988e+00] [ 3.58611956e-02 -1.73376547e-03 9.99355277e-01 1.60309028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:50.13, Y:2.08, Z:1.60 [[ 9.94609731e-01 -9.72911640e-02 -3.58596280e-02 5.01328980e+01] [ 9.72905626e-02 9.95254454e-01 -1.76588815e-03 2.08471464e+00] [ 3.58612598e-02 -1.73243385e-03 9.99355277e-01 1.60429367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.16, Y:2.09, Z:1.61 [[ 9.94709559e-01 -9.62650830e-02 -3.58598235e-02 5.01644199e+01] [ 9.62639596e-02 9.95354282e-01 -1.76191041e-03 2.08792226e+00] [ 3.58628393e-02 -1.69941947e-03 9.99355277e-01 1.60580536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:50.20, Y:2.09, Z:1.61 [[ 9.94857419e-01 -9.47247740e-02 -3.58599201e-02 5.01973403e+01] [ 9.47227231e-02 9.95502139e-01 -1.75994205e-03 2.09153499e+00] [ 3.58653372e-02 -1.64585788e-03 9.99355277e-01 1.60635667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.23, Y:2.10, Z:1.61 [[ 9.95011989e-01 -9.30870258e-02 -3.58601096e-02 5.02279996e+01] [ 9.30840528e-02 9.95656706e-01 -1.75607186e-03 2.09524788e+00] [ 3.58678261e-02 -1.59069178e-03 9.99355277e-01 1.60887403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.26, Y:2.10, Z:1.61 [[ 9.95021936e-01 -9.29806049e-02 -3.58602034e-02 5.02614868e+01] [ 9.29776319e-02 9.95666653e-01 -1.75415458e-03 2.09679698e+00] [ 3.58679110e-02 -1.58877450e-03 9.99355277e-01 1.61007768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.29, Y:2.10, Z:1.61 [[ 9.95182202e-01 -9.12491996e-02 -3.58603906e-02 5.02938316e+01] [ 9.12452428e-02 9.95826914e-01 -1.75031918e-03 2.10037571e+00] [ 3.58704573e-02 -1.53020354e-03 9.99355277e-01 1.61252630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.33, Y:2.10, Z:1.61 [[ 9.95408871e-01 -8.87423390e-02 -3.58605143e-02 5.03258361e+01] [ 8.87368497e-02 9.96053571e-01 -1.74777998e-03 2.10326542e+00] [ 3.58740955e-02 -1.44239338e-03 9.99355277e-01 1.61217567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.36, Y:2.10, Z:1.61 [[ 9.95418488e-01 -8.86343510e-02 -3.58606401e-02 5.03593240e+01] [ 8.86288847e-02 9.96063188e-01 -1.74519535e-03 2.10480766e+00] [ 3.58741478e-02 -1.44108882e-03 9.99355277e-01 1.61337908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455099892999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:50.39, Y:2.11, Z:1.61 [[ 9.95588747e-01 -8.67009082e-02 -3.58608290e-02 5.03925330e+01] [ 8.66943297e-02 9.96233437e-01 -1.74130580e-03 2.10786136e+00] [ 3.58767297e-02 -1.37530607e-03 9.99355277e-01 1.61468883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.42, Y:2.11, Z:1.62 [[ 9.95741924e-01 -8.49235490e-02 -3.58610164e-02 5.04244816e+01] [ 8.49159588e-02 9.96386602e-01 -1.73743714e-03 2.11079792e+00] [ 3.58789856e-02 -1.31513360e-03 9.99355277e-01 1.61548072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:50.46, Y:2.11, Z:1.62 [[ 9.95867048e-01 -8.34433896e-02 -3.58611713e-02 5.04577341e+01] [ 8.34349563e-02 9.96511716e-01 -1.73423465e-03 2.11392494e+00] [ 3.58807878e-02 -1.26500812e-03 9.99355277e-01 1.61733093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:50.49, Y:2.12, Z:1.62 [[ 9.96005204e-01 -8.17777304e-02 -3.58613597e-02 5.04901310e+01] [ 8.17683594e-02 9.96649859e-01 -1.73033006e-03 2.11790144e+00] [ 3.58827215e-02 -1.20890680e-03 9.99355277e-01 1.61750171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:50.52, Y:2.12, Z:1.62 [[ 9.96063622e-01 -8.10630179e-02 -3.58615156e-02 5.05226305e+01] [ 8.10533008e-02 9.96708272e-01 -1.72709183e-03 2.12057123e+00] [ 3.58834726e-02 -1.18640087e-03 9.99355277e-01 1.61946901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:50.55, Y:2.12, Z:1.62 [[ 9.96121846e-01 -8.03442952e-02 -3.58617054e-02 5.05548217e+01] [ 8.03342550e-02 9.96766491e-01 -1.72314345e-03 2.12332822e+00] [ 3.58841910e-02 -1.16446255e-03 9.99355277e-01 1.62067903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.59, Y:2.13, Z:1.62 [[ 9.96267243e-01 -7.85207428e-02 -3.58618620e-02 5.05861597e+01] [ 7.85096399e-02 9.96911871e-01 -1.71987817e-03 2.12686764e+00] [ 3.58861620e-02 -1.10204358e-03 9.99355277e-01 1.62045748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:50.62, Y:2.13, Z:1.62 [[ 9.96326140e-01 -7.77697416e-02 -3.58621063e-02 5.06184764e+01] [ 7.77583366e-02 9.96970762e-01 -1.71476865e-03 2.12910028e+00] [ 3.58868285e-02 -1.08010891e-03 9.99355277e-01 1.62038587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:50.65, Y:2.13, Z:1.62 [[ 9.96443106e-01 -7.62563950e-02 -3.58622298e-02 5.06500121e+01] [ 7.62441040e-02 9.97087712e-01 -1.71218063e-03 2.13184463e+00] [ 3.58883534e-02 -1.02819300e-03 9.99355277e-01 1.61954452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.68, Y:2.13, Z:1.62 [[ 9.96567916e-01 -7.46075272e-02 -3.58623218e-02 5.06815858e+01] [ 7.45942390e-02 9.97212502e-01 -1.71025275e-03 2.13486940e+00] [ 3.58899534e-02 -9.70739580e-04 9.99355277e-01 1.62233849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:50.71, Y:2.14, Z:1.63 [[ 9.96749215e-01 -7.21449069e-02 -3.58624459e-02 5.07137317e+01] [ 7.21301197e-02 9.97393769e-01 -1.70764677e-03 2.13815737e+00] [ 3.58921780e-02 -8.84666936e-04 9.99355277e-01 1.62550705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.75, Y:2.14, Z:1.63 [[ 9.96939420e-01 -6.94670344e-02 -3.58625699e-02 5.07457782e+01] [ 6.94506096e-02 9.97583934e-01 -1.70503827e-03 2.14168577e+00] [ 3.58943675e-02 -7.90857472e-04 9.99355277e-01 1.62779709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.815099892999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.78, Y:2.14, Z:1.63 [[ 9.97018212e-01 -6.83268067e-02 -3.58626943e-02 5.07783184e+01] [ 6.83097390e-02 9.97662709e-01 -1.70241632e-03 2.14396237e+00] [ 3.58951935e-02 -7.52431213e-04 9.99355277e-01 1.63002038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:50.81, Y:2.15, Z:1.63 [[ 9.97083730e-01 -6.73638517e-02 -3.58628804e-02 5.08094998e+01] [ 6.73463028e-02 9.97728215e-01 -1.69848814e-03 2.14614214e+00] [ 3.58958243e-02 -7.21697509e-04 9.99355277e-01 1.62942847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.84, Y:2.15, Z:1.63 [[ 9.97128451e-01 -6.66985697e-02 -3.58629723e-02 5.08419422e+01] [ 6.66806607e-02 9.97772926e-01 -1.69654427e-03 2.14758228e+00] [ 3.58962599e-02 -6.99694127e-04 9.99355277e-01 1.63060743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.87, Y:2.15, Z:1.63 [[ 9.97121905e-01 -6.67962973e-02 -3.58630914e-02 5.08737802e+01] [ 6.67785420e-02 9.97766384e-01 -1.69402297e-03 2.14877421e+00] [ 3.58961415e-02 -7.05737548e-04 9.99355277e-01 1.63312870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:50.91, Y:2.15, Z:1.64 [[ 9.97105855e-01 -6.70353916e-02 -3.58632108e-02 5.09058370e+01] [ 6.70178819e-02 9.97750341e-01 -1.69149174e-03 2.14990486e+00] [ 3.58959206e-02 -7.16880112e-04 9.99355277e-01 1.63504435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.94, Y:2.15, Z:1.64 [[ 9.97093156e-01 -6.72239471e-02 -3.58633329e-02 5.09382541e+01] [ 6.72066526e-02 9.97737648e-01 -1.68889869e-03 2.15107764e+00] [ 3.58957319e-02 -7.26265231e-04 9.99355277e-01 1.63625309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.995099892999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.97, Y:2.15, Z:1.64 [[ 9.96986699e-01 -6.87846867e-02 -3.58634847e-02 5.09693201e+01] [ 6.87685171e-02 9.97631219e-01 -1.68567092e-03 2.15154213e+00] [ 3.58944803e-02 -7.85687170e-04 9.99355277e-01 1.63685266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:51.00, Y:2.15, Z:1.64 [[ 9.96839841e-01 -7.08811423e-02 -3.58635746e-02 5.10014381e+01] [ 7.08663970e-02 9.97484395e-01 -1.68375507e-03 2.15161100e+00] [ 3.58927025e-02 -8.63088181e-04 9.99355277e-01 1.63748333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:51.03, Y:2.15, Z:1.64 [[ 9.96653862e-01 -7.34498153e-02 -3.58636968e-02 5.10334778e+01] [ 7.34368248e-02 9.97298454e-01 -1.68114900e-03 2.15192274e+00] [ 3.58902894e-02 -9.58192376e-04 9.99355277e-01 1.63746679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:51.07, Y:2.15, Z:1.64 [[ 9.96587482e-01 -7.43449677e-02 -3.58638486e-02 5.10654004e+01] [ 7.43326729e-02 9.97232089e-01 -1.67790336e-03 2.15291858e+00] [ 3.58893243e-02 -9.93678245e-04 9.99355277e-01 1.63989682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:51.10, Y:2.15, Z:1.64 [[ 9.96453567e-01 -7.61187581e-02 -3.58639706e-02 5.10962743e+01] [ 7.61077046e-02 9.97098195e-01 -1.67529224e-03 2.15356510e+00] [ 3.58874215e-02 -1.06017355e-03 9.99355277e-01 1.64224860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.13, Y:2.15, Z:1.65 [[ 9.96398998e-01 -7.68297213e-02 -3.58640615e-02 5.11284373e+01] [ 7.68191978e-02 9.97043635e-01 -1.67334294e-03 2.15409201e+00] [ 3.58865968e-02 -1.08773121e-03 9.99355277e-01 1.64505566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.175099892999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.16, Y:2.15, Z:1.64 [[ 9.96342104e-01 -7.75639009e-02 -3.58643567e-02 5.11602707e+01] [ 7.75540808e-02 9.96986753e-01 -1.66699291e-03 2.15412829e+00] [ 3.58855870e-02 -1.12053200e-03 9.99355277e-01 1.64471184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.19, Y:2.15, Z:1.65 [[ 9.96313347e-01 -7.79323643e-02 -3.58644757e-02 5.11920174e+01] [ 7.79228748e-02 9.96958001e-01 -1.66442809e-03 2.15465535e+00] [ 3.58850888e-02 -1.13637113e-03 9.99355277e-01 1.64503579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:51.22, Y:2.16, Z:1.65 [[ 9.96223095e-01 -7.90775818e-02 -3.58647693e-02 5.12239079e+01] [ 7.90690617e-02 9.96867762e-01 -1.65807772e-03 2.15529427e+00] [ 3.58835491e-02 -1.18397835e-03 9.99355277e-01 1.64521021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:51.26, Y:2.16, Z:1.65 [[ 9.96189736e-01 -7.94966695e-02 -3.58648869e-02 5.12564335e+01] [ 7.94885123e-02 9.96834407e-01 -1.65552920e-03 2.15634548e+00] [ 3.58829624e-02 -1.20162531e-03 9.99355277e-01 1.64741057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:51.29, Y:2.16, Z:1.65 [[ 9.96033518e-01 -8.14305093e-02 -3.58650641e-02 5.12884844e+01] [ 8.14237420e-02 9.96678206e-01 -1.65168167e-03 2.15635958e+00] [ 3.58804251e-02 -1.27513743e-03 9.99355277e-01 1.64916062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.32, Y:2.16, Z:1.65 [[ 9.95985310e-01 -8.20179931e-02 -3.58651835e-02 5.13192594e+01] [ 8.20116995e-02 9.96630002e-01 -1.64908600e-03 2.15838010e+00] [ 3.58795726e-02 -1.29889922e-03 9.99355277e-01 1.64898720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.35, Y:2.16, Z:1.65 [[ 9.96055341e-01 -8.11670466e-02 -3.58562186e-02 5.13526005e+01] [ 8.11532010e-02 9.96699934e-01 -1.84377216e-03 2.15783503e+00] [ 3.58875442e-02 -1.07334781e-03 9.99355258e-01 1.65299435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.39, Y:2.16, Z:1.65 [[ 9.96064501e-01 -8.10504600e-02 -3.58654845e-02 5.13861007e+01] [ 8.10438195e-02 9.96709188e-01 -1.64131214e-03 2.15918902e+00] [ 3.58804870e-02 -1.27182310e-03 9.99355279e-01 1.65412182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.42, Y:2.16, Z:1.65 [[ 9.96170305e-01 -7.97394415e-02 -3.58656643e-02 5.14179597e+01] [ 7.97320943e-02 9.96814984e-01 -1.63737313e-03 2.16012500e+00] [ 3.58819948e-02 -1.22854204e-03 9.99355279e-01 1.65204181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.45, Y:2.16, Z:1.65 [[ 9.96182179e-01 -7.95909008e-02 -3.58657834e-02 5.14495049e+01] [ 7.95835514e-02 9.96826859e-01 -1.63476078e-03 2.16183763e+00] [ 3.58820883e-02 -1.22580686e-03 9.99355279e-01 1.65370696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:2.16, Z:1.66 [[ 9.96225056e-01 -7.90523427e-02 -3.58659310e-02 5.14812360e+01] [ 7.90447615e-02 9.96869733e-01 -1.63151565e-03 2.16369408e+00] [ 3.58826362e-02 -1.20965719e-03 9.99355279e-01 1.65733652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:51.51, Y:2.17, Z:1.66 [[ 9.96298186e-01 -7.81251588e-02 -3.58662090e-02 5.15136580e+01] [ 7.81171982e-02 9.96942858e-01 -1.62538061e-03 2.16524452e+00] [ 3.58835440e-02 -1.18240401e-03 9.99355279e-01 1.65536307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.55, Y:2.17, Z:1.66 [[ 9.96318494e-01 -7.78656924e-02 -3.58663248e-02 5.15461656e+01] [ 7.78576560e-02 9.96963165e-01 -1.62282130e-03 2.16685273e+00] [ 3.58837668e-02 -1.17562111e-03 9.99355279e-01 1.65679032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:51.58, Y:2.17, Z:1.66 [[ 9.96308568e-01 -7.79925135e-02 -3.58665006e-02 5.15780360e+01] [ 7.79846992e-02 9.96953242e-01 -1.61892695e-03 2.16812445e+00] [ 3.58834882e-02 -1.18408747e-03 9.99355279e-01 1.65749904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.61, Y:2.17, Z:1.66 [[ 9.96214359e-01 -7.91867112e-02 -3.58666458e-02 5.16109647e+01] [ 7.91797855e-02 9.96859043e-01 -1.61570467e-03 2.16863303e+00] [ 3.58819325e-02 -1.23032513e-03 9.99355279e-01 1.65964857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:51.64, Y:2.17, Z:1.66 [[ 9.96151238e-01 -7.99767545e-02 -3.58668204e-02 5.16432907e+01] [ 7.99704797e-02 9.96795929e-01 -1.61181983e-03 2.16855048e+00] [ 3.58808086e-02 -1.26267051e-03 9.99355279e-01 1.65894729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.68, Y:2.17, Z:1.66 [[ 9.96180693e-01 -7.96089787e-02 -3.58669382e-02 5.16762169e+01] [ 7.96025604e-02 9.96825382e-01 -1.60919391e-03 2.16954431e+00] [ 3.58811806e-02 -1.25205221e-03 9.99355279e-01 1.66024799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.71, Y:2.17, Z:1.66 [[ 9.96271876e-01 -7.84595394e-02 -3.58671141e-02 5.17082931e+01] [ 7.84525185e-02 9.96916559e-01 -1.60526359e-03 2.17161732e+00] [ 3.58824682e-02 -1.21458646e-03 9.99355279e-01 1.66153644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:51.74, Y:2.17, Z:1.66 [[ 9.96469839e-01 -7.59038792e-02 -3.58672593e-02 5.17398270e+01] [ 7.58953217e-02 9.97114504e-01 -1.60201139e-03 2.17412208e+00] [ 3.58853634e-02 -1.12580115e-03 9.99355279e-01 1.66372686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:2.18, Z:1.67 [[ 9.96649028e-01 -7.35135897e-02 -3.58673444e-02 5.17717217e+01] [ 7.35035546e-02 9.97293671e-01 -1.60010491e-03 2.17708352e+00] [ 3.58879050e-02 -1.04163430e-03 9.99355279e-01 1.67055472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.80, Y:2.18, Z:1.67 [[ 9.96825418e-01 -7.10817287e-02 -3.58674587e-02 5.18036985e+01] [ 7.10702131e-02 9.97470036e-01 -1.59753881e-03 2.17847566e+00] [ 3.58902711e-02 -9.56640643e-04 9.99355279e-01 1.66875099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.84, Y:2.18, Z:1.67 [[ 9.97057431e-01 -6.77494197e-02 -3.58677378e-02 5.18354491e+01] [ 6.77359757e-02 9.97702012e-01 -1.59124785e-03 2.18100630e+00] [ 3.58931203e-02 -8.42970722e-04 9.99355279e-01 1.67184579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.87, Y:2.18, Z:1.68 [[ 9.97325631e-01 -6.36795329e-02 -3.58678508e-02 5.18671087e+01] [ 6.36635499e-02 9.97970154e-01 -1.58869672e-03 2.18445708e+00] [ 3.58962120e-02 -6.99026747e-04 9.99355279e-01 1.67524284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.90, Y:2.19, Z:1.68 [[ 9.97561104e-01 -5.98776465e-02 -3.58679651e-02 5.18987775e+01] [ 5.98592999e-02 9.98205564e-01 -1.58611185e-03 2.18781929e+00] [ 3.58985750e-02 -5.64787787e-04 9.99355279e-01 1.67623722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:51.93, Y:2.19, Z:1.68 [[ 9.97752849e-01 -5.65926938e-02 -3.58680792e-02 5.19307421e+01] [ 5.65723182e-02 9.98397248e-01 -1.58352778e-03 2.19046275e+00] [ 3.59002076e-02 -4.49171030e-04 9.99355279e-01 1.67558430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:51.96, Y:2.19, Z:1.68 [[ 9.97866862e-01 -5.45453718e-02 -3.58681944e-02 5.19630221e+01] [ 5.45237680e-02 9.98511221e-01 -1.58091413e-03 2.19196509e+00] [ 3.59010261e-02 -3.78127281e-04 9.99355279e-01 1.67569424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955099892999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.99, Y:2.19, Z:1.68 [[ 9.98054366e-01 -5.09994781e-02 -3.58683092e-02 5.19947907e+01] [ 5.09756787e-02 9.98698648e-01 -1.57830493e-03 2.19358849e+00] [ 3.59021246e-02 -2.53177277e-04 9.99355279e-01 1.67764449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.03, Y:2.19, Z:1.68 [[ 9.98162444e-01 -4.88384147e-02 -3.58684234e-02 5.20263533e+01] [ 4.88133138e-02 9.98806677e-01 -1.57570544e-03 2.19471231e+00] [ 3.59025757e-02 -1.78046613e-04 9.99355279e-01 1.67737782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:52.06, Y:2.20, Z:1.68 [[ 9.98348019e-01 -4.48852203e-02 -3.58685084e-02 5.20578792e+01] [ 4.48576380e-02 9.98992150e-01 -1.57376825e-03 2.19654740e+00] [ 3.59029972e-02 -3.78081453e-05 9.99355279e-01 1.67837852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:52.09, Y:2.20, Z:1.68 [[ 9.98481958e-01 -4.17998182e-02 -3.58685652e-02 5.20882424e+01] [ 4.17702920e-02 9.99126003e-01 -1.57247125e-03 2.19870893e+00] [ 3.59029452e-02 7.18437297e-05 9.99355279e-01 1.67953187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:52.12, Y:2.20, Z:1.68 [[ 9.98530196e-01 -4.06311993e-02 -3.58685652e-02 5.21163307e+01] [ 4.06009194e-02 9.99174205e-01 -1.57247125e-03 2.20133228e+00] [ 3.59028365e-02 1.13863301e-04 9.99355279e-01 1.67897681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:52.15, Y:2.20, Z:1.68 [[ 9.98554260e-01 -4.00449738e-02 -3.58579229e-02 5.21464981e+01] [ 4.00056584e-02 9.99197807e-01 -1.81352915e-03 2.19970814e+00] [ 3.59017806e-02 3.76387447e-04 9.99355252e-01 1.67921735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135099892999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.18, Y:2.20, Z:1.68 [[ 9.98495442e-01 -4.14768788e-02 -3.58681009e-02 5.21756011e+01] [ 4.14467689e-02 9.99139460e-01 -1.58292264e-03 2.19926375e+00] [ 3.59028896e-02 9.39241499e-05 9.99355279e-01 1.68354240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:52.20, Y:2.20, Z:1.68 [[ 9.98403840e-01 -4.36266043e-02 -3.58676959e-02 5.22046051e+01] [ 4.35975533e-02 9.99047906e-01 -1.59204616e-03 2.19914756e+00] [ 3.59030021e-02 2.57612095e-05 9.99355279e-01 1.68289890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.23, Y:2.20, Z:1.69 [[ 9.98323317e-01 -4.54320282e-02 -3.58676099e-02 5.22339293e+01] [ 4.54040724e-02 9.98967432e-01 -1.59398280e-03 2.19971020e+00] [ 3.59029920e-02 -3.72253558e-05 9.99355279e-01 1.68561340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.26, Y:2.20, Z:1.68 [[ 9.98123281e-01 -4.96329935e-02 -3.58675522e-02 5.22634749e+01] [ 4.96077021e-02 9.98767506e-01 -1.59527845e-03 2.19935233e+00] [ 3.59025241e-02 -1.87022287e-04 9.99355279e-01 1.68476397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:52.29, Y:2.20, Z:1.68 [[ 9.97878654e-01 -5.43296500e-02 -3.58675616e-02 5.22944263e+01] [ 5.43073982e-02 9.98522990e-01 -1.59506690e-03 2.19879850e+00] [ 3.59012443e-02 -3.56190747e-04 9.99355279e-01 1.68449601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:52.33, Y:2.20, Z:1.69 [[ 9.97631312e-01 -5.86965082e-02 -3.58676190e-02 5.23259819e+01] [ 5.86771231e-02 9.98275741e-01 -1.59377528e-03 2.19769047e+00] [ 3.58993230e-02 -5.14608579e-04 9.99355279e-01 1.68531688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.315099892999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.36, Y:2.20, Z:1.69 [[ 9.97466233e-01 -6.14379491e-02 -3.58677048e-02 5.23577077e+01] [ 6.14204046e-02 9.98110715e-01 -1.59184182e-03 2.19637669e+00] [ 3.58977400e-02 -6.15200481e-04 9.99355279e-01 1.68759029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:52.39, Y:2.19, Z:1.69 [[ 9.98535188e-01 -4.05090062e-02 -3.58677903e-02 5.23893687e+01] [ 4.04780210e-02 9.99179164e-01 -1.58991343e-03 2.19491980e+00] [ 3.59027546e-02 1.35727340e-04 9.99355279e-01 1.68713761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.42, Y:2.20, Z:1.69 [[ 9.98627137e-01 -3.81751125e-02 -3.58678473e-02 5.24169622e+01] [ 3.81426684e-02 9.99271041e-01 -1.58862766e-03 2.19672140e+00] [ 3.59023471e-02 2.18351282e-04 9.99355279e-01 1.69081853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.44, Y:2.20, Z:1.69 [[ 9.98762523e-01 -3.44518562e-02 -3.58677062e-02 5.24447991e+01] [ 3.44168976e-02 9.99406295e-01 -1.59180745e-03 2.19885477e+00] [ 3.59012521e-02 3.55382457e-04 9.99355279e-01 1.69202353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:52.47, Y:2.20, Z:1.69 [[ 9.98799551e-01 -3.33616162e-02 -3.58672482e-02 5.24722926e+01] [ 3.33255868e-02 9.99443264e-01 -1.60205994e-03 2.20029803e+00] [ 3.59007270e-02 4.04839650e-04 9.99355279e-01 1.69326023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:52.50, Y:2.20, Z:1.69 [[ 9.98809098e-01 -3.30750676e-02 -3.58667879e-02 5.25011193e+01] [ 3.30384858e-02 9.99452780e-01 -1.61230088e-03 2.19955586e+00] [ 3.59004878e-02 4.25396423e-04 9.99355279e-01 1.69249289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.495099892999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:52.53, Y:2.20, Z:1.69 [[ 9.98673748e-01 -3.69370880e-02 -3.58663840e-02 5.25292132e+01] [ 3.69026747e-02 9.99317549e-01 -1.62123609e-03 2.20003283e+00] [ 3.59017907e-02 2.95520417e-04 9.99355279e-01 1.69463356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.56, Y:2.20, Z:1.70 [[ 9.98571805e-01 -3.95978015e-02 -3.58659219e-02 5.25572929e+01] [ 3.95647388e-02 9.99215677e-01 -1.63139374e-03 2.20113534e+00] [ 3.59023911e-02 2.10037960e-04 9.99355279e-01 1.69677694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.59, Y:2.20, Z:1.70 [[ 9.98450826e-01 -4.25396012e-02 -3.58654547e-02 5.25852248e+01] [ 4.25080689e-02 9.99094775e-01 -1.64160139e-03 2.20215292e+00] [ 3.59028215e-02 1.14487044e-04 9.99355279e-01 1.69901889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.61, Y:2.20, Z:1.70 [[ 9.98329517e-01 -4.52976857e-02 -3.58649691e-02 5.26143080e+01] [ 4.52675537e-02 9.98973533e-01 -1.65214345e-03 2.20237866e+00] [ 3.59029932e-02 2.58641543e-05 9.99355279e-01 1.69841722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:52.64, Y:2.20, Z:1.70 [[ 9.98183962e-01 -4.83992529e-02 -3.58648789e-02 5.26443978e+01] [ 4.83710517e-02 9.98828066e-01 -1.65410043e-03 2.20244920e+00] [ 3.59029048e-02 -8.37253824e-05 9.99355279e-01 1.69857128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.68, Y:2.20, Z:1.70 [[ 9.98002087e-01 -5.20148919e-02 -3.58648205e-02 5.26750650e+01] [ 5.19889788e-02 9.98646287e-01 -1.65536408e-03 2.20229338e+00] [ 3.59023734e-02 -2.12518590e-04 9.99355279e-01 1.69945887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.675099892999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.71, Y:2.20, Z:1.70 [[ 9.97782302e-01 -5.60731025e-02 -3.58648205e-02 5.27064102e+01] [ 5.60498094e-02 9.98426602e-01 -1.65536408e-03 2.20197573e+00] [ 3.59012123e-02 -3.58523377e-04 9.99355279e-01 1.70025335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705099892999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.74, Y:2.20, Z:1.70 [[ 9.97517247e-01 -6.06057121e-02 -3.58648807e-02 5.27380355e+01] [ 6.05853933e-02 9.98161647e-01 -1.65406043e-03 2.20177219e+00] [ 3.58991939e-02 -5.22934093e-04 9.99355279e-01 1.70209354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.77, Y:2.20, Z:1.70 [[ 9.97220660e-01 -6.53043733e-02 -3.58649404e-02 5.27692038e+01] [ 6.52871372e-02 9.97865150e-01 -1.65276398e-03 2.20178545e+00] [ 3.58963069e-02 -6.93348896e-04 9.99355279e-01 1.70086329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.80, Y:2.20, Z:1.70 [[ 9.96879805e-01 -7.03161039e-02 -3.58650296e-02 5.28011817e+01] [ 7.03021772e-02 9.97524375e-01 -1.65082616e-03 2.20228735e+00] [ 3.58923209e-02 -8.75714402e-04 9.99355279e-01 1.70228875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:52.83, Y:2.21, Z:1.70 [[ 9.96595834e-01 -7.42323042e-02 -3.58651491e-02 5.28319633e+01] [ 7.42210036e-02 9.97240455e-01 -1.64822581e-03 2.21498000e+00] [ 3.58885292e-02 -1.01933239e-03 9.99355279e-01 1.70047050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.86, Y:2.22, Z:1.70 [[ 9.96931017e-01 -6.95861501e-02 -3.58652382e-02 5.28635725e+01] [ 6.95719147e-02 9.97575580e-01 -1.64628531e-03 2.22162685e+00] [ 3.58928444e-02 -8.53980400e-04 9.99355279e-01 1.70178345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.90, Y:2.23, Z:1.70 [[ 9.97116319e-01 -6.68784132e-02 -3.58653547e-02 5.28951482e+01] [ 6.68625188e-02 9.97760844e-01 -1.64374233e-03 2.22547853e+00] [ 3.58949775e-02 -7.59045653e-04 9.99355279e-01 1.70227365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885099892999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.93, Y:2.23, Z:1.70 [[ 9.97222505e-01 -6.52758982e-02 -3.58654739e-02 5.29264315e+01] [ 6.52590616e-02 9.97867006e-01 -1.64113834e-03 2.22818437e+00] [ 3.58960998e-02 -7.03967077e-04 9.99355279e-01 1.70200991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:52.96, Y:2.23, Z:1.70 [[ 9.97270416e-01 -6.45396918e-02 -3.58656683e-02 5.29582408e+01] [ 6.45225325e-02 9.97914908e-01 -1.63687816e-03 2.23094523e+00] [ 3.58965287e-02 -6.81733584e-04 9.99355279e-01 1.70335954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:52.99, Y:2.23, Z:1.71 [[ 9.97290308e-01 -6.42315110e-02 -3.58657839e-02 5.29907031e+01] [ 6.42142437e-02 9.97934797e-01 -1.63434201e-03 2.23375880e+00] [ 3.58966900e-02 -6.73180737e-04 9.99355279e-01 1.70530368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.02, Y:2.24, Z:1.71 [[ 9.97274142e-01 -6.44819555e-02 -3.58659011e-02 5.30216092e+01] [ 6.44649428e-02 9.97918638e-01 -1.63176438e-03 2.23658378e+00] [ 3.58964706e-02 -6.84776839e-04 9.99355279e-01 1.70803643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.05, Y:2.24, Z:1.71 [[ 9.97246497e-01 -6.49080440e-02 -3.58659884e-02 5.30537275e+01] [ 6.48913757e-02 9.97891003e-01 -1.62984398e-03 2.23957226e+00] [ 3.58961371e-02 -7.02037132e-04 9.99355279e-01 1.71072121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.09, Y:2.24, Z:1.71 [[ 9.97251119e-01 -6.48369419e-02 -3.58661045e-02 5.30863726e+01] [ 6.48203196e-02 9.97895625e-01 -1.62728603e-03 2.24099485e+00] [ 3.58961370e-02 -7.02039542e-04 9.99355279e-01 1.71189414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.12, Y:2.24, Z:1.71 [[ 9.97218513e-01 -6.53364432e-02 -3.58662202e-02 5.31175094e+01] [ 6.53202356e-02 9.97863030e-01 -1.62473049e-03 2.24350779e+00] [ 3.58957293e-02 -7.22578637e-04 9.99355279e-01 1.71235281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.15, Y:2.25, Z:1.71 [[ 9.96967705e-01 -6.90579660e-02 -3.58663064e-02 5.31502114e+01] [ 6.90442325e-02 9.97612280e-01 -1.62282663e-03 2.24501464e+00] [ 3.58927368e-02 -8.58455852e-04 9.99355279e-01 1.71213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.18, Y:2.24, Z:1.71 [[ 9.96901698e-01 -7.00042967e-02 -3.58664509e-02 5.31826143e+01] [ 6.99912902e-02 9.97546288e-01 -1.61962623e-03 2.24274957e+00] [ 3.58918257e-02 -8.95731032e-04 9.99355279e-01 1.71162266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.22, Y:2.24, Z:1.71 [[ 9.96839990e-01 -7.08775327e-02 -3.58665672e-02 5.32152578e+01] [ 7.08651836e-02 9.97484592e-01 -1.61704582e-03 2.24274490e+00] [ 3.58909604e-02 -9.29754937e-04 9.99355279e-01 1.71439929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.25, Y:2.24, Z:1.72 [[ 9.96847723e-01 -7.07686253e-02 -3.58666844e-02 5.32487525e+01] [ 7.07562995e-02 9.97492326e-01 -1.61444175e-03 2.24416746e+00] [ 3.58909943e-02 -9.28441287e-04 9.99355279e-01 1.71560271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.28, Y:2.25, Z:1.72 [[ 9.96843343e-01 -7.08302026e-02 -3.58668604e-02 5.32813951e+01] [ 7.08180574e-02 9.97487949e-01 -1.61052405e-03 2.24543378e+00] [ 3.58908347e-02 -9.34581197e-04 9.99355279e-01 1.71567659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.31, Y:2.25, Z:1.72 [[ 9.96793795e-01 -7.15240589e-02 -3.58669779e-02 5.33131011e+01] [ 7.15124567e-02 9.97438411e-01 -1.60790179e-03 2.24708163e+00] [ 3.58901051e-02 -9.62189182e-04 9.99355279e-01 1.71612606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.35, Y:2.25, Z:1.72 [[ 9.96801499e-01 -7.14165345e-02 -3.58671240e-02 5.33465954e+01] [ 7.14049802e-02 9.97446116e-01 -1.60463638e-03 2.24849195e+00] [ 3.58901211e-02 -9.61587330e-04 9.99355279e-01 1.71732919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:53.38, Y:2.25, Z:1.72 [[ 9.96755234e-01 -7.20592916e-02 -3.58672966e-02 5.33791322e+01] [ 7.20482920e-02 9.97399860e-01 -1.60076911e-03 2.24978300e+00] [ 3.58893869e-02 -9.88602474e-04 9.99355279e-01 1.72010050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:53.41, Y:2.25, Z:1.72 [[ 9.96765870e-01 -7.19119480e-02 -3.58674123e-02 5.34116746e+01] [ 7.19009464e-02 9.97410497e-01 -1.59817356e-03 2.25015244e+00] [ 3.58894613e-02 -9.85896022e-04 9.99355279e-01 1.72200283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:53.45, Y:2.25, Z:1.72 [[ 9.96798038e-01 -7.14646200e-02 -3.58675270e-02 5.34450061e+01] [ 7.14534219e-02 9.97442661e-01 -1.59559336e-03 2.25097729e+00] [ 3.58898301e-02 -9.72373210e-04 9.99355279e-01 1.72240025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.48, Y:2.25, Z:1.72 [[ 9.96811217e-01 -7.12804788e-02 -3.58676996e-02 5.34758057e+01] [ 7.12693015e-02 9.97455840e-01 -1.59170425e-03 2.25193255e+00] [ 3.58899039e-02 -9.69637246e-04 9.99355279e-01 1.72468380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:53.51, Y:2.25, Z:1.73 [[ 9.96841697e-01 -7.08528376e-02 -3.58679023e-02 5.35087381e+01] [ 7.08415484e-02 9.97486319e-01 -1.58712472e-03 2.25384545e+00] [ 3.58901941e-02 -9.58825631e-04 9.99355279e-01 1.72690449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455099892999996 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:53.54, Y:2.25, Z:1.73 [[ 9.96808145e-01 -7.13232310e-02 -3.58680730e-02 5.35410610e+01] [ 7.13123851e-02 9.97452774e-01 -1.58325575e-03 2.25499537e+00] [ 3.58896319e-02 -9.79635615e-04 9.99355279e-01 1.72680736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.57, Y:2.26, Z:1.73 [[ 9.96769432e-01 -7.18621827e-02 -3.58681855e-02 5.35739176e+01] [ 7.18517771e-02 9.97414068e-01 -1.58070353e-03 2.25621931e+00] [ 3.58890256e-02 -1.00159591e-03 9.99355279e-01 1.72837034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.60, Y:2.26, Z:1.73 [[ 9.96554040e-01 -7.47897466e-02 -3.58683568e-02 5.36034944e+01] [ 7.47813747e-02 9.97198706e-01 -1.57680733e-03 2.26015726e+00] [ 3.58858080e-02 -1.11091131e-03 9.99355279e-01 1.72736707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.64, Y:2.26, Z:1.73 [[ 9.96582473e-01 -7.44169174e-02 -3.58538229e-02 5.36378758e+01] [ 7.43964873e-02 9.97226921e-01 -1.90546186e-03 2.26133649e+00] [ 3.58961960e-02 -7.68448588e-04 9.99355228e-01 1.72887838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.67, Y:2.26, Z:1.73 [[ 9.96586263e-01 -7.43590630e-02 -3.58685029e-02 5.36703141e+01] [ 7.43506513e-02 9.97230924e-01 -1.57016182e-03 2.26385600e+00] [ 3.58859360e-02 -1.10204485e-03 9.99355285e-01 1.73025443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.70, Y:2.27, Z:1.73 [[ 9.96678630e-01 -7.31104552e-02 -3.58687855e-02 5.37020190e+01] [ 7.31014689e-02 9.97323283e-01 -1.56367927e-03 2.26531696e+00] [ 3.58870962e-02 -1.06357519e-03 9.99355285e-01 1.73011681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.73, Y:2.27, Z:1.73 [[ 9.96860777e-01 -7.05833813e-02 -3.58689000e-02 5.37332354e+01] [ 7.05728553e-02 9.97505406e-01 -1.56104811e-03 2.26657930e+00] [ 3.58896057e-02 -9.75223057e-04 9.99355285e-01 1.73113297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.76, Y:2.27, Z:1.73 [[ 9.97035692e-01 -6.80679380e-02 -3.58689853e-02 5.37640098e+01] [ 6.80558561e-02 9.97680294e-01 -1.55908663e-03 2.26735348e+00] [ 3.58919036e-02 -8.86629478e-04 9.99355285e-01 1.73234788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:53.80, Y:2.27, Z:1.74 [[ 9.97267570e-01 -6.45817546e-02 -3.58690690e-02 5.37956563e+01] [ 6.45674885e-02 9.97912128e-01 -1.55715737e-03 2.27080086e+00] [ 3.58947429e-02 -7.63073154e-04 9.99355285e-01 1.73607092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.83, Y:2.27, Z:1.74 [[ 9.97430032e-01 -6.20220328e-02 -3.58691788e-02 5.38275593e+01] [ 6.20062035e-02 9.98074553e-01 -1.55462467e-03 2.27371261e+00] [ 3.58965356e-02 -6.73482265e-04 9.99355285e-01 1.73759928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:53.86, Y:2.28, Z:1.74 [[ 9.97398916e-01 -6.25203644e-02 -3.58692909e-02 5.38587040e+01] [ 6.25049504e-02 9.98043447e-01 -1.55203257e-03 2.27527820e+00] [ 3.58961444e-02 -6.94012646e-04 9.99355285e-01 1.73974704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.89, Y:2.28, Z:1.74 [[ 9.97383773e-01 -6.27614350e-02 -3.58693743e-02 5.38910172e+01] [ 6.27462461e-02 9.98028309e-01 -1.55010329e-03 2.27636917e+00] [ 3.58959377e-02 -7.04620719e-04 9.99355285e-01 1.74056206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.815099892999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.92, Y:2.28, Z:1.74 [[ 9.97368344e-01 -6.30060806e-02 -3.58694847e-02 5.39232728e+01] [ 6.29911418e-02 9.98012886e-01 -1.54754510e-03 2.27719548e+00] [ 3.58957127e-02 -7.15987297e-04 9.99355285e-01 1.74131757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:53.96, Y:2.28, Z:1.74 [[ 9.97284034e-01 -6.43267225e-02 -3.58695953e-02 5.39551082e+01] [ 6.43127294e-02 9.97928598e-01 -1.54497749e-03 2.27745821e+00] [ 3.58946782e-02 -7.66090186e-04 9.99355285e-01 1.74168292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:53.99, Y:2.28, Z:1.74 [[ 9.97288695e-01 -6.42543687e-02 -3.58697071e-02 5.39877564e+01] [ 6.42404224e-02 9.97933259e-01 -1.54237570e-03 2.27880489e+00] [ 3.58946781e-02 -7.66091289e-04 9.99355285e-01 1.74285583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.02, Y:2.28, Z:1.75 [[ 9.97250442e-01 -6.48452971e-02 -3.58698188e-02 5.40194164e+01] [ 6.48318263e-02 9.97895016e-01 -1.53977501e-03 2.27912550e+00] [ 3.58941606e-02 -7.89964556e-04 9.99355285e-01 1.74610636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.05, Y:2.28, Z:1.75 [[ 9.97249994e-01 -6.48521265e-02 -3.58699295e-02 5.40517575e+01] [ 6.48387529e-02 9.97894570e-01 -1.53719217e-03 2.28014841e+00] [ 3.58940980e-02 -7.92796608e-04 9.99355285e-01 1.74577688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:54.08, Y:2.28, Z:1.75 [[ 9.97240624e-01 -6.49959902e-02 -3.58700402e-02 5.40837297e+01] [ 6.49828027e-02 9.97885204e-01 -1.53460469e-03 2.28160816e+00] [ 3.58939255e-02 -8.00565608e-04 9.99355285e-01 1.74600654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.995099892999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.12, Y:2.28, Z:1.75 [[ 9.97006047e-01 -6.85001730e-02 -3.58701519e-02 5.41160385e+01] [ 6.84893448e-02 9.97650672e-01 -1.53198837e-03 2.28175533e+00] [ 3.58908226e-02 -9.29321530e-04 9.99355285e-01 1.74874498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:54.15, Y:2.28, Z:1.75 [[ 9.96488054e-01 -7.56629593e-02 -3.58702629e-02 5.41471624e+01] [ 7.56568573e-02 9.97132740e-01 -1.52938543e-03 2.27884395e+00] [ 3.58831313e-02 -1.18981705e-03 9.99355285e-01 1.74854353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.18, Y:2.28, Z:1.75 [[ 9.96460746e-01 -7.60216603e-02 -3.58704457e-02 5.41803578e+01] [ 7.60159450e-02 9.97105436e-01 -1.52508571e-03 2.27926474e+00] [ 3.58825559e-02 -1.20703778e-03 9.99355285e-01 1.75031520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.21, Y:2.28, Z:1.75 [[ 9.96406204e-01 -7.67331443e-02 -3.58706096e-02 5.42122437e+01] [ 7.67280283e-02 9.97050899e-01 -1.52122132e-03 2.27747170e+00] [ 3.58815516e-02 -1.23652679e-03 9.99355285e-01 1.75000782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.24, Y:2.28, Z:1.75 [[ 9.96418859e-01 -7.65685952e-02 -3.58707177e-02 5.42441792e+01] [ 7.65634645e-02 9.97063553e-01 -1.51866786e-03 2.27937026e+00] [ 3.58816675e-02 -1.23315713e-03 9.99355285e-01 1.75082752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:54.28, Y:2.28, Z:1.75 [[ 9.96498327e-01 -7.55272671e-02 -3.58708283e-02 5.42761507e+01] [ 7.55215568e-02 9.97143017e-01 -1.51605009e-03 2.28091756e+00] [ 3.58828491e-02 -1.19827942e-03 9.99355285e-01 1.75121549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.175099892999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.31, Y:2.28, Z:1.76 [[ 9.96500220e-01 -7.55022151e-02 -3.58709661e-02 5.43086539e+01] [ 7.54966061e-02 9.97144911e-01 -1.51278260e-03 2.28209047e+00] [ 3.58827698e-02 -1.20064800e-03 9.99355285e-01 1.75533456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205099892999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.34, Y:2.28, Z:1.76 [[ 9.96493213e-01 -7.55945929e-02 -3.58710754e-02 5.43405518e+01] [ 7.55891370e-02 9.97137905e-01 -1.51018651e-03 2.28296658e+00] [ 3.58825709e-02 -1.20657302e-03 9.99355285e-01 1.75710859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:54.37, Y:2.28, Z:1.76 [[ 9.96519107e-01 -7.52524117e-02 -3.58712114e-02 5.43727056e+01] [ 7.52468508e-02 9.97163798e-01 -1.50694915e-03 2.28350733e+00] [ 3.58828750e-02 -1.19749207e-03 9.99355285e-01 1.75591764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:54.40, Y:2.28, Z:1.76 [[ 9.96501496e-01 -7.54852077e-02 -3.58713206e-02 5.44044785e+01] [ 7.54798910e-02 9.97146189e-01 -1.50434696e-03 2.28468407e+00] [ 3.58825065e-02 -1.20847937e-03 9.99355285e-01 1.75712539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.44, Y:2.29, Z:1.76 [[ 9.96490427e-01 -7.56310682e-02 -3.58715902e-02 5.44375210e+01] [ 7.56260780e-02 9.97135123e-01 -1.49789064e-03 2.28608033e+00] [ 3.58821095e-02 -1.22019399e-03 9.99355285e-01 1.75925362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:54.47, Y:2.29, Z:1.76 [[ 9.96489184e-01 -7.56473569e-02 -3.58717527e-02 5.44683863e+01] [ 7.56425176e-02 9.97133881e-01 -1.49398703e-03 2.28776128e+00] [ 3.58819562e-02 -1.22468777e-03 9.99355285e-01 1.75961764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:54.50, Y:2.29, Z:1.76 [[ 9.96497281e-01 -7.55405880e-02 -3.58718332e-02 5.45018851e+01] [ 7.55357492e-02 9.97141978e-01 -1.49205313e-03 2.28906661e+00] [ 3.58820213e-02 -1.22277890e-03 9.99355285e-01 1.76082129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.53, Y:2.29, Z:1.76 [[ 9.96500100e-01 -7.55033218e-02 -3.58719926e-02 5.45343933e+01] [ 7.54985970e-02 9.97144797e-01 -1.48820966e-03 2.29159147e+00] [ 3.58819356e-02 -1.22528404e-03 9.99355285e-01 1.76136839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.57, Y:2.29, Z:1.76 [[ 9.96534465e-01 -7.50483280e-02 -3.58721000e-02 5.45655689e+01] [ 7.50434020e-02 9.97179162e-01 -1.48561736e-03 2.29368312e+00] [ 3.58824037e-02 -1.21149552e-03 9.99355285e-01 1.76169032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.60, Y:2.30, Z:1.77 [[ 9.96669754e-01 -7.32296910e-02 -3.58721799e-02 5.45968841e+01] [ 7.32236581e-02 9.97314441e-01 -1.48368529e-03 2.29611453e+00] [ 3.58844929e-02 -1.14794798e-03 9.99355285e-01 1.76758625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.63, Y:2.30, Z:1.77 [[ 9.96755642e-01 -7.20511733e-02 -3.58722584e-02 5.46298887e+01] [ 7.20444464e-02 9.97400322e-01 -1.48178447e-03 2.29641552e+00] [ 3.58857664e-02 -1.10741996e-03 9.99355285e-01 1.76700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:54.66, Y:2.30, Z:1.77 [[ 9.96773107e-01 -7.18090678e-02 -3.58724192e-02 5.46633387e+01] [ 7.18023248e-02 9.97417787e-01 -1.47788079e-03 2.29719627e+00] [ 3.58859143e-02 -1.10261127e-03 9.99355285e-01 1.76764578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.70, Y:2.30, Z:1.77 [[ 9.96789229e-01 -7.15848549e-02 -3.58725818e-02 5.46952981e+01] [ 7.15781091e-02 9.97433909e-01 -1.47392397e-03 2.29834762e+00] [ 3.58860401e-02 -1.09850003e-03 9.99355285e-01 1.76933572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.565099892999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.73, Y:2.30, Z:1.77 [[ 9.96841915e-01 -7.08473361e-02 -3.58727163e-02 5.47269863e+01] [ 7.08402312e-02 9.97486591e-01 -1.47064443e-03 2.29954918e+00] [ 3.58867447e-02 -1.07523150e-03 9.99355285e-01 1.77140077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.76, Y:2.30, Z:1.77 [[ 9.96899358e-01 -7.00343367e-02 -3.58728486e-02 5.47586871e+01] [ 7.00268224e-02 9.97544030e-01 -1.46740828e-03 2.30055664e+00] [ 3.58875149e-02 -1.04920323e-03 9.99355285e-01 1.77087132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.79, Y:2.30, Z:1.77 [[ 9.96911172e-01 -6.98658308e-02 -3.58731087e-02 5.47905492e+01] [ 6.98584371e-02 9.97555845e-01 -1.46102189e-03 2.30153179e+00] [ 3.58875048e-02 -1.04953026e-03 9.99355285e-01 1.77365638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.82, Y:2.30, Z:1.77 [[ 9.96966561e-01 -6.90709007e-02 -3.58732123e-02 5.48226193e+01] [ 6.90630846e-02 9.97611228e-01 -1.45847518e-03 2.30180832e+00] [ 3.58882576e-02 -1.02346371e-03 9.99355285e-01 1.77383020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.86, Y:2.30, Z:1.77 [[ 9.96983181e-01 -6.88305364e-02 -3.58733165e-02 5.48550235e+01] [ 6.88226572e-02 9.97627848e-01 -1.45590623e-03 2.30226803e+00] [ 3.58884304e-02 -1.01738295e-03 9.99355285e-01 1.77462490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.89, Y:2.30, Z:1.77 [[ 9.97326214e-01 -6.36672717e-02 -3.58734205e-02 5.48873817e+01] [ 6.36561468e-02 9.97970833e-01 -1.45333942e-03 2.30208485e+00] [ 3.58931575e-02 -8.34110222e-04 9.99355285e-01 1.77436027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.92, Y:2.30, Z:1.78 [[ 9.97396740e-01 -6.25526426e-02 -3.58735245e-02 5.49191470e+01] [ 6.25408897e-02 9.98041348e-01 -1.45076937e-03 2.30329655e+00] [ 3.58940102e-02 -7.96569493e-04 9.99355285e-01 1.77857953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.95, Y:2.30, Z:1.78 [[ 9.97503542e-01 -6.08257126e-02 -3.58736287e-02 5.49514223e+01] [ 6.08129365e-02 9.98148130e-01 -1.44818845e-03 2.30371483e+00] [ 3.58952825e-02 -7.37007588e-04 9.99355285e-01 1.77681648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.98, Y:2.30, Z:1.78 [[ 9.97560696e-01 -5.98809932e-02 -3.58737329e-02 5.49829683e+01] [ 5.98676996e-02 9.98205274e-01 -1.44560042e-03 2.30424427e+00] [ 3.58959134e-02 -7.05603709e-04 9.99355285e-01 1.77787357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:55.01, Y:2.30, Z:1.78 [[ 9.97648260e-01 -5.84039313e-02 -3.58738106e-02 5.50148562e+01] [ 5.83897528e-02 9.98292819e-01 -1.44367192e-03 2.30473164e+00] [ 3.58968836e-02 -6.54386147e-04 9.99355285e-01 1.77913190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.05, Y:2.31, Z:1.78 [[ 9.97720952e-01 -5.71486208e-02 -3.58739150e-02 5.50468367e+01] [ 5.71337247e-02 9.98365495e-01 -1.44107203e-03 2.30542143e+00] [ 3.58976342e-02 -6.11822620e-04 9.99355285e-01 1.78190492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:55.08, Y:2.31, Z:1.78 [[ 9.97791262e-01 -5.59075244e-02 -3.58740194e-02 5.50775638e+01] [ 5.58919202e-02 9.98435789e-01 -1.43846882e-03 2.30625075e+00] [ 3.58983261e-02 -5.69776204e-04 9.99355285e-01 1.78287794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.11, Y:2.31, Z:1.79 [[ 9.97855327e-01 -5.47520699e-02 -3.58741825e-02 5.51092449e+01] [ 5.47358660e-02 9.98499839e-01 -1.43438856e-03 2.30723644e+00] [ 3.58989012e-02 -5.32292185e-04 9.99355285e-01 1.78664800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.14, Y:2.31, Z:1.79 [[ 9.97953499e-01 -5.29325364e-02 -3.58742334e-02 5.51401793e+01] [ 5.29152031e-02 9.98597981e-01 -1.43311528e-03 2.30735027e+00] [ 3.58997955e-02 -4.68109934e-04 9.99355285e-01 1.78829669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:55.17, Y:2.30, Z:1.79 [[ 9.97615877e-01 -5.89541954e-02 -3.58742840e-02 5.51718952e+01] [ 5.89407973e-02 9.98260453e-01 -1.43184782e-03 2.29872747e+00] [ 3.58962924e-02 -6.86024785e-04 9.99355285e-01 1.78655038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:55.20, Y:2.30, Z:1.79 [[ 9.97502518e-01 -6.08420835e-02 -3.58743363e-02 5.52040740e+01] [ 6.08299525e-02 9.98147119e-01 -1.43053669e-03 2.29813275e+00] [ 3.58949022e-02 -7.55270224e-04 9.99355285e-01 1.78801346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:55.24, Y:2.30, Z:1.79 [[ 9.97288421e-01 -6.42559740e-02 -3.58744414e-02 5.52358285e+01] [ 6.42461444e-02 9.97933061e-01 -1.42789545e-03 2.29587608e+00] [ 3.58920419e-02 -8.80770945e-04 9.99355285e-01 1.78757517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.27, Y:2.30, Z:1.79 [[ 9.97175592e-01 -6.59837670e-02 -3.58745196e-02 5.52683030e+01] [ 6.59751250e-02 9.97820249e-01 -1.42592819e-03 2.29544579e+00] [ 3.58904102e-02 -9.44925124e-04 9.99355285e-01 1.79132791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.30, Y:2.29, Z:1.79 [[ 9.97135986e-01 -6.65795566e-02 -3.58746221e-02 5.53006706e+01] [ 6.65713927e-02 9.97780649e-01 -1.42334393e-03 2.29466654e+00] [ 3.58897693e-02 -9.68956101e-04 9.99355285e-01 1.78888912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135099892999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.33, Y:2.29, Z:1.79 [[ 9.97069438e-01 -6.75687781e-02 -3.58747241e-02 5.53327059e+01] [ 6.75613463e-02 9.97714110e-01 -1.42077000e-03 2.29468735e+00] [ 3.58887181e-02 -1.00713831e-03 9.99355285e-01 1.79083273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.37, Y:2.30, Z:1.79 [[ 9.97074331e-01 -6.74964786e-02 -3.58748268e-02 5.53653561e+01] [ 6.74890935e-02 9.97719004e-01 -1.41817144e-03 2.29592062e+00] [ 3.58887180e-02 -1.00713720e-03 9.99355285e-01 1.79200564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.40, Y:2.30, Z:1.79 [[ 9.97035865e-01 -6.80622701e-02 -3.58749294e-02 5.53968741e+01] [ 6.80553443e-02 9.97680543e-01 -1.41557176e-03 2.29609171e+00] [ 3.58880660e-02 -1.03010485e-03 9.99355285e-01 1.79231355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.43, Y:2.30, Z:1.80 [[ 9.97009169e-01 -6.84521788e-02 -3.58750057e-02 5.54285083e+01] [ 6.84455747e-02 9.97653850e-01 -1.41363525e-03 2.29672532e+00] [ 3.58876039e-02 -1.04607807e-03 9.99355285e-01 1.79515953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.46, Y:2.29, Z:1.80 [[ 9.97111145e-01 -6.69502958e-02 -3.58751070e-02 5.54611559e+01] [ 6.69428133e-02 9.97755816e-01 -1.41105913e-03 2.29340008e+00] [ 3.58890675e-02 -9.94597805e-04 9.99355285e-01 1.79858663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.49, Y:2.29, Z:1.80 [[ 9.97266355e-01 -6.45971160e-02 -3.58752088e-02 5.54928841e+01] [ 6.45882054e-02 9.97911008e-01 -1.40846632e-03 2.29350778e+00] [ 3.58912486e-02 -9.12499280e-04 9.99355285e-01 1.79904546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.315099892999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.53, Y:2.29, Z:1.80 [[ 9.97270988e-01 -6.45254880e-02 -3.58753096e-02 5.55255348e+01] [ 6.45166235e-02 9.97915642e-01 -1.40589479e-03 2.29472873e+00] [ 3.58912486e-02 -9.12495755e-04 9.99355285e-01 1.80021840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.56, Y:2.30, Z:1.80 [[ 9.97275616e-01 -6.44538595e-02 -3.58754103e-02 5.55581856e+01] [ 6.44450413e-02 9.97920271e-01 -1.40331973e-03 2.29594734e+00] [ 3.58912485e-02 -9.12495753e-04 9.99355285e-01 1.80139135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.59, Y:2.30, Z:1.80 [[ 9.97366153e-01 -6.30373273e-02 -3.58755108e-02 5.55902755e+01] [ 6.30276860e-02 9.98010796e-01 -1.40074466e-03 2.29679156e+00] [ 3.58924463e-02 -8.64095123e-04 9.99355285e-01 1.80210235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.62, Y:2.30, Z:1.80 [[ 9.97368411e-01 -6.30015382e-02 -3.58756114e-02 5.56220784e+01] [ 6.29919666e-02 9.98013055e-01 -1.39816279e-03 2.29800130e+00] [ 3.58924150e-02 -8.65391921e-04 9.99355285e-01 1.80324484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.65, Y:2.30, Z:1.80 [[ 9.97370666e-01 -6.29657955e-02 -3.58756615e-02 5.56538813e+01] [ 6.29562470e-02 9.98015310e-01 -1.39687794e-03 2.29921051e+00] [ 3.58924150e-02 -8.65391921e-04 9.99355285e-01 1.80438778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.69, Y:2.30, Z:1.81 [[ 9.97456452e-01 -6.15918876e-02 -3.58757115e-02 5.56850395e+01] [ 6.15814973e-02 9.98101083e-01 -1.39559310e-03 2.30020909e+00] [ 3.58935437e-02 -8.17236688e-04 9.99355285e-01 1.80535955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.495099892999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.72, Y:2.30, Z:1.81 [[ 9.97458646e-01 -6.15563177e-02 -3.58757611e-02 5.57168424e+01] [ 6.15459504e-02 9.98103277e-01 -1.39431511e-03 2.30141581e+00] [ 3.58935437e-02 -8.17236150e-04 9.99355285e-01 1.80650248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.75, Y:2.30, Z:1.81 [[ 9.97550160e-01 -6.00550189e-02 -3.58758108e-02 5.57483095e+01] [ 6.00437273e-02 9.98194776e-01 -1.39303659e-03 2.30245178e+00] [ 3.58947057e-02 -7.64493531e-04 9.99355285e-01 1.80678260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:55.78, Y:2.30, Z:1.81 [[ 9.97936163e-01 -5.32572708e-02 -3.58758602e-02 5.57796677e+01] [ 5.32416336e-02 9.98580689e-01 -1.39176206e-03 2.30419428e+00] [ 3.58990626e-02 -5.21199712e-04 9.99355285e-01 1.80804882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:55.81, Y:2.31, Z:1.81 [[ 9.97942263e-01 -5.31428153e-02 -3.58759092e-02 5.58097177e+01] [ 5.31271495e-02 9.98586788e-01 -1.39049782e-03 2.30597471e+00] [ 3.58991039e-02 -5.18348249e-04 9.99355285e-01 1.80986632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.84, Y:2.31, Z:1.81 [[ 9.97931816e-01 -5.33386312e-02 -3.58759092e-02 5.58401659e+01] [ 5.33230919e-02 9.98576344e-01 -1.39049782e-03 2.30756295e+00] [ 3.58990015e-02 -5.25392386e-04 9.99355285e-01 1.81271339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:55.87, Y:2.31, Z:1.81 [[ 9.97921347e-01 -5.35341415e-02 -3.58759092e-02 5.58702703e+01] [ 5.35187285e-02 9.98565878e-01 -1.39049782e-03 2.30860066e+00] [ 3.58988979e-02 -5.32425583e-04 9.99355285e-01 1.81255295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.675099892999995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:55.90, Y:2.31, Z:1.81 [[ 9.97806029e-01 -5.56421356e-02 -3.58759092e-02 5.59002098e+01] [ 5.56280842e-02 9.98450591e-01 -1.39049782e-03 2.30941137e+00] [ 3.58976930e-02 -6.08260986e-04 9.99355285e-01 1.81366300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:55.93, Y:2.31, Z:1.81 [[ 9.97806030e-01 -5.56421123e-02 -3.58759343e-02 5.59311657e+01] [ 5.56280842e-02 9.98450592e-01 -1.38984991e-03 2.31061031e+00] [ 3.58976820e-02 -6.08908875e-04 9.99355285e-01 1.81477573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.96, Y:2.31, Z:1.82 [[ 9.97728027e-01 -5.70236975e-02 -3.58759343e-02 5.59622189e+01] [ 5.70105619e-02 9.98372608e-01 -1.38984991e-03 2.31145385e+00] [ 3.58968045e-02 -6.58614966e-04 9.99355285e-01 1.81626321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:55.99, Y:2.31, Z:1.82 [[ 9.97625874e-01 -5.87837489e-02 -3.58759849e-02 5.59928022e+01] [ 5.87717974e-02 9.98270478e-01 -1.38854418e-03 2.31237092e+00] [ 3.58955604e-02 -7.23248510e-04 9.99355285e-01 1.81809425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.02, Y:2.31, Z:1.82 [[ 9.97518422e-01 -6.05797847e-02 -3.58760099e-02 5.60237340e+01] [ 6.05690171e-02 9.98163047e-01 -1.38789565e-03 2.31360820e+00] [ 3.58941858e-02 -7.88523183e-04 9.99355285e-01 1.81916435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.06, Y:2.31, Z:1.82 [[ 9.97520564e-01 -6.05444712e-02 -3.58760590e-02 5.60555376e+01] [ 6.05337264e-02 9.98165189e-01 -1.38662628e-03 2.31480785e+00] [ 3.58941858e-02 -7.88523310e-04 9.99355285e-01 1.82030730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.09, Y:2.32, Z:1.82 [[ 9.97415777e-01 -6.22468622e-02 -3.58761080e-02 5.60871540e+01] [ 6.22372632e-02 9.98060421e-01 -1.38535704e-03 2.31633350e+00] [ 3.58927576e-02 -8.51053807e-04 9.99355285e-01 1.82269056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885099892999996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.12, Y:2.32, Z:1.82 [[ 9.97417994e-01 -6.22112774e-02 -3.58762068e-02 5.61189580e+01] [ 6.22017476e-02 9.98062639e-01 -1.38279488e-03 2.31752945e+00] [ 3.58927270e-02 -8.52338257e-04 9.99355285e-01 1.82383308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:56.15, Y:2.32, Z:1.82 [[ 9.97305918e-01 -6.39828072e-02 -3.58762560e-02 5.61512050e+01] [ 6.39744683e-02 9.97950579e-01 -1.38151742e-03 2.31906632e+00] [ 3.58911238e-02 -9.17368905e-04 9.99355285e-01 1.82350830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:56.18, Y:2.32, Z:1.82 [[ 9.97201299e-01 -6.55931187e-02 -3.58763554e-02 5.61837828e+01] [ 6.55859137e-02 9.97845973e-01 -1.37893057e-03 2.32045686e+00] [ 3.58895251e-02 -9.77912199e-04 9.99355285e-01 1.82430104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.22, Y:2.32, Z:1.82 [[ 9.96963221e-01 -6.91174055e-02 -3.58764542e-02 5.62165242e+01] [ 6.91125718e-02 9.97607918e-01 -1.37635571e-03 2.32189067e+00] [ 3.58857649e-02 -1.10733799e-03 9.99355285e-01 1.82350981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.25, Y:2.37, Z:1.83 [[ 9.97872139e-01 -5.44432314e-02 -3.58765780e-02 5.62457864e+01] [ 5.44290302e-02 9.98516698e-01 -1.37311912e-03 2.36623366e+00] [ 3.58981193e-02 -5.82530034e-04 9.99355285e-01 1.82961617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:56.28, Y:2.37, Z:1.83 [[ 9.97886702e-01 -5.41756079e-02 -3.58766520e-02 5.62769452e+01] [ 5.41613033e-02 9.98531258e-01 -1.37118518e-03 2.36917341e+00] [ 3.58982432e-02 -5.74838771e-04 9.99355285e-01 1.82976196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.065099892999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.31, Y:2.37, Z:1.83 [[ 9.97885039e-01 -5.42062000e-02 -3.58767011e-02 5.63084677e+01] [ 5.41919614e-02 9.98529596e-01 -1.36989909e-03 2.37214827e+00] [ 3.58982049e-02 -5.77226997e-04 9.99355285e-01 1.83210444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.34, Y:2.38, Z:1.83 [[ 9.97870937e-01 -5.44650732e-02 -3.58768596e-02 5.63403729e+01] [ 5.44511516e-02 9.98515502e-01 -1.36573494e-03 2.37504620e+00] [ 3.58979853e-02 -5.90709118e-04 9.99355285e-01 1.83474056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:56.37, Y:2.38, Z:1.83 [[ 9.97886206e-01 -5.41845278e-02 -3.58769559e-02 5.63729423e+01] [ 5.41705161e-02 9.98530769e-01 -1.36320037e-03 2.37787326e+00] [ 3.58981087e-02 -5.83154372e-04 9.99355285e-01 1.83485934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.40, Y:2.38, Z:1.84 [[ 9.97915617e-01 -5.36400765e-02 -3.58770548e-02 5.64042906e+01] [ 5.36258068e-02 9.98560174e-01 -1.36059193e-03 2.38002280e+00] [ 3.58983804e-02 -5.66180077e-04 9.99355285e-01 1.83591702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.44, Y:2.38, Z:1.84 [[ 9.97962552e-01 -5.27596112e-02 -3.58771284e-02 5.64360112e+01] [ 5.27448427e-02 9.98607098e-01 -1.35864811e-03 2.38290487e+00] [ 3.58988368e-02 -5.36453558e-04 9.99355285e-01 1.83967363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.47, Y:2.38, Z:1.84 [[ 9.97996518e-01 -5.21130982e-02 -3.58772264e-02 5.64677775e+01] [ 5.20980053e-02 9.98641056e-01 -1.35605544e-03 2.38475799e+00] [ 3.58991395e-02 -5.15793324e-04 9.99355285e-01 1.84036703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.245099892999995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:56.50, Y:2.39, Z:1.84 [[ 9.98026112e-01 -5.15431615e-02 -3.58773251e-02 5.64986802e+01] [ 5.15277946e-02 9.98670644e-01 -1.35343972e-03 2.38647077e+00] [ 3.58993919e-02 -4.97911255e-04 9.99355285e-01 1.83972975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.53, Y:2.39, Z:1.84 [[ 9.98041616e-01 -5.12420254e-02 -3.58773985e-02 5.65308360e+01] [ 5.12265340e-02 9.98686145e-01 -1.35149134e-03 2.38842553e+00] [ 3.58995139e-02 -4.89030171e-04 9.99355285e-01 1.84219134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:56.56, Y:2.39, Z:1.84 [[ 9.98076475e-01 -5.05584346e-02 -3.58774952e-02 5.65608553e+01] [ 5.05425942e-02 9.98720995e-01 -1.34891965e-03 2.39052078e+00] [ 3.58998070e-02 -4.67016706e-04 9.99355285e-01 1.83929886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:56.59, Y:2.39, Z:1.84 [[ 9.98064017e-01 -5.08037595e-02 -3.58775191e-02 5.65932961e+01] [ 5.07881004e-02 9.98708542e-01 -1.34828339e-03 2.39181852e+00] [ 3.58996826e-02 -4.76477909e-04 9.99355285e-01 1.84053166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:56.63, Y:2.39, Z:1.84 [[ 9.98046865e-01 -5.11395348e-02 -3.58776155e-02 5.66256671e+01] [ 5.11241849e-02 9.98691397e-01 -1.34571413e-03 2.39239595e+00] [ 3.58994851e-02 -4.91128082e-04 9.99355285e-01 1.84157322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395099893 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.66, Y:2.39, Z:1.84 [[ 9.98054850e-01 -5.09833833e-02 -3.58777127e-02 5.66572446e+01] [ 5.09680259e-02 9.98699382e-01 -1.34311784e-03 2.39281465e+00] [ 3.58995262e-02 -4.88110913e-04 9.99355285e-01 1.84252946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:2.39, Z:1.85 [[ 9.98052862e-01 -5.10222428e-02 -3.58777853e-02 5.66891147e+01] [ 5.10069803e-02 9.98697396e-01 -1.34117399e-03 2.39338297e+00] [ 3.58994805e-02 -4.91454952e-04 9.99355285e-01 1.84645297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455099892999996 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.72, Y:2.40, Z:1.85 [[ 9.98399567e-01 -4.37159273e-02 -3.58778815e-02 5.67200570e+01] [ 4.36960403e-02 9.99043975e-01 -1.33859658e-03 2.39544092e+00] [ 3.59020993e-02 -2.31267109e-04 9.99355285e-01 1.84859410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:2.40, Z:1.85 [[ 9.98484945e-01 -4.17203751e-02 -3.58779296e-02 5.67489932e+01] [ 4.16992466e-02 9.99129313e-01 -1.33730459e-03 2.39738615e+00] [ 3.59024840e-02 -1.60804136e-04 9.99355285e-01 1.85298561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.78, Y:2.40, Z:1.85 [[ 9.98672260e-01 -3.69660990e-02 -3.58779057e-02 5.67786731e+01] [ 3.69418800e-02 9.99316520e-01 -1.33794532e-03 2.39851664e+00] [ 3.59028425e-02 1.07715869e-05 9.99355285e-01 1.85065596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545099893 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.81, Y:2.40, Z:1.85 [[ 9.98816819e-01 -3.28289161e-02 -3.58779127e-02 5.68072508e+01] [ 3.28020352e-02 9.99460973e-01 -1.33775930e-03 2.39859588e+00] [ 3.59024907e-02 1.59307939e-04 9.99355285e-01 1.84998357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.83, Y:2.40, Z:1.85 [[ 9.98880291e-01 -3.08376811e-02 -3.58775822e-02 5.68338477e+01] [ 3.08091998e-02 9.99524377e-01 -1.34656569e-03 2.39915841e+00] [ 3.59020429e-02 2.39698331e-04 9.99355285e-01 1.85032845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.86, Y:2.40, Z:1.85 [[ 9.98967508e-01 -2.78698523e-02 -3.58774180e-02 5.68621729e+01] [ 2.78393010e-02 9.99611499e-01 -1.35092615e-03 2.39963371e+00] [ 3.59011297e-02 3.50729097e-04 9.99355285e-01 1.85059828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:2.40, Z:1.85 [[ 9.99006454e-01 -2.64374804e-02 -3.58770858e-02 5.68913478e+01] [ 2.64056910e-02 9.99650384e-01 -1.35969132e-03 2.39959105e+00] [ 3.59004894e-02 4.10981159e-04 9.99355285e-01 1.85335204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.92, Y:2.40, Z:1.85 [[ 9.99013248e-01 -2.61798843e-02 -3.58767772e-02 5.69205435e+01] [ 2.61476382e-02 9.99657156e-01 -1.36778608e-03 2.39777418e+00] [ 3.59002855e-02 4.28343430e-04 9.99355285e-01 1.85312396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.95, Y:2.40, Z:1.85 [[ 9.99000209e-01 -2.66732914e-02 -3.58764286e-02 5.69482241e+01] [ 2.66410372e-02 9.99644116e-01 -1.37686769e-03 2.39640866e+00] [ 3.59003864e-02 4.19705842e-04 9.99355285e-01 1.85335522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.98, Y:2.40, Z:1.86 [[ 9.98908613e-01 -2.99077585e-02 -3.58763053e-02 5.69755060e+01] [ 2.98774741e-02 9.99552616e-01 -1.38007430e-03 2.39556714e+00] [ 3.59015297e-02 3.06674719e-04 9.99355285e-01 1.85712897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:57.00, Y:2.39, Z:1.86 [[ 9.98603673e-01 -3.87763612e-02 -3.58761586e-02 5.70039615e+01] [ 3.87516598e-02 9.99247914e-01 -1.38387728e-03 2.39316727e+00] [ 3.59028384e-02 -8.31575492e-06 9.99355285e-01 1.85978519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:57.03, Y:2.39, Z:1.86 [[ 9.98245701e-01 -4.71001945e-02 -3.58760582e-02 5.70330459e+01] [ 4.70807716e-02 9.98890123e-01 -1.38647647e-03 2.39044341e+00] [ 3.59015435e-02 -3.05028325e-04 9.99355285e-01 1.85979266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.815099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.06, Y:2.39, Z:1.86 [[ 9.97763437e-01 -5.64008681e-02 -3.58757022e-02 5.70630939e+01] [ 5.63871224e-02 9.98408005e-01 -1.39562741e-03 2.38775427e+00] [ 3.58973028e-02 -6.30421608e-04 9.99355285e-01 1.85989753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:2.39, Z:1.86 [[ 9.97135618e-01 -6.65844289e-02 -3.58757890e-02 5.70946302e+01] [ 6.65773449e-02 9.97780294e-01 -1.39339291e-03 2.38584663e+00] [ 3.58889335e-02 -9.99113078e-04 9.99355285e-01 1.86427360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.13, Y:2.39, Z:1.86 [[ 9.96832184e-01 -7.09825234e-02 -3.58758640e-02 5.71268358e+01] [ 7.09783529e-02 9.97476886e-01 -1.39145879e-03 2.38522648e+00] [ 3.58841143e-02 -1.15935882e-03 9.99355285e-01 1.86305535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:2.38, Z:1.87 [[ 9.96170540e-01 -7.97318637e-02 -3.58759628e-02 5.71602045e+01] [ 7.97334456e-02 9.96815253e-01 -1.38890575e-03 2.38360434e+00] [ 3.58724470e-02 -1.47692713e-03 9.99355285e-01 1.86656726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.19, Y:2.38, Z:1.86 [[ 9.95667350e-01 -8.57871358e-02 -3.58761132e-02 5.71914744e+01] [ 8.57927776e-02 9.96312040e-01 -1.38501081e-03 2.38240568e+00] [ 3.58626196e-02 -1.69890136e-03 9.99355285e-01 1.86448929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:57.22, Y:2.38, Z:1.87 [[ 9.95362001e-01 -8.92602123e-02 -3.58761877e-02 5.72247132e+01] [ 8.92681727e-02 9.96006667e-01 -1.38307668e-03 2.38094845e+00] [ 3.58563759e-02 -1.82593975e-03 9.99355285e-01 1.86560014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.995099892999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:57.26, Y:2.39, Z:1.87 [[ 9.96142660e-01 -8.00792739e-02 -3.58763378e-02 5.72561980e+01] [ 8.00814305e-02 9.96787371e-01 -1.37917422e-03 2.38629443e+00] [ 3.58715237e-02 -1.49917417e-03 9.99355285e-01 1.86601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:57.29, Y:2.39, Z:1.87 [[ 9.96287292e-01 -7.82592521e-02 -3.58764621e-02 5.72894164e+01] [ 7.82603474e-02 9.96932006e-01 -1.37593192e-03 2.38930064e+00] [ 3.58740727e-02 -1.43688090e-03 9.99355285e-01 1.86854015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.32, Y:2.39, Z:1.87 [[ 9.96385813e-01 -7.69946805e-02 -3.58766093e-02 5.73223858e+01] [ 7.69950959e-02 9.97030527e-01 -1.37208431e-03 2.39214267e+00] [ 3.58757178e-02 -1.39519763e-03 9.99355285e-01 1.86960223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.36, Y:2.39, Z:1.87 [[ 9.96394053e-01 -7.68878989e-02 -3.58767555e-02 5.73558887e+01] [ 7.68883831e-02 9.97038768e-01 -1.36824919e-03 2.39333049e+00] [ 3.58757179e-02 -1.39519036e-03 9.99355285e-01 1.87080517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.39, Y:2.40, Z:1.87 [[ 9.96446099e-01 -7.62103616e-02 -3.58769016e-02 5.73882975e+01] [ 7.62105455e-02 9.97090814e-01 -1.36440680e-03 2.39536141e+00] [ 3.58765110e-02 -1.37464042e-03 9.99355285e-01 1.86989607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.42, Y:2.40, Z:1.87 [[ 9.96542271e-01 -7.49422709e-02 -3.58769995e-02 5.74198108e+01] [ 7.49417271e-02 9.97186985e-01 -1.36182837e-03 2.39903612e+00] [ 3.58781355e-02 -1.33156477e-03 9.99355285e-01 1.86919184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.175099892999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:57.45, Y:2.40, Z:1.87 [[ 9.96587468e-01 -7.43387781e-02 -3.58770723e-02 5.74525806e+01] [ 7.43379129e-02 9.97232182e-01 -1.35990758e-03 2.40178634e+00] [ 3.58788650e-02 -1.31175983e-03 9.99355285e-01 1.86996547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205099892999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.49, Y:2.40, Z:1.87 [[ 9.96637263e-01 -7.36681173e-02 -3.58772180e-02 5.74852772e+01] [ 7.36669568e-02 9.97281976e-01 -1.35605348e-03 2.40445337e+00] [ 3.58796008e-02 -1.29147204e-03 9.99355285e-01 1.87186657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:57.52, Y:2.41, Z:1.87 [[ 9.96685190e-01 -7.30167576e-02 -3.58773631e-02 5.75177636e+01] [ 7.30153142e-02 9.97329903e-01 -1.35220259e-03 2.40710557e+00] [ 3.58803005e-02 -1.27187665e-03 9.99355285e-01 1.87138465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:57.55, Y:2.41, Z:1.87 [[ 9.96669206e-01 -7.32345613e-02 -3.58774589e-02 5.75499527e+01] [ 7.32333503e-02 9.97313920e-01 -1.34965636e-03 2.41164869e+00] [ 3.58799307e-02 -1.28226559e-03 9.99355285e-01 1.87254447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.58, Y:2.42, Z:1.88 [[ 9.96570378e-01 -7.45673046e-02 -3.58775544e-02 5.75830319e+01] [ 7.45670472e-02 9.97215093e-01 -1.34711278e-03 2.41611668e+00] [ 3.58780893e-02 -1.33279060e-03 9.99355285e-01 1.87509874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:2.42, Z:1.88 [[ 9.96489837e-01 -7.56359462e-02 -3.58776979e-02 5.76152907e+01] [ 7.56365180e-02 9.97134551e-01 -1.34327959e-03 2.42122105e+00] [ 3.58764925e-02 -1.37509968e-03 9.99355285e-01 1.88012076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.355099892999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.65, Y:2.42, Z:1.88 [[ 9.96586553e-01 -7.43506947e-02 -3.58777937e-02 5.76466024e+01] [ 7.43505272e-02 9.97231268e-01 -1.34071597e-03 2.42398457e+00] [ 3.58781409e-02 -1.33139337e-03 9.99355285e-01 1.87867344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385099892999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:57.68, Y:2.43, Z:1.88 [[ 9.96961241e-01 -6.91451642e-02 -3.58779812e-02 5.76789274e+01] [ 6.91418107e-02 9.97605947e-01 -1.33568130e-03 2.42932146e+00] [ 3.58844433e-02 -1.14904610e-03 9.99355285e-01 1.87778318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.71, Y:2.43, Z:1.88 [[ 9.97101112e-01 -6.70979551e-02 -3.58780765e-02 5.77113558e+01] [ 6.70933701e-02 9.97745811e-01 -1.33311659e-03 2.43144757e+00] [ 3.58866499e-02 -1.07792903e-03 9.99355285e-01 1.88057197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:57.74, Y:2.43, Z:1.88 [[ 9.97155290e-01 -6.62878895e-02 -3.58781729e-02 5.77432129e+01] [ 6.62828743e-02 9.97799985e-01 -1.33051528e-03 2.43289115e+00] [ 3.58874375e-02 -1.05137807e-03 9.99355285e-01 1.88193434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:57.78, Y:2.43, Z:1.88 [[ 9.97158540e-01 -6.62389208e-02 -3.58782931e-02 5.77757168e+01] [ 6.62339906e-02 9.97803236e-01 -1.32726834e-03 2.43429414e+00] [ 3.58873937e-02 -1.05286557e-03 9.99355285e-01 1.88410058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.81, Y:2.44, Z:1.89 [[ 9.97140135e-01 -6.65153517e-02 -3.58783893e-02 5.78066407e+01] [ 6.65106939e-02 9.97784833e-01 -1.32466231e-03 2.43529121e+00] [ 3.58870230e-02 -1.06542262e-03 9.99355285e-01 1.88675040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.84, Y:2.44, Z:1.89 [[ 9.97120500e-01 -6.68090210e-02 -3.58784608e-02 5.78376782e+01] [ 6.68046229e-02 9.97765199e-01 -1.32272273e-03 2.43591083e+00] [ 3.58866494e-02 -1.07793309e-03 9.99355285e-01 1.88617065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.565099892999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:57.87, Y:2.44, Z:1.89 [[ 9.97085085e-01 -6.73354000e-02 -3.58786357e-02 5.78699341e+01] [ 6.73315134e-02 9.97729788e-01 -1.31796119e-03 2.43666086e+00] [ 3.58859290e-02 -1.10164339e-03 9.99355285e-01 1.88702244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:57.90, Y:2.44, Z:1.89 [[ 9.96976536e-01 -6.89238882e-02 -3.58787314e-02 5.79011643e+01] [ 6.89211226e-02 9.97621245e-01 -1.31535012e-03 2.43726657e+00] [ 3.58840438e-02 -1.16142924e-03 9.99355285e-01 1.88732408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.93, Y:2.44, Z:1.89 [[ 9.97241197e-01 -6.49822972e-02 -3.58789115e-02 5.79315072e+01] [ 6.49771603e-02 9.97885891e-01 -1.31042071e-03 2.43868147e+00] [ 3.58882137e-02 -1.02450427e-03 9.99355285e-01 1.89383607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:57.96, Y:2.44, Z:1.89 [[ 9.97644182e-01 -5.84703923e-02 -3.58789584e-02 5.79636041e+01] [ 5.84610928e-02 9.98288829e-01 -1.30913503e-03 2.43834850e+00] [ 3.58941090e-02 -7.91472165e-04 9.99355285e-01 1.89234079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.00, Y:2.44, Z:1.90 [[ 9.98672884e-01 -3.69481216e-02 -3.58790515e-02 5.79956297e+01] [ 3.69250178e-02 9.99317185e-01 -1.30657830e-03 2.44184840e+00] [ 3.59028283e-02 -1.99902969e-05 9.99355285e-01 1.89653861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:58.02, Y:2.44, Z:1.90 [[ 9.98743012e-01 -3.50011716e-02 -3.58791441e-02 5.80238786e+01] [ 3.49769034e-02 9.99387270e-01 -1.30403089e-03 2.44301255e+00] [ 3.59028024e-02 4.74503836e-05 9.99355285e-01 1.89701137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.745099892999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.05, Y:2.44, Z:1.90 [[ 9.98787080e-01 -3.37205905e-02 -3.58788186e-02 5.80512833e+01] [ 3.36951767e-02 9.99431294e-01 -1.31292486e-03 2.44396377e+00] [ 3.59026867e-02 1.02389257e-04 9.99355285e-01 1.89814863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:58.08, Y:2.44, Z:1.90 [[ 9.98813407e-01 -3.29317370e-02 -3.58786550e-02 5.80791443e+01] [ 3.29056544e-02 9.99457594e-01 -1.31737997e-03 2.44413030e+00] [ 3.59025778e-02 1.35206155e-04 9.99355285e-01 1.89891931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805099893 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:58.11, Y:2.44, Z:1.90 [[ 9.98706191e-01 -3.60371294e-02 -3.58785390e-02 5.81072739e+01] [ 3.60129367e-02 9.99350451e-01 -1.32053217e-03 2.44125600e+00] [ 3.59028223e-02 2.67321053e-05 9.99355285e-01 1.89844871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.14, Y:2.43, Z:1.90 [[ 9.97753768e-01 -5.65700957e-02 -3.58781567e-02 5.81363681e+01] [ 5.65587882e-02 9.98398384e-01 -1.33083886e-03 2.43015813e+00] [ 3.58959793e-02 -7.01375582e-04 9.99355286e-01 1.90132966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.17, Y:2.43, Z:1.90 [[ 9.97438748e-01 -6.18765652e-02 -3.58780613e-02 5.81688009e+01] [ 6.18685944e-02 9.98083413e-01 -1.33340649e-03 2.42911259e+00] [ 3.58918045e-02 -8.89733919e-04 9.99355286e-01 1.90077757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:58.20, Y:2.43, Z:1.90 [[ 9.97282129e-01 -6.43514855e-02 -3.58781586e-02 5.81999149e+01] [ 6.43452088e-02 9.97926813e-01 -1.33078116e-03 2.42898428e+00] [ 3.58894142e-02 -9.81423341e-04 9.99355286e-01 1.90025611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.925099892999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:58.23, Y:2.43, Z:1.90 [[ 9.97109495e-01 -6.69731884e-02 -3.58782311e-02 5.82321241e+01] [ 6.69686770e-02 9.97754193e-01 -1.32882462e-03 2.42871246e+00] [ 3.58866512e-02 -1.07773402e-03 9.99355286e-01 1.90096015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:2.43, Z:1.91 [[ 9.96927753e-01 -6.96261590e-02 -3.58783259e-02 5.82642608e+01] [ 6.96234553e-02 9.97572461e-01 -1.32626017e-03 2.42834385e+00] [ 3.58835723e-02 -1.17578745e-03 9.99355286e-01 1.90516514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:58.30, Y:2.43, Z:1.90 [[ 9.96667769e-01 -7.32536504e-02 -3.58784198e-02 5.82969326e+01] [ 7.32533843e-02 9.97312483e-01 -1.32371626e-03 2.42725984e+00] [ 3.58789630e-02 -1.30891034e-03 9.99355286e-01 1.90407967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.33, Y:2.43, Z:1.90 [[ 9.96565518e-01 -7.46317620e-02 -3.58785142e-02 5.83289147e+01] [ 7.46324796e-02 9.97210232e-01 -1.32115287e-03 2.42763486e+00] [ 3.58770214e-02 -1.36108708e-03 9.99355286e-01 1.90468452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:58.36, Y:2.43, Z:1.91 [[ 9.96481520e-01 -7.57450050e-02 -3.58786081e-02 5.83611155e+01] [ 7.57465348e-02 9.97126233e-01 -1.31859538e-03 2.42743045e+00] [ 3.58753784e-02 -1.40372432e-03 9.99355286e-01 1.90624180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:58.39, Y:2.43, Z:1.91 [[ 9.96624655e-01 -7.38377634e-02 -3.58787055e-02 5.83935264e+01] [ 7.38381547e-02 9.97269369e-01 -1.31594119e-03 2.42799719e+00] [ 3.58779002e-02 -1.33771797e-03 9.99355286e-01 1.90607540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.42, Y:2.43, Z:1.90 [[ 9.96929964e-01 -6.95942330e-02 -3.58788264e-02 5.84233822e+01] [ 6.95919984e-02 9.97574674e-01 -1.31263763e-03 2.42966986e+00] [ 3.58831605e-02 -1.18827144e-03 9.99355286e-01 1.90492434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.46, Y:2.43, Z:1.90 [[ 9.97068574e-01 -6.75810665e-02 -3.58755910e-02 5.84550760e+01] [ 6.75743406e-02 9.97713258e-01 -1.40135973e-03 2.43206237e+00] [ 3.58882582e-02 -1.02701766e-03 9.99355281e-01 1.90454875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:2.43, Z:1.91 [[ 9.97472429e-01 -6.13340167e-02 -3.58732847e-02 5.84866930e+01] [ 6.13209692e-02 9.98117024e-01 -1.46488235e-03 2.43423413e+00] [ 3.58955833e-02 -7.38604834e-04 9.99355273e-01 1.90670253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:2.44, Z:1.91 [[ 9.97968136e-01 -5.26554376e-02 -3.58748483e-02 5.85192439e+01] [ 5.26383437e-02 9.98612630e-01 -1.42147595e-03 2.43958190e+00] [ 3.58999250e-02 -4.69804897e-04 9.99355280e-01 1.91155184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:58.55, Y:2.44, Z:1.91 [[ 9.98075126e-01 -5.05834894e-02 -3.58797069e-02 5.85492480e+01] [ 5.05699293e-02 9.98719695e-01 -1.28592149e-03 2.44150570e+00] [ 3.58988163e-02 -5.30987988e-04 9.99355289e-01 1.91008724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.58, Y:2.44, Z:1.91 [[ 9.98155917e-01 -4.89633573e-02 -3.58797298e-02 5.85804992e+01] [ 4.89487740e-02 9.98800463e-01 -1.28528145e-03 2.44355977e+00] [ 3.58996225e-02 -4.73357503e-04 9.99355289e-01 1.91460352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:2.45, Z:1.91 [[ 9.98642953e-01 -3.77477579e-02 -3.58797763e-02 5.86098873e+01] [ 3.77259819e-02 9.99287297e-01 -1.28398280e-03 2.45166673e+00] [ 3.59026721e-02 -7.13594116e-05 9.99355289e-01 1.91472770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.315099892999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:58.64, Y:2.46, Z:1.92 [[ 9.98753863e-01 -3.46948153e-02 -3.58746559e-02 5.86381809e+01] [ 3.46659432e-02 9.99397937e-01 -1.42669298e-03 2.45516687e+00] [ 3.59025559e-02 1.81286339e-04 9.99355279e-01 1.91813190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.67, Y:2.46, Z:1.92 [[ 9.98761951e-01 -3.44559822e-02 -3.58796627e-02 5.86663263e+01] [ 3.44319693e-02 9.99406215e-01 -1.28713354e-03 2.45802393e+00] [ 3.59027074e-02 5.01325579e-05 9.99355289e-01 1.92107185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.69, Y:2.46, Z:1.92 [[ 9.98757433e-01 -3.45870503e-02 -3.58793331e-02 5.86936085e+01] [ 3.45627942e-02 9.99401687e-01 -1.29625792e-03 2.46036320e+00] [ 3.59026998e-02 5.45572258e-05 9.99355289e-01 1.92133375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:58.72, Y:2.46, Z:1.92 [[ 9.98756834e-01 -3.46045986e-02 -3.58790727e-02 5.87215381e+01] [ 3.45800963e-02 9.99401080e-01 -1.30342609e-03 2.46384089e+00] [ 3.59026885e-02 6.11039283e-05 9.99355289e-01 1.91905540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435099893 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:58.75, Y:2.47, Z:1.92 [[ 9.98751014e-01 -3.47723057e-02 -3.58789577e-02 5.87492493e+01] [ 3.47477981e-02 9.99395259e-01 -1.30658387e-03 2.46609531e+00] [ 3.59026931e-02 5.82371912e-05 9.99355289e-01 1.91980283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:2.47, Z:1.92 [[ 9.98732304e-01 -3.53059815e-02 -3.58785919e-02 5.87764938e+01] [ 3.52814601e-02 9.99376548e-01 -1.31655159e-03 2.46934880e+00] [ 3.59027055e-02 4.90334922e-05 9.99355289e-01 1.92312695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.495099892999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.80, Y:2.47, Z:1.92 [[ 9.98741378e-01 -3.50487308e-02 -3.58782179e-02 5.88046141e+01] [ 3.50236801e-02 9.99385602e-01 -1.32666671e-03 2.47197928e+00] [ 3.59026724e-02 6.84097079e-05 9.99355289e-01 1.92140763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:58.83, Y:2.47, Z:1.93 [[ 9.98683511e-01 -3.66609588e-02 -3.58778384e-02 5.88328964e+01] [ 3.66365821e-02 9.99327761e-01 -1.33685275e-03 2.47458908e+00] [ 3.59027302e-02 2.06514225e-05 9.99355289e-01 1.92546209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:58.86, Y:2.47, Z:1.92 [[ 9.97448794e-01 -6.17147272e-02 -3.58775054e-02 5.88624503e+01] [ 6.17062087e-02 9.98093449e-01 -1.34573042e-03 2.46523444e+00] [ 3.58921544e-02 -8.71567651e-04 9.99355289e-01 1.92338311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.90, Y:2.46, Z:1.92 [[ 9.96859116e-01 -7.06025045e-02 -3.58774107e-02 5.88950238e+01] [ 7.05996416e-02 9.97503821e-01 -1.34824878e-03 2.46311845e+00] [ 3.58830440e-02 -1.18891825e-03 9.99355289e-01 1.92379096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:2.46, Z:1.93 [[ 9.96699420e-01 -7.28221849e-02 -3.58775077e-02 5.89261870e+01] [ 7.28208507e-02 9.97344130e-01 -1.34566185e-03 2.46384265e+00] [ 3.58802158e-02 -1.27141025e-03 9.99355289e-01 1.92621497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:58.96, Y:2.46, Z:1.92 [[ 9.96617350e-01 -7.39368409e-02 -3.58775801e-02 5.89582980e+01] [ 7.39362972e-02 9.97262061e-01 -1.34373051e-03 2.46456399e+00] [ 3.58787006e-02 -1.31347028e-03 9.99355289e-01 1.92418283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.675099892999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:58.99, Y:2.47, Z:1.93 [[ 9.96573878e-01 -7.45204501e-02 -3.58776757e-02 5.89905679e+01] [ 7.45203758e-02 9.97218589e-01 -1.34117280e-03 2.46529681e+00] [ 3.58778299e-02 -1.33704009e-03 9.99355289e-01 1.92513898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:59.02, Y:2.47, Z:1.93 [[ 9.96574233e-01 -7.45156653e-02 -3.58777725e-02 5.90224519e+01] [ 7.45156812e-02 9.97218944e-01 -1.33857871e-03 2.46640396e+00] [ 3.58777395e-02 -1.33946360e-03 9.99355289e-01 1.92502176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:59.05, Y:2.47, Z:1.93 [[ 9.96749307e-01 -7.21359523e-02 -3.58778924e-02 5.90541797e+01] [ 7.21345447e-02 9.97394017e-01 -1.33535543e-03 2.46812524e+00] [ 3.58807224e-02 -1.25702084e-03 9.99355289e-01 1.92787162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:59.09, Y:2.47, Z:1.93 [[ 9.96914254e-01 -6.98193458e-02 -3.58779873e-02 5.90865792e+01] [ 6.98165318e-02 9.97558958e-01 -1.33280145e-03 2.47020584e+00] [ 3.58834630e-02 -1.17618788e-03 9.99355289e-01 1.93060977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.12, Y:2.47, Z:1.93 [[ 9.97355759e-01 -6.32001108e-02 -3.58780828e-02 5.91171381e+01] [ 6.31931097e-02 9.98000432e-01 -1.33022648e-03 2.47348176e+00] [ 3.58904126e-02 -9.40538585e-04 9.99355289e-01 1.93418269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:59.15, Y:2.48, Z:1.94 [[ 9.97565200e-01 -5.98032066e-02 -3.58782479e-02 5.91492700e+01] [ 5.97941707e-02 9.98209847e-01 -1.32575741e-03 2.47568779e+00] [ 3.58933049e-02 -8.22780621e-04 9.99355289e-01 1.93746466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.855099892999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:59.18, Y:2.48, Z:1.94 [[ 9.98202617e-01 -4.80029242e-02 -3.58783443e-02 5.91806089e+01] [ 4.79863599e-02 9.98847115e-01 -1.32314526e-03 2.48030789e+00] [ 3.59004955e-02 -4.00904085e-04 9.99355289e-01 1.93837948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885099892999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.21, Y:2.48, Z:1.94 [[ 9.98389720e-01 -4.39398103e-02 -3.58784159e-02 5.92118223e+01] [ 4.39206930e-02 9.99034147e-01 -1.32119951e-03 2.48269416e+00] [ 3.59018159e-02 -2.56732883e-04 9.99355289e-01 1.93927681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:59.24, Y:2.48, Z:1.93 [[ 9.98357395e-01 -4.46681912e-02 -3.58784630e-02 5.92421661e+01] [ 4.46495900e-02 9.99001838e-01 -1.31992089e-03 2.48142896e+00] [ 3.59016089e-02 -2.84205881e-04 9.99355289e-01 1.93486519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.27, Y:2.48, Z:1.94 [[ 9.98286403e-01 -4.62276356e-02 -3.58784391e-02 5.92722411e+01] [ 4.62100177e-02 9.98930874e-01 -1.32057025e-03 2.48309383e+00] [ 3.59011273e-02 -3.39635981e-04 9.99355289e-01 1.93572202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.30, Y:2.48, Z:1.94 [[ 9.98286404e-01 -4.62276124e-02 -3.58784628e-02 5.93031983e+01] [ 4.62100177e-02 9.98930875e-01 -1.31992584e-03 2.48423241e+00] [ 3.59011212e-02 -3.40280379e-04 9.99355289e-01 1.93683468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:59.33, Y:2.49, Z:1.94 [[ 9.98248787e-01 -4.70329060e-02 -3.58784628e-02 5.93331324e+01] [ 4.70158311e-02 9.98893272e-01 -1.31992584e-03 2.48617956e+00] [ 3.59008350e-02 -3.69241376e-04 9.99355289e-01 1.93829409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:59.36, Y:2.49, Z:1.94 [[ 9.98240608e-01 -4.72062006e-02 -3.58784628e-02 5.93640377e+01] [ 4.71892377e-02 9.98885095e-01 -1.31992584e-03 2.48787139e+00] [ 3.59007704e-02 -3.75473732e-04 9.99355289e-01 1.93857899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.065099892999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.40, Y:2.49, Z:1.94 [[ 9.98229115e-01 -4.74486064e-02 -3.58784628e-02 5.93953184e+01] [ 4.74318000e-02 9.98873607e-01 -1.31992584e-03 2.48936013e+00] [ 3.59006781e-02 -3.84191666e-04 9.99355289e-01 1.94161541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:2.49, Z:1.95 [[ 9.98204020e-01 -4.79736014e-02 -3.58785095e-02 5.94265203e+01] [ 4.79571796e-02 9.98848522e-01 -1.31865414e-03 2.49083195e+00] [ 3.59004568e-02 -4.04346262e-04 9.99355289e-01 1.94697404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:59.46, Y:2.49, Z:1.95 [[ 9.98172868e-01 -4.86174233e-02 -3.58785562e-02 5.94577918e+01] [ 4.86014629e-02 9.98817382e-01 -1.31738363e-03 2.49210560e+00] [ 3.59001733e-02 -4.28773723e-04 9.99355289e-01 1.94675035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:59.49, Y:2.49, Z:1.95 [[ 9.98016925e-01 -5.17198519e-02 -3.58786035e-02 5.94884746e+01] [ 5.17059413e-02 9.98661486e-01 -1.31609380e-03 2.49281411e+00] [ 3.58986476e-02 -5.41653076e-04 9.99355289e-01 1.94577489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:2.49, Z:1.95 [[ 9.97727060e-01 -5.70389203e-02 -3.58786270e-02 5.95200231e+01] [ 5.70284687e-02 9.98371686e-01 -1.31545284e-03 2.49403057e+00] [ 3.58952373e-02 -7.33640259e-04 9.99355289e-01 1.95043623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.55, Y:2.49, Z:1.95 [[ 9.97391137e-01 -6.26389149e-02 -3.58787712e-02 5.95519469e+01] [ 6.26322240e-02 9.98035813e-01 -1.31150777e-03 2.49350459e+00] [ 3.58904500e-02 -9.39081005e-04 9.99355289e-01 1.94692493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.245099892999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.58, Y:2.49, Z:1.95 [[ 9.97383280e-01 -6.27638442e-02 -3.58788651e-02 5.95828922e+01] [ 6.27573266e-02 9.98027958e-01 -1.30893246e-03 2.49095105e+00] [ 3.58902641e-02 -9.46154303e-04 9.99355289e-01 1.94743588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.62, Y:2.49, Z:1.95 [[ 9.97337579e-01 -6.34858288e-02 -3.58790158e-02 5.96151125e+01] [ 6.34799268e-02 9.97982263e-01 -1.30478974e-03 2.48931712e+00] [ 3.58894570e-02 -9.76281453e-04 9.99355289e-01 1.94720130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:2.49, Z:1.95 [[ 9.97264506e-01 -6.46234821e-02 -3.58791080e-02 5.96467264e+01] [ 6.46184069e-02 9.97909197e-01 -1.30224950e-03 2.49030158e+00] [ 3.58882477e-02 -1.01976360e-03 9.99355289e-01 1.95186773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:2.49, Z:1.95 [[ 9.97169134e-01 -6.60787532e-02 -3.58792012e-02 5.96789539e+01] [ 6.60747113e-02 9.97813832e-01 -1.29967552e-03 2.49147544e+00] [ 3.58866442e-02 -1.07471155e-03 9.99355289e-01 1.95293578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:59.71, Y:2.49, Z:1.95 [[ 9.97161840e-01 -6.61886787e-02 -3.58792939e-02 5.97105902e+01] [ 6.61848000e-02 9.97806539e-01 -1.29711180e-03 2.49357926e+00] [ 3.58864482e-02 -1.08123350e-03 9.99355289e-01 1.95118145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:59.74, Y:2.50, Z:1.95 [[ 9.97286789e-01 -6.42785464e-02 -3.58793630e-02 5.97418736e+01] [ 6.42735017e-02 9.97931480e-01 -1.29519871e-03 2.49594477e+00] [ 3.58883993e-02 -1.01440773e-03 9.99355289e-01 1.95319056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.425099892999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:59.77, Y:2.50, Z:1.96 [[ 9.98245560e-01 -4.71005629e-02 -3.58795096e-02 5.97740973e+01] [ 4.70845669e-02 9.98890072e-01 -1.29112395e-03 2.50030477e+00] [ 3.59004986e-02 -4.00512416e-04 9.99355289e-01 1.95818961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455099892999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:59.80, Y:2.50, Z:1.96 [[ 9.98470257e-01 -4.20689850e-02 -3.58796006e-02 5.98049080e+01] [ 4.20498319e-02 9.99114684e-01 -1.28859129e-03 2.50171115e+00] [ 3.59020455e-02 -2.22111091e-04 9.99355289e-01 1.96002082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:2.50, Z:1.96 [[ 9.98562195e-01 -3.98270785e-02 -3.58796006e-02 5.98342804e+01] [ 3.98064785e-02 9.99206577e-01 -1.28859129e-03 2.50285913e+00] [ 3.59024537e-02 -1.41501998e-04 9.99355289e-01 1.96401540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515099893 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:59.86, Y:2.50, Z:1.96 [[ 9.98866515e-01 -3.12784367e-02 -3.58795775e-02 5.98639508e+01] [ 3.12522989e-02 9.99510696e-01 -1.28923319e-03 2.50327012e+00] [ 3.59023467e-02 1.66452590e-04 9.99355289e-01 1.96124151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:59.89, Y:2.50, Z:1.96 [[ 9.99158461e-01 -1.98753603e-02 -3.58795310e-02 5.98914788e+01] [ 1.98418252e-02 9.99802299e-01 -1.29052571e-03 2.50459632e+00] [ 3.58980872e-02 5.77524297e-04 9.99355289e-01 1.96269510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:59.92, Y:2.50, Z:1.97 [[ 9.99225453e-01 -1.61604936e-02 -3.58794156e-02 5.99197894e+01] [ 1.61244501e-02 9.99869156e-01 -1.29372655e-03 2.50469066e+00] [ 3.58956282e-02 7.14188651e-04 9.99355289e-01 1.96511733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.605099892999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.95, Y:2.50, Z:1.97 [[ 9.99258018e-01 -1.40037168e-02 -3.58790910e-02 5.99470996e+01] [ 1.39659632e-02 9.99901623e-01 -1.30266693e-03 2.50453340e+00] [ 3.58938035e-02 8.00614315e-04 9.99355289e-01 1.96760817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635099892999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:59.98, Y:2.48, Z:1.96 [[ 9.98208781e-01 -4.78741383e-02 -3.58789159e-02 5.99776279e+01] [ 4.78580542e-02 9.98853291e-01 -1.30747207e-03 2.47801947e+00] [ 3.59003673e-02 -4.11965003e-04 9.99355289e-01 1.96030997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:60.01, Y:2.47, Z:1.96 [[ 9.97919316e-01 -5.35700438e-02 -3.58788220e-02 6.00072353e+01] [ 5.35575458e-02 9.98563905e-01 -1.31004218e-03 2.47318430e+00] [ 3.58974757e-02 -6.14265255e-04 9.99355289e-01 1.95943711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.04, Y:2.47, Z:1.96 [[ 9.97803247e-01 -5.56901420e-02 -3.58787986e-02 6.00390583e+01] [ 5.56789904e-02 9.98447862e-01 -1.31068319e-03 2.47198658e+00] [ 3.58961019e-02 -6.89891338e-04 9.99355289e-01 1.96138866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:60.07, Y:2.47, Z:1.97 [[ 9.97626483e-01 -5.87716613e-02 -3.58788449e-02 6.00704253e+01] [ 5.87625463e-02 9.98271130e-01 -1.30941426e-03 2.47020863e+00] [ 3.58937715e-02 -8.02025946e-04 9.99355289e-01 1.96507527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:2.47, Z:1.97 [[ 9.97564423e-01 -5.98157698e-02 -3.58788913e-02 6.01022286e+01] [ 5.98073753e-02 9.98209080e-01 -1.30814135e-03 2.47032173e+00] [ 3.58928826e-02 -8.40867047e-04 9.99355289e-01 1.97036866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:60.13, Y:2.47, Z:1.97 [[ 9.97522918e-01 -6.05039322e-02 -3.58789845e-02 6.01348747e+01] [ 6.04960745e-02 9.98167581e-01 -1.30558035e-03 2.46853425e+00] [ 3.58922320e-02 -8.68191402e-04 9.99355289e-01 1.96946510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.815099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.17, Y:2.47, Z:1.97 [[ 9.97486008e-01 -6.11093730e-02 -3.58790779e-02 6.01673549e+01] [ 6.11019990e-02 9.98130677e-01 -1.30300882e-03 2.46755054e+00] [ 3.58916344e-02 -8.92550314e-04 9.99355289e-01 1.97146597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:2.47, Z:1.98 [[ 9.97442066e-01 -6.18224051e-02 -3.58791710e-02 6.01994899e+01] [ 6.18155842e-02 9.98086741e-01 -1.30044053e-03 2.46642282e+00] [ 3.58909212e-02 -9.20777829e-04 9.99355289e-01 1.97610143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:2.47, Z:1.98 [[ 9.97446575e-01 -6.17495668e-02 -3.58792657e-02 6.02321458e+01] [ 6.17427930e-02 9.98091250e-01 -1.29782214e-03 2.46754736e+00] [ 3.58909211e-02 -9.20777827e-04 9.99355289e-01 1.97727441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:60.26, Y:2.47, Z:1.98 [[ 9.97442601e-01 -6.18136671e-02 -3.58793602e-02 6.02634966e+01] [ 6.18070288e-02 9.98087278e-01 -1.29520375e-03 2.46619202e+00] [ 3.58907943e-02 -9.25705256e-04 9.99355289e-01 1.97523644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:60.30, Y:2.47, Z:1.98 [[ 9.97427521e-01 -6.20564732e-02 -3.58794305e-02 6.02953434e+01] [ 6.20500620e-02 9.98072200e-01 -1.29325339e-03 2.46548875e+00] [ 3.58905169e-02 -9.36394368e-04 9.99355289e-01 1.97576524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.33, Y:2.47, Z:1.98 [[ 9.97416144e-01 -6.22390114e-02 -3.58795235e-02 6.03275502e+01] [ 6.22328111e-02 9.98060826e-01 -1.29066987e-03 2.46520404e+00] [ 3.58902768e-02 -9.45548644e-04 9.99355289e-01 1.97699044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.995099892999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.36, Y:2.46, Z:1.98 [[ 9.97451486e-01 -6.16699852e-02 -3.58796164e-02 6.03588539e+01] [ 6.16635101e-02 9.98096164e-01 -1.28808169e-03 2.46429156e+00] [ 3.58907435e-02 -9.27664095e-04 9.99355289e-01 1.97877765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.39, Y:2.47, Z:1.98 [[ 9.97453695e-01 -6.16342057e-02 -3.58796625e-02 6.03906612e+01] [ 6.16277538e-02 9.98098374e-01 -1.28679536e-03 2.46540325e+00] [ 3.58907434e-02 -9.27664224e-04 9.99355289e-01 1.97992062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:2.46, Z:1.98 [[ 9.97547918e-01 -6.00899075e-02 -3.58797086e-02 6.04221266e+01] [ 6.00825037e-02 9.98192587e-01 -1.28550915e-03 2.46465280e+00] [ 3.58921053e-02 -8.73385748e-04 9.99355289e-01 1.98234173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:60.45, Y:2.46, Z:1.98 [[ 9.97889627e-01 -5.41196353e-02 -3.58797549e-02 6.04532509e+01] [ 5.41084205e-02 9.98534241e-01 -1.28421464e-03 2.45976872e+00] [ 3.58966651e-02 -6.59892405e-04 9.99355289e-01 1.97817330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.48, Y:2.46, Z:1.98 [[ 9.97975565e-01 -5.25110718e-02 -3.58797779e-02 6.04833386e+01] [ 5.24988411e-02 9.98620160e-01 -1.28357224e-03 2.46089454e+00] [ 3.58976713e-02 -6.02673030e-04 9.99355289e-01 1.98084822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.51, Y:2.46, Z:1.98 [[ 9.98075418e-01 -5.05776844e-02 -3.58797779e-02 6.05133347e+01] [ 5.05642050e-02 9.98719988e-01 -1.28357224e-03 2.46195737e+00] [ 3.58987715e-02 -5.33130548e-04 9.99355289e-01 1.98297334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.175099892999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.54, Y:2.46, Z:1.98 [[ 9.98073586e-01 -5.06138143e-02 -3.58797779e-02 6.05434476e+01] [ 5.06003582e-02 9.98718157e-01 -1.28357224e-03 2.46306241e+00] [ 3.58987522e-02 -5.34430067e-04 9.99355289e-01 1.98405590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205099892999996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.57, Y:2.46, Z:1.98 [[ 9.98170816e-01 -4.86586814e-02 -3.58797314e-02 6.05729034e+01] [ 4.86439161e-02 9.98815358e-01 -1.28487191e-03 2.46397254e+00] [ 3.58997469e-02 -4.62809003e-04 9.99355289e-01 1.98431582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:2.46, Z:1.99 [[ 9.98247794e-01 -4.70530618e-02 -3.58796847e-02 6.06022190e+01] [ 4.70372130e-02 9.98892310e-01 -1.28617476e-03 2.46484985e+00] [ 3.59004596e-02 -4.03759257e-04 9.99355289e-01 1.98836219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.63, Y:2.47, Z:1.99 [[ 9.98324441e-01 -4.53978224e-02 -3.58796379e-02 6.06312840e+01] [ 4.53808580e-02 9.98968929e-01 -1.28747816e-03 2.46525334e+00] [ 3.59010921e-02 -3.42927841e-04 9.99355289e-01 1.98721072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.66, Y:2.47, Z:1.99 [[ 9.98312760e-01 -4.56542358e-02 -3.58793048e-02 6.06604795e+01] [ 4.56371057e-02 9.98957243e-01 -1.29669626e-03 2.46633547e+00] [ 3.59010910e-02 -3.42919201e-04 9.99355289e-01 1.98826335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:2.47, Z:1.99 [[ 9.98368811e-01 -4.44119074e-02 -3.58789696e-02 6.06881855e+01] [ 4.43936444e-02 9.99013263e-01 -1.30590565e-03 2.46720249e+00] [ 3.59015642e-02 -2.89022749e-04 9.99355289e-01 1.99221808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.355099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:2.47, Z:1.99 [[ 9.98414941e-01 -4.33625757e-02 -3.58788507e-02 6.07160869e+01] [ 4.33435183e-02 9.99059370e-01 -1.30916415e-03 2.46827505e+00] [ 3.59018707e-02 -2.48026577e-04 9.99355289e-01 1.99430631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385099892999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.74, Y:2.47, Z:1.99 [[ 9.98511258e-01 -4.10853112e-02 -3.58784742e-02 6.07440327e+01] [ 4.10644163e-02 9.99155630e-01 -1.31940076e-03 2.46920166e+00] [ 3.59023875e-02 -1.55892092e-04 9.99355289e-01 1.99386793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:60.77, Y:2.47, Z:2.00 [[ 9.98606216e-01 -3.87090229e-02 -3.58780921e-02 6.07717176e+01] [ 3.86862241e-02 9.99250523e-01 -1.32971260e-03 2.46940985e+00] [ 3.59026741e-02 -6.01286401e-05 9.99355289e-01 1.99506367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:2.47, Z:2.00 [[ 9.98643958e-01 -3.77231347e-02 -3.58777001e-02 6.07982552e+01] [ 3.76993228e-02 9.99288229e-01 -1.34020615e-03 2.46996608e+00] [ 3.59027201e-02 -1.41762182e-05 9.99355289e-01 1.99805588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:60.83, Y:2.47, Z:2.00 [[ 9.98696556e-01 -3.63041570e-02 -3.58775299e-02 6.08263341e+01] [ 3.62792666e-02 9.99340786e-01 -1.34474723e-03 2.47017039e+00] [ 3.59026988e-02 4.13839528e-05 9.99355289e-01 1.99539041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:60.85, Y:2.47, Z:1.99 [[ 9.98791098e-01 -3.36031715e-02 -3.58771406e-02 6.08539049e+01] [ 3.35761687e-02 9.99435243e-01 -1.35505362e-03 2.46988839e+00] [ 3.59024128e-02 1.48798564e-04 9.99355289e-01 1.99477569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:60.88, Y:2.47, Z:2.00 [[ 9.98825359e-01 -3.25693484e-02 -3.58767419e-02 6.08803710e+01] [ 3.25413027e-02 9.99469459e-01 -1.36552837e-03 2.47047499e+00] [ 3.59021822e-02 1.96448443e-04 9.99355290e-01 1.99606604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.565099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:2.47, Z:2.00 [[ 9.98849630e-01 -3.18164721e-02 -3.58765687e-02 6.09086182e+01] [ 3.17877780e-02 9.99493702e-01 -1.37006306e-03 2.47089341e+00] [ 3.59019951e-02 2.28050576e-04 9.99355290e-01 1.99847636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.94, Y:2.47, Z:2.00 [[ 9.98871478e-01 -3.11234898e-02 -3.58761621e-02 6.09354671e+01] [ 3.10939694e-02 9.99515512e-01 -1.38062990e-03 2.47122551e+00] [ 3.59017506e-02 2.63539541e-04 9.99355290e-01 1.99714954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.96, Y:2.47, Z:2.00 [[ 9.98862401e-01 -3.14136660e-02 -3.58759853e-02 6.09638152e+01] [ 3.13841682e-02 9.99506436e-01 -1.38520870e-03 2.47237263e+00] [ 3.59017927e-02 2.57694933e-04 9.99355290e-01 1.99817028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:2.47, Z:2.00 [[ 9.98860465e-01 -3.14756077e-02 -3.58755798e-02 6.09914595e+01] [ 3.14457756e-02 9.99504485e-01 -1.39563157e-03 2.47297830e+00] [ 3.59017313e-02 2.65905764e-04 9.99355290e-01 2.00104918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:2.47, Z:2.00 [[ 9.98851267e-01 -3.17666156e-02 -3.58751707e-02 6.10198072e+01] [ 3.17365961e-02 9.99495278e-01 -1.40607144e-03 2.47414421e+00] [ 3.59017298e-02 2.65900436e-04 9.99355290e-01 2.00207182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:2.48, Z:2.00 [[ 9.98841985e-01 -3.20576209e-02 -3.58747582e-02 6.10481546e+01] [ 3.20274139e-02 9.99485987e-01 -1.41651650e-03 2.47531837e+00] [ 3.59017283e-02 2.65900425e-04 9.99355290e-01 2.00309446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.745099892999995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.08, Y:2.48, Z:2.00 [[ 9.98838879e-01 -3.21547173e-02 -3.58743428e-02 6.10760951e+01] [ 3.21241978e-02 9.99482866e-01 -1.42696145e-03 2.47580143e+00] [ 3.59016745e-02 2.72870090e-04 9.99355290e-01 2.00201444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:61.10, Y:2.48, Z:2.00 [[ 9.98836035e-01 -3.22434118e-02 -3.58739197e-02 6.11026909e+01] [ 3.22125703e-02 9.99480007e-01 -1.43752095e-03 2.47608719e+00] [ 3.59016160e-02 2.80256567e-04 9.99355290e-01 2.00218861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:61.13, Y:2.48, Z:2.00 [[ 9.98826589e-01 -3.25350337e-02 -3.58736273e-02 6.11310376e+01] [ 3.25041195e-02 9.99470557e-01 -1.44477951e-03 2.47728200e+00] [ 3.59016402e-02 2.77043520e-04 9.99355290e-01 2.00321022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.16, Y:2.48, Z:2.01 [[ 9.98785588e-01 -3.37707443e-02 -3.58732026e-02 6.11593080e+01] [ 3.37402507e-02 9.99429576e-01 -1.45525055e-03 2.47780461e+00] [ 3.59018845e-02 2.43112430e-04 9.99355290e-01 2.00537675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.19, Y:2.48, Z:2.01 [[ 9.98775790e-01 -3.40597234e-02 -3.58727783e-02 6.11876550e+01] [ 3.40290432e-02 9.99419770e-01 -1.46563469e-03 2.47901994e+00] [ 3.59018829e-02 2.43124124e-04 9.99355290e-01 2.00639940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.21, Y:2.48, Z:2.01 [[ 9.98740993e-01 -3.50657019e-02 -3.58723515e-02 6.12144559e+01] [ 3.50352979e-02 9.99384986e-01 -1.47600700e-03 2.47902200e+00] [ 3.59020467e-02 2.17350179e-04 9.99355290e-01 2.00641433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.925099892999995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.24, Y:2.48, Z:2.01 [[ 9.98730950e-01 -3.53507745e-02 -3.58721661e-02 6.12428037e+01] [ 3.53203929e-02 9.99374944e-01 -1.48049969e-03 2.48025146e+00] [ 3.59020808e-02 2.11601863e-04 9.99355290e-01 2.00743513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955099892999996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.27, Y:2.48, Z:2.01 [[ 9.98658695e-01 -3.73367100e-02 -3.58717406e-02 6.12705579e+01] [ 3.73072412e-02 9.99302731e-01 -1.49073949e-03 2.48031379e+00] [ 3.59023876e-02 1.50464277e-04 9.99355290e-01 2.00831013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.30, Y:2.48, Z:2.01 [[ 9.98562253e-01 -3.98331065e-02 -3.58713114e-02 6.12984602e+01] [ 3.98048794e-02 9.99206344e-01 -1.50099570e-03 2.48023937e+00] [ 3.59026313e-02 7.09844230e-05 9.99355290e-01 2.00962922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.33, Y:2.48, Z:2.01 [[ 9.98550808e-01 -4.01193606e-02 -3.58708790e-02 6.13268069e+01] [ 4.00909494e-02 9.99194892e-01 -1.51125809e-03 2.48149637e+00] [ 3.59026298e-02 7.09703874e-05 9.99355290e-01 2.01065185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.35, Y:2.48, Z:2.01 [[ 9.98414190e-01 -4.33868128e-02 -3.58704431e-02 6.13549998e+01] [ 4.33601403e-02 9.99058348e-01 -1.52153438e-03 2.48112648e+00] [ 3.59026802e-02 -3.62259318e-05 9.99355290e-01 2.01114438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075099893 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:61.38, Y:2.47, Z:2.01 [[ 9.95923525e-01 -8.27627757e-02 -3.58699918e-02 6.13836337e+01] [ 8.27611705e-02 9.96568232e-01 -1.53210213e-03 2.46690044e+00] [ 3.58736953e-02 -1.44278595e-03 9.99355290e-01 2.00954525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.105099892999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.42, Y:2.47, Z:2.01 [[ 9.95820994e-01 -8.39875108e-02 -3.58698519e-02 6.14155377e+01] [ 8.39865809e-02 9.96465703e-01 -1.53537061e-03 2.46858151e+00] [ 3.58720291e-02 -1.48363193e-03 9.99355290e-01 2.01170195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135099892999996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:61.45, Y:2.47, Z:2.01 [[ 9.95765020e-01 -8.46485133e-02 -3.58699654e-02 6.14480526e+01] [ 8.46481069e-02 9.96409729e-01 -1.53271477e-03 2.47009516e+00] [ 3.58709245e-02 -1.51010091e-03 9.99355290e-01 2.01221523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.48, Y:2.47, Z:2.02 [[ 9.95655702e-01 -8.59247406e-02 -3.58700784e-02 6.14801820e+01] [ 8.59252558e-02 9.96300411e-01 -1.53006412e-03 2.47213077e+00] [ 3.58688442e-02 -1.55872860e-03 9.99355290e-01 2.01516891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.51, Y:2.47, Z:2.02 [[ 9.95575063e-01 -8.68540322e-02 -3.58701902e-02 6.15128366e+01] [ 8.68552436e-02 9.96219772e-01 -1.52743796e-03 2.47383173e+00] [ 3.58672569e-02 -1.59483497e-03 9.99355290e-01 2.01509959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.55, Y:2.48, Z:2.02 [[ 9.95581428e-01 -8.67809938e-02 -3.58703019e-02 6.15454814e+01] [ 8.67822523e-02 9.96226137e-01 -1.52481037e-03 2.47516209e+00] [ 3.58672569e-02 -1.59483271e-03 9.99355290e-01 2.01627256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.58, Y:2.48, Z:2.02 [[ 9.95466658e-01 -8.80877141e-02 -3.58704135e-02 6.15777471e+01] [ 8.80899134e-02 9.96111364e-01 -1.52218051e-03 2.47683405e+00] [ 3.58650120e-02 -1.64454168e-03 9.99355290e-01 2.01705985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:2.48, Z:2.02 [[ 9.95351058e-01 -8.93844281e-02 -3.58705244e-02 6.16093550e+01] [ 8.93875615e-02 9.95995760e-01 -1.51956305e-03 2.47864777e+00] [ 3.58627155e-02 -1.69388002e-03 9.99355290e-01 2.02095913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.315099892999996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.64, Y:2.48, Z:2.02 [[ 9.95266138e-01 -9.03250335e-02 -3.58706379e-02 6.16402855e+01] [ 9.03288727e-02 9.95910836e-01 -1.51687915e-03 2.48047576e+00] [ 3.58609692e-02 -1.73045583e-03 9.99355290e-01 2.01829152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345099893 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.67, Y:2.48, Z:2.02 [[ 9.95272633e-01 -9.02534114e-02 -3.58707223e-02 6.16729302e+01] [ 9.02572760e-02 9.95917331e-01 -1.51488057e-03 2.48179538e+00] [ 3.58609972e-02 -1.72987451e-03 9.99355290e-01 2.01946467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.70, Y:2.48, Z:2.02 [[ 9.95161442e-01 -9.14712415e-02 -3.58708311e-02 6.17046111e+01] [ 9.14759877e-02 9.95806134e-01 -1.51230013e-03 2.48386650e+00] [ 3.58587256e-02 -1.77633693e-03 9.99355290e-01 2.02088543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.74, Y:2.49, Z:2.02 [[ 9.95104869e-01 -9.20846118e-02 -3.58709390e-02 6.17371223e+01] [ 9.20898476e-02 9.95749557e-01 -1.50973700e-03 2.48629457e+00] [ 3.58574952e-02 -1.80100267e-03 9.99355290e-01 2.02267449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.77, Y:2.49, Z:2.02 [[ 9.95084693e-01 -9.23023153e-02 -3.58711050e-02 6.17704933e+01] [ 9.23078344e-02 9.95729379e-01 -1.50578204e-03 2.48857238e+00] [ 3.58569003e-02 -1.81280336e-03 9.99355290e-01 2.02302778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.80, Y:2.49, Z:2.02 [[ 9.95057981e-01 -9.25897706e-02 -3.58712725e-02 6.18021372e+01] [ 9.25956198e-02 9.95702664e-01 -1.50178044e-03 2.49112692e+00] [ 3.58561712e-02 -1.82716410e-03 9.99355290e-01 2.02398893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.495099892999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.84, Y:2.49, Z:2.03 [[ 9.95067919e-01 -9.24828013e-02 -3.58715435e-02 6.18356297e+01] [ 9.24888149e-02 9.95712601e-01 -1.49527991e-03 2.49243170e+00] [ 3.58560356e-02 -1.82981148e-03 9.99355290e-01 2.02519109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:61.87, Y:2.49, Z:2.03 [[ 9.95095344e-01 -9.21871869e-02 -3.58717036e-02 6.18690716e+01] [ 9.21931475e-02 9.95740026e-01 -1.49142962e-03 2.49492497e+00] [ 3.58563818e-02 -1.82301059e-03 9.99355290e-01 2.02543827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.90, Y:2.50, Z:2.03 [[ 9.95129583e-01 -9.18167835e-02 -3.58718656e-02 6.19022647e+01] [ 9.18226446e-02 9.95774266e-01 -1.48752269e-03 2.49753245e+00] [ 3.58568602e-02 -1.81357173e-03 9.99355290e-01 2.02695438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.94, Y:2.50, Z:2.03 [[ 9.95139753e-01 -9.17064353e-02 -3.58720299e-02 6.19357586e+01] [ 9.17123677e-02 9.95784435e-01 -1.48355092e-03 2.49883178e+00] [ 3.58568602e-02 -1.81356830e-03 9.99355290e-01 2.02815736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.97, Y:2.50, Z:2.03 [[ 9.95177286e-01 -9.12981705e-02 -3.58721938e-02 6.19689154e+01] [ 9.13039813e-02 9.95821969e-01 -1.47957570e-03 2.50197056e+00] [ 3.58574012e-02 -1.80283398e-03 9.99355290e-01 2.03094201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.00, Y:2.51, Z:2.03 [[ 9.95290173e-01 -9.00591251e-02 -3.58723583e-02 6.20019099e+01] [ 9.00642770e-02 9.95934862e-01 -1.47557792e-03 2.50516604e+00] [ 3.58594214e-02 -1.76218981e-03 9.99355290e-01 2.03112260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.675099892999995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.04, Y:2.51, Z:2.03 [[ 9.95300204e-01 -8.99481330e-02 -3.58725221e-02 6.20354049e+01] [ 8.99533567e-02 9.95944892e-01 -1.47158358e-03 2.50645521e+00] [ 3.58594214e-02 -1.76218635e-03 9.99355290e-01 2.03232558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705099892999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.07, Y:2.51, Z:2.03 [[ 9.95407097e-01 -8.87573190e-02 -3.58726857e-02 6.20673255e+01] [ 8.87619151e-02 9.96051790e-01 -1.46758576e-03 2.51000777e+00] [ 3.58613118e-02 -1.72328300e-03 9.99355290e-01 2.03326041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:2.51, Z:2.04 [[ 9.95518271e-01 -8.75015036e-02 -3.58728208e-02 6.20991672e+01] [ 8.75054054e-02 9.96162969e-01 -1.46427668e-03 2.51362784e+00] [ 3.58633020e-02 -1.68135153e-03 9.99355290e-01 2.03748942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:2.51, Z:2.04 [[ 9.95527874e-01 -8.73921325e-02 -3.58729274e-02 6.21326629e+01] [ 8.73960575e-02 9.96172572e-01 -1.46165905e-03 2.51490658e+00] [ 3.58633639e-02 -1.68003010e-03 9.99355290e-01 2.03869283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:62.16, Y:2.52, Z:2.04 [[ 9.95780339e-01 -8.44667859e-02 -3.58730875e-02 6.21641250e+01] [ 8.44689585e-02 9.96425045e-01 -1.45771877e-03 2.52078867e+00] [ 3.58679717e-02 -1.57859465e-03 9.99355290e-01 2.03593620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:2.54, Z:2.04 [[ 9.96852109e-01 -7.07035271e-02 -3.58731667e-02 6.21941900e+01] [ 7.06968638e-02 9.97496784e-01 -1.45576875e-03 2.54271790e+00] [ 3.58862964e-02 -1.08493423e-03 9.99355291e-01 2.04064042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.855099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:2.54, Z:2.04 [[ 9.96862769e-01 -7.05565959e-02 -3.58662371e-02 6.22258671e+01] [ 7.05437060e-02 9.97507364e-01 -1.62631781e-03 2.54394009e+00] [ 3.58915831e-02 -9.08921615e-04 9.99355276e-01 2.04183775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885099892999996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.26, Y:2.55, Z:2.04 [[ 9.97057512e-01 -6.77489467e-02 -3.58663802e-02 6.22587977e+01] [ 6.77343685e-02 9.97702071e-01 -1.62278566e-03 2.54548173e+00] [ 3.58939038e-02 -8.11375978e-04 9.99355277e-01 2.04105713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.29, Y:2.55, Z:2.04 [[ 9.97217691e-01 -6.53450640e-02 -3.58733878e-02 6.22912343e+01] [ 6.53351668e-02 9.97862323e-01 -1.44935091e-03 2.54783402e+00] [ 3.58914100e-02 -8.98475414e-04 9.99355292e-01 2.04075320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.32, Y:2.55, Z:2.04 [[ 9.97222494e-01 -6.52716599e-02 -3.58734944e-02 6.23238852e+01] [ 6.52618103e-02 9.97867127e-01 -1.44670860e-03 2.54909496e+00] [ 3.58914098e-02 -8.98478827e-04 9.99355292e-01 2.04192617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.35, Y:2.55, Z:2.04 [[ 9.97357301e-01 -6.31783053e-02 -3.58736006e-02 6.23546876e+01] [ 6.31671975e-02 9.98001914e-01 -1.44406970e-03 2.55153423e+00] [ 3.58931559e-02 -8.25781357e-04 9.99355292e-01 2.04281494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.39, Y:2.55, Z:2.04 [[ 9.97361899e-01 -6.31055894e-02 -3.58737671e-02 6.23873385e+01] [ 6.30945838e-02 9.98006513e-01 -1.43992070e-03 2.55278726e+00] [ 3.58931203e-02 -8.27318365e-04 9.99355292e-01 2.04398738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:2.56, Z:2.05 [[ 9.97481219e-01 -6.11905464e-02 -3.58738718e-02 6.24195287e+01] [ 6.11783970e-02 9.98125813e-01 -1.43730886e-03 2.55528363e+00] [ 3.58945871e-02 -7.61017373e-04 9.99355292e-01 2.04687994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.065099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:2.56, Z:2.05 [[ 9.97673482e-01 -5.79713794e-02 -3.58739763e-02 6.24503889e+01] [ 5.79572440e-02 9.98318035e-01 -1.43469479e-03 2.55941239e+00] [ 3.58968088e-02 -6.47799847e-04 9.99355292e-01 2.04680402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.48, Y:2.56, Z:2.05 [[ 9.97754907e-01 -5.65525602e-02 -3.58741395e-02 6.24814817e+01] [ 5.65376553e-02 9.98399443e-01 -1.43060211e-03 2.56207129e+00] [ 3.58976251e-02 -6.00849459e-04 9.99355292e-01 2.04535665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.51, Y:2.57, Z:2.05 [[ 9.97847544e-01 -5.48937318e-02 -3.58741912e-02 6.25130927e+01] [ 5.48778020e-02 9.98492055e-01 -1.42930477e-03 2.56560769e+00] [ 3.58985548e-02 -5.42468504e-04 9.99355292e-01 2.04820487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.54, Y:2.57, Z:2.05 [[ 9.97896494e-01 -5.39965348e-02 -3.58742437e-02 6.25432922e+01] [ 5.39800729e-02 9.98540992e-01 -1.42798558e-03 2.56797729e+00] [ 3.58990092e-02 -5.11512488e-04 9.99355292e-01 2.04947424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.57, Y:2.57, Z:2.05 [[ 9.97905568e-01 -5.38285704e-02 -3.58742698e-02 6.25732424e+01] [ 5.38120236e-02 9.98550063e-01 -1.42733131e-03 2.56966086e+00] [ 3.58990855e-02 -5.06125188e-04 9.99355292e-01 2.04843216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:2.57, Z:2.05 [[ 9.97811901e-01 -5.55377397e-02 -3.58743486e-02 6.26039201e+01] [ 5.55223682e-02 9.98456426e-01 -1.42534682e-03 2.57199435e+00] [ 3.58981344e-02 -5.69600771e-04 9.99355292e-01 2.05447738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.245099892999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.64, Y:2.57, Z:2.05 [[ 9.97765160e-01 -5.63712137e-02 -3.58743996e-02 6.26354923e+01] [ 5.63564266e-02 9.98409698e-01 -1.42406243e-03 2.57347260e+00] [ 3.58976246e-02 -6.00873087e-04 9.99355292e-01 2.05402952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.67, Y:2.57, Z:2.05 [[ 9.97562548e-01 -5.98496981e-02 -3.58744506e-02 6.26670491e+01] [ 5.98372047e-02 9.98207135e-01 -1.42277587e-03 2.57466530e+00] [ 3.58952853e-02 -7.27318918e-04 9.99355292e-01 2.05467989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.70, Y:2.57, Z:2.05 [[ 9.97221977e-01 -6.52790064e-02 -3.58745016e-02 6.26989659e+01] [ 6.52700682e-02 9.97866623e-01 -1.42148918e-03 2.57482714e+00] [ 3.58907612e-02 -9.23990911e-04 9.99355292e-01 2.05433706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.73, Y:2.58, Z:2.06 [[ 9.96999763e-01 -6.85892555e-02 -3.58746050e-02 6.27302930e+01] [ 6.85825514e-02 9.97644436e-01 -1.41887507e-03 2.57533636e+00] [ 3.58874196e-02 -1.04575383e-03 9.99355292e-01 2.05552372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.76, Y:2.58, Z:2.06 [[ 9.95795931e-01 -8.42820868e-02 -3.58746819e-02 6.27623710e+01] [ 8.42856063e-02 9.96440630e-01 -1.41692766e-03 2.57755211e+00] [ 3.58664122e-02 -1.61274852e-03 9.99355292e-01 2.05532665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:2.58, Z:2.06 [[ 9.95702768e-01 -8.53756140e-02 -3.58748088e-02 6.27942153e+01] [ 8.53799573e-02 9.96347462e-01 -1.41370747e-03 2.58191769e+00] [ 3.58644708e-02 -1.65535720e-03 9.99355292e-01 2.06082978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.425099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:2.59, Z:2.06 [[ 9.96181369e-01 -7.95969295e-02 -3.58749101e-02 6.28260262e+01] [ 7.95976247e-02 9.96826077e-01 -1.41113272e-03 2.58684639e+00] [ 3.58733677e-02 -1.44981350e-03 9.99355292e-01 2.06136929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:2.59, Z:2.06 [[ 9.96323859e-01 -7.77929950e-02 -3.58750360e-02 6.28593375e+01] [ 7.77926381e-02 9.96968567e-01 -1.40792424e-03 2.58892790e+00] [ 3.58758099e-02 -1.38806518e-03 9.99355292e-01 2.06207569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:2.59, Z:2.06 [[ 9.96523182e-01 -7.51965303e-02 -3.58751876e-02 6.28919430e+01] [ 7.51946328e-02 9.97167887e-01 -1.40405080e-03 2.59133313e+00] [ 3.58791648e-02 -1.29845239e-03 9.99355292e-01 2.06225914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:2.59, Z:2.06 [[ 9.96622607e-01 -7.38670353e-02 -3.58753405e-02 6.29248167e+01] [ 7.38644185e-02 9.97267310e-01 -1.40013264e-03 2.59349220e+00] [ 3.58807280e-02 -1.25450733e-03 9.99355292e-01 2.06317865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:2.60, Z:2.06 [[ 9.96712991e-01 -7.26371984e-02 -3.58754913e-02 6.29572865e+01] [ 7.26339254e-02 9.97357691e-01 -1.39625871e-03 2.59576525e+00] [ 3.58821175e-02 -1.21410856e-03 9.99355292e-01 2.06417704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.99, Y:2.60, Z:2.06 [[ 9.96896995e-01 -7.00664949e-02 -3.58757367e-02 6.29893203e+01] [ 7.00617870e-02 9.97541685e-01 -1.38992357e-03 2.59899604e+00] [ 3.58849299e-02 -1.12790759e-03 9.99355292e-01 2.06360656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.605099892999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.02, Y:2.60, Z:2.06 [[ 9.96901878e-01 -6.99969241e-02 -3.58758335e-02 6.30219738e+01] [ 6.99922612e-02 9.97546570e-01 -1.38742152e-03 2.60019755e+00] [ 3.58849299e-02 -1.12790759e-03 9.99355292e-01 2.06477953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:2.60, Z:2.07 [[ 9.96995807e-01 -6.86460439e-02 -3.58759301e-02 6.30541668e+01] [ 6.86405973e-02 9.97640492e-01 -1.38491946e-03 2.60251287e+00] [ 3.58863497e-02 -1.08178638e-03 9.99355292e-01 2.06744649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:2.60, Z:2.07 [[ 9.97124434e-01 -6.67515804e-02 -3.58760296e-02 6.30852740e+01] [ 6.67450019e-02 9.97769109e-01 -1.38233510e-03 2.60478591e+00] [ 3.58882672e-02 -1.01618556e-03 9.99355292e-01 2.06865624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.12, Y:2.61, Z:2.07 [[ 9.97277128e-01 -6.44300255e-02 -3.58761903e-02 6.31177498e+01] [ 6.44220964e-02 9.97921788e-01 -1.37815367e-03 2.60726770e+00] [ 3.58904264e-02 -9.36818253e-04 9.99355292e-01 2.06869572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:63.15, Y:2.61, Z:2.07 [[ 9.97448468e-01 -6.17207011e-02 -3.58762882e-02 6.31499737e+01] [ 6.17111127e-02 9.98093105e-01 -1.37559848e-03 2.60991320e+00] [ 3.58927788e-02 -8.41877074e-04 9.99355292e-01 2.06926948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:2.61, Z:2.07 [[ 9.97783995e-01 -5.60355584e-02 -3.58763865e-02 6.31821852e+01] [ 5.60223888e-02 9.98428569e-01 -1.37303146e-03 2.61419523e+00] [ 3.58969478e-02 -6.39892061e-04 9.99355292e-01 2.07241617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:2.62, Z:2.07 [[ 9.98583423e-01 -3.92940802e-02 -3.58764871e-02 6.32128536e+01] [ 3.92701971e-02 9.99227689e-01 -1.37039860e-03 2.62137556e+00] [ 3.59026278e-02 -4.04193902e-05 9.99355292e-01 2.07137156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.815099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:2.62, Z:2.07 [[ 9.98572214e-01 -3.95777706e-02 -3.58766541e-02 6.32411869e+01] [ 3.95542282e-02 9.99216492e-01 -1.36601098e-03 2.62251201e+00] [ 3.59026081e-02 -5.50127591e-05 9.99355292e-01 2.07238860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:2.62, Z:2.07 [[ 9.98712312e-01 -3.58693809e-02 -3.58762627e-02 6.32694805e+01] [ 3.58430796e-02 9.99356483e-01 -1.37621546e-03 2.62186860e+00] [ 3.59025397e-02 8.85275892e-05 9.99355292e-01 2.07392792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:2.62, Z:2.08 [[ 9.98742880e-01 -3.50080366e-02 -3.58761408e-02 6.32970589e+01] [ 3.49810659e-02 9.99387023e-01 -1.37938578e-03 2.62252836e+00] [ 3.59024391e-02 1.22666084e-04 9.99355292e-01 2.07508645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.32, Y:2.63, Z:2.07 [[ 9.98735584e-01 -3.52159705e-02 -3.58757378e-02 6.33233015e+01] [ 3.51887603e-02 9.99379717e-01 -1.38978778e-03 2.62505460e+00] [ 3.59024274e-02 1.25607770e-04 9.99355292e-01 2.07392161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.35, Y:2.63, Z:2.08 [[ 9.98729969e-01 -3.53880786e-02 -3.58626855e-02 6.33516731e+01] [ 3.53489656e-02 9.99373542e-01 -1.72430274e-03 2.62633387e+00] [ 3.59012388e-02 4.54403987e-04 9.99355239e-01 2.07506988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.38, Y:2.62, Z:2.08 [[ 9.98758173e-01 -3.45835947e-02 -3.58620668e-02 6.33828265e+01] [ 3.45433979e-02 9.99401684e-01 -1.74004916e-03 2.62478602e+00] [ 3.59007871e-02 4.99090680e-04 9.99355234e-01 2.07709606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.995099892999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:63.41, Y:2.62, Z:2.08 [[ 9.98667087e-01 -3.71080937e-02 -3.58753100e-02 6.34112075e+01] [ 3.70817019e-02 9.99311255e-01 -1.40097795e-03 2.62356844e+00] [ 3.59025887e-02 6.87930147e-05 9.99355292e-01 2.07652576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.44, Y:2.62, Z:2.08 [[ 9.98495226e-01 -4.14762149e-02 -3.58748957e-02 6.34388118e+01] [ 4.14522627e-02 9.99139489e-01 -1.41150815e-03 2.61957122e+00] [ 3.59025690e-02 -7.77114501e-05 9.99355292e-01 2.07757380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:2.62, Z:2.08 [[ 9.98241372e-01 -4.71928511e-02 -3.58747673e-02 6.34673043e+01] [ 4.71724714e-02 9.98885757e-01 -1.41476349e-03 2.61550133e+00] [ 3.59015609e-02 -2.80025985e-04 9.99355292e-01 2.07970191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:63.50, Y:2.61, Z:2.08 [[ 9.97981469e-01 -5.24024621e-02 -3.58743621e-02 6.34970183e+01] [ 5.23850793e-02 9.98625942e-01 -1.42496490e-03 2.61332809e+00] [ 3.58997404e-02 -4.57192739e-04 9.99355292e-01 2.07858741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:2.61, Z:2.08 [[ 9.97588443e-01 -5.94166016e-02 -3.58743108e-02 6.35261972e+01] [ 5.94037033e-02 9.98233022e-01 -1.42625490e-03 2.61404060e+00] [ 3.58956649e-02 -7.08251509e-04 9.99355292e-01 2.08356786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:2.61, Z:2.09 [[ 9.97242956e-01 -6.49630832e-02 -3.58648115e-02 6.35580975e+01] [ 6.49452387e-02 9.97887443e-01 -1.66355669e-03 2.61103621e+00] [ 3.58971148e-02 -6.70278550e-04 9.99355266e-01 2.08623383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.59, Y:2.61, Z:2.09 [[ 9.96563192e-01 -7.46649417e-02 -3.58741069e-02 6.35893629e+01] [ 7.46617505e-02 9.97207890e-01 -1.43046506e-03 2.60508862e+00] [ 3.58807481e-02 -1.25287480e-03 9.99355293e-01 2.08537638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:2.60, Z:2.09 [[ 9.96079616e-01 -8.08606303e-02 -3.58741843e-02 6.36218409e+01] [ 8.08615180e-02 9.96724322e-01 -1.42852305e-03 2.60149295e+00] [ 3.58721833e-02 -1.47791831e-03 9.99355293e-01 2.08769687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:2.60, Z:2.09 [[ 9.95996979e-01 -8.18721738e-02 -3.58742851e-02 6.36550700e+01] [ 8.18738075e-02 9.96641684e-01 -1.42598657e-03 2.60195124e+00] [ 3.58705565e-02 -1.51688600e-03 9.99355293e-01 2.08862904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:2.60, Z:2.09 [[ 9.95945525e-01 -8.24956741e-02 -3.58744389e-02 6.36885454e+01] [ 8.24978508e-02 9.96590228e-01 -1.42210743e-03 2.60250337e+00] [ 3.58694329e-02 -1.54322258e-03 9.99355293e-01 2.08953789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:2.60, Z:2.09 [[ 9.95932747e-01 -8.26497300e-02 -3.58745951e-02 6.37206826e+01] [ 8.26521485e-02 9.96577449e-01 -1.41815641e-03 2.60289116e+00] [ 3.58690227e-02 -1.55272395e-03 9.99355293e-01 2.08979915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.75, Y:2.60, Z:2.09 [[ 9.95953975e-01 -8.23934182e-02 -3.58748502e-02 6.37529524e+01] [ 8.23959039e-02 9.96598677e-01 -1.41167264e-03 2.60307120e+00] [ 3.58691408e-02 -1.54997973e-03 9.99355293e-01 2.08887314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35509989299999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.79, Y:2.60, Z:2.09 [[ 9.95998817e-01 -8.18494604e-02 -3.58751004e-02 6.37859722e+01] [ 8.18518236e-02 9.96643519e-01 -1.40528605e-03 2.60340365e+00] [ 3.58697082e-02 -1.53677914e-03 9.99355293e-01 2.08641304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:2.60, Z:2.09 [[ 9.96069593e-01 -8.09835256e-02 -3.58752560e-02 6.38179271e+01] [ 8.09854716e-02 9.96714297e-01 -1.40130269e-03 2.60327057e+00] [ 3.58708630e-02 -1.50957952e-03 9.99355293e-01 2.08878545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41509989299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.85, Y:2.61, Z:2.09 [[ 9.96606213e-01 -7.40878760e-02 -3.58753847e-02 6.38501402e+01] [ 7.40854787e-02 9.97250915e-01 -1.39799985e-03 2.60595118e+00] [ 3.58803350e-02 -1.26458971e-03 9.99355293e-01 2.08696425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.88, Y:2.61, Z:2.09 [[ 9.97321038e-01 -6.37471290e-02 -3.58754873e-02 6.38814845e+01] [ 6.37381399e-02 9.97965682e-01 -1.39536110e-03 2.61045951e+00] [ 3.58914554e-02 -8.95013843e-04 9.99355293e-01 2.09058571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:2.61, Z:2.09 [[ 9.97773167e-01 -5.62285688e-02 -3.58755635e-02 6.39132432e+01] [ 5.62147918e-02 9.98417726e-01 -1.39340010e-03 2.61460552e+00] [ 3.58971474e-02 -6.26440096e-04 9.99355293e-01 2.09325166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:63.94, Y:2.62, Z:2.09 [[ 9.98006512e-01 -5.19224327e-02 -3.58756630e-02 6.39446614e+01] [ 5.19059666e-02 9.98651008e-01 -1.39083234e-03 2.61691356e+00] [ 3.58994824e-02 -4.74101236e-04 9.99355293e-01 2.09162771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:2.62, Z:2.10 [[ 9.98383081e-01 -4.40925917e-02 -3.58757134e-02 6.39752364e+01] [ 4.40711176e-02 9.99027430e-01 -1.38953024e-03 2.62109803e+00] [ 3.59020898e-02 -1.93799304e-04 9.99355293e-01 2.09666241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.00, Y:2.62, Z:2.10 [[ 9.98562373e-01 -3.98261392e-02 -3.58757134e-02 6.40037945e+01] [ 3.98019120e-02 9.99206624e-01 -1.38953024e-03 2.62323901e+00] [ 3.59025901e-02 -4.03893769e-05 9.99355293e-01 2.09544459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:2.63, Z:2.10 [[ 9.98704329e-01 -3.60918684e-02 -3.58753570e-02 6.40309943e+01] [ 3.60649039e-02 9.99348471e-01 -1.39867259e-03 2.62566880e+00] [ 3.59024639e-02 1.03019068e-04 9.99355293e-01 2.09938707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:64.06, Y:2.63, Z:2.10 [[ 9.98932788e-01 -2.90904142e-02 -3.58752307e-02 6.40593917e+01] [ 2.90588191e-02 9.99576720e-01 -1.40190420e-03 2.62784681e+00] [ 3.59008274e-02 3.57916234e-04 9.99355293e-01 2.09630753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65509989299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.09, Y:2.63, Z:2.10 [[ 9.98995013e-01 -2.68693482e-02 -3.58748246e-02 6.40862371e+01] [ 2.68359511e-02 9.99638853e-01 -1.41222029e-03 2.62916931e+00] [ 3.58998140e-02 4.48065991e-04 9.99355293e-01 2.09873271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.11, Y:2.63, Z:2.10 [[ 9.99054187e-01 -2.45711253e-02 -3.58746485e-02 6.41143424e+01] [ 2.45360870e-02 9.99697941e-01 -1.41668095e-03 2.63051150e+00] [ 3.58986217e-02 5.35117535e-04 9.99355293e-01 2.09991461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:2.63, Z:2.10 [[ 9.99059797e-01 -2.43425826e-02 -3.58742443e-02 6.41420078e+01] [ 2.43070322e-02 9.99703522e-01 -1.42684348e-03 2.63174892e+00] [ 3.58983414e-02 5.53505543e-04 9.99355294e-01 2.10271397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.17, Y:2.63, Z:2.10 [[ 9.99065284e-01 -2.41169330e-02 -3.58738404e-02 6.41703229e+01] [ 2.40808752e-02 9.99708981e-01 -1.43692774e-03 2.63291731e+00] [ 3.58980547e-02 5.71711148e-04 9.99355294e-01 2.10119277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:2.63, Z:2.10 [[ 9.99051355e-01 -2.46877933e-02 -3.58734227e-02 6.41973669e+01] [ 2.46517317e-02 9.99695052e-01 -1.44728084e-03 2.63397979e+00] [ 3.58982133e-02 5.61565897e-04 9.99355294e-01 2.10408105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:2.63, Z:2.10 [[ 9.98989471e-01 -2.70767010e-02 -3.58732411e-02 6.42256340e+01] [ 2.70420176e-02 9.99633244e-01 -1.45176754e-03 2.63415193e+00] [ 3.58993934e-02 4.80215666e-04 9.99355294e-01 2.10370140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83509989299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:64.25, Y:2.63, Z:2.10 [[ 9.98865079e-01 -3.13320085e-02 -3.58728170e-02 6.42534655e+01] [ 3.12996941e-02 9.99508975e-01 -1.46217253e-03 2.63327937e+00] [ 3.59010154e-02 3.37704879e-04 9.99355294e-01 2.10094297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.28, Y:2.63, Z:2.10 [[ 9.98768836e-01 -3.42634403e-02 -3.58723890e-02 6.42813258e+01] [ 3.42326414e-02 9.99412806e-01 -1.47259976e-03 2.63334900e+00] [ 3.59017813e-02 2.42780125e-04 9.99355294e-01 2.10340148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:2.63, Z:2.11 [[ 9.98665741e-01 -3.71475488e-02 -3.58719598e-02 6.43087942e+01] [ 3.71182368e-02 9.99309780e-01 -1.48298103e-03 2.63384806e+00] [ 3.59022894e-02 1.49498457e-04 9.99355294e-01 2.10688963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:2.63, Z:2.11 [[ 9.98445752e-01 -4.26531694e-02 -3.58718267e-02 6.43369654e+01] [ 4.26272933e-02 9.99089938e-01 -1.48619433e-03 2.63428851e+00] [ 3.59025720e-02 -4.52344602e-05 9.99355294e-01 2.10904437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:2.63, Z:2.11 [[ 9.98187652e-01 -4.83182512e-02 -3.58713965e-02 6.43650386e+01] [ 4.82956605e-02 9.98831963e-01 -1.49650425e-03 2.63403523e+00] [ 3.59018059e-02 -2.38640723e-04 9.99355294e-01 2.11084140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:64.39, Y:2.63, Z:2.11 [[ 9.98069048e-01 -5.07094562e-02 -3.58709628e-02 6.43946126e+01] [ 5.06880380e-02 9.98713398e-01 -1.50683081e-03 2.63385191e+00] [ 3.59012217e-02 -3.14307534e-04 9.99355294e-01 2.10788371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01509989299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.42, Y:2.63, Z:2.11 [[ 9.97625998e-01 -5.87847377e-02 -3.58709083e-02 6.44242511e+01] [ 5.87684881e-02 9.98270500e-01 -1.50812657e-03 2.63065934e+00] [ 3.58975244e-02 -6.03532768e-04 9.99355294e-01 2.10919999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.46, Y:2.63, Z:2.11 [[ 9.97370352e-01 -6.29734714e-02 -3.58709112e-02 6.44562616e+01] [ 6.29599308e-02 9.98014916e-01 -1.50805831e-03 2.62945991e+00] [ 3.58946721e-02 -7.54337432e-04 9.99355294e-01 2.10719753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:2.63, Z:2.11 [[ 9.97127246e-01 -6.67122813e-02 -3.58709649e-02 6.44874196e+01] [ 6.67012033e-02 9.97771857e-01 -1.50677942e-03 2.62973179e+00] [ 3.58915599e-02 -8.90185703e-04 9.99355294e-01 2.11038265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.52, Y:2.63, Z:2.11 [[ 9.97053922e-01 -6.77993004e-02 -3.58710451e-02 6.45198713e+01] [ 6.77889939e-02 9.97698545e-01 -1.50486757e-03 2.63063532e+00] [ 3.58905185e-02 -9.31227942e-04 9.99355294e-01 2.10922606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:2.63, Z:2.11 [[ 9.96981052e-01 -6.88624907e-02 -3.58711516e-02 6.45519852e+01] [ 6.88529630e-02 9.97625688e-01 -1.50232523e-03 2.63170355e+00] [ 3.58894361e-02 -9.72045281e-04 9.99355294e-01 2.11201922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.58, Y:2.63, Z:2.11 [[ 9.96885287e-01 -7.02351643e-02 -3.58712588e-02 6.45834022e+01] [ 7.02266165e-02 9.97529936e-01 -1.49975993e-03 2.63326151e+00] [ 3.58879904e-02 -1.02402852e-03 9.99355294e-01 2.11118075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.62, Y:2.64, Z:2.11 [[ 9.96823901e-01 -7.11010396e-02 -3.58713388e-02 6.46158360e+01] [ 7.10931206e-02 9.97468558e-01 -1.49784547e-03 2.63523480e+00] [ 3.58870309e-02 -1.05711725e-03 9.99355294e-01 2.11310710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.65, Y:2.64, Z:2.12 [[ 9.96770833e-01 -7.18411171e-02 -3.58714473e-02 6.46481805e+01] [ 7.18337703e-02 9.97415497e-01 -1.49524244e-03 2.63838666e+00] [ 3.58861573e-02 -1.08636724e-03 9.99355294e-01 2.11506463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.68, Y:2.64, Z:2.12 [[ 9.96733834e-01 -7.23525785e-02 -3.58715554e-02 6.46787688e+01] [ 7.23456559e-02 9.97378503e-01 -1.49264273e-03 2.64136203e+00] [ 3.58855148e-02 -1.10738370e-03 9.99355294e-01 2.11654016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:2.64, Z:2.12 [[ 9.96695264e-01 -7.28819407e-02 -3.58716360e-02 6.47103440e+01] [ 7.28754302e-02 9.97339937e-01 -1.49070455e-03 2.64484094e+00] [ 3.58848606e-02 -1.12838274e-03 9.99355294e-01 2.11818114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:2.65, Z:2.12 [[ 9.96699948e-01 -7.28177943e-02 -3.58717423e-02 6.47413924e+01] [ 7.28113344e-02 9.97344622e-01 -1.48814137e-03 2.64830734e+00] [ 3.58848524e-02 -1.12863900e-03 9.99355294e-01 2.11807919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.77, Y:2.65, Z:2.12 [[ 9.96708835e-01 -7.26960120e-02 -3.58718215e-02 6.47733816e+01] [ 7.26895422e-02 9.97353509e-01 -1.48623027e-03 2.65049946e+00] [ 3.58849300e-02 -1.12616744e-03 9.99355294e-01 2.11846517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:2.65, Z:2.12 [[ 9.96711211e-01 -7.26633778e-02 -3.58719274e-02 6.48058413e+01] [ 7.26569788e-02 9.97355885e-01 -1.48367056e-03 2.65391462e+00] [ 3.58848864e-02 -1.12755478e-03 9.99355294e-01 2.11865409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.84, Y:2.66, Z:2.12 [[ 9.96736355e-01 -7.23176026e-02 -3.58720336e-02 6.48367948e+01] [ 7.23110726e-02 9.97381028e-01 -1.48109710e-03 2.65634554e+00] [ 3.58851952e-02 -1.11768190e-03 9.99355294e-01 2.11640449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:2.66, Z:2.12 [[ 9.96871904e-01 -7.04244149e-02 -3.58721127e-02 6.48686667e+01] [ 7.04167294e-02 9.97516564e-01 -1.47918000e-03 2.65921023e+00] [ 3.58871970e-02 -1.05144387e-03 9.99355294e-01 2.11985014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.90, Y:2.67, Z:2.12 [[ 9.97056373e-01 -6.77626183e-02 -3.58722236e-02 6.48996909e+01] [ 6.77533085e-02 9.97701012e-01 -1.47648442e-03 2.66594832e+00] [ 3.58898042e-02 -9.58323628e-04 9.99355294e-01 2.11943524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:2.67, Z:2.12 [[ 9.97277595e-01 -6.44249577e-02 -3.58723062e-02 6.49313694e+01] [ 6.44135625e-02 9.97922201e-01 -1.47447435e-03 2.67081147e+00] [ 3.58927637e-02 -8.40202803e-04 9.99355294e-01 2.12333534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:2.68, Z:2.13 [[ 9.97578274e-01 -5.95882306e-02 -3.58724121e-02 6.49635171e+01] [ 5.95738025e-02 9.98222819e-01 -1.47189380e-03 2.67541475e+00] [ 3.58963679e-02 -6.68726718e-04 9.99355294e-01 2.12690298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:2.68, Z:2.13 [[ 9.97694306e-01 -5.76127685e-02 -3.58725490e-02 6.49941078e+01] [ 5.75971844e-02 9.98338824e-01 -1.46855022e-03 2.67866757e+00] [ 3.58975656e-02 -6.00993623e-04 9.99355294e-01 2.12799323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:2.68, Z:2.13 [[ 9.98043978e-01 -5.11993359e-02 -3.58726313e-02 6.50254444e+01] [ 5.11796821e-02 9.98688385e-01 -1.46653814e-03 2.68327710e+00] [ 3.59006659e-02 -3.72280302e-04 9.99355294e-01 2.13027826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:2.69, Z:2.13 [[ 9.98179126e-01 -4.84931137e-02 -3.58726855e-02 6.50552561e+01] [ 4.84717605e-02 9.98823479e-01 -1.46520926e-03 2.68704211e+00] [ 3.59015331e-02 -2.76270917e-04 9.99355294e-01 2.13271340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:2.69, Z:2.13 [[ 9.98494925e-01 -4.14853540e-02 -3.58726855e-02 6.50845090e+01] [ 4.14594784e-02 9.99139112e-01 -1.46520926e-03 2.69022876e+00] [ 3.59025879e-02 -2.42588146e-05 9.99355294e-01 2.13270788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:2.69, Z:2.13 [[ 9.98538381e-01 -4.04259052e-02 -3.58726580e-02 6.51121396e+01] [ 4.03993219e-02 9.99182539e-01 -1.46588326e-03 2.68859081e+00] [ 3.59025931e-02 1.45096432e-05 9.99355294e-01 2.13186557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:2.69, Z:2.13 [[ 9.98526881e-01 -4.07090883e-02 -3.58725253e-02 6.51404725e+01] [ 4.06825712e-02 9.99171041e-01 -1.46912355e-03 2.68981405e+00] [ 3.59025951e-02 7.57278692e-06 9.99355294e-01 2.13288562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:2.69, Z:2.13 [[ 9.98507055e-01 -4.11928769e-02 -3.58721057e-02 6.51681502e+01] [ 4.11663064e-02 9.99151213e-01 -1.47929923e-03 2.68858539e+00] [ 3.59025945e-02 3.68620914e-07 9.99355294e-01 2.13251790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.20, Y:2.69, Z:2.13 [[ 9.98498488e-01 -4.14003799e-02 -3.58716813e-02 6.51963406e+01] [ 4.13735760e-02 9.99142637e-01 -1.48951998e-03 2.68897913e+00] [ 3.59025929e-02 3.14371874e-06 9.99355294e-01 2.13092620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:2.69, Z:2.13 [[ 9.98454907e-01 -4.24386045e-02 -3.58714831e-02 6.52242154e+01] [ 4.24122995e-02 9.99099076e-01 -1.49427758e-03 2.68893105e+00] [ 3.59025807e-02 -2.94233026e-05 9.99355294e-01 2.13409567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.25, Y:2.69, Z:2.13 [[ 9.98405491e-01 -4.35860311e-02 -3.58710651e-02 6.52524649e+01] [ 4.35601083e-02 9.99049676e-01 -1.50424562e-03 2.68758759e+00] [ 3.59025400e-02 -6.07003873e-05 9.99355294e-01 2.13311844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:2.69, Z:2.14 [[ 9.98299018e-01 -4.59604964e-02 -3.58706361e-02 6.52813673e+01] [ 4.59357407e-02 9.98943249e-01 -1.51440713e-03 2.68532866e+00] [ 3.59023326e-02 -1.35913081e-04 9.99355294e-01 2.13705456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.31, Y:2.68, Z:2.14 [[ 9.98007870e-01 -5.19000613e-02 -3.58702555e-02 6.53100996e+01] [ 5.18788174e-02 9.98652226e-01 -1.52336765e-03 2.68146028e+00] [ 3.59009734e-02 -3.40573532e-04 9.99355294e-01 2.13683408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:2.68, Z:2.14 [[ 9.97699158e-01 -5.75303691e-02 -3.58698627e-02 6.53400822e+01] [ 5.75124309e-02 9.98343614e-01 -1.53256183e-03 2.68101566e+00] [ 3.58986172e-02 -5.33927351e-04 9.99355294e-01 2.13893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:2.68, Z:2.14 [[ 9.97510474e-01 -6.07140891e-02 -3.58699578e-02 6.53709782e+01] [ 6.06982877e-02 9.98154986e-01 -1.53033270e-03 2.68153422e+00] [ 3.58966900e-02 -6.50722124e-04 9.99355294e-01 2.14048354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:2.68, Z:2.14 [[ 9.97294943e-01 -6.41571461e-02 -3.58700121e-02 6.54030575e+01] [ 6.41436155e-02 9.97939506e-01 -1.52905892e-03 2.68181365e+00] [ 3.58942022e-02 -7.75909541e-04 9.99355294e-01 2.14160724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.43, Y:2.68, Z:2.14 [[ 9.96800443e-01 -7.14297621e-02 -3.58701204e-02 6.54340243e+01] [ 7.14210248e-02 9.97445090e-01 -1.52651454e-03 2.68045702e+00] [ 3.58875140e-02 -1.04025039e-03 9.99355294e-01 2.13861587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:2.68, Z:2.14 [[ 9.96512611e-01 -7.53388715e-02 -3.58702011e-02 6.54663197e+01] [ 7.53327310e-02 9.97157287e-01 -1.52461639e-03 2.68043142e+00] [ 3.58830953e-02 -1.18290075e-03 9.99355294e-01 2.14144242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.50, Y:2.68, Z:2.14 [[ 9.95760726e-01 -8.46988687e-02 -3.58703072e-02 6.54989229e+01] [ 8.46988759e-02 9.96405431e-01 -1.52211499e-03 2.67896709e+00] [ 3.58702903e-02 -1.52251237e-03 9.99355294e-01 2.13944268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:2.68, Z:2.14 [[ 9.95423773e-01 -8.85710219e-02 -3.58704153e-02 6.55304728e+01] [ 8.85736283e-02 9.96068473e-01 -1.51956234e-03 2.67937737e+00] [ 3.58639790e-02 -1.66456436e-03 9.99355294e-01 2.14275223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:2.68, Z:2.14 [[ 9.95400563e-01 -8.88314487e-02 -3.58704959e-02 6.55639041e+01] [ 8.88342923e-02 9.96045263e-01 -1.51765748e-03 2.68012621e+00] [ 3.58634533e-02 -1.67585301e-03 9.99355294e-01 2.14368344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:2.68, Z:2.14 [[ 9.95436000e-01 -8.84334003e-02 -3.58706583e-02 6.55964674e+01] [ 8.84361244e-02 9.96080700e-01 -1.51380935e-03 2.68108490e+00] [ 3.58639418e-02 -1.66536168e-03 9.99355294e-01 2.14497752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:2.68, Z:2.15 [[ 9.95637020e-01 -8.61406354e-02 -3.58708194e-02 6.56282211e+01] [ 8.61420123e-02 9.96281724e-01 -1.50998210e-03 2.68322576e+00] [ 3.58675127e-02 -1.58659049e-03 9.99355294e-01 2.14883798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:2.69, Z:2.15 [[ 9.95688524e-01 -8.55432062e-02 -3.58709270e-02 6.56615489e+01] [ 8.55442883e-02 9.96333229e-01 -1.50742381e-03 2.68527097e+00] [ 3.58683463e-02 -1.56762833e-03 9.99355294e-01 2.15058778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.69, Y:2.69, Z:2.15 [[ 9.95644525e-01 -8.60537339e-02 -3.58710888e-02 6.56940646e+01] [ 8.60552854e-02 9.96289229e-01 -1.50356304e-03 2.68546752e+00] [ 3.58673666e-02 -1.58988248e-03 9.99355294e-01 2.14688017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:2.69, Z:2.15 [[ 9.95488920e-01 -8.78354609e-02 -3.58711969e-02 6.57261758e+01] [ 8.78382591e-02 9.96133619e-01 -1.50098011e-03 2.68611953e+00] [ 3.58643444e-02 -1.65665441e-03 9.99355294e-01 2.14851688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.76, Y:2.69, Z:2.15 [[ 9.95262504e-01 -9.03648035e-02 -3.58713066e-02 6.57577145e+01] [ 9.03693343e-02 9.95907194e-01 -1.49835274e-03 2.68880595e+00] [ 3.58598906e-02 -1.75041180e-03 9.99355294e-01 2.14715090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.79, Y:2.69, Z:2.15 [[ 9.95199371e-01 -9.10574342e-02 -3.58713883e-02 6.57901724e+01] [ 9.10624841e-02 9.95844056e-01 -1.49639491e-03 2.69095988e+00] [ 3.58585667e-02 -1.77732645e-03 9.99355294e-01 2.14786044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:2.69, Z:2.15 [[ 9.95137755e-01 -9.17283180e-02 -3.58714951e-02 6.58226715e+01] [ 9.17338947e-02 9.95782437e-01 -1.49382960e-03 2.69266878e+00] [ 3.58572313e-02 -1.80406572e-03 9.99355294e-01 2.15068194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:2.69, Z:2.15 [[ 9.95340628e-01 -8.95000511e-02 -3.58716565e-02 6.58536592e+01] [ 8.95043241e-02 9.95985319e-01 -1.48994423e-03 2.69260481e+00] [ 3.58609933e-02 -1.72766634e-03 9.99355294e-01 2.15117655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.89, Y:2.69, Z:2.15 [[ 9.95675529e-01 -8.56939868e-02 -3.58717362e-02 6.58859808e+01] [ 8.56958642e-02 9.96320232e-01 -1.48802192e-03 2.69474796e+00] [ 3.58672511e-02 -1.59247243e-03 9.99355294e-01 2.15230109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:2.70, Z:2.16 [[ 9.95955575e-01 -8.23753878e-02 -3.58718425e-02 6.59176811e+01] [ 8.23752089e-02 9.96600280e-01 -1.48545658e-03 2.69888263e+00] [ 3.58722533e-02 -1.47550176e-03 9.99355294e-01 2.15543096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.95, Y:2.70, Z:2.16 [[ 9.96285635e-01 -7.82824111e-02 -3.58719503e-02 6.59501246e+01] [ 7.82796770e-02 9.96930335e-01 -1.48284740e-03 2.70190078e+00] [ 3.58779163e-02 -1.33070512e-03 9.99355294e-01 2.15545109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.98, Y:2.70, Z:2.15 [[ 9.96385845e-01 -7.69963799e-02 -3.58720589e-02 6.59814375e+01] [ 7.69929083e-02 9.97030542e-01 -1.48021516e-03 2.70337833e+00] [ 3.58795096e-02 -1.28702871e-03 9.99355294e-01 2.15441582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.01, Y:2.71, Z:2.15 [[ 9.96580402e-01 -7.44358250e-02 -3.58721395e-02 6.60137355e+01] [ 7.44307670e-02 9.97225088e-01 -1.47826084e-03 2.70604239e+00] [ 3.58826330e-02 -1.19678508e-03 9.99355294e-01 2.15406128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57509989299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.05, Y:2.71, Z:2.15 [[ 9.96725941e-01 -7.24608835e-02 -3.58722477e-02 6.60463240e+01] [ 7.24546427e-02 9.97370617e-01 -1.47562972e-03 2.70901868e+00] [ 3.58848512e-02 -1.12831247e-03 9.99355294e-01 2.15463221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:2.71, Z:2.16 [[ 9.96873952e-01 -7.03952774e-02 -3.58723817e-02 6.60783404e+01] [ 7.03878180e-02 9.97518615e-01 -1.47236514e-03 2.71242548e+00] [ 3.58870161e-02 -1.05721621e-03 9.99355294e-01 2.15888364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:2.72, Z:2.16 [[ 9.97232193e-01 -6.51238685e-02 -3.58724893e-02 6.61073914e+01] [ 6.51130953e-02 9.97876808e-01 -1.46973994e-03 2.72009434e+00] [ 3.58920402e-02 -8.70096832e-04 9.99355294e-01 2.15927423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:2.72, Z:2.16 [[ 9.97910056e-01 -5.37557568e-02 -3.58585827e-02 6.61392105e+01] [ 5.37255025e-02 9.98554106e-01 -1.80744404e-03 2.72265792e+00] [ 3.59038956e-02 -1.22853796e-04 9.99355240e-01 2.16230672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.17, Y:2.72, Z:2.16 [[ 9.98160728e-01 -4.88704768e-02 -3.58725183e-02 6.61698954e+01] [ 4.88493155e-02 9.98805083e-01 -1.46664576e-03 2.72266644e+00] [ 3.59013293e-02 -2.88399771e-04 9.99355298e-01 2.16261787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:2.72, Z:2.17 [[ 9.98330071e-01 -4.52794806e-02 -3.58725183e-02 6.61991200e+01] [ 4.52560016e-02 9.98974346e-01 -1.46664576e-03 2.72342777e+00] [ 3.59021345e-02 -1.59250183e-04 9.99355298e-01 2.16538328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:2.72, Z:2.17 [[ 9.98386168e-01 -4.40252728e-02 -3.58724922e-02 6.62278778e+01] [ 4.40009614e-02 9.99030411e-01 -1.46728464e-03 2.72446575e+00] [ 3.59023082e-02 -1.13507452e-04 9.99355298e-01 2.16688095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:2.73, Z:2.17 [[ 9.98431851e-01 -4.29770918e-02 -3.58721233e-02 6.62549795e+01] [ 4.29517820e-02 9.99076056e-01 -1.47624765e-03 2.72672652e+00] [ 3.59024243e-02 -6.68389485e-05 9.99355298e-01 2.16787862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:2.73, Z:2.17 [[ 9.98450724e-01 -4.25447118e-02 -3.58622180e-02 6.62850112e+01] [ 4.25105549e-02 9.99094546e-01 -1.71476272e-03 2.72609622e+00] [ 3.59027005e-02 1.87583292e-04 9.99355273e-01 2.16995506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:2.73, Z:2.17 [[ 9.98435143e-01 -4.29009701e-02 -3.58716121e-02 6.63128954e+01] [ 4.28751754e-02 9.99079328e-01 -1.48837765e-03 2.72613164e+00] [ 3.59024389e-02 -5.19531064e-05 9.99355298e-01 2.17079797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.34, Y:2.73, Z:2.17 [[ 9.98392974e-01 -4.38714857e-02 -3.58714798e-02 6.63408097e+01] [ 4.38462029e-02 9.99037179e-01 -1.49155778e-03 2.72573306e+00] [ 3.59023789e-02 -8.36673733e-05 9.99355298e-01 2.17143108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.37, Y:2.73, Z:2.17 [[ 9.98331314e-01 -4.52532522e-02 -3.58710407e-02 6.63687732e+01] [ 4.52284843e-02 9.98975539e-01 -1.50204548e-03 2.72561794e+00] [ 3.59022647e-02 -1.22853762e-04 9.99355298e-01 2.17253389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:2.72, Z:2.17 [[ 9.98100886e-01 -5.00789408e-02 -3.58709045e-02 6.63964902e+01] [ 5.00571709e-02 9.98745220e-01 -1.50529009e-03 2.72271266e+00] [ 3.59012778e-02 -2.93164625e-04 9.99355298e-01 2.17069688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.43, Y:2.72, Z:2.17 [[ 9.97877498e-01 -5.43487479e-02 -3.58707706e-02 6.64258906e+01] [ 5.43296204e-02 9.98521916e-01 -1.50847580e-03 2.72285958e+00] [ 3.58997343e-02 -4.43571288e-04 9.99355298e-01 2.16860495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:2.72, Z:2.17 [[ 9.97591503e-01 -5.93673704e-02 -3.58707170e-02 6.64565878e+01] [ 5.93514388e-02 9.98236008e-01 -1.50974887e-03 2.72430938e+00] [ 3.58970711e-02 -6.22866019e-04 9.99355298e-01 2.17259880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:2.73, Z:2.17 [[ 9.97451947e-01 -6.16676888e-02 -3.58707441e-02 6.64874488e+01] [ 6.16532667e-02 9.98096487e-01 -1.50910515e-03 2.72520409e+00] [ 3.58955267e-02 -7.06288683e-04 9.99355298e-01 2.17443339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.52, Y:2.73, Z:2.17 [[ 9.97341334e-01 -6.34314463e-02 -3.58707982e-02 6.65185294e+01] [ 6.34182102e-02 9.97985900e-01 -1.50781737e-03 2.72568234e+00] [ 3.58941939e-02 -7.71053233e-04 9.99355298e-01 2.17442999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:2.73, Z:2.18 [[ 9.97122178e-01 -6.67880367e-02 -3.58708791e-02 6.65501367e+01] [ 6.67770395e-02 9.97766786e-01 -1.50588903e-03 2.72598468e+00] [ 3.58913472e-02 -8.93795763e-04 9.99355298e-01 2.17787584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:2.73, Z:2.18 [[ 9.96907397e-01 -6.99207799e-02 -3.58709595e-02 6.65822588e+01] [ 6.99118771e-02 9.97552037e-01 -1.50397358e-03 2.72866732e+00] [ 3.58883077e-02 -1.00848372e-03 9.99355298e-01 2.18235736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:2.73, Z:2.18 [[ 9.96838391e-01 -7.08977394e-02 -3.58710658e-02 6.66139367e+01] [ 7.08895597e-02 9.97483040e-01 -1.50143390e-03 2.73233668e+00] [ 3.58872280e-02 -1.04619710e-03 9.99355298e-01 2.18314168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:2.73, Z:2.18 [[ 9.96865757e-01 -7.05118497e-02 -3.58711716e-02 6.66466077e+01] [ 7.05035116e-02 9.97510405e-01 -1.49889974e-03 2.73317127e+00] [ 3.58875572e-02 -1.03484174e-03 9.99355298e-01 2.18171069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.68, Y:2.74, Z:2.18 [[ 9.97261945e-01 -6.46673385e-02 -3.58712799e-02 6.66774352e+01] [ 6.46553151e-02 9.97906534e-01 -1.49630392e-03 2.73644373e+00] [ 3.58929466e-02 -8.27061951e-04 9.99355298e-01 2.18081589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:66.71, Y:2.74, Z:2.18 [[ 9.97480914e-01 -6.11969291e-02 -3.58714676e-02 6.67093588e+01] [ 6.11828252e-02 9.98125461e-01 -1.49179141e-03 2.73888836e+00] [ 3.58955182e-02 -7.06684272e-04 9.99355298e-01 2.18147955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:2.74, Z:2.18 [[ 9.98154112e-01 -4.90061016e-02 -3.58715763e-02 6.67403086e+01] [ 4.89842183e-02 9.98798442e-01 -1.48917358e-03 2.74451137e+00] [ 3.59014531e-02 -2.70716385e-04 9.99355298e-01 2.18453893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:2.75, Z:2.19 [[ 9.98515434e-01 -4.09896664e-02 -3.58716571e-02 6.67698342e+01] [ 4.09626801e-02 9.99159570e-01 -1.48722282e-03 2.74817532e+00] [ 3.59024703e-02 1.56157216e-05 9.99355298e-01 2.18601729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:2.75, Z:2.19 [[ 9.98763780e-01 -3.44113388e-02 -3.58716044e-02 6.67976614e+01] [ 3.43800644e-02 9.99407722e-01 -1.48849407e-03 2.75029569e+00] [ 3.59015795e-02 2.53385890e-04 9.99355298e-01 2.18696259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:2.75, Z:2.19 [[ 9.98891374e-01 -3.04837825e-02 -3.58714735e-02 6.68263229e+01] [ 3.04498632e-02 9.99535182e-01 -1.49164143e-03 2.75185877e+00] [ 3.59002707e-02 3.97706293e-04 9.99355298e-01 2.18965884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:2.75, Z:2.19 [[ 9.98852753e-01 -3.17244683e-02 -3.58710936e-02 6.68546067e+01] [ 3.16910226e-02 9.99496587e-01 -1.50072168e-03 2.74810733e+00] [ 3.59006452e-02 3.62208346e-04 9.99355298e-01 2.19103450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:2.74, Z:2.19 [[ 9.98642512e-01 -3.77681077e-02 -3.58706564e-02 6.68839561e+01] [ 3.77381859e-02 9.99286518e-01 -1.51109995e-03 2.74378719e+00] [ 3.59021348e-02 1.55355151e-04 9.99355298e-01 2.19234788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.91, Y:2.74, Z:2.19 [[ 9.98549990e-01 -4.01402738e-02 -3.58702744e-02 6.69115472e+01] [ 4.01115580e-02 9.99194051e-01 -1.52011571e-03 2.74366283e+00] [ 3.59023826e-02 7.90989362e-05 9.99355299e-01 2.19353042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:2.74, Z:2.20 [[ 9.98326789e-01 -4.53536638e-02 -3.58701387e-02 6.69396769e+01] [ 4.53281966e-02 9.98970988e-01 -1.52331003e-03 2.74225918e+00] [ 3.59023156e-02 -1.05167488e-04 9.99355299e-01 2.19563476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:2.74, Z:2.20 [[ 9.98170260e-01 -4.86772533e-02 -3.58700051e-02 6.69687270e+01] [ 4.86538182e-02 9.98814535e-01 -1.52645046e-03 2.74179133e+00] [ 3.59017859e-02 -2.21555257e-04 9.99355299e-01 2.19790164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:2.73, Z:2.20 [[ 9.96248271e-01 -7.87575603e-02 -3.58696150e-02 6.69983839e+01] [ 7.87532381e-02 9.96892958e-01 -1.53556182e-03 2.73290264e+00] [ 3.58791037e-02 -1.29504752e-03 9.99355299e-01 2.19782593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:2.73, Z:2.20 [[ 9.95625705e-01 -8.62718639e-02 -3.58695037e-02 6.70304037e+01] [ 8.62723125e-02 9.96270406e-01 -1.53815694e-03 2.73258757e+00] [ 3.58684247e-02 -1.56311644e-03 9.99355299e-01 2.19879714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:2.73, Z:2.20 [[ 9.95635098e-01 -8.61633447e-02 -3.58696148e-02 6.70638973e+01] [ 8.61638164e-02 9.96279799e-01 -1.53556234e-03 2.73393500e+00] [ 3.58684818e-02 -1.56180314e-03 9.99355299e-01 2.20000051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:2.73, Z:2.20 [[ 9.95102141e-01 -9.21145392e-02 -3.58697817e-02 6.70970637e+01] [ 9.21190060e-02 9.95746827e-01 -1.53165353e-03 2.73367879e+00] [ 3.58583089e-02 -1.78013693e-03 9.99355299e-01 2.20130856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65509989299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:67.13, Y:2.73, Z:2.20 [[ 9.94777177e-01 -9.55600069e-02 -3.58699512e-02 6.71293684e+01] [ 9.55668492e-02 9.95421842e-01 -1.52767514e-03 2.73412261e+00] [ 3.58517175e-02 -1.90828185e-03 9.99355299e-01 2.19865053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:2.74, Z:2.20 [[ 9.94663898e-01 -9.67318853e-02 -3.58702288e-02 6.71601353e+01] [ 9.67397224e-02 9.95308551e-01 -1.52112898e-03 2.73593674e+00] [ 3.58490871e-02 -1.95706389e-03 9.99355299e-01 2.20323756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.19, Y:2.74, Z:2.21 [[ 9.94638361e-01 -9.69940831e-02 -3.58703114e-02 6.71919824e+01] [ 9.70021604e-02 9.95283012e-01 -1.51917664e-03 2.73843213e+00] [ 3.58484627e-02 -1.96846634e-03 9.99355299e-01 2.20548543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:2.74, Z:2.21 [[ 9.94823910e-01 -9.50720834e-02 -3.58704198e-02 6.72251704e+01] [ 9.50790073e-02 9.95468574e-01 -1.51661355e-03 2.74086216e+00] [ 3.58520633e-02 -1.90176049e-03 9.99355299e-01 2.20854739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:2.75, Z:2.21 [[ 9.95282031e-01 -9.01497611e-02 -3.58705890e-02 6.72574764e+01] [ 9.01536402e-02 9.95926721e-01 -1.51260063e-03 2.74535220e+00] [ 3.58608387e-02 -1.72839995e-03 9.99355299e-01 2.20600287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:2.75, Z:2.21 [[ 9.95237709e-01 -9.06377101e-02 -3.58707005e-02 6.72896755e+01] [ 9.06420004e-02 9.95882397e-01 -1.50995337e-03 2.74850011e+00] [ 3.58598579e-02 -1.74862952e-03 9.99355299e-01 2.20503053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83509989299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:67.32, Y:2.75, Z:2.20 [[ 9.95153992e-01 -9.15522653e-02 -3.58708108e-02 6.73212971e+01] [ 9.15572424e-02 9.95798674e-01 -1.50732857e-03 2.75253070e+00] [ 3.58581051e-02 -1.78420847e-03 9.99355299e-01 2.19911431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.35, Y:2.76, Z:2.20 [[ 9.95147771e-01 -9.16197723e-02 -3.58710294e-02 6.73535242e+01] [ 9.16249809e-02 9.95792452e-01 -1.50210708e-03 2.75871732e+00] [ 3.58577230e-02 -1.79186388e-03 9.99355299e-01 2.20222194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:2.77, Z:2.21 [[ 9.95376045e-01 -8.91055056e-02 -3.58711391e-02 6.73839795e+01] [ 8.91091800e-02 9.96020736e-01 -1.49948338e-03 2.76513738e+00] [ 3.58620106e-02 -1.70389795e-03 9.99355299e-01 2.20504588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:2.77, Z:2.21 [[ 9.95764064e-01 -8.46592264e-02 -3.58712206e-02 6.74150711e+01] [ 8.46600918e-02 9.96408765e-01 -1.49752994e-03 2.76958958e+00] [ 3.58691784e-02 -1.54567433e-03 9.99355299e-01 2.20732837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:2.77, Z:2.21 [[ 9.95947215e-01 -8.24766311e-02 -3.58712997e-02 6.74467881e+01] [ 8.24761516e-02 9.96591916e-01 -1.49563351e-03 2.77215974e+00] [ 3.58724021e-02 -1.46895473e-03 9.99355299e-01 2.20999548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:2.78, Z:2.21 [[ 9.96209205e-01 -7.92493675e-02 -3.58714084e-02 6.74775504e+01] [ 7.92468931e-02 9.96853901e-01 -1.49302185e-03 2.77546475e+00] [ 3.58768745e-02 -1.35533555e-03 9.99355299e-01 2.21178282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:2.78, Z:2.21 [[ 9.96316086e-01 -7.78941117e-02 -3.58714893e-02 6.75102494e+01] [ 7.78908302e-02 9.96960779e-01 -1.49107648e-03 2.77768802e+00] [ 3.58786140e-02 -1.30847659e-03 9.99355299e-01 2.21354573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.54, Y:2.78, Z:2.21 [[ 9.96381192e-01 -7.70567653e-02 -3.58716493e-02 6.75437350e+01] [ 7.70530809e-02 9.97025883e-01 -1.48721727e-03 2.77975299e+00] [ 3.58795629e-02 -1.28218578e-03 9.99355299e-01 2.21382374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.58, Y:2.78, Z:2.22 [[ 9.96362718e-01 -7.72951947e-02 -3.58718104e-02 6.75756760e+01] [ 7.72918046e-02 9.97007411e-01 -1.48332069e-03 2.78144136e+00] [ 3.58791144e-02 -1.29467152e-03 9.99355299e-01 2.21737298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:2.78, Z:2.22 [[ 9.96310724e-01 -7.79624731e-02 -3.58719190e-02 6.76083163e+01] [ 7.79596093e-02 9.96955419e-01 -1.48069073e-03 2.78291420e+00] [ 3.58781423e-02 -1.32133274e-03 9.99355299e-01 2.21893397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13509989299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:67.64, Y:2.78, Z:2.22 [[ 9.96241140e-01 -7.88465941e-02 -3.58720812e-02 6.76390693e+01] [ 7.88444441e-02 9.96885837e-01 -1.47675056e-03 2.78466832e+00] [ 3.58768064e-02 -1.35711464e-03 9.99355299e-01 2.21745120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:2.79, Z:2.22 [[ 9.96215606e-01 -7.91685136e-02 -3.58721613e-02 6.76712857e+01] [ 7.91666421e-02 9.96860305e-01 -1.47480164e-03 2.78631846e+00] [ 3.58762915e-02 -1.37065815e-03 9.99355299e-01 2.22022361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:2.79, Z:2.22 [[ 9.96237607e-01 -7.88911154e-02 -3.58722934e-02 6.77043226e+01] [ 7.88891801e-02 9.96882306e-01 -1.47158058e-03 2.78781484e+00] [ 3.58765492e-02 -1.36389190e-03 9.99355299e-01 2.22142836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:2.79, Z:2.22 [[ 9.96274400e-01 -7.84250441e-02 -3.58724535e-02 6.77358571e+01] [ 7.84229480e-02 9.96919098e-01 -1.46766771e-03 2.78946211e+00] [ 3.58770359e-02 -1.35102378e-03 9.99355299e-01 2.22175135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:2.79, Z:2.22 [[ 9.96315367e-01 -7.79028047e-02 -3.58725858e-02 6.77692366e+01] [ 7.79004871e-02 9.96960064e-01 -1.46442712e-03 2.79121795e+00] [ 3.58776184e-02 -1.33546066e-03 9.99355299e-01 2.22360358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:2.79, Z:2.22 [[ 9.96370677e-01 -7.71921034e-02 -3.58727451e-02 6.78019500e+01] [ 7.71894666e-02 9.97015373e-01 -1.46051468e-03 2.79280000e+00] [ 3.58784185e-02 -1.31378406e-03 9.99355299e-01 2.22472257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:2.79, Z:2.22 [[ 9.96415021e-01 -7.66174898e-02 -3.58729043e-02 6.78345526e+01] [ 7.66146222e-02 9.97059716e-01 -1.45659300e-03 2.79005360e+00] [ 3.58790283e-02 -1.29701787e-03 9.99355299e-01 2.22251055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.87, Y:2.79, Z:2.22 [[ 9.96401879e-01 -7.67881504e-02 -3.58730359e-02 6.78666771e+01] [ 7.67855100e-02 9.97046575e-01 -1.45334653e-03 2.78971424e+00] [ 3.58786873e-02 -1.30641214e-03 9.99355299e-01 2.22277103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:2.79, Z:2.22 [[ 9.96421201e-01 -7.65369687e-02 -3.58731404e-02 6.78985094e+01] [ 7.65342587e-02 9.97065897e-01 -1.45076129e-03 2.79133836e+00] [ 3.58789218e-02 -1.29995491e-03 9.99355299e-01 2.22382873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:2.79, Z:2.23 [[ 9.96538506e-01 -7.49941140e-02 -3.58732438e-02 6.79310372e+01] [ 7.49904979e-02 9.97183197e-01 -1.44820148e-03 2.79297651e+00] [ 3.58808025e-02 -1.24696387e-03 9.99355299e-01 2.22630921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:2.79, Z:2.23 [[ 9.96635502e-01 -7.36938177e-02 -3.58733478e-02 6.79631231e+01] [ 7.36894533e-02 9.97280189e-01 -1.44561841e-03 2.79473691e+00] [ 3.58823122e-02 -1.20273276e-03 9.99355299e-01 2.22800618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:2.80, Z:2.23 [[ 9.96888905e-01 -7.01826649e-02 -3.58734510e-02 6.79943400e+01] [ 7.01761217e-02 9.97533573e-01 -1.44305402e-03 2.79720222e+00] [ 3.58862491e-02 -1.07889512e-03 9.99355299e-01 2.23035551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:2.80, Z:2.23 [[ 9.96893822e-01 -7.01127440e-02 -3.58735277e-02 6.80269901e+01] [ 7.01062243e-02 9.97538491e-01 -1.44114463e-03 2.79845362e+00] [ 3.58862673e-02 -1.07828940e-03 9.99355299e-01 2.23152865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:2.80, Z:2.23 [[ 9.97023175e-01 -6.82485956e-02 -3.58736286e-02 6.80588017e+01] [ 6.82409609e-02 9.97667831e-01 -1.43862934e-03 2.80043843e+00] [ 3.58881497e-02 -1.01370409e-03 9.99355299e-01 2.23379103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:2.80, Z:2.23 [[ 9.97170298e-01 -6.60641508e-02 -3.58737326e-02 6.80903583e+01] [ 6.60551972e-02 9.97814937e-01 -1.43602946e-03 2.80213591e+00] [ 3.58902164e-02 -9.37680559e-04 9.99355299e-01 2.23437409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:2.80, Z:2.24 [[ 9.97412357e-01 -6.23029213e-02 -3.58738947e-02 6.81227050e+01] [ 6.22916826e-02 9.98056960e-01 -1.43197090e-03 2.80469398e+00] [ 3.58934062e-02 -8.06379792e-04 9.99355299e-01 2.23502014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:2.81, Z:2.24 [[ 9.97492130e-01 -6.10123468e-02 -3.58739974e-02 6.81541690e+01] [ 6.10003667e-02 9.98136720e-01 -1.42939240e-03 2.80679272e+00] [ 3.58943647e-02 -7.62519322e-04 9.99355299e-01 2.23583053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:2.81, Z:2.23 [[ 9.97699582e-01 -5.75203912e-02 -3.58740738e-02 6.81867711e+01] [ 5.75062239e-02 9.98344127e-01 -1.42747178e-03 2.80940082e+00] [ 3.58967797e-02 -6.38794528e-04 9.99355299e-01 2.23462378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:2.81, Z:2.23 [[ 9.97125761e-01 -6.67327551e-02 -3.58741744e-02 6.82182028e+01] [ 6.67246326e-02 9.97770411e-01 -1.42493845e-03 2.80751252e+00] [ 3.58892798e-02 -9.72848270e-04 9.99355299e-01 2.23394794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:2.81, Z:2.24 [[ 9.97383195e-01 -6.27678517e-02 -3.58742261e-02 6.82492566e+01] [ 6.27572130e-02 9.98027808e-01 -1.42363641e-03 2.81378633e+00] [ 3.58928339e-02 -8.31455419e-04 9.99355299e-01 2.24226341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:2.81, Z:2.24 [[ 9.97237933e-01 -6.50349152e-02 -3.58743038e-02 6.82803751e+01] [ 6.50258123e-02 9.97882570e-01 -1.42167653e-03 2.81314942e+00] [ 3.58908011e-02 -9.15005978e-04 9.99355299e-01 2.24217288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:2.81, Z:2.24 [[ 9.98063871e-01 -5.08088393e-02 -3.58743806e-02 6.83122480e+01] [ 5.07906153e-02 9.98708315e-01 -1.41973451e-03 2.81452432e+00] [ 3.59001773e-02 -4.05096149e-04 9.99355299e-01 2.24133701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.34, Y:2.82, Z:2.24 [[ 9.98277411e-01 -4.64244931e-02 -3.58744563e-02 6.83423403e+01] [ 4.64035074e-02 9.98921771e-01 -1.41782071e-03 2.81668449e+00] [ 3.59015970e-02 -2.49322212e-04 9.99355299e-01 2.24231128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.37, Y:2.82, Z:2.24 [[ 9.98497952e-01 -4.14109109e-02 -3.58744563e-02 6.83720763e+01] [ 4.13866898e-02 9.99142198e-01 -1.41782071e-03 2.81782012e+00] [ 3.59023963e-02 -6.90339193e-05 9.99355299e-01 2.24006662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:2.82, Z:2.24 [[ 9.98729609e-01 -3.53863659e-02 -3.58744063e-02 6.84011045e+01] [ 3.53582132e-02 9.99373695e-01 -1.41908521e-03 2.81949686e+00] [ 3.59021542e-02 1.48827516e-04 9.99355299e-01 2.24212954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:2.79, Z:2.24 [[ 9.98840586e-01 -3.21019621e-02 -3.58740490e-02 6.84336182e+01] [ 3.20713692e-02 9.99484561e-01 -1.42805890e-03 2.79021021e+00] [ 3.59014016e-02 2.75873320e-04 9.99355299e-01 2.24469322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:2.79, Z:2.25 [[ 9.98878508e-01 -3.08878091e-02 -3.58841218e-02 6.84579936e+01] [ 3.08655380e-02 9.99522856e-01 -1.17457403e-03 2.79383181e+00] [ 3.59032799e-02 6.56740282e-05 9.99355267e-01 2.24557373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:2.79, Z:2.25 [[ 9.98917068e-01 -2.96276232e-02 -3.58733211e-02 6.84854174e+01] [ 2.95948953e-02 9.99560933e-01 -1.44309637e-03 2.79436682e+00] [ 3.59003258e-02 3.79866412e-04 9.99355303e-01 2.24628981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:2.79, Z:2.25 [[ 9.98952823e-01 -2.83970506e-02 -3.58729021e-02 6.85131206e+01] [ 2.83631583e-02 9.99596628e-01 -1.45343769e-03 2.79481784e+00] [ 3.58997053e-02 4.34446880e-04 9.99355303e-01 2.24736799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:2.80, Z:2.25 [[ 9.98944784e-01 -2.86786168e-02 -3.58727722e-02 6.85414612e+01] [ 2.86447910e-02 9.99588592e-01 -1.45663659e-03 2.79603049e+00] [ 3.58997882e-02 4.27531463e-04 9.99355303e-01 2.24838817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:2.79, Z:2.25 [[ 9.99051364e-01 -2.46889782e-02 -3.58723587e-02 6.85733020e+01] [ 2.46522186e-02 9.99695012e-01 -1.46675006e-03 2.79339054e+00] [ 3.58976306e-02 5.81025420e-04 9.99355303e-01 2.24908311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:2.80, Z:2.25 [[ 9.99042913e-01 -2.50117880e-02 -3.58841018e-02 6.86005336e+01] [ 2.49856826e-02 9.99687118e-01 -1.17581563e-03 2.79553933e+00] [ 3.59022836e-02 2.78101493e-04 9.99355267e-01 2.25010094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:2.80, Z:2.25 [[ 9.99037350e-01 -2.52463261e-02 -3.58747428e-02 6.86288916e+01] [ 2.52121177e-02 9.99681136e-01 -1.40568855e-03 2.79692980e+00] [ 3.58987921e-02 4.99857129e-04 9.99355306e-01 2.25119925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:2.80, Z:2.25 [[ 9.99027801e-01 -2.56218122e-02 -3.58744394e-02 6.86563435e+01] [ 2.55875797e-02 9.99671586e-01 -1.41309822e-03 2.79907078e+00] [ 3.58988639e-02 4.93784330e-04 9.99355306e-01 2.25390913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:2.80, Z:2.25 [[ 9.99045283e-01 -2.49345024e-02 -3.58718857e-02 6.86843960e+01] [ 2.48975977e-02 9.99688918e-01 -1.47519860e-03 2.80021528e+00] [ 3.58975099e-02 5.80666425e-04 9.99355308e-01 2.25441658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:2.80, Z:2.26 [[ 9.99050023e-01 -2.47440786e-02 -3.58717530e-02 6.87117815e+01] [ 2.47069357e-02 9.99693644e-01 -1.47841798e-03 2.80100516e+00] [ 3.58973456e-02 5.90732422e-04 9.99355308e-01 2.25557843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:2.80, Z:2.26 [[ 9.99046522e-01 -2.48856180e-02 -3.58713330e-02 6.87399304e+01] [ 2.48482030e-02 9.99690128e-01 -1.48853864e-03 2.80042631e+00] [ 3.58972607e-02 5.95781189e-04 9.99355308e-01 2.26032048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:2.80, Z:2.26 [[ 9.98925630e-01 -2.93401223e-02 -3.58711983e-02 6.87679311e+01] [ 2.93054612e-02 9.99569390e-01 -1.49177847e-03 2.79684679e+00] [ 3.58995207e-02 4.38953742e-04 9.99355308e-01 2.26293646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:2.80, Z:2.26 [[ 9.98829523e-01 -3.24477391e-02 -3.58709978e-02 6.87956857e+01] [ 3.24149084e-02 9.99473378e-01 -1.49658366e-03 2.79592658e+00] [ 3.59006681e-02 3.32076832e-04 9.99355308e-01 2.26460852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:2.79, Z:2.27 [[ 9.98717789e-01 -3.57222811e-02 -3.58705547e-02 6.88226981e+01] [ 3.56911827e-02 9.99361730e-01 -1.50713007e-03 2.79473919e+00] [ 3.59014977e-02 2.24935089e-04 9.99355308e-01 2.26560040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:2.79, Z:2.27 [[ 9.98560680e-01 -3.98733595e-02 -3.58703623e-02 6.88502275e+01] [ 3.98447740e-02 9.99204738e-01 -1.51169544e-03 2.79350314e+00] [ 3.59021123e-02 8.02731514e-05 9.99355308e-01 2.26654626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:2.79, Z:2.27 [[ 9.98548972e-01 -4.01659050e-02 -3.58699174e-02 6.88785689e+01] [ 4.01371316e-02 9.99193021e-01 -1.52218013e-03 2.79475962e+00] [ 3.59021108e-02 8.02558107e-05 9.99355308e-01 2.26756887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:2.79, Z:2.27 [[ 9.98367209e-01 -4.44555737e-02 -3.58694686e-02 6.89060066e+01] [ 4.44291902e-02 9.99011360e-01 -1.53268202e-03 2.79339938e+00] [ 3.59021429e-02 -6.34719737e-05 9.99355308e-01 2.26812036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:2.79, Z:2.27 [[ 9.98354561e-01 -4.47388572e-02 -3.58692737e-02 6.89343503e+01] [ 4.47124932e-02 9.98998714e-01 -1.53723027e-03 2.79467770e+00] [ 3.59021322e-02 -6.91038082e-05 9.99355308e-01 2.26914113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:2.79, Z:2.27 [[ 9.98142255e-01 -4.92490084e-02 -3.58688346e-02 6.89626196e+01] [ 4.92251891e-02 9.98786507e-01 -1.54740869e-03 2.79309469e+00] [ 3.59015164e-02 -2.21116162e-04 9.99355308e-01 2.27020308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:2.78, Z:2.27 [[ 9.97182730e-01 -6.58791459e-02 -3.58683826e-02 6.89912724e+01] [ 6.58656942e-02 9.97827281e-01 -1.55781504e-03 2.78442843e+00] [ 3.58930783e-02 -8.09069668e-04 9.99355308e-01 2.26926259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:2.79, Z:2.27 [[ 9.97185081e-01 -6.58436317e-02 -3.58682425e-02 6.90230682e+01] [ 6.58300413e-02 9.97829629e-01 -1.56103547e-03 2.78578535e+00] [ 3.58931793e-02 -8.04566606e-04 9.99355308e-01 2.27040691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:2.79, Z:2.27 [[ 9.97307639e-01 -6.39604428e-02 -3.58682983e-02 6.90541225e+01] [ 6.39456813e-02 9.97952162e-01 -1.55975305e-03 2.78826624e+00] [ 3.58946083e-02 -7.38069137e-04 9.99355308e-01 2.26982710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:2.79, Z:2.27 [[ 9.97376473e-01 -6.28779098e-02 -3.58683558e-02 6.90845061e+01] [ 6.28624963e-02 9.98020981e-01 -1.55842907e-03 2.79009236e+00] [ 3.58953624e-02 -7.00433892e-04 9.99355308e-01 2.26962922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:2.79, Z:2.27 [[ 9.97446634e-01 -6.17548840e-02 -3.58684567e-02 6.91152468e+01] [ 6.17388285e-02 9.98091126e-01 -1.55610383e-03 2.79194993e+00] [ 3.58960853e-02 -6.62345966e-04 9.99355308e-01 2.27011182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:2.80, Z:2.27 [[ 9.97746590e-01 -5.67026904e-02 -3.58684567e-02 6.91450818e+01] [ 5.66833712e-02 9.98390993e-01 -1.55610383e-03 2.79609483e+00] [ 3.58989793e-02 -4.80547751e-04 9.99355308e-01 2.27099383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:2.80, Z:2.27 [[ 9.97919501e-01 -5.35734619e-02 -3.58685511e-02 6.91750728e+01] [ 5.35522002e-02 9.98563842e-01 -1.55392313e-03 2.80218278e+00] [ 3.59002873e-02 -3.70149633e-04 9.99355308e-01 2.27450169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:2.80, Z:2.28 [[ 9.97920420e-01 -5.35563459e-02 -3.58685511e-02 6.92038526e+01] [ 5.35350732e-02 9.98564761e-01 -1.55392313e-03 2.80459517e+00] [ 3.59002936e-02 -3.69533883e-04 9.99355308e-01 2.27561154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:2.81, Z:2.28 [[ 9.97872825e-01 -5.44360091e-02 -3.58684667e-02 6.92329448e+01] [ 5.44152344e-02 9.98517181e-01 -1.55587053e-03 2.80773783e+00] [ 3.58999756e-02 -3.99230099e-04 9.99355308e-01 2.27818419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:2.81, Z:2.28 [[ 9.97843404e-01 -5.49727040e-02 -3.58684108e-02 6.92620796e+01] [ 5.49522297e-02 9.98487770e-01 -1.55715692e-03 2.80962557e+00] [ 3.58997707e-02 -4.17250385e-04 9.99355308e-01 2.27984589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:2.81, Z:2.28 [[ 9.97820539e-01 -5.53862092e-02 -3.58683539e-02 6.92929884e+01] [ 5.53659548e-02 9.98464913e-01 -1.55846718e-03 2.81156165e+00] [ 3.58996104e-02 -4.30815095e-04 9.99355308e-01 2.28109611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:2.81, Z:2.28 [[ 9.97809977e-01 -5.55761784e-02 -3.58683539e-02 6.93220563e+01] [ 5.55560467e-02 9.98454354e-01 -1.55846718e-03 2.81341029e+00] [ 3.58995278e-02 -4.37649839e-04 9.99355308e-01 2.28190664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:2.82, Z:2.28 [[ 9.97827559e-01 -5.52596221e-02 -3.58683258e-02 6.93524133e+01] [ 5.52392627e-02 9.98471929e-01 -1.55911336e-03 2.81661081e+00] [ 3.58996725e-02 -4.25613591e-04 9.99355308e-01 2.28468796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:2.82, Z:2.29 [[ 9.97899230e-01 -5.39498927e-02 -3.58683258e-02 6.93823030e+01] [ 5.39286876e-02 9.98543572e-01 -1.55911336e-03 2.82008403e+00] [ 3.59002002e-02 -3.78493714e-04 9.99355308e-01 2.28626461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.41, Y:2.82, Z:2.28 [[ 9.98001924e-01 -5.20155966e-02 -3.58683258e-02 6.94127374e+01] [ 5.19931426e-02 9.98646225e-01 -1.55911336e-03 2.82374665e+00] [ 3.59008664e-02 -3.08908841e-04 9.99355308e-01 2.28388481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.44, Y:2.83, Z:2.28 [[ 9.98033024e-01 -5.14154221e-02 -3.58683258e-02 6.94425223e+01] [ 5.13925806e-02 9.98677311e-01 -1.55911336e-03 2.82589696e+00] [ 3.59010456e-02 -2.87319202e-04 9.99355308e-01 2.28398688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:2.83, Z:2.28 [[ 9.98022285e-01 -5.16235055e-02 -3.58682696e-02 6.94720096e+01] [ 5.16007519e-02 9.98666575e-01 -1.56040560e-03 2.82770752e+00] [ 3.59009955e-02 -2.93510118e-04 9.99355308e-01 2.28482850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:2.83, Z:2.29 [[ 9.97993028e-01 -5.21860877e-02 -3.58682135e-02 6.95008744e+01] [ 5.21636510e-02 9.98637329e-01 -1.56169416e-03 2.83064139e+00] [ 3.59008356e-02 -3.12457087e-04 9.99355308e-01 2.28578566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:2.83, Z:2.29 [[ 9.97987736e-01 -5.22872397e-02 -3.58681300e-02 6.95300989e+01] [ 5.22647995e-02 9.98632037e-01 -1.56360978e-03 2.83282630e+00] [ 3.59008205e-02 -3.14177240e-04 9.99355308e-01 2.28621490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:2.84, Z:2.29 [[ 9.97969298e-01 -5.26380006e-02 -3.58681024e-02 6.95598716e+01] [ 5.26157641e-02 9.98613606e-01 -1.56424230e-03 2.83644414e+00] [ 3.59007137e-02 -3.26161825e-04 9.99355308e-01 2.28851752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.59, Y:2.84, Z:2.29 [[ 9.97953313e-01 -5.29402340e-02 -3.58680452e-02 6.95890713e+01] [ 5.29181456e-02 9.98597626e-01 -1.56555129e-03 2.83896694e+00] [ 3.59006255e-02 -3.35723347e-04 9.99355308e-01 2.28717876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:2.84, Z:2.29 [[ 9.97909435e-01 -5.37609797e-02 -3.58680502e-02 6.96194779e+01] [ 5.37394253e-02 9.98553766e-01 -1.56543847e-03 2.84167757e+00] [ 3.59003361e-02 -3.65362585e-04 9.99355308e-01 2.28921696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.65, Y:2.84, Z:2.29 [[ 9.97798886e-01 -5.57751456e-02 -3.58680502e-02 6.96494968e+01] [ 5.57548918e-02 9.98443259e-01 -1.56543847e-03 2.84481058e+00] [ 3.58995255e-02 -4.37826498e-04 9.99355308e-01 2.28595181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:2.85, Z:2.29 [[ 9.97604776e-01 -5.91455382e-02 -3.58680502e-02 6.96791059e+01] [ 5.91274613e-02 9.98249214e-01 -1.56543847e-03 2.84884495e+00] [ 3.58978416e-02 -5.59097855e-04 9.99355308e-01 2.29089105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:2.85, Z:2.29 [[ 9.97340072e-01 -6.34549117e-02 -3.58644012e-02 6.97090973e+01] [ 6.34366265e-02 9.97984507e-01 -1.64868727e-03 2.85324809e+00] [ 3.58967341e-02 -6.30814747e-04 9.99355305e-01 2.29323443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:2.86, Z:2.29 [[ 9.97144355e-01 -6.64577125e-02 -3.58679231e-02 6.97404097e+01] [ 6.64442638e-02 9.97788906e-01 -1.56813350e-03 2.85700844e+00] [ 3.58928303e-02 -8.19562275e-04 9.99355309e-01 2.29429490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:2.86, Z:2.30 [[ 9.96992375e-01 -6.87000053e-02 -3.58680075e-02 6.97727182e+01] [ 6.86880756e-02 9.97636956e-01 -1.56620084e-03 2.86152757e+00] [ 3.58908478e-02 -9.02214116e-04 9.99355309e-01 2.29754772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29509989299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.80, Y:2.87, Z:2.30 [[ 9.96998569e-01 -6.86099990e-02 -3.58681187e-02 6.98047403e+01] [ 6.85981028e-02 9.97643150e-01 -1.56365076e-03 2.86536608e+00] [ 3.58908650e-02 -9.01527325e-04 9.99355309e-01 2.29732515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:69.84, Y:2.87, Z:2.30 [[ 9.97037782e-01 -6.80377181e-02 -3.58682308e-02 6.98369355e+01] [ 6.80255446e-02 9.97682358e-01 -1.56107405e-03 2.86828860e+00] [ 3.58913131e-02 -8.83506131e-04 9.99355309e-01 2.29783061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:2.87, Z:2.30 [[ 9.97042694e-01 -6.79656410e-02 -3.58683437e-02 6.98688121e+01] [ 6.79535143e-02 9.97687271e-01 -1.55847566e-03 2.87180815e+00] [ 3.58913128e-02 -8.83513235e-04 9.99355309e-01 2.30286211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:2.87, Z:2.30 [[ 9.97045531e-01 -6.79239449e-02 -3.58684573e-02 6.98994525e+01] [ 6.79118853e-02 9.97690110e-01 -1.55585836e-03 2.87481982e+00] [ 3.58912851e-02 -8.84632935e-04 9.99355309e-01 2.30373087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:2.88, Z:2.30 [[ 9.96930110e-01 -6.95974340e-02 -3.58685417e-02 6.99316612e+01] [ 6.95865265e-02 9.97574709e-01 -1.55390963e-03 2.88002569e+00] [ 3.58896982e-02 -9.46827926e-04 9.99355309e-01 2.30306108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:2.88, Z:2.30 [[ 9.96795194e-01 -7.15037147e-02 -3.58686524e-02 6.99641396e+01] [ 7.14941319e-02 9.97439814e-01 -1.55134909e-03 2.88305804e+00] [ 3.58877492e-02 -1.01802085e-03 9.99355309e-01 2.30244588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:2.89, Z:2.30 [[ 9.96654645e-01 -7.34367082e-02 -3.58687642e-02 6.99956169e+01] [ 7.34284686e-02 9.97299284e-01 -1.54876141e-03 2.88710927e+00] [ 3.58856288e-02 -1.09020817e-03 9.99355309e-01 2.30206586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:2.89, Z:2.31 [[ 9.96587286e-01 -7.43451954e-02 -3.58688473e-02 7.00271395e+01] [ 7.43376127e-02 9.97231932e-01 -1.54683480e-03 2.89155990e+00] [ 3.58845596e-02 -1.12484858e-03 9.99355309e-01 2.30511139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:2.90, Z:2.31 [[ 9.96636377e-01 -7.36841233e-02 -3.58689571e-02 7.00593133e+01] [ 7.36762048e-02 9.97281020e-01 -1.54428359e-03 2.89543630e+00] [ 3.58852193e-02 -1.10359942e-03 9.99355309e-01 2.30862274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:2.90, Z:2.31 [[ 9.96776156e-01 -7.17684149e-02 -3.58690665e-02 7.00900294e+01] [ 7.17593488e-02 9.97420783e-01 -1.54173929e-03 2.89747577e+00] [ 3.58872005e-02 -1.03717189e-03 9.99355309e-01 2.31155019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.12, Y:2.90, Z:2.31 [[ 9.96889770e-01 -7.01725719e-02 -3.58691482e-02 7.01221776e+01] [ 7.01625422e-02 9.97534384e-01 -1.53983607e-03 2.89871521e+00] [ 3.58887629e-02 -9.81623794e-04 9.99355309e-01 2.31396978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:2.90, Z:2.32 [[ 9.97137957e-01 -6.65529115e-02 -3.58692588e-02 7.01528263e+01] [ 6.65406345e-02 9.97782532e-01 -1.53725466e-03 2.90005890e+00] [ 3.58920286e-02 -8.53908268e-04 9.99355309e-01 2.31601339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:2.90, Z:2.32 [[ 9.97420083e-01 -6.21817386e-02 -3.58693411e-02 7.01817168e+01] [ 6.21667057e-02 9.98064599e-01 -1.53533145e-03 2.90337402e+00] [ 3.58953891e-02 -6.98508345e-04 9.99355309e-01 2.31650164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:2.90, Z:2.32 [[ 9.97529191e-01 -6.04136647e-02 -3.58566996e-02 7.02157866e+01] [ 6.03869127e-02 9.98173368e-01 -1.82959044e-03 2.90375211e+00] [ 3.59017349e-02 -3.40205514e-04 9.99355267e-01 2.31926666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:2.91, Z:2.32 [[ 9.97731998e-01 -5.69583162e-02 -3.58693636e-02 7.02466566e+01] [ 5.69399785e-02 9.98376426e-01 -1.53338831e-03 2.90503024e+00] [ 3.58984662e-02 -5.12490214e-04 9.99355311e-01 2.31969316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:2.91, Z:2.32 [[ 9.97937524e-01 -5.32360258e-02 -3.58695493e-02 7.02756095e+01] [ 5.32154408e-02 9.98581884e-01 -1.52903188e-03 2.90587060e+00] [ 3.59000817e-02 -3.82935588e-04 9.99355311e-01 2.31813158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77509989299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:70.31, Y:2.91, Z:2.32 [[ 9.98001877e-01 -5.20239863e-02 -3.58574750e-02 7.03062158e+01] [ 5.19924724e-02 9.98645834e-01 -1.81139714e-03 2.90671370e+00] [ 3.59031542e-02 -5.65410381e-05 9.99355272e-01 2.31683609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:2.91, Z:2.32 [[ 9.98076794e-01 -5.05648741e-02 -3.58595412e-02 7.03368874e+01] [ 5.05341664e-02 9.98720777e-01 -1.76275481e-03 2.90848097e+00] [ 3.59028023e-02 -5.27673554e-05 9.99355285e-01 2.32218493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:2.91, Z:2.32 [[ 9.98226687e-01 -4.75155435e-02 -3.58574169e-02 7.03689700e+01] [ 4.74810700e-02 9.98870493e-01 -1.81282307e-03 2.90739205e+00] [ 3.59030530e-02 1.07059843e-04 9.99355272e-01 2.32485385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:2.91, Z:2.33 [[ 9.98194555e-01 -4.81801027e-02 -3.58651305e-02 7.03996130e+01] [ 4.81526296e-02 9.98838659e-01 -1.62989858e-03 2.90564566e+00] [ 3.59020076e-02 -1.00044455e-04 9.99355310e-01 2.32574664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:2.90, Z:2.33 [[ 9.97966464e-01 -5.26912982e-02 -3.58687077e-02 7.04293576e+01] [ 5.26697862e-02 9.98610788e-01 -1.54503967e-03 2.90402899e+00] [ 3.59002887e-02 -3.47299392e-04 9.99355317e-01 2.32860206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:2.90, Z:2.33 [[ 9.97675265e-01 -5.79431771e-02 -3.58699475e-02 7.04603298e+01] [ 5.79261113e-02 9.98319722e-01 -1.51569930e-03 2.90224506e+00] [ 3.58975005e-02 -5.65630875e-04 9.99355317e-01 2.33157568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:70.49, Y:2.90, Z:2.33 [[ 9.97502307e-01 -6.08480899e-02 -3.58700022e-02 7.04930510e+01] [ 6.08329472e-02 9.98146812e-01 -1.51440568e-03 2.90165905e+00] [ 3.58956770e-02 -6.71454785e-04 9.99355317e-01 2.33101015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:2.90, Z:2.33 [[ 9.97255647e-01 -6.47650396e-02 -3.58701120e-02 7.05240636e+01] [ 6.47525219e-02 9.97900208e-01 -1.51179886e-03 2.90113852e+00] [ 3.58927040e-02 -8.15030266e-04 9.99355317e-01 2.33442084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:2.90, Z:2.34 [[ 9.96992640e-01 -6.86950103e-02 -3.58701938e-02 7.05563184e+01] [ 6.86851030e-02 9.97637247e-01 -1.50985542e-03 2.89988203e+00] [ 3.58891610e-02 -9.58433218e-04 9.99355317e-01 2.33559701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:2.89, Z:2.33 [[ 9.96477908e-01 -7.57964423e-02 -3.58703033e-02 7.05885674e+01] [ 7.57912214e-02 9.97122570e-01 -1.50724998e-03 2.89485181e+00] [ 3.58813332e-02 -1.21671280e-03 9.99355317e-01 2.33220643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:2.89, Z:2.34 [[ 9.95564649e-01 -8.69737442e-02 -3.58691655e-02 7.06198779e+01] [ 8.69747848e-02 9.96209332e-01 -1.53431048e-03 2.89132334e+00] [ 3.58666421e-02 -1.59220768e-03 9.99355317e-01 2.33567122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:70.65, Y:2.89, Z:2.33 [[ 9.95380588e-01 -8.90549801e-02 -3.58705515e-02 7.06518730e+01] [ 8.90585594e-02 9.96025260e-01 -1.50119246e-03 2.89010794e+00] [ 3.58616641e-02 -1.70032181e-03 9.99355317e-01 2.33489136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:2.89, Z:2.34 [[ 9.95375433e-01 -8.91124660e-02 -3.58708191e-02 7.06846376e+01] [ 8.91163133e-02 9.96020104e-01 -1.49477185e-03 2.89002321e+00] [ 3.58612598e-02 -1.70881597e-03 9.99355317e-01 2.33972836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:2.89, Z:2.34 [[ 9.95701021e-01 -8.53975938e-02 -3.58709786e-02 7.07168046e+01] [ 8.53991735e-02 9.96345702e-01 -1.49093373e-03 2.88924329e+00] [ 3.58672175e-02 -1.57882769e-03 9.99355317e-01 2.34022350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:2.89, Z:2.34 [[ 9.96116163e-01 -8.04105381e-02 -3.58710852e-02 7.07497862e+01] [ 8.04089820e-02 9.96760844e-01 -1.48836358e-03 2.89082144e+00] [ 3.58745733e-02 -1.40177443e-03 9.99355317e-01 2.34239615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:2.89, Z:2.34 [[ 9.96629349e-01 -7.37780065e-02 -3.58712503e-02 7.07821711e+01] [ 7.37723025e-02 9.97274006e-01 -1.48437330e-03 2.89205261e+00] [ 3.58829797e-02 -1.16693473e-03 9.99355317e-01 2.34332131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:2.89, Z:2.34 [[ 9.97150438e-01 -6.63645098e-02 -3.58713866e-02 7.08148247e+01] [ 6.63541306e-02 9.97795037e-01 -1.48107366e-03 2.89287137e+00] [ 3.58905822e-02 -9.03361426e-04 9.99355317e-01 2.34425773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:2.89, Z:2.35 [[ 9.97641774e-01 -5.85160403e-02 -3.58714955e-02 7.08461491e+01] [ 5.85006842e-02 9.98286274e-01 -1.47843150e-03 2.89420211e+00] [ 3.58965335e-02 -6.23562007e-04 9.99355317e-01 2.34504623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:2.90, Z:2.35 [[ 9.97870060e-01 -5.44846121e-02 -3.58715764e-02 7.08776492e+01] [ 5.44667226e-02 9.98514495e-01 -1.47646630e-03 2.89540908e+00] [ 3.58987336e-02 -4.80485681e-04 9.99355317e-01 2.34588389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:2.90, Z:2.35 [[ 9.98071820e-01 -5.06543916e-02 -3.58716301e-02 7.09075005e+01] [ 5.06340758e-02 9.98716183e-01 -1.47516060e-03 2.89672000e+00] [ 3.59003008e-02 -3.44010608e-04 9.99355317e-01 2.34640337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:2.90, Z:2.35 [[ 9.98448364e-01 -4.25921732e-02 -3.58716034e-02 7.09373959e+01] [ 4.25666309e-02 9.99092540e-01 -1.47580800e-03 2.89897586e+00] [ 3.59019093e-02 -5.34152138e-05 9.99355317e-01 2.34801270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:2.90, Z:2.35 [[ 9.98435868e-01 -4.28841322e-02 -3.58715495e-02 7.09657324e+01] [ 4.28587311e-02 9.99080050e-01 -1.47711838e-03 2.90019198e+00] [ 3.59018944e-02 -6.26011173e-05 9.99355317e-01 2.34903209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:2.90, Z:2.35 [[ 9.98580840e-01 -3.93645753e-02 -3.58711143e-02 7.09940523e+01] [ 3.93365268e-02 9.99224912e-01 -1.48761269e-03 2.90182290e+00] [ 3.59018702e-02 7.44564851e-05 9.99355317e-01 2.34996513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:2.90, Z:2.35 [[ 9.98712284e-01 -3.58757203e-02 -3.58707006e-02 7.10212246e+01] [ 3.58450660e-02 9.99356237e-01 -1.49752203e-03 2.90298681e+00] [ 3.59013330e-02 2.09806018e-04 9.99355317e-01 2.35021013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:2.90, Z:2.35 [[ 9.99013479e-01 -2.61796765e-02 -3.58705090e-02 7.10498966e+01] [ 2.61426086e-02 9.99657095e-01 -1.50209620e-03 2.90310873e+00] [ 3.58975332e-02 5.62865677e-04 9.99355317e-01 2.35210731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:2.90, Z:2.36 [[ 9.99211800e-01 -1.70032934e-02 -3.58701268e-02 7.10777412e+01] [ 1.69599904e-02 9.99855027e-01 -1.51116792e-03 2.90301376e+00] [ 3.58906215e-02 9.01619810e-04 9.99355317e-01 2.35609632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55509989299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:71.11, Y:2.90, Z:2.36 [[ 9.99268918e-01 -1.32277608e-02 -3.58699915e-02 7.11064137e+01] [ 1.31819129e-02 9.99911968e-01 -1.51437261e-03 2.90156014e+00] [ 3.58868656e-02 1.04043038e-03 9.99355317e-01 2.35668288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:2.90, Z:2.36 [[ 9.99275882e-01 -1.26918450e-02 -3.58696059e-02 7.11339298e+01] [ 1.26453265e-02 9.99918884e-01 -1.52345249e-03 2.90096674e+00] [ 3.58860317e-02 1.06876645e-03 9.99355317e-01 2.36011885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:2.90, Z:2.36 [[ 9.99272963e-01 -1.29208137e-02 -3.58691653e-02 7.11616465e+01] [ 1.28740731e-02 9.99915949e-01 -1.53375659e-03 2.89980890e+00] [ 3.58859679e-02 1.07085924e-03 9.99355317e-01 2.36121871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:2.90, Z:2.36 [[ 9.99258944e-01 -1.39641834e-02 -3.58687149e-02 7.11885977e+01] [ 1.39177390e-02 9.99901951e-01 -1.54421831e-03 2.89827905e+00] [ 3.58867618e-02 1.04386255e-03 9.99355318e-01 2.36119492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:2.90, Z:2.36 [[ 9.99226846e-01 -1.60986517e-02 -3.58684077e-02 7.12166532e+01] [ 1.60533260e-02 9.99869934e-01 -1.55132241e-03 2.89645035e+00] [ 3.58887166e-02 9.74315756e-04 9.99355318e-01 2.36210437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:71.24, Y:2.89, Z:2.36 [[ 9.99182787e-01 -1.86346023e-02 -3.58679555e-02 7.12434159e+01] [ 1.85905364e-02 9.99825961e-01 -1.56170778e-03 2.89410412e+00] [ 3.58908149e-02 8.93627000e-04 9.99355318e-01 2.35879847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:2.89, Z:2.36 [[ 9.99001511e-01 -2.66361401e-02 -3.58677594e-02 7.12712505e+01] [ 2.65970653e-02 9.99645009e-01 -1.56619802e-03 2.88813188e+00] [ 3.58967441e-02 6.10657052e-04 9.99355318e-01 2.36190239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:2.88, Z:2.36 [[ 9.98717429e-01 -3.57353271e-02 -3.58675912e-02 7.12983975e+01] [ 3.57019778e-02 9.99361248e-01 -1.57004164e-03 2.88202221e+00] [ 3.59007866e-02 2.87484010e-04 9.99355318e-01 2.36263421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:2.87, Z:2.36 [[ 9.98051784e-01 -5.10506305e-02 -3.58673953e-02 7.13277356e+01] [ 5.10270005e-02 9.98696033e-01 -1.57450326e-03 2.86925034e+00] [ 3.59010048e-02 -2.58769810e-04 9.99355318e-01 2.36278410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:71.36, Y:2.87, Z:2.36 [[ 9.97885100e-01 -5.42112992e-02 -3.58672806e-02 7.13559955e+01] [ 5.41896160e-02 9.98529418e-01 -1.57711152e-03 2.86771233e+00] [ 3.59000321e-02 -3.69858080e-04 9.99355318e-01 2.36179352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:2.86, Z:2.36 [[ 9.97573085e-01 -5.96782163e-02 -3.58671379e-02 7.13844872e+01] [ 5.96599473e-02 9.98217508e-01 -1.58035131e-03 2.86378263e+00] [ 3.58975175e-02 -5.63315625e-04 9.99355318e-01 2.36353984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:2.86, Z:2.36 [[ 9.97463168e-01 -6.14882595e-02 -3.58667334e-02 7.14132538e+01] [ 6.14708318e-02 9.98107615e-01 -1.58947878e-03 2.86253315e+00] [ 3.58965940e-02 -6.19311395e-04 9.99355318e-01 2.36411189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:2.86, Z:2.37 [[ 9.97362368e-01 -6.31022218e-02 -3.58666472e-02 7.14427123e+01] [ 6.30857672e-02 9.98006840e-01 -1.59141989e-03 2.86178974e+00] [ 3.58955814e-02 -6.75452651e-04 9.99355318e-01 2.36538748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:2.86, Z:2.37 [[ 9.97264744e-01 -6.46267576e-02 -3.58665906e-02 7.14736549e+01] [ 6.46112423e-02 9.97909240e-01 -1.59269573e-03 2.86140041e+00] [ 3.58945329e-02 -7.29045677e-04 9.99355318e-01 2.36695846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:2.86, Z:2.37 [[ 9.97035564e-01 -6.80710803e-02 -3.58665906e-02 7.15042403e+01] [ 6.80577912e-02 9.97680109e-01 -1.59269573e-03 2.85953841e+00] [ 3.58918005e-02 -8.53026650e-04 9.99355318e-01 2.36905180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:2.86, Z:2.37 [[ 9.96559122e-01 -7.47228444e-02 -3.58665906e-02 7.15347440e+01] [ 7.47138567e-02 9.97203742e-01 -1.59269573e-03 2.85675023e+00] [ 3.58853091e-02 -1.09251585e-03 9.99355318e-01 2.37096365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:71.57, Y:2.85, Z:2.37 [[ 9.96208005e-01 -7.92666246e-02 -3.58665906e-02 7.15652003e+01] [ 7.92605766e-02 9.96852659e-01 -1.59269573e-03 2.85475296e+00] [ 3.58799538e-02 -1.25615042e-03 9.99355318e-01 2.36757260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:71.60, Y:2.85, Z:2.37 [[ 9.95774660e-01 -8.45364527e-02 -3.58666197e-02 7.15968251e+01] [ 8.45338393e-02 9.96419337e-01 -1.59204012e-03 2.85312188e+00] [ 3.58727788e-02 -1.44662985e-03 9.99355318e-01 2.36796654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:2.85, Z:2.37 [[ 9.95103917e-01 -9.20965606e-02 -3.58666788e-02 7.16284622e+01] [ 9.20988912e-02 9.95748595e-01 -1.59070812e-03 2.85171200e+00] [ 3.58606937e-02 -1.72036147e-03 9.99355318e-01 2.36860333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:2.85, Z:2.37 [[ 9.94958494e-01 -9.36545282e-02 -3.58667671e-02 7.16607011e+01] [ 9.36579399e-02 9.95603167e-01 -1.58871455e-03 2.85267766e+00] [ 3.58578572e-02 -1.77850249e-03 9.99355318e-01 2.36928538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:2.85, Z:2.37 [[ 9.94862819e-01 -9.46654026e-02 -3.58668842e-02 7.16928997e+01] [ 9.46695646e-02 9.95507488e-01 -1.58606498e-03 2.85455525e+00] [ 3.58558973e-02 -1.81758524e-03 9.99355318e-01 2.37032724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:2.86, Z:2.37 [[ 9.94939424e-01 -9.38568075e-02 -3.58670004e-02 7.17240394e+01] [ 9.38605401e-02 9.95584096e-01 -1.58343395e-03 2.85686505e+00] [ 3.58572312e-02 -1.79107516e-03 9.99355318e-01 2.37086728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:2.86, Z:2.37 [[ 9.95073087e-01 -9.24288740e-02 -3.58671937e-02 7.17560139e+01] [ 9.24318394e-02 9.95717762e-01 -1.57904253e-03 2.85937674e+00] [ 3.58595510e-02 -1.74400797e-03 9.99355318e-01 2.37242876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:2.86, Z:2.37 [[ 9.95558800e-01 -8.70414387e-02 -3.58673097e-02 7.17881993e+01] [ 8.70410095e-02 9.96203482e-01 -1.57640325e-03 2.86363049e+00] [ 3.58683512e-02 -1.55252472e-03 9.99355318e-01 2.37281433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:2.87, Z:2.37 [[ 9.95900446e-01 -8.30411366e-02 -3.58674248e-02 7.18203404e+01] [ 8.30382117e-02 9.96545121e-01 -1.57377954e-03 2.86662193e+00] [ 3.58741957e-02 -1.41103907e-03 9.99355318e-01 2.37374959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:2.87, Z:2.38 [[ 9.96266435e-01 -7.85284078e-02 -3.58675396e-02 7.18526073e+01] [ 7.85226566e-02 9.96911091e-01 -1.57115948e-03 2.86981897e+00] [ 3.58801287e-02 -1.25112104e-03 9.99355318e-01 2.37582569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:2.88, Z:2.38 [[ 9.97604644e-01 -5.91480004e-02 -3.58676554e-02 7.18826102e+01] [ 5.91298145e-02 9.98249070e-01 -1.56851274e-03 2.88052718e+00] [ 3.58976280e-02 -5.56092213e-04 9.99355318e-01 2.38026859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:2.88, Z:2.38 [[ 9.98002305e-01 -5.20087390e-02 -3.58676839e-02 7.19113983e+01] [ 5.19859662e-02 9.98646585e-01 -1.56785922e-03 2.88440387e+00] [ 3.59006824e-02 -2.99889088e-04 9.99355318e-01 2.38150625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:2.89, Z:2.38 [[ 9.98223270e-01 -4.75798291e-02 -3.58672857e-02 7.19387522e+01] [ 4.75538722e-02 9.98867430e-01 -1.57691772e-03 2.88770469e+00] [ 3.59016929e-02 -1.31512350e-04 9.99355318e-01 2.38289346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:2.89, Z:2.38 [[ 9.98336885e-01 -4.51335371e-02 -3.58668213e-02 7.19655224e+01] [ 4.51056248e-02 9.98980962e-01 -1.58741078e-03 2.89069922e+00] [ 3.59019171e-02 -3.30246497e-05 9.99355318e-01 2.38411097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:2.89, Z:2.38 [[ 9.98345548e-01 -4.49416645e-02 -3.58666197e-02 7.19923481e+01] [ 4.49134653e-02 9.98989613e-01 -1.59195241e-03 2.89290590e+00] [ 3.59019255e-02 -2.15755824e-05 9.99355318e-01 2.38492822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:2.89, Z:2.39 [[ 9.98324633e-01 -4.54040378e-02 -3.58664206e-02 7.20206496e+01] [ 4.53759761e-02 9.98968704e-01 -1.59642604e-03 2.89479816e+00] [ 3.59019159e-02 -3.37224013e-05 9.99355318e-01 2.38621578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:2.90, Z:2.39 [[ 9.98211154e-01 -4.78343636e-02 -3.58659482e-02 7.20489707e+01] [ 4.78074912e-02 9.98855276e-01 -1.60696839e-03 2.89655612e+00] [ 3.59017599e-02 -1.10567237e-04 9.99355318e-01 2.38666198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:2.90, Z:2.39 [[ 9.98126158e-01 -4.95766124e-02 -3.58654731e-02 7.20768703e+01] [ 4.95504858e-02 9.98770310e-01 -1.61750247e-03 2.89781052e+00] [ 3.59015600e-02 -1.62680094e-04 9.99355318e-01 2.38751187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:2.90, Z:2.39 [[ 9.98010048e-01 -5.18617956e-02 -3.58649977e-02 7.21049746e+01] [ 5.18367676e-02 9.98654244e-01 -1.62797769e-03 2.89916033e+00] [ 3.59011620e-02 -2.34387458e-04 9.99355318e-01 2.38859745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:2.90, Z:2.39 [[ 9.97582682e-01 -5.95191498e-02 -3.58645203e-02 7.21324519e+01] [ 5.94986906e-02 9.98227039e-01 -1.63842631e-03 2.89957501e+00] [ 3.58984517e-02 -4.99426288e-04 9.99355318e-01 2.38894040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:2.90, Z:2.39 [[ 9.97307980e-01 -6.39575132e-02 -3.58640338e-02 7.21623989e+01] [ 6.39395410e-02 9.97952412e-01 -1.64900717e-03 2.90050569e+00] [ 3.58960654e-02 -6.48561849e-04 9.99355318e-01 2.38876417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:2.90, Z:2.39 [[ 9.97055725e-01 -6.77765018e-02 -3.58640037e-02 7.21931892e+01] [ 6.77609742e-02 9.97700220e-01 -1.64966222e-03 2.90108474e+00] [ 3.58933327e-02 -7.85374670e-04 9.99355318e-01 2.38962568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:2.90, Z:2.39 [[ 9.96757348e-01 -7.20316733e-02 -3.58640037e-02 7.22222288e+01] [ 7.20188967e-02 9.97401904e-01 -1.64966222e-03 2.90114399e+00] [ 3.58896535e-02 -9.38573042e-04 9.99355318e-01 2.39093619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:2.90, Z:2.39 [[ 9.96421418e-01 -7.65384445e-02 -3.58639742e-02 7.22534775e+01] [ 7.65285599e-02 9.97066024e-01 -1.65030269e-03 2.90129555e+00] [ 3.58850618e-02 -1.10022135e-03 9.99355318e-01 2.39243946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:2.90, Z:2.39 [[ 9.95933091e-01 -8.26501680e-02 -3.58640344e-02 7.22853956e+01] [ 8.26442853e-02 9.96577746e-01 -1.64899376e-03 2.90165468e+00] [ 3.58775882e-02 -1.32167004e-03 9.99355318e-01 2.39371762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:2.90, Z:2.39 [[ 9.95672585e-01 -8.57313587e-02 -3.58641555e-02 7.23175411e+01] [ 8.57275656e-02 9.96317256e-01 -1.64635585e-03 2.90269669e+00] [ 3.58732213e-02 -1.43531535e-03 9.99355318e-01 2.39454329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:2.90, Z:2.40 [[ 9.95382020e-01 -8.90414959e-02 -3.58642757e-02 7.23497035e+01] [ 8.90399407e-02 9.96026700e-01 -1.64373237e-03 2.90419472e+00] [ 3.58681366e-02 -1.55721133e-03 9.99355318e-01 2.39522804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:2.91, Z:2.40 [[ 9.95109108e-01 -9.20413397e-02 -3.58643953e-02 7.23822227e+01] [ 9.20418217e-02 9.95753790e-01 -1.64111900e-03 2.90581245e+00] [ 3.58631583e-02 -1.66793181e-03 9.99355318e-01 2.39565785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:2.91, Z:2.40 [[ 9.94824836e-01 -9.50646248e-02 -3.58645152e-02 7.24133823e+01] [ 9.50671600e-02 9.95469513e-01 -1.63849580e-03 2.90787015e+00] [ 3.58577944e-02 -1.77952129e-03 9.99355318e-01 2.39642614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:2.91, Z:2.40 [[ 9.94115960e-01 -1.02211487e-01 -3.58646044e-02 7.24455819e+01] [ 1.02218725e-01 9.94760601e-01 -1.63654083e-03 2.91080613e+00] [ 3.58439687e-02 -2.03912278e-03 9.99355318e-01 2.39557691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:2.91, Z:2.40 [[ 9.93859376e-01 -1.04676948e-01 -3.58647214e-02 7.24779201e+01] [ 1.04685877e-01 9.94503996e-01 -1.63397249e-03 2.91427694e+00] [ 3.58386480e-02 -2.13059095e-03 9.99355318e-01 2.39640738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:2.92, Z:2.40 [[ 9.93843284e-01 -1.04829580e-01 -3.58648412e-02 7.25091971e+01] [ 1.04838703e-01 9.94487901e-01 -1.63133794e-03 2.91870338e+00] [ 3.58381631e-02 -2.13872919e-03 9.99355318e-01 2.39636580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:2.92, Z:2.40 [[ 9.94005901e-01 -1.03276212e-01 -3.58649304e-02 7.25407955e+01] [ 1.03284399e-01 9.94650531e-01 -1.62937479e-03 2.92432775e+00] [ 3.58413477e-02 -2.08467963e-03 9.99355318e-01 2.39764997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:2.93, Z:2.40 [[ 9.94285910e-01 -1.00544655e-01 -3.58650479e-02 7.25729328e+01] [ 1.00551163e-01 9.94930559e-01 -1.62678519e-03 2.93016927e+00] [ 3.58467967e-02 -1.98878269e-03 9.99355318e-01 2.39815167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:2.94, Z:2.40 [[ 9.94564455e-01 -9.77508713e-02 -3.58651939e-02 7.26046019e+01] [ 9.77556847e-02 9.95209119e-01 -1.62355862e-03 2.93618753e+00] [ 3.58520723e-02 -1.89129290e-03 9.99355318e-01 2.40139769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:72.64, Y:2.94, Z:2.40 [[ 9.94715182e-01 -9.62049185e-02 -3.58653098e-02 7.26366190e+01] [ 9.62088221e-02 9.95359852e-01 -1.62099510e-03 2.93976929e+00] [ 3.58548371e-02 -1.83813077e-03 9.99355318e-01 2.40088039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:2.94, Z:2.41 [[ 9.94839409e-01 -9.49116445e-02 -3.58654537e-02 7.26688624e+01] [ 9.49148247e-02 9.95484083e-01 -1.61780490e-03 2.94357506e+00] [ 3.58570368e-02 -1.79470718e-03 9.99355318e-01 2.40540549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:2.95, Z:2.41 [[ 9.95036017e-01 -9.28277189e-02 -3.58655677e-02 7.27006698e+01] [ 9.28296398e-02 9.95680696e-01 -1.61527323e-03 2.94935555e+00] [ 3.58605956e-02 -1.72213269e-03 9.99355318e-01 2.40874801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:2.95, Z:2.41 [[ 9.95111196e-01 -9.20182634e-02 -3.58656870e-02 7.27324310e+01] [ 9.20197553e-02 9.95755876e-01 -1.61261916e-03 2.95332302e+00] [ 3.58618590e-02 -1.69561637e-03 9.99355318e-01 2.41044056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:2.96, Z:2.41 [[ 9.95399125e-01 -8.88493863e-02 -3.58659720e-02 7.27643250e+01] [ 8.88490544e-02 9.96043807e-01 -1.60625606e-03 2.96202976e+00] [ 3.58667942e-02 -1.58779183e-03 9.99355318e-01 2.41176262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:2.97, Z:2.41 [[ 9.95780954e-01 -8.44625097e-02 -3.58660911e-02 7.27958871e+01] [ 8.44594329e-02 9.96425628e-01 -1.60359182e-03 2.97045113e+00] [ 3.58733358e-02 -1.43240353e-03 9.99355318e-01 2.41141161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:2.98, Z:2.41 [[ 9.96101725e-01 -8.05913650e-02 -3.58662092e-02 7.28290429e+01] [ 8.05858777e-02 9.96746384e-01 -1.60094633e-03 2.97651602e+00] [ 3.58785368e-02 -1.29560455e-03 9.99355318e-01 2.41260794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:2.98, Z:2.41 [[ 9.96288280e-01 -7.82512999e-02 -3.58663864e-02 7.28611507e+01] [ 7.82444414e-02 9.96932925e-01 -1.59696614e-03 2.98065798e+00] [ 3.58813462e-02 -1.21530672e-03 9.99355318e-01 2.41371573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:2.98, Z:2.41 [[ 9.96293938e-01 -7.81791624e-02 -3.58665326e-02 7.28937951e+01] [ 7.81723754e-02 9.96938584e-01 -1.59367759e-03 2.98205007e+00] [ 3.58813226e-02 -1.21600073e-03 9.99355318e-01 2.41488841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:2.99, Z:2.42 [[ 9.96708242e-01 -7.27067008e-02 -3.58666477e-02 7.29242314e+01] [ 7.26964670e-02 9.97352842e-01 -1.59108320e-03 2.98898192e+00] [ 3.58873854e-02 -1.02153283e-03 9.99355318e-01 2.41668622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:3.00, Z:2.42 [[ 9.97145466e-01 -6.64416759e-02 -3.58667333e-02 7.29566103e+01] [ 6.64274610e-02 9.97789991e-01 -1.58915061e-03 2.99511860e+00] [ 3.58930533e-02 -7.97921701e-04 9.99355318e-01 2.41833169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:3.00, Z:2.42 [[ 9.97798136e-01 -5.57893195e-02 -3.58668468e-02 7.29879386e+01] [ 5.57683147e-02 9.98442476e-01 -1.58658427e-03 3.00323442e+00] [ 3.58994978e-02 -4.17142770e-04 9.99355318e-01 2.42011016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:3.01, Z:2.42 [[ 9.97401188e-01 -6.24854569e-02 -3.58669337e-02 7.30184591e+01] [ 6.24688482e-02 9.98045656e-01 -1.58461743e-03 3.01216865e+00] [ 3.58958529e-02 -6.60066728e-04 9.99355318e-01 2.41685047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:3.01, Z:2.42 [[ 9.97255434e-01 -6.47700303e-02 -3.58670197e-02 7.30505033e+01] [ 6.47549680e-02 9.97899940e-01 -1.58266775e-03 3.01426226e+00] [ 3.58942063e-02 -7.44243705e-04 9.99355318e-01 2.41804680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:3.02, Z:2.42 [[ 9.97106217e-01 -6.70279163e-02 -3.58671321e-02 7.30823586e+01] [ 6.70144051e-02 9.97750757e-01 -1.58011773e-03 3.01661599e+00] [ 3.58923702e-02 -8.28069302e-04 9.99355318e-01 2.41986099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:3.02, Z:2.42 [[ 9.96965861e-01 -6.90841017e-02 -3.58672468e-02 7.31145422e+01] [ 6.90720135e-02 9.97610429e-01 -1.57750861e-03 3.01859313e+00] [ 3.58905203e-02 -9.04700729e-04 9.99355318e-01 2.42110699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:3.02, Z:2.42 [[ 9.96970904e-01 -6.90112278e-02 -3.58673619e-02 7.31471891e+01] [ 6.89991868e-02 9.97615473e-01 -1.57488885e-03 3.01997026e+00] [ 3.58905202e-02 -9.04700437e-04 9.99355318e-01 2.42227991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:3.02, Z:2.42 [[ 9.96817359e-01 -7.11946363e-02 -3.58674767e-02 7.31795870e+01] [ 7.11841012e-02 9.97461955e-01 -1.57226880e-03 3.02155438e+00] [ 3.58883805e-02 -9.85929260e-04 9.99355318e-01 2.42330775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:3.02, Z:2.42 [[ 9.96665297e-01 -7.32925814e-02 -3.58675913e-02 7.32112682e+01] [ 7.32834972e-02 9.97309914e-01 -1.56965126e-03 3.02302379e+00] [ 3.58861482e-02 -1.06408558e-03 9.99355318e-01 2.42427619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:3.02, Z:2.43 [[ 9.96670664e-01 -7.32194943e-02 -3.58677062e-02 7.32439155e+01] [ 7.32104575e-02 9.97315283e-01 -1.56702048e-03 3.02439318e+00] [ 3.58861480e-02 -1.06408784e-03 9.99355318e-01 2.42544910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:3.03, Z:2.43 [[ 9.96526014e-01 -7.51625083e-02 -3.58678208e-02 7.32764103e+01] [ 7.51548227e-02 9.97170650e-01 -1.56439194e-03 3.02567426e+00] [ 3.58839218e-02 -1.13668245e-03 9.99355318e-01 2.42644004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.31, Y:3.03, Z:2.43 [[ 9.96420770e-01 -7.65450199e-02 -3.58679351e-02 7.33080689e+01] [ 7.65383231e-02 9.97065417e-01 -1.56176848e-03 3.02688733e+00] [ 3.58822232e-02 -1.18909305e-03 9.99355318e-01 2.42636549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.34, Y:3.03, Z:2.43 [[ 9.96429096e-01 -7.64364948e-02 -3.58680768e-02 7.33415653e+01] [ 7.64298450e-02 9.97073743e-01 -1.55850718e-03 3.02825655e+00] [ 3.58822444e-02 -1.18844965e-03 9.99355318e-01 2.42756864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:3.03, Z:2.43 [[ 9.96505250e-01 -7.54370994e-02 -3.58682460e-02 7.33727770e+01] [ 7.54299434e-02 9.97149892e-01 -1.55460230e-03 3.02871420e+00] [ 3.58832923e-02 -1.15637041e-03 9.99355318e-01 2.42962297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:3.03, Z:2.43 [[ 9.96773910e-01 -7.17999629e-02 -3.58683297e-02 7.34048117e+01] [ 7.17905239e-02 9.97418523e-01 -1.55266962e-03 3.03083855e+00] [ 3.58872180e-02 -1.02734561e-03 9.99355318e-01 2.43245063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:3.03, Z:2.43 [[ 9.96823547e-01 -7.11074611e-02 -3.58684398e-02 7.34366575e+01] [ 7.10976660e-02 9.97468154e-01 -1.55012085e-03 3.03228262e+00] [ 3.58878516e-02 -1.00496539e-03 9.99355318e-01 2.43363204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:3.03, Z:2.43 [[ 9.96729336e-01 -7.24160060e-02 -3.58685501e-02 7.34686970e+01] [ 7.24071490e-02 9.97373957e-01 -1.54756487e-03 3.03415484e+00] [ 3.58864262e-02 -1.05463615e-03 9.99355318e-01 2.43470384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:3.04, Z:2.44 [[ 9.96692079e-01 -7.29269389e-02 -3.58686605e-02 7.35007224e+01] [ 7.29185045e-02 9.97336706e-01 -1.54500111e-03 3.03558059e+00] [ 3.58858040e-02 -1.07559872e-03 9.99355318e-01 2.43551577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:3.04, Z:2.44 [[ 9.96670840e-01 -7.32165808e-02 -3.58687703e-02 7.35333558e+01] [ 7.32084255e-02 9.97315470e-01 -1.54244992e-03 3.03767382e+00] [ 3.58854124e-02 -1.08858134e-03 9.99355318e-01 2.43549075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:3.04, Z:2.44 [[ 9.96727723e-01 -7.24380410e-02 -3.58688791e-02 7.35657848e+01] [ 7.24294733e-02 9.97372348e-01 -1.53991355e-03 3.03974368e+00] [ 3.58861765e-02 -1.06308950e-03 9.99355318e-01 2.43683068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:3.04, Z:2.44 [[ 9.96835139e-01 -7.09444887e-02 -3.58689892e-02 7.35982964e+01] [ 7.09350475e-02 9.97479752e-01 -1.53734598e-03 3.04189934e+00] [ 3.58876567e-02 -1.01188796e-03 9.99355318e-01 2.43829113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:3.04, Z:2.44 [[ 9.96989352e-01 -6.87432816e-02 -3.58691003e-02 7.36290379e+01] [ 6.87325104e-02 9.97633944e-01 -1.53475032e-03 3.04403177e+00] [ 3.58897357e-02 -9.35243579e-04 9.99355318e-01 2.43916165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:3.05, Z:2.44 [[ 9.97371787e-01 -6.29517331e-02 -3.58691829e-02 7.36611601e+01] [ 6.29372879e-02 9.98016307e-01 -1.53281575e-03 3.04659689e+00] [ 3.58945229e-02 -7.28721907e-04 9.99355318e-01 2.44116542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:3.05, Z:2.44 [[ 9.97764141e-01 -5.63924919e-02 -3.58692945e-02 7.36933511e+01] [ 5.63739032e-02 9.98408554e-01 -1.53020062e-03 3.04864596e+00] [ 3.58985023e-02 -4.95312831e-04 9.99355318e-01 2.44258017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:3.05, Z:2.44 [[ 9.98229961e-01 -4.74376474e-02 -3.58694059e-02 7.37241229e+01] [ 4.74133714e-02 9.98874186e-01 -1.52758548e-03 3.04850627e+00] [ 3.59014886e-02 -1.75807870e-04 9.99355318e-01 2.44251571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:3.05, Z:2.44 [[ 9.98423408e-01 -4.31749790e-02 -3.58694886e-02 7.37549413e+01] [ 4.31480224e-02 9.99067526e-01 -1.52563939e-03 3.04868642e+00] [ 3.59019107e-02 -2.44634186e-05 9.99355318e-01 2.44250101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:3.05, Z:2.44 [[ 9.98515272e-01 -4.09955012e-02 -3.58694886e-02 7.37835671e+01] [ 4.09671387e-02 9.99159330e-01 -1.52563939e-03 3.04877068e+00] [ 3.59018786e-02 5.39039172e-05 9.99355318e-01 2.44190281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:3.05, Z:2.44 [[ 9.98450387e-01 -4.25465910e-02 -3.58693865e-02 7.38118032e+01] [ 4.25191428e-02 9.99094484e-01 -1.52803744e-03 3.04766613e+00] [ 3.59019190e-02 5.34006285e-07 9.99355318e-01 2.44345142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:3.05, Z:2.45 [[ 9.98370199e-01 -4.43887966e-02 -3.58689406e-02 7.38401571e+01] [ 4.43621635e-02 9.99014330e-01 -1.53843219e-03 3.04758591e+00] [ 3.59018749e-02 -5.52989545e-05 9.99355318e-01 2.44512909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:3.05, Z:2.45 [[ 9.98173923e-01 -4.86031528e-02 -3.58685465e-02 7.38687008e+01] [ 4.85789110e-02 9.98818149e-01 -1.54756650e-03 3.04511428e+00] [ 3.59013719e-02 -1.97714406e-04 9.99355318e-01 2.44728390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:3.04, Z:2.45 [[ 9.98035978e-01 -5.13579550e-02 -3.58684627e-02 7.38995348e+01] [ 5.13354216e-02 9.98680266e-01 -1.54950668e-03 3.04484756e+00] [ 3.59007054e-02 -2.94859240e-04 9.99355318e-01 2.44930229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:3.04, Z:2.45 [[ 9.97729820e-01 -5.69970069e-02 -3.58684627e-02 7.39302202e+01] [ 5.69781147e-02 9.98374225e-01 -1.54950668e-03 3.04320976e+00] [ 3.58984659e-02 -4.97728361e-04 9.99355318e-01 2.45110534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:3.04, Z:2.45 [[ 9.97558935e-01 -5.99134623e-02 -3.58684906e-02 7.39617860e+01] [ 5.98964772e-02 9.98203393e-01 -1.54886007e-03 3.04308891e+00] [ 3.58968466e-02 -6.03317034e-04 9.99355318e-01 2.45230493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:3.04, Z:2.45 [[ 9.97356052e-01 -6.32008909e-02 -3.58685456e-02 7.39938162e+01] [ 6.31860757e-02 9.98000564e-01 -1.54758646e-03 3.04318101e+00] [ 3.58946376e-02 -7.22897912e-04 9.99355318e-01 2.45348786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:3.04, Z:2.45 [[ 9.96940294e-01 -6.94513470e-02 -3.58686560e-02 7.40257701e+01] [ 6.94406643e-02 9.97584887e-01 -1.54502350e-03 3.04178975e+00] [ 3.58893331e-02 -9.50447116e-04 9.99355318e-01 2.45416163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:3.04, Z:2.46 [[ 9.96460878e-01 -7.60207260e-02 -3.58687660e-02 7.40580466e+01] [ 7.60143840e-02 9.97105528e-01 -1.54246643e-03 3.04004626e+00] [ 3.58822042e-02 -1.18953469e-03 9.99355318e-01 2.45512969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:3.04, Z:2.45 [[ 9.95747893e-01 -8.48502078e-02 -3.58688786e-02 7.40892072e+01] [ 8.48496745e-02 9.96392574e-01 -1.53984262e-03 3.03752889e+00] [ 3.58701402e-02 -1.51016763e-03 9.99355318e-01 2.45378259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:3.04, Z:2.46 [[ 9.95516560e-01 -8.75225502e-02 -3.58689625e-02 7.41222123e+01] [ 8.75238176e-02 9.96161240e-01 -1.53788492e-03 3.03830326e+00] [ 3.58658698e-02 -1.60839863e-03 9.99355318e-01 2.45517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:3.04, Z:2.46 [[ 9.95117429e-01 -9.19494890e-02 -3.58691282e-02 7.41555303e+01] [ 9.19537631e-02 9.95762096e-01 -1.53401169e-03 3.03794778e+00] [ 3.58581699e-02 -1.77177955e-03 9.99355318e-01 2.45639143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:3.04, Z:2.46 [[ 9.94803948e-01 -9.52811512e-02 -3.58692962e-02 7.41870380e+01] [ 9.52877255e-02 9.95448596e-01 -1.53007350e-03 3.03762030e+00] [ 3.58518277e-02 -1.89578049e-03 9.99355318e-01 2.45685593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:3.04, Z:2.46 [[ 9.94709451e-01 -9.62626426e-02 -3.58693793e-02 7.42196044e+01] [ 9.62699231e-02 9.95354091e-01 -1.52812203e-03 3.03841077e+00] [ 3.58498345e-02 -1.93310496e-03 9.99355318e-01 2.45891167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:3.04, Z:2.46 [[ 9.94675064e-01 -9.66172472e-02 -3.58695409e-02 7.42524642e+01] [ 9.66248943e-02 9.95319701e-01 -1.52431872e-03 3.03956189e+00] [ 3.58489362e-02 -1.94968878e-03 9.99355318e-01 2.46042458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:3.04, Z:2.46 [[ 9.94737058e-01 -9.59768146e-02 -3.58697059e-02 7.42848459e+01] [ 9.59841866e-02 9.95381698e-01 -1.52042612e-03 3.04170135e+00] [ 3.58499744e-02 -1.93050034e-03 9.99355318e-01 2.46207295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:3.04, Z:2.46 [[ 9.94818563e-01 -9.51281843e-02 -3.58699766e-02 7.43175161e+01] [ 9.51352369e-02 9.95463206e-01 -1.51401414e-03 3.04369068e+00] [ 3.58512673e-02 -1.90632935e-03 9.99355318e-01 2.46394987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:3.05, Z:2.46 [[ 9.95076566e-01 -9.23902626e-02 -3.58701448e-02 7.43490786e+01] [ 9.23956849e-02 9.95721225e-01 -1.51001834e-03 3.04662775e+00] [ 3.58561755e-02 -1.81166273e-03 9.99355318e-01 2.46405196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:3.05, Z:2.47 [[ 9.95197722e-01 -9.10758561e-02 -3.58703621e-02 7.43816225e+01] [ 9.10806132e-02 9.95842386e-01 -1.50483779e-03 3.04935756e+00] [ 3.58582814e-02 -1.76948344e-03 9.99355318e-01 2.46502103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:3.05, Z:2.47 [[ 9.95250156e-01 -9.05010344e-02 -3.58704691e-02 7.44136533e+01] [ 9.05055110e-02 9.95894822e-01 -1.50228301e-03 3.05244533e+00] [ 3.58591726e-02 -1.75132774e-03 9.99355318e-01 2.46516417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:3.05, Z:2.47 [[ 9.95234040e-01 -9.06780439e-02 -3.58705754e-02 7.44462238e+01] [ 9.06827266e-02 9.95878704e-01 -1.49973993e-03 3.05473119e+00] [ 3.58587357e-02 -1.76024936e-03 9.99355318e-01 2.46540811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:3.06, Z:2.46 [[ 9.95117068e-01 -9.19527871e-02 -3.58706833e-02 7.44777445e+01] [ 9.19583885e-02 9.95761725e-01 -1.49715567e-03 3.05708083e+00] [ 3.58563211e-02 -1.80876507e-03 9.99355318e-01 2.46341086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:3.06, Z:2.46 [[ 9.94986722e-01 -9.33525638e-02 -3.58708966e-02 7.45100433e+01] [ 9.33592565e-02 9.95631369e-01 -1.49202682e-03 3.06001808e+00] [ 3.58534745e-02 -1.86433337e-03 9.99355319e-01 2.46347399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:3.06, Z:2.46 [[ 9.94968186e-01 -9.35498825e-02 -3.58710046e-02 7.45412114e+01] [ 9.35567965e-02 9.95612830e-01 -1.48942742e-03 3.06271060e+00] [ 3.58529681e-02 -1.87404337e-03 9.99355319e-01 2.46404738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:3.07, Z:2.47 [[ 9.95042383e-01 -9.27573237e-02 -3.58710849e-02 7.45734525e+01] [ 9.27637938e-02 9.95687032e-01 -1.48749010e-03 3.06687635e+00] [ 3.58543497e-02 -1.84742223e-03 9.99355319e-01 2.46514153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:3.07, Z:2.47 [[ 9.95370975e-01 -8.91620992e-02 -3.58711910e-02 7.46053056e+01] [ 8.91663326e-02 9.96015643e-01 -1.48492695e-03 3.07058392e+00] [ 3.58606666e-02 -1.72044936e-03 9.99355319e-01 2.46680266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:3.07, Z:2.47 [[ 9.95793023e-01 -8.43178808e-02 -3.58712983e-02 7.46373513e+01] [ 8.43190708e-02 9.96437704e-01 -1.48233084e-03 3.07479173e+00] [ 3.58685011e-02 -1.54853983e-03 9.99355319e-01 2.46849435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:3.08, Z:2.47 [[ 9.96130209e-01 -8.02362112e-02 -3.58714047e-02 7.46695343e+01] [ 8.02348519e-02 9.96774889e-01 -1.47975036e-03 3.07912595e+00] [ 3.58744450e-02 -1.40411281e-03 9.99355319e-01 2.47094891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:3.08, Z:2.47 [[ 9.96321109e-01 -7.78298246e-02 -3.58715108e-02 7.47010631e+01] [ 7.78270006e-02 9.96965785e-01 -1.47717586e-03 3.08334599e+00] [ 3.58776372e-02 -1.32003060e-03 9.99355319e-01 2.47137656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:3.09, Z:2.47 [[ 9.96336528e-01 -7.76321118e-02 -3.58716891e-02 7.47314563e+01] [ 7.76293160e-02 9.96981203e-01 -1.47283234e-03 3.08814635e+00] [ 3.58777388e-02 -1.31725803e-03 9.99355319e-01 2.47043631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:3.09, Z:2.47 [[ 9.96306045e-01 -7.80268876e-02 -3.58618121e-02 7.47650135e+01] [ 7.80157322e-02 9.96950657e-01 -1.71244294e-03 3.08873625e+00] [ 3.58860737e-02 -1.09166827e-03 9.99355291e-01 2.47049442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:3.09, Z:2.47 [[ 9.96240072e-01 -7.88601890e-02 -3.58718536e-02 7.47958588e+01] [ 7.88584006e-02 9.96884748e-01 -1.46691554e-03 3.08959089e+00] [ 3.58757849e-02 -1.36739695e-03 9.99355321e-01 2.46990896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:3.09, Z:2.47 [[ 9.96229425e-01 -7.89944898e-02 -3.58720541e-02 7.48276426e+01] [ 7.89929652e-02 9.96874101e-01 -1.46199592e-03 3.08840155e+00] [ 3.58754113e-02 -1.37715657e-03 9.99355321e-01 2.47276144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:3.09, Z:2.47 [[ 9.96233868e-01 -7.89383876e-02 -3.58721577e-02 7.48594122e+01] [ 7.89369183e-02 9.96878545e-01 -1.45944928e-03 3.08866626e+00] [ 3.58753909e-02 -1.37768478e-03 9.99355321e-01 2.47477904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:3.09, Z:2.48 [[ 9.96242348e-01 -7.88312427e-02 -3.58722616e-02 7.48929085e+01] [ 7.88297960e-02 9.96887025e-01 -1.45688955e-03 3.08993873e+00] [ 3.58754406e-02 -1.37638800e-03 9.99355321e-01 2.47598231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:3.09, Z:2.48 [[ 9.96226201e-01 -7.90349616e-02 -3.58724179e-02 7.49238292e+01] [ 7.90337854e-02 9.96870879e-01 -1.45303231e-03 3.09048199e+00] [ 3.58750091e-02 -1.38758412e-03 9.99355321e-01 2.47739909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:3.09, Z:2.48 [[ 9.96153394e-01 -7.99473542e-02 -3.58724951e-02 7.49562459e+01] [ 7.99468371e-02 9.96798073e-01 -1.45112297e-03 3.09085358e+00] [ 3.58736474e-02 -1.42235146e-03 9.99355321e-01 2.48119104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:3.09, Z:2.48 [[ 9.96162131e-01 -7.98383705e-02 -3.58726001e-02 7.49897447e+01] [ 7.98378765e-02 9.96806809e-01 -1.44852207e-03 3.09211986e+00] [ 3.58736997e-02 -1.42102939e-03 9.99355321e-01 2.48239438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:3.09, Z:2.48 [[ 9.96217877e-01 -7.91396671e-02 -3.58727582e-02 7.50214489e+01] [ 7.91388619e-02 9.96862555e-01 -1.44459828e-03 3.09320322e+00] [ 3.58745344e-02 -1.39979463e-03 9.99355321e-01 2.48392215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:3.09, Z:2.48 [[ 9.96234449e-01 -7.89307317e-02 -3.58728630e-02 7.50525157e+01] [ 7.89298851e-02 9.96879127e-01 -1.44199014e-03 3.09421254e+00] [ 3.58747257e-02 -1.39488070e-03 9.99355321e-01 2.48395474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:3.09, Z:2.49 [[ 9.96035457e-01 -8.14033141e-02 -3.58729410e-02 7.50845425e+01] [ 8.14041376e-02 9.96680136e-01 -1.44004737e-03 3.09364548e+00] [ 3.58710723e-02 -1.48586758e-03 9.99355321e-01 2.48749626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:3.09, Z:2.49 [[ 9.95838869e-01 -8.37739272e-02 -3.58730454e-02 7.51160943e+01] [ 8.37763788e-02 9.96483543e-01 -1.43744144e-03 3.09217525e+00] [ 3.58673195e-02 -1.57385378e-03 9.99355321e-01 2.48687264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:3.10, Z:2.49 [[ 9.96331387e-01 -7.76973486e-02 -3.58732363e-02 7.51482598e+01] [ 7.76960393e-02 9.96976064e-01 -1.43266038e-03 3.09551055e+00] [ 3.58760719e-02 -1.35980388e-03 9.99355321e-01 2.49016367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:3.10, Z:2.49 [[ 9.98640047e-01 -3.78306861e-02 -3.58733384e-02 7.51802796e+01] [ 3.78037142e-02 9.99284161e-01 -1.43010057e-03 3.09834139e+00] [ 3.59017605e-02 7.20102655e-05 9.99355321e-01 2.49492767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:3.10, Z:2.50 [[ 9.98814828e-01 -3.28943003e-02 -3.58734402e-02 7.52083265e+01] [ 3.28642370e-02 9.99458806e-01 -1.42754317e-03 3.09808651e+00] [ 3.59009837e-02 2.46898045e-04 9.99355321e-01 2.49595771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:3.10, Z:2.50 [[ 9.98805238e-01 -3.31846700e-02 -3.58730221e-02 7.52366599e+01] [ 3.31544193e-02 9.99449207e-01 -1.43797324e-03 3.09927708e+00] [ 3.59009821e-02 2.46905985e-04 9.99355321e-01 2.49698029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:3.10, Z:2.50 [[ 9.98946978e-01 -2.86023136e-02 -3.58726013e-02 7.52638720e+01] [ 2.85687348e-02 9.99590781e-01 -1.44839523e-03 3.09881647e+00] [ 3.58993490e-02 4.22035208e-04 9.99355322e-01 2.49654795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:3.10, Z:2.50 [[ 9.98987671e-01 -2.71441007e-02 -3.58724185e-02 7.52920246e+01] [ 2.71094202e-02 9.99631416e-01 -1.45290690e-03 3.09892744e+00] [ 3.58986344e-02 4.78955612e-04 9.99355322e-01 2.49794581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:3.10, Z:2.50 [[ 9.99020946e-01 -2.58911001e-02 -3.58719992e-02 7.53202895e+01] [ 2.58552430e-02 9.99664627e-01 -1.46318879e-03 3.09898426e+00] [ 3.58978522e-02 5.34276992e-04 9.99355322e-01 2.49851765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:3.10, Z:2.50 [[ 9.99073554e-01 -2.37752894e-02 -3.58715780e-02 7.53471658e+01] [ 2.37377012e-02 9.99717135e-01 -1.47344251e-03 3.09887120e+00] [ 3.58964627e-02 6.20568644e-04 9.99355322e-01 2.49963136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:3.10, Z:2.50 [[ 9.99083773e-01 -2.33421900e-02 -3.58713950e-02 7.53741580e+01] [ 2.33041634e-02 9.99727329e-01 -1.47788468e-03 3.09926301e+00] [ 3.58961109e-02 6.40577755e-04 9.99355322e-01 2.50033356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:3.10, Z:2.50 [[ 9.99077197e-01 -2.36222607e-02 -3.58712135e-02 7.54024947e+01] [ 2.35842569e-02 9.99720754e-01 -1.48227573e-03 3.10049810e+00] [ 3.58962113e-02 6.34911961e-04 9.99355322e-01 2.50135410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:3.10, Z:2.50 [[ 9.99043299e-01 -2.50154675e-02 -3.58707951e-02 7.54270394e+01] [ 2.49780002e-02 9.99686887e-01 -1.49233215e-03 3.10381692e+00] [ 3.58968949e-02 5.94923709e-04 9.99355322e-01 2.50118616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:3.10, Z:2.50 [[ 9.99067606e-01 -2.40485613e-02 -3.58550646e-02 7.54578940e+01] [ 2.39970607e-02 9.99710287e-01 -1.86607163e-03 3.10099629e+00] [ 3.58895533e-02 1.00391555e-03 9.99355258e-01 2.50317810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:3.10, Z:2.50 [[ 9.99060730e-01 -2.43102456e-02 -3.58701785e-02 7.54862442e+01] [ 2.42718267e-02 9.99704261e-01 -1.50618821e-03 3.10208238e+00] [ 3.58961861e-02 6.34138733e-04 9.99355323e-01 2.50406904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:3.10, Z:2.51 [[ 9.99039593e-01 -2.51644793e-02 -3.58697615e-02 7.55142658e+01] [ 2.51262565e-02 9.99683136e-01 -1.51605363e-03 3.10167070e+00] [ 3.58965464e-02 6.13324775e-04 9.99355323e-01 2.50531234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:3.10, Z:2.51 [[ 9.99032641e-01 -2.54395881e-02 -3.58693418e-02 7.55426032e+01] [ 2.54011884e-02 9.99676173e-01 -1.52591894e-03 3.10295012e+00] [ 3.58965451e-02 6.13318920e-04 9.99355323e-01 2.50633489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:3.10, Z:2.51 [[ 9.98993260e-01 -2.69422849e-02 -3.58689192e-02 7.55706561e+01] [ 2.69044989e-02 9.99636829e-01 -1.53578997e-03 3.10205542e+00] [ 3.58972703e-02 5.69208528e-04 9.99355323e-01 2.50861693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:3.10, Z:2.51 [[ 9.98926115e-01 -2.93269408e-02 -3.58684793e-02 7.55941538e+01] [ 2.92903249e-02 9.99569751e-01 -1.54599594e-03 3.10296404e+00] [ 3.58983862e-02 4.93736303e-04 9.99355323e-01 2.50818683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:3.10, Z:2.51 [[ 9.98796578e-01 -3.34643033e-02 -3.58543651e-02 7.56222821e+01] [ 3.34186032e-02 9.99439687e-01 -1.87330962e-03 3.09897342e+00] [ 3.58969644e-02 6.72852444e-04 9.99355270e-01 2.51154853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:3.10, Z:2.51 [[ 9.98792243e-01 -3.35960994e-02 -3.58518736e-02 7.56506749e+01] [ 3.35484122e-02 9.99435228e-01 -1.93103950e-03 3.10022312e+00] [ 3.58965009e-02 7.25933837e-04 9.99355249e-01 2.51258956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:3.06, Z:2.52 [[ 9.98168227e-01 -4.87326911e-02 -3.58513071e-02 7.56825968e+01] [ 4.86942876e-02 9.98811838e-01 -1.94408749e-03 3.06403976e+00] [ 3.59034506e-02 1.94772503e-04 9.99355244e-01 2.51704016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:3.06, Z:2.52 [[ 9.98113284e-01 -4.98331291e-02 -3.58682520e-02 7.57111275e+01] [ 4.98094960e-02 9.98757530e-01 -1.55271958e-03 3.06105752e+00] [ 3.59010637e-02 -2.36789514e-04 9.99355321e-01 2.51727271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:3.05, Z:2.52 [[ 9.98058942e-01 -5.09102052e-02 -3.58678023e-02 7.57396244e+01] [ 5.08868965e-02 9.98703199e-01 -1.56304003e-03 3.05469537e+00] [ 3.59008636e-02 -2.65195063e-04 9.99355321e-01 2.51737812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:3.06, Z:2.52 [[ 9.98043899e-01 -5.12045848e-02 -3.58673388e-02 7.57679715e+01] [ 5.11810864e-02 9.98688150e-01 -1.57360427e-03 3.05599168e+00] [ 3.59008620e-02 -2.65203224e-04 9.99355321e-01 2.51840069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:3.05, Z:2.52 [[ 9.98045953e-01 -5.11648614e-02 -3.58668719e-02 7.57959557e+01] [ 5.11409575e-02 9.98690189e-01 -1.58417655e-03 3.05403209e+00] [ 3.59009472e-02 -2.53185176e-04 9.99355321e-01 2.51908015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:3.05, Z:2.52 [[ 9.98070164e-01 -5.06907162e-02 -3.58664012e-02 7.58236159e+01] [ 5.06661258e-02 9.98714374e-01 -1.59476084e-03 3.05220249e+00] [ 3.59011300e-02 -2.25528381e-04 9.99355321e-01 2.51995017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:3.05, Z:2.52 [[ 9.98055169e-01 -5.09854379e-02 -3.58659275e-02 7.58519635e+01] [ 5.09606575e-02 9.98699371e-01 -1.60534500e-03 3.05352310e+00] [ 3.59011285e-02 -2.25528372e-04 9.99355321e-01 2.52097274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:3.05, Z:2.52 [[ 9.98092760e-01 -5.02445167e-02 -3.58654506e-02 7.58794783e+01] [ 5.02188777e-02 9.98736929e-01 -1.61592901e-03 3.05181149e+00] [ 3.59013416e-02 -1.88275627e-04 9.99355321e-01 2.52206219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:3.05, Z:2.52 [[ 9.98138104e-01 -4.93358721e-02 -3.58649724e-02 7.59060716e+01] [ 4.93092678e-02 9.98782234e-01 -1.62647378e-03 3.05025997e+00] [ 3.59015408e-02 -1.45030072e-04 9.99355321e-01 2.52258876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:3.05, Z:2.52 [[ 9.98122710e-01 -4.96465011e-02 -3.58647648e-02 7.59325615e+01] [ 4.96199332e-02 9.98766841e-01 -1.63104040e-03 3.05059832e+00] [ 3.59015132e-02 -1.51628762e-04 9.99355321e-01 2.52229262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:3.03, Z:2.53 [[ 9.98323226e-01 -4.54448051e-02 -3.58539664e-02 7.59634392e+01] [ 4.54070627e-02 9.98966823e-01 -1.86666370e-03 3.02720129e+00] [ 3.59017531e-02 2.35510430e-04 9.99355297e-01 2.52605207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:3.03, Z:2.53 [[ 9.98241890e-01 -4.71898124e-02 -3.58643379e-02 7.59916994e+01] [ 4.71613425e-02 9.98885939e-01 -1.63985538e-03 3.02500858e+00] [ 3.59017673e-02 -5.44379898e-05 9.99355322e-01 2.52739898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:3.02, Z:2.53 [[ 9.98139561e-01 -4.93072100e-02 -3.58638531e-02 7.60191341e+01] [ 4.92797279e-02 9.98783653e-01 -1.65038899e-03 3.02286769e+00] [ 3.59016063e-02 -1.20042386e-04 9.99355322e-01 2.52835612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:3.02, Z:2.53 [[ 9.98020672e-01 -5.16578953e-02 -3.58636427e-02 7.60474814e+01] [ 5.16317664e-02 9.98664820e-01 -1.65494960e-03 3.02066868e+00] [ 3.59012495e-02 -2.00029310e-04 9.99355322e-01 2.52914945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:3.02, Z:2.53 [[ 9.98006080e-01 -5.19391282e-02 -3.58634952e-02 7.60758426e+01] [ 5.19130662e-02 9.98650231e-01 -1.65813899e-03 3.02204613e+00] [ 3.59012101e-02 -2.06951206e-04 9.99355322e-01 2.53017032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:3.02, Z:2.53 [[ 9.97854614e-01 -5.47723704e-02 -3.58630250e-02 7.61035996e+01] [ 5.47477740e-02 9.98498822e-01 -1.66824733e-03 3.02007951e+00] [ 3.59005621e-02 -2.98752490e-04 9.99355322e-01 2.53186768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:3.02, Z:2.53 [[ 9.97693662e-01 -5.76301592e-02 -3.58625469e-02 7.61319676e+01] [ 5.76070409e-02 9.98337925e-01 -1.67846178e-03 3.01853461e+00] [ 3.58996707e-02 -3.91344529e-04 9.99355322e-01 2.53401941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:3.02, Z:2.54 [[ 9.97533895e-01 -6.03327495e-02 -3.58620555e-02 7.61599012e+01] [ 6.03110015e-02 9.98178206e-01 -1.68889783e-03 3.01698050e+00] [ 3.58986180e-02 -4.78143648e-04 9.99355322e-01 2.53580908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:3.00, Z:2.53 [[ 9.96171497e-01 -7.97263904e-02 -3.58615605e-02 7.61886870e+01] [ 7.97168047e-02 9.96816103e-01 -1.69934293e-03 3.00001857e+00] [ 3.58828635e-02 -1.16593203e-03 9.99355323e-01 2.53100895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:3.00, Z:2.53 [[ 9.96008288e-01 -8.17401386e-02 -3.58614070e-02 7.62171604e+01] [ 8.17317398e-02 9.96652910e-01 -1.70257742e-03 3.00023503e+00] [ 3.58805445e-02 -1.23523396e-03 9.99355323e-01 2.53182314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:3.00, Z:2.53 [[ 9.95870529e-01 -8.34019196e-02 -3.58609741e-02 7.62473431e+01] [ 8.33942702e-02 9.96515161e-01 -1.71164682e-03 3.00016536e+00] [ 3.58787590e-02 -1.28602114e-03 9.99355323e-01 2.53239365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:3.00, Z:2.53 [[ 9.95723316e-01 -8.51414861e-02 -3.58609119e-02 7.62759995e+01] [ 8.51349160e-02 9.96367960e-01 -1.71294941e-03 3.00030088e+00] [ 3.58765067e-02 -1.34739206e-03 9.99355323e-01 2.53286807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:3.00, Z:2.53 [[ 9.95702008e-01 -8.53903728e-02 -3.58607920e-02 7.63052080e+01] [ 8.53838737e-02 9.96346652e-01 -1.71545434e-03 3.00173641e+00] [ 3.58762634e-02 -1.35385201e-03 9.99355323e-01 2.53391920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:3.00, Z:2.54 [[ 9.95591560e-01 -8.66687962e-02 -3.58603609e-02 7.63353369e+01] [ 8.66628024e-02 9.96236209e-01 -1.72442048e-03 3.00210001e+00] [ 3.58748434e-02 -1.39094089e-03 9.99355323e-01 2.53527695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:3.00, Z:2.54 [[ 9.95487363e-01 -8.78575477e-02 -3.58602977e-02 7.63636500e+01] [ 8.78522765e-02 9.96132019e-01 -1.72573355e-03 3.00278566e+00] [ 3.58732095e-02 -1.43246285e-03 9.99355323e-01 2.53657187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:3.00, Z:2.54 [[ 9.95484175e-01 -8.78937039e-02 -3.58602036e-02 7.63937495e+01] [ 8.78883858e-02 9.96128830e-01 -1.72768673e-03 3.00426505e+00] [ 3.58732354e-02 -1.43181061e-03 9.99355323e-01 2.53765492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:3.01, Z:2.54 [[ 9.95395464e-01 -8.88927420e-02 -3.58601409e-02 7.64226505e+01] [ 8.88880242e-02 9.96040125e-01 -1.72898748e-03 3.00536517e+00] [ 3.58718336e-02 -1.46651077e-03 9.99355323e-01 2.53957311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:3.01, Z:2.54 [[ 9.95320434e-01 -8.97289880e-02 -3.58600475e-02 7.64512820e+01] [ 8.97247422e-02 9.95965097e-01 -1.73092271e-03 3.00692868e+00] [ 3.58706696e-02 -1.49471077e-03 9.99355323e-01 2.54090135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:3.01, Z:2.54 [[ 9.94865346e-01 -9.46414686e-02 -3.58599547e-02 7.64804366e+01] [ 9.46403363e-02 9.95510022e-01 -1.73284230e-03 3.01006137e+00] [ 3.58629430e-02 -1.66985342e-03 9.99355323e-01 2.54315292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:3.01, Z:2.55 [[ 9.94641111e-01 -9.69697243e-02 -3.58598926e-02 7.65112120e+01] [ 9.69700546e-02 9.95285789e-01 -1.73412595e-03 3.01314288e+00] [ 3.58589992e-02 -1.75250278e-03 9.99355323e-01 2.54589382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:3.02, Z:2.55 [[ 9.94517256e-01 -9.82318465e-02 -3.58598926e-02 7.65424213e+01] [ 9.82329950e-02 9.95161932e-01 -1.73412595e-03 3.01581498e+00] [ 3.58567464e-02 -1.79800647e-03 9.99355323e-01 2.54806596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:3.02, Z:2.55 [[ 9.94520863e-01 -9.81953029e-02 -3.58599563e-02 7.65742079e+01] [ 9.81964751e-02 9.95165539e-01 -1.73280856e-03 3.01732229e+00] [ 3.58567464e-02 -1.79800704e-03 9.99355323e-01 2.54920889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:3.02, Z:2.55 [[ 9.94385257e-01 -9.95591296e-02 -3.58600199e-02 7.66049045e+01] [ 9.95612332e-02 9.95029931e-01 -1.73149174e-03 3.02030986e+00] [ 3.58541789e-02 -1.84849794e-03 9.99355323e-01 2.55050514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:3.02, Z:2.55 [[ 9.94385258e-01 -9.95591062e-02 -3.58600514e-02 7.66358480e+01] [ 9.95612333e-02 9.95029932e-01 -1.73083864e-03 3.02180309e+00] [ 3.58541452e-02 -1.84915051e-03 9.99355323e-01 2.55161794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:3.02, Z:2.55 [[ 9.94265478e-01 -1.00748283e-01 -3.58600514e-02 7.66671670e+01] [ 1.00751181e-01 9.94910149e-01 -1.73083864e-03 3.02488361e+00] [ 3.58519081e-02 -1.89202943e-03 9.99355323e-01 2.55336266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:3.03, Z:2.55 [[ 9.94126710e-01 -1.02108457e-01 -3.58601144e-02 7.66975051e+01] [ 1.02112284e-01 9.94771376e-01 -1.72953293e-03 3.02785088e+00] [ 3.58492152e-02 -1.94238329e-03 9.99355323e-01 2.55397182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:3.03, Z:2.56 [[ 9.93977862e-01 -1.03547376e-01 -3.58601456e-02 7.67286834e+01] [ 1.03552160e-01 9.94622522e-01 -1.72888558e-03 3.03073597e+00] [ 3.58463300e-02 -1.99492153e-03 9.99355323e-01 2.55524643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:3.03, Z:2.56 [[ 9.93981654e-01 -1.03510954e-01 -3.58602089e-02 7.67604705e+01] [ 1.03515762e-01 9.94626313e-01 -1.72757116e-03 3.03223844e+00] [ 3.58463299e-02 -1.99492279e-03 9.99355323e-01 2.55638936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:3.04, Z:2.56 [[ 9.93882433e-01 -1.04459324e-01 -3.58602721e-02 7.67929469e+01] [ 1.04464793e-01 9.94527087e-01 -1.72625801e-03 3.03546119e+00] [ 3.58443357e-02 -2.03043840e-03 9.99355323e-01 2.55717113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:3.05, Z:2.56 [[ 9.93937856e-01 -1.03930602e-01 -3.58603984e-02 7.68246323e+01] [ 1.03935823e-01 9.94582512e-01 -1.72363002e-03 3.05430068e+00] [ 3.58452631e-02 -2.01399891e-03 9.99355323e-01 2.55664780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:3.06, Z:2.56 [[ 9.94224238e-01 -1.01154274e-01 -3.58605244e-02 7.68564711e+01] [ 1.01157789e-01 9.94868906e-01 -1.72100598e-03 3.06052849e+00] [ 3.58506077e-02 -1.91650549e-03 9.99355323e-01 2.55778006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:3.06, Z:2.56 [[ 9.94231718e-01 -1.01080685e-01 -3.58606514e-02 7.68891037e+01] [ 1.01084247e-01 9.94876385e-01 -1.71835458e-03 3.06203500e+00] [ 3.58506077e-02 -1.91650433e-03 9.99355323e-01 2.55895297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:3.07, Z:2.56 [[ 9.94591718e-01 -9.74747076e-02 -3.58607783e-02 7.69198065e+01] [ 9.74760279e-02 9.95236394e-01 -1.71570202e-03 3.06926306e+00] [ 3.58571893e-02 -1.78914321e-03 9.99355323e-01 2.55976147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:3.07, Z:2.56 [[ 9.94598768e-01 -9.74027094e-02 -3.58608727e-02 7.69524393e+01] [ 9.74040541e-02 9.95243444e-01 -1.71372640e-03 3.07076403e+00] [ 3.58572201e-02 -1.78852422e-03 9.99355323e-01 2.56093453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:3.08, Z:2.56 [[ 9.94835083e-01 -9.49586574e-02 -3.58609965e-02 7.69835801e+01] [ 9.49585115e-02 9.95479760e-01 -1.71113132e-03 3.07501101e+00] [ 3.58613830e-02 -1.70301339e-03 9.99355323e-01 2.56188457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:3.08, Z:2.56 [[ 9.95073879e-01 -9.24227125e-02 -3.58610887e-02 7.70158389e+01] [ 9.24209930e-02 9.95718554e-01 -1.70919822e-03 3.07948345e+00] [ 3.58655201e-02 -1.61353892e-03 9.99355323e-01 2.56358154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:3.08, Z:2.57 [[ 9.95312125e-01 -8.98206454e-02 -3.58612094e-02 7.70482843e+01] [ 8.98173314e-02 9.95956793e-01 -1.70666239e-03 3.08391657e+00] [ 3.58695086e-02 -1.52229635e-03 9.99355323e-01 2.56511588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:3.09, Z:2.57 [[ 9.95318587e-01 -8.97489609e-02 -3.58613322e-02 7.70809186e+01] [ 8.97456935e-02 9.95963256e-01 -1.70407772e-03 3.08540843e+00] [ 3.58695084e-02 -1.52229990e-03 9.99355323e-01 2.56628881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:3.09, Z:2.57 [[ 9.95553761e-01 -8.71014610e-02 -3.58614546e-02 7.71123683e+01] [ 8.70965718e-02 9.96198420e-01 -1.70149659e-03 3.08918557e+00] [ 3.58733273e-02 -1.42947844e-03 9.99355323e-01 2.56709501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:3.11, Z:2.57 [[ 9.96936288e-01 -6.95124979e-02 -3.58615458e-02 7.71439522e+01] [ 6.94962979e-02 9.97580762e-01 -1.69957380e-03 3.10738594e+00] [ 3.58929298e-02 -7.97877877e-04 9.99355323e-01 2.56832702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:3.11, Z:2.57 [[ 9.97084417e-01 -6.73543248e-02 -3.58616697e-02 7.71741011e+01] [ 6.73368239e-02 9.97728857e-01 -1.69695558e-03 3.11080071e+00] [ 3.58945200e-02 -7.22802973e-04 9.99355323e-01 2.56929009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:3.11, Z:2.57 [[ 9.97232224e-01 -6.51293479e-02 -3.58616697e-02 7.72039457e+01] [ 6.51104091e-02 9.97876623e-01 -1.69695558e-03 3.11364894e+00] [ 3.58960434e-02 -6.42709201e-04 9.99355323e-01 2.56979354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:3.12, Z:2.57 [[ 9.97351282e-01 -6.32800426e-02 -3.58616388e-02 7.72334531e+01] [ 6.32598855e-02 9.97995644e-01 -1.69760847e-03 3.11607200e+00] [ 3.58971840e-02 -5.75491173e-04 9.99355323e-01 2.57104735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:3.12, Z:2.57 [[ 9.97351281e-01 -6.32800888e-02 -3.58615778e-02 7.72643978e+01] [ 6.32598854e-02 9.97995642e-01 -1.69889571e-03 3.11753858e+00] [ 3.58972046e-02 -5.74203492e-04 9.99355323e-01 2.57216065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:3.12, Z:2.57 [[ 9.97460939e-01 -6.15274187e-02 -3.58615778e-02 7.72942503e+01] [ 6.15060830e-02 9.98105263e-01 -1.69889571e-03 3.12009716e+00] [ 3.58981582e-02 -5.11123075e-04 9.99355323e-01 2.57365802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:3.12, Z:2.58 [[ 9.97576897e-01 -5.96178317e-02 -3.58615169e-02 7.73235905e+01] [ 5.95952165e-02 9.98221178e-01 -1.70018009e-03 3.12305650e+00] [ 3.58990867e-02 -4.41114484e-04 9.99355323e-01 2.57534400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:3.13, Z:2.58 [[ 9.97677746e-01 -5.79057011e-02 -3.58614564e-02 7.73532051e+01] [ 5.78819343e-02 9.98321986e-01 -1.70145575e-03 3.12643173e+00] [ 3.58998043e-02 -3.78225923e-04 9.99355323e-01 2.57767433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:3.13, Z:2.58 [[ 9.97675638e-01 -5.79420524e-02 -3.58613944e-02 7.73833040e+01] [ 5.79182622e-02 9.98319876e-01 -1.70276155e-03 3.12788887e+00] [ 3.58998043e-02 -3.78225923e-04 9.99355323e-01 2.57875728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:3.13, Z:2.58 [[ 9.97767725e-01 -5.63341171e-02 -3.58613323e-02 7.74127104e+01] [ 5.63092418e-02 9.98411922e-01 -1.70406736e-03 3.13114891e+00] [ 3.59003788e-02 -3.19061024e-04 9.99355323e-01 2.58075843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:3.13, Z:2.58 [[ 9.97765667e-01 -5.63705851e-02 -3.58612700e-02 7.74428093e+01] [ 5.63456862e-02 9.98409863e-01 -1.70537722e-03 3.13260813e+00] [ 3.59003788e-02 -3.19061023e-04 9.99355323e-01 2.58184138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:3.14, Z:2.58 [[ 9.97849274e-01 -5.48707531e-02 -3.58612077e-02 7.74724895e+01] [ 5.48448389e-02 9.98493431e-01 -1.70668709e-03 3.13575130e+00] [ 3.59008275e-02 -2.63785684e-04 9.99355323e-01 2.58363583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:3.14, Z:2.58 [[ 9.97835297e-01 -5.51243950e-02 -3.58611457e-02 7.75016793e+01] [ 5.50985977e-02 9.98479458e-01 -1.70798857e-03 3.13716749e+00] [ 3.59007691e-02 -2.71607555e-04 9.99355323e-01 2.58468609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:3.14, Z:2.58 [[ 9.96909253e-01 -6.98995818e-02 -3.58607090e-02 7.75309578e+01] [ 6.98830016e-02 9.97553717e-01 -1.71710822e-03 3.13683646e+00] [ 3.58930087e-02 -7.94252917e-04 9.99355323e-01 2.58300655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:3.14, Z:2.58 [[ 9.96611559e-01 -7.40231004e-02 -3.58605839e-02 7.75608492e+01] [ 7.40090926e-02 9.97256084e-01 -1.71971710e-03 3.13695115e+00] [ 3.58894843e-02 -9.40119334e-04 9.99355323e-01 2.58344810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:3.14, Z:2.58 [[ 9.96285260e-01 -7.82923874e-02 -3.58606150e-02 7.75927356e+01] [ 7.82811645e-02 9.96929839e-01 -1.71906850e-03 3.13695623e+00] [ 3.58851071e-02 -1.09452809e-03 9.99355323e-01 2.58306182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:3.14, Z:2.58 [[ 9.95944492e-01 -8.25141200e-02 -3.58606768e-02 7.76252843e+01] [ 8.25056754e-02 9.96589114e-01 -1.71777945e-03 3.13745817e+00] [ 3.58801011e-02 -1.24789637e-03 9.99355323e-01 2.58282191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:3.14, Z:2.58 [[ 9.95950450e-01 -8.24421238e-02 -3.58608006e-02 7.76579198e+01] [ 8.24337258e-02 9.96595073e-01 -1.71519016e-03 3.13896096e+00] [ 3.58801011e-02 -1.24789499e-03 9.99355323e-01 2.58399483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:3.14, Z:2.58 [[ 9.95636781e-01 -8.61475122e-02 -3.58609243e-02 7.76895881e+01] [ 8.61416060e-02 9.96281431e-01 -1.71259948e-03 3.13988171e+00] [ 3.58751092e-02 -1.38399058e-03 9.99355323e-01 2.58378377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:3.14, Z:2.58 [[ 9.95320818e-01 -8.97243004e-02 -3.58611222e-02 7.77218350e+01] [ 8.97208599e-02 9.95965486e-01 -1.70844584e-03 3.14128752e+00] [ 3.58697291e-02 -1.51703901e-03 9.99355323e-01 2.58435399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:3.14, Z:2.59 [[ 9.95327210e-01 -8.96533060e-02 -3.58612438e-02 7.77544698e+01] [ 8.96499114e-02 9.95971879e-01 -1.70589065e-03 3.14278017e+00] [ 3.58697291e-02 -1.51703794e-03 9.99355323e-01 2.58552688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:3.14, Z:2.59 [[ 9.95037119e-01 -9.28175357e-02 -3.58613652e-02 7.77862003e+01] [ 9.28162828e-02 9.95681795e-01 -1.70333438e-03 3.14471662e+00] [ 3.58646077e-02 -1.63363767e-03 9.99355323e-01 2.58709104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:3.15, Z:2.59 [[ 9.94799317e-01 -9.53324280e-02 -3.58614879e-02 7.78180367e+01] [ 9.53328978e-02 9.95443994e-01 -1.70074642e-03 3.14696198e+00] [ 3.58602391e-02 -1.72687818e-03 9.99355323e-01 2.58854695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:3.15, Z:2.59 [[ 9.93942350e-01 -1.03887201e-01 -3.58616103e-02 7.78492457e+01] [ 1.03893310e-01 9.94586998e-01 -1.69816201e-03 3.15417126e+00] [ 3.58439086e-02 -2.03790625e-03 9.99355323e-01 2.59438962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:3.16, Z:2.60 [[ 9.93983738e-01 -1.03490373e-01 -3.58618228e-02 7.78821708e+01] [ 1.03496386e-01 9.94628388e-01 -1.69366288e-03 3.15651279e+00] [ 3.58444648e-02 -2.02809571e-03 9.99355323e-01 2.59535598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:3.16, Z:2.60 [[ 9.93995064e-01 -1.03381474e-01 -3.58620074e-02 7.79156549e+01] [ 1.03387558e-01 9.94639713e-01 -1.68974373e-03 3.15800276e+00] [ 3.58444650e-02 -2.02808844e-03 9.99355323e-01 2.59655891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:3.16, Z:2.60 [[ 9.94044932e-01 -1.02900811e-01 -3.58621920e-02 7.79482102e+01] [ 1.02906725e-01 9.94689582e-01 -1.68581729e-03 3.16003224e+00] [ 3.58452207e-02 -2.01468258e-03 9.99355323e-01 2.59701723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:3.16, Z:2.60 [[ 9.94095352e-01 -1.02412505e-01 -3.58623752e-02 7.79811399e+01] [ 1.02418242e-01 9.94740004e-01 -1.68191073e-03 3.16170284e+00] [ 3.58459879e-02 -2.00098177e-03 9.99355323e-01 2.59729429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:3.16, Z:2.60 [[ 9.94106765e-01 -1.02301598e-01 -3.58625619e-02 7.80146244e+01] [ 1.02307406e-01 9.94751416e-01 -1.67792143e-03 3.16318384e+00] [ 3.58459882e-02 -2.00097265e-03 9.99355323e-01 2.59849721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:3.16, Z:2.60 [[ 9.94153499e-01 -1.01846374e-01 -3.58627485e-02 7.80470730e+01] [ 1.01852032e-01 9.94798151e-01 -1.67392299e-03 3.16481638e+00] [ 3.58466789e-02 -1.98855740e-03 9.99355323e-01 2.59813012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:3.17, Z:2.60 [[ 9.94192722e-01 -1.01462720e-01 -3.58629027e-02 7.80801124e+01] [ 1.01468247e-01 9.94837376e-01 -1.67061341e-03 3.16684234e+00] [ 3.58472610e-02 -1.97803418e-03 9.99355323e-01 2.59972563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:3.21, Z:2.61 [[ 9.98541431e-01 -4.03590107e-02 -3.58630850e-02 7.81101517e+01] [ 4.03251713e-02 9.99185219e-01 -1.66669067e-03 3.20508517e+00] [ 3.59011304e-02 2.18074645e-04 9.99355323e-01 2.60501943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:3.20, Z:2.60 [[ 9.98457345e-01 -4.23882050e-02 -3.58632062e-02 7.81379354e+01] [ 4.23557679e-02 9.99101206e-01 -1.66407710e-03 3.20470155e+00] [ 3.59015099e-02 1.42496364e-04 9.99355323e-01 2.60438719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:3.20, Z:2.61 [[ 9.98334918e-01 -4.51802781e-02 -3.58627151e-02 7.81661914e+01] [ 4.51492639e-02 9.98978848e-01 -1.67459563e-03 3.20450138e+00] [ 3.59017525e-02 5.26321049e-05 9.99355323e-01 2.60703496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:3.20, Z:2.61 [[ 9.98298734e-01 -4.59729645e-02 -3.58625624e-02 7.81944864e+01] [ 4.59423444e-02 9.98942684e-01 -1.67785891e-03 3.20493012e+00] [ 3.59017805e-02 2.73942309e-05 9.99355323e-01 2.60861517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:3.21, Z:2.61 [[ 9.98285326e-01 -4.62635864e-02 -3.58620711e-02 7.82228205e+01] [ 4.62327789e-02 9.98929267e-01 -1.68829496e-03 3.20632037e+00] [ 3.59017790e-02 2.73968862e-05 9.99355323e-01 2.60963776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:3.21, Z:2.61 [[ 9.98275568e-01 -4.64740529e-02 -3.58615769e-02 7.82504056e+01] [ 4.64430062e-02 9.98919497e-01 -1.69872822e-03 3.20697578e+00] [ 3.59017751e-02 3.02794423e-05 9.99355323e-01 2.60966973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:3.21, Z:2.61 [[ 9.98262692e-01 -4.67499316e-02 -3.58614238e-02 7.82787435e+01] [ 4.67189470e-02 9.98906624e-01 -1.70195415e-03 3.20839276e+00] [ 3.59017800e-02 2.35893764e-05 9.99355323e-01 2.61069010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:3.21, Z:2.61 [[ 9.98255734e-01 -4.68986370e-02 -3.58609506e-02 7.83069075e+01] [ 4.68673923e-02 9.98899653e-01 -1.71186681e-03 3.20847684e+00] [ 3.59017753e-02 2.81716169e-05 9.99355323e-01 2.61141606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:3.21, Z:2.61 [[ 9.98244159e-01 -4.71447448e-02 -3.58604653e-02 7.83360900e+01] [ 4.71132957e-02 9.98888068e-01 -1.72197443e-03 3.20991721e+00] [ 3.59017729e-02 2.94462121e-05 9.99355323e-01 2.61246905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:3.21, Z:2.61 [[ 9.98235412e-01 -4.73299027e-02 -3.58600389e-02 7.83651276e+01] [ 4.72982557e-02 9.98879312e-01 -1.73080799e-03 3.21015314e+00] [ 3.59017699e-02 3.16365414e-05 9.99355323e-01 2.61329487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:3.21, Z:2.61 [[ 9.98223264e-01 -4.75857565e-02 -3.58595933e-02 7.83943068e+01] [ 4.75539447e-02 9.98867156e-01 -1.73999103e-03 3.21159451e+00] [ 3.59017688e-02 3.16344145e-05 9.99355323e-01 2.61434743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:3.21, Z:2.62 [[ 9.98211051e-01 -4.78416072e-02 -3.58591453e-02 7.84234856e+01] [ 4.78096305e-02 9.98854934e-01 -1.74917609e-03 3.21304336e+00] [ 3.59017676e-02 3.16344135e-05 9.99355323e-01 2.61539999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:3.21, Z:2.62 [[ 9.98205681e-01 -4.79538646e-02 -3.58586949e-02 7.84514962e+01] [ 4.79216303e-02 9.98849551e-01 -1.75836102e-03 3.21292184e+00] [ 3.59017615e-02 3.67988412e-05 9.99355323e-01 2.61533934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:3.21, Z:2.62 [[ 9.98193427e-01 -4.82083881e-02 -3.58585353e-02 7.84790360e+01] [ 4.81762013e-02 9.98837299e-01 -1.76160900e-03 3.21310612e+00] [ 3.59017669e-02 3.08985066e-05 9.99355323e-01 2.61543748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:3.21, Z:2.62 [[ 9.98178366e-01 -4.85193365e-02 -3.58583777e-02 7.85078971e+01] [ 4.84872352e-02 9.98822243e-01 -1.76481098e-03 3.21342323e+00] [ 3.59017728e-02 2.29225450e-05 9.99355323e-01 2.61581519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:3.21, Z:2.62 [[ 9.98264868e-01 -4.67061227e-02 -3.58579387e-02 7.85365990e+01] [ 4.66725331e-02 9.98908669e-01 -1.77368778e-03 3.20799978e+00] [ 3.59016479e-02 9.70293652e-05 9.99355323e-01 2.61790870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:3.21, Z:2.62 [[ 9.98291921e-01 -4.61246305e-02 -3.58574868e-02 7.85643825e+01] [ 4.60903394e-02 9.98935685e-01 -1.78277714e-03 3.20785148e+00] [ 3.59015530e-02 1.27048279e-04 9.99355323e-01 2.61964838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:3.21, Z:2.62 [[ 9.98326143e-01 -4.53783057e-02 -3.58569688e-02 7.85915574e+01] [ 4.53431613e-02 9.98969861e-01 -1.79313452e-03 3.20751045e+00] [ 3.59014005e-02 1.64264753e-04 9.99355323e-01 2.62039812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:3.21, Z:2.62 [[ 9.98334019e-01 -4.52049727e-02 -3.58566070e-02 7.86199431e+01] [ 4.51694578e-02 9.98977717e-01 -1.80034052e-03 3.20723454e+00] [ 3.59013357e-02 1.77717693e-04 9.99355323e-01 2.62131633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:3.21, Z:2.62 [[ 9.98334367e-01 -4.51977148e-02 -3.58560838e-02 7.86468529e+01] [ 4.51618231e-02 9.98978043e-01 -1.81070027e-03 3.20667170e+00] [ 3.59012800e-02 1.88358190e-04 9.99355324e-01 2.62168230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:3.21, Z:2.62 [[ 9.98321576e-01 -4.54795312e-02 -3.58558567e-02 7.86751905e+01] [ 4.54436600e-02 9.98965254e-01 -1.81518713e-03 3.20817062e+00] [ 3.59013089e-02 1.82719117e-04 9.99355324e-01 2.62270314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:3.21, Z:2.62 [[ 9.98308707e-01 -4.57615462e-02 -3.58553414e-02 7.87035275e+01] [ 4.57254934e-02 9.98952375e-01 -1.82530942e-03 3.20968023e+00] [ 3.59013074e-02 1.82719109e-04 9.99355324e-01 2.62372574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:3.21, Z:2.62 [[ 9.98295759e-01 -4.60435577e-02 -3.58548232e-02 7.87318641e+01] [ 4.60073231e-02 9.98939416e-01 -1.83543156e-03 3.21119784e+00] [ 3.59013060e-02 1.82719102e-04 9.99355324e-01 2.62474833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:3.21, Z:2.63 [[ 9.98262773e-01 -4.67536547e-02 -3.58543022e-02 7.87596142e+01] [ 4.67175144e-02 9.98906436e-01 -1.84555355e-03 3.21083714e+00] [ 3.59013796e-02 1.67323523e-04 9.99355324e-01 2.62596669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:3.21, Z:2.63 [[ 9.98201970e-01 -4.80347185e-02 -3.58537641e-02 7.87865564e+01] [ 4.79990309e-02 9.98845658e-01 -1.85594917e-03 3.21055680e+00] [ 3.59015266e-02 1.31666189e-04 9.99355324e-01 2.62697479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:3.21, Z:2.63 [[ 9.98113483e-01 -4.98398338e-02 -3.58533928e-02 7.88149069e+01] [ 4.98050537e-02 9.98757221e-01 -1.86309417e-03 3.20994844e+00] [ 3.59016913e-02 7.38992532e-05 9.99355324e-01 2.62812846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:3.20, Z:2.63 [[ 9.97182127e-01 -6.58967291e-02 -3.58528576e-02 7.88432867e+01] [ 6.58719454e-02 9.97826326e-01 -1.87333741e-03 3.19671967e+00] [ 3.58983720e-02 -4.93638894e-04 9.99355324e-01 2.62879808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:3.20, Z:2.63 [[ 9.97021563e-01 -6.82831481e-02 -3.58526847e-02 7.88738116e+01] [ 6.82597875e-02 9.97665816e-01 -1.87664161e-03 3.19623126e+00] [ 3.58971409e-02 -5.76244486e-04 9.99355324e-01 2.62978730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:3.20, Z:2.63 [[ 9.96903031e-01 -6.99923678e-02 -3.58526847e-02 7.89047664e+01] [ 6.99701117e-02 9.97547323e-01 -1.87664161e-03 3.19576578e+00] [ 3.58961002e-02 -6.37786643e-04 9.99355324e-01 2.63103045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:3.20, Z:2.63 [[ 9.96831032e-01 -7.10104120e-02 -3.58526847e-02 7.89351346e+01] [ 7.09888139e-02 9.97475346e-01 -1.87664161e-03 3.19539030e+00] [ 3.58954301e-02 -6.74444967e-04 9.99355324e-01 2.63217870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:3.19, Z:2.63 [[ 9.96795940e-01 -7.15013221e-02 -3.58526847e-02 7.89654742e+01] [ 7.14800413e-02 9.97440265e-01 -1.87664161e-03 3.19478544e+00] [ 3.58950936e-02 -6.92122644e-04 9.99355324e-01 2.63308067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:3.19, Z:2.63 [[ 9.96865399e-01 -7.05262922e-02 -3.58527186e-02 7.89961764e+01] [ 7.05044045e-02 9.97509704e-01 -1.87599377e-03 3.19292477e+00] [ 3.58957416e-02 -6.57661291e-04 9.99355324e-01 2.63487877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:3.19, Z:2.64 [[ 9.97469881e-01 -6.13874577e-02 -3.58527186e-02 7.90256345e+01] [ 6.13596662e-02 9.98113957e-01 -1.87599377e-03 3.18848931e+00] [ 3.59002613e-02 -3.28663560e-04 9.99355324e-01 2.63548465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:3.19, Z:2.64 [[ 9.97534139e-01 -6.03342936e-02 -3.58526848e-02 7.90543847e+01] [ 6.03057989e-02 9.98178185e-01 -1.87663790e-03 3.18876127e+00] [ 3.59005935e-02 -2.90114436e-04 9.99355324e-01 2.63695290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:3.19, Z:2.64 [[ 9.97519333e-01 -6.05788636e-02 -3.58522224e-02 7.90835749e+01] [ 6.05502108e-02 9.98163372e-01 -1.88543213e-03 3.19033843e+00] [ 3.59005925e-02 -2.90104616e-04 9.99355324e-01 2.63800547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:3.19, Z:2.64 [[ 9.97583593e-01 -5.95115662e-02 -3.58517582e-02 7.91125246e+01] [ 5.94819086e-02 9.98227587e-01 -1.89421645e-03 3.19078262e+00] [ 3.59009419e-02 -2.42891749e-04 9.99355324e-01 2.64020394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:3.19, Z:2.64 [[ 9.97568441e-01 -5.97653022e-02 -3.58512744e-02 7.91417127e+01] [ 5.97354809e-02 9.98212427e-01 -1.90332944e-03 3.19236199e+00] [ 3.59009407e-02 -2.42891742e-04 9.99355324e-01 2.64125651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:3.19, Z:2.64 [[ 9.97639539e-01 -5.85668026e-02 -3.58507883e-02 7.91696802e+01] [ 5.85358802e-02 9.98283473e-01 -1.91244229e-03 3.19307176e+00] [ 3.59012551e-02 -1.90629401e-04 9.99355324e-01 2.64293630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:3.19, Z:2.64 [[ 9.97702852e-01 -5.74782757e-02 -3.58506160e-02 7.91983104e+01] [ 5.74465349e-02 9.98346746e-01 -1.91566692e-03 3.19362897e+00] [ 3.59014551e-02 -1.48227311e-04 9.99355324e-01 2.64471142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:3.20, Z:2.65 [[ 9.97686154e-01 -5.77676920e-02 -3.58501283e-02 7.92266540e+01] [ 5.77358116e-02 9.98330041e-01 -1.92475026e-03 3.19520906e+00] [ 3.59014485e-02 -1.49539572e-04 9.99355324e-01 2.64573367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:3.19, Z:2.65 [[ 9.97889376e-01 -5.41442652e-02 -3.58495673e-02 7.92556348e+01] [ 5.41096733e-02 9.98533123e-01 -1.93514467e-03 3.18678888e+00] [ 3.59017573e-02 -8.74806861e-06 9.99355324e-01 2.64510867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:3.19, Z:2.65 [[ 9.97864118e-01 -5.46081074e-02 -3.58490724e-02 7.92831847e+01] [ 5.45734869e-02 9.98507864e-01 -1.94426974e-03 3.18706538e+00] [ 3.59017536e-02 -1.62918752e-05 9.99355324e-01 2.64590649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:3.19, Z:2.65 [[ 9.97837368e-01 -5.50951151e-02 -3.58484990e-02 7.93104698e+01] [ 5.50604310e-02 9.98481110e-01 -1.95478410e-03 3.18742038e+00] [ 3.59017482e-02 -2.32771887e-05 9.99355324e-01 2.64630984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:3.19, Z:2.65 [[ 9.97736316e-01 -5.68959354e-02 -3.58482500e-02 7.93385640e+01] [ 5.68622496e-02 9.98380111e-01 -1.95934033e-03 3.18616107e+00] [ 3.59016583e-02 -8.35071313e-05 9.99355324e-01 2.64779026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:3.19, Z:2.65 [[ 9.97719572e-01 -5.71891681e-02 -3.58476714e-02 7.93669084e+01] [ 5.71552932e-02 9.98363357e-01 -1.96986919e-03 3.18777103e+00] [ 3.59016568e-02 -8.35071277e-05 9.99355324e-01 2.64881284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:3.19, Z:2.65 [[ 9.97640673e-01 -5.85497612e-02 -3.58470898e-02 7.93942345e+01] [ 5.85163859e-02 9.98284484e-01 -1.98039787e-03 3.18781651e+00] [ 3.59015453e-02 -1.21916674e-04 9.99355324e-01 2.64958901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.42, Y:3.19, Z:2.65 [[ 9.97547082e-01 -6.01234889e-02 -3.58466846e-02 7.94227109e+01] [ 6.00908668e-02 9.98190932e-01 -1.98770461e-03 3.18741473e+00] [ 3.59013433e-02 -1.71229415e-04 9.99355324e-01 2.64973327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:3.18, Z:2.65 [[ 9.96920548e-01 -6.97458083e-02 -3.58461118e-02 7.94510090e+01] [ 6.97190306e-02 9.97564667e-01 -1.99798166e-03 3.18218819e+00] [ 3.58981654e-02 -5.07327198e-04 9.99355324e-01 2.65056728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:3.18, Z:2.65 [[ 9.96426253e-01 -7.64841113e-02 -3.58455363e-02 7.94800166e+01] [ 7.64613195e-02 9.97070526e-01 -2.00825339e-03 3.17992015e+00] [ 3.58941272e-02 -7.39720609e-04 9.99355324e-01 2.65125766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:3.18, Z:2.65 [[ 9.96141418e-01 -8.01087299e-02 -3.58450249e-02 7.95093953e+01] [ 8.00879554e-02 9.96785759e-01 -2.01733959e-03 3.17949705e+00] [ 3.58914169e-02 -8.61199242e-04 9.99355324e-01 2.65265149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:3.18, Z:2.66 [[ 9.95800086e-01 -8.42456142e-02 -3.58450215e-02 7.95396927e+01] [ 8.42275141e-02 9.96444507e-01 -2.01740147e-03 3.17934376e+00] [ 3.58875320e-02 -1.01020849e-03 9.99355324e-01 2.65563379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:3.18, Z:2.66 [[ 9.95800086e-01 -8.42456142e-02 -3.58450215e-02 7.95706234e+01] [ 8.42275141e-02 9.96444507e-01 -2.01740147e-03 3.18108458e+00] [ 3.58875320e-02 -1.01020849e-03 9.99355324e-01 2.65674673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:3.18, Z:2.66 [[ 9.95193361e-01 -9.11334679e-02 -3.58450215e-02 7.96013604e+01] [ 9.11198269e-02 9.95837892e-01 -2.01740147e-03 3.17941523e+00] [ 3.58796834e-02 -1.25848760e-03 9.99355324e-01 2.65747809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:3.17, Z:2.66 [[ 9.92725243e-01 -1.14942273e-01 -3.58450215e-02 7.96318479e+01] [ 1.14944072e-01 9.93369916e-01 -2.01740147e-03 3.17344137e+00] [ 3.58392507e-02 -2.11744737e-03 9.99355324e-01 2.66101986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:3.17, Z:2.66 [[ 9.92345291e-01 -1.18177651e-01 -3.58450215e-02 7.96637725e+01] [ 1.18181552e-01 9.92989955e-01 -2.01740147e-03 3.17366066e+00] [ 3.58321580e-02 -2.23426142e-03 9.99355324e-01 2.66226067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:3.18, Z:2.66 [[ 9.92354014e-01 -1.18104336e-01 -3.58451701e-02 7.96963902e+01] [ 1.18108285e-01 9.92998678e-01 -2.01475753e-03 3.17543598e+00] [ 3.58321581e-02 -2.23425883e-03 9.99355324e-01 2.66343360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:3.18, Z:2.66 [[ 9.92097861e-01 -1.20237043e-01 -3.58453186e-02 7.97276575e+01] [ 1.20242472e-01 9.92742514e-01 -2.01211100e-03 3.17607648e+00] [ 3.58271020e-02 -2.31391871e-03 9.99355324e-01 2.66394049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:3.18, Z:2.66 [[ 9.91929675e-01 -1.21616718e-01 -3.58454292e-02 7.97601895e+01] [ 1.21623114e-01 9.92574318e-01 -2.01013984e-03 3.17752019e+00] [ 3.58237190e-02 -2.36571537e-03 9.99355324e-01 2.66472485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:3.18, Z:2.67 [[ 9.91793987e-01 -1.22718302e-01 -3.58455749e-02 7.97912487e+01] [ 1.22725509e-01 9.92438622e-01 -2.00753730e-03 3.17961345e+00] [ 3.58208946e-02 -2.40810300e-03 9.99355324e-01 2.66622997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:3.18, Z:2.67 [[ 9.92317351e-01 -1.18411829e-01 -3.58456834e-02 7.98231142e+01] [ 1.18416306e-01 9.92962011e-01 -2.00559868e-03 3.18350153e+00] [ 3.58308885e-02 -2.25452305e-03 9.99355324e-01 2.66946904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:3.19, Z:2.67 [[ 9.92705905e-01 -1.15108917e-01 -3.58458322e-02 7.98541549e+01] [ 1.15111345e-01 9.93350576e-01 -2.00293479e-03 3.18568150e+00] [ 3.58380338e-02 -2.13793678e-03 9.99355324e-01 2.67099267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:3.19, Z:2.67 [[ 9.92944025e-01 -1.13036420e-01 -3.58459428e-02 7.98859262e+01] [ 1.13037574e-01 9.93588699e-01 -2.00095336e-03 3.18837729e+00] [ 3.58423043e-02 -2.06510375e-03 9.99355324e-01 2.67283848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:3.19, Z:2.67 [[ 9.93160931e-01 -1.11114460e-01 -3.58460901e-02 7.99176358e+01] [ 1.11114461e-01 9.93805606e-01 -1.99831277e-03 3.19152091e+00] [ 3.58460867e-02 -1.99837280e-03 9.99355324e-01 2.67472500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:3.20, Z:2.68 [[ 9.93536818e-01 -1.07701614e-01 -3.58462361e-02 7.99492376e+01] [ 1.07699495e-01 9.94181490e-01 -1.99568949e-03 3.19623842e+00] [ 3.58526034e-02 -1.87783054e-03 9.99355324e-01 2.67684579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:3.20, Z:2.68 [[ 9.93878954e-01 -1.04497186e-01 -3.58463809e-02 7.99801621e+01] [ 1.04493081e-01 9.94523616e-01 -1.99308468e-03 3.19964700e+00] [ 3.58583441e-02 -1.76481388e-03 9.99355324e-01 2.67770145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:3.20, Z:2.68 [[ 9.94182138e-01 -1.01572125e-01 -3.58466135e-02 8.00122953e+01] [ 1.01566274e-01 9.94826787e-01 -1.98889328e-03 3.20327642e+00] [ 3.58631874e-02 -1.66348479e-03 9.99355324e-01 2.67827794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:3.21, Z:2.68 [[ 9.94323575e-01 -1.00178032e-01 -3.58467582e-02 8.00430016e+01] [ 1.00171371e-01 9.94968216e-01 -1.98628231e-03 3.20636214e+00] [ 3.58653669e-02 -1.61581160e-03 9.99355325e-01 2.67923549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:3.21, Z:2.68 [[ 9.94450880e-01 -9.89062807e-02 -3.58468299e-02 8.00741855e+01] [ 9.88988422e-02 9.95095512e-01 -1.98498720e-03 3.20974702e+00] [ 3.58673472e-02 -1.57123770e-03 9.99355325e-01 2.68048434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:3.22, Z:2.68 [[ 9.94641433e-01 -9.69712343e-02 -3.58469016e-02 8.01050265e+01] [ 9.69625881e-02 9.95286050e-01 -1.98369140e-03 3.21563345e+00] [ 3.58702821e-02 -1.50274670e-03 9.99355325e-01 2.68152777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:3.22, Z:2.68 [[ 9.94767420e-01 -9.56701385e-02 -3.58469731e-02 8.01356136e+01] [ 9.56606957e-02 9.95412026e-01 -1.98239862e-03 3.22144333e+00] [ 3.58721644e-02 -1.45712083e-03 9.99355325e-01 2.68236310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.17, Y:3.23, Z:2.68 [[ 9.94868885e-01 -9.46091372e-02 -3.58470799e-02 8.01679905e+01] [ 9.45990765e-02 9.95513482e-01 -1.98046524e-03 3.22642538e+00] [ 3.58736214e-02 -1.42079740e-03 9.99355325e-01 2.68291830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:3.23, Z:2.68 [[ 9.94993774e-01 -9.32864755e-02 -3.58472248e-02 8.02002868e+01] [ 9.32756523e-02 9.95638358e-01 -1.97783822e-03 3.23169445e+00] [ 3.58753776e-02 -1.37573657e-03 9.99355325e-01 2.68390391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:3.24, Z:2.68 [[ 9.95044811e-01 -9.27404476e-02 -3.58473705e-02 8.02313527e+01] [ 9.27293657e-02 9.95689391e-01 -1.97519526e-03 3.23532566e+00] [ 3.58760270e-02 -1.35869614e-03 9.99355325e-01 2.68450497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.26, Y:3.24, Z:2.69 [[ 9.95119277e-01 -9.19379248e-02 -3.58474788e-02 8.02636290e+01] [ 9.19263939e-02 9.95763850e-01 -1.97322758e-03 3.23913105e+00] [ 3.58770379e-02 -1.33173265e-03 9.99355325e-01 2.68549458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:3.24, Z:2.69 [[ 9.95214955e-01 -9.08963239e-02 -3.58476243e-02 8.02957387e+01] [ 9.08842136e-02 9.95859516e-01 -1.97058088e-03 3.24260529e+00] [ 3.58783163e-02 -1.29683158e-03 9.99355325e-01 2.68617708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:3.25, Z:2.69 [[ 9.95308337e-01 -8.98679659e-02 -3.58477694e-02 8.03275094e+01] [ 8.98552847e-02 9.95952888e-01 -1.96793789e-03 3.24575233e+00] [ 3.58795440e-02 -1.26240654e-03 9.99355325e-01 2.68658841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:3.25, Z:2.69 [[ 9.95515340e-01 -8.75450466e-02 -3.58479136e-02 8.03597245e+01] [ 8.75309559e-02 9.96159861e-01 -1.96530713e-03 3.24949466e+00] [ 3.58823055e-02 -1.18130875e-03 9.99355325e-01 2.68728330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:3.25, Z:2.69 [[ 9.95759344e-01 -8.47245302e-02 -3.58480574e-02 8.03921876e+01] [ 8.47087082e-02 9.96403825e-01 -1.96268117e-03 3.25330104e+00] [ 3.58854287e-02 -1.08228451e-03 9.99355325e-01 2.68797806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:3.26, Z:2.69 [[ 9.95961530e-01 -8.23136576e-02 -3.58482009e-02 8.04234186e+01] [ 8.22963699e-02 9.96605973e-01 -1.96005520e-03 3.25758933e+00] [ 3.58878705e-02 -9.98037226e-04 9.99355325e-01 2.68886846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:3.26, Z:2.69 [[ 9.96056144e-01 -8.11606798e-02 -3.58483078e-02 8.04548194e+01] [ 8.11427164e-02 9.96700570e-01 -1.95809946e-03 3.26081470e+00] [ 3.58889494e-02 -9.58452067e-04 9.99355325e-01 2.69000989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.49, Y:3.27, Z:2.69 [[ 9.96222998e-01 -7.90862301e-02 -3.58483788e-02 8.04861038e+01] [ 7.90669716e-02 9.96867386e-01 -1.95679767e-03 3.26535326e+00] [ 3.58908354e-02 -8.85015908e-04 9.99355325e-01 2.69070638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.52, Y:3.27, Z:2.69 [[ 9.96337741e-01 -7.76272843e-02 -3.58484497e-02 8.05175039e+01] [ 7.76071289e-02 9.96982101e-01 -1.95549781e-03 3.26935988e+00] [ 3.58920627e-02 -8.33758993e-04 9.99355325e-01 2.69160195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:3.28, Z:2.69 [[ 9.96421083e-01 -7.65500355e-02 -3.58485208e-02 8.05473041e+01] [ 7.65292303e-02 9.97065423e-01 -1.95419420e-03 3.27536732e+00] [ 3.58929142e-02 -7.96259405e-04 9.99355325e-01 2.69149942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:3.28, Z:2.70 [[ 9.96440954e-01 -7.62909329e-02 -3.58485560e-02 8.05780625e+01] [ 7.62699834e-02 9.97085289e-01 -1.95354760e-03 3.28234495e+00] [ 3.58931058e-02 -7.87573937e-04 9.99355325e-01 2.69664013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:3.28, Z:2.70 [[ 9.96443691e-01 -7.62551407e-02 -3.58486261e-02 8.06098415e+01] [ 7.62342143e-02 9.97088027e-01 -1.95226130e-03 3.28404661e+00] [ 3.58931058e-02 -7.87573392e-04 9.99355325e-01 2.69778306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:3.29, Z:2.70 [[ 9.96585185e-01 -7.43830628e-02 -3.58486961e-02 8.06414009e+01] [ 7.43609723e-02 9.97229482e-01 -1.95097444e-03 3.28697260e+00] [ 3.58944961e-02 -7.21431672e-04 9.99355325e-01 2.69973597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:3.29, Z:2.70 [[ 9.96876954e-01 -7.03647986e-02 -3.58487670e-02 8.06712929e+01] [ 7.03401577e-02 9.97521158e-01 -1.94967082e-03 3.29036171e+00] [ 3.58970918e-02 -5.78026011e-04 9.99355325e-01 2.70097690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:3.29, Z:2.70 [[ 9.97117713e-01 -6.68665147e-02 -3.58488022e-02 8.07017874e+01] [ 6.68396368e-02 9.97761827e-01 -1.94902395e-03 3.29213990e+00] [ 3.58988908e-02 -4.52714613e-04 9.99355325e-01 2.70150755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:3.29, Z:2.70 [[ 9.97225277e-01 -6.52426781e-02 -3.58488365e-02 8.07325872e+01] [ 6.52147740e-02 9.97869349e-01 -1.94839305e-03 3.29378358e+00] [ 3.58995735e-02 -3.94886964e-04 9.99355325e-01 2.70220596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:3.30, Z:2.70 [[ 9.97463452e-01 -6.14940870e-02 -3.58488365e-02 8.07622740e+01] [ 6.14637623e-02 9.98107414e-01 -1.94839305e-03 3.29523405e+00] [ 3.59008041e-02 -2.59953501e-04 9.99355325e-01 2.70244023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:3.30, Z:2.70 [[ 9.97641519e-01 -5.85342570e-02 -3.58488447e-02 8.07915038e+01] [ 5.85020272e-02 9.98285389e-01 -1.94824231e-03 3.29730379e+00] [ 3.59014167e-02 -1.53582665e-04 9.99355325e-01 2.70369732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:3.30, Z:2.70 [[ 9.97712511e-01 -5.73115150e-02 -3.58487754e-02 8.08215262e+01] [ 5.72784503e-02 9.98356338e-01 -1.94951632e-03 3.29918892e+00] [ 3.59015819e-02 -1.08305471e-04 9.99355325e-01 2.70463175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:3.30, Z:2.71 [[ 9.97757918e-01 -5.65155505e-02 -3.58487050e-02 8.08497748e+01] [ 5.64819257e-02 9.98401716e-01 -1.95081019e-03 3.30074414e+00] [ 3.59016597e-02 -7.83675796e-05 9.99355325e-01 2.70523971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:3.30, Z:2.71 [[ 9.97786069e-01 -5.60166567e-02 -3.58482086e-02 8.08785500e+01] [ 5.59823838e-02 9.98429833e-01 -1.95988888e-03 3.30196662e+00] [ 3.59017074e-02 -5.13183533e-05 9.99355325e-01 2.70612569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:3.30, Z:2.71 [[ 9.97813782e-01 -5.55211533e-02 -3.58477012e-02 8.09059275e+01] [ 5.54862288e-02 9.98457511e-01 -1.96912689e-03 3.30309745e+00] [ 3.59017347e-02 -2.42317964e-05 9.99355325e-01 2.70658423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:3.30, Z:2.71 [[ 9.97821122e-01 -5.53892534e-02 -3.58474298e-02 8.09345707e+01] [ 5.53540668e-02 9.98464837e-01 -1.97405420e-03 3.30418159e+00] [ 3.59017396e-02 -1.45480469e-05 9.99355325e-01 2.70757511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:3.31, Z:2.71 [[ 9.97797710e-01 -5.58097550e-02 -3.58469247e-02 8.09627950e+01] [ 5.57745116e-02 9.98441421e-01 -1.98318510e-03 3.30543477e+00] [ 3.59017355e-02 -2.05271640e-05 9.99355325e-01 2.70847837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:3.31, Z:2.71 [[ 9.97778844e-01 -5.61463544e-02 -3.58464214e-02 8.09909710e+01] [ 5.61110029e-02 9.98422549e-01 -1.99224040e-03 3.30658023e+00] [ 3.59017325e-02 -2.35633312e-05 9.99355325e-01 2.70944570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:3.31, Z:2.71 [[ 9.97735434e-01 -5.69126528e-02 -3.58462431e-02 8.10198669e+01] [ 5.68776806e-02 9.98379160e-01 -1.99544432e-03 3.30767224e+00] [ 3.59017081e-02 -4.79256593e-05 9.99355325e-01 2.71046762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:3.31, Z:2.71 [[ 9.97555636e-01 -5.99819593e-02 -3.58457455e-02 8.10489253e+01] [ 5.99486480e-02 9.98199450e-01 -2.00434212e-03 3.30748385e+00] [ 3.59014279e-02 -1.49461200e-04 9.99355325e-01 2.71247532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:3.31, Z:2.72 [[ 9.97262834e-01 -6.46680631e-02 -3.58452333e-02 8.10780261e+01] [ 6.46374492e-02 9.97906782e-01 -2.01346202e-03 3.30592416e+00] [ 3.59004081e-02 -3.08993600e-04 9.99355325e-01 2.71518649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:3.30, Z:2.72 [[ 9.96837344e-01 -7.09255709e-02 -3.58451242e-02 8.11077516e+01] [ 7.08989293e-02 9.97481468e-01 -2.01540094e-03 3.30374838e+00] [ 3.58977906e-02 -5.32354006e-04 9.99355325e-01 2.71690345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:3.30, Z:2.72 [[ 9.96306505e-01 -7.80287199e-02 -3.58450513e-02 8.11384442e+01] [ 7.80066233e-02 9.96950801e-01 -2.01669701e-03 3.30154389e+00] [ 3.58931129e-02 -7.86903068e-04 9.99355325e-01 2.71748459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:3.30, Z:2.72 [[ 9.95691250e-01 -8.55222633e-02 -3.58451722e-02 8.11695060e+01] [ 8.55050920e-02 9.96335697e-01 -2.01454619e-03 3.29997224e+00] [ 3.58861132e-02 -1.05907873e-03 9.99355325e-01 2.71770984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:3.30, Z:2.72 [[ 9.94524280e-01 -9.81660572e-02 -3.58452454e-02 8.12018147e+01] [ 9.81571223e-02 9.95168893e-01 -2.01324326e-03 3.29721416e+00] [ 3.58697053e-02 -1.51624683e-03 9.99355325e-01 2.71793113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:3.30, Z:2.72 [[ 9.93999231e-01 -1.03347165e-01 -3.58453927e-02 8.12325630e+01] [ 1.03341684e-01 9.94643883e-01 -2.01061750e-03 3.29793255e+00] [ 3.58611922e-02 -1.70577099e-03 9.99355325e-01 2.71869591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:3.30, Z:2.72 [[ 9.93546949e-01 -1.07608367e-01 -3.58455029e-02 8.12646908e+01] [ 1.07605721e-01 9.94191618e-01 -2.00865099e-03 3.29956440e+00] [ 3.58534462e-02 -1.86149211e-03 9.99355325e-01 2.72047375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:3.30, Z:2.72 [[ 9.93554583e-01 -1.07537809e-01 -3.58456451e-02 8.12973115e+01] [ 1.07535208e-01 9.94199253e-01 -2.00610941e-03 3.30132928e+00] [ 3.58534462e-02 -1.86148972e-03 9.99355325e-01 2.72164669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:3.30, Z:2.72 [[ 9.93415445e-01 -1.08815592e-01 -3.58457873e-02 8.13291891e+01] [ 1.08813912e-01 9.94060118e-01 -2.00356542e-03 3.30328343e+00] [ 3.58508867e-02 -1.91014753e-03 9.99355325e-01 2.72257722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:3.31, Z:2.72 [[ 9.93307297e-01 -1.09798371e-01 -3.58459313e-02 8.13608434e+01] [ 1.09797422e-01 9.93951972e-01 -2.00098569e-03 3.30544380e+00] [ 3.58488391e-02 -1.94819715e-03 9.99355325e-01 2.72319067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:3.31, Z:2.72 [[ 9.93315300e-01 -1.09725904e-01 -3.58460769e-02 8.13934647e+01] [ 1.09725002e-01 9.93959974e-01 -1.99837365e-03 3.30720379e+00] [ 3.58488391e-02 -1.94819574e-03 9.99355325e-01 2.72436360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:3.31, Z:2.72 [[ 9.93287871e-01 -1.09973880e-01 -3.58462224e-02 8.14248504e+01] [ 1.09973233e-01 9.93932546e-01 -1.99576020e-03 3.30930474e+00] [ 3.58482086e-02 -1.95976056e-03 9.99355325e-01 2.72417597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:3.31, Z:2.72 [[ 9.93313926e-01 -1.09738256e-01 -3.58463307e-02 8.14571747e+01] [ 1.09737526e-01 9.93958601e-01 -1.99381351e-03 3.31256431e+00] [ 3.58485663e-02 -1.95320493e-03 9.99355325e-01 2.72473035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:3.32, Z:2.73 [[ 9.93550022e-01 -1.07579667e-01 -3.58464731e-02 8.14892464e+01] [ 1.07577628e-01 9.94194694e-01 -1.99125105e-03 3.31721666e+00] [ 3.58525914e-02 -1.87787102e-03 9.99355325e-01 2.72580546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:3.32, Z:2.73 [[ 9.93715943e-01 -1.06036053e-01 -3.58466146e-02 8.15198920e+01] [ 1.06033105e-01 9.94360612e-01 -1.98870038e-03 3.32087782e+00] [ 3.58553355e-02 -1.82472456e-03 9.99355325e-01 2.72643683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:3.33, Z:2.73 [[ 9.93907854e-01 -1.04221835e-01 -3.58467199e-02 8.15521336e+01] [ 1.04217778e-01 9.94552516e-01 -1.98679935e-03 3.32532581e+00] [ 3.58585134e-02 -1.76117004e-03 9.99355325e-01 2.72848746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:3.33, Z:2.73 [[ 9.94211395e-01 -1.01285260e-01 -3.58468615e-02 8.15840128e+01] [ 1.01279391e-01 9.94856044e-01 -1.98424143e-03 3.33124730e+00] [ 3.58634412e-02 -1.65779285e-03 9.99355325e-01 2.73083865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:3.34, Z:2.73 [[ 9.94439086e-01 -9.90247224e-02 -3.58470051e-02 8.16164736e+01] [ 9.90174809e-02 9.95083721e-01 -1.98164349e-03 3.33502974e+00] [ 3.58670029e-02 -1.57885641e-03 9.99355325e-01 2.73231691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:3.34, Z:2.73 [[ 9.94673637e-01 -9.66402507e-02 -3.58471487e-02 8.16486639e+01] [ 9.66315573e-02 9.95318253e-01 -1.97904223e-03 3.33905090e+00] [ 3.58705766e-02 -1.49546468e-03 9.99355325e-01 2.73331318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:3.34, Z:2.73 [[ 9.94959016e-01 -9.36564331e-02 -3.58472909e-02 8.16808749e+01] [ 9.36458991e-02 9.95603605e-01 -1.97646320e-03 3.34275458e+00] [ 3.58748006e-02 -1.39045191e-03 9.99355325e-01 2.73434688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:3.35, Z:2.74 [[ 9.95480070e-01 -8.79453928e-02 -3.58474324e-02 8.17131135e+01] [ 8.79312525e-02 9.96124590e-01 -1.97389367e-03 3.34889259e+00] [ 3.58821038e-02 -1.18713782e-03 9.99355325e-01 2.73586212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:3.36, Z:2.74 [[ 9.96001843e-01 -8.18246968e-02 -3.58475748e-02 8.17437293e+01] [ 8.18066881e-02 9.96646266e-01 -1.97130395e-03 3.35531611e+00] [ 3.58886530e-02 -9.69149004e-04 9.99355325e-01 2.73738170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:3.36, Z:2.74 [[ 9.96252166e-01 -7.87182625e-02 -3.58476808e-02 8.17755622e+01] [ 7.86983137e-02 9.96896533e-01 -1.96937422e-03 3.35953614e+00] [ 3.58914545e-02 -8.59158695e-04 9.99355325e-01 2.73848373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:3.37, Z:2.74 [[ 9.96710212e-01 -7.26889688e-02 -3.58478210e-02 8.18072110e+01] [ 7.26652134e-02 9.97354450e-01 -1.96681972e-03 3.36521265e+00] [ 3.58959499e-02 -6.44540265e-04 9.99355325e-01 2.73869867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:3.37, Z:2.74 [[ 9.97083712e-01 -6.73720583e-02 -3.58479644e-02 8.18377700e+01] [ 6.73449614e-02 9.97727818e-01 -1.96420249e-03 3.37078210e+00] [ 3.58988437e-02 -4.55705463e-04 9.99355325e-01 2.73872070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:3.38, Z:2.74 [[ 9.97385405e-01 -6.27476640e-02 -3.58480710e-02 8.18685487e+01] [ 6.27176504e-02 9.98029381e-01 -1.96225488e-03 3.37597364e+00] [ 3.59005550e-02 -2.91182405e-04 9.99355325e-01 2.74011627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:3.38, Z:2.74 [[ 9.97504101e-01 -6.08315617e-02 -3.58481411e-02 8.18985856e+01] [ 6.08003571e-02 9.98148021e-01 -1.96097440e-03 3.37911635e+00] [ 3.59010402e-02 -2.23499775e-04 9.99355325e-01 2.74187635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:3.38, Z:2.74 [[ 9.97602123e-01 -5.92023253e-02 -3.58481411e-02 8.19284889e+01] [ 5.91700691e-02 9.98245990e-01 -1.96097440e-03 3.38227116e+00] [ 3.59013573e-02 -1.64864763e-04 9.99355325e-01 2.74327647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:3.39, Z:2.74 [[ 9.97731983e-01 -5.69719284e-02 -3.58481411e-02 8.19587023e+01] [ 5.69382329e-02 9.98375777e-01 -1.96097440e-03 3.38689943e+00] [ 3.59016362e-02 -8.46029290e-05 9.99355325e-01 2.74470756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:3.39, Z:2.74 [[ 9.97757619e-01 -5.65211824e-02 -3.58481411e-02 8.19876235e+01] [ 5.64871960e-02 9.98401398e-01 -1.96097440e-03 3.38981693e+00] [ 3.59016707e-02 -6.83838240e-05 9.99355325e-01 2.74446495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:3.39, Z:2.74 [[ 9.97752799e-01 -5.66062305e-02 -3.58481059e-02 8.20178120e+01] [ 5.65722759e-02 9.98396579e-01 -1.96161668e-03 3.39410894e+00] [ 3.59016660e-02 -7.08004075e-05 9.99355325e-01 2.74405214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:3.40, Z:2.75 [[ 9.97714664e-01 -5.72744424e-02 -3.58481059e-02 8.20477832e+01] [ 5.72409190e-02 9.98358467e-01 -1.96161668e-03 3.39782736e+00] [ 3.59016106e-02 -9.48448009e-05 9.99355325e-01 2.74662576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:3.40, Z:2.75 [[ 9.97642047e-01 -5.85257177e-02 -3.58481059e-02 8.20769509e+01] [ 5.84930018e-02 9.98285891e-01 -1.96161668e-03 3.39951100e+00] [ 3.59014634e-02 -1.39872045e-04 9.99355325e-01 2.74829480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:3.40, Z:2.75 [[ 9.97586179e-01 -5.94704295e-02 -3.58480713e-02 8.21078625e+01] [ 5.94383005e-02 9.98230053e-01 -1.96224996e-03 3.40109021e+00] [ 3.59013179e-02 -1.73234990e-04 9.99355325e-01 2.74958052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:3.40, Z:2.75 [[ 9.97423302e-01 -6.21423492e-02 -3.58480713e-02 8.21376934e+01] [ 6.21119451e-02 9.98067260e-01 -1.96224996e-03 3.40310748e+00] [ 3.59007251e-02 -2.69399595e-04 9.99355325e-01 2.75069347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:3.40, Z:2.75 [[ 9.97211042e-01 -6.54603318e-02 -3.58480363e-02 8.21684727e+01] [ 6.54320472e-02 9.97855097e-01 -1.96288841e-03 3.40477015e+00] [ 3.58996371e-02 -3.88196403e-04 9.99355325e-01 2.75194522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:3.41, Z:2.75 [[ 9.97093814e-01 -6.72223527e-02 -3.58480363e-02 8.21993991e+01] [ 6.71952063e-02 9.97737917e-01 -1.96288841e-03 3.40589723e+00] [ 3.58988950e-02 -4.51632300e-04 9.99355325e-01 2.75321816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:3.41, Z:2.75 [[ 9.96892055e-01 -7.01508667e-02 -3.58481070e-02 8.22310552e+01] [ 7.01256588e-02 9.97536237e-01 -1.96159614e-03 3.40628534e+00] [ 3.58973934e-02 -5.58372517e-04 9.99355325e-01 2.75339539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:3.41, Z:2.75 [[ 9.96815849e-01 -7.12254762e-02 -3.58482127e-02 8.22625051e+01] [ 7.12010322e-02 9.97460061e-01 -1.95966270e-03 3.40739888e+00] [ 3.58967383e-02 -5.99006905e-04 9.99355325e-01 2.75405363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:3.41, Z:2.75 [[ 9.96762879e-01 -7.19629277e-02 -3.58482825e-02 8.22933518e+01] [ 7.19390063e-02 9.97407111e-01 -1.95838582e-03 3.40864458e+00] [ 3.58962630e-02 -6.26843524e-04 9.99355325e-01 2.75473912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:3.41, Z:2.76 [[ 9.96819734e-01 -7.11709973e-02 -3.58483866e-02 8.23256776e+01] [ 7.11466327e-02 9.97463949e-01 -1.95647777e-03 3.41080857e+00] [ 3.58967177e-02 -6.00236343e-04 9.99355325e-01 2.75763936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:3.41, Z:2.76 [[ 9.97034302e-01 -6.80990754e-02 -3.58485244e-02 8.23575620e+01] [ 6.80728166e-02 9.97678442e-01 -1.95394966e-03 3.41263361e+00] [ 3.58983621e-02 -4.92155189e-04 9.99355325e-01 2.76009167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:3.41, Z:2.76 [[ 9.97173250e-01 -6.60331849e-02 -3.58486689e-02 8.23885432e+01] [ 6.60056871e-02 9.97817339e-01 -1.95129395e-03 3.41426448e+00] [ 3.58992736e-02 -4.20437890e-04 9.99355325e-01 2.76087689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:3.42, Z:2.76 [[ 9.97461658e-01 -6.15232106e-02 -3.58487764e-02 8.24192983e+01] [ 6.14928715e-02 9.98105619e-01 -1.94931707e-03 3.41604886e+00] [ 3.59007934e-02 -2.60075162e-04 9.99355325e-01 2.76187208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:3.42, Z:2.76 [[ 9.97681781e-01 -5.78439849e-02 -3.58488113e-02 8.24501244e+01] [ 5.78112940e-02 9.98325627e-01 -1.94867638e-03 3.41819293e+00] [ 3.59015062e-02 -1.28307248e-04 9.99355325e-01 2.76347379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:3.42, Z:2.76 [[ 9.97814450e-01 -5.55084347e-02 -3.58488113e-02 8.24806933e+01] [ 5.54742368e-02 9.98458217e-01 -1.94867638e-03 3.41916153e+00] [ 3.59017082e-02 -4.42679960e-05 9.99355325e-01 2.76383520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:3.42, Z:2.76 [[ 9.97847004e-01 -5.49201100e-02 -3.58488113e-02 8.25101146e+01] [ 5.48855324e-02 9.98490752e-01 -1.94867638e-03 3.41927416e+00] [ 3.59017280e-02 -2.31002070e-05 9.99355325e-01 2.76439162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:3.42, Z:2.77 [[ 9.97845087e-01 -5.49549262e-02 -3.58488191e-02 8.25402023e+01] [ 5.49203764e-02 9.98488836e-01 -1.94853123e-03 3.42093863e+00] [ 3.59017271e-02 -2.44983214e-05 9.99355325e-01 2.76547412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:3.42, Z:2.77 [[ 9.97822800e-01 -5.53581750e-02 -3.58487511e-02 8.25694155e+01] [ 5.53238403e-02 9.98466560e-01 -1.94978304e-03 3.42109342e+00] [ 3.59017156e-02 -3.77526059e-05 9.99355325e-01 2.76654961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:3.42, Z:2.77 [[ 9.97684918e-01 -5.77899338e-02 -3.58486815e-02 8.25990229e+01] [ 5.77571223e-02 9.98328758e-01 -1.95106172e-03 3.42113765e+00] [ 3.59015214e-02 -1.23971824e-04 9.99355325e-01 2.76609551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:3.42, Z:2.77 [[ 9.97517771e-01 -6.06067067e-02 -3.58486105e-02 8.26280981e+01] [ 6.05756664e-02 9.98161699e-01 -1.95236511e-03 3.42151722e+00] [ 3.59010364e-02 -2.24034573e-04 9.99355325e-01 2.76597130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:3.42, Z:2.77 [[ 9.96808778e-01 -7.13241917e-02 -3.58485753e-02 8.26585235e+01] [ 7.13000507e-02 9.97453001e-01 -1.95301121e-03 3.42067607e+00] [ 3.58965659e-02 -6.09226518e-04 9.99355325e-01 2.77072054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:3.42, Z:2.77 [[ 9.96541772e-01 -7.49624942e-02 -3.58485753e-02 8.26901045e+01] [ 7.49407050e-02 9.97186079e-01 -1.95301121e-03 3.42270910e+00] [ 3.58941028e-02 -7.40260253e-04 9.99355325e-01 2.77251298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:3.42, Z:2.77 [[ 9.96547233e-01 -7.48898152e-02 -3.58486821e-02 8.27227309e+01] [ 7.48680496e-02 9.97191541e-01 -1.95104917e-03 3.42442844e+00] [ 3.58941162e-02 -7.39608255e-04 9.99355325e-01 2.77368610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:3.43, Z:2.78 [[ 9.96356095e-01 -7.73911760e-02 -3.58488241e-02 8.27543505e+01] [ 7.73711218e-02 9.97000458e-01 -1.94843553e-03 3.42606425e+00] [ 3.58920858e-02 -8.32328124e-04 9.99355325e-01 2.77506501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:3.43, Z:2.78 [[ 9.96170353e-01 -7.97463534e-02 -3.58489320e-02 8.27865828e+01] [ 7.97278941e-02 9.96814764e-01 -1.94644834e-03 3.42728979e+00] [ 3.58899669e-02 -9.19165723e-04 9.99355325e-01 2.77592982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:3.43, Z:2.78 [[ 9.95912329e-01 -8.29064279e-02 -3.58490749e-02 8.28187146e+01] [ 8.28901079e-02 9.96556798e-01 -1.94381410e-03 3.42825630e+00] [ 3.58867939e-02 -1.03566525e-03 9.99355325e-01 2.77621503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:3.43, Z:2.78 [[ 9.95918418e-01 -8.28331993e-02 -3.58492176e-02 8.28513413e+01] [ 8.28169267e-02 9.96562887e-01 -1.94117729e-03 3.42996667e+00] [ 3.58867938e-02 -1.03566781e-03 9.99355325e-01 2.77738794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:3.43, Z:2.78 [[ 9.95607669e-01 -8.64881060e-02 -3.58493601e-02 8.28829256e+01] [ 8.64742938e-02 9.96252196e-01 -1.93854303e-03 3.43093728e+00] [ 3.58826646e-02 -1.17001979e-03 9.99355325e-01 2.77756961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:3.43, Z:2.78 [[ 9.95264221e-01 -9.03545569e-02 -3.58494661e-02 8.29154689e+01] [ 9.03433188e-02 9.95908798e-01 -1.93658095e-03 3.43208359e+00] [ 3.58777776e-02 -1.31135001e-03 9.99355325e-01 2.77798850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:3.43, Z:2.78 [[ 9.94491778e-01 -9.84931908e-02 -3.58496046e-02 8.29477175e+01] [ 9.84873183e-02 9.95136427e-01 -1.93401369e-03 3.43335074e+00] [ 3.58657346e-02 -1.60737070e-03 9.99355325e-01 2.77846850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:3.44, Z:2.78 [[ 9.93768668e-01 -1.05539710e-01 -3.58497444e-02 8.29784072e+01] [ 1.05538501e-01 9.94413342e-01 -1.93141914e-03 3.43500983e+00] [ 3.58533055e-02 -1.86414444e-03 9.99355325e-01 2.77813829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:3.44, Z:2.78 [[ 9.93474456e-01 -1.08274159e-01 -3.58498485e-02 8.30118060e+01] [ 1.08274793e-01 9.94119131e-01 -1.92948378e-03 3.43688039e+00] [ 3.58479335e-02 -1.96474207e-03 9.99355325e-01 2.77922770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:3.44, Z:2.78 [[ 9.93140182e-01 -1.11298483e-01 -3.58500567e-02 8.30442524e+01] [ 1.11301220e-01 9.93784851e-01 -1.92560773e-03 3.43935597e+00] [ 3.58415605e-02 -2.07775662e-03 9.99355325e-01 2.77960657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:3.44, Z:2.78 [[ 9.93107148e-01 -1.11592814e-01 -3.58501942e-02 8.30760944e+01] [ 1.11595833e-01 9.93751816e-01 -1.92304394e-03 3.44185680e+00] [ 3.58407935e-02 -2.09094362e-03 9.99355325e-01 2.78010196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:3.45, Z:2.78 [[ 9.93260936e-01 -1.10215477e-01 -3.58505345e-02 8.31088955e+01] [ 1.10217832e-01 9.93905607e-01 -1.91667887e-03 3.44594252e+00] [ 3.58432950e-02 -2.04760594e-03 9.99355325e-01 2.78229467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:3.45, Z:2.78 [[ 9.93660633e-01 -1.06551728e-01 -3.58507428e-02 8.31400694e+01] [ 1.06551846e-01 9.94305308e-01 -1.91277590e-03 3.45128913e+00] [ 3.58503934e-02 -1.91931271e-03 9.99355325e-01 2.78414290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:3.46, Z:2.79 [[ 9.94199402e-01 -1.01401447e-01 -3.58510077e-02 8.31716236e+01] [ 1.01398404e-01 9.94844070e-01 -1.90779728e-03 3.45702018e+00] [ 3.58596158e-02 -1.73850403e-03 9.99355325e-01 2.78782899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:3.46, Z:2.79 [[ 9.94763292e-01 -9.57114826e-02 -3.58511435e-02 8.32037832e+01] [ 9.57048423e-02 9.95407933e-01 -1.90524175e-03 3.46316279e+00] [ 3.58688662e-02 -1.53586348e-03 9.99355325e-01 2.79084645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:3.47, Z:2.79 [[ 9.95021894e-01 -9.29844934e-02 -3.58512790e-02 8.32368916e+01] [ 9.29761780e-02 9.95666516e-01 -1.90268833e-03 3.46692889e+00] [ 3.58728386e-02 -1.44009835e-03 9.99355325e-01 2.79245578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:3.47, Z:2.79 [[ 9.95553403e-01 -8.71096662e-02 -3.58514825e-02 8.32684381e+01] [ 8.70976842e-02 9.96197966e-01 -1.89884750e-03 3.47258284e+00] [ 3.58805819e-02 -1.23217700e-03 9.99355325e-01 2.79375993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:3.48, Z:2.80 [[ 9.96022085e-01 -8.15760624e-02 -3.58518051e-02 8.33007909e+01] [ 8.15607185e-02 9.96666578e-01 -1.89273655e-03 3.47897548e+00] [ 3.58866979e-02 -1.03889157e-03 9.99355325e-01 2.79587625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:3.48, Z:2.80 [[ 9.96481163e-01 -7.57622934e-02 -3.58520103e-02 8.33314154e+01] [ 7.57433288e-02 9.97125559e-01 -1.88884213e-03 3.48455952e+00] [ 3.58920588e-02 -8.33354997e-04 9.99355325e-01 2.79570714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:3.49, Z:2.80 [[ 9.96710532e-01 -7.26824753e-02 -3.58521117e-02 8.33637559e+01] [ 7.26615887e-02 9.97354868e-01 -1.88691378e-03 3.48824581e+00] [ 3.58944237e-02 -7.24364560e-04 9.99355325e-01 2.79653212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:3.49, Z:2.80 [[ 9.97118346e-01 -6.68552181e-02 -3.58522498e-02 8.33961404e+01] [ 6.68306600e-02 9.97762553e-01 -1.88428780e-03 3.49390278e+00] [ 3.58980067e-02 -5.17171574e-04 9.99355325e-01 2.79702020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:3.50, Z:2.80 [[ 9.97460110e-01 -6.15462072e-02 -3.58523864e-02 8.34283237e+01] [ 6.15183136e-02 9.98104181e-01 -1.88168366e-03 3.49988053e+00] [ 3.59002273e-02 -3.28673960e-04 9.99355325e-01 2.79760987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:3.51, Z:2.80 [[ 9.97682878e-01 -5.78227637e-02 -3.58525216e-02 8.34590305e+01] [ 5.77925590e-02 9.98326845e-01 -1.87910426e-03 3.50564318e+00] [ 3.59011898e-02 -1.97258824e-04 9.99355325e-01 2.79809770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:3.51, Z:2.80 [[ 9.97765921e-01 -5.63716123e-02 -3.58525884e-02 8.34903854e+01] [ 5.63405169e-02 9.98409846e-01 -1.87782896e-03 3.50880273e+00] [ 3.59014335e-02 -1.46319620e-04 9.99355325e-01 2.79903502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:3.51, Z:2.80 [[ 9.97821599e-01 -5.53772878e-02 -3.58526571e-02 8.35200641e+01] [ 5.53455979e-02 9.98465494e-01 -1.87651623e-03 3.51325809e+00] [ 3.59015574e-02 -1.11858324e-04 9.99355325e-01 2.79892060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:3.52, Z:2.80 [[ 9.97812317e-01 -5.55442629e-02 -3.58526912e-02 8.35506182e+01] [ 5.55127041e-02 9.98456219e-01 -1.87586542e-03 3.51624259e+00] [ 3.59015360e-02 -1.18518217e-04 9.99355325e-01 2.80001263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:3.52, Z:2.80 [[ 9.97617458e-01 -5.89405472e-02 -3.58527576e-02 8.35814144e+01] [ 5.89112261e-02 9.98261465e-01 -1.87459459e-03 3.52195038e+00] [ 3.59009160e-02 -2.42001625e-04 9.99355325e-01 2.80371872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:3.52, Z:2.81 [[ 9.97487662e-01 -6.10977768e-02 -3.58528234e-02 8.36138773e+01] [ 6.10698937e-02 9.98131734e-01 -1.87333572e-03 3.52469118e+00] [ 3.59002974e-02 -3.20898843e-04 9.99355325e-01 2.80528438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:3.53, Z:2.81 [[ 9.97086300e-01 -6.73310962e-02 -3.58529551e-02 8.36454685e+01] [ 6.73073300e-02 9.97730536e-01 -1.87081175e-03 3.52800617e+00] [ 3.58975519e-02 -5.47805918e-04 9.99355325e-01 2.80704607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:3.53, Z:2.81 [[ 9.96485604e-01 -7.57033540e-02 -3.58530898e-02 8.36771877e+01] [ 7.56850926e-02 9.97130020e-01 -1.86822657e-03 3.53074432e+00] [ 3.58916232e-02 -8.51883539e-04 9.99355325e-01 2.80928457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:3.53, Z:2.81 [[ 9.96119737e-01 -8.03742263e-02 -3.58532238e-02 8.37096494e+01] [ 8.03590788e-02 9.96764234e-01 -1.86565202e-03 3.53252078e+00] [ 3.58871615e-02 -1.02271924e-03 9.99355325e-01 2.81062526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:3.53, Z:2.81 [[ 9.95273409e-01 -9.02517350e-02 -3.58533923e-02 8.37419855e+01] [ 9.02430984e-02 9.95918026e-01 -1.86240733e-03 3.53436449e+00] [ 3.58751252e-02 -1.38191672e-03 9.99355325e-01 2.81058239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:3.54, Z:2.81 [[ 9.94841053e-01 -9.48989167e-02 -3.58535255e-02 8.37743423e+01] [ 9.48933831e-02 9.95485704e-01 -1.85983979e-03 3.53606051e+00] [ 3.58681689e-02 -1.55201735e-03 9.99355325e-01 2.81079754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:3.54, Z:2.81 [[ 9.94214223e-01 -1.01255089e-01 -3.58536584e-02 8.38069944e+01] [ 1.01253768e-01 9.94858897e-01 -1.85727440e-03 3.53731144e+00] [ 3.58573895e-02 -1.78378938e-03 9.99355325e-01 2.81052103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:3.54, Z:2.81 [[ 9.94372500e-01 -9.96887018e-02 -3.58537916e-02 8.38384565e+01] [ 9.96864576e-02 9.95017171e-01 -1.85469872e-03 3.53887349e+00] [ 3.58600308e-02 -1.72987607e-03 9.99355325e-01 2.81022044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:3.54, Z:2.81 [[ 9.94821479e-01 -9.51037511e-02 -3.58538911e-02 8.38695198e+01] [ 9.50986043e-02 9.95466133e-01 -1.85277474e-03 3.54238701e+00] [ 3.58675401e-02 -1.56647489e-03 9.99355325e-01 2.81318978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:3.55, Z:2.82 [[ 9.95014279e-01 -9.30649011e-02 -3.58539872e-02 8.39016613e+01] [ 9.30585002e-02 9.95658922e-01 -1.85091351e-03 3.54543552e+00] [ 3.58705973e-02 -1.49483290e-03 9.99355325e-01 2.81542818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:3.55, Z:2.82 [[ 9.95336516e-01 -8.95527881e-02 -3.58541137e-02 8.39339962e+01] [ 8.95442005e-02 9.95981134e-01 -1.84845799e-03 3.55012687e+00] [ 3.58755554e-02 -1.37069021e-03 9.99355325e-01 2.81942924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:3.55, Z:2.82 [[ 9.95551009e-01 -8.71358841e-02 -3.58542445e-02 8.39662505e+01] [ 8.71258228e-02 9.96195605e-01 -1.84591923e-03 3.55278816e+00] [ 3.58786866e-02 -1.28612379e-03 9.99355325e-01 2.82049744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:3.55, Z:2.82 [[ 9.95703430e-01 -8.53764637e-02 -3.58544071e-02 8.39996588e+01] [ 8.53653772e-02 9.96348010e-01 -1.84275449e-03 3.55403588e+00] [ 3.58807950e-02 -1.22588801e-03 9.99355325e-01 2.82028813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:3.56, Z:2.82 [[ 9.95785346e-01 -8.44155972e-02 -3.58546033e-02 8.40322880e+01] [ 8.44040262e-02 9.96429917e-01 -1.83892854e-03 3.55556849e+00] [ 3.58818337e-02 -1.19509479e-03 9.99355325e-01 2.82106107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:3.56, Z:2.82 [[ 9.95965798e-01 -8.22591236e-02 -3.58547990e-02 8.40647383e+01] [ 8.22462945e-02 9.96610345e-01 -1.83510458e-03 3.55842536e+00] [ 3.58842177e-02 -1.12122296e-03 9.99355325e-01 2.82260384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:3.56, Z:2.82 [[ 9.96196824e-01 -7.94122588e-02 -3.58550001e-02 8.40956975e+01] [ 7.93977291e-02 9.96841335e-01 -1.83116796e-03 3.56175865e+00] [ 3.58871634e-02 -1.02260187e-03 9.99355325e-01 2.82335558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:3.56, Z:2.82 [[ 9.96331969e-01 -7.76982560e-02 -3.58550995e-02 8.41282993e+01] [ 7.76826875e-02 9.96976456e-01 -1.82921915e-03 3.56362118e+00] [ 3.58888172e-02 -9.62810979e-04 9.99355325e-01 2.82461043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:3.56, Z:2.82 [[ 9.96601097e-01 -7.41663723e-02 -3.58552994e-02 8.41600056e+01] [ 7.41486608e-02 9.97245529e-01 -1.82529347e-03 3.56492085e+00] [ 3.58919124e-02 -8.39532961e-04 9.99355325e-01 2.82458228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:3.57, Z:2.83 [[ 9.96909290e-01 -6.99017517e-02 -3.58554310e-02 8.41917121e+01] [ 6.98813763e-02 9.97553643e-01 -1.82270456e-03 3.56705780e+00] [ 3.58951260e-02 -6.88555752e-04 9.99355325e-01 2.82560536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:3.57, Z:2.83 [[ 9.97214200e-01 -6.54080882e-02 -3.58555603e-02 8.42200980e+01] [ 6.53849005e-02 9.97858458e-01 -1.82015777e-03 3.57307082e+00] [ 3.58978271e-02 -5.29325067e-04 9.99355325e-01 2.82739123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:3.57, Z:2.83 [[ 9.97555391e-01 -5.99907454e-02 -3.58378574e-02 8.42542418e+01] [ 5.99515854e-02 9.98198933e-01 -2.16728566e-03 3.57358179e+00] [ 3.59033281e-02 1.34511242e-05 9.99355268e-01 2.83051737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:3.58, Z:2.83 [[ 9.98005138e-01 -5.19626130e-02 -3.58556901e-02 8.42860969e+01] [ 5.19309282e-02 9.98649030e-01 -1.81505179e-03 3.57661448e+00] [ 3.59015649e-02 -5.05882574e-05 9.99355330e-01 2.83282825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51509989299998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:84.31, Y:3.58, Z:2.83 [[ 9.98234422e-01 -4.73539776e-02 -3.58558183e-02 8.43148379e+01] [ 4.73194111e-02 9.98878165e-01 -1.81251634e-03 3.58000571e+00] [ 3.59014238e-02 1.12639997e-04 9.99355330e-01 2.83403714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:3.58, Z:2.84 [[ 9.98437230e-01 -4.28794033e-02 -3.58392775e-02 8.43447493e+01] [ 4.28302722e-02 9.99080076e-01 -2.13785386e-03 3.57717407e+00] [ 3.58979779e-02 5.99506874e-04 9.99355280e-01 2.83702039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:3.58, Z:2.84 [[ 9.98468078e-01 -4.21413401e-02 -3.58553387e-02 8.43732947e+01] [ 4.21030803e-02 9.99111611e-01 -1.82178049e-03 3.57658143e+00] [ 3.59002575e-02 3.09369457e-04 9.99355330e-01 2.83787989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.40, Y:3.58, Z:2.84 [[ 9.98367509e-01 -4.44603273e-02 -3.58552189e-02 8.44010654e+01] [ 4.44234778e-02 9.99011125e-01 -1.82413604e-03 3.57737079e+00] [ 3.59008642e-02 2.28344637e-04 9.99355330e-01 2.83758637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:3.57, Z:2.84 [[ 9.98335977e-01 -4.51729876e-02 -3.58424097e-02 8.44321476e+01] [ 4.51275229e-02 9.98979076e-01 -2.07686173e-03 3.57273821e+00] [ 3.58996353e-02 4.55926624e-04 9.99355296e-01 2.83646874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:3.57, Z:2.84 [[ 9.98234961e-01 -4.73441365e-02 -3.58538048e-02 8.44609596e+01] [ 4.73081700e-02 9.98878626e-01 -1.85131554e-03 3.57201956e+00] [ 3.59012482e-02 1.51869998e-04 9.99355331e-01 2.83788542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:3.57, Z:2.84 [[ 9.98122028e-01 -4.96668634e-02 -3.58555438e-02 8.44909180e+01] [ 4.96336276e-02 9.98765839e-01 -1.81699877e-03 3.56961325e+00] [ 3.59015370e-02 3.39457841e-05 9.99355331e-01 2.83932776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:3.57, Z:2.84 [[ 9.98087629e-01 -5.03534371e-02 -3.58554788e-02 8.45211641e+01] [ 5.03205981e-02 9.98731461e-01 -1.81828118e-03 3.56944270e+00] [ 3.59015514e-02 1.05348133e-05 9.99355331e-01 2.84063982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:3.57, Z:2.84 [[ 9.98087629e-01 -5.03534143e-02 -3.58555111e-02 8.45521037e+01] [ 5.03205981e-02 9.98731462e-01 -1.81764504e-03 3.57101084e+00] [ 3.59015516e-02 9.89826416e-06 9.99355331e-01 2.84175251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:3.57, Z:2.84 [[ 9.98017499e-01 -5.17247912e-02 -3.58555111e-02 8.45826287e+01] [ 5.16928597e-02 9.98661376e-01 -1.81764504e-03 3.56985705e+00] [ 3.59015313e-02 -3.94323491e-05 9.99355331e-01 2.84480769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:3.57, Z:2.85 [[ 9.97945760e-01 -5.30908883e-02 -3.58555111e-02 8.46132354e+01] [ 5.30598382e-02 9.98589680e-01 -1.81764504e-03 3.56874923e+00] [ 3.59014437e-02 -8.85764581e-05 9.99355331e-01 2.84756683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:3.57, Z:2.85 [[ 9.97912126e-01 -5.37193139e-02 -3.58556137e-02 8.46438444e+01] [ 5.36887422e-02 9.98556069e-01 -1.81561757e-03 3.56832912e+00] [ 3.59013744e-02 -1.13216009e-04 9.99355331e-01 2.84925037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:3.57, Z:2.85 [[ 9.97875671e-01 -5.43922801e-02 -3.58556137e-02 8.46746625e+01] [ 5.43621427e-02 9.98519635e-01 -1.81561757e-03 3.56565234e+00] [ 3.59012899e-02 -1.37427383e-04 9.99355331e-01 2.85066816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:3.56, Z:2.85 [[ 9.97896225e-01 -5.40138802e-02 -3.58556137e-02 8.47053078e+01] [ 5.39834986e-02 9.98540177e-01 -1.81561757e-03 3.56307597e+00] [ 3.59013394e-02 -1.23813548e-04 9.99355331e-01 2.85064423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:3.56, Z:2.85 [[ 9.97988896e-01 -5.22736063e-02 -3.58557257e-02 8.47364414e+01] [ 5.22421812e-02 9.98632798e-01 -1.81340377e-03 3.56096835e+00] [ 3.59014968e-02 -6.34244929e-05 9.99355331e-01 2.85156159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:3.56, Z:2.85 [[ 9.98059367e-01 -5.09103496e-02 -3.58557579e-02 8.47672592e+01] [ 5.08780679e-02 9.98703227e-01 -1.81276665e-03 3.56090981e+00] [ 3.59015497e-02 -1.50229447e-05 9.99355331e-01 2.85291234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:3.56, Z:2.85 [[ 9.98210025e-01 -4.78655468e-02 -3.58557579e-02 8.47972196e+01] [ 4.78313012e-02 9.98853783e-01 -1.81276665e-03 3.55886263e+00] [ 3.59014285e-02 9.44942918e-05 9.99355331e-01 2.85331553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:3.56, Z:2.85 [[ 9.98310888e-01 -4.57136139e-02 -3.58557672e-02 8.48258096e+01] [ 4.56779873e-02 9.98954572e-01 -1.81258190e-03 3.55628789e+00] [ 3.59011423e-02 1.71700960e-04 9.99355331e-01 2.85314255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:3.55, Z:2.85 [[ 9.98376388e-01 -4.42604011e-02 -3.58553184e-02 8.48548804e+01] [ 4.42235202e-02 9.99020001e-01 -1.82141830e-03 3.55346392e+00] [ 3.59007969e-02 2.32812630e-04 9.99355331e-01 2.85346704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:3.55, Z:2.85 [[ 9.98374699e-01 -4.42988611e-02 -3.58548627e-02 8.48825290e+01] [ 4.42616845e-02 9.99018295e-01 -1.83034454e-03 3.55092014e+00] [ 3.59007460e-02 2.40373056e-04 9.99355332e-01 2.85318547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:3.55, Z:2.85 [[ 9.98340628e-01 -4.50602932e-02 -3.58547013e-02 8.49101796e+01] [ 4.50234941e-02 9.98984246e-01 -1.83350050e-03 3.55032533e+00] [ 3.59008998e-02 2.16154110e-04 9.99355332e-01 2.85358734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:3.55, Z:2.85 [[ 9.98250455e-01 -4.70160317e-02 -3.58541853e-02 8.49386403e+01] [ 4.69801331e-02 9.98894123e-01 -1.84353526e-03 3.54697885e+00] [ 3.59012107e-02 1.55875516e-04 9.99355332e-01 2.85399279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:3.54, Z:2.85 [[ 9.98109354e-01 -4.99222669e-02 -3.58536483e-02 8.49664376e+01] [ 4.98878695e-02 9.98753104e-01 -1.85392032e-03 3.54311610e+00] [ 3.59014945e-02 6.17530869e-05 9.99355332e-01 2.85382663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:3.54, Z:2.86 [[ 9.98012139e-01 -5.18295068e-02 -3.58534820e-02 8.49949424e+01] [ 5.17962243e-02 9.98655948e-01 -1.85713198e-03 3.54222383e+00] [ 3.59015473e-02 -3.63473917e-06 9.99355332e-01 2.85530301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:3.54, Z:2.86 [[ 9.97784249e-01 -5.60459890e-02 -3.58530141e-02 8.50234092e+01] [ 5.60151041e-02 9.98428178e-01 -1.86612079e-03 3.53990017e+00] [ 3.59012481e-02 -1.46324384e-04 9.99355332e-01 2.85751794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:3.54, Z:2.86 [[ 9.97501165e-01 -6.08770992e-02 -3.58525386e-02 8.50519622e+01] [ 6.08490061e-02 9.98145221e-01 -1.87521314e-03 3.53776414e+00] [ 3.59001976e-02 -3.11064046e-04 9.99355332e-01 2.85944566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:3.54, Z:2.86 [[ 9.97322473e-01 -6.37376471e-02 -3.58524374e-02 8.50820104e+01] [ 6.37113318e-02 9.97966604e-01 -1.87714530e-03 3.53710657e+00] [ 3.58991800e-02 -4.12087344e-04 9.99355332e-01 2.86145537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:3.53, Z:2.86 [[ 9.96938234e-01 -6.94892827e-02 -3.58524374e-02 8.51136548e+01] [ 6.94666832e-02 9.97582506e-01 -1.87714530e-03 3.53381304e+00] [ 3.58962058e-02 -6.19151995e-04 9.99355332e-01 2.86470771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:3.53, Z:2.87 [[ 9.96591557e-01 -7.42958096e-02 -3.58525050e-02 8.51437018e+01] [ 7.42763636e-02 9.97235931e-01 -1.87585409e-03 3.53101822e+00] [ 3.58927743e-02 -7.93533347e-04 9.99355332e-01 2.86627799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:3.53, Z:2.87 [[ 9.96347494e-01 -7.75001072e-02 -3.58525386e-02 8.51750127e+01] [ 7.74827565e-02 9.96991929e-01 -1.87521097e-03 3.52998441e+00] [ 3.58900207e-02 -9.09591771e-04 9.99355332e-01 2.86846887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:3.53, Z:2.87 [[ 9.96257489e-01 -7.86486320e-02 -3.58526050e-02 8.52066974e+01] [ 7.86320699e-02 9.96901944e-01 -1.87394084e-03 3.53053372e+00] [ 3.58889145e-02 -9.52236944e-04 9.99355332e-01 2.86998506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:3.53, Z:2.87 [[ 9.96099722e-01 -8.06221085e-02 -3.58527407e-02 8.52387578e+01] [ 8.06069166e-02 9.96744211e-01 -1.87134138e-03 3.52964767e+00] [ 3.58868832e-02 -1.02593624e-03 9.99355332e-01 2.87014087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:3.53, Z:2.87 [[ 9.95920813e-01 -8.28028115e-02 -3.58528754e-02 8.52709329e+01] [ 8.27891237e-02 9.96565336e-01 -1.86875623e-03 3.52919398e+00] [ 3.58844711e-02 -1.10709492e-03 9.99355332e-01 2.87037000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.30, Y:3.53, Z:2.87 [[ 9.95679796e-01 -8.56522307e-02 -3.58530107e-02 8.53020640e+01] [ 8.56404807e-02 9.96324358e-01 -1.86615675e-03 3.52964068e+00] [ 3.58810684e-02 -1.21237450e-03 9.99355332e-01 2.86996507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:3.53, Z:2.87 [[ 9.95529402e-01 -8.73828175e-02 -3.58532211e-02 8.53346474e+01] [ 8.73723336e-02 9.96173985e-01 -1.86210524e-03 3.53119428e+00] [ 3.58787622e-02 -1.27879908e-03 9.99355332e-01 2.87070604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:3.53, Z:2.87 [[ 9.95242251e-01 -9.05947021e-02 -3.58533496e-02 8.53667178e+01] [ 9.05863873e-02 9.95886865e-01 -1.85962810e-03 3.53308259e+00] [ 3.58743524e-02 -1.39704496e-03 9.99355332e-01 2.87088915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:3.53, Z:2.87 [[ 9.95000705e-01 -9.32101094e-02 -3.58534829e-02 8.53981299e+01] [ 9.32035813e-02 9.95645340e-01 -1.85705569e-03 3.53449854e+00] [ 3.58704495e-02 -1.49390128e-03 9.99355332e-01 2.86860678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:3.54, Z:2.87 [[ 9.94890927e-01 -9.43745444e-02 -3.58537130e-02 8.54302939e+01] [ 9.43689310e-02 9.95535571e-01 -1.85260108e-03 3.53613999e+00] [ 3.58684851e-02 -1.54034056e-03 9.99355332e-01 2.86937441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:3.54, Z:2.87 [[ 9.94690707e-01 -9.64619107e-02 -3.58538396e-02 8.54625503e+01] [ 9.64577382e-02 9.95335361e-01 -1.85014853e-03 3.53866767e+00] [ 3.58650633e-02 -1.61805472e-03 9.99355332e-01 2.87209684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:3.54, Z:2.88 [[ 9.94695157e-01 -9.64159627e-02 -3.58539717e-02 8.54946301e+01] [ 9.64118527e-02 9.95339812e-01 -1.84758582e-03 3.54234455e+00] [ 3.58650222e-02 -1.61896316e-03 9.99355332e-01 2.87503577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:3.55, Z:2.88 [[ 9.94902383e-01 -9.42535531e-02 -3.58541039e-02 8.55261087e+01] [ 9.42481342e-02 9.95547028e-01 -1.84501581e-03 3.54638271e+00] [ 3.58683459e-02 -1.54357177e-03 9.99355332e-01 2.87784719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:3.55, Z:2.88 [[ 9.95076401e-01 -9.23982090e-02 -3.58542387e-02 8.55568629e+01] [ 9.23916824e-02 9.95721037e-01 -1.84239194e-03 3.54924514e+00] [ 3.58710535e-02 -1.47931270e-03 9.99355332e-01 2.87905999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:3.55, Z:2.88 [[ 9.95517235e-01 -8.75208148e-02 -3.58544605e-02 8.55882018e+01] [ 8.75112849e-02 9.96161833e-01 -1.83806559e-03 3.55320815e+00] [ 3.58777141e-02 -1.30784393e-03 9.99355332e-01 2.88153676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:3.56, Z:2.88 [[ 9.96063180e-01 -8.10715269e-02 -3.58545593e-02 8.56204741e+01] [ 8.10578919e-02 9.96707704e-01 -1.83613630e-03 3.55733064e+00] [ 3.58853739e-02 -1.07738723e-03 9.99355332e-01 2.88469272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:3.56, Z:2.89 [[ 9.96344748e-01 -7.75344066e-02 -3.58546900e-02 8.56523059e+01] [ 7.75185751e-02 9.96989222e-01 -1.83358158e-03 3.56031571e+00] [ 3.58889051e-02 -9.52525101e-04 9.99355332e-01 2.88633769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:3.57, Z:2.89 [[ 9.96933572e-01 -6.95549071e-02 -3.58548206e-02 8.56838829e+01] [ 6.95340083e-02 9.97577901e-01 -1.83102444e-03 3.56521978e+00] [ 3.58953334e-02 -6.67719657e-04 9.99355332e-01 2.88822664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:3.57, Z:2.89 [[ 9.97505239e-01 -6.08088904e-02 -3.58549545e-02 8.57145186e+01] [ 6.07824358e-02 9.98149364e-01 -1.82839826e-03 3.56966400e+00] [ 3.58997829e-02 -3.55514623e-04 9.99355332e-01 2.88806029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:3.57, Z:2.89 [[ 9.97753698e-01 -5.65859864e-02 -3.58550539e-02 8.57452915e+01] [ 5.65568757e-02 9.98397708e-01 -1.82644653e-03 3.57246885e+00] [ 3.59009549e-02 -2.05506048e-04 9.99355332e-01 2.88891899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:3.58, Z:2.89 [[ 9.98167201e-01 -4.87509434e-02 -3.58550539e-02 8.57744639e+01] [ 4.87167774e-02 9.98810963e-01 -1.82644653e-03 3.57572706e+00] [ 3.59014619e-02 7.63563387e-05 9.99355332e-01 2.88884988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:3.58, Z:2.89 [[ 9.98451556e-01 -4.25314548e-02 -3.58547966e-02 8.58025568e+01] [ 4.24930980e-02 9.99095082e-01 -1.83148437e-03 3.57846653e+00] [ 3.59002466e-02 3.05067036e-04 9.99355332e-01 2.88997862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:3.58, Z:2.89 [[ 9.98549074e-01 -4.01773434e-02 -3.58542627e-02 8.58291915e+01] [ 4.01370964e-02 9.99192484e-01 -1.84187751e-03 3.58008156e+00] [ 3.58993115e-02 4.00119080e-04 9.99355332e-01 2.89064628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:3.58, Z:2.89 [[ 9.98651216e-01 -3.75531224e-02 -3.58540313e-02 8.58573065e+01] [ 3.75110234e-02 9.99294508e-01 -1.84637027e-03 3.58134902e+00] [ 3.58980735e-02 4.98958508e-04 9.99355332e-01 2.89179934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:3.58, Z:2.89 [[ 9.98634287e-01 -3.80011425e-02 -3.58534972e-02 8.58848991e+01] [ 3.79589620e-02 9.99277574e-01 -1.85668401e-03 3.58197499e+00] [ 3.58981518e-02 4.93186775e-04 9.99355332e-01 2.89326182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:3.58, Z:2.89 [[ 9.98578321e-01 -3.94449227e-02 -3.58529599e-02 8.59130720e+01] [ 3.94033018e-02 9.99221644e-01 -1.86700278e-03 3.58253954e+00] [ 3.58986973e-02 4.51623506e-04 9.99355332e-01 2.89472656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:3.58, Z:2.90 [[ 9.98369307e-01 -4.44218836e-02 -3.58527933e-02 8.59412920e+01] [ 4.43833552e-02 9.99012823e-01 -1.87019556e-03 3.58129983e+00] [ 3.59004779e-02 2.75878580e-04 9.99355332e-01 2.89650588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:3.58, Z:2.90 [[ 9.98006512e-01 -5.19385903e-02 -3.58522605e-02 8.59684253e+01] [ 5.19045439e-02 9.98650280e-01 -1.88035552e-03 3.57930764e+00] [ 3.59015330e-02 1.57118339e-05 9.99355332e-01 2.89680039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:3.58, Z:2.90 [[ 9.97736036e-01 -5.68984632e-02 -3.58520288e-02 8.59967972e+01] [ 5.68674586e-02 9.98379958e-01 -1.88476143e-03 3.57875511e+00] [ 3.59011871e-02 -1.58319369e-04 9.99355332e-01 2.89747495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:3.58, Z:2.90 [[ 9.97073242e-01 -6.75249371e-02 -3.58515518e-02 8.60262229e+01] [ 6.75004699e-02 9.97717445e-01 -1.89379314e-03 3.57554608e+00] [ 3.58975969e-02 -5.31746126e-04 9.99355332e-01 2.89776618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:3.57, Z:2.90 [[ 9.96337612e-01 -7.76277292e-02 -3.58510729e-02 8.60580870e+01] [ 7.76094684e-02 9.96982021e-01 -1.90281439e-03 3.57289863e+00] [ 3.58905863e-02 -8.86537170e-04 9.99355332e-01 2.89885485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:3.57, Z:2.90 [[ 9.95982992e-01 -8.20522763e-02 -3.58511425e-02 8.60890356e+01] [ 8.20369251e-02 9.96627477e-01 -1.90150227e-03 3.57235410e+00] [ 3.58862563e-02 -1.04725357e-03 9.99355332e-01 2.89948121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:3.57, Z:2.90 [[ 9.95335717e-01 -8.95628185e-02 -3.58512468e-02 8.61203343e+01] [ 8.95523999e-02 9.95980301e-01 -1.89953439e-03 3.57036686e+00] [ 3.58772632e-02 -1.31989077e-03 9.99355332e-01 2.90039886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:3.57, Z:2.90 [[ 9.95072492e-01 -9.24413768e-02 -3.58514670e-02 8.61527952e+01] [ 9.24329726e-02 9.95717105e-01 -1.89536881e-03 3.57055312e+00] [ 3.58731295e-02 -1.42782830e-03 9.99355332e-01 2.90151162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:3.57, Z:2.90 [[ 9.94681066e-01 -9.65621055e-02 -3.58516029e-02 8.61848387e+01] [ 9.65564639e-02 9.95325709e-01 -1.89279546e-03 3.56993912e+00] [ 3.58667944e-02 -1.57897620e-03 9.99355332e-01 2.90253823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:3.57, Z:2.90 [[ 9.94551516e-01 -9.78873595e-02 -3.58517383e-02 8.62159756e+01] [ 9.78826692e-02 9.95196167e-01 -1.89022669e-03 3.57103116e+00] [ 3.58645418e-02 -1.62933602e-03 9.99355332e-01 2.90346034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:3.57, Z:2.90 [[ 9.94486000e-01 -9.85507062e-02 -3.58518393e-02 8.62478537e+01] [ 9.85465149e-02 9.95130654e-01 -1.88830987e-03 3.57226398e+00] [ 3.58633585e-02 -1.65517608e-03 9.99355332e-01 2.90494837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:3.57, Z:2.91 [[ 9.94372990e-01 -9.96844639e-02 -3.58519780e-02 8.62792822e+01] [ 9.96811024e-02 9.95017649e-01 -1.88567172e-03 3.57387636e+00] [ 3.58613231e-02 -1.69870367e-03 9.99355332e-01 2.90644706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:3.58, Z:2.91 [[ 9.94354964e-01 -9.98640302e-02 -3.58522096e-02 8.63106166e+01] [ 9.98609439e-02 9.94999624e-01 -1.88125815e-03 3.57540822e+00] [ 3.58608051e-02 -1.70959711e-03 9.99355332e-01 2.90768271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:3.58, Z:2.91 [[ 9.94312368e-01 -1.00287218e-01 -3.58523116e-02 8.63419950e+01] [ 1.00284476e-01 9.94957030e-01 -1.87931196e-03 3.57674997e+00] [ 3.58599805e-02 -1.72680717e-03 9.99355332e-01 2.90825182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:3.58, Z:2.91 [[ 9.94215315e-01 -1.01244812e-01 -3.58524120e-02 8.63738579e+01] [ 1.01242760e-01 9.94859980e-01 -1.87739590e-03 3.57835528e+00] [ 3.58582064e-02 -1.76326139e-03 9.99355332e-01 2.90890581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:3.58, Z:2.91 [[ 9.94161645e-01 -1.01770425e-01 -3.58525434e-02 8.64056955e+01] [ 1.01768804e-01 9.94806310e-01 -1.87488209e-03 3.58010772e+00] [ 3.58571440e-02 -1.78473460e-03 9.99355332e-01 2.90971109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:3.58, Z:2.91 [[ 9.94023671e-01 -1.03109298e-01 -3.58526792e-02 8.64366605e+01] [ 1.03108639e-01 9.94668338e-01 -1.87228264e-03 3.58287347e+00] [ 3.58545746e-02 -1.83562768e-03 9.99355332e-01 2.90857862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:3.58, Z:2.91 [[ 9.94039630e-01 -1.02956993e-01 -3.58479010e-02 8.64693118e+01] [ 1.02952949e-01 9.94684289e-01 -1.96363426e-03 3.58450622e+00] [ 3.58595138e-02 -1.73871686e-03 9.99355328e-01 2.90977837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:3.59, Z:2.91 [[ 9.93863495e-01 -1.04643528e-01 -3.58480862e-02 8.65011633e+01] [ 1.04640706e-01 9.94508160e-01 -1.96008500e-03 3.58663016e+00] [ 3.58563245e-02 -1.80311211e-03 9.99355329e-01 2.90935109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:3.59, Z:2.91 [[ 9.93840315e-01 -1.04861806e-01 -3.58529033e-02 8.65332200e+01] [ 1.04862451e-01 9.94484981e-01 -1.86761218e-03 3.58842390e+00] [ 3.58510151e-02 -1.90351505e-03 9.99355333e-01 2.90958520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:3.59, Z:2.91 [[ 9.93792018e-01 -1.05318491e-01 -3.58530383e-02 8.65655181e+01] [ 1.05319527e-01 9.94436684e-01 -1.86501739e-03 3.59221367e+00] [ 3.58499974e-02 -1.92258563e-03 9.99355333e-01 2.91041390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:3.60, Z:2.91 [[ 9.93811855e-01 -1.05131094e-01 -3.58531730e-02 8.65985818e+01] [ 1.05132101e-01 9.94456521e-01 -1.86242398e-03 3.59574125e+00] [ 3.58502204e-02 -1.91842038e-03 9.99355333e-01 2.91247990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:3.60, Z:2.91 [[ 9.93910553e-01 -1.04193798e-01 -3.58533803e-02 8.66299024e+01] [ 1.04194341e-01 9.94555220e-01 -1.85842485e-03 3.60129223e+00] [ 3.58518029e-02 -1.88861126e-03 9.99355333e-01 2.91441950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:3.61, Z:2.92 [[ 9.93963987e-01 -1.03682791e-01 -3.58534828e-02 8.66614251e+01] [ 1.03683074e-01 9.94608654e-01 -1.85644601e-03 3.60500856e+00] [ 3.58526657e-02 -1.87215883e-03 9.99355333e-01 2.91641824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:3.61, Z:2.92 [[ 9.94214960e-01 -1.01247869e-01 -3.58536128e-02 8.66932413e+01] [ 1.01246662e-01 9.94859626e-01 -1.85393136e-03 3.61020766e+00] [ 3.58570184e-02 -1.78685235e-03 9.99355333e-01 2.91906212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:3.61, Z:2.92 [[ 9.94321470e-01 -1.00196424e-01 -3.58537421e-02 8.67251401e+01] [ 1.00194626e-01 9.94966135e-01 -1.85142778e-03 3.61363213e+00] [ 3.58587656e-02 -1.75143791e-03 9.99355333e-01 2.92034607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:3.62, Z:2.92 [[ 9.94428308e-01 -9.91304235e-02 -3.58538701e-02 8.67575466e+01] [ 9.91280240e-02 9.95072970e-01 -1.84894505e-03 3.61909561e+00] [ 3.58605038e-02 -1.71547999e-03 9.99355333e-01 2.92207588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:3.62, Z:2.92 [[ 9.94410683e-01 -9.93070230e-02 -3.58539973e-02 8.67907148e+01] [ 9.93048267e-02 9.95055346e-01 -1.84647638e-03 3.62290797e+00] [ 3.58600797e-02 -1.72431915e-03 9.99355333e-01 2.92425176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:3.63, Z:2.93 [[ 9.94288175e-01 -1.00526127e-01 -3.58541999e-02 8.68220634e+01] [ 1.00524863e-01 9.94932840e-01 -1.84253266e-03 3.62852738e+00] [ 3.58577437e-02 -1.77223011e-03 9.99355333e-01 2.92635412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:3.63, Z:2.93 [[ 9.94175691e-01 -1.01632478e-01 -3.58543675e-02 8.68535146e+01] [ 1.01632049e-01 9.94820357e-01 -1.83926669e-03 3.63162222e+00] [ 3.58555839e-02 -1.81539861e-03 9.99355333e-01 2.92753190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:3.64, Z:2.93 [[ 9.93858503e-01 -1.04688724e-01 -3.58545311e-02 8.68859392e+01] [ 1.04690392e-01 9.94503168e-01 -1.83607180e-03 3.63570089e+00] [ 3.58496607e-02 -1.92882935e-03 9.99355333e-01 2.92789583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:3.64, Z:2.93 [[ 9.93680774e-01 -1.06362407e-01 -3.58546612e-02 8.69181703e+01] [ 1.06365253e-01 9.94325435e-01 -1.83352718e-03 3.63889015e+00] [ 3.58462200e-02 -1.99174938e-03 9.99355333e-01 2.92849582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:3.64, Z:2.93 [[ 9.93369783e-01 -1.09228699e-01 -3.58547909e-02 8.69499344e+01] [ 1.09233496e-01 9.94014432e-01 -1.83098733e-03 3.64398892e+00] [ 3.58401760e-02 -2.09769666e-03 9.99355333e-01 2.92934224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:3.65, Z:2.93 [[ 9.93159111e-01 -1.11127878e-01 -3.58549204e-02 8.69820450e+01] [ 1.11133998e-01 9.93803749e-01 -1.82844852e-03 3.64940801e+00] [ 3.58359459e-02 -2.16876033e-03 9.99355333e-01 2.93026972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:3.65, Z:2.93 [[ 9.93098715e-01 -1.11666279e-01 -3.58550508e-02 8.70135546e+01] [ 1.11672841e-01 9.93743349e-01 -1.82588653e-03 3.65286554e+00] [ 3.58346082e-02 -2.19074982e-03 9.99355333e-01 2.93083184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:3.66, Z:2.93 [[ 9.93064323e-01 -1.11971665e-01 -3.58552132e-02 8.70466945e+01] [ 1.11978540e-01 9.93708954e-01 -1.82269328e-03 3.65817115e+00] [ 3.58337364e-02 -2.20496276e-03 9.99355333e-01 2.93192239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:3.66, Z:2.93 [[ 9.93121992e-01 -1.11458955e-01 -3.58554094e-02 8.70789462e+01] [ 1.11465636e-01 9.93766624e-01 -1.81882522e-03 3.66152459e+00] [ 3.58346335e-02 -2.19033069e-03 9.99355333e-01 2.93179832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:3.67, Z:2.93 [[ 9.93191290e-01 -1.10839704e-01 -3.58555713e-02 8.71114492e+01] [ 1.10846098e-01 9.93835925e-01 -1.81562721e-03 3.66685946e+00] [ 3.58357985e-02 -2.17118504e-03 9.99355333e-01 2.93335883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:3.67, Z:2.94 [[ 9.93247720e-01 -1.10332818e-01 -3.58557662e-02 8.71429908e+01] [ 1.10339022e-01 9.93892357e-01 -1.81177015e-03 3.67051559e+00] [ 3.58366697e-02 -2.15675360e-03 9.99355333e-01 2.93529365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:3.68, Z:2.94 [[ 9.93320815e-01 -1.09672758e-01 -3.58558993e-02 8.71739111e+01] [ 1.09678629e-01 9.93965455e-01 -1.80913171e-03 3.67562240e+00] [ 3.58379378e-02 -2.13557769e-03 9.99355333e-01 2.93732364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:3.68, Z:2.94 [[ 9.93333357e-01 -1.09559069e-01 -3.58559984e-02 8.72054278e+01] [ 1.09564937e-01 9.93977997e-01 -1.80716631e-03 3.67861386e+00] [ 3.58380649e-02 -2.13344163e-03 9.99355333e-01 2.93794025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:3.68, Z:2.94 [[ 9.93391600e-01 -1.09029648e-01 -3.58561587e-02 8.72376469e+01] [ 1.09035287e-01 9.94036243e-01 -1.80397994e-03 3.68261719e+00] [ 3.58390086e-02 -2.11752803e-03 9.99355333e-01 2.93760683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:3.69, Z:2.94 [[ 9.93403227e-01 -1.08923621e-01 -3.58562849e-02 8.72702188e+01] [ 1.08929281e-01 9.94047869e-01 -1.80146923e-03 3.68567360e+00] [ 3.58390861e-02 -2.11621397e-03 9.99355333e-01 2.93878111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:3.69, Z:2.94 [[ 9.93528107e-01 -1.07778537e-01 -3.58564769e-02 8.73033677e+01] [ 1.07783592e-01 9.94172755e-01 -1.79763946e-03 3.69140198e+00] [ 3.58412793e-02 -2.07873453e-03 9.99355333e-01 2.94044745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:3.70, Z:2.94 [[ 9.93635896e-01 -1.06780177e-01 -3.58566708e-02 8.73355372e+01] [ 1.06784723e-01 9.94280547e-01 -1.79376224e-03 3.69536910e+00] [ 3.58431285e-02 -2.04659812e-03 9.99355333e-01 2.94140760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:3.70, Z:2.94 [[ 9.94027133e-01 -1.03074472e-01 -3.58568312e-02 8.73679832e+01] [ 1.03076731e-01 9.94671796e-01 -1.79055138e-03 3.70157364e+00] [ 3.58503388e-02 -1.91614827e-03 9.99355333e-01 2.94358816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:3.71, Z:2.95 [[ 9.94591636e-01 -9.74769242e-02 -3.58570206e-02 8.73993921e+01] [ 9.74756901e-02 9.95236302e-01 -1.78674940e-03 3.70742702e+00] [ 3.58603754e-02 -1.71810182e-03 9.99355333e-01 2.94611435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:3.71, Z:2.95 [[ 9.94871034e-01 -9.45827132e-02 -3.58571487e-02 8.74318952e+01] [ 9.45796959e-02 9.95515694e-01 -1.78417565e-03 3.71143312e+00] [ 3.58651064e-02 -1.61633355e-03 9.99355333e-01 2.94776210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:3.72, Z:2.95 [[ 9.95341003e-01 -8.95016166e-02 -3.58573423e-02 8.74635048e+01] [ 8.94954481e-02 9.95985640e-01 -1.78027525e-03 3.71684664e+00] [ 3.58727356e-02 -1.43708796e-03 9.99355333e-01 2.94906525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:3.72, Z:2.95 [[ 9.95545836e-01 -8.71936267e-02 -3.58575026e-02 8.74967283e+01] [ 8.71860798e-02 9.96190459e-01 -1.77704049e-03 3.72003815e+00] [ 3.58758486e-02 -1.35714983e-03 9.99355333e-01 2.95042287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:3.72, Z:2.95 [[ 9.95731080e-01 -8.50520008e-02 -3.58576928e-02 8.75293674e+01] [ 8.50432057e-02 9.96375687e-01 -1.77319491e-03 3.72286021e+00] [ 3.58785471e-02 -1.28382786e-03 9.99355333e-01 2.95123442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:3.73, Z:2.95 [[ 9.96101628e-01 -8.05962717e-02 -3.58578827e-02 8.75613878e+01] [ 8.05847312e-02 9.96746192e-01 -1.76934610e-03 3.72645243e+00] [ 3.58838107e-02 -1.12714931e-03 9.99355333e-01 2.95149428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:3.73, Z:2.95 [[ 9.96468957e-01 -7.59198374e-02 -3.58580109e-02 8.75942962e+01] [ 7.59053650e-02 9.97113461e-01 -1.76674377e-03 3.73020422e+00] [ 3.58886363e-02 -9.61310091e-04 9.99355333e-01 2.95208251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:3.73, Z:2.95 [[ 9.96623876e-01 -7.38582409e-02 -3.58582023e-02 8.76275807e+01] [ 7.38425753e-02 9.97268352e-01 -1.76285031e-03 3.73283824e+00] [ 3.58904514e-02 -8.90963293e-04 9.99355333e-01 2.95332589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:3.74, Z:2.95 [[ 9.96861958e-01 -7.05720319e-02 -3.58583934e-02 8.76582556e+01] [ 7.05543816e-02 9.97506384e-01 -1.75895520e-03 3.73557829e+00] [ 3.58931094e-02 -7.76531250e-04 9.99355333e-01 2.95395531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:3.74, Z:2.95 [[ 9.96980928e-01 -6.88708773e-02 -3.58584879e-02 8.76895245e+01] [ 6.88521967e-02 9.97625324e-01 -1.75702651e-03 3.73729024e+00] [ 3.58943436e-02 -7.17213747e-04 9.99355333e-01 2.95461259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:3.74, Z:2.96 [[ 9.97086557e-01 -6.73242939e-02 -3.58585805e-02 8.77220341e+01] [ 6.73046818e-02 9.97730925e-01 -1.75513485e-03 3.73867102e+00] [ 3.58953779e-02 -6.63428986e-04 9.99355333e-01 2.95548645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:3.74, Z:2.96 [[ 9.97105790e-01 -6.70387652e-02 -3.58587059e-02 8.77529688e+01] [ 6.70190608e-02 9.97750156e-01 -1.75256830e-03 3.73996367e+00] [ 3.58955195e-02 -6.55720795e-04 9.99355333e-01 2.95608511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:3.74, Z:2.96 [[ 9.97170532e-01 -6.60687299e-02 -3.58587991e-02 8.77855112e+01] [ 6.60484673e-02 9.97814880e-01 -1.75065969e-03 3.74170329e+00] [ 3.58961072e-02 -6.22712467e-04 9.99355333e-01 2.95726274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:3.74, Z:2.96 [[ 9.97237360e-01 -6.50521814e-02 -3.58589216e-02 8.78177519e+01] [ 6.50313522e-02 9.97881690e-01 -1.74814802e-03 3.74369748e+00] [ 3.58966821e-02 -5.88635640e-04 9.99355333e-01 2.95966218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:3.74, Z:2.96 [[ 9.97299782e-01 -6.40880229e-02 -3.58590452e-02 8.78497005e+01] [ 6.40666622e-02 9.97944094e-01 -1.74560787e-03 3.74460295e+00] [ 3.58971950e-02 -5.56474988e-04 9.99355333e-01 2.96171690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:3.75, Z:2.96 [[ 9.97315383e-01 -6.38447155e-02 -3.58591690e-02 8.78803154e+01] [ 6.38232890e-02 9.97959693e-01 -1.74306188e-03 3.74569447e+00] [ 3.58972906e-02 -5.50267682e-04 9.99355333e-01 2.96406085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:3.75, Z:2.97 [[ 9.97312717e-01 -6.38863080e-02 -3.58592306e-02 8.79119734e+01] [ 6.38649540e-02 9.97957030e-01 -1.74179358e-03 3.74686160e+00] [ 3.58972480e-02 -5.53035221e-04 9.99355333e-01 2.96647244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:3.75, Z:2.97 [[ 9.97241065e-01 -6.49951218e-02 -3.58593547e-02 8.79438985e+01] [ 6.49745762e-02 9.97885404e-01 -1.73923370e-03 3.74665887e+00] [ 3.58965684e-02 -5.95511108e-04 9.99355333e-01 2.96799237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:3.74, Z:2.97 [[ 9.96923246e-01 -6.97003491e-02 -3.58594780e-02 8.79766530e+01] [ 6.96829360e-02 9.97567678e-01 -1.73668796e-03 3.74486882e+00] [ 3.58933040e-02 -7.67449109e-04 9.99355333e-01 2.96805290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:3.75, Z:2.97 [[ 9.96768022e-01 -7.18860186e-02 -3.58596027e-02 8.80080375e+01] [ 7.18701111e-02 9.97412492e-01 -1.73411050e-03 3.74504288e+00] [ 3.58914740e-02 -8.48727732e-04 9.99355333e-01 2.96826374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:3.75, Z:2.97 [[ 9.96773038e-01 -7.18163850e-02 -3.58596957e-02 8.80406776e+01] [ 7.18005017e-02 9.97417509e-01 -1.73218540e-03 3.74655909e+00] [ 3.58914876e-02 -8.48148433e-04 9.99355333e-01 2.96943689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:3.75, Z:2.97 [[ 9.96442314e-01 -7.62678734e-02 -3.58598165e-02 8.80734213e+01] [ 7.62549589e-02 9.97086852e-01 -1.72968113e-03 3.74549026e+00] [ 3.58872706e-02 -1.01096136e-03 9.99355333e-01 2.96932802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:3.75, Z:2.97 [[ 9.96293836e-01 -7.81834805e-02 -3.58599408e-02 8.81053960e+01] [ 7.81718981e-02 9.96938399e-01 -1.72709902e-03 3.74544599e+00] [ 3.58851826e-02 -1.08254153e-03 9.99355333e-01 2.96977882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:3.75, Z:2.97 [[ 9.96144062e-01 -8.00691056e-02 -3.58600956e-02 8.81373606e+01] [ 8.00588590e-02 9.96788647e-01 -1.72387868e-03 3.74548003e+00] [ 3.58829656e-02 -1.15368683e-03 9.99355333e-01 2.97008397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:3.74, Z:2.97 [[ 9.95924306e-01 -8.27576027e-02 -3.58602168e-02 8.81694038e+01] [ 8.27491868e-02 9.96568918e-01 -1.72135419e-03 3.74442856e+00] [ 3.58796326e-02 -1.25306530e-03 9.99355333e-01 2.96963180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:3.74, Z:2.97 [[ 9.95827615e-01 -8.39130367e-02 -3.58603391e-02 8.82005910e+01] [ 8.39054604e-02 9.96472237e-01 -1.71880254e-03 3.74418267e+00] [ 3.58780623e-02 -1.29724723e-03 9.99355333e-01 2.96956950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:3.75, Z:2.97 [[ 9.95832956e-01 -8.38495876e-02 -3.58604300e-02 8.82324082e+01] [ 8.38420386e-02 9.96477579e-01 -1.71690334e-03 3.74547457e+00] [ 3.58780761e-02 -1.29686263e-03 9.99355333e-01 2.97069335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:3.75, Z:2.97 [[ 9.95965731e-01 -8.22574246e-02 -3.58605516e-02 8.82647995e+01] [ 8.22489365e-02 9.96610342e-01 -1.71435964e-03 3.74652055e+00] [ 3.58800154e-02 -1.24204878e-03 9.99355333e-01 2.97112049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:3.75, Z:2.97 [[ 9.96090440e-01 -8.07331724e-02 -3.58607028e-02 8.82974310e+01] [ 8.07238118e-02 9.96735039e-01 -1.71119175e-03 3.74791939e+00] [ 3.58817689e-02 -1.19031088e-03 9.99355333e-01 2.97309225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:3.75, Z:2.97 [[ 9.96420277e-01 -7.65547376e-02 -3.58608895e-02 8.83282421e+01] [ 7.65428146e-02 9.97064834e-01 -1.70726925e-03 3.74938795e+00] [ 3.58863314e-02 -1.04373572e-03 9.99355333e-01 2.97465712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:3.75, Z:2.98 [[ 9.96638101e-01 -7.36646900e-02 -3.58609819e-02 8.83604074e+01] [ 7.36509675e-02 9.97282621e-01 -1.70532795e-03 3.75107790e+00] [ 3.58891565e-02 -9.41601199e-04 9.99355333e-01 2.97649811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:3.75, Z:2.98 [[ 9.97005836e-01 -6.85079842e-02 -3.58611029e-02 8.83909446e+01] [ 6.84910193e-02 9.97650280e-01 -1.70277970e-03 3.75339329e+00] [ 3.58934933e-02 -7.58482187e-04 9.99355333e-01 2.97895502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:3.76, Z:2.98 [[ 9.97344304e-01 -6.33901918e-02 -3.58611630e-02 8.84230619e+01] [ 6.33699654e-02 9.97988653e-01 -1.70151134e-03 3.75616479e+00] [ 3.58968929e-02 -5.75528017e-04 9.99355333e-01 2.98111337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:3.76, Z:2.98 [[ 9.97484269e-01 -6.11481898e-02 -3.58612838e-02 8.84538167e+01] [ 6.11266066e-02 9.98128575e-01 -1.69896308e-03 3.75790664e+00] [ 3.58980606e-02 -4.97389641e-04 9.99355333e-01 2.98234912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:3.76, Z:2.98 [[ 9.97604516e-01 -5.91539585e-02 -3.58613736e-02 8.84862250e+01] [ 5.91311555e-02 9.98248780e-01 -1.69706462e-03 3.75948667e+00] [ 3.58989605e-02 -4.27525133e-04 9.99355333e-01 2.98321035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:3.76, Z:2.98 [[ 9.97606552e-01 -5.91195401e-02 -3.58614907e-02 8.85180177e+01] [ 5.90968040e-02 9.98250818e-01 -1.69458565e-03 3.76095779e+00] [ 3.58989456e-02 -4.28769740e-04 9.99355333e-01 2.98435283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:3.76, Z:2.99 [[ 9.97759981e-01 -5.64709579e-02 -3.58615491e-02 8.85498145e+01] [ 5.64465559e-02 9.98404186e-01 -1.69335080e-03 3.76204877e+00] [ 3.58999458e-02 -3.34703277e-04 9.99355333e-01 2.98507217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:3.76, Z:2.99 [[ 9.97826394e-01 -5.52850050e-02 -3.58616081e-02 8.85813890e+01] [ 5.52598823e-02 9.98470572e-01 -1.69209937e-03 3.76322525e+00] [ 3.59003081e-02 -2.93286835e-04 9.99355333e-01 2.98669360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:3.76, Z:2.99 [[ 9.97883686e-01 -5.42410309e-02 -3.58616694e-02 8.86129622e+01] [ 5.42152810e-02 9.98527839e-01 -1.69079833e-03 3.76461410e+00] [ 3.59005859e-02 -2.57030413e-04 9.99355333e-01 2.98747259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:3.77, Z:2.99 [[ 9.97984011e-01 -5.23626740e-02 -3.58617302e-02 8.86431870e+01] [ 5.23357581e-02 9.98628116e-01 -1.68950857e-03 3.76607206e+00] [ 3.59009993e-02 -1.90748299e-04 9.99355333e-01 2.98878686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:3.77, Z:2.99 [[ 9.98019477e-01 -5.16822705e-02 -3.58617604e-02 8.86723348e+01] [ 5.16549385e-02 9.98663565e-01 -1.68886791e-03 3.76746278e+00] [ 3.59011180e-02 -1.66913955e-04 9.99355333e-01 2.98958967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:3.77, Z:2.99 [[ 9.98041935e-01 -5.12467743e-02 -3.58617305e-02 8.87025303e+01] [ 5.12191384e-02 9.98686009e-01 -1.68950203e-03 3.76838557e+00] [ 3.59011901e-02 -1.50613063e-04 9.99355333e-01 2.99083587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:3.77, Z:2.99 [[ 9.98022115e-01 -5.16313394e-02 -3.58617305e-02 8.87331894e+01] [ 5.16039517e-02 9.98666199e-01 -1.68950203e-03 3.76955275e+00] [ 3.59011294e-02 -1.64446621e-04 9.99355333e-01 2.99149879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:3.77, Z:2.99 [[ 9.97931661e-01 -5.33510625e-02 -3.58617305e-02 8.87636831e+01] [ 5.33247847e-02 9.98575792e-01 -1.68950203e-03 3.77025274e+00] [ 3.59007927e-02 -2.26311492e-04 9.99355333e-01 2.99181116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:3.77, Z:2.99 [[ 9.97845607e-01 -5.49370541e-02 -3.58617305e-02 8.87938471e+01] [ 5.49118001e-02 9.98489780e-01 -1.68950203e-03 3.77153782e+00] [ 3.59003877e-02 -2.83369998e-04 9.99355333e-01 2.99239123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:3.77, Z:2.99 [[ 9.97604673e-01 -5.91510937e-02 -3.58617305e-02 8.88237307e+01] [ 5.91285607e-02 9.98248946e-01 -1.68950203e-03 3.77256494e+00] [ 3.58988706e-02 -4.34997389e-04 9.99355333e-01 2.99333580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:3.77, Z:2.99 [[ 9.97453848e-01 -6.16421212e-02 -3.58618276e-02 8.88551679e+01] [ 6.16212713e-02 9.98098177e-01 -1.68743841e-03 3.77359759e+00] [ 3.58976421e-02 -5.26709474e-04 9.99355333e-01 2.99411095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:3.77, Z:2.99 [[ 9.97012546e-01 -6.84098455e-02 -3.58619157e-02 8.88869897e+01] [ 6.83934362e-02 9.97657004e-01 -1.68556516e-03 3.77373713e+00] [ 3.58932006e-02 -7.72190031e-04 9.99355333e-01 2.99409864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:3.77, Z:2.99 [[ 9.96729057e-01 -7.24230746e-02 -3.58620377e-02 8.89185910e+01] [ 7.24093534e-02 9.97373578e-01 -1.68296364e-03 3.77444112e+00] [ 3.58897343e-02 -9.19288207e-04 9.99355333e-01 2.99461754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:3.78, Z:3.00 [[ 9.96404283e-01 -7.67620505e-02 -3.58621287e-02 8.89498431e+01] [ 7.67512054e-02 9.97048859e-01 -1.68102249e-03 3.77528518e+00] [ 3.58853333e-02 -1.07748360e-03 9.99355333e-01 2.99578661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:3.78, Z:3.00 [[ 9.95680537e-01 -8.56397225e-02 -3.58623213e-02 8.89804664e+01] [ 8.56347709e-02 9.96325185e-01 -1.67690352e-03 3.77632853e+00] [ 3.58741435e-02 -1.40140148e-03 9.99355333e-01 2.99753785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:3.78, Z:3.00 [[ 9.94928209e-01 -9.39791914e-02 -3.58576550e-02 8.90138804e+01] [ 9.39760589e-02 9.95572872e-01 -1.77651430e-03 3.77700319e+00] [ 3.58658640e-02 -1.60225691e-03 9.99355328e-01 3.00165892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:3.78, Z:3.00 [[ 9.94649605e-01 -9.68815648e-02 -3.58625849e-02 8.90457699e+01] [ 9.68841188e-02 9.95294266e-01 -1.67069462e-03 3.77827826e+00] [ 3.58556846e-02 -1.81275919e-03 9.99355334e-01 3.00311698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:3.78, Z:3.00 [[ 9.94408351e-01 -9.93272210e-02 -3.58627329e-02 8.90785630e+01] [ 9.93314747e-02 9.95053002e-01 -1.66751199e-03 3.77966884e+00] [ 3.58509494e-02 -1.90411029e-03 9.99355334e-01 3.00451552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:3.78, Z:3.01 [[ 9.94061656e-01 -1.02738871e-01 -3.58629115e-02 8.91115107e+01] [ 1.02745476e-01 9.94706288e-01 -1.66366265e-03 3.78068322e+00] [ 3.58439864e-02 -2.03096865e-03 9.99355334e-01 3.00542241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:3.78, Z:3.01 [[ 9.93971196e-01 -1.03610329e-01 -3.58630885e-02 8.91439186e+01] [ 1.03617636e-01 9.94615821e-01 -1.65983737e-03 3.78184089e+00] [ 3.58419715e-02 -2.06621791e-03 9.99355334e-01 3.00648025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:3.78, Z:3.01 [[ 9.93934741e-01 -1.03959413e-01 -3.58632350e-02 8.91774149e+01] [ 1.03967060e-01 9.94579361e-01 -1.65666628e-03 3.78328559e+00] [ 3.58410594e-02 -2.08197694e-03 9.99355334e-01 3.00727371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:3.79, Z:3.01 [[ 9.94021194e-01 -1.03129443e-01 -3.58634102e-02 8.92097243e+01] [ 1.03136689e-01 9.94665819e-01 -1.65286518e-03 3.78551040e+00] [ 3.58425673e-02 -2.05585037e-03 9.99355334e-01 3.00667703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:3.79, Z:3.01 [[ 9.94152662e-01 -1.01854266e-01 -3.58635263e-02 8.92428316e+01] [ 1.01860776e-01 9.94797295e-01 -1.65034281e-03 3.78770893e+00] [ 3.58450334e-02 -2.01239390e-03 9.99355334e-01 3.00675796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:3.79, Z:3.01 [[ 9.94300773e-01 -1.00398043e-01 -3.58637002e-02 8.92753681e+01] [ 1.00403744e-01 9.94945414e-01 -1.64655390e-03 3.79019853e+00] [ 3.58477348e-02 -1.96367997e-03 9.99355334e-01 3.00807817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:3.79, Z:3.01 [[ 9.94733943e-01 -9.60112713e-02 -3.58638806e-02 8.93075848e+01] [ 9.60142710e-02 9.95378602e-01 -1.64261509e-03 3.79451340e+00] [ 3.58558489e-02 -1.80947936e-03 9.99355334e-01 3.00979042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:3.80, Z:3.01 [[ 9.95359323e-01 -8.92949574e-02 -3.58640301e-02 8.93402992e+01] [ 8.92937234e-02 9.96003988e-01 -1.63934547e-03 3.79945921e+00] [ 3.58671022e-02 -1.57069498e-03 9.99355334e-01 3.01207842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:3.80, Z:3.01 [[ 9.95727793e-01 -8.50877276e-02 -3.58642071e-02 8.93730115e+01] [ 8.50839090e-02 9.96372447e-01 -1.63546255e-03 3.80271444e+00] [ 3.58732656e-02 -1.42299142e-03 9.99355334e-01 3.01389128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:3.81, Z:3.01 [[ 9.96045551e-01 -8.12834925e-02 -3.58643860e-02 8.94025353e+01] [ 8.12773527e-02 9.96690188e-01 -1.63153040e-03 3.80800049e+00] [ 3.58782981e-02 -1.28988376e-03 9.99355334e-01 3.01466526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:3.81, Z:3.02 [[ 9.96856237e-01 -7.06567195e-02 -3.58506830e-02 8.94363070e+01] [ 7.06328842e-02 9.97500507e-01 -1.93252520e-03 3.81232848e+00] [ 3.58976203e-02 -6.05787338e-04 9.99355289e-01 3.01817697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:3.82, Z:3.02 [[ 9.97540322e-01 -6.02246809e-02 -3.58649373e-02 8.94680646e+01] [ 6.02054739e-02 9.98184697e-01 -1.61625946e-03 3.81831937e+00] [ 3.58971703e-02 -5.46981568e-04 9.99355339e-01 3.01918076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:3.82, Z:3.02 [[ 9.97840506e-01 -5.50274739e-02 -3.58650516e-02 8.95005985e+01] [ 5.50050017e-02 9.98484775e-01 -1.61371993e-03 3.82155568e+00] [ 3.58995069e-02 -3.62522112e-04 9.99355339e-01 3.02027946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:3.82, Z:3.02 [[ 9.98083583e-01 -5.04266829e-02 -3.58651647e-02 8.95322047e+01] [ 5.04013312e-02 9.98727746e-01 -1.61120109e-03 3.82481880e+00] [ 3.59007827e-02 -1.99538688e-04 9.99355339e-01 3.02124128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:3.83, Z:3.02 [[ 9.98456814e-01 -4.23990106e-02 -3.58652206e-02 8.95627674e+01] [ 4.23685245e-02 9.99100754e-01 -1.60995680e-03 3.82904351e+00] [ 3.59012295e-02 8.79158617e-05 9.99355339e-01 3.02145393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:3.83, Z:3.02 [[ 9.98697688e-01 -3.62851636e-02 -3.58652206e-02 8.95925689e+01] [ 3.62507356e-02 9.99341429e-01 -1.60995680e-03 3.83260841e+00] [ 3.59000184e-02 3.07719507e-04 9.99355339e-01 3.02308916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:3.83, Z:3.02 [[ 9.98763869e-01 -3.44154612e-02 -3.58651636e-02 8.96194087e+01] [ 3.43797825e-02 9.99407542e-01 -1.61122610e-03 3.83443248e+00] [ 3.58993661e-02 3.76197894e-04 9.99355339e-01 3.02421930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:3.84, Z:3.02 [[ 9.98835875e-01 -3.22583204e-02 -3.58649653e-02 8.96464813e+01] [ 3.22210936e-02 9.99479460e-01 -1.61562770e-03 3.83538412e+00] [ 3.58984136e-02 4.58138502e-04 9.99355339e-01 3.02465986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:3.83, Z:3.03 [[ 9.98840843e-01 -3.21043549e-02 -3.58647685e-02 8.96740191e+01] [ 3.20668725e-02 9.99484413e-01 -1.61998484e-03 3.83486387e+00] [ 3.58982856e-02 4.68036067e-04 9.99355339e-01 3.02573699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:3.84, Z:3.03 [[ 9.98817870e-01 -3.28117932e-02 -3.58643093e-02 8.97014080e+01] [ 3.27744040e-02 9.99461446e-01 -1.63008743e-03 3.83541884e+00] [ 3.58984805e-02 4.52729093e-04 9.99355339e-01 3.02659402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:3.84, Z:3.03 [[ 9.98763650e-01 -3.44231790e-02 -3.58638504e-02 8.97279560e+01] [ 3.43864678e-02 9.99407265e-01 -1.64012244e-03 3.83518088e+00] [ 3.58990509e-02 4.04863542e-04 9.99355339e-01 3.02864681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:3.83, Z:3.03 [[ 9.98648314e-01 -3.76210482e-02 -3.58636510e-02 8.97556321e+01] [ 3.75862418e-02 9.99292034e-01 -1.64447148e-03 3.83468402e+00] [ 3.59001275e-02 2.94268814e-04 9.99355339e-01 3.03007373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:3.83, Z:3.03 [[ 9.98551595e-01 -4.01066463e-02 -3.58631881e-02 8.97837928e+01] [ 4.00730820e-02 9.99195382e-01 -1.65450385e-03 3.83483899e+00] [ 3.59006886e-02 2.14958984e-04 9.99355339e-01 3.03109753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:3.83, Z:3.03 [[ 9.98285344e-01 -4.62626863e-02 -3.58627234e-02 8.98121069e+01] [ 4.62327323e-02 9.98929309e-01 -1.66451783e-03 3.83239244e+00] [ 3.59013305e-02 3.63206614e-06 9.99355339e-01 3.03115356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:3.83, Z:3.03 [[ 9.98117753e-01 -4.97476831e-02 -3.58625061e-02 8.98420186e+01] [ 4.97198098e-02 9.98761811e-01 -1.66918594e-03 3.83159428e+00] [ 3.59011397e-02 -1.17032863e-04 9.99355339e-01 3.03210462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:3.83, Z:3.03 [[ 9.97924046e-01 -5.34928266e-02 -3.58624477e-02 8.98723213e+01] [ 5.34673254e-02 9.98568202e-01 -1.67043990e-03 3.83092972e+00] [ 3.59004565e-02 -2.50497017e-04 9.99355339e-01 3.03279495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:3.83, Z:3.03 [[ 9.97715001e-01 -5.72595935e-02 -3.58624477e-02 8.99041020e+01] [ 5.72365241e-02 9.98359249e-01 -1.67043990e-03 3.83061304e+00] [ 3.58992550e-02 -3.86018906e-04 9.99355339e-01 3.03360983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:3.83, Z:3.03 [[ 9.97521435e-01 -6.05381456e-02 -3.58625067e-02 8.99359354e+01] [ 6.05172391e-02 9.98165757e-01 -1.66917101e-03 3.83012440e+00] [ 3.58977747e-02 -5.05266035e-04 9.99355339e-01 3.03427269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:3.83, Z:3.03 [[ 9.97179535e-01 -6.59306561e-02 -3.58625657e-02 8.99683260e+01] [ 6.59132793e-02 9.97823961e-01 -1.66790265e-03 3.82779969e+00] [ 3.58944933e-02 -7.00620922e-04 9.99355339e-01 3.03427149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:3.83, Z:3.04 [[ 9.96956410e-01 -6.92227201e-02 -3.58626836e-02 9.00003206e+01] [ 6.92075623e-02 9.97600892e-01 -1.66536356e-03 3.82547190e+00] [ 3.58919262e-02 -8.21674034e-04 9.99355339e-01 3.03510500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:3.83, Z:3.04 [[ 9.96909401e-01 -6.98963880e-02 -3.58628015e-02 9.00325911e+01] [ 6.98817571e-02 9.97553896e-01 -1.66282209e-03 3.82518429e+00] [ 3.58913026e-02 -8.48472609e-04 9.99355339e-01 3.03681292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:3.83, Z:3.04 [[ 9.96874687e-01 -7.03896967e-02 -3.58629183e-02 9.00650213e+01] [ 7.03754754e-02 9.97519191e-01 -1.66029976e-03 3.82533696e+00] [ 3.58908172e-02 -8.68759119e-04 9.99355339e-01 3.03903102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:3.82, Z:3.04 [[ 9.96886457e-01 -7.02227475e-02 -3.58630376e-02 9.00958298e+01] [ 7.02085112e-02 9.97530960e-01 -1.65771742e-03 3.82451510e+00] [ 3.58908998e-02 -8.65334426e-04 9.99355339e-01 3.04204908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:3.82, Z:3.04 [[ 9.96889394e-01 -7.01809896e-02 -3.58631266e-02 9.01284443e+01] [ 7.01667955e-02 9.97533899e-01 -1.65579112e-03 3.82393002e+00] [ 3.58908895e-02 -8.65760063e-04 9.99355339e-01 3.04394462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:3.82, Z:3.04 [[ 9.96887602e-01 -7.02063873e-02 -3.58632434e-02 9.01595289e+01] [ 7.01923008e-02 9.97532109e-01 -1.65325620e-03 3.82428583e+00] [ 3.58908060e-02 -8.69212962e-04 9.99355339e-01 3.04483485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:3.82, Z:3.04 [[ 9.96799045e-01 -7.14526865e-02 -3.58633304e-02 9.01915540e+01] [ 7.14394738e-02 9.97443570e-01 -1.65136683e-03 3.82320056e+00] [ 3.58896429e-02 -9.15976573e-04 9.99355339e-01 3.04454236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:3.82, Z:3.04 [[ 9.96744158e-01 -7.22142430e-02 -3.58634516e-02 9.02230287e+01] [ 7.22016175e-02 9.97388695e-01 -1.64873011e-03 3.82321991e+00] [ 3.58888630e-02 -9.46037115e-04 9.99355339e-01 3.04447076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:3.82, Z:3.04 [[ 9.96653132e-01 -7.34597865e-02 -3.58635417e-02 9.02555374e+01] [ 7.34480370e-02 9.97297686e-01 -1.64676809e-03 3.82282085e+00] [ 3.58875984e-02 -9.92850164e-04 9.99355339e-01 3.04359948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:3.82, Z:3.04 [[ 9.96625558e-01 -7.38328863e-02 -3.58636593e-02 9.02878814e+01] [ 7.38214703e-02 9.97270117e-01 -1.64420334e-03 3.82360273e+00] [ 3.58871520e-02 -1.00885299e-03 9.99355339e-01 3.04382055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:3.82, Z:3.04 [[ 9.96640707e-01 -7.36280615e-02 -3.58637786e-02 9.03193732e+01] [ 7.36166068e-02 9.97285265e-01 -1.64159697e-03 3.82411165e+00] [ 3.58872856e-02 -1.00408732e-03 9.99355339e-01 3.04235945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:3.83, Z:3.04 [[ 9.96682396e-01 -7.30615054e-02 -3.58638674e-02 9.03509737e+01] [ 7.30497540e-02 9.97326950e-01 -1.63965573e-03 3.82529439e+00] [ 3.58877972e-02 -9.85630685e-04 9.99355339e-01 3.04241511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:3.83, Z:3.05 [[ 9.96828050e-01 -7.10465772e-02 -3.58639543e-02 9.03826198e+01] [ 7.10335914e-02 9.97472579e-01 -1.63775122e-03 3.82719018e+00] [ 3.58896676e-02 -9.14989126e-04 9.99355339e-01 3.04547547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:3.83, Z:3.05 [[ 9.97071665e-01 -6.75415690e-02 -3.58640704e-02 9.04145077e+01] [ 6.75264088e-02 9.97716147e-01 -1.63520621e-03 3.82926456e+00] [ 3.58926065e-02 -7.91354098e-04 9.99355339e-01 3.04973518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:3.83, Z:3.05 [[ 9.97229108e-01 -6.51756535e-02 -3.58641882e-02 9.04464226e+01] [ 6.51590572e-02 9.97873555e-01 -1.63261805e-03 3.83135395e+00] [ 3.58943319e-02 -7.08782447e-04 9.99355339e-01 3.05224573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:3.83, Z:3.05 [[ 9.97233774e-01 -6.51041561e-02 -3.58643050e-02 9.04790654e+01] [ 6.50876060e-02 9.97878222e-01 -1.63004839e-03 3.83277943e+00] [ 3.58943318e-02 -7.08782445e-04 9.99355339e-01 3.05341865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:3.83, Z:3.06 [[ 9.97410457e-01 -6.23387819e-02 -3.58644216e-02 9.05106661e+01] [ 6.23205373e-02 9.98054859e-01 -1.62747872e-03 3.83491677e+00] [ 3.58961153e-02 -6.11825734e-04 9.99355339e-01 3.05510857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:3.84, Z:3.06 [[ 9.97727510e-01 -5.70399058e-02 -3.58645392e-02 9.05415142e+01] [ 5.70183319e-02 9.98371809e-01 -1.62488200e-03 3.83723151e+00] [ 3.58988280e-02 -4.23746732e-04 9.99355339e-01 3.05725050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:3.84, Z:3.06 [[ 9.97867209e-01 -5.45413871e-02 -3.58645978e-02 9.05720824e+01] [ 5.45182465e-02 9.98511455e-01 -1.62358734e-03 3.83851480e+00] [ 3.58997645e-02 -3.35150412e-04 9.99355339e-01 3.05833985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:3.84, Z:3.06 [[ 9.98057831e-01 -5.09342220e-02 -3.58646269e-02 9.06027542e+01] [ 5.09087760e-02 9.98701989e-01 -1.62294495e-03 3.83892420e+00] [ 3.59007377e-02 -2.06031341e-04 9.99355339e-01 3.05970389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:3.84, Z:3.06 [[ 9.98118785e-01 -4.97254385e-02 -3.58646269e-02 9.06332403e+01] [ 4.96992123e-02 9.98762912e-01 -1.62294495e-03 3.83928206e+00] [ 3.59009609e-02 -1.62551867e-04 9.99355339e-01 3.06052932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:3.84, Z:3.06 [[ 9.98159455e-01 -4.89022512e-02 -3.58646269e-02 9.06627982e+01] [ 4.88754938e-02 9.98803560e-01 -1.62294495e-03 3.83887174e+00] [ 3.59010827e-02 -1.32943504e-04 9.99355339e-01 3.06103323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:3.84, Z:3.06 [[ 9.98137299e-01 -4.93524215e-02 -3.58646283e-02 9.06925580e+01] [ 4.93259558e-02 9.98781416e-01 -1.62291329e-03 3.83884408e+00] [ 3.59010190e-02 -1.49166789e-04 9.99355339e-01 3.06158089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:3.84, Z:3.06 [[ 9.98094245e-01 -5.02156523e-02 -3.58645698e-02 9.07213090e+01] [ 5.01896971e-02 9.98738382e-01 -1.62420662e-03 3.83852884e+00] [ 3.59008830e-02 -1.78920616e-04 9.99355340e-01 3.06176352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:3.84, Z:3.06 [[ 9.98074681e-01 -5.06030709e-02 -3.58644824e-02 9.07505909e+01] [ 5.05772966e-02 9.98718826e-01 -1.62613251e-03 3.83855812e+00] [ 3.59008211e-02 -1.90926880e-04 9.99355340e-01 3.06204212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:3.84, Z:3.06 [[ 9.98066539e-01 -5.07634371e-02 -3.58644254e-02 9.07807417e+01] [ 5.07377211e-02 9.98710686e-01 -1.62738886e-03 3.83861450e+00] [ 3.59007968e-02 -1.95436850e-04 9.99355340e-01 3.06269671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:3.84, Z:3.06 [[ 9.98064512e-01 -5.08033170e-02 -3.58643674e-02 9.08102850e+01] [ 5.07775809e-02 9.98708659e-01 -1.62866636e-03 3.83890790e+00] [ 3.59007959e-02 -1.95591724e-04 9.99355340e-01 3.06372043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:3.84, Z:3.06 [[ 9.98059025e-01 -5.09110478e-02 -3.58643083e-02 9.08389706e+01] [ 5.08853344e-02 9.98703172e-01 -1.62996796e-03 3.83864257e+00] [ 3.59007818e-02 -1.98163092e-04 9.99355340e-01 3.06479560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:3.84, Z:3.07 [[ 9.98048454e-01 -5.11179147e-02 -3.58642201e-02 9.08687662e+01] [ 5.10922652e-02 9.98692604e-01 -1.63190607e-03 3.83958674e+00] [ 3.59007510e-02 -2.03662918e-04 9.99355340e-01 3.06630943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:3.84, Z:3.07 [[ 9.98019180e-01 -5.16863536e-02 -3.58641627e-02 9.08980487e+01] [ 5.16610258e-02 9.98663342e-01 -1.63316525e-03 3.84034019e+00] [ 3.59006370e-02 -2.22849193e-04 9.99355340e-01 3.06763026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:3.84, Z:3.07 [[ 9.97897760e-01 -5.39798660e-02 -3.58641050e-02 9.09280267e+01] [ 5.39559731e-02 9.98541978e-01 -1.63443228e-03 3.83979549e+00] [ 3.59000408e-02 -3.04086378e-04 9.99355340e-01 3.06830526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:3.84, Z:3.07 [[ 9.97791117e-01 -5.59165257e-02 -3.58640472e-02 9.09577868e+01] [ 5.58938376e-02 9.98435378e-01 -1.63570048e-03 3.84008314e+00] [ 3.58993962e-02 -3.72491818e-04 9.99355340e-01 3.06950178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:3.84, Z:3.07 [[ 9.97533785e-01 -6.03334175e-02 -3.58639894e-02 9.09879783e+01] [ 6.03135364e-02 9.98178139e-01 -1.63696579e-03 3.83897844e+00] [ 3.58974140e-02 -5.30155344e-04 9.99355340e-01 3.07056339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:3.84, Z:3.07 [[ 9.97382043e-01 -6.27920014e-02 -3.58639894e-02 9.10186479e+01] [ 6.27737086e-02 9.98026443e-01 -1.63696579e-03 3.83907688e+00] [ 3.58959982e-02 -6.18635334e-04 9.99355340e-01 3.07147901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:3.84, Z:3.07 [[ 9.97063009e-01 -6.76692650e-02 -3.58639894e-02 9.10499371e+01] [ 6.76541241e-02 9.97707492e-01 -1.63696579e-03 3.83759680e+00] [ 3.58925432e-02 -7.94188747e-04 9.99355340e-01 3.07208431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:3.84, Z:3.07 [[ 9.96916147e-01 -6.97994719e-02 -3.58640479e-02 9.10820165e+01] [ 6.97857541e-02 9.97560661e-01 -1.63568353e-03 3.83758574e+00] [ 3.58907332e-02 -8.72160304e-04 9.99355340e-01 3.07361061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:3.84, Z:3.07 [[ 9.96781108e-01 -7.17020581e-02 -3.58641676e-02 9.11136976e+01] [ 7.16896650e-02 9.97425649e-01 -1.63305556e-03 3.83759641e+00] [ 3.58889340e-02 -9.43291230e-04 9.99355340e-01 3.07492499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:3.84, Z:3.08 [[ 9.96604510e-01 -7.41161161e-02 -3.58643570e-02 9.11454568e+01] [ 7.41054341e-02 9.97249082e-01 -1.62888458e-03 3.83642955e+00] [ 3.58864237e-02 -1.03439002e-03 9.99355340e-01 3.07672554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:3.84, Z:3.08 [[ 9.96556796e-01 -7.47548758e-02 -3.58644725e-02 9.11770387e+01] [ 7.47446985e-02 9.97201376e-01 -1.62633821e-03 3.83695643e+00] [ 3.58856780e-02 -1.05994078e-03 9.99355340e-01 3.07816620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:3.84, Z:3.08 [[ 9.96618287e-01 -7.39305275e-02 -3.58645585e-02 9.12090802e+01] [ 7.39198853e-02 9.97262860e-01 -1.62443958e-03 3.83739996e+00] [ 3.58864878e-02 -1.03215785e-03 9.99355340e-01 3.07864435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:3.84, Z:3.08 [[ 9.96846227e-01 -7.07907134e-02 -3.58646729e-02 9.12412465e+01] [ 7.07781318e-02 9.97490765e-01 -1.62190798e-03 3.83890434e+00] [ 3.58894961e-02 -9.21641699e-04 9.99355340e-01 3.07788502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:3.84, Z:3.08 [[ 9.97037748e-01 -6.80400374e-02 -3.58647874e-02 9.12720315e+01] [ 6.80257686e-02 9.97682250e-01 -1.61937295e-03 3.84071174e+00] [ 3.58918440e-02 -8.25153770e-04 9.99355340e-01 3.07875815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:3.84, Z:3.08 [[ 9.97424991e-01 -6.21054868e-02 -3.58649780e-02 9.13035329e+01] [ 6.20875349e-02 9.98069401e-01 -1.61514155e-03 3.84329410e+00] [ 3.58960462e-02 -6.15785523e-04 9.99355340e-01 3.08121808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:3.85, Z:3.08 [[ 9.97802111e-01 -5.57193593e-02 -3.58650349e-02 9.13341580e+01] [ 5.56973282e-02 9.98446395e-01 -1.61387547e-03 3.84584653e+00] [ 3.58992389e-02 -3.87258271e-04 9.99355340e-01 3.08293989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:3.85, Z:3.08 [[ 9.98152747e-01 -4.90386615e-02 -3.58650632e-02 9.13636595e+01] [ 4.90123406e-02 9.98796870e-01 -1.61324766e-03 3.84905504e+00] [ 3.59010244e-02 -1.47563106e-04 9.99355340e-01 3.08388595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:3.85, Z:3.08 [[ 9.98411898e-01 -4.34440311e-02 -3.58650054e-02 9.13909645e+01] [ 4.34140547e-02 9.99055861e-01 -1.61453083e-03 3.85183419e+00] [ 3.59012856e-02 5.49214827e-05 9.99355340e-01 3.08430744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:3.85, Z:3.09 [[ 9.98495930e-01 -4.14679298e-02 -3.58648621e-02 9.14188702e+01] [ 4.14365648e-02 9.99139827e-01 -1.61770873e-03 3.85324183e+00] [ 3.59010951e-02 1.29158898e-04 9.99355340e-01 3.08537379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:3.85, Z:3.09 [[ 9.98568313e-01 -3.96871459e-02 -3.58643970e-02 9.14458120e+01] [ 3.96542646e-02 9.99212134e-01 -1.62795527e-03 3.85441751e+00] [ 3.59007495e-02 2.03448260e-04 9.99355340e-01 3.08576437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:3.86, Z:3.09 [[ 9.98619245e-01 -3.83844013e-02 -3.58641949e-02 9.14736528e+01] [ 3.83505207e-02 9.99263015e-01 -1.63239470e-03 3.85531690e+00] [ 3.59004220e-02 2.54730217e-04 9.99355340e-01 3.08710544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:3.86, Z:3.09 [[ 9.98681777e-01 -3.67219323e-02 -3.58637292e-02 9.15013136e+01] [ 3.66866149e-02 9.99325470e-01 -1.64256296e-03 3.85554288e+00] [ 3.58998561e-02 3.24678874e-04 9.99355340e-01 3.08775817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:3.86, Z:3.09 [[ 9.98677661e-01 -3.68341723e-02 -3.58632621e-02 9.15285842e+01] [ 3.67985633e-02 9.99321337e-01 -1.65269863e-03 3.85647970e+00] [ 3.58997988e-02 3.30796685e-04 9.99355340e-01 3.08876659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:3.86, Z:3.09 [[ 9.98597885e-01 -3.89371888e-02 -3.58630593e-02 9.15567897e+01] [ 3.89027777e-02 9.99241626e-01 -1.65708824e-03 3.85670702e+00] [ 3.59003840e-02 2.59592191e-04 9.99355340e-01 3.09092249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:3.86, Z:3.09 [[ 9.98523062e-01 -4.08113975e-02 -3.58625807e-02 9.15839360e+01] [ 4.07778250e-02 9.99166847e-01 -1.66738151e-03 3.85690756e+00] [ 3.59007499e-02 2.02520851e-04 9.99355340e-01 3.09187524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:3.86, Z:3.09 [[ 9.98280275e-01 -4.63722203e-02 -3.58623728e-02 9.16123359e+01] [ 4.63420739e-02 9.98924230e-01 -1.67184064e-03 3.85528327e+00] [ 3.59013201e-02 7.02879808e-06 9.99355340e-01 3.09303405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:3.85, Z:3.09 [[ 9.98117805e-01 -4.97470754e-02 -3.58619031e-02 9.16388560e+01] [ 4.97187465e-02 9.98761842e-01 -1.68185683e-03 3.85471080e+00] [ 3.59011679e-02 -1.04317623e-04 9.99355340e-01 3.09353332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:3.85, Z:3.09 [[ 9.97905492e-01 -5.38383499e-02 -3.58616988e-02 9.16668299e+01] [ 5.38125052e-02 9.98549634e-01 -1.68620208e-03 3.85417241e+00] [ 3.59004685e-02 -2.47137533e-04 9.99355340e-01 3.09450492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:3.85, Z:3.10 [[ 9.97656687e-01 -5.82675457e-02 -3.58612200e-02 9.16952743e+01] [ 5.82441968e-02 9.98300925e-01 -1.69632353e-03 3.85386409e+00] [ 3.58991297e-02 -3.96359443e-04 9.99355340e-01 3.09519843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:3.85, Z:3.10 [[ 9.97107568e-01 -6.70112052e-02 -3.58607890e-02 9.17254122e+01] [ 6.69931791e-02 9.97751976e-01 -1.70538659e-03 3.85159737e+00] [ 3.58944531e-02 -7.01974382e-04 9.99355340e-01 3.09521436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:3.85, Z:3.10 [[ 9.96563197e-01 -7.46712651e-02 -3.58607964e-02 9.17557702e+01] [ 7.46581969e-02 9.97207725e-01 -1.70523064e-03 3.85005727e+00] [ 3.58879949e-02 -9.77932305e-04 9.99355340e-01 3.09610155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:3.85, Z:3.10 [[ 9.96334707e-01 -7.76604970e-02 -3.58608265e-02 9.17880290e+01] [ 7.76493851e-02 9.96979271e-01 -1.70459895e-03 3.85049060e+00] [ 3.58848806e-02 -1.08622003e-03 9.99355340e-01 3.09780435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:3.85, Z:3.10 [[ 9.96043367e-01 -8.13117635e-02 -3.58609510e-02 9.18192478e+01] [ 8.13031085e-02 9.96687969e-01 -1.70197571e-03 3.85019061e+00] [ 3.58805690e-02 -1.22036517e-03 9.99355340e-01 3.09857643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:3.85, Z:3.10 [[ 9.95958380e-01 -8.23461672e-02 -3.58610436e-02 9.18510666e+01] [ 8.23382520e-02 9.96602991e-01 -1.70002094e-03 3.85107553e+00] [ 3.58792136e-02 -1.25958555e-03 9.99355340e-01 3.09988593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:3.85, Z:3.10 [[ 9.95820785e-01 -8.39936928e-02 -3.58611650e-02 9.18817388e+01] [ 8.39869362e-02 9.96465410e-01 -1.69745636e-03 3.85174296e+00] [ 3.58769861e-02 -1.32150705e-03 9.99355340e-01 3.10144334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:3.85, Z:3.10 [[ 9.95782645e-01 -8.44446267e-02 -3.58612555e-02 9.19138921e+01] [ 8.44382308e-02 9.96427273e-01 -1.69554323e-03 3.85291851e+00] [ 3.58763125e-02 -1.33966844e-03 9.99355340e-01 3.10284070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:3.85, Z:3.10 [[ 9.95705239e-01 -8.53524416e-02 -3.58613770e-02 9.19461051e+01] [ 8.53467260e-02 9.96349873e-01 -1.69296946e-03 3.85364274e+00] [ 3.58749775e-02 -1.37495255e-03 9.99355340e-01 3.10410949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:3.85, Z:3.10 [[ 9.95599022e-01 -8.65825693e-02 -3.58614973e-02 9.19772734e+01] [ 8.65777420e-02 9.96243664e-01 -1.69041638e-03 3.85467544e+00] [ 3.58731501e-02 -1.42183056e-03 9.99355340e-01 3.10475873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:3.86, Z:3.11 [[ 9.95510485e-01 -8.75945961e-02 -3.58616970e-02 9.20089699e+01] [ 8.75905768e-02 9.96155132e-01 -1.68616988e-03 3.85598105e+00] [ 3.58715129e-02 -1.46254693e-03 9.99355340e-01 3.10593163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:3.86, Z:3.11 [[ 9.95250608e-01 -9.04994857e-02 -3.58618171e-02 9.20411055e+01] [ 9.04974398e-02 9.95895265e-01 -1.68361117e-03 3.85757328e+00] [ 3.58669798e-02 -1.56978759e-03 9.99355340e-01 3.10611806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:3.86, Z:3.11 [[ 9.94865728e-01 -9.46367029e-02 -3.58619376e-02 9.20727163e+01] [ 9.46374298e-02 9.95510387e-01 -1.68104088e-03 3.85919019e+00] [ 3.58600195e-02 -1.72147165e-03 9.99355340e-01 3.10536252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:3.86, Z:3.11 [[ 9.94410626e-01 -9.93046959e-02 -3.58620272e-02 9.21052612e+01] [ 9.93085171e-02 9.95055274e-01 -1.67912611e-03 3.86072671e+00] [ 3.58514445e-02 -1.89166390e-03 9.99355340e-01 3.10562741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:3.86, Z:3.11 [[ 9.94417664e-01 -9.92341502e-02 -3.58621461e-02 9.21378982e+01] [ 9.92380170e-02 9.95062312e-01 -1.67658363e-03 3.86219177e+00] [ 3.58514444e-02 -1.89166389e-03 9.99355340e-01 3.10680031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:3.86, Z:3.11 [[ 9.94214571e-01 -1.01248633e-01 -3.58622648e-02 9.21701539e+01] [ 1.01253897e-01 9.94859209e-01 -1.67404114e-03 3.86383809e+00] [ 3.58473988e-02 -1.96683797e-03 9.99355340e-01 3.10792644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:3.87, Z:3.11 [[ 9.93851560e-01 -1.04751923e-01 -3.58623864e-02 9.22018636e+01] [ 1.04759553e-01 9.94496175e-01 -1.67143154e-03 3.86577991e+00] [ 3.58400918e-02 -2.09577274e-03 9.99355340e-01 3.10854751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:3.87, Z:3.11 [[ 9.93730140e-01 -1.05897546e-01 -3.58625085e-02 9.22329516e+01] [ 1.05906013e-01 9.94374744e-01 -1.66880736e-03 3.86793206e+00] [ 3.58374953e-02 -2.13971114e-03 9.99355340e-01 3.10876057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:3.87, Z:3.11 [[ 9.93603695e-01 -1.07077412e-01 -3.58625995e-02 9.22642672e+01] [ 1.07086715e-01 9.94248287e-01 -1.66685084e-03 3.87194785e+00] [ 3.58348102e-02 -2.18421881e-03 9.99355340e-01 3.10927159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:3.87, Z:3.11 [[ 9.93641686e-01 -1.06724255e-01 -3.58626882e-02 9.22975717e+01] [ 1.06733398e-01 9.94286282e-01 -1.66493864e-03 3.87475586e+00] [ 3.58354683e-02 -2.17339415e-03 9.99355340e-01 3.11103076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:3.88, Z:3.11 [[ 9.93903967e-01 -1.04253343e-01 -3.58628697e-02 9.23282221e+01] [ 1.04261024e-01 9.94548581e-01 -1.66102184e-03 3.87936083e+00] [ 3.58405332e-02 -2.08820332e-03 9.99355340e-01 3.11232607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:3.88, Z:3.12 [[ 9.94063628e-01 -1.02719725e-01 -3.58630915e-02 9.23599513e+01] [ 1.02726584e-01 9.94708252e-01 -1.65621910e-03 3.88306828e+00] [ 3.58434394e-02 -2.03770571e-03 9.99355340e-01 3.11511786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:3.89, Z:3.12 [[ 9.94251320e-01 -1.00886780e-01 -3.58632096e-02 9.23922330e+01] [ 1.00892543e-01 9.94895954e-01 -1.65365680e-03 3.88700339e+00] [ 3.58469943e-02 -1.97417995e-03 9.99355340e-01 3.11786398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:3.89, Z:3.12 [[ 9.94262394e-01 -1.00777548e-01 -3.58633302e-02 9.24257196e+01] [ 1.00783334e-01 9.94907028e-01 -1.65103734e-03 3.88845865e+00] [ 3.58470667e-02 -1.97286165e-03 9.99355340e-01 3.11906730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:3.89, Z:3.12 [[ 9.94620790e-01 -9.71766031e-02 -3.58635111e-02 9.24565030e+01] [ 9.71801966e-02 9.95265440e-01 -1.64709811e-03 3.89391396e+00] [ 3.58537726e-02 -1.84698504e-03 9.99355340e-01 3.12222530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:3.90, Z:3.12 [[ 9.94744535e-01 -9.59015747e-02 -3.58636005e-02 9.24886649e+01] [ 9.59044120e-02 9.95389189e-01 -1.64514861e-03 3.89695948e+00] [ 3.58560126e-02 -1.80297493e-03 9.99355340e-01 3.12393794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:3.90, Z:3.13 [[ 9.94873903e-01 -9.45500296e-02 -3.58637486e-02 9.25216472e+01] [ 9.45521073e-02 9.95518560e-01 -1.64191502e-03 3.90087550e+00] [ 3.58582705e-02 -1.75749459e-03 9.99355340e-01 3.12609257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:3.90, Z:3.13 [[ 9.94908994e-01 -9.41800002e-02 -3.58639259e-02 9.25549130e+01] [ 9.41819779e-02 9.95553651e-01 -1.63803168e-03 3.90326270e+00] [ 3.58587322e-02 -1.74804303e-03 9.99355340e-01 3.12710438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:3.91, Z:3.13 [[ 9.94879197e-01 -9.44941770e-02 -3.58641062e-02 9.25868864e+01] [ 9.44965005e-02 9.95523853e-01 -1.63407627e-03 3.90633836e+00] [ 3.58579838e-02 -1.76332404e-03 9.99355340e-01 3.12764312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:3.91, Z:3.13 [[ 9.94852090e-01 -9.47790785e-02 -3.58642551e-02 9.26193141e+01] [ 9.47817043e-02 9.95496745e-01 -1.63080167e-03 3.90905407e+00] [ 3.58573151e-02 -1.77686877e-03 9.99355340e-01 3.12821505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:3.91, Z:3.13 [[ 9.94879227e-01 -9.44937465e-02 -3.58644009e-02 9.26518384e+01] [ 9.44963030e-02 9.95523882e-01 -1.62758842e-03 3.91165416e+00] [ 3.58576645e-02 -1.76979939e-03 9.99355340e-01 3.12880237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:3.92, Z:3.13 [[ 9.94969281e-01 -9.35407223e-02 -3.58645167e-02 9.26842142e+01] [ 9.35427532e-02 9.95613938e-01 -1.62503165e-03 3.91593359e+00] [ 3.58592194e-02 -1.73800906e-03 9.99355340e-01 3.12879874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:3.92, Z:3.13 [[ 9.95072626e-01 -9.24348268e-02 -3.58646344e-02 9.27160356e+01] [ 9.24362347e-02 9.95717284e-01 -1.62243133e-03 3.91881313e+00] [ 3.58610055e-02 -1.70075476e-03 9.99355340e-01 3.12947044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:3.92, Z:3.13 [[ 9.95482330e-01 -8.79127435e-02 -3.58647531e-02 9.27469350e+01] [ 8.79113169e-02 9.96126988e-01 -1.61980302e-03 3.92313135e+00] [ 3.58682498e-02 -1.54043239e-03 9.99355340e-01 3.12820853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:3.93, Z:3.13 [[ 9.96044263e-01 -8.12990746e-02 -3.58648414e-02 9.27788724e+01] [ 8.12934368e-02 9.96688898e-01 -1.61784450e-03 3.92930885e+00] [ 3.58776185e-02 -1.30413149e-03 9.99355340e-01 3.12931395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:3.93, Z:3.13 [[ 9.96367168e-01 -7.72409912e-02 -3.58649584e-02 9.28110323e+01] [ 7.72328209e-02 9.97011776e-01 -1.61524636e-03 3.93351022e+00] [ 3.58825492e-02 -1.16057347e-03 9.99355340e-01 3.12927459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:3.94, Z:3.13 [[ 9.96682333e-01 -7.30617607e-02 -3.58651038e-02 9.28430137e+01] [ 7.30510035e-02 9.97326903e-01 -1.61201227e-03 3.93784655e+00] [ 3.58870094e-02 -1.01331768e-03 9.99355340e-01 3.13211750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:3.94, Z:3.14 [[ 9.97281128e-01 -6.43741980e-02 -3.58652185e-02 9.28751871e+01] [ 6.43579165e-02 9.97925583e-01 -1.60945573e-03 3.94449494e+00] [ 3.58944265e-02 -7.03130916e-04 9.99355340e-01 3.13522232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:3.95, Z:3.14 [[ 9.97543097e-01 -6.01784687e-02 -3.58653326e-02 9.29070533e+01] [ 6.01595679e-02 9.98187480e-01 -1.60690957e-03 3.94788102e+00] [ 3.58970273e-02 -5.54681360e-04 9.99355340e-01 3.13729362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:3.95, Z:3.14 [[ 9.97964722e-01 -5.27265059e-02 -3.58654451e-02 9.29379768e+01] [ 5.27028833e-02 9.98608948e-01 -1.60439512e-03 3.95268200e+00] [ 3.59001485e-02 -2.89082639e-04 9.99355340e-01 3.13995848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:3.96, Z:3.14 [[ 9.98103272e-01 -5.00352390e-02 -3.58655013e-02 9.29685515e+01] [ 5.00099245e-02 9.98747434e-01 -1.60313633e-03 3.95560078e+00] [ 3.59007908e-02 -1.93535402e-04 9.99355340e-01 3.14158313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:3.96, Z:3.14 [[ 9.98206296e-01 -4.79359572e-02 -3.58655013e-02 9.29990715e+01] [ 4.79092880e-02 9.98850404e-01 -1.60313633e-03 3.95832429e+00] [ 3.59011184e-02 -1.18029860e-04 9.99355340e-01 3.14304373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:3.96, Z:3.14 [[ 9.98314276e-01 -4.56319253e-02 -3.58655013e-02 9.30284038e+01] [ 4.56037695e-02 9.98958321e-01 -1.60313633e-03 3.96135828e+00] [ 3.59012952e-02 -3.51681769e-05 9.99355340e-01 3.14363806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:3.96, Z:3.14 [[ 9.98304954e-01 -4.58354472e-02 -3.58654444e-02 9.30574182e+01] [ 4.58073770e-02 9.98949003e-01 -1.60441027e-03 3.96331725e+00] [ 3.59012887e-02 -4.12112085e-05 9.99355340e-01 3.14449343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:3.96, Z:3.14 [[ 9.98222955e-01 -4.75881446e-02 -3.58650342e-02 9.30861992e+01] [ 4.75608777e-02 9.98867038e-01 -1.61352675e-03 3.96457448e+00] [ 3.59011852e-02 -9.51130654e-05 9.99355340e-01 3.14397842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:3.97, Z:3.14 [[ 9.98147167e-01 -4.91521919e-02 -3.58649472e-02 9.31162678e+01] [ 4.91258648e-02 9.98791289e-01 -1.61545876e-03 3.96542289e+00] [ 3.59010002e-02 -1.49430959e-04 9.99355340e-01 3.14441833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:3.97, Z:3.14 [[ 9.97910382e-01 -5.37455097e-02 -3.58648889e-02 9.31455589e+01] [ 5.37221009e-02 9.98554616e-01 -1.61675088e-03 3.96566865e+00] [ 3.58999435e-02 -3.13364695e-04 9.99355340e-01 3.14355017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:3.97, Z:3.14 [[ 9.97770667e-01 -5.62797315e-02 -3.58648600e-02 9.31761814e+01] [ 5.62579359e-02 9.98414958e-01 -1.61739198e-03 3.96629356e+00] [ 3.58990391e-02 -4.03896725e-04 9.99355340e-01 3.14406342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:3.97, Z:3.14 [[ 9.97472559e-01 -6.13368310e-02 -3.58648600e-02 9.32068728e+01] [ 6.13183017e-02 9.98116952e-01 -1.61739198e-03 3.96656081e+00] [ 3.58965305e-02 -5.85868194e-04 9.99355340e-01 3.14483531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:3.97, Z:3.15 [[ 9.97180207e-01 -6.59192254e-02 -3.58648881e-02 9.32389280e+01] [ 6.59036794e-02 9.97824680e-01 -1.61676885e-03 3.96752337e+00] [ 3.58934467e-02 -7.51418193e-04 9.99355340e-01 3.14758933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:3.97, Z:3.15 [[ 9.96928813e-01 -6.96178334e-02 -3.58650034e-02 9.32700274e+01] [ 6.96047703e-02 9.97573341e-01 -1.61420750e-03 3.96844728e+00] [ 3.58903489e-02 -8.87125363e-04 9.99355340e-01 3.14902334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:3.97, Z:3.15 [[ 9.96790718e-01 -7.15678722e-02 -3.58650893e-02 9.33019767e+01] [ 7.15561387e-02 9.97435271e-01 -1.61229675e-03 3.96912889e+00] [ 3.58884937e-02 -9.59244865e-04 9.99355340e-01 3.15049847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:3.97, Z:3.15 [[ 9.96491708e-01 -7.56172099e-02 -3.58652033e-02 9.33332299e+01] [ 7.56081866e-02 9.97136305e-01 -1.60975616e-03 3.96874385e+00] [ 3.58842216e-02 -1.10759431e-03 9.99355340e-01 3.15250516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:3.97, Z:3.15 [[ 9.96311611e-01 -7.79541786e-02 -3.58652882e-02 9.33652133e+01] [ 7.79467352e-02 9.96956228e-01 -1.60786260e-03 3.96886179e+00] [ 3.58814621e-02 -1.19364995e-03 9.99355340e-01 3.15398905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:3.97, Z:3.15 [[ 9.96127636e-01 -8.02708236e-02 -3.58654031e-02 9.33968706e+01] [ 8.02649717e-02 9.96772270e-01 -1.60529557e-03 3.96924099e+00] [ 3.58784977e-02 -1.27965629e-03 9.99355340e-01 3.15463783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:3.97, Z:3.15 [[ 9.95816991e-01 -8.40367711e-02 -3.58655903e-02 9.34295504e+01] [ 8.40335073e-02 9.96461643e-01 -1.60110314e-03 3.96859451e+00] [ 3.58732366e-02 -1.41950563e-03 9.99355340e-01 3.15430854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:3.97, Z:3.15 [[ 9.95727584e-01 -8.50895431e-02 -3.58657068e-02 9.34610802e+01] [ 8.50870550e-02 9.96372239e-01 -1.59848939e-03 3.96921454e+00] [ 3.58716093e-02 -1.46004739e-03 9.99355340e-01 3.15425534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:3.97, Z:3.15 [[ 9.95729410e-01 -8.50681307e-02 -3.58657936e-02 9.34931300e+01] [ 8.50656988e-02 9.96374065e-01 -1.59653977e-03 3.96955188e+00] [ 3.58715612e-02 -1.46122719e-03 9.99355340e-01 3.15330928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:3.97, Z:3.15 [[ 9.95836045e-01 -8.38105442e-02 -3.58659062e-02 9.35247573e+01] [ 8.38073893e-02 9.96480698e-01 -1.59400466e-03 3.97080515e+00] [ 3.58732777e-02 -1.41846067e-03 9.99355340e-01 3.15344462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:3.97, Z:3.15 [[ 9.96182217e-01 -7.95902857e-02 -3.58660951e-02 9.35565806e+01] [ 7.95845525e-02 9.96826851e-01 -1.58974346e-03 3.97309462e+00] [ 3.58788148e-02 -1.27071296e-03 9.99355340e-01 3.15478567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:3.98, Z:3.16 [[ 9.96403314e-01 -7.67727255e-02 -3.58662081e-02 9.35885777e+01] [ 7.67652611e-02 9.97047930e-01 -1.58719032e-03 3.97552772e+00] [ 3.58821815e-02 -1.17179713e-03 9.99355340e-01 3.15633040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:3.98, Z:3.16 [[ 9.96930671e-01 -6.95905531e-02 -3.58663226e-02 9.36195861e+01] [ 6.95785370e-02 9.97575218e-01 -1.58459816e-03 3.97907134e+00] [ 3.58896277e-02 -9.15791749e-04 9.99355340e-01 3.15644584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:3.98, Z:3.16 [[ 9.97188044e-01 -6.57997342e-02 -3.58664079e-02 9.36506585e+01] [ 6.57853371e-02 9.97832543e-01 -1.58266477e-03 3.98183336e+00] [ 3.58928080e-02 -7.81269347e-04 9.99355340e-01 3.15743918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:3.99, Z:3.16 [[ 9.97660061e-01 -5.82065022e-02 -3.58664903e-02 9.36824109e+01] [ 5.81872662e-02 9.98304434e-01 -1.58079625e-03 3.98603268e+00] [ 3.58976889e-02 -5.09875736e-04 9.99355340e-01 3.16006493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:3.99, Z:3.16 [[ 9.97966301e-01 -5.26958142e-02 -3.58666020e-02 9.37131419e+01] [ 5.26731111e-02 9.98610561e-01 -1.57825661e-03 3.98976507e+00] [ 3.58999351e-02 -3.14158601e-04 9.99355340e-01 3.16101341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:3.99, Z:3.16 [[ 9.98068196e-01 -5.07292794e-02 -3.58666575e-02 9.37440029e+01] [ 5.07053522e-02 9.98712411e-01 -1.57699452e-03 3.99174241e+00] [ 3.59004758e-02 -2.44683424e-04 9.99355340e-01 3.16179868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:3.99, Z:3.16 [[ 9.98130983e-01 -4.94785268e-02 -3.58666575e-02 9.37738597e+01] [ 4.94537924e-02 9.98775168e-01 -1.57699452e-03 3.99384918e+00] [ 3.59007542e-02 -1.99695140e-04 9.99355340e-01 3.16274096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:4.00, Z:3.16 [[ 9.98144964e-01 -4.91956950e-02 -3.58666293e-02 9.38031005e+01] [ 4.91707550e-02 9.98789141e-01 -1.57763653e-03 3.99584317e+00] [ 3.59008128e-02 -1.88879284e-04 9.99355340e-01 3.16466071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:4.00, Z:3.17 [[ 9.98091366e-01 -5.02713942e-02 -3.58665730e-02 9.38325663e+01] [ 5.02471025e-02 9.98735568e-01 -1.57891398e-03 3.99743271e+00] [ 3.59005964e-02 -2.26290963e-04 9.99355340e-01 3.16596757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:4.00, Z:3.17 [[ 9.97928294e-01 -5.34107972e-02 -3.58665167e-02 9.38620054e+01] [ 5.33884861e-02 9.98572567e-01 -1.58019383e-03 3.99858649e+00] [ 3.58997190e-02 -3.37938891e-04 9.99355340e-01 3.16639940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:4.00, Z:3.17 [[ 9.97826156e-01 -5.52861477e-02 -3.58664887e-02 9.38937929e+01] [ 5.52650247e-02 9.98470469e-01 -1.58082863e-03 3.99979644e+00] [ 3.58990277e-02 -4.04770232e-04 9.99355340e-01 3.16723793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:4.00, Z:3.17 [[ 9.97540255e-01 -6.02248320e-02 -3.58665451e-02 9.39255823e+01] [ 6.02069446e-02 9.98184667e-01 -1.57954869e-03 4.00097957e+00] [ 3.58965634e-02 -5.83751690e-04 9.99355340e-01 3.16792166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:4.00, Z:3.17 [[ 9.97366884e-01 -6.30308341e-02 -3.58666010e-02 9.39580340e+01] [ 6.30148053e-02 9.98011344e-01 -1.57827741e-03 4.00225408e+00] [ 3.58947548e-02 -6.86005256e-04 9.99355340e-01 3.16946939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:4.00, Z:3.17 [[ 9.97192144e-01 -6.57374076e-02 -3.58667149e-02 9.39904646e+01] [ 6.57232211e-02 9.97836648e-01 -1.57568521e-03 4.00358311e+00] [ 3.58927040e-02 -7.86015113e-04 9.99355340e-01 3.17123598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:4.01, Z:3.17 [[ 9.96820930e-01 -7.11449488e-02 -3.58668284e-02 9.40214757e+01] [ 7.11343512e-02 9.97465503e-01 -1.57309687e-03 4.00542263e+00] [ 3.58878419e-02 -9.83267686e-04 9.99355340e-01 3.17308559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:4.01, Z:3.17 [[ 9.96451158e-01 -7.61488987e-02 -3.58669128e-02 9.40531758e+01] [ 7.61416068e-02 9.97095776e-01 -1.57116955e-03 4.00768124e+00] [ 3.58823901e-02 -1.16537066e-03 9.99355340e-01 3.17456093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:4.01, Z:3.18 [[ 9.96289669e-01 -7.82333210e-02 -3.58670259e-02 9.40854081e+01] [ 7.82274707e-02 9.96934302e-01 -1.56858446e-03 4.00978905e+00] [ 3.58797840e-02 -1.24302222e-03 9.99355340e-01 3.17587436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:4.01, Z:3.18 [[ 9.95990987e-01 -8.19481649e-02 -3.58671384e-02 9.41181154e+01] [ 8.19448112e-02 9.96635638e-01 -1.56600674e-03 4.01320858e+00] [ 3.58747998e-02 -1.37939728e-03 9.99355340e-01 3.17819826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:4.02, Z:3.18 [[ 9.95967743e-01 -8.22301081e-02 -3.58673105e-02 9.41499474e+01] [ 8.22270790e-02 9.96612396e-01 -1.56205605e-03 4.01544233e+00] [ 3.58742543e-02 -1.39350673e-03 9.99355340e-01 3.17888103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:4.02, Z:3.18 [[ 9.96156379e-01 -7.99123568e-02 -3.58675912e-02 9.41820056e+01] [ 7.99080604e-02 9.96801024e-01 -1.55558254e-03 4.01755151e+00] [ 3.58771620e-02 -1.31650618e-03 9.99355340e-01 3.17944924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:4.02, Z:3.18 [[ 9.96311925e-01 -7.79490472e-02 -3.58677310e-02 9.42150803e+01] [ 7.79435966e-02 9.96956562e-01 -1.55235266e-03 4.02021516e+00] [ 3.58795742e-02 -1.24903249e-03 9.99355340e-01 3.18175467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:4.02, Z:3.18 [[ 9.96359117e-01 -7.73434143e-02 -3.58678956e-02 9.42477360e+01] [ 7.73377088e-02 9.97003752e-01 -1.54854124e-03 4.02175402e+00] [ 3.58801959e-02 -1.23103768e-03 9.99355340e-01 3.18329431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:4.02, Z:3.18 [[ 9.96388687e-01 -7.69614638e-02 -3.58680598e-02 9.42804356e+01] [ 7.69556484e-02 9.97033320e-01 -1.54472780e-03 4.02337749e+00] [ 3.58805353e-02 -1.22110049e-03 9.99355340e-01 3.18437671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:4.02, Z:3.19 [[ 9.96422041e-01 -7.65283438e-02 -3.58682229e-02 9.43111703e+01] [ 7.65223846e-02 9.97066673e-01 -1.54093175e-03 4.02475308e+00] [ 3.58809346e-02 -1.20930359e-03 9.99355340e-01 3.18520683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:4.03, Z:3.19 [[ 9.96395524e-01 -7.68727797e-02 -3.58683035e-02 9.43429186e+01] [ 7.68671109e-02 9.97040159e-01 -1.53905220e-03 4.02630314e+00] [ 3.58804503e-02 -1.22358814e-03 9.99355340e-01 3.18577962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:4.03, Z:3.19 [[ 9.96395003e-01 -7.68794799e-02 -3.58684147e-02 9.43745680e+01] [ 7.68739088e-02 9.97039639e-01 -1.53645659e-03 4.02768592e+00] [ 3.58803533e-02 -1.22642758e-03 9.99355340e-01 3.18618588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:4.03, Z:3.19 [[ 9.96403093e-01 -7.67744892e-02 -3.58685534e-02 9.44080637e+01] [ 7.67689668e-02 9.97047730e-01 -1.53321188e-03 4.02902407e+00] [ 3.58803713e-02 -1.22589472e-03 9.99355340e-01 3.18738898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:4.03, Z:3.19 [[ 9.96419259e-01 -7.65643232e-02 -3.58687145e-02 9.44408865e+01] [ 7.65588007e-02 9.97063895e-01 -1.52943415e-03 4.03095606e+00] [ 3.58805003e-02 -1.22210812e-03 9.99355340e-01 3.18917455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:4.03, Z:3.19 [[ 9.96448835e-01 -7.61783593e-02 -3.58688789e-02 9.44736272e+01] [ 7.61727262e-02 9.97093470e-01 -1.52556832e-03 4.03278160e+00] [ 3.58808403e-02 -1.21207951e-03 9.99355340e-01 3.19077264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:4.03, Z:3.19 [[ 9.96477667e-01 -7.58002059e-02 -3.58690439e-02 9.45056911e+01] [ 7.57944679e-02 9.97122301e-01 -1.52167907e-03 4.03447277e+00] [ 3.58811672e-02 -1.20235589e-03 9.99355340e-01 3.19155589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:4.04, Z:3.19 [[ 9.96532816e-01 -7.50715639e-02 -3.58693148e-02 9.45377343e+01] [ 7.50655852e-02 9.97177448e-01 -1.51526721e-03 4.03611198e+00] [ 3.58818252e-02 -1.18253761e-03 9.99355340e-01 3.19387554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:4.04, Z:3.20 [[ 9.96556457e-01 -7.47570203e-02 -3.58694223e-02 9.45702918e+01] [ 7.47509297e-02 9.97201088e-01 -1.51271837e-03 4.03737042e+00] [ 3.58821132e-02 -1.17376340e-03 9.99355340e-01 3.19562447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:4.04, Z:3.20 [[ 9.96567194e-01 -7.46136990e-02 -3.58695302e-02 9.46010196e+01] [ 7.46076079e-02 9.97211825e-01 -1.51015427e-03 4.03815473e+00] [ 3.58821979e-02 -1.17116964e-03 9.99355340e-01 3.19823598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:4.04, Z:3.20 [[ 9.96539758e-01 -7.49792065e-02 -3.58696107e-02 9.46329568e+01] [ 7.49734206e-02 9.97184392e-01 -1.50824170e-03 4.03845325e+00] [ 3.58817027e-02 -1.18624459e-03 9.99355340e-01 3.20088787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:4.04, Z:3.20 [[ 9.96519265e-01 -7.52510374e-02 -3.58697182e-02 9.46654863e+01] [ 7.52455195e-02 9.97163901e-01 -1.50567866e-03 4.03847422e+00] [ 3.58812920e-02 -1.19859779e-03 9.99355340e-01 3.20223335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:4.04, Z:3.20 [[ 9.96529368e-01 -7.51169982e-02 -3.58699841e-02 9.46973452e+01] [ 7.51116222e-02 9.97174005e-01 -1.49931876e-03 4.03835404e+00] [ 3.58812400e-02 -1.20013752e-03 9.99355340e-01 3.20315801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:4.04, Z:3.20 [[ 9.96581395e-01 -7.44235235e-02 -3.58700890e-02 9.47294015e+01] [ 7.44177894e-02 9.97226029e-01 -1.49680398e-03 4.03894902e+00] [ 3.58819838e-02 -1.17768573e-03 9.99355340e-01 3.20407095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:4.04, Z:3.21 [[ 9.96586591e-01 -7.43538536e-02 -3.58701934e-02 9.47620499e+01] [ 7.43481645e-02 9.97231226e-01 -1.49429796e-03 4.04024816e+00] [ 3.58819838e-02 -1.17768573e-03 9.99355340e-01 3.20524385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:4.04, Z:3.21 [[ 9.96753238e-01 -7.20853891e-02 -3.58702976e-02 9.47947687e+01] [ 7.20783229e-02 9.97397859e-01 -1.49179194e-03 4.04028763e+00] [ 3.58844945e-02 -1.09852245e-03 9.99355340e-01 3.20525178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:4.04, Z:3.21 [[ 9.96885580e-01 -7.02314426e-02 -3.58704017e-02 9.48270946e+01] [ 7.02232676e-02 9.97530187e-01 -1.48928590e-03 4.04122012e+00] [ 3.58864032e-02 -1.03428918e-03 9.99355340e-01 3.20645681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:4.04, Z:3.21 [[ 9.97259911e-01 -6.46991182e-02 -3.58705103e-02 9.48580794e+01] [ 6.46874609e-02 9.97904465e-01 -1.48666479e-03 4.04223810e+00] [ 3.58915283e-02 -8.37781035e-04 9.99355340e-01 3.20703252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:4.04, Z:3.21 [[ 9.97488600e-01 -6.10720419e-02 -3.58705913e-02 9.48895767e+01] [ 6.10581110e-02 9.98133109e-01 -1.48470867e-03 4.04393150e+00] [ 3.58942990e-02 -7.09210570e-04 9.99355340e-01 3.20815009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:4.05, Z:3.21 [[ 9.97733328e-01 -5.69341752e-02 -3.58706709e-02 9.49217665e+01] [ 5.69176404e-02 9.98377776e-01 -1.48278196e-03 4.04579973e+00] [ 3.58969016e-02 -5.62252966e-04 9.99355340e-01 3.20941876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:4.05, Z:3.21 [[ 9.98183363e-01 -4.84072460e-02 -3.58707761e-02 9.49526138e+01] [ 4.83852972e-02 9.98827649e-01 -1.48023196e-03 4.04830553e+00] [ 3.59003770e-02 -2.58075244e-04 9.99355340e-01 3.20987735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:4.05, Z:3.21 [[ 9.98540939e-01 -4.03643118e-02 -3.58708281e-02 9.49815994e+01] [ 4.03372186e-02 9.99185029e-01 -1.47897142e-03 4.05071530e+00] [ 3.59012921e-02 2.98840771e-05 9.99355340e-01 3.21043726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:4.05, Z:3.21 [[ 9.98655135e-01 -3.74327554e-02 -3.58707508e-02 9.50096044e+01] [ 3.74037041e-02 9.99299139e-01 -1.48084545e-03 4.05237752e+00] [ 3.59010425e-02 1.37154963e-04 9.99355340e-01 3.21246583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:4.05, Z:3.21 [[ 9.98838394e-01 -3.21742496e-02 -3.58703197e-02 9.50377775e+01] [ 3.21414356e-02 9.99482218e-01 -1.49121455e-03 4.05429820e+00] [ 3.58997254e-02 3.36558775e-04 9.99355340e-01 3.21465339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:4.06, Z:3.22 [[ 9.98891090e-01 -3.04945871e-02 -3.58701858e-02 9.50655843e+01] [ 3.04605752e-02 9.99534852e-01 -1.49442803e-03 4.05575870e+00] [ 3.58990728e-02 4.00144349e-04 9.99355340e-01 3.21612057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:4.06, Z:3.22 [[ 9.98929602e-01 -2.92059922e-02 -3.58700528e-02 9.50938709e+01] [ 2.91710355e-02 9.99573313e-01 -1.49761367e-03 4.05700091e+00] [ 3.58984868e-02 4.49644047e-04 9.99355340e-01 3.21862555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:4.06, Z:3.22 [[ 9.98903933e-01 -3.00715555e-02 -3.58696783e-02 9.51212691e+01] [ 3.00368365e-02 9.99547657e-01 -1.50652949e-03 4.05772185e+00] [ 3.58987566e-02 4.27466568e-04 9.99355340e-01 3.22017873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:4.06, Z:3.22 [[ 9.98792030e-01 -3.35838917e-02 -3.58692423e-02 9.51479548e+01] [ 3.35510661e-02 9.99435853e-01 -1.51684138e-03 4.05643597e+00] [ 3.58999482e-02 3.11557762e-04 9.99355341e-01 3.22074841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:4.06, Z:3.22 [[ 9.98679069e-01 -3.67903261e-02 -3.58690529e-02 9.51761923e+01] [ 3.67594073e-02 9.99322987e-01 -1.52130739e-03 4.05595309e+00] [ 3.59007384e-02 2.00772727e-04 9.99355341e-01 3.22186409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:4.05, Z:3.22 [[ 9.98331289e-01 -4.52557048e-02 -3.58686215e-02 9.52040003e+01] [ 4.52298832e-02 9.98975431e-01 -1.53141120e-03 4.05323786e+00] [ 3.59011767e-02 -9.34778455e-05 9.99355341e-01 3.22273283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:4.05, Z:3.22 [[ 9.98104573e-01 -5.00073481e-02 -3.58681864e-02 9.52332072e+01] [ 4.99842292e-02 9.98748818e-01 -1.54153461e-03 4.05209138e+00] [ 3.59003968e-02 -2.54230908e-04 9.99355341e-01 3.22408482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:4.05, Z:3.23 [[ 9.97843952e-01 -5.49631436e-02 -3.58678055e-02 9.52631601e+01] [ 5.49429075e-02 9.98488294e-01 -1.55034641e-03 4.05088940e+00] [ 3.58987959e-02 -4.23677732e-04 9.99355341e-01 3.22509061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:4.05, Z:3.23 [[ 9.97323147e-01 -6.37184847e-02 -3.58677513e-02 9.52940260e+01] [ 6.37038592e-02 9.97967640e-01 -1.55160016e-03 4.04672981e+00] [ 3.58937207e-02 -7.37467425e-04 9.99355341e-01 3.22597793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:4.04, Z:3.23 [[ 9.96821781e-01 -7.11325557e-02 -3.58677513e-02 9.53263648e+01] [ 7.11227229e-02 9.97466366e-01 -1.55160016e-03 4.04294626e+00] [ 3.58872448e-02 -1.00434330e-03 9.99355341e-01 3.22671023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:4.04, Z:3.23 [[ 9.96599640e-01 -7.41798729e-02 -3.58678615e-02 9.53582762e+01] [ 7.41721027e-02 9.97244253e-01 -1.54904770e-03 4.04208412e+00] [ 3.58839269e-02 -1.11661433e-03 9.99355341e-01 3.22800335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:4.04, Z:3.23 [[ 9.96261271e-01 -7.85936946e-02 -3.58679723e-02 9.53899306e+01] [ 7.85888723e-02 9.96905912e-01 -1.54647913e-03 4.03940528e+00] [ 3.58785371e-02 -1.27812623e-03 9.99355341e-01 3.22872503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:4.04, Z:3.23 [[ 9.96117275e-01 -8.03980783e-02 -3.58681527e-02 9.54218042e+01] [ 8.03945745e-02 9.96761924e-01 -1.54228193e-03 4.03708124e+00] [ 3.58760054e-02 -1.34731121e-03 9.99355341e-01 3.22950639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:4.04, Z:3.23 [[ 9.96109075e-01 -8.04995532e-02 -3.58682652e-02 9.54534208e+01] [ 8.04962093e-02 9.96753726e-01 -1.53966181e-03 4.03665557e+00] [ 3.58757691e-02 -1.35358828e-03 9.99355341e-01 3.23027738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:4.04, Z:3.23 [[ 9.96272350e-01 -7.84529512e-02 -3.58683489e-02 9.54860901e+01] [ 7.84483531e-02 9.96916993e-01 -1.53770853e-03 4.03541806e+00] [ 3.58784044e-02 -1.28183641e-03 9.99355341e-01 3.23067347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:4.04, Z:3.23 [[ 9.96420645e-01 -7.65464055e-02 -3.58684596e-02 9.55170160e+01] [ 7.65406669e-02 9.97065279e-01 -1.53512334e-03 4.03613564e+00] [ 3.58807038e-02 -1.21576723e-03 9.99355341e-01 3.23109298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:4.04, Z:3.23 [[ 9.96843827e-01 -7.08224918e-02 -3.58686447e-02 9.55491511e+01] [ 7.08132069e-02 9.97488419e-01 -1.53078663e-03 4.03696505e+00] [ 3.58869718e-02 -1.01401855e-03 9.99355341e-01 3.23190351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:4.04, Z:3.23 [[ 9.97084347e-01 -6.73516010e-02 -3.58687545e-02 9.55802617e+01] [ 6.73401646e-02 9.97728904e-01 -1.52820988e-03 4.03837363e+00] [ 3.58902205e-02 -8.91653679e-04 9.99355341e-01 3.23235559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:4.04, Z:3.23 [[ 9.97553302e-01 -6.00069153e-02 -3.58689370e-02 9.56120070e+01] [ 5.99908869e-02 9.98197762e-01 -1.52391345e-03 4.04038750e+00] [ 3.58957380e-02 -6.31624453e-04 9.99355341e-01 3.23269012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:4.04, Z:3.23 [[ 9.97780009e-01 -5.61112262e-02 -3.58689909e-02 9.56425760e+01] [ 5.60927272e-02 9.98424403e-01 -1.52264433e-03 4.04184553e+00] [ 3.58979132e-02 -4.92725445e-04 9.99355341e-01 3.23371927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:4.04, Z:3.23 [[ 9.98157204e-01 -4.89449893e-02 -3.58689909e-02 9.56717260e+01] [ 4.89218635e-02 9.98801448e-01 -1.52264433e-03 4.04336199e+00] [ 3.59005258e-02 -2.34939468e-04 9.99355341e-01 3.23442944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:4.04, Z:3.24 [[ 9.98289923e-01 -4.61589578e-02 -3.58689358e-02 9.57007541e+01] [ 4.61339875e-02 9.98934098e-01 -1.52393947e-03 4.04480882e+00] [ 3.59010465e-02 -1.33443618e-04 9.99355341e-01 3.23572235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:4.05, Z:3.24 [[ 9.98495840e-01 -4.14669240e-02 -3.58685441e-02 9.57282741e+01] [ 4.14385974e-02 9.99139876e-01 -1.53310557e-03 4.04667586e+00] [ 3.59012658e-02 4.44573738e-05 9.99355341e-01 3.23623165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:4.05, Z:3.24 [[ 9.98546665e-01 -4.02245489e-02 -3.58684052e-02 9.57554280e+01] [ 4.01953045e-02 9.99190661e-01 -1.53634686e-03 4.04807454e+00] [ 3.59011744e-02 9.23725587e-05 9.99355341e-01 3.23635318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:4.05, Z:3.24 [[ 9.98553152e-01 -4.00634694e-02 -3.58680988e-02 9.57830458e+01] [ 4.00338653e-02 9.99197131e-01 -1.54346786e-03 4.04898777e+00] [ 3.59011381e-02 1.05296061e-04 9.99355341e-01 3.23710111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:4.05, Z:3.24 [[ 9.98507008e-01 -4.11978788e-02 -3.58676576e-02 9.58105882e+01] [ 4.11686405e-02 9.99151004e-01 -1.55365354e-03 4.05002265e+00] [ 3.59012133e-02 7.47112483e-05 9.99355341e-01 3.23830379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:4.05, Z:3.24 [[ 9.98425302e-01 -4.31327858e-02 -3.58675208e-02 9.58380251e+01] [ 4.31046823e-02 9.99069348e-01 -1.55680608e-03 4.05090321e+00] [ 3.59012900e-02 8.29649316e-06 9.99355341e-01 3.24037470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:4.05, Z:3.24 [[ 9.98166702e-01 -4.87523204e-02 -3.58670726e-02 9.58667779e+01] [ 4.87274741e-02 9.98810882e-01 -1.56706364e-03 4.05085721e+00] [ 3.59008204e-02 -1.83521106e-04 9.99355341e-01 3.24262629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:4.05, Z:3.24 [[ 9.97982859e-01 -5.23812505e-02 -3.58666744e-02 9.58953000e+01] [ 5.23584209e-02 9.98627113e-01 -1.57612612e-03 4.05130833e+00] [ 3.58999929e-02 -3.04975578e-04 9.99355341e-01 3.24405448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:4.05, Z:3.25 [[ 9.97558631e-01 -5.99198479e-02 -3.58662735e-02 9.59247292e+01] [ 5.99015605e-02 9.98203031e-01 -1.58519686e-03 4.05116809e+00] [ 3.58968076e-02 -5.67118937e-04 9.99355341e-01 3.24625086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:4.05, Z:3.25 [[ 9.97312349e-01 -6.38881267e-02 -3.58662166e-02 9.59560384e+01] [ 6.38723569e-02 9.97956815e-01 -1.58648317e-03 4.05169426e+00] [ 3.58942927e-02 -7.08640522e-04 9.99355341e-01 3.24745935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:4.05, Z:3.25 [[ 9.96791662e-01 -7.15541324e-02 -3.58662733e-02 9.59878966e+01] [ 7.15433643e-02 9.97436231e-01 -1.58519854e-03 4.05053804e+00] [ 3.58877480e-02 -9.85881174e-04 9.99355341e-01 3.24796894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:4.05, Z:3.25 [[ 9.96522328e-01 -7.52120732e-02 -3.58663301e-02 9.60189695e+01] [ 7.52037171e-02 9.97166933e-01 -1.58391336e-03 4.05087887e+00] [ 3.58838478e-02 -1.11887632e-03 9.99355341e-01 3.24845672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:4.05, Z:3.25 [[ 9.95980006e-01 -8.20817996e-02 -3.58665119e-02 9.60507548e+01] [ 8.20780369e-02 9.96624654e-01 -1.57978511e-03 4.05062541e+00] [ 3.58751216e-02 -1.37041851e-03 9.99355341e-01 3.24870890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:4.05, Z:3.25 [[ 9.95718552e-01 -8.51947802e-02 -3.58666235e-02 9.60819874e+01] [ 8.51931239e-02 9.96363209e-01 -1.57724890e-03 4.05147526e+00] [ 3.58705574e-02 -1.48509371e-03 9.99355341e-01 3.24954701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:4.05, Z:3.25 [[ 9.95301504e-01 -8.99360630e-02 -3.58667065e-02 9.61143813e+01] [ 8.99375450e-02 9.95946161e-01 -1.57535858e-03 4.05270753e+00] [ 3.58629902e-02 -1.65780677e-03 9.99355341e-01 3.25138147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:4.05, Z:3.25 [[ 9.95145787e-01 -9.16429720e-02 -3.58668210e-02 9.61474267e+01] [ 9.16456536e-02 9.95790440e-01 -1.57274614e-03 4.05457261e+00] [ 3.58599686e-02 -1.72192656e-03 9.99355341e-01 3.25287608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:4.06, Z:3.25 [[ 9.94890170e-01 -9.43774778e-02 -3.58669963e-02 9.61789555e+01] [ 9.43820750e-02 9.95534813e-01 -1.56873933e-03 4.05694650e+00] [ 3.58548971e-02 -1.82447820e-03 9.99355341e-01 3.25386204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:4.06, Z:3.25 [[ 9.94801198e-01 -9.53106725e-02 -3.58671410e-02 9.62113564e+01] [ 9.53159937e-02 9.95445835e-01 -1.56542286e-03 4.05877016e+00] [ 3.58529977e-02 -1.86142766e-03 9.99355341e-01 3.25492733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:4.06, Z:3.26 [[ 9.94757737e-01 -9.57631141e-02 -3.58674124e-02 9.62437726e+01] [ 9.57689530e-02 9.95402369e-01 -1.55917994e-03 4.06055113e+00] [ 3.58518192e-02 -1.88397822e-03 9.99355341e-01 3.25603151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:4.06, Z:3.26 [[ 9.94753813e-01 -9.58038072e-02 -3.58675508e-02 9.62762587e+01] [ 9.58097871e-02 9.95398445e-01 -1.55599125e-03 4.06326365e+00] [ 3.58515741e-02 -1.88863418e-03 9.99355341e-01 3.25718372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:4.07, Z:3.26 [[ 9.94844988e-01 -9.48522935e-02 -3.58677135e-02 9.63088128e+01] [ 9.48577921e-02 9.95489623e-01 -1.55223028e-03 4.06671783e+00] [ 3.58531692e-02 -1.85810360e-03 9.99355341e-01 3.25879602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:4.07, Z:3.26 [[ 9.94936075e-01 -9.38919703e-02 -3.58678838e-02 9.63404614e+01] [ 9.38969885e-02 9.95580714e-01 -1.54828552e-03 4.06926724e+00] [ 3.58547449e-02 -1.82744115e-03 9.99355341e-01 3.25990208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:4.07, Z:3.26 [[ 9.94946182e-01 -9.37847480e-02 -3.58680247e-02 9.63739537e+01] [ 9.37898143e-02 9.95590821e-01 -1.54501553e-03 4.07062043e+00] [ 3.58547750e-02 -1.82684806e-03 9.99355341e-01 3.26110520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:4.07, Z:3.26 [[ 9.95122762e-01 -9.18921187e-02 -3.58681907e-02 9.64063063e+01] [ 9.18960977e-02 9.95767409e-01 -1.54115185e-03 4.07445828e+00] [ 3.58579950e-02 -1.76251147e-03 9.99355341e-01 3.26189794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:4.08, Z:3.26 [[ 9.95232426e-01 -9.06966439e-02 -3.58683278e-02 9.64389862e+01] [ 9.06999636e-02 9.95877076e-01 -1.53795308e-03 4.07676076e+00] [ 3.58599326e-02 -1.72263526e-03 9.99355341e-01 3.26287110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:4.08, Z:3.26 [[ 9.95324466e-01 -8.96808680e-02 -3.58684927e-02 9.64714877e+01] [ 8.96836684e-02 9.95969119e-01 -1.53409786e-03 4.07924129e+00] [ 3.58614903e-02 -1.68989287e-03 9.99355341e-01 3.26389137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:4.08, Z:3.26 [[ 9.95588890e-01 -8.66960240e-02 -3.58686574e-02 9.65032885e+01] [ 8.66970302e-02 9.96233549e-01 -1.53023736e-03 4.08323361e+00] [ 3.58662253e-02 -1.58621876e-03 9.99355341e-01 3.26440860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:4.09, Z:3.26 [[ 9.95917584e-01 -8.28347560e-02 -3.58687698e-02 9.65341786e+01] [ 8.28333573e-02 9.96562242e-01 -1.52759797e-03 4.08771796e+00] [ 3.58719999e-02 -1.44976895e-03 9.99355341e-01 3.26445243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:4.09, Z:3.27 [[ 9.96133756e-01 -8.01932965e-02 -3.58688532e-02 9.65672636e+01] [ 8.01902587e-02 9.96778408e-01 -1.52563733e-03 4.09077744e+00] [ 3.58756443e-02 -1.35659377e-03 9.99355341e-01 3.26588461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:4.10, Z:3.27 [[ 9.96603975e-01 -7.41210491e-02 -3.58690203e-02 9.65992191e+01] [ 7.41142242e-02 9.97248598e-01 -1.52169918e-03 4.09613979e+00] [ 3.58831201e-02 -1.14187316e-03 9.99355341e-01 3.26697156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:4.10, Z:3.27 [[ 9.96896907e-01 -7.00711019e-02 -3.58691583e-02 9.66310168e+01] [ 7.00617750e-02 9.97541499e-01 -1.51843817e-03 4.09973716e+00] [ 3.58873726e-02 -9.99330587e-04 9.99355341e-01 3.26845925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:4.11, Z:3.27 [[ 9.97503573e-01 -6.08277753e-02 -3.58692668e-02 9.66632865e+01] [ 6.08125664e-02 9.98148052e-01 -1.51587058e-03 4.10540440e+00] [ 3.58950459e-02 -6.69215847e-04 9.99355341e-01 3.27015234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:4.11, Z:3.27 [[ 9.97805412e-01 -5.56574208e-02 -3.58693747e-02 9.66939776e+01] [ 5.56389640e-02 9.98449806e-01 -1.51331454e-03 4.10877028e+00] [ 3.58979974e-02 -4.85741407e-04 9.99355341e-01 3.27211230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:4.11, Z:3.27 [[ 9.98309782e-01 -4.57270507e-02 -3.58694302e-02 9.67235914e+01] [ 4.57022308e-02 9.98953963e-01 -1.51199751e-03 4.11448881e+00] [ 3.59010486e-02 -1.29871074e-04 9.99355341e-01 3.27391221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:4.12, Z:3.28 [[ 9.98494535e-01 -4.14975365e-02 -3.58694577e-02 9.67518040e+01] [ 4.14700113e-02 9.99138606e-01 -1.51134577e-03 4.11774174e+00] [ 3.59012770e-02 2.15636788e-05 9.99355341e-01 3.27616757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:4.12, Z:3.28 [[ 9.98783956e-01 -3.38233503e-02 -3.58690747e-02 9.67792772e+01] [ 3.37905521e-02 9.99427780e-01 -1.52037984e-03 4.12216611e+00] [ 3.58999741e-02 3.06495152e-04 9.99355341e-01 3.27751466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:4.12, Z:3.28 [[ 9.98897794e-01 -3.02756874e-02 -3.58689391e-02 9.68073769e+01] [ 3.02404881e-02 9.99541491e-01 -1.52357271e-03 4.12481609e+00] [ 3.58986201e-02 4.37199195e-04 9.99355341e-01 3.27674196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:4.13, Z:3.28 [[ 9.98923436e-01 -2.94180301e-02 -3.58685007e-02 9.68344698e+01] [ 2.93819100e-02 9.99567082e-01 -1.53382555e-03 4.12634054e+00] [ 3.58980947e-02 4.78289232e-04 9.99355341e-01 3.27682883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:4.13, Z:3.28 [[ 9.98918887e-01 -2.95722948e-02 -3.58683103e-02 9.68618673e+01] [ 2.95361147e-02 9.99562530e-01 -1.53826549e-03 4.12780573e+00] [ 3.58981090e-02 4.77191929e-04 9.99355341e-01 3.27757760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:4.13, Z:3.28 [[ 9.98878859e-01 -3.08953094e-02 -3.58678790e-02 9.68901952e+01] [ 3.08596231e-02 9.99522529e-01 -1.54825672e-03 4.12911428e+00] [ 3.58985870e-02 4.39651680e-04 9.99355341e-01 3.27855590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:4.13, Z:3.28 [[ 9.98827171e-01 -3.25239644e-02 -3.58674418e-02 9.69178207e+01] [ 3.24889663e-02 9.99470879e-01 -1.55831961e-03 4.13011703e+00] [ 3.58991463e-02 3.91195863e-04 9.99355341e-01 3.27959312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:4.13, Z:3.28 [[ 9.98705231e-01 -3.60751970e-02 -3.58669924e-02 9.69451809e+01] [ 3.60421189e-02 9.99349041e-01 -1.56859492e-03 4.13088670e+00] [ 3.59002318e-02 2.73841543e-04 9.99355341e-01 3.28091342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:4.13, Z:3.28 [[ 9.98617425e-01 -3.84292990e-02 -3.58667972e-02 9.69734884e+01] [ 3.83975788e-02 9.99261303e-01 -1.57304669e-03 4.13211574e+00] [ 3.59007535e-02 1.93673665e-04 9.99355341e-01 3.28234373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:4.13, Z:3.28 [[ 9.98409363e-01 -4.35011454e-02 -3.58663419e-02 9.70007586e+01] [ 4.34723256e-02 9.99053377e-01 -1.58336034e-03 4.13327596e+00] [ 3.59012679e-02 2.16485016e-05 9.99355341e-01 3.28369983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:4.13, Z:3.29 [[ 9.98290458e-01 -4.61495586e-02 -3.58661437e-02 9.70298713e+01] [ 4.61222865e-02 9.98934539e-01 -1.58783627e-03 4.13409023e+00] [ 3.59012077e-02 -6.91067525e-05 9.99355341e-01 3.28505859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:4.13, Z:3.29 [[ 9.98019742e-01 -5.16743980e-02 -3.58657517e-02 9.70589979e+01] [ 5.16503749e-02 9.98663952e-01 -1.59664171e-03 4.13479203e+00] [ 3.59003389e-02 -2.58999576e-04 9.99355342e-01 3.28637220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:4.14, Z:3.29 [[ 9.97888206e-01 -5.41553786e-02 -3.58653538e-02 9.70896655e+01] [ 5.41326377e-02 9.98532463e-01 -1.60553035e-03 4.13544844e+00] [ 3.58996682e-02 -3.39346400e-04 9.99355342e-01 3.28717481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:4.13, Z:3.29 [[ 9.97619926e-01 -5.88910889e-02 -3.58653538e-02 9.71206885e+01] [ 5.88714061e-02 9.98264284e-01 -1.60553035e-03 4.13466969e+00] [ 3.58976532e-02 -5.09734738e-04 9.99355342e-01 3.28806300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:4.13, Z:3.29 [[ 9.97498251e-01 -6.09172594e-02 -3.58654105e-02 9.71514190e+01] [ 6.08989309e-02 9.98142648e-01 -1.60426307e-03 4.13473261e+00] [ 3.58965231e-02 -5.83915546e-04 9.99355342e-01 3.28924882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:4.13, Z:3.29 [[ 9.97253930e-01 -6.47939754e-02 -3.58655943e-02 9.71834101e+01] [ 6.47782998e-02 9.97898397e-01 -1.60014356e-03 4.13395091e+00] [ 3.58938987e-02 -7.27562770e-04 9.99355342e-01 3.29043178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:4.13, Z:3.29 [[ 9.97132178e-01 -6.66413618e-02 -3.58657083e-02 9.72154677e+01] [ 6.66269722e-02 9.97776676e-01 -1.59758457e-03 4.13425391e+00] [ 3.58924324e-02 -7.96620568e-04 9.99355342e-01 3.29150609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:4.13, Z:3.29 [[ 9.96925650e-01 -6.96626953e-02 -3.58658218e-02 9.72476182e+01] [ 6.96503507e-02 9.97570190e-01 -1.59503119e-03 4.13333444e+00] [ 3.58897889e-02 -9.07939565e-04 9.99355342e-01 3.29122963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:4.13, Z:3.29 [[ 9.96760635e-01 -7.19852225e-02 -3.58659343e-02 9.72801873e+01] [ 7.19744707e-02 9.97405203e-01 -1.59249740e-03 4.13304681e+00] [ 3.58875058e-02 -9.94092925e-04 9.99355342e-01 3.29063267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:4.13, Z:3.29 [[ 9.96714951e-01 -7.26149697e-02 -3.58660505e-02 9.73120068e+01] [ 7.26047194e-02 9.97359527e-01 -1.58987632e-03 4.13351833e+00] [ 3.58867960e-02 -1.01939103e-03 9.99355342e-01 3.29083985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:4.13, Z:3.29 [[ 9.96752557e-01 -7.20968734e-02 -3.58661657e-02 9.73443921e+01] [ 7.20863816e-02 9.97397130e-01 -1.58727368e-03 4.13366175e+00] [ 3.58872482e-02 -1.00334301e-03 9.99355342e-01 3.29177733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:4.14, Z:3.29 [[ 9.96843881e-01 -7.08229215e-02 -3.58662808e-02 9.73769906e+01] [ 7.08116995e-02 9.97488442e-01 -1.58466964e-03 4.13500926e+00] [ 3.58884314e-02 -9.60084061e-04 9.99355342e-01 3.29281280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:4.14, Z:3.29 [[ 9.97147231e-01 -6.64153635e-02 -3.58663948e-02 9.74089041e+01] [ 6.64013851e-02 9.97791738e-01 -1.58208351e-03 4.13658025e+00] [ 3.58922671e-02 -8.04008106e-04 9.99355342e-01 3.29337354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:4.14, Z:3.29 [[ 9.97331370e-01 -6.35903381e-02 -3.58665094e-02 9.74395666e+01] [ 6.35746276e-02 9.97975837e-01 -1.57948166e-03 4.13841936e+00] [ 3.58943495e-02 -7.04933367e-04 9.99355342e-01 3.29438427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:4.14, Z:3.30 [[ 9.97536908e-01 -6.02802163e-02 -3.58665945e-02 9.74712640e+01] [ 6.02624367e-02 9.98181321e-01 -1.57754642e-03 4.14055213e+00] [ 3.58964596e-02 -5.87747600e-04 9.99355342e-01 3.29558089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:4.14, Z:3.30 [[ 9.97732468e-01 -5.69517912e-02 -3.58666515e-02 9.75012936e+01] [ 5.69319083e-02 9.98376819e-01 -1.57624991e-03 4.14281403e+00] [ 3.58982037e-02 -4.69281203e-04 9.99355342e-01 3.29650551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:4.15, Z:3.30 [[ 9.97910361e-01 -5.37447001e-02 -3.58666798e-02 9.75315787e+01] [ 5.37227694e-02 9.98554646e-01 -1.57560687e-03 4.14506158e+00] [ 3.58995202e-02 -3.54542946e-04 9.99355342e-01 3.29767347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:4.15, Z:3.30 [[ 9.98209940e-01 -4.78591467e-02 -3.58666798e-02 9.75617282e+01] [ 4.78334170e-02 9.98854084e-01 -1.57560687e-03 4.14701697e+00] [ 3.59009868e-02 -1.42839413e-04 9.99355342e-01 3.29785249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:4.15, Z:3.30 [[ 9.98314967e-01 -4.56158708e-02 -3.58666798e-02 9.75905188e+01] [ 4.55886938e-02 9.98959052e-01 -1.57560687e-03 4.14846330e+00] [ 3.59012171e-02 -6.21631601e-05 9.99355342e-01 3.29840907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:4.15, Z:3.30 [[ 9.98461464e-01 -4.22884757e-02 -3.58662812e-02 9.76182167e+01] [ 4.22588282e-02 9.99105440e-01 -1.58462784e-03 4.14966194e+00] [ 3.59012082e-02 6.65228200e-05 9.99355342e-01 3.29876725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:4.15, Z:3.30 [[ 9.98494379e-01 -4.15041561e-02 -3.58661397e-02 9.76460755e+01] [ 4.14738879e-02 9.99138326e-01 -1.58782347e-03 4.15065608e+00] [ 3.59011361e-02 9.79245505e-05 9.99355342e-01 3.29949964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:4.15, Z:3.30 [[ 9.98504230e-01 -4.12668856e-02 -3.58656915e-02 9.76742928e+01] [ 4.12361030e-02 9.99148152e-01 -1.59788340e-03 4.15126465e+00] [ 3.59010791e-02 1.16531981e-04 9.99355342e-01 3.30069441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:4.15, Z:3.30 [[ 9.98449461e-01 -4.25718027e-02 -3.58652374e-02 9.77011119e+01] [ 4.25414979e-02 9.99093407e-01 -1.60801348e-03 4.15155182e+00] [ 3.59011782e-02 7.97592747e-05 9.99355342e-01 3.30145819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:4.15, Z:3.30 [[ 9.98386321e-01 -4.40278672e-02 -3.58650403e-02 9.77291064e+01] [ 4.39983440e-02 9.99030303e-01 -1.61239748e-03 4.15226088e+00] [ 3.59012525e-02 3.17932089e-05 9.99355342e-01 3.30258165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:4.15, Z:3.30 [[ 9.98304677e-01 -4.58421603e-02 -3.58645700e-02 9.77565365e+01] [ 4.58134340e-02 9.98948695e-01 -1.62279097e-03 4.15280743e+00] [ 3.59012576e-02 -2.30392986e-05 9.99355342e-01 3.30257689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:4.15, Z:3.30 [[ 9.98183473e-01 -4.84097308e-02 -3.58643657e-02 9.77849056e+01] [ 4.83824994e-02 9.98827556e-01 -1.62729308e-03 4.15350831e+00] [ 3.59010936e-02 -1.10870594e-04 9.99355342e-01 3.30329568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:4.15, Z:3.30 [[ 9.98040335e-01 -5.12763972e-02 -3.58639167e-02 9.78139824e+01] [ 5.12506623e-02 9.98684479e-01 -1.63712872e-03 4.15424899e+00] [ 3.59006831e-02 -2.04128993e-04 9.99355342e-01 3.30464394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:4.15, Z:3.31 [[ 9.97726248e-01 -5.70626181e-02 -3.58635105e-02 9.78421672e+01] [ 5.70403006e-02 9.98370520e-01 -1.64597904e-03 4.15412961e+00] [ 3.58989955e-02 -4.03428933e-04 9.99355342e-01 3.30610115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:4.15, Z:3.31 [[ 9.97521231e-01 -6.05409659e-02 -3.58634242e-02 9.78714703e+01] [ 6.05208274e-02 9.98165574e-01 -1.64785786e-03 4.15468708e+00] [ 3.58973983e-02 -5.26710904e-04 9.99355342e-01 3.30763122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:4.16, Z:3.31 [[ 9.97279624e-01 -6.43985165e-02 -3.58633964e-02 9.79026818e+01] [ 6.43808484e-02 9.97924040e-01 -1.64846310e-03 4.15528904e+00] [ 3.58951040e-02 -6.64937229e-04 9.99355342e-01 3.30903717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:4.16, Z:3.31 [[ 9.96692995e-01 -7.29169898e-02 -3.58634518e-02 9.79347454e+01] [ 7.29048716e-02 9.97337539e-01 -1.64725779e-03 4.15528896e+00] [ 3.58880798e-02 -9.72810048e-04 9.99355342e-01 3.31078694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:4.16, Z:3.31 [[ 9.96018273e-01 -8.16174309e-02 -3.58635709e-02 9.79659942e+01] [ 8.16110349e-02 9.96662899e-01 -1.64465865e-03 4.15542415e+00] [ 3.58781234e-02 -1.28875307e-03 9.99355342e-01 3.31135191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:4.16, Z:3.31 [[ 9.95705898e-01 -8.53437873e-02 -3.58636599e-02 9.79978103e+01] [ 8.53398732e-02 9.96350544e-01 -1.64271742e-03 4.15649492e+00] [ 3.58729728e-02 -1.42493676e-03 9.99355342e-01 3.31266464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:4.16, Z:3.31 [[ 9.95486781e-01 -8.78627278e-02 -3.58637804e-02 9.80294218e+01] [ 8.78605395e-02 9.96131435e-01 -1.64008181e-03 4.15731619e+00] [ 3.58691411e-02 -1.51833133e-03 9.99355342e-01 3.31334444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:4.16, Z:3.31 [[ 9.95303944e-01 -8.99101613e-02 -3.58639305e-02 9.80621406e+01] [ 8.99094173e-02 9.95948602e-01 -1.63679209e-03 4.15719415e+00] [ 3.58657957e-02 -1.59539947e-03 9.99355342e-01 3.31307974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:4.16, Z:3.31 [[ 9.95279610e-01 -9.01790858e-02 -3.58640478e-02 9.80948662e+01] [ 9.01786085e-02 9.95924268e-01 -1.63421920e-03 4.15828555e+00] [ 3.58652479e-02 -1.60766487e-03 9.99355342e-01 3.31437239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:4.16, Z:3.32 [[ 9.95228710e-01 -9.07390368e-02 -3.58642253e-02 9.81267340e+01] [ 9.07390626e-02 9.95873368e-01 -1.63031476e-03 4.15993604e+00] [ 3.58641600e-02 -1.63175012e-03 9.99355342e-01 3.31568386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:4.16, Z:3.32 [[ 9.95217927e-01 -9.08571690e-02 -3.58643722e-02 9.81594073e+01] [ 9.08573877e-02 9.95862585e-01 -1.62707628e-03 4.16130009e+00] [ 3.58638179e-02 -1.63924769e-03 9.99355342e-01 3.31749515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:4.16, Z:3.32 [[ 9.95175384e-01 -9.13218944e-02 -3.58645475e-02 9.81924111e+01] [ 9.13225535e-02 9.95820042e-01 -1.62320236e-03 4.16283227e+00] [ 3.58628691e-02 -1.65987103e-03 9.99355342e-01 3.31886044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:4.16, Z:3.32 [[ 9.95124604e-01 -9.18735219e-02 -3.58647238e-02 9.82241077e+01] [ 9.18746788e-02 9.95769261e-01 -1.61929741e-03 4.16351636e+00] [ 3.58617601e-02 -1.68365728e-03 9.99355342e-01 3.31835128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:4.16, Z:3.32 [[ 9.95127851e-01 -9.18383115e-02 -3.58648111e-02 9.82560481e+01] [ 9.18395151e-02 9.95772508e-01 -1.61736308e-03 4.16439417e+00] [ 3.58617287e-02 -1.68432381e-03 9.99355342e-01 3.31821359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:4.17, Z:3.32 [[ 9.95137670e-01 -9.17318112e-02 -3.58649260e-02 9.82895382e+01] [ 9.17330377e-02 9.95782327e-01 -1.61481110e-03 4.16581257e+00] [ 3.58617890e-02 -1.68303925e-03 9.99355342e-01 3.31941692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:4.17, Z:3.32 [[ 9.95193771e-01 -9.11210867e-02 -3.58650983e-02 9.83213080e+01] [ 9.11220555e-02 9.95838429e-01 -1.61097360e-03 4.16745984e+00] [ 3.58626368e-02 -1.66487059e-03 9.99355342e-01 3.31960066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:4.17, Z:3.32 [[ 9.95313555e-01 -8.98031987e-02 -3.58652141e-02 9.83534781e+01] [ 8.98034067e-02 9.95958213e-01 -1.60839111e-03 4.16951905e+00] [ 3.58646932e-02 -1.61996494e-03 9.99355342e-01 3.32057059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:4.17, Z:3.32 [[ 9.95410052e-01 -8.87271340e-02 -3.58653582e-02 9.83857894e+01] [ 8.87267608e-02 9.96054710e-01 -1.60517202e-03 4.17248233e+00] [ 3.58662813e-02 -1.58441269e-03 9.99355342e-01 3.32191414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:4.18, Z:3.32 [[ 9.95677149e-01 -8.56777767e-02 -3.58654990e-02 9.84184244e+01] [ 8.56755423e-02 9.96321803e-01 -1.60202034e-03 4.17671227e+00] [ 3.58708362e-02 -1.47770103e-03 9.99355342e-01 3.32467712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:4.18, Z:3.33 [[ 9.95831343e-01 -8.38664983e-02 -3.58656748e-02 9.84517906e+01] [ 8.38632332e-02 9.96475993e-01 -1.59807367e-03 4.17917115e+00] [ 3.58733088e-02 -1.41639960e-03 9.99355342e-01 3.32618026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:4.18, Z:3.33 [[ 9.96072004e-01 -8.09580375e-02 -3.58658507e-02 9.84834692e+01] [ 8.09530322e-02 9.96716642e-01 -1.59411760e-03 4.18273849e+00] [ 3.58771469e-02 -1.31559345e-03 9.99355342e-01 3.32717678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:4.18, Z:3.33 [[ 9.96201915e-01 -7.93434043e-02 -3.58659961e-02 9.85153587e+01] [ 7.93374719e-02 9.96846545e-01 -1.59084006e-03 4.18499281e+00] [ 3.58791169e-02 -1.26071954e-03 9.99355342e-01 3.32854055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:4.19, Z:3.33 [[ 9.96309584e-01 -7.79797164e-02 -3.58661065e-02 9.85477602e+01] [ 7.79729913e-02 9.96954206e-01 -1.58834533e-03 4.18709430e+00] [ 3.58807245e-02 -1.21410394e-03 9.99355342e-01 3.33018012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:4.19, Z:3.33 [[ 9.96518531e-01 -7.52624143e-02 -3.58662200e-02 9.85788010e+01] [ 7.52540236e-02 9.97163135e-01 -1.58577904e-03 4.19047444e+00] [ 3.58838219e-02 -1.11881917e-03 9.99355342e-01 3.33148865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:4.19, Z:3.33 [[ 9.96664467e-01 -7.33044909e-02 -3.58663041e-02 9.86110906e+01] [ 7.32949023e-02 9.97309054e-01 -1.58387419e-03 4.19289114e+00] [ 3.58858949e-02 -1.05022613e-03 9.99355342e-01 3.33289022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:4.20, Z:3.33 [[ 9.96962244e-01 -6.91367117e-02 -3.58664167e-02 9.86429920e+01] [ 6.91245199e-02 9.97606786e-01 -1.58132077e-03 4.19645121e+00] [ 3.58899080e-02 -9.02731736e-04 9.99355342e-01 3.33436490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:4.20, Z:3.34 [[ 9.97128910e-01 -6.66897989e-02 -3.58665297e-02 9.86736272e+01] [ 6.66761176e-02 9.97773423e-01 -1.57875338e-03 4.19912078e+00] [ 3.58919569e-02 -8.17220321e-04 9.99355342e-01 3.33554071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:4.20, Z:3.34 [[ 9.97307775e-01 -6.39592113e-02 -3.58667183e-02 9.87057763e+01] [ 6.39439197e-02 9.97952251e-01 -1.57445812e-03 4.20146523e+00] [ 3.58939733e-02 -7.23239226e-04 9.99355342e-01 3.33719447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:4.20, Z:3.34 [[ 9.97468496e-01 -6.14017067e-02 -3.58668313e-02 9.87383327e+01] [ 6.13848554e-02 9.98112934e-01 -1.57187769e-03 4.20396316e+00] [ 3.58956642e-02 -6.33781780e-04 9.99355342e-01 3.33849338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:4.21, Z:3.34 [[ 9.97752724e-01 -5.65956110e-02 -3.58669441e-02 9.87700033e+01] [ 5.65757478e-02 9.98397076e-01 -1.56930079e-03 4.20640770e+00] [ 3.58982677e-02 -4.63425046e-04 9.99355342e-01 3.33945107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:4.21, Z:3.34 [[ 9.97965902e-01 -5.27031029e-02 -3.58670003e-02 9.88016113e+01] [ 5.26807726e-02 9.98610173e-01 -1.56801491e-03 4.20868191e+00] [ 3.58997906e-02 -3.24675874e-04 9.99355342e-01 3.34060098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:4.21, Z:3.34 [[ 9.98042915e-01 -5.12239694e-02 -3.58670567e-02 9.88313516e+01] [ 5.12007306e-02 9.98687154e-01 -1.56672331e-03 4.21035289e+00] [ 3.59002226e-02 -2.72762409e-04 9.99355342e-01 3.34140844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:4.21, Z:3.34 [[ 9.98085479e-01 -5.03878320e-02 -3.58670288e-02 9.88614481e+01] [ 5.03640305e-02 9.98729697e-01 -1.56736237e-03 4.21199720e+00] [ 3.59004428e-02 -2.42046513e-04 9.99355342e-01 3.34211792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:4.21, Z:3.34 [[ 9.98044416e-01 -5.11947201e-02 -3.58670288e-02 9.88908311e+01] [ 5.11714395e-02 9.98688654e-01 -1.56736237e-03 4.21257420e+00] [ 3.59002354e-02 -2.71070234e-04 9.99355342e-01 3.34277335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:4.21, Z:3.34 [[ 9.97990084e-01 -5.22432122e-02 -3.58669731e-02 9.89209279e+01] [ 5.22205626e-02 9.98634344e-01 -1.56863690e-03 4.21314066e+00] [ 3.58999417e-02 -3.07509440e-04 9.99355342e-01 3.34402245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:4.21, Z:3.34 [[ 9.97802610e-01 -5.57091677e-02 -3.58669731e-02 9.89500922e+01] [ 5.56887559e-02 9.98446945e-01 -1.56863690e-03 4.21273781e+00] [ 3.58986571e-02 -4.32197113e-04 9.99355342e-01 3.34490109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:4.21, Z:3.35 [[ 9.97677405e-01 -5.79081847e-02 -3.58669454e-02 9.89803747e+01] [ 5.78891704e-02 9.98321782e-01 -1.56926823e-03 4.21329833e+00] [ 3.58976264e-02 -5.10684262e-04 9.99355342e-01 3.34575499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:4.21, Z:3.35 [[ 9.97553601e-01 -6.00031257e-02 -3.58669454e-02 9.90114836e+01] [ 5.99854646e-02 9.98198017e-01 -1.56926823e-03 4.21347807e+00] [ 3.58964748e-02 -5.86066213e-04 9.99355342e-01 3.34688262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:4.21, Z:3.35 [[ 9.97312113e-01 -6.38913761e-02 -3.58670007e-02 9.90428328e+01] [ 6.38762726e-02 9.97956594e-01 -1.56800443e-03 4.21316768e+00] [ 3.58938918e-02 -7.27260504e-04 9.99355342e-01 3.34786715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:4.21, Z:3.35 [[ 9.97097650e-01 -6.71552556e-02 -3.58670832e-02 9.90739660e+01] [ 6.71423296e-02 9.97742179e-01 -1.56611584e-03 4.21210907e+00] [ 3.58912746e-02 -8.46629089e-04 9.99355342e-01 3.34883817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:4.21, Z:3.35 [[ 9.96994086e-01 -6.86756038e-02 -3.58671648e-02 9.91060340e+01] [ 6.86637279e-02 9.97638635e-01 -1.56424308e-03 4.21230514e+00] [ 3.58898947e-02 -9.03232146e-04 9.99355342e-01 3.35036895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:4.21, Z:3.35 [[ 9.96921625e-01 -6.97195194e-02 -3.58672730e-02 9.91386990e+01] [ 6.97084078e-02 9.97566188e-01 -1.56175816e-03 4.21260216e+00] [ 3.58888638e-02 -9.43300006e-04 9.99355342e-01 3.35202156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:4.21, Z:3.35 [[ 9.96866942e-01 -7.04970273e-02 -3.58673837e-02 9.91701874e+01] [ 7.04865099e-02 9.97511514e-01 -1.55921186e-03 4.21312326e+00] [ 3.58880480e-02 -9.73839935e-04 9.99355342e-01 3.35353632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:4.21, Z:3.35 [[ 9.96849080e-01 -7.07490616e-02 -3.58675552e-02 9.92020865e+01] [ 7.07388494e-02 9.97493657e-01 -1.55525642e-03 4.21303332e+00] [ 3.58876918e-02 -9.86873657e-04 9.99355342e-01 3.35478648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:4.21, Z:3.36 [[ 9.96893426e-01 -7.01213753e-02 -3.58676662e-02 9.92342109e+01] [ 7.01108494e-02 9.97537998e-01 -1.55269273e-03 4.21362716e+00] [ 3.58882369e-02 -9.66843368e-04 9.99355342e-01 3.35583714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:4.21, Z:3.36 [[ 9.97025481e-01 -6.82179785e-02 -3.58677766e-02 9.92660544e+01] [ 6.82063138e-02 9.97670034e-01 -1.55013948e-03 4.21453418e+00] [ 3.58899532e-02 -9.00880263e-04 9.99355342e-01 3.35787497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:4.22, Z:3.36 [[ 9.97113455e-01 -6.69197520e-02 -3.58678870e-02 9.92966731e+01] [ 6.69073401e-02 9.97757993e-01 -1.54757927e-03 4.21594867e+00] [ 3.58910346e-02 -8.56712806e-04 9.99355342e-01 3.35963260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:4.22, Z:3.36 [[ 9.97282257e-01 -6.43551713e-02 -3.58679692e-02 9.93291993e+01] [ 6.43411704e-02 9.97926763e-01 -1.54567175e-03 4.21691278e+00] [ 3.58930784e-02 -7.66316106e-04 9.99355342e-01 3.36069986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:4.22, Z:3.36 [[ 9.97344023e-01 -6.33907001e-02 -3.58680799e-02 9.93604732e+01] [ 6.33761684e-02 9.97988517e-01 -1.54309858e-03 4.21797579e+00] [ 3.58937500e-02 -7.34181330e-04 9.99355342e-01 3.36122155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:4.22, Z:3.36 [[ 9.97379759e-01 -6.28258977e-02 -3.58681349e-02 9.93919863e+01] [ 6.28110470e-02 9.98024246e-01 -1.54182033e-03 4.21734569e+00] [ 3.58941345e-02 -7.15134720e-04 9.99355342e-01 3.36071349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:4.22, Z:3.36 [[ 9.97368852e-01 -6.29987762e-02 -3.58681905e-02 9.94224234e+01] [ 6.29840838e-02 9.98013343e-01 -1.54052623e-03 4.21666844e+00] [ 3.58939839e-02 -7.22652238e-04 9.99355342e-01 3.36052942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:4.22, Z:3.36 [[ 9.97355258e-01 -6.32136024e-02 -3.58682180e-02 9.94540458e+01] [ 6.31990719e-02 9.97999753e-01 -1.53988404e-03 4.21606777e+00] [ 3.58938143e-02 -7.31026646e-04 9.99355342e-01 3.36098338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:4.21, Z:3.36 [[ 9.97373709e-01 -6.29217907e-02 -3.58682734e-02 9.94850794e+01] [ 6.29071181e-02 9.98018200e-01 -1.53859294e-03 4.21414504e+00] [ 3.58940007e-02 -7.21817559e-04 9.99355342e-01 3.36165308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:4.21, Z:3.36 [[ 9.97413062e-01 -6.22948428e-02 -3.58683289e-02 9.95153062e+01] [ 6.22798115e-02 9.98057544e-01 -1.53729939e-03 4.21435393e+00] [ 3.58944220e-02 -7.00550269e-04 9.99355342e-01 3.36300655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:4.21, Z:3.36 [[ 9.97460269e-01 -6.15343259e-02 -3.58683563e-02 9.95469504e+01] [ 6.15188262e-02 9.98104740e-01 -1.53665774e-03 4.21489931e+00] [ 3.58949337e-02 -6.73824140e-04 9.99355342e-01 3.36498157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:4.21, Z:3.37 [[ 9.97600434e-01 -5.92185004e-02 -3.58684114e-02 9.95768932e+01] [ 5.92015509e-02 9.98244869e-01 -1.53537194e-03 4.21463042e+00] [ 3.58963801e-02 -5.91777867e-04 9.99355342e-01 3.36615171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:4.22, Z:3.37 [[ 9.97663534e-01 -5.81457459e-02 -3.58684386e-02 9.96076790e+01] [ 5.81281263e-02 9.98307951e-01 -1.53473464e-03 4.21507835e+00] [ 3.58969858e-02 -5.53816345e-04 9.99355342e-01 3.36709508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:4.21, Z:3.37 [[ 9.97782045e-01 -5.60753521e-02 -3.58684386e-02 9.96383114e+01] [ 5.60563953e-02 9.98426424e-01 -1.53473464e-03 4.21380920e+00] [ 3.58980577e-02 -4.79324708e-04 9.99355342e-01 3.36815916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:4.21, Z:3.37 [[ 9.97821952e-01 -5.53606929e-02 -3.58684386e-02 9.96689467e+01] [ 5.53412745e-02 9.98466318e-01 -1.53473464e-03 4.21385628e+00] [ 3.58983918e-02 -4.53613195e-04 9.99355342e-01 3.36942567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:4.21, Z:3.37 [[ 9.97912672e-01 -5.37006038e-02 -3.58684386e-02 9.96988792e+01] [ 5.36801135e-02 9.98557004e-01 -1.53473464e-03 4.21298947e+00] [ 3.58990968e-02 -3.93890714e-04 9.99355342e-01 3.37077078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:4.21, Z:3.37 [[ 9.97966485e-01 -5.26911117e-02 -3.58683836e-02 9.97285211e+01] [ 5.26699235e-02 9.98610795e-01 -1.53601981e-03 4.21362236e+00] [ 3.58994897e-02 -3.56288727e-04 9.99355342e-01 3.37239730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:4.21, Z:3.37 [[ 9.98115334e-01 -4.97919973e-02 -3.58683283e-02 9.97577235e+01] [ 4.97688912e-02 9.98759578e-01 -1.53731083e-03 4.21366416e+00] [ 3.59003822e-02 -2.50713418e-04 9.99355342e-01 3.37487861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:4.21, Z:3.38 [[ 9.98185543e-01 -4.83641347e-02 -3.58682731e-02 9.97855928e+01] [ 4.83400607e-02 9.98829751e-01 -1.53859830e-03 4.21422620e+00] [ 3.59007112e-02 -1.98067920e-04 9.99355342e-01 3.37646844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:4.21, Z:3.38 [[ 9.98299494e-01 -4.59521798e-02 -3.58680659e-02 9.98133761e+01] [ 4.59263765e-02 9.98943635e-01 -1.54341165e-03 4.21388470e+00] [ 3.59010993e-02 -1.06503228e-04 9.99355342e-01 3.37792327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:4.21, Z:3.38 [[ 9.98343273e-01 -4.49913677e-02 -3.58676110e-02 9.98406581e+01] [ 4.49645672e-02 9.98987374e-01 -1.55391300e-03 4.21413828e+00] [ 3.59012032e-02 -6.14330150e-05 9.99355342e-01 3.37879825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:4.21, Z:3.38 [[ 9.98367253e-01 -4.44562297e-02 -3.58674133e-02 9.98690601e+01] [ 4.44289204e-02 9.99011332e-01 -1.55846147e-03 4.21402144e+00] [ 3.59012357e-02 -3.76335555e-05 9.99355342e-01 3.37917354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:4.21, Z:3.38 [[ 9.98368585e-01 -4.44266741e-02 -3.58669583e-02 9.98959238e+01] [ 4.43989721e-02 9.99012648e-01 -1.56886476e-03 4.21384529e+00] [ 3.59012444e-02 -2.61507864e-05 9.99355342e-01 3.37887832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:4.21, Z:3.38 [[ 9.98332384e-01 -4.52331109e-02 -3.58666442e-02 9.99243170e+01] [ 4.52056723e-02 9.98976458e-01 -1.57601239e-03 4.21156141e+00] [ 3.59012211e-02 -4.79915540e-05 9.99355342e-01 3.37792030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:4.21, Z:3.38 [[ 9.98284589e-01 -4.62763027e-02 -3.58661893e-02 9.99515344e+01] [ 4.62491676e-02 9.98928675e-01 -1.58629778e-03 4.21119890e+00] [ 3.59011730e-02 -7.52047778e-05 9.99355342e-01 3.37826589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:4.21, Z:3.38 [[ 9.98196330e-01 -4.81426722e-02 -3.58659916e-02 9.99793931e+01] [ 4.81165812e-02 9.98840460e-01 -1.59075549e-03 4.20907017e+00] [ 3.59009868e-02 -1.37862610e-04 9.99355342e-01 3.37815778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:4.21, Z:3.38 [[ 9.98129187e-01 -4.95153155e-02 -3.58658522e-02 1.00006966e+02] [ 4.94899976e-02 9.98773347e-01 -1.59389265e-03 4.20873190e+00] [ 3.59007794e-02 -1.84090167e-04 9.99355342e-01 3.37938208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:4.21, Z:3.38 [[ 9.98060595e-01 -5.08794951e-02 -3.58653840e-02 1.00033750e+02] [ 5.08546816e-02 9.98704775e-01 -1.60435874e-03 4.20858135e+00] [ 3.59005592e-02 -2.22675449e-04 9.99355342e-01 3.38037519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:4.21, Z:3.38 [[ 9.97912406e-01 -5.37077185e-02 -3.58651807e-02 1.00061263e+02] [ 5.36845678e-02 9.98556648e-01 -1.60889006e-03 4.20680106e+00] [ 3.58998245e-02 -3.19875377e-04 9.99355342e-01 3.38274262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:4.21, Z:3.38 [[ 9.97823721e-01 -5.53312274e-02 -3.58647142e-02 1.00089542e+02] [ 5.53087536e-02 9.98467986e-01 -1.61922381e-03 4.20623722e+00] [ 3.58993626e-02 -3.67932715e-04 9.99355342e-01 3.38402387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:4.20, Z:3.39 [[ 9.97598808e-01 -5.92482652e-02 -3.58644955e-02 1.00118659e+02] [ 5.92281472e-02 9.98243151e-01 -1.62405422e-03 4.20446091e+00] [ 3.58977094e-02 -5.04033065e-04 9.99355342e-01 3.38641435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:4.20, Z:3.39 [[ 9.97500198e-01 -6.08861411e-02 -3.58640889e-02 1.00147973e+02] [ 6.08667602e-02 9.98144564e-01 -1.63298275e-03 4.20392990e+00] [ 3.58969714e-02 -5.54030284e-04 9.99355342e-01 3.38782897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:4.20, Z:3.39 [[ 9.97132159e-01 -6.66421448e-02 -3.58647719e-02 1.00176561e+02] [ 6.66270215e-02 9.97776639e-01 -1.61800986e-03 4.20241158e+00] [ 3.58928592e-02 -7.76193266e-04 9.99355342e-01 3.38980325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:4.20, Z:3.39 [[ 9.96927166e-01 -6.96421251e-02 -3.58636332e-02 1.00206278e+02] [ 6.96280472e-02 9.97571670e-01 -1.64286800e-03 4.20181618e+00] [ 3.58909573e-02 -8.59295006e-04 9.99355343e-01 3.39063882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:4.20, Z:3.39 [[ 9.96927165e-01 -6.96421484e-02 -3.58636034e-02 1.00237225e+02] [ 6.96280472e-02 9.97571669e-01 -1.64351705e-03 4.20323471e+00] [ 3.58909728e-02 -8.58645883e-04 9.99355343e-01 3.39175194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:4.20, Z:3.39 [[ 9.96697450e-01 -7.28559845e-02 -3.58636034e-02 1.00267667e+02] [ 7.28439613e-02 9.97341996e-01 -1.64351705e-03 4.20259055e+00] [ 3.58880179e-02 -9.74357694e-04 9.99355343e-01 3.39225733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:4.20, Z:3.39 [[ 9.96447970e-01 -7.61921591e-02 -3.58636034e-02 1.00298058e+02] [ 7.61822937e-02 9.97092552e-01 -1.64351705e-03 4.20195953e+00] [ 3.58845550e-02 -1.09449235e-03 9.99355343e-01 3.39281436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:4.20, Z:3.39 [[ 9.95936477e-01 -8.26095270e-02 -3.58636326e-02 1.00329289e+02] [ 8.26038370e-02 9.96581109e-01 -1.64288076e-03 4.20023096e+00] [ 3.58767363e-02 -1.32626879e-03 9.99355343e-01 3.39305564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:4.20, Z:3.39 [[ 9.95464032e-01 -8.81201295e-02 -3.58636899e-02 1.00360793e+02] [ 8.81180522e-02 9.96108686e-01 -1.64162874e-03 4.19903394e+00] [ 3.58687936e-02 -1.52605613e-03 9.99355343e-01 3.39311632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:4.20, Z:3.39 [[ 9.95270085e-01 -9.02842681e-02 -3.58637493e-02 1.00391804e+02] [ 9.02836391e-02 9.95914742e-01 -1.64033054e-03 4.19963443e+00] [ 3.58653327e-02 -1.60533788e-03 9.99355343e-01 3.39349592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:4.20, Z:3.40 [[ 9.95124010e-01 -9.18802972e-02 -3.58638380e-02 1.00424442e+02] [ 9.18807719e-02 9.95768668e-01 -1.63838827e-03 4.20030606e+00] [ 3.58626218e-02 -1.66479762e-03 9.99355343e-01 3.39531090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:4.20, Z:3.40 [[ 9.94884437e-01 -9.44392784e-02 -3.58633563e-02 1.00456393e+02] [ 9.44410309e-02 9.95529092e-01 -1.64895929e-03 4.20049458e+00] [ 3.58587410e-02 -1.74644840e-03 9.99355343e-01 3.39534693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:4.20, Z:3.40 [[ 9.94817920e-01 -9.51371338e-02 -3.58640788e-02 1.00487226e+02] [ 9.51399091e-02 9.95462571e-01 -1.63309302e-03 4.20144552e+00] [ 3.58567159e-02 -1.78747500e-03 9.99355343e-01 3.39598344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:4.20, Z:3.40 [[ 9.94742726e-01 -9.59201230e-02 -3.58641649e-02 1.00519523e+02] [ 9.59234738e-02 9.95387375e-01 -1.63119951e-03 4.20281958e+00] [ 3.58552018e-02 -1.81759143e-03 9.99355343e-01 3.39690182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:4.20, Z:3.40 [[ 9.94767151e-01 -9.56664413e-02 -3.58642839e-02 1.00551101e+02] [ 9.56697220e-02 9.95411800e-01 -1.62857857e-03 4.20477848e+00] [ 3.58555317e-02 -1.81106961e-03 9.99355343e-01 3.39796094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:4.21, Z:3.40 [[ 9.94959271e-01 -9.36471848e-02 -3.58643726e-02 1.00581972e+02] [ 9.36492273e-02 9.95603925e-01 -1.62662384e-03 4.20870967e+00] [ 3.58590389e-02 -1.74024631e-03 9.99355343e-01 3.39963133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:4.21, Z:3.40 [[ 9.95129797e-01 -9.18173212e-02 -3.58645680e-02 1.00613371e+02] [ 9.18183336e-02 9.95774453e-01 -1.62230324e-03 4.21170651e+00] [ 3.58619761e-02 -1.67862258e-03 9.99355343e-01 3.40108600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:4.22, Z:3.40 [[ 9.95589462e-01 -8.66910728e-02 -3.58647578e-02 1.00645465e+02] [ 8.66889163e-02 9.96234116e-01 -1.61809686e-03 4.21667958e+00] [ 3.58699698e-02 -1.49811680e-03 9.99355343e-01 3.40269162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:4.22, Z:3.40 [[ 9.95842119e-01 -8.37387898e-02 -3.58648742e-02 1.00677859e+02] [ 8.37348149e-02 9.96486764e-01 -1.61551330e-03 4.21993531e+00] [ 3.58741535e-02 -1.39434241e-03 9.99355343e-01 3.40419339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:4.22, Z:3.41 [[ 9.96100188e-01 -8.06109106e-02 -3.58649897e-02 1.00709399e+02] [ 8.06050036e-02 9.96744818e-01 -1.61294359e-03 4.22334314e+00] [ 3.58782635e-02 -1.28424421e-03 9.99355343e-01 3.40625378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:4.23, Z:3.41 [[ 9.96631667e-01 -7.37496714e-02 -3.58651059e-02 1.00741296e+02] [ 7.37394186e-02 9.97276243e-01 -1.61035537e-03 4.22866271e+00] [ 3.58861813e-02 -1.03974091e-03 9.99355343e-01 3.40890001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:4.23, Z:3.41 [[ 9.96888237e-01 -7.01963537e-02 -3.58652236e-02 1.00772135e+02] [ 7.01838974e-02 9.97532774e-01 -1.60773098e-03 4.23208216e+00] [ 3.58895928e-02 -9.14433067e-04 9.99355343e-01 3.41049770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:4.24, Z:3.41 [[ 9.97391407e-01 -6.26423368e-02 -3.58652817e-02 1.00802196e+02] [ 6.26250448e-02 9.98035833e-01 -1.60643341e-03 4.23742381e+00] [ 3.58954670e-02 -6.43821991e-04 9.99355343e-01 3.41125846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:4.24, Z:3.41 [[ 9.97626651e-01 -5.87770726e-02 -3.58653105e-02 1.00830836e+02] [ 5.87573068e-02 9.98271005e-01 -1.60579006e-03 4.24057050e+00] [ 3.58976832e-02 -5.05370091e-04 9.99355343e-01 3.41158215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:4.24, Z:3.41 [[ 9.97851671e-01 -5.48245208e-02 -3.58652253e-02 1.00860469e+02] [ 5.48021342e-02 9.98495940e-01 -1.60769082e-03 4.24363044e+00] [ 3.58994227e-02 -3.61253922e-04 9.99355343e-01 3.41188185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:4.25, Z:3.41 [[ 9.98050917e-01 -5.10691453e-02 -3.58651673e-02 1.00889486e+02] [ 5.10442881e-02 9.98695095e-01 -1.60898294e-03 4.24671247e+00] [ 3.59005361e-02 -2.24865030e-04 9.99355343e-01 3.41223921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:4.25, Z:3.41 [[ 9.98415073e-01 -4.33709321e-02 -3.58650810e-02 1.00917192e+02] [ 4.33410388e-02 9.99059037e-01 -1.61090443e-03 4.25097847e+00] [ 3.59011997e-02 5.39213930e-05 9.99355343e-01 3.41249414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:4.25, Z:3.41 [[ 9.98568028e-01 -3.96941308e-02 -3.58646066e-02 1.00943559e+02] [ 3.96614895e-02 9.99211858e-01 -1.62139952e-03 4.25351632e+00] [ 3.59007002e-02 1.96634005e-04 9.99355343e-01 3.41307795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:4.26, Z:3.41 [[ 9.98804411e-01 -3.32188815e-02 -3.58644009e-02 1.00971743e+02] [ 3.31819036e-02 9.99448006e-01 -1.62593700e-03 4.25735232e+00] [ 3.58986157e-02 4.33943953e-04 9.99355343e-01 3.41413045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:4.26, Z:3.41 [[ 9.98881972e-01 -3.07990910e-02 -3.58639310e-02 1.00999137e+02] [ 3.07601844e-02 9.99525454e-01 -1.63623582e-03 4.25990412e+00] [ 3.58973065e-02 5.31225337e-04 9.99355343e-01 3.41482631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:4.26, Z:3.42 [[ 9.98927083e-01 -2.93001007e-02 -3.58634584e-02 1.01027136e+02] [ 2.92598589e-02 9.99570483e-01 -1.64652934e-03 4.26213491e+00] [ 3.58962979e-02 5.95403021e-04 9.99355343e-01 3.41566017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:4.26, Z:3.42 [[ 9.98978258e-01 -2.75006650e-02 -3.58629817e-02 1.01053645e+02] [ 2.74588940e-02 9.99621560e-01 -1.65684841e-03 4.26373631e+00] [ 3.58949741e-02 6.70397721e-04 9.99355343e-01 3.41646017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:4.26, Z:3.42 [[ 9.98950193e-01 -2.85021592e-02 -3.58627747e-02 1.01081880e+02] [ 2.84608729e-02 9.99593527e-01 -1.66131551e-03 4.26457340e+00] [ 3.58955486e-02 6.38885576e-04 9.99355343e-01 3.41789315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:4.27, Z:3.42 [[ 9.98900588e-01 -3.01912391e-02 -3.58623028e-02 1.01109961e+02] [ 3.01506772e-02 9.99543967e-01 -1.67144226e-03 4.26531327e+00] [ 3.58964113e-02 5.88331942e-04 9.99355343e-01 3.41917263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:4.27, Z:3.42 [[ 9.98817572e-01 -3.28235927e-02 -3.58618129e-02 1.01137423e+02] [ 3.27843515e-02 9.99461034e-01 -1.68188743e-03 4.26588295e+00] [ 3.58976902e-02 5.04192441e-04 9.99355343e-01 3.42030761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:4.27, Z:3.42 [[ 9.98704604e-01 -3.60981912e-02 -3.58613210e-02 1.01164454e+02] [ 3.60606856e-02 9.99348169e-01 -1.69231145e-03 4.26630672e+00] [ 3.58990348e-02 3.96935413e-04 9.99355343e-01 3.42160884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:4.27, Z:3.42 [[ 9.98367410e-01 -4.44578946e-02 -3.58609814e-02 1.01191450e+02] [ 4.44255208e-02 9.99011254e-01 -1.69947600e-03 4.26607194e+00] [ 3.59010792e-02 1.03558679e-04 9.99355343e-01 3.42332273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:4.27, Z:3.42 [[ 9.98121874e-01 -4.96661876e-02 -3.58607707e-02 1.01219025e+02] [ 4.96370141e-02 9.98765870e-01 -1.70391087e-03 4.26617877e+00] [ 3.59011406e-02 -7.93108688e-05 9.99355343e-01 3.42401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:4.26, Z:3.42 [[ 9.97497854e-01 -6.09267662e-02 -3.58602810e-02 1.01247291e+02] [ 6.09044938e-02 9.98142126e-01 -1.71415624e-03 4.26401832e+00] [ 3.58980951e-02 -4.74185089e-04 9.99355343e-01 3.42412326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:4.26, Z:3.42 [[ 9.97142054e-01 -6.64966144e-02 -3.58597912e-02 1.01277209e+02] [ 6.64775742e-02 9.97786429e-01 -1.72434222e-03 4.26357532e+00] [ 3.58950759e-02 -6.64457792e-04 9.99355343e-01 3.42494909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:4.26, Z:3.43 [[ 9.96758954e-01 -7.20115612e-02 -3.58597608e-02 1.01307250e+02] [ 7.19960631e-02 9.97403425e-01 -1.72497433e-03 4.26356291e+00] [ 3.58908663e-02 -8.62377995e-04 9.99355343e-01 3.42588017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:4.26, Z:3.43 [[ 9.95988871e-01 -8.19771115e-02 -3.58597608e-02 1.01337345e+02] [ 8.19680599e-02 9.96633464e-01 -1.72497433e-03 4.26246915e+00] [ 3.58804460e-02 -1.22129979e-03 9.99355343e-01 3.42677857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:4.26, Z:3.43 [[ 9.95643365e-01 -8.60718591e-02 -3.58597910e-02 1.01369420e+02] [ 8.60654807e-02 9.96287990e-01 -1.72434629e-03 4.26278825e+00] [ 3.58750968e-02 -1.36945621e-03 9.99355343e-01 3.42790043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:4.26, Z:3.43 [[ 9.95314188e-01 -8.97983003e-02 -3.58599129e-02 1.01400907e+02] [ 8.97944264e-02 9.95958833e-01 -1.72180740e-03 4.26331704e+00] [ 3.58696124e-02 -1.50628097e-03 9.99355343e-01 3.42887872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:4.26, Z:3.43 [[ 9.94781362e-01 -9.55201648e-02 -3.58600037e-02 1.01433145e+02] [ 9.55200659e-02 9.95426019e-01 -1.71991411e-03 4.26339890e+00] [ 3.58602672e-02 -1.71441141e-03 9.99355343e-01 3.42886229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:4.26, Z:3.43 [[ 9.94610008e-01 -9.72881485e-02 -3.58601250e-02 1.01464921e+02] [ 9.72892865e-02 9.95254664e-01 -1.71738205e-03 4.26455979e+00] [ 3.58570375e-02 -1.78068059e-03 9.99355343e-01 3.42917798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:4.27, Z:3.43 [[ 9.94466778e-01 -9.87414256e-02 -3.58602480e-02 1.01495555e+02] [ 9.87435982e-02 9.95111432e-01 -1.71480836e-03 4.26675404e+00] [ 3.58542654e-02 -1.83564998e-03 9.99355343e-01 3.43057020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:4.27, Z:3.43 [[ 9.94472648e-01 -9.86822606e-02 -3.58603395e-02 1.01527486e+02] [ 9.86844636e-02 9.95117301e-01 -1.71289347e-03 4.26947391e+00] [ 3.58542765e-02 -1.83543266e-03 9.99355343e-01 3.43165852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:4.27, Z:3.43 [[ 9.94520181e-01 -9.82020187e-02 -3.58604613e-02 1.01560002e+02] [ 9.82040023e-02 9.95164835e-01 -1.71034047e-03 4.27200223e+00] [ 3.58550289e-02 -1.82067270e-03 9.99355343e-01 3.43290484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:4.27, Z:3.43 [[ 9.94670186e-01 -9.66707844e-02 -3.58605826e-02 1.01592801e+02] [ 9.66718671e-02 9.95314841e-01 -1.70779332e-03 4.27465209e+00] [ 3.58576638e-02 -1.76801837e-03 9.99355343e-01 3.43278158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:4.28, Z:3.43 [[ 9.94736938e-01 -9.59814048e-02 -3.58607683e-02 1.01624959e+02] [ 9.59821814e-02 9.95381594e-01 -1.70388338e-03 4.27686278e+00] [ 3.58586899e-02 -1.74707903e-03 9.99355343e-01 3.43340505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:4.28, Z:3.43 [[ 9.94817210e-01 -9.51457429e-02 -3.58609220e-02 1.01656536e+02] [ 9.51460945e-02 9.95461867e-01 -1.70064249e-03 4.27917253e+00] [ 3.58599893e-02 -1.72019826e-03 9.99355343e-01 3.43381902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:4.28, Z:3.43 [[ 9.94994051e-01 -9.32782248e-02 -3.58610122e-02 1.01688463e+02] [ 9.32774347e-02 9.95638707e-01 -1.69873970e-03 4.28306259e+00] [ 3.58630672e-02 -1.65478732e-03 9.99355343e-01 3.43325710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:4.29, Z:3.43 [[ 9.95139270e-01 -9.17159315e-02 -3.58611351e-02 1.01719670e+02] [ 9.17142227e-02 9.95783925e-01 -1.69614074e-03 4.28571971e+00] [ 3.58655050e-02 -1.60107987e-03 9.99355343e-01 3.43329090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:4.29, Z:3.43 [[ 9.95456349e-01 -8.82078830e-02 -3.58612265e-02 1.01752180e+02] [ 8.82039716e-02 9.96100993e-01 -1.69420661e-03 4.29081628e+00] [ 3.58708457e-02 -1.47659388e-03 9.99355343e-01 3.43309370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:4.29, Z:3.43 [[ 9.95670652e-01 -8.57549805e-02 -3.58613448e-02 1.01784649e+02] [ 8.57495711e-02 9.96315286e-01 -1.69169786e-03 4.29423957e+00] [ 3.58742775e-02 -1.39072103e-03 9.99355343e-01 3.43381355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:4.30, Z:3.43 [[ 9.95891917e-01 -8.31459196e-02 -3.58614687e-02 1.01816578e+02] [ 8.31389158e-02 9.96536536e-01 -1.68906724e-03 4.29776293e+00] [ 3.58777029e-02 -1.29935522e-03 9.99355343e-01 3.43474909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:4.30, Z:3.44 [[ 9.96135315e-01 -8.01771780e-02 -3.58615929e-02 1.01847438e+02] [ 8.01683478e-02 9.96779912e-01 -1.68642695e-03 4.30150512e+00] [ 3.58813283e-02 -1.19505521e-03 9.99355343e-01 3.43578236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:4.31, Z:3.44 [[ 9.96678444e-01 -7.31164767e-02 -3.58616852e-02 1.01879387e+02] [ 7.31031497e-02 9.97322963e-01 -1.68446146e-03 4.30855937e+00] [ 3.58888440e-02 -9.42735717e-04 9.99355343e-01 3.43763086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:4.31, Z:3.44 [[ 9.96959905e-01 -6.91728098e-02 -3.58618083e-02 1.01909973e+02] [ 6.91570275e-02 9.97604369e-01 -1.68183703e-03 4.31288182e+00] [ 3.58922340e-02 -8.03371970e-04 9.99355343e-01 3.43913045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:4.32, Z:3.44 [[ 9.97544904e-01 -6.01505472e-02 -3.58618998e-02 1.01940486e+02] [ 6.01290053e-02 9.98189201e-01 -1.67988327e-03 4.31991307e+00] [ 3.58980070e-02 -4.80581369e-04 9.99355343e-01 3.44086441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:4.32, Z:3.44 [[ 9.97787859e-01 -5.59759470e-02 -3.58619954e-02 1.01971011e+02] [ 5.59517828e-02 9.98432062e-01 -1.67784071e-03 4.32470468e+00] [ 3.58996847e-02 -3.32413486e-04 9.99355343e-01 3.44250594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:4.33, Z:3.44 [[ 9.98021269e-01 -5.16475000e-02 -3.58619954e-02 1.02000772e+02] [ 5.16205417e-02 9.98665362e-01 -1.67784071e-03 4.32945282e+00] [ 3.59007888e-02 -1.76694913e-04 9.99355343e-01 3.44393855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:4.34, Z:3.44 [[ 9.98337647e-01 -4.51205520e-02 -3.58619343e-02 1.02029569e+02] [ 4.50893359e-02 9.98981548e-01 -1.67914403e-03 4.33642694e+00] [ 3.59011746e-02 5.93618948e-05 9.99355343e-01 3.44498928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:4.34, Z:3.45 [[ 9.98429903e-01 -4.30308928e-02 -3.58618435e-02 1.02057765e+02] [ 4.29982595e-02 9.99073733e-01 -1.68108119e-03 4.34025676e+00] [ 3.59009643e-02 1.36444870e-04 9.99355343e-01 3.44612404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:4.35, Z:3.45 [[ 9.98537657e-01 -4.04538114e-02 -3.58613558e-02 1.02084203e+02] [ 4.04191451e-02 9.99181381e-01 -1.69142178e-03 4.34567424e+00] [ 3.59004235e-02 2.39463001e-04 9.99355343e-01 3.44728884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:4.35, Z:3.45 [[ 9.98546580e-01 -4.02332789e-02 -3.58610054e-02 1.02112182e+02] [ 4.01982048e-02 9.99190281e-01 -1.69881970e-03 4.34865615e+00] [ 3.59003171e-02 2.54802564e-04 9.99355343e-01 3.44842665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:4.35, Z:3.45 [[ 9.98535020e-01 -4.05196003e-02 -3.58605160e-02 1.02140513e+02] [ 4.04843420e-02 9.99178711e-01 -1.70908683e-03 4.35006845e+00] [ 3.59003157e-02 2.54793656e-04 9.99355343e-01 3.44944924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:4.35, Z:3.45 [[ 9.98529168e-01 -4.06639861e-02 -3.58600233e-02 1.02167817e+02] [ 4.06284519e-02 9.99172844e-01 -1.71936271e-03 4.35316648e+00] [ 3.59002777e-02 2.59896585e-04 9.99355343e-01 3.45043010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:4.36, Z:3.45 [[ 9.98447890e-01 -4.26132110e-02 -3.58598095e-02 1.02195174e+02] [ 4.25787736e-02 9.99091626e-01 -1.72381176e-03 4.35799226e+00] [ 3.59006925e-02 1.94269505e-04 9.99355343e-01 3.45169936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:4.36, Z:3.45 [[ 9.98369878e-01 -4.44037900e-02 -3.58593083e-02 1.02223363e+02] [ 4.43701349e-02 9.99013655e-01 -1.73417506e-03 4.36066390e+00] [ 3.59009426e-02 1.40265795e-04 9.99355344e-01 3.45226264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:4.36, Z:3.45 [[ 9.98266340e-01 -4.66739777e-02 -3.58588058e-02 1.02251390e+02] [ 4.66414156e-02 9.98910174e-01 -1.74450450e-03 4.36288016e+00] [ 3.59011489e-02 6.89746597e-05 9.99355344e-01 3.45269053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:4.37, Z:3.45 [[ 9.97986665e-01 -5.23144255e-02 -3.58583017e-02 1.02279560e+02] [ 5.22851322e-02 9.98630655e-01 -1.75480548e-03 4.36573113e+00] [ 3.59010009e-02 -1.23583576e-04 9.99355344e-01 3.45176566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:4.37, Z:3.45 [[ 9.97821056e-01 -5.53835690e-02 -3.58580658e-02 1.02309050e+02] [ 5.53560837e-02 9.98465126e-01 -1.75961308e-03 4.36758530e+00] [ 3.59004818e-02 -2.29183104e-04 9.99355344e-01 3.45232374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:4.37, Z:3.45 [[ 9.97649282e-01 -5.83961407e-02 -3.58580714e-02 1.02340582e+02] [ 5.83706043e-02 9.98293432e-01 -1.75949779e-03 4.36909541e+00] [ 3.58996251e-02 -3.37695592e-04 9.99355344e-01 3.45305676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:4.37, Z:3.45 [[ 9.97456224e-01 -6.16058127e-02 -3.58581344e-02 1.02371427e+02] [ 6.15823953e-02 9.98100455e-01 -1.75821290e-03 4.37086329e+00] [ 3.58983364e-02 -4.54489405e-04 9.99355344e-01 3.45425260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:4.37, Z:3.46 [[ 9.97275512e-01 -6.44650572e-02 -3.58581974e-02 1.02402860e+02] [ 6.44435329e-02 9.97919809e-01 -1.75692680e-03 4.37281925e+00] [ 3.58968659e-02 -5.58688857e-04 9.99355344e-01 3.45558346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:4.38, Z:3.46 [[ 9.96961799e-01 -6.91473362e-02 -3.58582917e-02 1.02434821e+02] [ 6.91289069e-02 9.97606192e-01 -1.75500177e-03 4.37523394e+00] [ 3.58938075e-02 -7.29174783e-04 9.99355344e-01 3.45722958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:4.38, Z:3.46 [[ 9.96843487e-01 -7.08324488e-02 -3.58584160e-02 1.02466624e+02] [ 7.08152003e-02 9.97487913e-01 -1.75245716e-03 4.37710987e+00] [ 3.58924674e-02 -7.92395401e-04 9.99355344e-01 3.45864506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:4.38, Z:3.46 [[ 9.96742520e-01 -7.22392768e-02 -3.58585394e-02 1.02498346e+02] [ 7.22230286e-02 9.97386972e-01 -1.74992940e-03 4.37896273e+00] [ 3.58912536e-02 -8.45583277e-04 9.99355344e-01 3.46041521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:4.38, Z:3.46 [[ 9.96681774e-01 -7.30725466e-02 -3.58586642e-02 1.02530265e+02] [ 7.30569294e-02 9.97326241e-01 -1.74736715e-03 4.38094237e+00] [ 3.58904714e-02 -8.78154912e-04 9.99355344e-01 3.46231474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:4.38, Z:3.46 [[ 9.96584437e-01 -7.43882254e-02 -3.58587887e-02 1.02562264e+02] [ 7.43735510e-02 9.97228926e-01 -1.74480865e-03 4.38359863e+00] [ 3.58892146e-02 -9.28096302e-04 9.99355344e-01 3.46316048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:4.39, Z:3.46 [[ 9.96540260e-01 -7.49776511e-02 -3.58589138e-02 1.02593681e+02] [ 7.49634504e-02 9.97184760e-01 -1.74223505e-03 4.38581522e+00] [ 3.58885910e-02 -9.51900530e-04 9.99355344e-01 3.46433109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:4.39, Z:3.47 [[ 9.96500638e-01 -7.55023891e-02 -3.58590068e-02 1.02625670e+02] [ 7.54885967e-02 9.97145146e-01 -1.74031764e-03 4.38793445e+00] [ 3.58880327e-02 -9.72718471e-04 9.99355344e-01 3.46510175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:4.39, Z:3.47 [[ 9.96474208e-01 -7.58503455e-02 -3.58591301e-02 1.02658162e+02] [ 7.58368697e-02 9.97118724e-01 -1.73777271e-03 4.38980789e+00] [ 3.58876208e-02 -9.87798497e-04 9.99355344e-01 3.46607792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:4.39, Z:3.47 [[ 9.96389632e-01 -7.69533327e-02 -3.58592537e-02 1.02690610e+02] [ 7.69406622e-02 9.97034164e-01 -1.73522007e-03 4.39183214e+00] [ 3.58864320e-02 -1.03007944e-03 9.99355344e-01 3.46629414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:4.39, Z:3.47 [[ 9.96353272e-01 -7.74226172e-02 -3.58593771e-02 1.02723161e+02] [ 7.74103421e-02 9.96997812e-01 -1.73266501e-03 4.39364171e+00] [ 3.58858680e-02 -1.04954020e-03 9.99355344e-01 3.46686216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:4.40, Z:3.47 [[ 9.96346403e-01 -7.75109066e-02 -3.58595000e-02 1.02755213e+02] [ 7.74987801e-02 9.96990946e-01 -1.73011927e-03 4.39556311e+00] [ 3.58856999e-02 -1.05526939e-03 9.99355344e-01 3.46787870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:4.40, Z:3.47 [[ 9.96324293e-01 -7.77945240e-02 -3.58596533e-02 1.02787010e+02] [ 7.77826955e-02 9.96968841e-01 -1.72693560e-03 4.39806274e+00] [ 3.58853031e-02 -1.06867260e-03 9.99355344e-01 3.46801759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:4.40, Z:3.47 [[ 9.96338680e-01 -7.76099853e-02 -3.58598045e-02 1.02818825e+02] [ 7.75981505e-02 9.96983227e-01 -1.72378900e-03 4.40015525e+00] [ 3.58854069e-02 -1.06517685e-03 9.99355344e-01 3.46845313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:4.40, Z:3.47 [[ 9.96334631e-01 -7.76618803e-02 -3.58599548e-02 1.02851428e+02] [ 7.76501917e-02 9.96979181e-01 -1.72065754e-03 4.40236236e+00] [ 3.58852578e-02 -1.07018167e-03 9.99355344e-01 3.46926332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:4.40, Z:3.47 [[ 9.96341004e-01 -7.75800181e-02 -3.58600777e-02 1.02883180e+02] [ 7.75683688e-02 9.96985555e-01 -1.71809169e-03 4.40447099e+00] [ 3.58852691e-02 -1.06980254e-03 9.99355344e-01 3.46995249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:4.41, Z:3.47 [[ 9.96334079e-01 -7.76688297e-02 -3.58602307e-02 1.02915653e+02] [ 7.76573530e-02 9.96978633e-01 -1.71489326e-03 4.40663015e+00] [ 3.58850775e-02 -1.07620399e-03 9.99355344e-01 3.46999862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:4.41, Z:3.47 [[ 9.96372812e-01 -7.71702968e-02 -3.58603513e-02 1.02947179e+02] [ 7.71585884e-02 9.97017362e-01 -1.71236772e-03 4.40849040e+00] [ 3.58855367e-02 -1.06077744e-03 9.99355344e-01 3.47055521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:4.41, Z:3.47 [[ 9.96433753e-01 -7.63793454e-02 -3.58604411e-02 1.02979604e+02] [ 7.63671930e-02 9.97078295e-01 -1.71048453e-03 4.41018899e+00] [ 3.58863131e-02 -1.03417670e-03 9.99355344e-01 3.47157246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:4.41, Z:3.47 [[ 9.96624566e-01 -7.38477816e-02 -3.58605608e-02 1.03011667e+02] [ 7.38340822e-02 9.97269077e-01 -1.70797146e-03 4.41313291e+00] [ 3.58887582e-02 -9.45525283e-04 9.99355344e-01 3.47457275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:4.42, Z:3.48 [[ 9.96731603e-01 -7.23886905e-02 -3.58606847e-02 1.03042489e+02] [ 7.23741413e-02 9.97376095e-01 -1.70536560e-03 4.41552423e+00] [ 3.58900389e-02 -8.95594471e-04 9.99355344e-01 3.47587137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:4.42, Z:3.48 [[ 9.96853465e-01 -7.06906919e-02 -3.58607768e-02 1.03074363e+02] [ 7.06751146e-02 9.97497933e-01 -1.70342720e-03 4.41789631e+00] [ 3.58914672e-02 -8.36397200e-04 9.99355344e-01 3.47767733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:4.42, Z:3.48 [[ 9.97030181e-01 -6.81528762e-02 -3.58608928e-02 1.03105925e+02] [ 6.81357463e-02 9.97674610e-01 -1.70098154e-03 4.42056764e+00] [ 3.58934290e-02 -7.47478763e-04 9.99355344e-01 3.48028123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:4.42, Z:3.48 [[ 9.97084518e-01 -6.73531923e-02 -3.58610127e-02 1.03137940e+02] [ 6.73356366e-02 9.97728935e-01 -1.69844941e-03 4.42228917e+00] [ 3.58939660e-02 -7.21226506e-04 9.99355344e-01 3.48182815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:4.42, Z:3.48 [[ 9.97132053e-01 -6.66456833e-02 -3.58611338e-02 1.03169899e+02] [ 6.66277624e-02 9.97776461e-01 -1.69588833e-03 4.42378568e+00] [ 3.58944188e-02 -6.98322486e-04 9.99355344e-01 3.48330205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:4.43, Z:3.48 [[ 9.97223208e-01 -6.52674778e-02 -3.58612558e-02 1.03201563e+02] [ 6.52487591e-02 9.97867592e-01 -1.69330613e-03 4.42542631e+00] [ 3.58953028e-02 -6.51298272e-04 9.99355344e-01 3.48428064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:4.43, Z:3.49 [[ 9.97282871e-01 -6.43493319e-02 -3.58613779e-02 1.03233415e+02] [ 6.43301131e-02 9.97927241e-01 -1.69071460e-03 4.42705324e+00] [ 3.58958423e-02 -6.20845788e-04 9.99355344e-01 3.48582936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:4.43, Z:3.49 [[ 9.97377334e-01 -6.28681644e-02 -3.58615021e-02 1.03264391e+02] [ 6.28480834e-02 9.98021678e-01 -1.68807802e-03 4.42864736e+00] [ 3.58966828e-02 -5.70175917e-04 9.99355344e-01 3.48735817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:4.43, Z:3.49 [[ 9.97480415e-01 -6.12107885e-02 -3.58616964e-02 1.03295576e+02] [ 6.11897856e-02 9.98124729e-01 -1.68393946e-03 4.43036987e+00] [ 3.58975212e-02 -5.14672887e-04 9.99355344e-01 3.48880112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:4.43, Z:3.49 [[ 9.97699302e-01 -5.75328396e-02 -3.58618845e-02 1.03327740e+02] [ 5.75096057e-02 9.98343540e-01 -1.67992381e-03 4.43277842e+00] [ 3.58991315e-02 -3.86344028e-04 9.99355344e-01 3.49154435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:4.43, Z:3.49 [[ 9.97802345e-01 -5.57171120e-02 -3.58620040e-02 1.03358041e+02] [ 5.56927976e-02 9.98446543e-01 -1.67736856e-03 4.43463229e+00] [ 3.58997521e-02 -3.23573045e-04 9.99355344e-01 3.49332897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:4.44, Z:3.50 [[ 9.97904841e-01 -5.38501875e-02 -3.58620335e-02 1.03389496e+02] [ 5.38246906e-02 9.98548993e-01 -1.67673711e-03 4.43613637e+00] [ 3.59002901e-02 -2.57038781e-04 9.99355344e-01 3.49541795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:4.44, Z:3.50 [[ 9.97974548e-01 -5.25424734e-02 -3.58620933e-02 1.03419939e+02] [ 5.25161783e-02 9.98618668e-01 -1.67545679e-03 4.43713418e+00] [ 3.59005885e-02 -2.11276855e-04 9.99355344e-01 3.49690055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:4.44, Z:3.50 [[ 9.98052825e-01 -5.10339781e-02 -3.58621230e-02 1.03450577e+02] [ 5.10067324e-02 9.98696905e-01 -1.67482139e-03 4.43677867e+00] [ 3.59008641e-02 -1.57649490e-04 9.99355344e-01 3.49871061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:4.44, Z:3.50 [[ 9.98073782e-01 -5.06224592e-02 -3.58621230e-02 1.03480894e+02] [ 5.05949479e-02 9.98717851e-01 -1.67482139e-03 4.43686245e+00] [ 3.59009260e-02 -1.42846924e-04 9.99355344e-01 3.49976501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:4.44, Z:3.50 [[ 9.98079335e-01 -5.05128684e-02 -3.58621230e-02 1.03511459e+02] [ 5.04852864e-02 9.98723401e-01 -1.67482139e-03 4.43696491e+00] [ 3.59009415e-02 -1.38904932e-04 9.99355344e-01 3.50123330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:4.44, Z:3.50 [[ 9.98069409e-01 -5.07086006e-02 -3.58621230e-02 1.03541057e+02] [ 5.06811449e-02 9.98713481e-01 -1.67482139e-03 4.43683210e+00] [ 3.59009136e-02 -1.45945454e-04 9.99355344e-01 3.50212827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:4.44, Z:3.50 [[ 9.98026606e-01 -5.15441855e-02 -3.58620931e-02 1.03572027e+02] [ 5.15172460e-02 9.98670700e-01 -1.67546130e-03 4.43517226e+00] [ 3.59007819e-02 -1.75361321e-04 9.99355344e-01 3.50422329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:4.43, Z:3.51 [[ 9.97989599e-01 -5.22558213e-02 -3.58620931e-02 1.03602984e+02] [ 5.22293411e-02 9.98633711e-01 -1.67546130e-03 4.43489426e+00] [ 3.59006478e-02 -2.00960548e-04 9.99355344e-01 3.50541067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:4.43, Z:3.51 [[ 9.97939401e-01 -5.32058525e-02 -3.58620931e-02 1.03632654e+02] [ 5.31799855e-02 9.98583538e-01 -1.67546130e-03 4.43426240e+00] [ 3.59004402e-02 -2.35136751e-04 9.99355344e-01 3.50683431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:4.43, Z:3.51 [[ 9.97836861e-01 -5.50954585e-02 -3.58620943e-02 1.03663064e+02] [ 5.50708122e-02 9.98481046e-01 -1.67543640e-03 4.43107533e+00] [ 3.58999303e-02 -3.03142465e-04 9.99355344e-01 3.50807415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:4.43, Z:3.51 [[ 9.97757599e-01 -5.65126871e-02 -3.58620943e-02 1.03692229e+02] [ 5.64889558e-02 9.98401818e-01 -1.67543640e-03 4.43022480e+00] [ 3.58994636e-02 -3.54132862e-04 9.99355344e-01 3.50863564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:4.43, Z:3.51 [[ 9.97686540e-01 -5.77536082e-02 -3.58620645e-02 1.03723017e+02] [ 5.77306552e-02 9.98330788e-01 -1.67607363e-03 4.42934452e+00] [ 3.58990024e-02 -3.98144377e-04 9.99355344e-01 3.51002602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:4.43, Z:3.51 [[ 9.97507683e-01 -6.07645801e-02 -3.58620645e-02 1.03753803e+02] [ 6.07435718e-02 9.98151997e-01 -1.67607363e-03 4.42660468e+00] [ 3.58976372e-02 -5.06493563e-04 9.99355344e-01 3.51186583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:4.43, Z:3.51 [[ 9.97391630e-01 -6.26406239e-02 -3.58620645e-02 1.03785351e+02] [ 6.26208274e-02 9.98035983e-01 -1.67607363e-03 4.42598023e+00] [ 3.58966211e-02 -5.74010340e-04 9.99355344e-01 3.51318085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:4.42, Z:3.51 [[ 9.97271792e-01 -6.45203860e-02 -3.58621240e-02 1.03816764e+02] [ 6.45018499e-02 9.97916182e-01 -1.67480013e-03 4.42496961e+00] [ 3.58954526e-02 -6.42942409e-04 9.99355344e-01 3.51446733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:4.42, Z:3.51 [[ 9.97004983e-01 -6.85198405e-02 -3.58621841e-02 1.03848503e+02] [ 6.85039354e-02 9.97649443e-01 -1.67351090e-03 4.42113733e+00] [ 3.58925567e-02 -7.88202046e-04 9.99355344e-01 3.51467434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:4.42, Z:3.52 [[ 9.96852362e-01 -7.07054807e-02 -3.58622740e-02 1.03881239e+02] [ 7.06910579e-02 9.97496857e-01 -1.67158383e-03 4.41998274e+00] [ 3.58906957e-02 -8.68819796e-04 9.99355344e-01 3.51591561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:4.42, Z:3.52 [[ 9.96704684e-01 -7.27575515e-02 -3.58623960e-02 1.03912299e+02] [ 7.27445497e-02 9.97349209e-01 -1.66896190e-03 4.41874766e+00] [ 3.58887619e-02 -9.45331705e-04 9.99355344e-01 3.51673002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:4.42, Z:3.52 [[ 9.96402856e-01 -7.67804082e-02 -3.58624869e-02 1.03944494e+02] [ 7.67700787e-02 9.97047429e-01 -1.66700622e-03 4.41573440e+00] [ 3.58845938e-02 -1.09215618e-03 9.99355344e-01 3.51729505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:4.41, Z:3.52 [[ 9.96282037e-01 -7.83324708e-02 -3.58626027e-02 1.03977110e+02] [ 7.83232351e-02 9.96926627e-01 -1.66451071e-03 4.41496703e+00] [ 3.58827688e-02 -1.15055294e-03 9.99355344e-01 3.51787991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:4.41, Z:3.52 [[ 9.96170227e-01 -7.97417310e-02 -3.58627183e-02 1.04009620e+02] [ 7.97334968e-02 9.96814831e-01 -1.66201750e-03 4.41417548e+00] [ 3.58810216e-02 -1.20380758e-03 9.99355344e-01 3.51901754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:4.41, Z:3.52 [[ 9.95941065e-01 -8.25545393e-02 -3.58628381e-02 1.04041913e+02] [ 8.25482186e-02 9.96585690e-01 -1.65942806e-03 4.41131821e+00] [ 3.58773846e-02 -1.30772085e-03 9.99355344e-01 3.51968674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:4.41, Z:3.52 [[ 9.95816477e-01 -8.40439965e-02 -3.58629569e-02 1.04073404e+02] [ 8.40387324e-02 9.96461111e-01 -1.65685633e-03 4.41040341e+00] [ 3.58752907e-02 -1.36395260e-03 9.99355344e-01 3.52017882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:4.41, Z:3.52 [[ 9.95696987e-01 -8.54479485e-02 -3.58630454e-02 1.04105387e+02] [ 8.54436622e-02 9.96341629e-01 -1.65493870e-03 4.40937123e+00] [ 3.58732562e-02 -1.41645246e-03 9.99355344e-01 3.52096263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:4.41, Z:3.52 [[ 9.95703194e-01 -8.53755401e-02 -3.58631655e-02 1.04138027e+02] [ 8.53713007e-02 9.96347836e-01 -1.65233238e-03 4.41081721e+00] [ 3.58732561e-02 -1.41645246e-03 9.99355344e-01 3.52213555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:4.41, Z:3.52 [[ 9.95400535e-01 -8.88346724e-02 -3.58632854e-02 1.04169710e+02] [ 8.88327666e-02 9.96045189e-01 -1.64972605e-03 4.40789345e+00] [ 3.58680057e-02 -1.54369667e-03 9.99355344e-01 3.52241456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:4.41, Z:3.52 [[ 9.95266311e-01 -9.03260180e-02 -3.58633746e-02 1.04201390e+02] [ 9.03251479e-02 9.95910966e-01 -1.64778462e-03 4.40734113e+00] [ 3.58655658e-02 -1.59938009e-03 9.99355344e-01 3.52275093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:4.41, Z:3.52 [[ 9.95176682e-01 -9.13081420e-02 -3.58635702e-02 1.04233239e+02] [ 9.13080617e-02 9.95821338e-01 -1.64351624e-03 4.40696955e+00] [ 3.58637748e-02 -1.63904404e-03 9.99355344e-01 3.52201520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:4.41, Z:3.52 [[ 9.95139394e-01 -9.17135862e-02 -3.58636839e-02 1.04265040e+02] [ 9.17138578e-02 9.95784051e-01 -1.64103056e-03 4.40657069e+00] [ 3.58629892e-02 -1.65614265e-03 9.99355344e-01 3.52135836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:4.41, Z:3.52 [[ 9.95159921e-01 -9.14905387e-02 -3.58638002e-02 1.04297239e+02] [ 9.14907574e-02 9.95804578e-01 -1.63848530e-03 4.40662181e+00] [ 3.58632423e-02 -1.65065134e-03 9.99355344e-01 3.52187380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:4.41, Z:3.52 [[ 9.95212416e-01 -9.09176922e-02 -3.58639181e-02 1.04328509e+02] [ 9.09176328e-02 9.95857072e-01 -1.63589935e-03 4.40809902e+00] [ 3.58640687e-02 -1.63259520e-03 9.99355344e-01 3.52334523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:4.41, Z:3.53 [[ 9.95260140e-01 -9.03936861e-02 -3.58641129e-02 1.04360734e+02] [ 9.03934412e-02 9.95904796e-01 -1.63161923e-03 4.40976508e+00] [ 3.58647301e-02 -1.61799500e-03 9.99355344e-01 3.52536122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:4.41, Z:3.53 [[ 9.95341458e-01 -8.94937912e-02 -3.58642279e-02 1.04393104e+02] [ 8.94930545e-02 9.95986114e-01 -1.62908765e-03 4.41150785e+00] [ 3.58660662e-02 -1.58810082e-03 9.99355344e-01 3.52711397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:4.41, Z:3.53 [[ 9.95512744e-01 -8.75678344e-02 -3.58643453e-02 1.04424159e+02] [ 8.75659435e-02 9.96157397e-01 -1.62649920e-03 4.41295113e+00] [ 3.58689618e-02 -1.52129455e-03 9.99355344e-01 3.52784583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:4.41, Z:3.53 [[ 9.95596679e-01 -8.66082807e-02 -3.58644326e-02 1.04455881e+02] [ 8.66058378e-02 9.96241331e-01 -1.62457099e-03 4.41411068e+00] [ 3.58703314e-02 -1.48865174e-03 9.99355344e-01 3.52895917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:4.42, Z:3.53 [[ 9.95658555e-01 -8.58939829e-02 -3.58645479e-02 1.04488442e+02] [ 8.58911692e-02 9.96303205e-01 -1.62202117e-03 4.41544475e+00] [ 3.58712859e-02 -1.46546870e-03 9.99355344e-01 3.53053986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:4.42, Z:3.53 [[ 9.95764454e-01 -8.46574101e-02 -3.58646652e-02 1.04519216e+02] [ 8.46538892e-02 9.96409101e-01 -1.61942334e-03 4.41755927e+00] [ 3.58729750e-02 -1.42351920e-03 9.99355344e-01 3.53142752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:4.42, Z:3.53 [[ 9.95826908e-01 -8.39195434e-02 -3.58647524e-02 1.04551616e+02] [ 8.39156144e-02 9.96471552e-01 -1.61748982e-03 4.41975009e+00] [ 3.58739445e-02 -1.39887285e-03 9.99355344e-01 3.53266220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:4.42, Z:3.53 [[ 9.95897655e-01 -8.30757043e-02 -3.58648651e-02 1.04584117e+02] [ 8.30713190e-02 9.96542296e-01 -1.61498778e-03 4.42200001e+00] [ 3.58750212e-02 -1.37097911e-03 9.99355344e-01 3.53366133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:4.42, Z:3.53 [[ 9.95962406e-01 -8.22957417e-02 -3.58649788e-02 1.04616453e+02] [ 8.22909426e-02 9.96607044e-01 -1.61245747e-03 4.42409437e+00] [ 3.58759889e-02 -1.34541590e-03 9.99355344e-01 3.53418727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:4.43, Z:3.53 [[ 9.96023975e-01 -8.15471438e-02 -3.58650972e-02 1.04647704e+02] [ 8.15419549e-02 9.96668610e-01 -1.60982176e-03 4.42633685e+00] [ 3.58768929e-02 -1.32108907e-03 9.99355344e-01 3.53415328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:4.43, Z:3.54 [[ 9.96058349e-01 -8.11261589e-02 -3.58651853e-02 1.04679377e+02] [ 8.11207682e-02 9.96702983e-01 -1.60785607e-03 4.42820563e+00] [ 3.58773763e-02 -1.30789291e-03 9.99355344e-01 3.53546952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:4.43, Z:3.54 [[ 9.96077323e-01 -8.08928154e-02 -3.58653028e-02 1.04710604e+02] [ 8.08873682e-02 9.96721956e-01 -1.60523027e-03 4.43143775e+00] [ 3.58775863e-02 -1.30211648e-03 9.99355344e-01 3.53708366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:4.43, Z:3.54 [[ 9.96061111e-01 -8.10921461e-02 -3.58653903e-02 1.04741791e+02] [ 8.10868982e-02 9.96705746e-01 -1.60327277e-03 4.43378775e+00] [ 3.58772534e-02 -1.31125560e-03 9.99355344e-01 3.53810065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:4.44, Z:3.54 [[ 9.96033543e-01 -8.14300212e-02 -3.58654756e-02 1.04772470e+02] [ 8.14250607e-02 9.96678180e-01 -1.60136201e-03 4.43583205e+00] [ 3.58767359e-02 -1.32533826e-03 9.99355344e-01 3.53876717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:4.44, Z:3.54 [[ 9.95927887e-01 -8.27121861e-02 -3.58655601e-02 1.04804094e+02] [ 8.27081236e-02 9.96572530e-01 -1.59946765e-03 4.43855153e+00] [ 3.58749274e-02 -1.37341874e-03 9.99355344e-01 3.53911450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:4.44, Z:3.54 [[ 9.95835288e-01 -8.38196436e-02 -3.58656734e-02 1.04834947e+02] [ 8.38163895e-02 9.96479936e-01 -1.59692358e-03 4.44014295e+00] [ 3.58732775e-02 -1.41585839e-03 9.99355344e-01 3.53949543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:4.44, Z:3.54 [[ 9.95750286e-01 -8.48234381e-02 -3.58657577e-02 1.04867318e+02] [ 8.48209019e-02 9.96394937e-01 -1.59502745e-03 4.44182717e+00] [ 3.58717551e-02 -1.45391688e-03 9.99355344e-01 3.54035028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:4.44, Z:3.54 [[ 9.95661312e-01 -8.58614662e-02 -3.58658727e-02 1.04898679e+02] [ 8.58596953e-02 9.96305965e-01 -1.59243641e-03 4.44369010e+00] [ 3.58701119e-02 -1.49390558e-03 9.99355344e-01 3.54112956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:4.45, Z:3.54 [[ 9.95493925e-01 -8.77808108e-02 -3.58660650e-02 1.04930441e+02] [ 8.77804388e-02 9.96138581e-01 -1.58809418e-03 4.44641984e+00] [ 3.58669753e-02 -1.56740082e-03 9.99355344e-01 3.54269796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:4.45, Z:3.54 [[ 9.95423578e-01 -8.85749235e-02 -3.58661803e-02 1.04961653e+02] [ 8.85751596e-02 9.96068234e-01 -1.58548653e-03 4.44834359e+00] [ 3.58655972e-02 -1.59862197e-03 9.99355344e-01 3.54391350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:4.45, Z:3.54 [[ 9.95500249e-01 -8.77089833e-02 -3.58662661e-02 1.04994696e+02] [ 8.77087286e-02 9.96144905e-01 -1.58354226e-03 4.44937351e+00] [ 3.58668891e-02 -1.56936788e-03 9.99355344e-01 3.54234770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:4.45, Z:3.55 [[ 9.95288988e-01 -9.00737384e-02 -3.58685370e-02 1.05025397e+02] [ 9.00768710e-02 9.95933638e-01 -1.53193392e-03 4.45260170e+00] [ 3.58606696e-02 -1.70620862e-03 9.99355343e-01 3.54550519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:4.46, Z:3.55 [[ 9.95202164e-01 -9.10287693e-02 -3.58666272e-02 1.05057049e+02] [ 9.10309569e-02 9.95846817e-01 -1.57541469e-03 4.45612124e+00] [ 3.58610746e-02 -1.69711729e-03 9.99355344e-01 3.54623453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:4.46, Z:3.55 [[ 9.95344073e-01 -8.94636936e-02 -3.58667400e-02 1.05090459e+02] [ 8.94649600e-02 9.95988728e-01 -1.57284161e-03 4.45764638e+00] [ 3.58635810e-02 -1.64329789e-03 9.99355344e-01 3.54553751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:4.46, Z:3.55 [[ 9.95198983e-01 -9.10626859e-02 -3.58688205e-02 1.05121112e+02] [ 9.10667012e-02 9.95843627e-01 -1.52519826e-03 4.46301335e+00] [ 3.58586249e-02 -1.74857940e-03 9.99355343e-01 3.54921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:4.47, Z:3.55 [[ 9.95263429e-01 -9.03562667e-02 -3.58671350e-02 1.05153633e+02] [ 9.03584343e-02 9.95908082e-01 -1.56385587e-03 4.46582028e+00] [ 3.58616738e-02 -1.68444960e-03 9.99355344e-01 3.55079244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:4.47, Z:3.55 [[ 9.95363344e-01 -8.92488076e-02 -3.58673018e-02 1.05185314e+02] [ 8.92503959e-02 9.96007999e-01 -1.56002017e-03 4.46818302e+00] [ 3.58633494e-02 -1.64838399e-03 9.99355344e-01 3.55241074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:4.47, Z:3.56 [[ 9.95569380e-01 -8.69203045e-02 -3.58674118e-02 1.05216651e+02] [ 8.69204759e-02 9.96214036e-01 -1.55748759e-03 4.47239620e+00] [ 3.58669964e-02 -1.56702555e-03 9.99355344e-01 3.55547987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:4.48, Z:3.56 [[ 9.95689511e-01 -8.55331600e-02 -3.58674936e-02 1.05249201e+02] [ 8.55325011e-02 9.96334167e-01 -1.55560229e-03 4.47559478e+00] [ 3.58690649e-02 -1.51893955e-03 9.99355344e-01 3.55783071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:4.48, Z:3.56 [[ 9.95846374e-01 -8.36869816e-02 -3.58676614e-02 1.05282364e+02] [ 8.36852669e-02 9.96491028e-01 -1.55172225e-03 4.48071605e+00] [ 3.58716617e-02 -1.45631784e-03 9.99355344e-01 3.56006406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:4.48, Z:3.56 [[ 9.95894594e-01 -8.31111149e-02 -3.58678284e-02 1.05314466e+02] [ 8.31091666e-02 9.96539247e-01 -1.54785285e-03 4.48354966e+00] [ 3.58723425e-02 -1.43944704e-03 9.99355344e-01 3.56057454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:4.49, Z:3.56 [[ 9.95932938e-01 -8.26503129e-02 -3.58679406e-02 1.05346733e+02] [ 8.26481601e-02 9.96577590e-01 -1.54524758e-03 4.48592949e+00] [ 3.58729011e-02 -1.42545634e-03 9.99355344e-01 3.56094898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:4.49, Z:3.56 [[ 9.95923696e-01 -8.27615468e-02 -3.58680520e-02 1.05377621e+02] [ 8.27595590e-02 9.96568350e-01 -1.54265914e-03 4.48801495e+00] [ 3.58726382e-02 -1.43205336e-03 9.99355344e-01 3.56072638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:4.49, Z:3.56 [[ 9.95900984e-01 -8.30343310e-02 -3.58682263e-02 1.05409230e+02] [ 8.30326658e-02 9.96545638e-01 -1.53859601e-03 4.48974368e+00] [ 3.58720807e-02 -1.44594517e-03 9.99355344e-01 3.56093391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:4.49, Z:3.56 [[ 9.95797497e-01 -8.42663058e-02 -3.58683080e-02 1.05441606e+02] [ 8.42655068e-02 9.96442152e-01 -1.53668847e-03 4.49205304e+00] [ 3.58701851e-02 -1.49223061e-03 9.99355344e-01 3.56061349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:4.49, Z:3.56 [[ 9.95687728e-01 -8.55535158e-02 -3.58684160e-02 1.05473370e+02] [ 8.55536409e-02 9.96332385e-01 -1.53416264e-03 4.49442884e+00] [ 3.58681175e-02 -1.54112667e-03 9.99355344e-01 3.56019557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:4.50, Z:3.56 [[ 9.95644626e-01 -8.60536323e-02 -3.58685247e-02 1.05504939e+02] [ 8.60541727e-02 9.96289282e-01 -1.53161837e-03 4.49683403e+00] [ 3.58672280e-02 -1.56168862e-03 9.99355344e-01 3.56079020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:4.50, Z:3.56 [[ 9.95597970e-01 -8.65917165e-02 -3.58686056e-02 1.05536560e+02] [ 8.65926736e-02 9.96242625e-01 -1.52972130e-03 4.50066432e+00] [ 3.58662950e-02 -1.58297103e-03 9.99355344e-01 3.56198159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:4.50, Z:3.56 [[ 9.95670073e-01 -8.57586256e-02 -3.58687169e-02 1.05568189e+02] [ 8.57591373e-02 9.96314729e-01 -1.52710732e-03 4.50497973e+00] [ 3.58674935e-02 -1.55557515e-03 9.99355344e-01 3.56277706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:4.51, Z:3.56 [[ 9.95779928e-01 -8.44734329e-02 -3.58688555e-02 1.05600791e+02] [ 8.44732298e-02 9.96424584e-01 -1.52384319e-03 4.50815016e+00] [ 3.58693337e-02 -1.51254562e-03 9.99355344e-01 3.56474178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:4.51, Z:3.57 [[ 9.95927566e-01 -8.27145523e-02 -3.58690222e-02 1.05632674e+02] [ 8.27133521e-02 9.96572221e-01 -1.51990885e-03 4.51141980e+00] [ 3.58717897e-02 -1.45312794e-03 9.99355344e-01 3.56629826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:4.52, Z:3.57 [[ 9.96306412e-01 -7.80188252e-02 -3.58691599e-02 1.05664268e+02] [ 7.80147032e-02 9.96951055e-01 -1.51665236e-03 4.51690390e+00] [ 3.58781243e-02 -1.28727139e-03 9.99355344e-01 3.56913645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:4.52, Z:3.57 [[ 9.96505252e-01 -7.54365880e-02 -3.58692691e-02 1.05695601e+02] [ 7.54308884e-02 9.97149883e-01 -1.51406602e-03 4.51994944e+00] [ 3.58812535e-02 -1.19687609e-03 9.99355344e-01 3.57106627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:4.52, Z:3.57 [[ 9.96839386e-01 -7.08846145e-02 -3.58693503e-02 1.05727436e+02] [ 7.08760401e-02 9.97483985e-01 -1.51213938e-03 4.52326765e+00] [ 3.58862899e-02 -1.03491742e-03 9.99355344e-01 3.57276789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:4.53, Z:3.57 [[ 9.96970482e-01 -6.90162280e-02 -3.58694580e-02 1.05759637e+02] [ 6.90065375e-02 9.97615066e-01 -1.50958120e-03 4.52515631e+00] [ 3.58880973e-02 -9.70219204e-04 9.99355344e-01 3.57393427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:4.53, Z:3.58 [[ 9.97113538e-01 -6.69176097e-02 -3.58695653e-02 1.05791748e+02] [ 6.69066543e-02 9.97758101e-01 -1.50702782e-03 4.52724660e+00] [ 3.58899960e-02 -8.97234758e-04 9.99355344e-01 3.57533192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:4.53, Z:3.58 [[ 9.97134872e-01 -6.65989002e-02 -3.58696719e-02 1.05823861e+02] [ 6.65878301e-02 9.97779433e-01 -1.50448559e-03 4.52888150e+00] [ 3.58902180e-02 -8.88308574e-04 9.99355344e-01 3.57663075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:4.53, Z:3.58 [[ 9.97093982e-01 -6.72082578e-02 -3.58697785e-02 1.05856085e+02] [ 6.71976732e-02 9.97738551e-01 -1.50193884e-03 4.53074309e+00] [ 3.58896036e-02 -9.12791473e-04 9.99355344e-01 3.57828688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:4.53, Z:3.58 [[ 9.97018559e-01 -6.83179718e-02 -3.58698843e-02 1.05887807e+02] [ 6.83081956e-02 9.97663141e-01 -1.49940819e-03 4.53172753e+00] [ 3.58884980e-02 -9.55269284e-04 9.99355344e-01 3.57951135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:4.53, Z:3.58 [[ 9.96942359e-01 -6.94210141e-02 -3.58699923e-02 1.05919176e+02] [ 6.94120440e-02 9.97586952e-01 -1.49682042e-03 4.53240572e+00] [ 3.58873471e-02 -9.97565804e-04 9.99355344e-01 3.58057113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:4.53, Z:3.58 [[ 9.96774028e-01 -7.17974644e-02 -3.58700727e-02 1.05951637e+02] [ 7.17901005e-02 9.97418642e-01 -1.49489111e-03 4.53238964e+00] [ 3.58848086e-02 -1.08504750e-03 9.99355344e-01 3.58144851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:4.53, Z:3.58 [[ 9.96609132e-01 -7.40511198e-02 -3.58701780e-02 1.05983654e+02] [ 7.40453044e-02 9.97253762e-01 -1.49236147e-03 4.53204111e+00] [ 3.58821809e-02 -1.16871717e-03 9.99355344e-01 3.58248271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:4.53, Z:3.58 [[ 9.96554578e-01 -7.47816483e-02 -3.58702856e-02 1.06014509e+02] [ 7.47763986e-02 9.97199213e-01 -1.48977040e-03 4.53260590e+00] [ 3.58812280e-02 -1.19761326e-03 9.99355344e-01 3.58303000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:4.53, Z:3.58 [[ 9.96515380e-01 -7.53021571e-02 -3.58703656e-02 1.06046252e+02] [ 7.52973135e-02 9.97160018e-01 -1.48784026e-03 4.53350587e+00] [ 3.58805320e-02 -1.21828647e-03 9.99355344e-01 3.58418433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:4.53, Z:3.59 [[ 9.96469894e-01 -7.59016411e-02 -3.58704707e-02 1.06078428e+02] [ 7.58972766e-02 9.97114536e-01 -1.48530168e-03 4.53441029e+00] [ 3.58797046e-02 -1.24241264e-03 9.99355344e-01 3.58547934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:4.54, Z:3.59 [[ 9.96467415e-01 -7.59341277e-02 -3.58705777e-02 1.06110523e+02] [ 7.59298772e-02 9.97112058e-01 -1.48271387e-03 4.53553602e+00] [ 3.58795741e-02 -1.24617251e-03 9.99355344e-01 3.58642711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:4.54, Z:3.59 [[ 9.96472920e-01 -7.58618025e-02 -3.58706851e-02 1.06143172e+02] [ 7.58575987e-02 9.97117563e-01 -1.48011200e-03 4.53682537e+00] [ 3.58795740e-02 -1.24617250e-03 9.99355344e-01 3.58760001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:4.54, Z:3.59 [[ 9.96665644e-01 -7.32862961e-02 -3.58707922e-02 1.06176314e+02] [ 7.32805199e-02 9.97310274e-01 -1.47751013e-03 4.53619938e+00] [ 3.58825909e-02 -1.15604672e-03 9.99355344e-01 3.58684336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:4.54, Z:3.59 [[ 9.96531703e-01 -7.50829590e-02 -3.58763705e-02 1.06206115e+02] [ 7.50832302e-02 9.97176368e-01 -1.34163897e-03 4.53904495e+00] [ 3.58758031e-02 -1.35672802e-03 9.99355335e-01 3.58981795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:4.54, Z:3.59 [[ 9.96601475e-01 -7.41537148e-02 -3.58709697e-02 1.06238754e+02] [ 7.41486563e-02 9.97246111e-01 -1.47315462e-03 4.54005420e+00] [ 3.58814250e-02 -1.19163614e-03 9.99355344e-01 3.59036826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:4.54, Z:3.59 [[ 9.96620802e-01 -7.38934567e-02 -3.58710745e-02 1.06271355e+02] [ 7.38883217e-02 9.97265438e-01 -1.47059845e-03 4.54106982e+00] [ 3.58816504e-02 -1.18482449e-03 9.99355344e-01 3.59184745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:4.54, Z:3.59 [[ 9.96569895e-01 -7.45768267e-02 -3.58711796e-02 1.06303658e+02] [ 7.45722260e-02 9.97214535e-01 -1.46803208e-03 4.54192701e+00] [ 3.58807428e-02 -1.21199713e-03 9.99355344e-01 3.59405471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:4.54, Z:3.60 [[ 9.96549418e-01 -7.48499097e-02 -3.58712863e-02 1.06334535e+02] [ 7.48455796e-02 9.97194059e-01 -1.46541904e-03 4.54250864e+00] [ 3.58803201e-02 -1.22444473e-03 9.99355344e-01 3.59558025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:4.54, Z:3.60 [[ 9.96467972e-01 -7.59264520e-02 -3.58713658e-02 1.06366013e+02] [ 7.59228884e-02 9.97112618e-01 -1.46347016e-03 4.54267435e+00] [ 3.58789076e-02 -1.26515656e-03 9.99355344e-01 3.59708539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:4.54, Z:3.60 [[ 9.96454921e-01 -7.60974977e-02 -3.58714445e-02 1.06396905e+02] [ 7.60941142e-02 9.97099569e-01 -1.46153894e-03 4.54328882e+00] [ 3.58786213e-02 -1.27324813e-03 9.99355344e-01 3.59783030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:4.54, Z:3.60 [[ 9.96411989e-01 -7.66575621e-02 -3.58715223e-02 1.06428658e+02] [ 7.66546097e-02 9.97056638e-01 -1.45962785e-03 4.54425613e+00] [ 3.58778309e-02 -1.29532684e-03 9.99355344e-01 3.59959465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:4.55, Z:3.60 [[ 9.96381640e-01 -7.70509837e-02 -3.58716269e-02 1.06460646e+02] [ 7.70483784e-02 9.97026291e-01 -1.45705062e-03 4.54547492e+00] [ 3.58772223e-02 -1.31207220e-03 9.99355344e-01 3.60115048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:4.55, Z:3.60 [[ 9.96373174e-01 -7.71603367e-02 -3.58717322e-02 1.06491365e+02] [ 7.71578956e-02 9.97017825e-01 -1.45445338e-03 4.54637133e+00] [ 3.58769826e-02 -1.31860904e-03 9.99355344e-01 3.60236954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:4.55, Z:3.60 [[ 9.96332331e-01 -7.76859075e-02 -3.58718106e-02 1.06523466e+02] [ 7.76838761e-02 9.96976983e-01 -1.45251786e-03 4.54684664e+00] [ 3.58762097e-02 -1.33947079e-03 9.99355344e-01 3.60356412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:4.55, Z:3.60 [[ 9.96340036e-01 -7.75869774e-02 -3.58719164e-02 1.06555225e+02] [ 7.75849760e-02 9.96984689e-01 -1.44990141e-03 4.54701003e+00] [ 3.58762448e-02 -1.33852694e-03 9.99355344e-01 3.60232300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:4.55, Z:3.60 [[ 9.96365668e-01 -7.72570310e-02 -3.58720938e-02 1.06587687e+02] [ 7.72549745e-02 9.97010321e-01 -1.44549747e-03 4.54771001e+00] [ 3.58765226e-02 -1.33105364e-03 9.99355344e-01 3.60328406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:4.55, Z:3.60 [[ 9.96407327e-01 -7.67178178e-02 -3.58721950e-02 1.06620109e+02] [ 7.67155028e-02 9.97051979e-01 -1.44298151e-03 4.54903675e+00] [ 3.58771455e-02 -1.31415613e-03 9.99355344e-01 3.60460251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:4.55, Z:3.61 [[ 9.96470199e-01 -7.58967778e-02 -3.58722968e-02 1.06652488e+02] [ 7.58940227e-02 9.97114849e-01 -1.44044859e-03 4.55045827e+00] [ 3.58781252e-02 -1.28712881e-03 9.99355344e-01 3.60634982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:4.55, Z:3.61 [[ 9.96683272e-01 -7.30453697e-02 -3.58723998e-02 1.06684490e+02] [ 7.30408626e-02 9.97327912e-01 -1.43787862e-03 4.55252974e+00] [ 3.58815759e-02 -1.18704145e-03 9.99355344e-01 3.60768416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:4.55, Z:3.61 [[ 9.96830220e-01 -7.10118072e-02 -3.58725033e-02 1.06715563e+02] [ 7.10060779e-02 9.97474850e-01 -1.43529205e-03 4.55413521e+00] [ 3.58838425e-02 -1.11642327e-03 9.99355344e-01 3.60905730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:4.56, Z:3.61 [[ 9.97139089e-01 -6.65341659e-02 -3.58725802e-02 1.06747342e+02] [ 6.65256107e-02 9.97783688e-01 -1.43336604e-03 4.55694888e+00] [ 3.58884432e-02 -9.57179996e-04 9.99355344e-01 3.61083243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:4.56, Z:3.61 [[ 9.97246785e-01 -6.48999309e-02 -3.58726822e-02 1.06779424e+02] [ 6.48904113e-02 9.97891370e-01 -1.43081004e-03 4.55898553e+00] [ 3.58898994e-02 -9.00922389e-04 9.99355344e-01 3.61216686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:4.56, Z:3.61 [[ 9.97344859e-01 -6.33748778e-02 -3.58727835e-02 1.06810407e+02] [ 6.33644639e-02 9.97989431e-01 -1.42826547e-03 4.56047466e+00] [ 3.58911749e-02 -8.48586468e-04 9.99355344e-01 3.61354084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:4.56, Z:3.62 [[ 9.97398660e-01 -6.25224003e-02 -3.58728588e-02 1.06841538e+02] [ 6.25115036e-02 9.98043224e-01 -1.42637052e-03 4.56219904e+00] [ 3.58918438e-02 -8.19806298e-04 9.99355344e-01 3.61637735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:4.56, Z:3.62 [[ 9.97389431e-01 -6.26694249e-02 -3.58729103e-02 1.06873651e+02] [ 6.26586698e-02 9.98033998e-01 -1.42507502e-03 4.56316633e+00] [ 3.58916927e-02 -8.26394080e-04 9.99355344e-01 3.61784481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:4.56, Z:3.62 [[ 9.97272307e-01 -6.45063777e-02 -3.58730130e-02 1.06905187e+02] [ 6.44969030e-02 9.97916893e-01 -1.42248375e-03 4.56333886e+00] [ 3.58900450e-02 -8.95094594e-04 9.99355344e-01 3.61845783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:4.56, Z:3.62 [[ 9.97174493e-01 -6.60011462e-02 -3.58730895e-02 1.06936476e+02] [ 6.59927072e-02 9.97819094e-01 -1.42055244e-03 4.56389346e+00] [ 3.58886118e-02 -9.50823636e-04 9.99355344e-01 3.61999743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:4.56, Z:3.62 [[ 9.97057384e-01 -6.77472590e-02 -3.58731395e-02 1.06967773e+02] [ 6.77399942e-02 9.97701999e-01 -1.41928829e-03 4.56462861e+00] [ 3.58868559e-02 -1.01493439e-03 9.99355344e-01 3.62091644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:4.56, Z:3.62 [[ 9.96761493e-01 -7.19697023e-02 -3.58732141e-02 1.07000077e+02] [ 7.19652358e-02 9.97406134e-01 -1.41740016e-03 4.56492284e+00] [ 3.58821737e-02 -1.16881441e-03 9.99355344e-01 3.62239903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.03, Y:4.56, Z:3.62 [[ 9.96383666e-01 -7.70239924e-02 -3.58733149e-02 1.07032254e+02] [ 7.70228872e-02 9.97028321e-01 -1.41484411e-03 4.56405098e+00] [ 3.58756879e-02 -1.35333873e-03 9.99355344e-01 3.62241018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:4.56, Z:3.62 [[ 9.96176139e-01 -7.96630323e-02 -3.58734172e-02 1.07063980e+02] [ 7.96637280e-02 9.96820794e-01 -1.41224785e-03 4.56417121e+00] [ 3.58718721e-02 -1.45096254e-03 9.99355344e-01 3.62128845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:4.56, Z:3.62 [[ 9.95963222e-01 -8.22821534e-02 -3.58734932e-02 1.07096306e+02] [ 8.22846138e-02 9.96607873e-01 -1.41031224e-03 4.56438723e+00] [ 3.58678493e-02 -1.54721742e-03 9.99355344e-01 3.62420148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:4.56, Z:3.63 [[ 9.95636292e-01 -8.61478944e-02 -3.58735956e-02 1.07127972e+02] [ 8.61529511e-02 9.96280928e-01 -1.40770516e-03 4.56409462e+00] [ 3.58614499e-02 -1.68905378e-03 9.99355344e-01 3.62511100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:4.57, Z:3.63 [[ 9.95470999e-01 -8.80373026e-02 -3.58737226e-02 1.07159724e+02] [ 8.80436994e-02 9.96115623e-01 -1.40445999e-03 4.56513251e+00] [ 3.58580204e-02 -1.76035606e-03 9.99355344e-01 3.62795109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:4.57, Z:3.63 [[ 9.95456283e-01 -8.82035051e-02 -3.58738242e-02 1.07190525e+02] [ 8.82101029e-02 9.96100905e-01 -1.40186122e-03 4.56631596e+00] [ 3.58575978e-02 -1.76894217e-03 9.99355344e-01 3.62925167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:4.57, Z:3.63 [[ 9.95483152e-01 -8.78996959e-02 -3.58738998e-02 1.07222890e+02] [ 8.79061666e-02 9.96127776e-01 -1.39992374e-03 4.56709770e+00] [ 3.58580409e-02 -1.75993652e-03 9.99355344e-01 3.63094190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:4.57, Z:3.63 [[ 9.95498443e-01 -8.77263178e-02 -3.58740003e-02 1.07254776e+02] [ 8.77327691e-02 9.96143066e-01 -1.39734170e-03 4.56760552e+00] [ 3.58582203e-02 -1.75627390e-03 9.99355344e-01 3.63160376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:4.57, Z:3.63 [[ 9.95511467e-01 -8.75783420e-02 -3.58741255e-02 1.07288288e+02] [ 8.75848133e-02 9.96156091e-01 -1.39412010e-03 4.56803971e+00] [ 3.58583234e-02 -1.75416604e-03 9.99355344e-01 3.63269140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:4.57, Z:3.63 [[ 9.95459793e-01 -8.81636922e-02 -3.58742757e-02 1.07319404e+02] [ 8.81706819e-02 9.96104411e-01 -1.39024514e-03 4.56995076e+00] [ 3.58570934e-02 -1.77912621e-03 9.99355344e-01 3.63258650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:4.57, Z:3.64 [[ 9.95535113e-01 -8.73109883e-02 -3.58696386e-02 1.07351812e+02] [ 8.73131298e-02 9.96179772e-01 -1.50974248e-03 4.57016659e+00] [ 3.58644255e-02 -1.62888876e-03 9.99355337e-01 3.63502170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:4.57, Z:3.64 [[ 9.95526693e-01 -8.74049507e-02 -3.58744836e-02 1.07383996e+02] [ 8.74116670e-02 9.96171313e-01 -1.38417921e-03 4.57190875e+00] [ 3.58581156e-02 -1.75786107e-03 9.99355345e-01 3.63666701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:4.57, Z:3.64 [[ 9.95510372e-01 -8.75909798e-02 -3.58736539e-02 1.07414845e+02] [ 8.75970402e-02 9.96154999e-01 -1.40577523e-03 4.57173232e+00] [ 3.58588529e-02 -1.74296208e-03 9.99355345e-01 3.63684448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:4.57, Z:3.64 [[ 9.95467921e-01 -8.80715927e-02 -3.58749489e-02 1.07446556e+02] [ 8.80791817e-02 9.96112532e-01 -1.37191143e-03 4.57158536e+00] [ 3.58563126e-02 -1.79414232e-03 9.99355345e-01 3.63621911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:4.57, Z:3.64 [[ 9.95490607e-01 -8.78147307e-02 -3.58751150e-02 1.07478359e+02] [ 8.78223100e-02 9.96135218e-01 -1.36755540e-03 4.57221512e+00] [ 3.58565570e-02 -1.78924691e-03 9.99355345e-01 3.63670808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:4.57, Z:3.64 [[ 9.95519156e-01 -8.74904545e-02 -3.58752124e-02 1.07510412e+02] [ 8.74979158e-02 9.96163767e-01 -1.36499546e-03 4.57382257e+00] [ 3.58570108e-02 -1.78012719e-03 9.99355345e-01 3.63810738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:4.58, Z:3.64 [[ 9.95593648e-01 -8.66386126e-02 -3.58753105e-02 1.07541904e+02] [ 8.66456151e-02 9.96238265e-01 -1.36241333e-03 4.57565919e+00] [ 3.58583947e-02 -1.75202829e-03 9.99355345e-01 3.63809052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:4.58, Z:3.64 [[ 9.95675615e-01 -8.56914565e-02 -3.58753835e-02 1.07574435e+02] [ 8.56979151e-02 9.96320238e-01 -1.36048738e-03 4.57781055e+00] [ 3.58599528e-02 -1.71984146e-03 9.99355345e-01 3.64008286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:4.58, Z:3.64 [[ 9.95684665e-01 -8.55861853e-02 -3.58755269e-02 1.07607931e+02] [ 8.55927120e-02 9.96329286e-01 -1.35669524e-03 4.57898591e+00] [ 3.58599525e-02 -1.71984300e-03 9.99355345e-01 3.64128562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:4.58, Z:3.64 [[ 9.95926621e-01 -8.27230472e-02 -3.58756699e-02 1.07641279e+02] [ 8.27278568e-02 9.96571258e-01 -1.35290463e-03 4.58111862e+00] [ 3.58645778e-02 -1.62052354e-03 9.99355345e-01 3.64426578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:4.58, Z:3.64 [[ 9.96075781e-01 -8.09071358e-02 -3.58758156e-02 1.07672669e+02] [ 8.09109094e-02 9.96720425e-01 -1.34902742e-03 4.58264110e+00] [ 3.58673042e-02 -1.55901133e-03 9.99355345e-01 3.64451424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:4.58, Z:3.65 [[ 9.96391444e-01 -7.69221098e-02 -3.58758877e-02 1.07704468e+02] [ 7.69233737e-02 9.97036098e-01 -1.34710910e-03 4.58485910e+00] [ 3.58731775e-02 -1.41744633e-03 9.99355345e-01 3.64819039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:4.59, Z:3.65 [[ 9.96557894e-01 -7.47347142e-02 -3.58759835e-02 1.07735597e+02] [ 7.47346549e-02 9.97202549e-01 -1.34455179e-03 4.58690622e+00] [ 3.58761069e-02 -1.34125555e-03 9.99355345e-01 3.64881936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:4.59, Z:3.65 [[ 9.96727101e-01 -7.24430479e-02 -3.58760547e-02 1.07768174e+02] [ 7.24415747e-02 9.97371754e-01 -1.34264999e-03 4.58916446e+00] [ 3.58790293e-02 -1.26066226e-03 9.99355345e-01 3.65060480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:4.59, Z:3.65 [[ 9.97047886e-01 -6.78853142e-02 -3.58761477e-02 1.07800115e+02] [ 6.78809832e-02 9.97692526e-01 -1.34016042e-03 4.59180411e+00] [ 3.58843416e-02 -1.09910407e-03 9.99355345e-01 3.65346595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:4.59, Z:3.65 [[ 9.97193908e-01 -6.57054369e-02 -3.58762437e-02 1.07832536e+02] [ 6.56997892e-02 9.97838538e-01 -1.33758530e-03 4.59330489e+00] [ 3.58865852e-02 -1.02322974e-03 9.99355345e-01 3.65490679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:4.59, Z:3.66 [[ 9.97418280e-01 -6.22066189e-02 -3.58763405e-02 1.07863260e+02] [ 6.21988032e-02 9.98062887e-01 -1.33498274e-03 4.59461536e+00] [ 3.58898888e-02 -8.99929259e-04 9.99355345e-01 3.65552607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:4.60, Z:3.66 [[ 9.97493108e-01 -6.09949367e-02 -3.58764125e-02 1.07894784e+02] [ 6.09864076e-02 9.98137706e-01 -1.33304616e-03 4.59594904e+00] [ 3.58909092e-02 -8.58269163e-04 9.99355345e-01 3.65689257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:4.60, Z:3.66 [[ 9.97620013e-01 -5.88828498e-02 -3.58764601e-02 1.07924935e+02] [ 5.88730021e-02 9.98264592e-01 -1.33176345e-03 4.59753924e+00] [ 3.58926179e-02 -7.83561042e-04 9.99355345e-01 3.65674287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:4.60, Z:3.66 [[ 9.97659160e-01 -5.82157924e-02 -3.58764838e-02 1.07956104e+02] [ 5.82055367e-02 9.98303733e-01 -1.33112461e-03 4.59971550e+00] [ 3.58931202e-02 -7.60201338e-04 9.99355345e-01 3.65955924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:4.60, Z:3.66 [[ 9.97652032e-01 -5.83377882e-02 -3.58765302e-02 1.07987452e+02] [ 5.83276562e-02 9.98296607e-01 -1.32987444e-03 4.60130098e+00] [ 3.58930003e-02 -7.65841976e-04 9.99355345e-01 3.66203682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:4.60, Z:3.66 [[ 9.97627751e-01 -5.87515239e-02 -3.58765773e-02 1.08019124e+02] [ 5.87417049e-02 9.98272331e-01 -1.32860215e-03 4.60247231e+00] [ 3.58926518e-02 -7.82000940e-04 9.99355345e-01 3.66340404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:4.60, Z:3.66 [[ 9.97584295e-01 -5.94848016e-02 -3.58766241e-02 1.08050161e+02] [ 5.94755019e-02 9.98228883e-01 -1.32733566e-03 4.60338031e+00] [ 3.58920387e-02 -8.09651021e-04 9.99355345e-01 3.66418813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:4.60, Z:3.66 [[ 9.97455757e-01 -6.16025736e-02 -3.58766710e-02 1.08081473e+02] [ 6.15946881e-02 9.98100364e-01 -1.32606745e-03 4.60400121e+00] [ 3.58902076e-02 -8.87118743e-04 9.99355345e-01 3.66342102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:4.60, Z:3.66 [[ 9.97388336e-01 -6.26846703e-02 -3.58767176e-02 1.08112305e+02] [ 6.26775294e-02 9.98032951e-01 -1.32480658e-03 4.60486260e+00] [ 3.58891914e-02 -9.27317389e-04 9.99355345e-01 3.66359868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:4.61, Z:3.67 [[ 9.97314557e-01 -6.38477428e-02 -3.58767407e-02 1.08143790e+02] [ 6.38413762e-02 9.97959180e-01 -1.32418050e-03 4.60606105e+00] [ 3.58880687e-02 -9.69796010e-04 9.99355345e-01 3.66614373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:4.61, Z:3.67 [[ 9.97316809e-01 -6.38125281e-02 -3.58767874e-02 1.08175591e+02] [ 6.38061842e-02 9.97961433e-01 -1.32291295e-03 4.60720408e+00] [ 3.58880686e-02 -9.69797590e-04 9.99355345e-01 3.66728646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:4.61, Z:3.67 [[ 9.97211615e-01 -6.54358304e-02 -3.58768341e-02 1.08206897e+02] [ 6.54305814e-02 9.97856248e-01 -1.32164697e-03 4.60872578e+00] [ 3.58864061e-02 -1.02948040e-03 9.99355345e-01 3.66988535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:4.61, Z:3.67 [[ 9.97042234e-01 -6.79678803e-02 -3.58768813e-02 1.08239014e+02] [ 6.79643144e-02 9.97686879e-01 -1.32036263e-03 4.61030990e+00] [ 3.58836360e-02 -1.12189034e-03 9.99355345e-01 3.67358063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:4.61, Z:3.68 [[ 9.96950036e-01 -6.93070595e-02 -3.58769776e-02 1.08269957e+02] [ 6.93044537e-02 9.97594685e-01 -1.31774188e-03 4.61131863e+00] [ 3.58820110e-02 -1.17271152e-03 9.99355345e-01 3.67502819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:4.61, Z:3.68 [[ 9.96696077e-01 -7.28681540e-02 -3.58770493e-02 1.08302234e+02] [ 7.28679215e-02 9.97340732e-01 -1.31578624e-03 4.61181832e+00] [ 3.58775215e-02 -1.30284703e-03 9.99355345e-01 3.67593442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:4.61, Z:3.68 [[ 9.96540218e-01 -7.49694893e-02 -3.58771440e-02 1.08333214e+02] [ 7.49707090e-02 9.97184872e-01 -1.31320042e-03 4.61244835e+00] [ 3.58745952e-02 -1.38107788e-03 9.99355345e-01 3.67529316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:4.61, Z:3.68 [[ 9.96333951e-01 -7.76626264e-02 -3.58772145e-02 1.08365140e+02] [ 7.76656578e-02 9.96978599e-01 -1.31127072e-03 4.61287759e+00] [ 3.58706517e-02 -1.47996392e-03 9.99355345e-01 3.67736015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:4.61, Z:3.68 [[ 9.95946080e-01 -8.24877261e-02 -3.58773083e-02 1.08396277e+02] [ 8.24939725e-02 9.96590704e-01 -1.30869905e-03 4.61297156e+00] [ 3.58629435e-02 -1.65626800e-03 9.99355345e-01 3.67780617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:4.61, Z:3.68 [[ 9.95763352e-01 -8.46649862e-02 -3.58773780e-02 1.08429438e+02] [ 8.46727107e-02 9.96407961e-01 -1.30678426e-03 4.61332795e+00] [ 3.58591440e-02 -1.73658698e-03 9.99355345e-01 3.67990364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:4.61, Z:3.68 [[ 9.95415416e-01 -8.86620135e-02 -3.58775209e-02 1.08461150e+02] [ 8.86724672e-02 9.96059986e-01 -1.30285067e-03 4.61304563e+00] [ 3.58516763e-02 -1.88447065e-03 9.99355345e-01 3.68068302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:4.61, Z:3.68 [[ 9.95270640e-01 -9.02725848e-02 -3.58777555e-02 1.08493179e+02] [ 9.02843149e-02 9.95915188e-01 -1.29635755e-03 4.61346620e+00] [ 3.58482272e-02 -1.94897197e-03 9.99355345e-01 3.68154289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:4.61, Z:3.68 [[ 9.95180910e-01 -9.12564284e-02 -3.58778712e-02 1.08525869e+02] [ 9.12689110e-02 9.95825443e-01 -1.29314747e-03 4.61382556e+00] [ 3.58461050e-02 -1.98761855e-03 9.99355345e-01 3.68267793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:4.61, Z:3.68 [[ 9.95047049e-01 -9.27045825e-02 -3.58780096e-02 1.08558876e+02] [ 9.27181415e-02 9.95691561e-01 -1.28929651e-03 4.61448818e+00] [ 3.58429550e-02 -2.04363169e-03 9.99355345e-01 3.68473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:4.62, Z:3.69 [[ 9.95119564e-01 -9.19228552e-02 -3.58781502e-02 1.08591525e+02] [ 9.19360489e-02 9.95764084e-01 -1.28537259e-03 4.61582530e+00] [ 3.58443284e-02 -2.01939596e-03 9.99355345e-01 3.68577162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:4.62, Z:3.69 [[ 9.95178715e-01 -9.12802023e-02 -3.58782663e-02 1.08623577e+02] [ 9.12930966e-02 9.95823241e-01 -1.28212241e-03 4.61739841e+00] [ 3.58454438e-02 -1.99949710e-03 9.99355345e-01 3.68678648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:4.62, Z:3.69 [[ 9.95378051e-01 -8.90801863e-02 -3.58783593e-02 1.08654350e+02] [ 8.90917496e-02 9.96022602e-01 -1.27951499e-03 4.61986708e+00] [ 3.58496362e-02 -1.92286467e-03 9.99355345e-01 3.68691345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:4.62, Z:3.69 [[ 9.95522431e-01 -8.74518617e-02 -3.58784284e-02 1.08686752e+02] [ 8.74624404e-02 9.96166999e-01 -1.27757296e-03 4.62187490e+00] [ 3.58526325e-02 -1.86616237e-03 9.99355345e-01 3.68975296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:4.63, Z:3.69 [[ 9.95816189e-01 -8.40407658e-02 -3.58785213e-02 1.08718003e+02] [ 8.40492301e-02 9.96460788e-01 -1.27496079e-03 4.62561178e+00] [ 3.58586882e-02 -1.74593549e-03 9.99355345e-01 3.69147156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:4.63, Z:3.69 [[ 9.95977780e-01 -8.21035206e-02 -3.58785903e-02 1.08749794e+02] [ 8.21108009e-02 9.96622394e-01 -1.27301608e-03 4.62790177e+00] [ 3.58619256e-02 -1.67812406e-03 9.99355345e-01 3.69293329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:4.63, Z:3.69 [[ 9.96304888e-01 -7.80339028e-02 -3.58786802e-02 1.08782089e+02] [ 7.80386409e-02 9.96949526e-01 -1.27047691e-03 4.63066298e+00] [ 3.58683735e-02 -1.53414108e-03 9.99355345e-01 3.69453366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:4.63, Z:3.69 [[ 9.96464616e-01 -7.59669788e-02 -3.58787717e-02 1.08814515e+02] [ 7.59704726e-02 9.97109262e-01 -1.26788770e-03 4.63225166e+00] [ 3.58713731e-02 -1.46232201e-03 9.99355345e-01 3.69490088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:4.63, Z:3.70 [[ 9.96707362e-01 -7.27127293e-02 -3.58788853e-02 1.08846618e+02] [ 7.27142340e-02 9.97352014e-01 -1.26466567e-03 4.63487999e+00] [ 3.58758358e-02 -1.34840407e-03 9.99355345e-01 3.69683354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:4.64, Z:3.70 [[ 9.96902921e-01 -6.99804636e-02 -3.58789768e-02 1.08877712e+02] [ 6.99802948e-02 9.97547576e-01 -1.26206292e-03 4.63759978e+00] [ 3.58793061e-02 -1.25266716e-03 9.99355345e-01 3.69767392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:4.64, Z:3.70 [[ 9.97006867e-01 -6.84835834e-02 -3.58790450e-02 1.08908988e+02] [ 6.84825164e-02 9.97651521e-01 -1.26012250e-03 4.64037701e+00] [ 3.58810815e-02 -1.20073650e-03 9.99355345e-01 3.69822576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:4.64, Z:3.70 [[ 9.97050149e-01 -6.78504530e-02 -3.58791917e-02 1.08941224e+02] [ 6.78491274e-02 9.97694802e-01 -1.25592989e-03 4.64183196e+00] [ 3.58816985e-02 -1.18214677e-03 9.99355345e-01 3.70052331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:4.64, Z:3.70 [[ 9.97038394e-01 -6.80229276e-02 -3.58792802e-02 1.08972751e+02] [ 6.80218046e-02 9.97683047e-01 -1.25339647e-03 4.64290288e+00] [ 3.58814093e-02 -1.19088898e-03 9.99355345e-01 3.70178309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:4.64, Z:3.71 [[ 9.96905721e-01 -6.99403415e-02 -3.58794143e-02 1.09004343e+02] [ 6.99405967e-02 9.97550375e-01 -1.24954678e-03 4.64335038e+00] [ 3.58789169e-02 -1.26374731e-03 9.99355345e-01 3.70549245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:4.64, Z:3.71 [[ 9.96732954e-01 -7.23607697e-02 -3.58794817e-02 1.09035781e+02] [ 7.23626598e-02 9.97377606e-01 -1.24760900e-03 4.64459503e+00] [ 3.58756695e-02 -1.35280172e-03 9.99355345e-01 3.70713059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:4.65, Z:3.71 [[ 9.96738088e-01 -7.22899784e-02 -3.58795485e-02 1.09068438e+02] [ 7.22918919e-02 9.97382740e-01 -1.24568444e-03 4.64566909e+00] [ 3.58756929e-02 -1.35217931e-03 9.99355345e-01 3.70830369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:4.65, Z:3.71 [[ 9.96610252e-01 -7.40314627e-02 -3.58796367e-02 1.09100750e+02] [ 7.40345942e-02 9.97254899e-01 -1.24313700e-03 4.64695417e+00] [ 3.58731748e-02 -1.41741127e-03 9.99355345e-01 3.71043763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:4.65, Z:3.71 [[ 9.96504373e-01 -7.54432196e-02 -3.58797277e-02 1.09131823e+02] [ 7.54473589e-02 9.97149015e-01 -1.24050504e-03 4.64797918e+00] [ 3.58710229e-02 -1.47086200e-03 9.99355345e-01 3.71044962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:4.65, Z:3.71 [[ 9.96359263e-01 -7.73360110e-02 -3.58797954e-02 1.09164325e+02] [ 7.73414453e-02 9.97003895e-01 -1.23854486e-03 4.64902693e+00] [ 3.58680799e-02 -1.54095959e-03 9.99355345e-01 3.71142861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:4.65, Z:3.71 [[ 9.96276089e-01 -7.84001842e-02 -3.58798827e-02 1.09196704e+02] [ 7.84063981e-02 9.96920714e-01 -1.23601009e-03 4.64969728e+00] [ 3.58663017e-02 -1.58180508e-03 9.99355345e-01 3.71175114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:4.65, Z:3.71 [[ 9.96207609e-01 -7.92655494e-02 -3.58799707e-02 1.09227582e+02] [ 7.92724152e-02 9.96852227e-01 -1.23345222e-03 4.65030183e+00] [ 3.58647989e-02 -1.61551745e-03 9.99355345e-01 3.71154081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:4.65, Z:3.71 [[ 9.96175448e-01 -7.96686865e-02 -3.58800361e-02 1.09260560e+02] [ 7.96758817e-02 9.96820063e-01 -1.23154506e-03 4.65129960e+00] [ 3.58640554e-02 -1.63193856e-03 9.99355345e-01 3.71373308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:4.65, Z:3.71 [[ 9.96229333e-01 -7.89919547e-02 -3.58801705e-02 1.09291433e+02] [ 7.89988532e-02 9.96873951e-01 -1.22761879e-03 4.65215631e+00] [ 3.58649793e-02 -1.61150247e-03 9.99355345e-01 3.71433932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:4.65, Z:3.72 [[ 9.96253538e-01 -7.86860223e-02 -3.58803227e-02 1.09324838e+02] [ 7.86928833e-02 9.96898156e-01 -1.22315436e-03 4.65297822e+00] [ 3.58652726e-02 -1.60495419e-03 9.99355345e-01 3.71628749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:4.65, Z:3.72 [[ 9.96272153e-01 -7.84499210e-02 -3.58804536e-02 1.09357153e+02] [ 7.84567678e-02 9.96916771e-01 -1.21929947e-03 4.65369328e+00] [ 3.58654800e-02 -1.60031031e-03 9.99355345e-01 3.71797545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:4.65, Z:3.72 [[ 9.96324080e-01 -7.77876187e-02 -3.58805409e-02 1.09388974e+02] [ 7.77941295e-02 9.96968702e-01 -1.21672512e-03 4.65424737e+00] [ 3.58664225e-02 -1.57904291e-03 9.99355345e-01 3.71996729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:4.65, Z:3.72 [[ 9.96367161e-01 -7.72338024e-02 -3.58806292e-02 1.09419979e+02] [ 7.72400486e-02 9.97011786e-01 -1.21411782e-03 4.65383855e+00] [ 3.58671811e-02 -1.56171441e-03 9.99355345e-01 3.72206382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:4.65, Z:3.72 [[ 9.96433930e-01 -7.63675244e-02 -3.58806948e-02 1.09451475e+02] [ 7.63732799e-02 9.97078559e-01 -1.21217649e-03 4.65386544e+00] [ 3.58684423e-02 -1.53247256e-03 9.99355345e-01 3.72429477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:4.65, Z:3.73 [[ 9.96481688e-01 -7.57417713e-02 -3.58807593e-02 1.09483561e+02] [ 7.57471908e-02 9.97126320e-01 -1.21026152e-03 4.65462214e+00] [ 3.58693169e-02 -1.51186328e-03 9.99355345e-01 3.72603054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:4.66, Z:3.73 [[ 9.96548908e-01 -7.48521148e-02 -3.58808450e-02 1.09515652e+02] [ 7.48570503e-02 9.97193544e-01 -1.20771638e-03 4.65539336e+00] [ 3.58705471e-02 -1.48238578e-03 9.99355345e-01 3.72796602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:4.66, Z:3.73 [[ 9.96652491e-01 -7.34600006e-02 -3.58809310e-02 1.09547353e+02] [ 7.34641277e-02 9.97297132e-01 -1.20515604e-03 4.65567949e+00] [ 3.58724804e-02 -1.43483953e-03 9.99355345e-01 3.72931365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:4.66, Z:3.73 [[ 9.96794859e-01 -7.15021797e-02 -3.58810176e-02 1.09579874e+02] [ 7.15051333e-02 9.97439507e-01 -1.20257378e-03 4.65553784e+00] [ 3.58751311e-02 -1.36695759e-03 9.99355345e-01 3.73078495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:4.66, Z:3.73 [[ 9.96871493e-01 -7.04256520e-02 -3.58811052e-02 1.09611494e+02] [ 7.04280036e-02 9.97516143e-01 -1.19995301e-03 4.65627265e+00] [ 3.58764892e-02 -1.33083565e-03 9.99355345e-01 3.73196312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:4.66, Z:3.73 [[ 9.96950807e-01 -6.92937918e-02 -3.58811703e-02 1.09644068e+02] [ 6.92954815e-02 9.97595460e-01 -1.19800443e-03 4.65692696e+00] [ 3.58779068e-02 -1.29205149e-03 9.99355345e-01 3.73278731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:4.66, Z:3.73 [[ 9.97045242e-01 -6.79214251e-02 -3.58812573e-02 1.09675552e+02] [ 6.79223215e-02 9.97689896e-01 -1.19539066e-03 4.65649703e+00] [ 3.58795606e-02 -1.24527973e-03 9.99355345e-01 3.73319748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:4.66, Z:3.73 [[ 9.97138320e-01 -6.65409819e-02 -3.58813219e-02 1.09708096e+02] [ 6.65410555e-02 9.97782974e-01 -1.19344826e-03 4.65548078e+00] [ 3.58811853e-02 -1.19754805e-03 9.99355345e-01 3.73348564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:4.66, Z:3.73 [[ 9.97190389e-01 -6.57560047e-02 -3.58814078e-02 1.09739867e+02] [ 6.57556638e-02 9.97835044e-01 -1.19086213e-03 4.65534385e+00] [ 3.58820324e-02 -1.17188951e-03 9.99355345e-01 3.73423578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:4.66, Z:3.73 [[ 9.97262533e-01 -6.46526044e-02 -3.58814937e-02 1.09770694e+02] [ 6.46516435e-02 9.97907187e-01 -1.18826887e-03 4.65503412e+00] [ 3.58832251e-02 -1.13478151e-03 9.99355345e-01 3.73474515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:4.65, Z:3.73 [[ 9.97423095e-01 -6.21263496e-02 -3.58815575e-02 1.09802605e+02] [ 6.21238252e-02 9.98067745e-01 -1.18633732e-03 4.65354914e+00] [ 3.58859280e-02 -1.04581937e-03 9.99355345e-01 3.73491335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:4.65, Z:3.74 [[ 9.97610344e-01 -5.90432882e-02 -3.58816427e-02 1.09833094e+02] [ 5.90388642e-02 9.98254983e-01 -1.18375473e-03 4.65249454e+00] [ 3.58889214e-02 -9.37485469e-04 9.99355345e-01 3.73616662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:4.65, Z:3.74 [[ 9.97721595e-01 -5.71325136e-02 -3.58816638e-02 1.09864481e+02] [ 5.71268779e-02 9.98366225e-01 -1.18311633e-03 4.65286671e+00] [ 3.58906356e-02 -8.69386711e-04 9.99355345e-01 3.73794259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:4.65, Z:3.74 [[ 9.97933957e-01 -5.32946497e-02 -3.58817059e-02 1.09894739e+02] [ 5.32865806e-02 9.98578562e-01 -1.18183693e-03 4.65242502e+00] [ 3.58936879e-02 -7.32618211e-04 9.99355345e-01 3.74044502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:4.65, Z:3.74 [[ 9.98073389e-01 -5.06163157e-02 -3.58817268e-02 1.09925328e+02] [ 5.06065396e-02 9.98717970e-01 -1.18120231e-03 4.65144062e+00] [ 3.58955134e-02 -6.36923439e-04 9.99355345e-01 3.74205402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:4.65, Z:3.74 [[ 9.98117508e-01 -4.97387328e-02 -3.58817268e-02 1.09955039e+02] [ 4.97283899e-02 9.98762080e-01 -1.18120231e-03 4.65002269e+00] [ 3.58960596e-02 -6.05361799e-04 9.99355345e-01 3.74295034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:4.65, Z:3.74 [[ 9.98103280e-01 -5.00234677e-02 -3.58816839e-02 1.09983988e+02] [ 5.00132619e-02 9.98747854e-01 -1.18250398e-03 4.64950414e+00] [ 3.58959077e-02 -6.14298955e-04 9.99355345e-01 3.74391265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:4.65, Z:3.74 [[ 9.97907231e-01 -5.37928155e-02 -3.58816200e-02 1.10012445e+02] [ 5.37849746e-02 9.98551838e-01 -1.18444056e-03 4.64520471e+00] [ 3.58933720e-02 -7.47930220e-04 9.99355345e-01 3.74471033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:4.64, Z:3.75 [[ 9.97638190e-01 -5.85710863e-02 -3.58813221e-02 1.10041558e+02] [ 5.85660106e-02 9.98282825e-01 -1.19339771e-03 4.64106716e+00] [ 3.58896062e-02 -9.10846761e-04 9.99355345e-01 3.74530377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:4.64, Z:3.75 [[ 9.97450782e-01 -6.16804034e-02 -3.58812586e-02 1.10072410e+02] [ 6.16772685e-02 9.98095429e-01 -1.19530287e-03 4.63847883e+00] [ 3.58866470e-02 -1.02080224e-03 9.99355345e-01 3.74570019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:4.64, Z:3.75 [[ 9.97450782e-01 -6.16804034e-02 -3.58812586e-02 1.10103373e+02] [ 6.16772685e-02 9.98095429e-01 -1.19530287e-03 4.63951029e+00] [ 3.58866470e-02 -1.02080224e-03 9.99355345e-01 3.74681313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:4.64, Z:3.75 [[ 9.97356256e-01 -6.31904509e-02 -3.58812586e-02 1.10132429e+02] [ 6.31882920e-02 9.98000907e-01 -1.19530287e-03 4.63857228e+00] [ 3.58850604e-02 -1.07513266e-03 9.99355345e-01 3.74755912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:4.64, Z:3.75 [[ 9.97356256e-01 -6.31904742e-02 -3.58812370e-02 1.10163391e+02] [ 6.31882920e-02 9.98000907e-01 -1.19595106e-03 4.63960461e+00] [ 3.58850798e-02 -1.07448481e-03 9.99355345e-01 3.74867226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:4.64, Z:3.75 [[ 9.97356256e-01 -6.31904742e-02 -3.58812370e-02 1.10194354e+02] [ 6.31882920e-02 9.98000907e-01 -1.19595106e-03 4.64063662e+00] [ 3.58850798e-02 -1.07448481e-03 9.99355345e-01 3.74978520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:4.64, Z:3.75 [[ 9.97282264e-01 -6.43476760e-02 -3.58812370e-02 1.10224847e+02] [ 6.43462418e-02 9.97926917e-01 -1.19595106e-03 4.63995550e+00] [ 3.58838089e-02 -1.11612197e-03 9.99355345e-01 3.75083984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:4.64, Z:3.75 [[ 9.97284537e-01 -6.43124276e-02 -3.58812370e-02 1.10256656e+02] [ 6.43109706e-02 9.97929190e-01 -1.19595106e-03 4.64098649e+00] [ 3.58838483e-02 -1.11485368e-03 9.99355345e-01 3.75198317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:4.64, Z:3.75 [[ 9.97236472e-01 -6.50534545e-02 -3.58812793e-02 1.10286762e+02] [ 6.50525221e-02 9.97881126e-01 -1.19468204e-03 4.64028025e+00] [ 3.58829695e-02 -1.14278721e-03 9.99355345e-01 3.75301965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:4.64, Z:3.75 [[ 9.97196165e-01 -6.56683850e-02 -3.58813496e-02 1.10317774e+02] [ 6.56679263e-02 9.97840820e-01 -1.19256528e-03 4.63872888e+00] [ 3.58821891e-02 -1.16703229e-03 9.99355345e-01 3.75380893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:4.64, Z:3.75 [[ 9.97208655e-01 -6.54784531e-02 -3.58813496e-02 1.10349281e+02] [ 6.54778716e-02 9.97853309e-01 -1.19256528e-03 4.63848682e+00] [ 3.58824108e-02 -1.16019798e-03 9.99355345e-01 3.75496376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:4.64, Z:3.76 [[ 9.97266447e-01 -6.45922621e-02 -3.58813925e-02 1.10379253e+02] [ 6.45911542e-02 9.97911100e-01 -1.19127359e-03 4.63739915e+00] [ 3.58833869e-02 -1.12960338e-03 9.99355345e-01 3.75594868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:4.64, Z:3.76 [[ 9.97308635e-01 -6.39375320e-02 -3.58814635e-02 1.10410058e+02] [ 6.39360779e-02 9.97953287e-01 -1.18913178e-03 4.63747707e+00] [ 3.58840546e-02 -1.10818865e-03 9.99355345e-01 3.75641449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:4.64, Z:3.76 [[ 9.97373292e-01 -6.29208732e-02 -3.58814635e-02 1.10440592e+02] [ 6.29187619e-02 9.98017943e-01 -1.18913178e-03 4.63641137e+00] [ 3.58851656e-02 -1.07160898e-03 9.99355345e-01 3.75683591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:4.64, Z:3.76 [[ 9.97387580e-01 -6.26939884e-02 -3.58814635e-02 1.10471168e+02] [ 6.26917304e-02 9.98032230e-01 -1.18913178e-03 4.63642843e+00] [ 3.58854084e-02 -1.06344577e-03 9.99355345e-01 3.75808996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:4.64, Z:3.76 [[ 9.97382078e-01 -6.27814606e-02 -3.58814635e-02 1.10500258e+02] [ 6.27792591e-02 9.98026728e-01 -1.18913178e-03 4.63643197e+00] [ 3.58853150e-02 -1.06659297e-03 9.99355345e-01 3.75916517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:4.64, Z:3.76 [[ 9.97366764e-01 -6.30242772e-02 -3.58814422e-02 1.10530377e+02] [ 6.30222097e-02 9.98011416e-01 -1.18977230e-03 4.63525034e+00] [ 3.58850735e-02 -1.07468843e-03 9.99355345e-01 3.75980063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:4.64, Z:3.76 [[ 9.97339156e-01 -6.34596768e-02 -3.58814422e-02 1.10559919e+02] [ 6.34578907e-02 9.97983808e-01 -1.18977230e-03 4.63527055e+00] [ 3.58846009e-02 -1.09035414e-03 9.99355345e-01 3.76066911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:4.64, Z:3.76 [[ 9.97314290e-01 -6.38492727e-02 -3.58814210e-02 1.10590446e+02] [ 6.38477154e-02 9.97958943e-01 -1.19041195e-03 4.63528810e+00] [ 3.58841919e-02 -1.10373191e-03 9.99355345e-01 3.76155861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:4.63, Z:3.76 [[ 9.97313919e-01 -6.38550700e-02 -3.58814210e-02 1.10620245e+02] [ 6.38535165e-02 9.97958572e-01 -1.19041195e-03 4.63440513e+00] [ 3.58841855e-02 -1.10394050e-03 9.99355345e-01 3.76110141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:4.63, Z:3.76 [[ 9.97345924e-01 -6.33532454e-02 -3.58813787e-02 1.10648925e+02] [ 6.33513217e-02 9.97990576e-01 -1.19168712e-03 4.63344491e+00] [ 3.58847750e-02 -1.08460847e-03 9.99355345e-01 3.76146578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:4.63, Z:3.76 [[ 9.97365837e-01 -6.30390154e-02 -3.58813155e-02 1.10678274e+02] [ 6.30368204e-02 9.98010488e-01 -1.19358440e-03 4.63387806e+00] [ 3.58851716e-02 -1.07140374e-03 9.99355345e-01 3.76267097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:4.63, Z:3.76 [[ 9.97400697e-01 -6.24850609e-02 -3.58812740e-02 1.10708774e+02] [ 6.24824631e-02 9.98045347e-01 -1.19483082e-03 4.63451809e+00] [ 3.58857977e-02 -1.05022529e-03 9.99355345e-01 3.76455490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:4.64, Z:3.77 [[ 9.97400985e-01 -6.24804691e-02 -3.58812740e-02 1.10737969e+02] [ 6.24778683e-02 9.98045634e-01 -1.19483082e-03 4.63527545e+00] [ 3.58858025e-02 -1.05006008e-03 9.99355345e-01 3.76598904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:4.64, Z:3.77 [[ 9.97365583e-01 -6.30430723e-02 -3.58812526e-02 1.10766877e+02] [ 6.30408120e-02 9.98010234e-01 -1.19547309e-03 4.63645945e+00] [ 3.58852236e-02 -1.06965959e-03 9.99355345e-01 3.76706640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:4.64, Z:3.77 [[ 9.97300042e-01 -6.40715891e-02 -3.58811727e-02 1.10796400e+02] [ 6.40699076e-02 9.97944694e-01 -1.19786741e-03 4.63743056e+00] [ 3.58841752e-02 -1.10427020e-03 9.99355345e-01 3.76804777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:4.64, Z:3.77 [[ 9.97122656e-01 -6.67753905e-02 -3.58811306e-02 1.10825781e+02] [ 6.67754116e-02 9.97767311e-01 -1.19912655e-03 4.63793223e+00] [ 3.58810914e-02 -1.20030102e-03 9.99355345e-01 3.76879250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:4.64, Z:3.77 [[ 9.97009787e-01 -6.84399827e-02 -3.58811098e-02 1.10856455e+02] [ 6.84410576e-02 9.97654440e-01 -1.19975032e-03 4.63888016e+00] [ 3.58790594e-02 -1.25957829e-03 9.99355345e-01 3.77000905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:4.64, Z:3.77 [[ 9.96867988e-01 -7.04752422e-02 -3.58811098e-02 1.10886982e+02] [ 7.04776331e-02 9.97512638e-01 -1.19975032e-03 4.64010180e+00] [ 3.58764132e-02 -1.33282300e-03 9.99355345e-01 3.77092025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:4.64, Z:3.77 [[ 9.96739576e-01 -7.22686900e-02 -3.58811098e-02 1.10918250e+02] [ 7.22722408e-02 9.97384221e-01 -1.19975032e-03 4.64108368e+00] [ 3.58739571e-02 -1.39736958e-03 9.99355345e-01 3.77196706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:4.64, Z:3.77 [[ 9.96413147e-01 -7.66380011e-02 -3.58811536e-02 1.10947670e+02] [ 7.66444254e-02 9.97057770e-01 -1.19843824e-03 4.64237750e+00] [ 3.58674289e-02 -1.55595078e-03 9.99355345e-01 3.77271502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:4.64, Z:3.77 [[ 9.96164742e-01 -7.98021642e-02 -3.58806547e-02 1.10979439e+02] [ 7.98101018e-02 9.96809348e-01 -1.21329470e-03 4.64322974e+00] [ 3.58629955e-02 -1.65499730e-03 9.99355345e-01 3.77465900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:4.64, Z:3.78 [[ 9.96078241e-01 -8.08745561e-02 -3.58809566e-02 1.11010601e+02] [ 8.08835110e-02 9.96722834e-01 -1.20429875e-03 4.64426119e+00] [ 3.58607659e-02 -1.70260197e-03 9.99355346e-01 3.77582901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:4.65, Z:3.78 [[ 9.95999544e-01 -8.18380208e-02 -3.58810213e-02 1.11042824e+02] [ 8.18476686e-02 9.96644126e-01 -1.20236804e-03 4.64563576e+00] [ 3.58590085e-02 -1.73921993e-03 9.99355346e-01 3.77686134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:4.65, Z:3.78 [[ 9.95879309e-01 -8.32883474e-02 -3.58811097e-02 1.11075022e+02] [ 8.32990289e-02 9.96523875e-01 -1.19972403e-03 4.64766191e+00] [ 3.58563055e-02 -1.79408126e-03 9.99355346e-01 3.77743153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:4.65, Z:3.78 [[ 9.95839156e-01 -8.37670265e-02 -3.58811978e-02 1.11105704e+02] [ 8.37781126e-02 9.96483715e-01 -1.19708486e-03 4.64929323e+00] [ 3.58553055e-02 -1.81395505e-03 9.99355346e-01 3.77809582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:4.65, Z:3.78 [[ 9.95784102e-01 -8.44189378e-02 -3.58812634e-02 1.11137718e+02] [ 8.44305167e-02 9.96428653e-01 -1.19511533e-03 4.65132276e+00] [ 3.58540093e-02 -1.83939676e-03 9.99355346e-01 3.77813722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:4.65, Z:3.78 [[ 9.95767695e-01 -8.46122066e-02 -3.58813501e-02 1.11169974e+02] [ 8.46240043e-02 9.96412242e-01 -1.19250547e-03 4.65308280e+00] [ 3.58535170e-02 -1.84896511e-03 9.99355346e-01 3.77877226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:4.66, Z:3.78 [[ 9.95781110e-01 -8.44541464e-02 -3.58814363e-02 1.11201303e+02] [ 8.44659352e-02 9.96425657e-01 -1.18990503e-03 4.65502436e+00] [ 3.58536762e-02 -1.84587412e-03 9.99355346e-01 3.77989639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:4.66, Z:3.78 [[ 9.95859771e-01 -8.35214609e-02 -3.58815005e-02 1.11232925e+02] [ 8.35327157e-02 9.96504327e-01 -1.18796714e-03 4.65918214e+00] [ 3.58552913e-02 -1.81423049e-03 9.99355346e-01 3.78183833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:4.66, Z:3.78 [[ 9.95954536e-01 -8.23836942e-02 -3.58815872e-02 1.11263952e+02] [ 8.23943070e-02 9.96599104e-01 -1.18534240e-03 4.66426465e+00] [ 3.58572105e-02 -1.77589137e-03 9.99355346e-01 3.78320019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:4.67, Z:3.78 [[ 9.95996607e-01 -8.18734759e-02 -3.58816517e-02 1.11296054e+02] [ 8.18838288e-02 9.96641178e-01 -1.18338567e-03 4.66730428e+00] [ 3.58580196e-02 -1.75947891e-03 9.99355346e-01 3.78440042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:4.67, Z:3.79 [[ 9.96136549e-01 -8.01528308e-02 -3.58817368e-02 1.11327342e+02] [ 8.01621632e-02 9.96781136e-01 -1.18080090e-03 4.67194755e+00] [ 3.58608829e-02 -1.70011870e-03 9.99355346e-01 3.78627155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:4.67, Z:3.79 [[ 9.96213695e-01 -7.91881628e-02 -3.58818779e-02 1.11359804e+02] [ 7.91970256e-02 9.96858288e-01 -1.17649731e-03 4.67461460e+00] [ 3.58623120e-02 -1.66969527e-03 9.99355346e-01 3.78790660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:4.68, Z:3.79 [[ 9.96295076e-01 -7.81575693e-02 -3.58819610e-02 1.11392371e+02] [ 7.81658566e-02 9.96939678e-01 -1.17395659e-03 4.67731694e+00] [ 3.58639043e-02 -1.63513705e-03 9.99355346e-01 3.78888841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:4.68, Z:3.79 [[ 9.96476764e-01 -7.58059259e-02 -3.58820442e-02 1.11424772e+02] [ 7.58127833e-02 9.97121382e-01 -1.17140897e-03 4.68188677e+00] [ 3.58675532e-02 -1.55303582e-03 9.99355346e-01 3.79031123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:4.68, Z:3.79 [[ 9.96552080e-01 -7.48092617e-02 -3.58821284e-02 1.11457092e+02] [ 7.48155674e-02 9.97196703e-01 -1.16882280e-03 4.68494086e+00] [ 3.58689790e-02 -1.51974901e-03 9.99355346e-01 3.79167901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:4.69, Z:3.79 [[ 9.96622088e-01 -7.38706968e-02 -3.58822121e-02 1.11487674e+02] [ 7.38764880e-02 9.97266717e-01 -1.16624833e-03 4.68928693e+00] [ 3.58702874e-02 -1.48854296e-03 9.99355346e-01 3.79391820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:4.69, Z:3.80 [[ 9.96576720e-01 -7.44802239e-02 -3.58822743e-02 1.11519849e+02] [ 7.44864782e-02 9.97221344e-01 -1.16433148e-03 4.69169584e+00] [ 3.58692895e-02 -1.51239860e-03 9.99355346e-01 3.79533759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:4.70, Z:3.79 [[ 9.96466325e-01 -7.59428655e-02 -3.58823560e-02 1.11550704e+02] [ 7.59501566e-02 9.97110939e-01 -1.16180805e-03 4.69525108e+00] [ 3.58669207e-02 -1.56756796e-03 9.99355346e-01 3.79374189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:4.70, Z:3.79 [[ 9.96367038e-01 -7.72345691e-02 -3.58824168e-02 1.11582444e+02] [ 7.72427634e-02 9.97011640e-01 -1.15992873e-03 4.69717627e+00] [ 3.58647738e-02 -1.61594228e-03 9.99355346e-01 3.79246291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:4.70, Z:3.79 [[ 9.96315036e-01 -7.79024721e-02 -3.58824973e-02 1.11614296e+02] [ 7.79111883e-02 9.96959632e-01 -1.15743082e-03 4.69907800e+00] [ 3.58635681e-02 -1.64248228e-03 9.99355346e-01 3.79147033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:4.70, Z:3.79 [[ 9.96267238e-01 -7.85113478e-02 -3.58825804e-02 1.11645111e+02] [ 7.85205507e-02 9.96911826e-01 -1.15484954e-03 4.70110617e+00] [ 3.58624376e-02 -1.66698121e-03 9.99355346e-01 3.79125019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:4.70, Z:3.79 [[ 9.96205262e-01 -7.92937977e-02 -3.58827207e-02 1.11677134e+02] [ 7.93036641e-02 9.96849841e-01 -1.15047270e-03 4.70444930e+00] [ 3.58609098e-02 -1.69952428e-03 9.99355346e-01 3.79283939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:4.71, Z:3.79 [[ 9.96214411e-01 -7.91787369e-02 -3.58828017e-02 1.11709710e+02] [ 7.91886199e-02 9.96858989e-01 -1.14794217e-03 4.70652235e+00] [ 3.58609861e-02 -1.69791301e-03 9.99355346e-01 3.79470682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:4.71, Z:3.80 [[ 9.96319127e-01 -7.78499568e-02 -3.58828827e-02 1.11740544e+02] [ 7.78590713e-02 9.96963717e-01 -1.14540376e-03 4.70967406e+00] [ 3.58631018e-02 -1.65262025e-03 9.99355346e-01 3.79681696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:4.71, Z:3.80 [[ 9.96470629e-01 -7.58860988e-02 -3.58829430e-02 1.11772468e+02] [ 7.58940107e-02 9.97115235e-01 -1.14351336e-03 4.71364114e+00] [ 3.58662059e-02 -1.58382298e-03 9.99355346e-01 3.79847876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:4.72, Z:3.80 [[ 9.96506021e-01 -7.54198836e-02 -3.58830230e-02 1.11804780e+02] [ 7.54275845e-02 9.97150629e-01 -1.14099534e-03 4.71622111e+00] [ 3.58668327e-02 -1.56956102e-03 9.99355346e-01 3.80019683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:4.72, Z:3.80 [[ 9.96548977e-01 -7.48501061e-02 -3.58831044e-02 1.11835455e+02] [ 7.48575305e-02 9.97193589e-01 -1.13843134e-03 4.71993581e+00] [ 3.58676134e-02 -1.55161799e-03 9.99355346e-01 3.80297390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:4.72, Z:3.80 [[ 9.96562217e-01 -7.46736037e-02 -3.58831649e-02 1.11866571e+02] [ 7.46809826e-02 9.97206829e-01 -1.13652064e-03 4.72209545e+00] [ 3.58678052e-02 -1.54717648e-03 9.99355346e-01 3.80479962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:4.72, Z:3.81 [[ 9.96579446e-01 -7.44432433e-02 -3.58832982e-02 1.11898306e+02] [ 7.44506250e-02 9.97224058e-01 -1.13229628e-03 4.72360696e+00] [ 3.58679801e-02 -1.54311078e-03 9.99355346e-01 3.80605824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:4.73, Z:3.81 [[ 9.96547270e-01 -7.48727080e-02 -3.58833799e-02 1.11930777e+02] [ 7.48804609e-02 9.97191877e-01 -1.12970040e-03 4.72505897e+00] [ 3.58671987e-02 -1.56116418e-03 9.99355346e-01 3.80652068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:4.73, Z:3.81 [[ 9.96492829e-01 -7.55937776e-02 -3.58834611e-02 1.11963351e+02] [ 7.56020896e-02 9.97137430e-01 -1.12711769e-03 4.72641569e+00] [ 3.58659452e-02 -1.58969995e-03 9.99355346e-01 3.80729817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:4.73, Z:3.81 [[ 9.96361557e-01 -7.73047120e-02 -3.58835417e-02 1.11994604e+02] [ 7.73142234e-02 9.97006142e-01 -1.12454312e-03 4.72812902e+00] [ 3.58630440e-02 -1.65385663e-03 9.99355346e-01 3.80849749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:4.73, Z:3.81 [[ 9.96397305e-01 -7.68425461e-02 -3.58836018e-02 1.12027033e+02] [ 7.68518275e-02 9.97041893e-01 -1.12262279e-03 4.72844714e+00] [ 3.58637195e-02 -1.63914206e-03 9.99355346e-01 3.80720115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:4.73, Z:3.81 [[ 9.96239816e-01 -7.88585483e-02 -3.58825521e-02 1.12058185e+02] [ 7.88679247e-02 9.96884403e-01 -1.15627327e-03 4.73055242e+00] [ 3.58619386e-02 -1.67805695e-03 9.99355345e-01 3.81132627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:4.73, Z:3.81 [[ 9.96115833e-01 -8.04089472e-02 -3.58838091e-02 1.12090676e+02] [ 8.04207793e-02 9.96760379e-01 -1.11585380e-03 4.73189512e+00] [ 3.58572837e-02 -1.77428425e-03 9.99355346e-01 3.81248625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:4.73, Z:3.81 [[ 9.96055732e-01 -8.11500118e-02 -3.58838880e-02 1.12122412e+02] [ 8.11624149e-02 9.96700267e-01 -1.11330844e-03 4.73317837e+00] [ 3.58558258e-02 -1.80350575e-03 9.99355346e-01 3.81320033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:4.73, Z:3.81 [[ 9.96064448e-01 -8.10429306e-02 -3.58839673e-02 1.12155922e+02] [ 8.10553565e-02 9.96708982e-01 -1.11074708e-03 4.73412625e+00] [ 3.58558907e-02 -1.80221209e-03 9.99355346e-01 3.81440371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:4.73, Z:3.82 [[ 9.96040757e-01 -8.13335259e-02 -3.58840863e-02 1.12188915e+02] [ 8.13462784e-02 9.96685285e-01 -1.10689019e-03 4.73496025e+00] [ 3.58551681e-02 -1.81652913e-03 9.99355346e-01 3.81594828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:4.74, Z:3.82 [[ 9.96038125e-01 -8.13656957e-02 -3.58842060e-02 1.12221332e+02] [ 8.13786090e-02 9.96682650e-01 -1.10299437e-03 4.73575785e+00] [ 3.58549115e-02 -1.82158233e-03 9.99355346e-01 3.81709529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:4.74, Z:3.82 [[ 9.96031489e-01 -8.14468063e-02 -3.58843997e-02 1.12253189e+02] [ 8.14599997e-02 9.96676008e-01 -1.09665824e-03 4.73627374e+00] [ 3.58544395e-02 -1.83083705e-03 9.99355346e-01 3.81826984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:4.74, Z:3.82 [[ 9.96088969e-01 -8.07407447e-02 -3.58844962e-02 1.12285071e+02] [ 8.07535952e-02 9.96733496e-01 -1.09348955e-03 4.73664325e+00] [ 3.58555685e-02 -1.80858921e-03 9.99355346e-01 3.81892184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:4.74, Z:3.82 [[ 9.96170549e-01 -7.97278814e-02 -3.58845719e-02 1.12317242e+02] [ 7.97401659e-02 9.96815086e-01 -1.09100040e-03 4.73701007e+00] [ 3.58572658e-02 -1.77461925e-03 9.99355346e-01 3.81839710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:4.74, Z:3.82 [[ 9.96291535e-01 -7.82014656e-02 -3.58846504e-02 1.12348926e+02] [ 7.82128556e-02 9.96936089e-01 -1.08841076e-03 4.73769695e+00] [ 3.58598184e-02 -1.72226655e-03 9.99355346e-01 3.81712787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:4.74, Z:3.82 [[ 9.96843327e-01 -7.08213721e-02 -3.58847482e-02 1.12379951e+02] [ 7.08281047e-02 9.97487946e-01 -1.08517973e-03 4.74043763e+00] [ 3.58714576e-02 -1.45989453e-03 9.99355346e-01 3.81728907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:4.74, Z:3.82 [[ 9.96941970e-01 -6.94188963e-02 -3.58848765e-02 1.12412369e+02] [ 6.94248752e-02 9.97586597e-01 -1.08091733e-03 4.74210464e+00] [ 3.58733080e-02 -1.41369122e-03 9.99355346e-01 3.81856354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:4.74, Z:3.82 [[ 9.96946709e-01 -6.93507805e-02 -3.58849501e-02 1.12445030e+02] [ 6.93568034e-02 9.97591335e-01 -1.07846930e-03 4.74302231e+00] [ 3.58733080e-02 -1.41368901e-03 9.99355346e-01 3.81973646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:4.74, Z:3.82 [[ 9.96951442e-01 -6.92826642e-02 -3.58850236e-02 1.12477691e+02] [ 6.92887311e-02 9.97596068e-01 -1.07601905e-03 4.74393776e+00] [ 3.58733079e-02 -1.41368901e-03 9.99355346e-01 3.82090939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:4.75, Z:3.82 [[ 9.97053287e-01 -6.78011969e-02 -3.58850969e-02 1.12509816e+02] [ 6.78063940e-02 9.97697920e-01 -1.07356880e-03 4.74538470e+00] [ 3.58752758e-02 -1.36283372e-03 9.99355346e-01 3.82260444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:4.75, Z:3.82 [[ 9.97058191e-01 -6.77289985e-02 -3.58851743e-02 1.12542478e+02] [ 6.77342422e-02 9.97702824e-01 -1.07097556e-03 4.74630056e+00] [ 3.58752758e-02 -1.36283014e-03 9.99355346e-01 3.82377736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:4.75, Z:3.82 [[ 9.97146843e-01 -6.64110149e-02 -3.58852516e-02 1.12574038e+02] [ 6.64154997e-02 9.97791481e-01 -1.06837872e-03 4.74792466e+00] [ 3.58769505e-02 -1.31800645e-03 9.99355346e-01 3.82478099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.61, Y:4.75, Z:3.83 [[ 9.97151578e-01 -6.63398379e-02 -3.58853091e-02 1.12606700e+02] [ 6.63443463e-02 9.97796217e-01 -1.06644432e-03 4.74883565e+00] [ 3.58769734e-02 -1.31738074e-03 9.99355346e-01 3.82595414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:4.75, Z:3.83 [[ 9.97245451e-01 -6.49133964e-02 -3.58853850e-02 1.12638588e+02] [ 6.49170746e-02 9.97890095e-01 -1.06388365e-03 4.75044580e+00] [ 3.58787306e-02 -1.26862109e-03 9.99355346e-01 3.82652432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:4.75, Z:3.83 [[ 9.97250119e-01 -6.48416030e-02 -3.58854615e-02 1.12671251e+02] [ 6.48453278e-02 9.97894763e-01 -1.06129752e-03 4.75135291e+00] [ 3.58787303e-02 -1.26862544e-03 9.99355346e-01 3.82769725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:4.75, Z:3.83 [[ 9.97254782e-01 -6.47698096e-02 -3.58855377e-02 1.12703914e+02] [ 6.47735807e-02 9.97899425e-01 -1.05871574e-03 4.75225767e+00] [ 3.58787302e-02 -1.26862544e-03 9.99355346e-01 3.82887018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:4.75, Z:3.83 [[ 9.97419320e-01 -6.21845789e-02 -3.58856136e-02 1.12736103e+02] [ 6.21867719e-02 9.98063971e-01 -1.05613396e-03 4.75427025e+00] [ 3.58818133e-02 -1.17820206e-03 9.99355346e-01 3.82860231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:4.76, Z:3.83 [[ 9.97504211e-01 -6.08076235e-02 -3.58856889e-02 1.12767422e+02] [ 6.08090186e-02 9.98148863e-01 -1.05357220e-03 4.75636873e+00] [ 3.58833248e-02 -1.13123082e-03 9.99355346e-01 3.82890864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:4.76, Z:3.83 [[ 9.97572950e-01 -5.96692964e-02 -3.58857265e-02 1.12797730e+02] [ 5.96700020e-02 9.98217603e-01 -1.05228929e-03 4.75813222e+00] [ 3.58845532e-02 -1.09156604e-03 9.99355346e-01 3.82728927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:4.76, Z:3.83 [[ 9.97559451e-01 -5.98972815e-02 -3.58811557e-02 1.12827663e+02] [ 5.98925535e-02 9.98204099e-01 -1.20757386e-03 4.75928620e+00] [ 3.58890471e-02 -9.44387318e-04 9.99355334e-01 3.83073774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:4.76, Z:3.83 [[ 9.97564922e-01 -5.98033451e-02 -3.58857446e-02 1.12859246e+02] [ 5.98041877e-02 9.98209575e-01 -1.05088680e-03 4.76045887e+00] [ 3.58843404e-02 -1.09779000e-03 9.99355347e-01 3.83178459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:4.76, Z:3.83 [[ 9.97550516e-01 -6.00431435e-02 -3.58857818e-02 1.12889211e+02] [ 6.00441868e-02 9.98195168e-01 -1.04961484e-03 4.76177897e+00] [ 3.58840362e-02 -1.10768876e-03 9.99355347e-01 3.83260600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145099893 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:112.92, Y:4.76, Z:3.83 [[ 9.97560494e-01 -5.98771203e-02 -3.58858003e-02 1.12918706e+02] [ 5.98780790e-02 9.98205147e-01 -1.04898408e-03 4.76350287e+00] [ 3.58842007e-02 -1.10234771e-03 9.99355347e-01 3.83109632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:4.76, Z:3.83 [[ 9.97588956e-01 -5.94054874e-02 -3.58784423e-02 1.12948748e+02] [ 5.93971737e-02 9.98233585e-01 -1.29849754e-03 4.76410744e+00] [ 3.58922040e-02 -8.35711263e-04 9.99355318e-01 3.83458500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:4.77, Z:3.83 [[ 9.97702737e-01 -5.74584537e-02 -3.58855679e-02 1.12979964e+02] [ 5.74575793e-02 9.98347390e-01 -1.05650175e-03 4.76518302e+00] [ 3.58869680e-02 -1.00782318e-03 9.99355347e-01 3.83320605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:4.77, Z:3.84 [[ 9.97767161e-01 -5.63298153e-02 -3.58837605e-02 1.13010127e+02] [ 5.63260040e-02 9.98411805e-01 -1.11792619e-03 4.76757350e+00] [ 3.58897427e-02 -9.05758795e-04 9.99355345e-01 3.83695526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:4.77, Z:3.84 [[ 9.97836351e-01 -5.50893512e-02 -3.58856478e-02 1.13040064e+02] [ 5.50870486e-02 9.98481000e-01 -1.05365181e-03 4.76890596e+00] [ 3.58891825e-02 -9.25462349e-04 9.99355347e-01 3.83788845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:4.77, Z:3.84 [[ 9.97934855e-01 -5.32751749e-02 -3.58856666e-02 1.13070120e+02] [ 5.32717233e-02 9.98579498e-01 -1.05301193e-03 4.77080951e+00] [ 3.58907903e-02 -8.60853993e-04 9.99355347e-01 3.83930876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:4.77, Z:3.84 [[ 9.97979528e-01 -5.24316750e-02 -3.58856666e-02 1.13099981e+02] [ 5.24276784e-02 9.98624168e-01 -1.05301193e-03 4.77189410e+00] [ 3.58915051e-02 -8.30517840e-04 9.99355347e-01 3.84002069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:4.77, Z:3.84 [[ 9.97971365e-01 -5.25868242e-02 -3.58856478e-02 1.13130327e+02] [ 5.25829050e-02 9.98616006e-01 -1.05365105e-03 4.77265603e+00] [ 3.58913904e-02 -8.35458031e-04 9.99355347e-01 3.84159310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:4.77, Z:3.84 [[ 9.97930637e-01 -5.33541405e-02 -3.58856478e-02 1.13160226e+02] [ 5.33507169e-02 9.98575281e-01 -1.05365105e-03 4.77363254e+00] [ 3.58907375e-02 -8.63054374e-04 9.99355347e-01 3.84311143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:4.77, Z:3.84 [[ 9.97863882e-01 -5.45883931e-02 -3.58856483e-02 1.13191040e+02] [ 5.45857674e-02 9.98508530e-01 -1.05363404e-03 4.77429031e+00] [ 3.58896421e-02 -9.07462295e-04 9.99355347e-01 3.84450345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:4.77, Z:3.85 [[ 9.97696423e-01 -5.75679364e-02 -3.58856483e-02 1.13221567e+02] [ 5.75672358e-02 9.98341076e-01 -1.05363404e-03 4.77409166e+00] [ 3.58867723e-02 -1.01463066e-03 9.99355347e-01 3.84530104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:4.77, Z:3.85 [[ 9.97516492e-01 -6.06058403e-02 -3.58856483e-02 1.13253030e+02] [ 6.06071028e-02 9.98161144e-01 -1.05363404e-03 4.77418196e+00] [ 3.58835161e-02 -1.12390784e-03 9.99355347e-01 3.84646503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:4.77, Z:3.84 [[ 9.97534549e-01 -6.03078900e-02 -3.58856863e-02 1.13284525e+02] [ 6.03090065e-02 9.98179201e-01 -1.05233753e-03 4.77370875e+00] [ 3.58838099e-02 -1.11448705e-03 9.99355347e-01 3.84387396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:4.78, Z:3.85 [[ 9.97343740e-01 -6.33847398e-02 -3.58864863e-02 1.13314898e+02] [ 6.33888249e-02 9.97988380e-01 -1.02506606e-03 4.77552320e+00] [ 3.58792699e-02 -1.25245898e-03 9.99355347e-01 3.84782552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:4.78, Z:3.85 [[ 9.97170418e-01 -6.60558014e-02 -3.58857709e-02 1.13345887e+02] [ 6.60607341e-02 9.97815052e-01 -1.04952837e-03 4.77503388e+00] [ 3.58766898e-02 -1.32408173e-03 9.99355347e-01 3.84868779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:4.78, Z:3.85 [[ 9.97098181e-01 -6.71373540e-02 -3.58858266e-02 1.13378406e+02] [ 6.71430545e-02 9.97742809e-01 -1.04761832e-03 4.77523041e+00] [ 3.58751598e-02 -1.36490569e-03 9.99355347e-01 3.85015420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:4.77, Z:3.85 [[ 9.97096570e-01 -6.71612432e-02 -3.58859013e-02 1.13410785e+02] [ 6.71670513e-02 9.97741196e-01 -1.04505547e-03 4.77233742e+00] [ 3.58750293e-02 -1.36832895e-03 9.99355347e-01 3.84723051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:4.77, Z:3.85 [[ 9.96836150e-01 -7.09202722e-02 -3.58887929e-02 1.13440614e+02] [ 7.09320861e-02 9.97480699e-01 -9.45564571e-04 4.77382176e+00] [ 3.58654379e-02 -1.60309400e-03 9.99355342e-01 3.85227141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:4.77, Z:3.85 [[ 9.96804626e-01 -7.13633722e-02 -3.58860324e-02 1.13472949e+02] [ 7.13720518e-02 9.97449220e-01 -1.04075533e-03 4.77449392e+00] [ 3.58687668e-02 -1.52383004e-03 9.99355347e-01 3.85356810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:4.78, Z:3.86 [[ 9.96802135e-01 -7.13981155e-02 -3.58861054e-02 1.13504815e+02] [ 7.14069083e-02 9.97446728e-01 -1.03823032e-03 4.77525164e+00] [ 3.58686061e-02 -1.52760563e-03 9.99355347e-01 3.85502864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:4.78, Z:3.86 [[ 9.96793739e-01 -7.15152067e-02 -3.58861796e-02 1.13536803e+02] [ 7.15241676e-02 9.97438329e-01 -1.03565909e-03 4.77590892e+00] [ 3.58683164e-02 -1.53439063e-03 9.99355347e-01 3.85644202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:4.78, Z:3.86 [[ 9.96781936e-01 -7.16794858e-02 -3.58862558e-02 1.13569498e+02] [ 7.16886480e-02 9.97426524e-01 -1.03301441e-03 4.77578755e+00] [ 3.58679493e-02 -1.54294705e-03 9.99355347e-01 3.85701792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:4.78, Z:3.86 [[ 9.96707692e-01 -7.27045272e-02 -3.58863312e-02 1.13601859e+02] [ 7.27144468e-02 9.97352269e-01 -1.03038565e-03 4.77576896e+00] [ 3.58662276e-02 -1.58246142e-03 9.99355347e-01 3.85820259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:4.78, Z:3.86 [[ 9.96667832e-01 -7.32488819e-02 -3.58864064e-02 1.13632822e+02] [ 7.32592478e-02 9.97312402e-01 -1.02775942e-03 4.77585733e+00] [ 3.58652404e-02 -1.60467639e-03 9.99355347e-01 3.85931183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:4.78, Z:3.86 [[ 9.96610773e-01 -7.40211447e-02 -3.58864624e-02 1.13664184e+02] [ 7.40320804e-02 9.97255333e-01 -1.02580327e-03 4.77606872e+00] [ 3.58638971e-02 -1.63442288e-03 9.99355347e-01 3.86056899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:4.78, Z:3.86 [[ 9.96547668e-01 -7.48658971e-02 -3.58865173e-02 1.13696750e+02] [ 7.48774484e-02 9.97192218e-01 -1.02387753e-03 4.77636113e+00] [ 3.58624093e-02 -1.66674808e-03 9.99355347e-01 3.86220313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:4.78, Z:3.86 [[ 9.96423631e-01 -7.64990232e-02 -3.58865906e-02 1.13727645e+02] [ 7.65117233e-02 9.97068159e-01 -1.02130275e-03 4.77704189e+00] [ 3.58595055e-02 -1.72809470e-03 9.99355347e-01 3.86368494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:4.78, Z:3.86 [[ 9.96313651e-01 -7.79182507e-02 -3.58867056e-02 1.13760206e+02] [ 7.79320147e-02 9.96958157e-01 -1.01724526e-03 4.77757139e+00] [ 3.58568058e-02 -1.78322793e-03 9.99355347e-01 3.86435064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:4.78, Z:3.87 [[ 9.96248752e-01 -7.87436577e-02 -3.58867789e-02 1.13792667e+02] [ 7.87580488e-02 9.96893244e-01 -1.01465161e-03 4.77827119e+00] [ 3.58551848e-02 -1.81552729e-03 9.99355347e-01 3.86505576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:4.78, Z:3.87 [[ 9.96151496e-01 -7.99645587e-02 -3.58868521e-02 1.13824432e+02] [ 7.99798329e-02 9.96795968e-01 -1.01205576e-03 4.77837743e+00] [ 3.58527981e-02 -1.86206357e-03 9.99355347e-01 3.86501077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:4.78, Z:3.87 [[ 9.96112847e-01 -8.04445475e-02 -3.58869250e-02 1.13856839e+02] [ 8.04602252e-02 9.96757309e-01 -1.00946706e-03 4.77863909e+00] [ 3.58517609e-02 -1.88192696e-03 9.99355347e-01 3.86604668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:4.78, Z:3.87 [[ 9.96048021e-01 -8.12432375e-02 -3.58869973e-02 1.13888451e+02] [ 8.12595246e-02 9.96692468e-01 -1.00689008e-03 4.77829659e+00] [ 3.58501029e-02 -1.91324946e-03 9.99355347e-01 3.86740272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:4.78, Z:3.87 [[ 9.96011890e-01 -8.16849708e-02 -3.58870509e-02 1.13920155e+02] [ 8.17016125e-02 9.96656328e-01 -1.00497557e-03 4.77872572e+00] [ 3.58491477e-02 -1.93106230e-03 9.99355347e-01 3.86926075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:4.78, Z:3.87 [[ 9.96038920e-01 -8.13546852e-02 -3.58871238e-02 1.13951829e+02] [ 8.13712070e-02 9.96683361e-01 -1.00236500e-03 4.77986513e+00] [ 3.58496462e-02 -1.92178402e-03 9.99355347e-01 3.87080564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:4.78, Z:3.87 [[ 9.96160496e-01 -7.98522062e-02 -3.58872145e-02 1.13983773e+02] [ 7.98678729e-02 9.96804958e-01 -9.99106515e-04 4.78055731e+00] [ 3.58523342e-02 -1.87096505e-03 9.99355347e-01 3.87235586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:4.78, Z:3.87 [[ 9.96329398e-01 -7.77163659e-02 -3.58872875e-02 1.14014783e+02] [ 7.77307454e-02 9.96973890e-01 -9.96476845e-04 4.78085303e+00] [ 3.58561312e-02 -1.79672643e-03 9.99355347e-01 3.87279904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:4.78, Z:3.87 [[ 9.96383446e-01 -7.70203057e-02 -3.58873417e-02 1.14046961e+02] [ 7.70343052e-02 9.97027947e-01 -9.94523353e-04 4.78130091e+00] [ 3.58572811e-02 -1.77362982e-03 9.99355347e-01 3.87370646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:4.78, Z:3.87 [[ 9.96456006e-01 -7.60757617e-02 -3.58874143e-02 1.14077872e+02] [ 7.60892446e-02 9.97100518e-01 -9.91895929e-04 4.78140098e+00] [ 3.58588186e-02 -1.74226559e-03 9.99355347e-01 3.87429170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:4.78, Z:3.88 [[ 9.96572119e-01 -7.45392631e-02 -3.58874684e-02 1.14109434e+02] [ 7.45518228e-02 9.97216649e-01 -9.89935334e-04 4.78225066e+00] [ 3.58613700e-02 -1.68893423e-03 9.99355347e-01 3.87545245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:4.78, Z:3.88 [[ 9.96577275e-01 -7.44702669e-02 -3.58875202e-02 1.14142096e+02] [ 7.44828496e-02 9.97221805e-01 -9.88052265e-04 4.78308736e+00] [ 3.58613982e-02 -1.68833433e-03 9.99355347e-01 3.87662555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:4.78, Z:3.88 [[ 9.96685962e-01 -7.30011915e-02 -3.58875884e-02 1.14174449e+02] [ 7.30129133e-02 9.97330508e-01 -9.85568477e-04 4.78465548e+00] [ 3.58637345e-02 -1.63795512e-03 9.99355347e-01 3.87928142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:4.79, Z:3.88 [[ 9.96770449e-01 -7.18383420e-02 -3.58876599e-02 1.14206616e+02] [ 7.18494057e-02 9.97415007e-01 -9.82958155e-04 4.78580761e+00] [ 3.58655047e-02 -1.59872339e-03 9.99355347e-01 3.88068440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:4.79, Z:3.88 [[ 9.96775704e-01 -7.17653577e-02 -3.58877315e-02 1.14239279e+02] [ 7.17764683e-02 9.97420261e-01 -9.80338030e-04 4.78664181e+00] [ 3.58655048e-02 -1.59871749e-03 9.99355347e-01 3.88185730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:4.79, Z:3.88 [[ 9.96856813e-01 -7.06297362e-02 -3.58878030e-02 1.14270572e+02] [ 7.06402068e-02 9.97501381e-01 -9.77711995e-04 4.78782258e+00] [ 3.58671886e-02 -1.56048296e-03 9.99355347e-01 3.88250491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:4.79, Z:3.88 [[ 9.97135821e-01 -6.65748919e-02 -3.58878562e-02 1.14303150e+02] [ 6.65828113e-02 9.97780425e-01 -9.75755985e-04 4.78895200e+00] [ 3.58731613e-02 -1.41655311e-03 9.99355347e-01 3.88415402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:4.79, Z:3.88 [[ 9.97311003e-01 -6.38969455e-02 -3.58879265e-02 1.14334252e+02] [ 6.39032270e-02 9.97955626e-01 -9.73162541e-04 4.78969603e+00] [ 3.58767403e-02 -1.32280861e-03 9.99355347e-01 3.88494114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:4.79, Z:3.89 [[ 9.97470934e-01 -6.13497254e-02 -3.58879787e-02 1.14365059e+02] [ 6.13544298e-02 9.98115570e-01 -9.71235920e-04 4.79066487e+00] [ 3.58799353e-02 -1.23310687e-03 9.99355347e-01 3.88651269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:4.79, Z:3.89 [[ 9.97785552e-01 -5.60003732e-02 -3.58880127e-02 1.14396083e+02] [ 5.60016663e-02 9.98430204e-01 -9.69975296e-04 4.79234761e+00] [ 3.58859949e-02 -1.04196118e-03 9.99355347e-01 3.88923910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:4.79, Z:3.89 [[ 9.97905776e-01 -5.38155231e-02 -3.58880476e-02 1.14426488e+02] [ 5.38154512e-02 9.98550429e-01 -9.68682942e-04 4.79366131e+00] [ 3.58881555e-02 -9.64677173e-04 9.99355347e-01 3.89107535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:4.79, Z:3.89 [[ 9.97991720e-01 -5.21974634e-02 -3.58880476e-02 1.14457229e+02] [ 5.21963462e-02 9.98636372e-01 -9.68682942e-04 4.79469326e+00] [ 3.58896725e-02 -9.06487403e-04 9.99355347e-01 3.89284899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:4.79, Z:3.89 [[ 9.98126673e-01 -4.95499045e-02 -3.58880476e-02 1.14486525e+02] [ 4.95470772e-02 9.98771320e-01 -9.68682942e-04 4.79450404e+00] [ 3.58919508e-02 -8.11279586e-04 9.99355347e-01 3.89399650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:4.79, Z:3.89 [[ 9.98256660e-01 -4.68582048e-02 -3.58880127e-02 1.14515257e+02] [ 4.68535927e-02 9.98901296e-01 -9.69976990e-04 4.79403208e+00] [ 3.58940337e-02 -7.13196338e-04 9.99355347e-01 3.89429005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:4.79, Z:3.90 [[ 9.98289298e-01 -4.61576840e-02 -3.58879605e-02 1.14543771e+02] [ 4.61525503e-02 9.98933931e-01 -9.71903136e-04 4.79481520e+00] [ 3.58945622e-02 -6.86080402e-04 9.99355347e-01 3.89532122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:4.80, Z:3.90 [[ 9.98341826e-01 -4.50074462e-02 -3.58877115e-02 1.14572015e+02] [ 4.50012425e-02 9.98986449e-01 -9.81012751e-04 4.79536418e+00] [ 3.58954903e-02 -6.35605544e-04 9.99355347e-01 3.89602630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:4.80, Z:3.90 [[ 9.98409812e-01 -4.34733089e-02 -3.58875781e-02 1.14599508e+02] [ 4.34659401e-02 9.99054423e-01 -9.85868598e-04 4.79586399e+00] [ 3.58965026e-02 -5.75586436e-04 9.99355347e-01 3.89772424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:4.80, Z:3.90 [[ 9.98418511e-01 -4.32733143e-02 -3.58872955e-02 1.14627645e+02] [ 4.32654506e-02 9.99063115e-01 -9.96048587e-04 4.79642331e+00] [ 3.58967756e-02 -5.58206665e-04 9.99355347e-01 3.89946455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:4.80, Z:3.90 [[ 9.98460305e-01 -4.22982412e-02 -3.58870072e-02 1.14654954e+02] [ 4.22893784e-02 9.99104897e-01 -1.00633220e-03 4.79557118e+00] [ 3.58974507e-02 -5.12856468e-04 9.99355347e-01 3.89998137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:4.80, Z:3.90 [[ 9.98463800e-01 -4.22157660e-02 -3.58868818e-02 1.14682454e+02] [ 4.22066900e-02 9.99108389e-01 -1.01078416e-03 4.79556117e+00] [ 3.58975557e-02 -5.05435099e-04 9.99355347e-01 3.90129707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:4.80, Z:3.90 [[ 9.98448970e-01 -4.25653273e-02 -3.58865943e-02 1.14710145e+02] [ 4.25561138e-02 9.99093557e-01 -1.02088805e-03 4.79601638e+00] [ 3.58975196e-02 -5.07889375e-04 9.99355347e-01 3.90258799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:4.80, Z:3.90 [[ 9.98397579e-01 -4.37543988e-02 -3.58863055e-02 1.14736561e+02] [ 4.37455918e-02 9.99042171e-01 -1.03094277e-03 4.79576083e+00] [ 3.58970408e-02 -5.40576905e-04 9.99355347e-01 3.90447595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:4.80, Z:3.91 [[ 9.98342639e-01 -4.49906523e-02 -3.58861617e-02 1.14763976e+02] [ 4.49824643e-02 9.98987240e-01 -1.03592559e-03 4.79586321e+00] [ 3.58964245e-02 -5.80039299e-04 9.99355347e-01 3.90569293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:4.79, Z:3.91 [[ 9.98234604e-01 -4.73273623e-02 -3.58858735e-02 1.14790613e+02] [ 4.73203278e-02 9.98879218e-01 -1.04581427e-03 4.79412102e+00] [ 3.58951489e-02 -6.54163308e-04 9.99355347e-01 3.90661375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:4.79, Z:3.91 [[ 9.98057562e-01 -5.09246139e-02 -3.58857481e-02 1.14818354e+02] [ 5.09197486e-02 9.98702196e-01 -1.05010013e-03 4.79121834e+00] [ 3.58926513e-02 -7.79232895e-04 9.99355347e-01 3.90786865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:4.79, Z:3.91 [[ 9.97959916e-01 -5.28037986e-02 -3.58854385e-02 1.14846941e+02] [ 5.27997707e-02 9.98604556e-01 -1.06057474e-03 4.79022370e+00] [ 3.58913647e-02 -8.36331841e-04 9.99355347e-01 3.90858517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:4.79, Z:3.91 [[ 9.97714327e-01 -5.72569816e-02 -3.58853809e-02 1.14876434e+02] [ 5.72557607e-02 9.98358978e-01 -1.06251852e-03 4.78803829e+00] [ 3.58873288e-02 -9.94554837e-04 9.99355347e-01 3.90942263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:4.79, Z:3.91 [[ 9.97609952e-01 -5.90476559e-02 -3.58853420e-02 1.14906324e+02] [ 5.90475449e-02 9.98254605e-01 -1.06383123e-03 4.78757321e+00] [ 3.58855247e-02 -1.05765272e-03 9.99355347e-01 3.90996679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:4.79, Z:3.91 [[ 9.97517920e-01 -6.05825218e-02 -3.58853227e-02 1.14937323e+02] [ 6.05833792e-02 9.98162572e-01 -1.06448275e-03 4.78718247e+00] [ 3.58838751e-02 -1.11221350e-03 9.99355347e-01 3.91021272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:4.79, Z:3.91 [[ 9.97357009e-01 -6.31762655e-02 -3.58853227e-02 1.14968088e+02] [ 6.31787993e-02 9.98001656e-01 -1.06448275e-03 4.78532279e+00] [ 3.58808615e-02 -1.20552227e-03 9.99355347e-01 3.90969997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:4.79, Z:3.91 [[ 9.97307127e-01 -6.39588784e-02 -3.58853227e-02 1.14998890e+02] [ 6.39619181e-02 9.97951772e-01 -1.06448275e-03 4.78511293e+00] [ 3.58799045e-02 -1.23367784e-03 9.99355347e-01 3.91054037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:4.78, Z:3.91 [[ 9.97236497e-01 -6.50508045e-02 -3.58853879e-02 1.15029717e+02] [ 6.50546291e-02 9.97881139e-01 -1.06228115e-03 4.78420747e+00] [ 3.58784539e-02 -1.27516506e-03 9.99355347e-01 3.91187424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:4.78, Z:3.91 [[ 9.97237123e-01 -6.50412159e-02 -3.58853879e-02 1.15061441e+02] [ 6.50450343e-02 9.97881764e-01 -1.06228115e-03 4.78400493e+00] [ 3.58784662e-02 -1.27482008e-03 9.99355347e-01 3.91313683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:4.78, Z:3.91 [[ 9.97260039e-01 -6.46888714e-02 -3.58854265e-02 1.15092553e+02] [ 6.46925089e-02 9.97904682e-01 -1.06097620e-03 4.78442423e+00] [ 3.58788684e-02 -1.26344910e-03 9.99355347e-01 3.91414982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:4.78, Z:3.91 [[ 9.97302372e-01 -6.40328986e-02 -3.58854649e-02 1.15123147e+02] [ 6.40361590e-02 9.97947016e-01 -1.05967319e-03 4.78468292e+00] [ 3.58796466e-02 -1.24115275e-03 9.99355347e-01 3.91476511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:4.79, Z:3.92 [[ 9.97325700e-01 -6.36685146e-02 -3.58854840e-02 1.15153114e+02] [ 6.36715627e-02 9.97970346e-01 -1.05902744e-03 4.78512208e+00] [ 3.58800756e-02 -1.22868956e-03 9.99355347e-01 3.91510253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:4.79, Z:3.92 [[ 9.97325701e-01 -6.36684917e-02 -3.58855028e-02 1.15184080e+02] [ 6.36715627e-02 9.97970346e-01 -1.05838816e-03 4.78603505e+00] [ 3.58800537e-02 -1.22932833e-03 9.99355347e-01 3.91621524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:4.79, Z:3.92 [[ 9.97343369e-01 -6.33911240e-02 -3.58855028e-02 1.15214186e+02] [ 6.33940158e-02 9.97988015e-01 -1.05838816e-03 4.78617533e+00] [ 3.58803942e-02 -1.21934972e-03 9.99355347e-01 3.91799413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:4.79, Z:3.92 [[ 9.97356899e-01 -6.31779012e-02 -3.58855028e-02 1.15244994e+02] [ 6.31806551e-02 9.98001545e-01 -1.05838816e-03 4.78693203e+00] [ 3.58806540e-02 -1.21167884e-03 9.99355347e-01 3.91871037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:4.79, Z:3.92 [[ 9.97373068e-01 -6.29221188e-02 -3.58855028e-02 1.15275378e+02] [ 6.29247074e-02 9.98017716e-01 -1.05838816e-03 4.78701238e+00] [ 3.58809636e-02 -1.20247691e-03 9.99355347e-01 3.91889320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:4.79, Z:3.92 [[ 9.97338416e-01 -6.34690134e-02 -3.58855028e-02 1.15304749e+02] [ 6.34719554e-02 9.97983061e-01 -1.05838816e-03 4.78766731e+00] [ 3.58802988e-02 -1.22215186e-03 9.99355347e-01 3.91992971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:4.79, Z:3.92 [[ 9.97277691e-01 -6.44161373e-02 -3.58854841e-02 1.15335545e+02] [ 6.44196688e-02 9.97922334e-01 -1.05902297e-03 4.78822246e+00] [ 3.58791442e-02 -1.25559102e-03 9.99355347e-01 3.92187314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:4.79, Z:3.92 [[ 9.97409912e-01 -6.23353856e-02 -3.58854841e-02 1.15367378e+02] [ 6.23375721e-02 9.98054560e-01 -1.05902297e-03 4.78665499e+00] [ 3.58816857e-02 -1.18073395e-03 9.99355347e-01 3.91839609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:4.79, Z:3.92 [[ 9.97090785e-01 -6.72448119e-02 -3.58901219e-02 1.15396498e+02] [ 6.72558147e-02 9.97735357e-01 -9.02009403e-04 4.79057491e+00] [ 3.58694990e-02 -1.51443412e-03 9.99355335e-01 3.92474133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:4.79, Z:3.93 [[ 9.97002700e-01 -6.85409709e-02 -3.58852463e-02 1.15427337e+02] [ 6.85469133e-02 9.97647324e-01 -1.06613472e-03 4.79203244e+00] [ 3.58738938e-02 -1.39688368e-03 9.99355348e-01 3.92594587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:4.79, Z:3.93 [[ 9.96903398e-01 -6.99704347e-02 -3.58852847e-02 1.15457146e+02] [ 6.99773480e-02 9.97548012e-01 -1.06483932e-03 4.79353957e+00] [ 3.58718017e-02 -1.44961512e-03 9.99355348e-01 3.92737476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:4.80, Z:3.93 [[ 9.96796582e-01 -7.14760087e-02 -3.58853038e-02 1.15488832e+02] [ 7.14839187e-02 9.97441185e-01 -1.06419560e-03 4.79500295e+00] [ 3.58695444e-02 -1.50443560e-03 9.99355348e-01 3.92915565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:4.80, Z:3.93 [[ 9.96699715e-01 -7.28142815e-02 -3.58853421e-02 1.15520323e+02] [ 7.28231034e-02 9.97344307e-01 -1.06290376e-03 4.79624611e+00] [ 3.58674362e-02 -1.55388610e-03 9.99355348e-01 3.93059279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:4.80, Z:3.93 [[ 9.96554772e-01 -7.47718267e-02 -3.58853801e-02 1.15552346e+02] [ 7.47819609e-02 9.97199344e-01 -1.06161668e-03 4.79796407e+00] [ 3.58642566e-02 -1.62561992e-03 9.99355348e-01 3.93251193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:4.80, Z:3.93 [[ 9.96409662e-01 -7.66812887e-02 -3.58854567e-02 1.15583953e+02] [ 7.66927512e-02 9.97054211e-01 -1.05902342e-03 4.80027372e+00] [ 3.58609530e-02 -1.69693324e-03 9.99355348e-01 3.93450313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:4.80, Z:3.94 [[ 9.96350144e-01 -7.74507548e-02 -3.58855345e-02 1.15615537e+02] [ 7.74628101e-02 9.96994683e-01 -1.05637879e-03 4.80211803e+00] [ 3.58595044e-02 -1.72727119e-03 9.99355348e-01 3.93593548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:4.81, Z:3.94 [[ 9.96225278e-01 -7.90406177e-02 -3.58855925e-02 1.15646189e+02] [ 7.90537724e-02 9.96869796e-01 -1.05440733e-03 4.80529646e+00] [ 3.58566042e-02 -1.78646422e-03 9.99355348e-01 3.93642639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:4.81, Z:3.94 [[ 9.96137414e-01 -8.01403315e-02 -3.58856496e-02 1.15678273e+02] [ 8.01542678e-02 9.96781915e-01 -1.05245768e-03 4.80706977e+00] [ 3.58545109e-02 -1.82799550e-03 9.99355348e-01 3.93750848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:4.81, Z:3.94 [[ 9.96066472e-01 -8.10172695e-02 -3.58857243e-02 1.15709824e+02] [ 8.10318649e-02 9.96710958e-01 -1.04990394e-03 4.80869382e+00] [ 3.58527551e-02 -1.86211305e-03 9.99355348e-01 3.93833963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:4.81, Z:3.94 [[ 9.95869331e-01 -8.34055534e-02 -3.58857800e-02 1.15741590e+02] [ 8.34217625e-02 9.96513779e-01 -1.04799984e-03 4.81130313e+00] [ 3.58480832e-02 -1.94998411e-03 9.99355348e-01 3.93943502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:4.81, Z:3.94 [[ 9.95764871e-01 -8.46435295e-02 -3.58858538e-02 1.15773768e+02] [ 8.46606310e-02 9.96409296e-01 -1.04546360e-03 4.81287254e+00] [ 3.58454901e-02 -1.99708310e-03 9.99355348e-01 3.94043335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:4.82, Z:3.94 [[ 9.95571232e-01 -8.68914379e-02 -3.58859275e-02 1.15805434e+02] [ 8.69100852e-02 9.96215614e-01 -1.04293049e-03 4.81541428e+00] [ 3.58407430e-02 -2.08053742e-03 9.99355348e-01 3.94138741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:4.82, Z:3.94 [[ 9.95512746e-01 -8.75589397e-02 -3.58860032e-02 1.15838782e+02] [ 8.75781129e-02 9.96157112e-01 -1.04031889e-03 4.81705437e+00] [ 3.58391865e-02 -2.10717772e-03 9.99355348e-01 3.94261102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:4.82, Z:3.94 [[ 9.95400513e-01 -8.88257049e-02 -3.58861162e-02 1.15870536e+02] [ 8.88458386e-02 9.96044850e-01 -1.03640665e-03 4.81986545e+00] [ 3.58362407e-02 -2.15669238e-03 9.99355348e-01 3.94412918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:4.82, Z:3.95 [[ 9.95340523e-01 -8.94953781e-02 -3.58862092e-02 1.15903332e+02] [ 8.95160614e-02 9.95984843e-01 -1.03317510e-03 4.82149007e+00] [ 3.58345848e-02 -2.18403106e-03 9.99355348e-01 3.94599218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:4.82, Z:3.95 [[ 9.95320157e-01 -8.97215573e-02 -3.58863203e-02 1.15935619e+02] [ 8.97425262e-02 9.95964467e-01 -1.02930046e-03 4.82283925e+00] [ 3.58338503e-02 -2.19604555e-03 9.99355348e-01 3.94711400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:4.82, Z:3.95 [[ 9.95396452e-01 -8.88710759e-02 -3.58864120e-02 1.15966838e+02] [ 8.88916094e-02 9.96040777e-01 -1.02609533e-03 4.82484550e+00] [ 3.58355199e-02 -2.16862926e-03 9.99355348e-01 3.94736528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:4.83, Z:3.95 [[ 9.95429571e-01 -8.84992953e-02 -3.58865329e-02 1.15999963e+02] [ 8.85197407e-02 9.96073899e-01 -1.02184753e-03 4.82624918e+00] [ 3.58360715e-02 -2.15948934e-03 9.99355349e-01 3.94838841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:4.83, Z:3.95 [[ 9.95497664e-01 -8.77299792e-02 -3.58866401e-02 1.16031996e+02] [ 8.77500623e-02 9.96142003e-01 -1.01807099e-03 4.82963039e+00] [ 3.58375049e-02 -2.13556761e-03 9.99355349e-01 3.94967883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:4.83, Z:3.95 [[ 9.95535197e-01 -8.73030037e-02 -3.58867128e-02 1.16064499e+02] [ 8.73229027e-02 9.96179542e-01 -1.01550216e-03 4.83207851e+00] [ 3.58382655e-02 -2.12276378e-03 9.99355349e-01 3.95128844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:4.83, Z:3.95 [[ 9.95544633e-01 -8.71952978e-02 -3.58868222e-02 1.16098009e+02] [ 8.72152665e-02 9.96188975e-01 -1.01162050e-03 4.83293359e+00] [ 3.58382652e-02 -2.12276540e-03 9.99355349e-01 3.95249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:4.84, Z:3.95 [[ 9.95557267e-01 -8.70508817e-02 -3.58869311e-02 1.16130940e+02] [ 8.70708964e-02 9.96201608e-01 -1.00774046e-03 4.83599957e+00] [ 3.58383432e-02 -2.12144392e-03 9.99355349e-01 3.95374600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:4.84, Z:3.95 [[ 9.95558700e-01 -8.70344515e-02 -3.58870390e-02 1.16163110e+02] [ 8.70545940e-02 9.96203036e-01 -1.00388487e-03 4.83817537e+00] [ 3.58381498e-02 -2.12470529e-03 9.99355349e-01 3.95425159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:4.84, Z:3.95 [[ 9.95544815e-01 -8.71930990e-02 -3.58871105e-02 1.16194371e+02] [ 8.72134363e-02 9.96189146e-01 -1.00132059e-03 4.84022591e+00] [ 3.58376582e-02 -2.13297871e-03 9.99355349e-01 3.95477630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:4.84, Z:3.96 [[ 9.95520852e-01 -8.74662520e-02 -3.58871638e-02 1.16226897e+02] [ 8.74868347e-02 9.96165175e-01 -9.99409674e-04 4.84326706e+00] [ 3.58369574e-02 -2.14472119e-03 9.99355349e-01 3.95642905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:4.85, Z:3.96 [[ 9.95508513e-01 -8.76065447e-02 -3.58872369e-02 1.16258053e+02] [ 8.76273127e-02 9.96152830e-01 -9.96777456e-04 4.84524885e+00] [ 3.58364968e-02 -2.15240168e-03 9.99355349e-01 3.95649114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:4.85, Z:3.96 [[ 9.95517599e-01 -8.75032157e-02 -3.58872911e-02 1.16291562e+02] [ 8.75239872e-02 9.96161916e-01 -9.94820425e-04 4.84608332e+00] [ 3.58366026e-02 -2.15063757e-03 9.99355349e-01 3.95769463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:4.85, Z:3.96 [[ 9.95561249e-01 -8.70051442e-02 -3.58873940e-02 1.16324300e+02] [ 8.70257271e-02 9.96205571e-01 -9.91095631e-04 4.84769728e+00] [ 3.58374522e-02 -2.13643015e-03 9.99355349e-01 3.95982697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:4.85, Z:3.96 [[ 9.95625466e-01 -8.62671403e-02 -3.58875021e-02 1.16356142e+02] [ 8.62873868e-02 9.96269799e-01 -9.87165217e-04 4.84912699e+00] [ 3.58387944e-02 -2.11379195e-03 9.99355349e-01 3.96045819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:4.85, Z:3.96 [[ 9.95668267e-01 -8.57716870e-02 -3.58875912e-02 1.16388329e+02] [ 8.57917296e-02 9.96312607e-01 -9.83915673e-04 4.85120676e+00] [ 3.58396516e-02 -2.09920491e-03 9.99355349e-01 3.96284305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:4.85, Z:3.97 [[ 9.95693765e-01 -8.54751577e-02 -3.58876611e-02 1.16420151e+02] [ 8.54951002e-02 9.96338108e-01 -9.81359668e-04 4.85253532e+00] [ 3.58401262e-02 -2.09108548e-03 9.99355349e-01 3.96533614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:4.85, Z:3.97 [[ 9.95734015e-01 -8.50049492e-02 -3.58877320e-02 1.16452497e+02] [ 8.50246808e-02 9.96378365e-01 -9.78758778e-04 4.85438572e+00] [ 3.58409591e-02 -2.07675955e-03 9.99355349e-01 3.96745987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:4.86, Z:3.97 [[ 9.95734193e-01 -8.50028266e-02 -3.58878201e-02 1.16484302e+02] [ 8.50226733e-02 9.96378539e-01 -9.75518174e-04 4.85552674e+00] [ 3.58407756e-02 -2.07992160e-03 9.99355349e-01 3.96866712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:4.86, Z:3.97 [[ 9.95756262e-01 -8.47438725e-02 -3.58879061e-02 1.16517238e+02] [ 8.47636656e-02 9.96400610e-01 -9.72343594e-04 4.85612618e+00] [ 3.58411317e-02 -2.07377325e-03 9.99355349e-01 3.96961963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:4.86, Z:3.97 [[ 9.95706309e-01 -8.53287573e-02 -3.58880092e-02 1.16549331e+02] [ 8.53490661e-02 9.96350641e-01 -9.68524879e-04 4.85667584e+00] [ 3.58396840e-02 -2.09864173e-03 9.99355349e-01 3.97105587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:4.86, Z:3.97 [[ 9.95615332e-01 -8.63837761e-02 -3.58880803e-02 1.16580306e+02] [ 8.64048625e-02 9.96259638e-01 -9.65883775e-04 4.85672338e+00] [ 3.58372825e-02 -2.13925594e-03 9.99355349e-01 3.97040081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:4.86, Z:3.97 [[ 9.95562492e-01 -8.69905798e-02 -3.58882093e-02 1.16611113e+02] [ 8.70122320e-02 9.96206780e-01 -9.61063751e-04 4.85735047e+00] [ 3.58356809e-02 -2.16591417e-03 9.99355349e-01 3.97046413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:4.86, Z:3.97 [[ 9.95444749e-01 -8.83276790e-02 -3.58883443e-02 1.16643592e+02] [ 8.83503784e-02 9.96089000e-01 -9.55998695e-04 4.85774431e+00] [ 3.58324261e-02 -2.21910491e-03 9.99355349e-01 3.97035328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:4.86, Z:3.97 [[ 9.95522294e-01 -8.74493229e-02 -3.58884127e-02 1.16676017e+02] [ 8.74715464e-02 9.96166562e-01 -9.53422980e-04 4.85909891e+00] [ 3.58342129e-02 -2.19006112e-03 9.99355349e-01 3.97111321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:4.86, Z:3.97 [[ 9.95661820e-01 -8.58461154e-02 -3.58884977e-02 1.16707767e+02] [ 8.58674167e-02 9.96306120e-01 -9.50211957e-04 4.86038854e+00] [ 3.58375019e-02 -2.13556282e-03 9.99355349e-01 3.97218600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:4.86, Z:3.97 [[ 9.95885488e-01 -8.32111995e-02 -3.58885813e-02 1.16741186e+02] [ 8.32309097e-02 9.96529838e-01 -9.47043227e-04 4.86124922e+00] [ 3.58428467e-02 -2.04389266e-03 9.99355349e-01 3.97257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:4.86, Z:3.98 [[ 9.96073805e-01 -8.09243989e-02 -3.58917237e-02 1.16771772e+02] [ 8.09469492e-02 9.96718068e-01 -8.26786591e-04 4.86336135e+00] [ 3.58408367e-02 -2.08178507e-03 9.99355343e-01 3.97664485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:4.87, Z:3.98 [[ 9.96528584e-01 -7.51184487e-02 -3.58887237e-02 1.16803176e+02] [ 7.51331342e-02 9.97173067e-01 -9.41187628e-04 4.86615824e+00] [ 3.58579693e-02 -1.75851192e-03 9.99355349e-01 3.97920238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:4.87, Z:3.98 [[ 9.96713453e-01 -7.26243023e-02 -3.58887744e-02 1.16834764e+02] [ 7.26374445e-02 9.97357970e-01 -9.39252007e-04 4.86787783e+00] [ 3.58621677e-02 -1.67070375e-03 9.99355349e-01 3.98190972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:4.87, Z:3.98 [[ 9.97002792e-01 -6.85377616e-02 -3.58888264e-02 1.16865614e+02] [ 6.85483330e-02 9.97647356e-01 -9.37261746e-04 4.86970468e+00] [ 3.58686306e-02 -1.52566664e-03 9.99355349e-01 3.98359182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:4.87, Z:3.99 [[ 9.97094455e-01 -6.71910417e-02 -3.58888777e-02 1.16897460e+02] [ 6.72008132e-02 9.97739032e-01 -9.35292862e-04 4.87065020e+00] [ 3.58705774e-02 -1.47918644e-03 9.99355349e-01 3.98528935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:4.87, Z:3.99 [[ 9.97191845e-01 -6.57298141e-02 -3.58889442e-02 1.16929319e+02] [ 6.57387330e-02 9.97836434e-01 -9.32734631e-04 4.87095206e+00] [ 3.58726045e-02 -1.42917835e-03 9.99355349e-01 3.98748096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:4.87, Z:3.99 [[ 9.97217000e-01 -6.53470250e-02 -3.58890125e-02 1.16960905e+02] [ 6.53557913e-02 9.97861591e-01 -9.30096028e-04 4.87099158e+00] [ 3.58730462e-02 -1.41804724e-03 9.99355349e-01 3.98774886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:4.87, Z:3.99 [[ 9.97230207e-01 -6.51451477e-02 -3.58890634e-02 1.16993242e+02] [ 6.51538541e-02 9.97874799e-01 -9.28130717e-04 4.87087411e+00] [ 3.58732551e-02 -1.41275081e-03 9.99355349e-01 3.98907994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:4.87, Z:3.99 [[ 9.97046662e-01 -6.78964155e-02 -3.58891293e-02 1.17022624e+02] [ 6.79069922e-02 9.97691227e-01 -9.25574608e-04 4.87254304e+00] [ 3.58691126e-02 -1.51428175e-03 9.99355349e-01 3.98869193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:4.87, Z:3.99 [[ 9.97195848e-01 -6.56726014e-02 -3.58824373e-02 1.17056123e+02] [ 6.56724472e-02 9.97840532e-01 -1.18419610e-03 4.86994439e+00] [ 3.58827195e-02 -1.17561203e-03 9.99355316e-01 3.99128555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:4.87, Z:3.99 [[ 9.97188450e-01 -6.57811159e-02 -3.58892754e-02 1.17088794e+02] [ 6.57906526e-02 9.97833027e-01 -9.16460666e-04 4.86802218e+00] [ 3.58717901e-02 -1.44729486e-03 9.99355352e-01 3.99045073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:4.87, Z:3.99 [[ 9.97185662e-01 -6.58233314e-02 -3.58893403e-02 1.17120729e+02] [ 6.58329871e-02 9.97830237e-01 -9.13909350e-04 4.86764378e+00] [ 3.58716256e-02 -1.45136518e-03 9.99355352e-01 3.99049499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:4.87, Z:3.99 [[ 9.97222920e-01 -6.52564099e-02 -3.58894048e-02 1.17153167e+02] [ 6.52657904e-02 9.97867499e-01 -9.11369426e-04 4.86635859e+00] [ 3.58723434e-02 -1.43351189e-03 9.99355352e-01 3.98955282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:4.87, Z:3.99 [[ 9.97250026e-01 -6.48408102e-02 -3.58894693e-02 1.17184096e+02] [ 6.48500135e-02 9.97894609e-01 -9.08823674e-04 4.86613497e+00] [ 3.58728368e-02 -1.42110814e-03 9.99355352e-01 3.98971200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:4.87, Z:3.99 [[ 9.97332380e-01 -6.35615089e-02 -3.58895172e-02 1.17215524e+02] [ 6.35699535e-02 9.97976973e-01 -9.06928829e-04 4.86564788e+00] [ 3.58745575e-02 -1.37698545e-03 9.99355352e-01 3.99118823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:4.87, Z:3.99 [[ 9.97395809e-01 -6.25583043e-02 -3.58895487e-02 1.17246384e+02] [ 6.25661453e-02 9.98040409e-01 -9.05679363e-04 4.86621309e+00] [ 3.58758776e-02 -1.34214992e-03 9.99355352e-01 3.99415773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:4.87, Z:4.00 [[ 9.97437327e-01 -6.18927896e-02 -3.58895813e-02 1.17278207e+02] [ 6.19002470e-02 9.98081931e-01 -9.04386822e-04 4.86808806e+00] [ 3.58767176e-02 -1.31950477e-03 9.99355352e-01 3.99689651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:4.87, Z:4.00 [[ 9.97664552e-01 -5.81151870e-02 -3.58896486e-02 1.17308747e+02] [ 5.81202997e-02 9.98309179e-01 -9.01706801e-04 4.86718226e+00] [ 3.58813685e-02 -1.18631622e-03 9.99355352e-01 3.99802867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:4.87, Z:4.00 [[ 9.97777357e-01 -5.61451436e-02 -3.58896653e-02 1.17340151e+02] [ 5.61490072e-02 9.98421994e-01 -9.01042432e-04 4.86777499e+00] [ 3.58836203e-02 -1.11612934e-03 9.99355352e-01 4.00241002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:4.87, Z:4.00 [[ 9.97739146e-01 -5.68206440e-02 -3.58888608e-02 1.17369433e+02] [ 5.68237988e-02 9.98383787e-01 -9.32913491e-04 4.86964355e+00] [ 3.58838655e-02 -1.10853710e-03 9.99355352e-01 4.00304157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.40, Y:4.87, Z:4.00 [[ 9.97726670e-01 -5.70422002e-02 -3.58842494e-02 1.17398910e+02] [ 5.70390581e-02 9.98371328e-01 -1.11212097e-03 4.87031567e+00] [ 3.58892436e-02 -9.37211040e-04 9.99355334e-01 4.00418663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:4.87, Z:4.01 [[ 9.97737439e-01 -5.68540486e-02 -3.58834133e-02 1.17429342e+02] [ 5.68496256e-02 9.98382096e-01 -1.14438252e-03 4.86810757e+00] [ 3.58904202e-02 -8.98165329e-04 9.99355328e-01 4.00625534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:4.87, Z:4.01 [[ 9.97695786e-01 -5.75768665e-02 -3.58890244e-02 1.17460250e+02] [ 5.75807139e-02 9.98340424e-01 -9.27236825e-04 4.86791325e+00] [ 3.58828512e-02 -1.14141537e-03 9.99355351e-01 4.00708325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:4.87, Z:4.01 [[ 9.97526981e-01 -6.04309602e-02 -3.58890244e-02 1.17492016e+02] [ 6.04366519e-02 9.98171604e-01 -9.27236825e-04 4.86532286e+00] [ 3.58794388e-02 -1.24406872e-03 9.99355351e-01 4.00657040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:4.87, Z:4.01 [[ 9.97447109e-01 -6.17352492e-02 -3.58890582e-02 1.17521927e+02] [ 6.17418309e-02 9.98091724e-01 -9.25923323e-04 4.86551188e+00] [ 3.58777341e-02 -1.29229662e-03 9.99355351e-01 4.00591024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:4.87, Z:4.00 [[ 9.97339087e-01 -6.34564380e-02 -3.58890750e-02 1.17552572e+02] [ 6.34641556e-02 9.97983690e-01 -9.25272412e-04 4.86510442e+00] [ 3.58754260e-02 -1.35485950e-03 9.99355351e-01 4.00407819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645099893 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:117.58, Y:4.87, Z:4.01 [[ 9.97183450e-01 -6.58579420e-02 -3.58873025e-02 1.17582879e+02] [ 6.58647376e-02 9.97828065e-01 -9.94128433e-04 4.86609299e+00] [ 3.58748288e-02 -1.37237934e-03 9.99355349e-01 4.00529522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:4.86, Z:4.01 [[ 9.96952529e-01 -6.92671818e-02 -3.58846999e-02 1.17614062e+02] [ 6.92725525e-02 9.97597170e-01 -1.09512134e-03 4.86439414e+00] [ 3.58743311e-02 -1.39404077e-03 9.99355337e-01 4.00625523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:4.86, Z:4.01 [[ 9.96744189e-01 -7.22021114e-02 -3.58869988e-02 1.17645183e+02] [ 7.22126095e-02 9.97388755e-01 -1.00524163e-03 4.86458919e+00] [ 3.58658696e-02 -1.58952508e-03 9.99355349e-01 4.00843729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:4.86, Z:4.01 [[ 9.96623462e-01 -7.38487246e-02 -3.58892732e-02 1.17676650e+02] [ 7.38634885e-02 9.97267941e-01 -9.16147284e-04 4.86469270e+00] [ 3.58588779e-02 -1.73785304e-03 9.99355353e-01 4.00883678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:4.87, Z:4.01 [[ 9.96495203e-01 -7.55596859e-02 -3.58893223e-02 1.17708398e+02] [ 7.55756253e-02 9.97139654e-01 -9.14223220e-04 4.86510426e+00] [ 3.58557448e-02 -1.80133892e-03 9.99355353e-01 4.01048460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:4.87, Z:4.01 [[ 9.96337984e-01 -7.76052441e-02 -3.58893875e-02 1.17740934e+02] [ 7.76225989e-02 9.96982398e-01 -9.11654195e-04 4.86631132e+00] [ 3.58518368e-02 -1.87751183e-03 9.99355353e-01 4.01308959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:4.87, Z:4.02 [[ 9.96290286e-01 -7.82151689e-02 -3.58894526e-02 1.17772657e+02] [ 7.82330105e-02 9.96934687e-01 -9.09082730e-04 4.86763141e+00] [ 3.58505443e-02 -1.90202963e-03 9.99355353e-01 4.01585827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:4.87, Z:4.02 [[ 9.96335843e-01 -7.76326660e-02 -3.58895182e-02 1.17803946e+02] [ 7.76502241e-02 9.96980251e-01 -9.06486405e-04 4.86930022e+00] [ 3.58515138e-02 -1.88366424e-03 9.99355353e-01 4.01521492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:4.87, Z:4.02 [[ 9.96332625e-01 -7.76759486e-02 -3.58852086e-02 1.17834479e+02] [ 7.76874387e-02 9.96977183e-01 -1.07617182e-03 4.87069692e+00] [ 3.58603269e-02 -1.71560486e-03 9.99355339e-01 4.01922969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:4.87, Z:4.02 [[ 9.96242183e-01 -7.88274926e-02 -3.58850854e-02 1.17867499e+02] [ 7.88395541e-02 9.96886732e-01 -1.08100726e-03 4.87182102e+00] [ 3.58585786e-02 -1.75221910e-03 9.99355338e-01 4.02280538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:4.87, Z:4.02 [[ 9.96125465e-01 -8.02870395e-02 -3.58894145e-02 1.17898817e+02] [ 8.03061754e-02 9.96769828e-01 -9.10359473e-04 4.87279876e+00] [ 3.58465756e-02 -1.97530937e-03 9.99355353e-01 4.02458192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:4.87, Z:4.03 [[ 9.96059859e-01 -8.10968845e-02 -3.58894629e-02 1.17929535e+02] [ 8.11166130e-02 9.96704204e-01 -9.08447434e-04 4.87334428e+00] [ 3.58448508e-02 -2.00636365e-03 9.99355353e-01 4.02533452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:4.87, Z:4.03 [[ 9.95858139e-01 -8.35374819e-02 -3.58895107e-02 1.17961894e+02] [ 8.35588571e-02 9.96502431e-01 -9.06558443e-04 4.87332004e+00] [ 3.58397162e-02 -2.09608289e-03 9.99355353e-01 4.02632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:4.87, Z:4.02 [[ 9.96050563e-01 -8.12109292e-02 -3.58895765e-02 1.17996096e+02] [ 8.12308931e-02 9.96694901e-01 -9.03944352e-04 4.87058301e+00] [ 3.58443680e-02 -2.01496807e-03 9.99355353e-01 4.02171301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:4.87, Z:4.03 [[ 9.95659598e-01 -8.58690354e-02 -3.58953165e-02 1.18023897e+02] [ 8.59002304e-02 9.96303515e-01 -6.75100713e-04 4.87399167e+00] [ 3.58206003e-02 -2.41124545e-03 9.99355327e-01 4.02707938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:4.87, Z:4.03 [[ 9.95665008e-01 -8.58087220e-02 -3.58894978e-02 1.18056182e+02] [ 8.58315971e-02 9.96309247e-01 -9.05709851e-04 4.87480489e+00] [ 3.58347563e-02 -2.17866931e-03 9.99355354e-01 4.02782188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:4.88, Z:4.03 [[ 9.95674192e-01 -8.57020637e-02 -3.58895620e-02 1.18089693e+02] [ 8.57249614e-02 9.96318431e-01 -9.03159581e-04 4.87555727e+00] [ 3.58348347e-02 -2.17737863e-03 9.99355354e-01 4.02902517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:4.88, Z:4.03 [[ 9.95705740e-01 -8.53347049e-02 -3.58896583e-02 1.18122580e+02] [ 8.53575029e-02 9.96349983e-01 -8.99315819e-04 4.87653053e+00] [ 3.58354033e-02 -2.16799769e-03 9.99355354e-01 4.03061236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:4.88, Z:4.03 [[ 9.95781489e-01 -8.44461433e-02 -3.58897569e-02 1.18153595e+02] [ 8.44685084e-02 9.96425747e-01 -8.95362656e-04 4.87824012e+00] [ 3.58370878e-02 -2.13996867e-03 9.99355354e-01 4.03099172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:4.88, Z:4.03 [[ 9.95894359e-01 -8.31044405e-02 -3.58898056e-02 1.18184392e+02] [ 8.31260078e-02 9.96538644e-01 -8.93407370e-04 4.87934689e+00] [ 3.58398243e-02 -2.09363690e-03 9.99355354e-01 4.03109715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:4.88, Z:4.03 [[ 9.95954676e-01 -8.23784092e-02 -3.58898537e-02 1.18216199e+02] [ 8.23995764e-02 9.96598974e-01 -8.91470061e-04 4.88052295e+00] [ 3.58412293e-02 -2.06944496e-03 9.99355354e-01 4.03200830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:4.88, Z:4.03 [[ 9.95985921e-01 -8.19997516e-02 -3.58899167e-02 1.18248040e+02] [ 8.20207652e-02 9.96630224e-01 -8.88925336e-04 4.88166096e+00] [ 3.58418674e-02 -2.05836131e-03 9.99355354e-01 4.03303939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:4.88, Z:4.03 [[ 9.95992746e-01 -8.19167780e-02 -3.58899791e-02 1.18280041e+02] [ 8.19378286e-02 9.96637049e-01 -8.86400063e-04 4.88298601e+00] [ 3.58418939e-02 -2.05789892e-03 9.99355354e-01 4.03457455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:4.89, Z:4.04 [[ 9.96059860e-01 -8.10966091e-02 -3.58900412e-02 1.18312555e+02] [ 8.11172196e-02 9.96704176e-01 -8.83880247e-04 4.88503591e+00] [ 3.58434336e-02 -2.03090272e-03 9.99355354e-01 4.03585456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:4.89, Z:4.04 [[ 9.96068217e-01 -8.09938752e-02 -3.58901025e-02 1.18344141e+02] [ 8.10145091e-02 9.96712533e-01 -8.81382828e-04 4.88702327e+00] [ 3.58435015e-02 -2.02970161e-03 9.99355354e-01 4.03687533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:4.89, Z:4.04 [[ 9.96040372e-01 -8.13355630e-02 -3.58901482e-02 1.18376318e+02] [ 8.13564848e-02 9.96684679e-01 -8.79517261e-04 4.88811267e+00] [ 3.58426969e-02 -2.04386160e-03 9.99355354e-01 4.03914108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:4.89, Z:4.04 [[ 9.95971572e-01 -8.21737158e-02 -3.58902120e-02 1.18407629e+02] [ 8.21952736e-02 9.96615858e-01 -8.76906466e-04 4.88949860e+00] [ 3.58408131e-02 -2.07663188e-03 9.99355354e-01 4.04000715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:4.89, Z:4.04 [[ 9.96063016e-01 -8.10577445e-02 -3.58902593e-02 1.18440254e+02] [ 8.10786501e-02 9.96707323e-01 -8.74964617e-04 4.88916747e+00] [ 3.58430069e-02 -2.03841388e-03 9.99355354e-01 4.03697433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:4.89, Z:4.04 [[ 9.95826096e-01 -8.39178514e-02 -3.58912216e-02 1.18471590e+02] [ 8.39420251e-02 9.96470290e-01 -8.35483614e-04 4.89258104e+00] [ 3.58346479e-02 -2.18078543e-03 9.99355353e-01 4.04280373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:4.89, Z:4.04 [[ 9.95830743e-01 -8.38631113e-02 -3.58902405e-02 1.18504749e+02] [ 8.38858057e-02 9.96474990e-01 -8.75691641e-04 4.89435046e+00] [ 3.58371653e-02 -2.13864109e-03 9.99355354e-01 4.04389262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:4.90, Z:4.05 [[ 9.95878906e-01 -8.32891909e-02 -3.58903351e-02 1.18535959e+02] [ 8.33116538e-02 9.96523160e-01 -8.71798437e-04 4.89693238e+00] [ 3.58381615e-02 -2.12187750e-03 9.99355354e-01 4.04507909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:4.90, Z:4.05 [[ 9.95945030e-01 -8.24947123e-02 -3.58903818e-02 1.18567494e+02] [ 8.25167304e-02 9.96589300e-01 -8.69870666e-04 4.89858898e+00] [ 3.58397302e-02 -2.09521360e-03 9.99355354e-01 4.04660478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:4.90, Z:4.05 [[ 9.96005399e-01 -8.17625970e-02 -3.58904278e-02 1.18600771e+02] [ 8.17842098e-02 9.96649683e-01 -8.67969883e-04 4.90024216e+00] [ 3.58411510e-02 -2.07076759e-03 9.99355354e-01 4.04878177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:4.90, Z:4.05 [[ 9.96095599e-01 -8.06562345e-02 -3.58905211e-02 1.18631519e+02] [ 8.06772709e-02 9.96739902e-01 -8.64093163e-04 4.90268854e+00] [ 3.58432090e-02 -2.03482990e-03 9.99355354e-01 4.04986767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:4.90, Z:4.05 [[ 9.96185155e-01 -7.95424691e-02 -3.58905672e-02 1.18664670e+02] [ 7.95628540e-02 9.96829478e-01 -8.62174268e-04 4.90454768e+00] [ 3.58453549e-02 -1.99667076e-03 9.99355354e-01 4.05080280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:4.91, Z:4.05 [[ 9.96160261e-01 -7.98535876e-02 -3.58906608e-02 1.18696279e+02] [ 7.98743143e-02 9.96804573e-01 -8.58259873e-04 4.90590891e+00] [ 3.58445100e-02 -2.01177755e-03 9.99355354e-01 4.05206362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:4.91, Z:4.05 [[ 9.96110503e-01 -8.04718623e-02 -3.58907380e-02 1.18729422e+02] [ 8.04931053e-02 9.96754799e-01 -8.55020751e-04 4.90714951e+00] [ 3.58430705e-02 -2.03726180e-03 9.99355354e-01 4.05361889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:4.91, Z:4.05 [[ 9.95970847e-01 -8.21822362e-02 -3.58908310e-02 1.18761304e+02] [ 8.22047263e-02 9.96615101e-01 -8.51098773e-04 4.90822160e+00] [ 3.58392894e-02 -2.10272637e-03 9.99355354e-01 4.05454940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:4.91, Z:4.06 [[ 9.95894866e-01 -8.30978523e-02 -3.58909832e-02 1.18794512e+02] [ 8.31211670e-02 9.96539090e-01 -8.44630073e-04 4.90889011e+00] [ 3.58369547e-02 -2.14213766e-03 9.99355354e-01 4.05602888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:4.91, Z:4.05 [[ 9.96092440e-01 -8.06949932e-02 -3.58910755e-02 1.18829669e+02] [ 8.07168952e-02 9.96736714e-01 -8.40689496e-04 4.90547372e+00] [ 3.58417921e-02 -2.05961173e-03 9.99355354e-01 4.04922520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.86, Y:4.91, Z:4.05 [[ 9.95963565e-01 -8.22677565e-02 -3.58969798e-02 1.18861525e+02] [ 8.23001457e-02 9.96607422e-01 -5.76934233e-04 4.90655457e+00] [ 3.58226596e-02 -2.37972119e-03 9.99355329e-01 4.05035594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:4.91, Z:4.06 [[ 9.95782545e-01 -8.44321217e-02 -3.58934569e-02 1.18891164e+02] [ 8.44602491e-02 9.96426579e-01 -7.34629810e-04 4.90946324e+00] [ 3.58272208e-02 -2.30003877e-03 9.99355352e-01 4.05628576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.92, Y:4.91, Z:4.05 [[ 9.95994675e-01 -8.18924736e-02 -3.58919358e-02 1.18924099e+02] [ 8.19165161e-02 9.96638871e-01 -8.02649624e-04 4.90937359e+00] [ 3.58370294e-02 -2.14070759e-03 9.99355355e-01 4.05245236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:4.91, Z:4.06 [[ 9.95897961e-01 -8.30600655e-02 -3.58925686e-02 1.18955226e+02] [ 8.30858832e-02 9.96542090e-01 -7.74242419e-04 4.91219919e+00] [ 3.58327640e-02 -2.21109932e-03 9.99355354e-01 4.05862074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:4.91, Z:4.06 [[ 9.95960030e-01 -8.23126635e-02 -3.58921086e-02 1.18986825e+02] [ 8.23372521e-02 9.96604207e-01 -7.95009265e-04 4.91342658e+00] [ 3.58356658e-02 -2.16346015e-03 9.99355354e-01 4.06014167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:4.91, Z:4.06 [[ 9.96038367e-01 -8.13592154e-02 -3.58921803e-02 1.19018464e+02] [ 8.13833040e-02 9.96682563e-01 -7.91761062e-04 4.91463042e+00] [ 3.58375273e-02 -2.13239983e-03 9.99355354e-01 4.06174122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:4.91, Z:4.06 [[ 9.96227373e-01 -7.90111999e-02 -3.58922226e-02 1.19051094e+02] [ 7.90338389e-02 9.96871621e-01 -7.89840265e-04 4.91448900e+00] [ 3.58423443e-02 -2.04983964e-03 9.99355354e-01 4.05903745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:4.92, Z:4.06 [[ 9.96231835e-01 -7.89546808e-02 -3.58927515e-02 1.19082189e+02] [ 7.89781484e-02 9.96876053e-01 -7.65751330e-04 4.91679941e+00] [ 3.58410841e-02 -2.07187720e-03 9.99355354e-01 4.06498443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:4.92, Z:4.07 [[ 9.96246007e-01 -7.87758395e-02 -3.58923542e-02 1.19114642e+02] [ 7.87985381e-02 9.96890253e-01 -7.83944482e-04 4.91698517e+00] [ 3.58424939e-02 -2.04726348e-03 9.99355354e-01 4.06593748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:4.92, Z:4.07 [[ 9.96243111e-01 -7.88124214e-02 -3.58924109e-02 1.19147142e+02] [ 7.88352372e-02 9.96887353e-01 -7.81339936e-04 4.91752028e+00] [ 3.58422698e-02 -2.05118219e-03 9.99355354e-01 4.06639036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:4.92, Z:4.06 [[ 9.96321674e-01 -7.78128978e-02 -3.58925496e-02 1.19179479e+02] [ 7.78352980e-02 9.96965930e-01 -7.74915040e-04 4.91545093e+00] [ 3.58439475e-02 -2.02164264e-03 9.99355354e-01 4.06158192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:119.21, Y:4.92, Z:4.06 [[ 9.96194239e-01 -7.94273930e-02 -3.58932767e-02 1.19211841e+02] [ 7.94520459e-02 9.96838414e-01 -7.41254721e-04 4.91617486e+00] [ 3.58386729e-02 -2.11336058e-03 9.99355354e-01 4.06357742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:4.92, Z:4.07 [[ 9.95947818e-01 -8.24602331e-02 -3.58922519e-02 1.19243059e+02] [ 8.24851430e-02 9.96591982e-01 -7.88720796e-04 4.91717155e+00] [ 3.58349686e-02 -2.17505278e-03 9.99355354e-01 4.06878758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:4.92, Z:4.07 [[ 9.95921352e-01 -8.27791237e-02 -3.58925750e-02 1.19275583e+02] [ 8.28047779e-02 9.96565487e-01 -7.73734858e-04 4.91723428e+00] [ 3.58333505e-02 -2.20149763e-03 9.99355354e-01 4.07028242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:4.92, Z:4.07 [[ 9.95940183e-01 -8.25522209e-02 -3.58926571e-02 1.19308583e+02] [ 8.25778658e-02 9.96584318e-01 -7.69906864e-04 4.91683912e+00] [ 3.58336167e-02 -2.19715784e-03 9.99355354e-01 4.07175180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:4.92, Z:4.07 [[ 9.95983282e-01 -8.20305583e-02 -3.58927410e-02 1.19340810e+02] [ 8.20560069e-02 9.96627425e-01 -7.65975413e-04 4.91636226e+00] [ 3.58345234e-02 -2.18231630e-03 9.99355354e-01 4.07397266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:4.92, Z:4.08 [[ 9.96033481e-01 -8.14187432e-02 -3.58928102e-02 1.19374083e+02] [ 8.14439131e-02 9.96677635e-01 -7.62719524e-04 4.91722136e+00] [ 3.58356608e-02 -2.16355673e-03 9.99355354e-01 4.07600602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:4.92, Z:4.08 [[ 9.96199316e-01 -7.93638613e-02 -3.58928907e-02 1.19406746e+02] [ 7.93878392e-02 9.96843516e-01 -7.58908598e-04 4.91919814e+00] [ 3.58398253e-02 -2.09343481e-03 9.99355354e-01 4.07794757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:4.92, Z:4.08 [[ 9.96354362e-01 -7.73930208e-02 -3.58929714e-02 1.19439307e+02] [ 7.74158620e-02 9.96998603e-01 -7.55073339e-04 4.92025086e+00] [ 3.58436798e-02 -2.02636471e-03 9.99355354e-01 4.07876587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:4.92, Z:4.08 [[ 9.96430146e-01 -7.64110908e-02 -3.58930261e-02 1.19471793e+02] [ 7.64333907e-02 9.97074406e-01 -7.52466245e-04 4.92062017e+00] [ 3.58455144e-02 -1.99364564e-03 9.99355354e-01 4.07932673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:4.92, Z:4.08 [[ 9.96522039e-01 -7.52031416e-02 -3.58930806e-02 1.19502699e+02] [ 7.52247542e-02 9.97166322e-01 -7.49857751e-04 4.92088822e+00] [ 3.58477628e-02 -1.95279839e-03 9.99355354e-01 4.07962350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:4.92, Z:4.08 [[ 9.96598610e-01 -7.41814949e-02 -3.58931210e-02 1.19534895e+02] [ 7.42025167e-02 9.97242913e-01 -7.47915747e-04 4.92127785e+00] [ 3.58496421e-02 -1.91798812e-03 9.99355354e-01 4.08058835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:4.92, Z:4.08 [[ 9.96746765e-01 -7.21634768e-02 -3.58931747e-02 1.19565665e+02] [ 7.21832868e-02 9.97391106e-01 -7.45333702e-04 4.92162218e+00] [ 3.58533190e-02 -1.84797836e-03 9.99355354e-01 4.08117111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:4.92, Z:4.08 [[ 9.96872955e-01 -7.03987822e-02 -3.58932145e-02 1.19598211e+02] [ 7.04175205e-02 9.97517328e-01 -7.43411838e-04 4.92199097e+00] [ 3.58564387e-02 -1.78642401e-03 9.99355354e-01 4.08195281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:4.92, Z:4.08 [[ 9.97044601e-01 -6.79244905e-02 -3.58932676e-02 1.19629201e+02] [ 6.79417219e-02 9.97689016e-01 -7.40839020e-04 4.92200755e+00] [ 3.58606399e-02 -1.70000086e-03 9.99355354e-01 4.08014351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:4.92, Z:4.08 [[ 9.96950652e-01 -6.92901019e-02 -3.58926197e-02 1.19659814e+02] [ 6.93070924e-02 9.97595074e-01 -7.72116439e-04 4.92328015e+00] [ 3.58598006e-02 -1.71785112e-03 9.99355354e-01 4.08399892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:4.92, Z:4.08 [[ 9.96950417e-01 -6.92931787e-02 -3.58932076e-02 1.19690899e+02] [ 6.93111903e-02 9.97594810e-01 -7.43744450e-04 4.92325288e+00] [ 3.58584140e-02 -1.74632460e-03 9.99355354e-01 4.08499327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:4.92, Z:4.09 [[ 9.96934636e-01 -6.95198245e-02 -3.58932469e-02 1.19722955e+02] [ 6.95380511e-02 9.97579024e-01 -7.41839168e-04 4.92304843e+00] [ 3.58579228e-02 -1.75638128e-03 9.99355354e-01 4.08617081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:4.92, Z:4.09 [[ 9.96850702e-01 -7.07131461e-02 -3.58932996e-02 1.19755554e+02] [ 7.07322358e-02 9.97495065e-01 -7.39284103e-04 4.92216585e+00] [ 3.58556663e-02 -1.80185745e-03 9.99355354e-01 4.08836730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:4.92, Z:4.09 [[ 9.96747441e-01 -7.21540406e-02 -3.58933520e-02 1.19787220e+02] [ 7.21741535e-02 9.97391773e-01 -7.36727693e-04 4.92188183e+00] [ 3.58528919e-02 -1.85624086e-03 9.99355354e-01 4.09033068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:4.92, Z:4.09 [[ 9.96704664e-01 -7.27425146e-02 -3.58934339e-02 1.19819302e+02] [ 7.27631519e-02 9.97348979e-01 -7.32719302e-04 4.92178388e+00] [ 3.58515795e-02 -1.88141464e-03 9.99355354e-01 4.09151240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:4.92, Z:4.09 [[ 9.96666339e-01 -7.32657286e-02 -3.58934852e-02 1.19850340e+02] [ 7.32867947e-02 9.97310640e-01 -7.30198475e-04 4.92162309e+00] [ 3.58504532e-02 -1.90275424e-03 9.99355354e-01 4.09283211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:4.92, Z:4.09 [[ 9.96586440e-01 -7.43446267e-02 -3.58935232e-02 1.19882109e+02] [ 7.43664576e-02 9.97230715e-01 -7.28321076e-04 4.92090815e+00] [ 3.58482706e-02 -1.94343927e-03 9.99355354e-01 4.09416446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:4.92, Z:4.10 [[ 9.96568676e-01 -7.45823318e-02 -3.58935763e-02 1.19913022e+02] [ 7.46044107e-02 9.97212944e-01 -7.25695744e-04 4.92027682e+00] [ 3.58476630e-02 -1.95461346e-03 9.99355354e-01 4.09561703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.95, Y:4.92, Z:4.10 [[ 9.96544343e-01 -7.49067254e-02 -3.58936599e-02 1.19945311e+02] [ 7.49291633e-02 9.97188598e-01 -7.21539305e-04 4.92033054e+00] [ 3.58467965e-02 -1.97043599e-03 9.99355354e-01 4.09663725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:4.92, Z:4.10 [[ 9.96492369e-01 -7.55949721e-02 -3.58937107e-02 1.19976632e+02] [ 7.56179459e-02 9.97136605e-01 -7.19004602e-04 4.91950893e+00] [ 3.58452859e-02 -1.99772607e-03 9.99355354e-01 4.09727267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:4.92, Z:4.10 [[ 9.96463376e-01 -7.59761726e-02 -3.58937484e-02 1.20008100e+02] [ 7.59994608e-02 9.97107601e-01 -7.17115388e-04 4.91919586e+00] [ 3.58444130e-02 -2.01332630e-03 9.99355355e-01 4.09816763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:4.92, Z:4.10 [[ 9.96420193e-01 -7.65404192e-02 -3.58937855e-02 1.20040077e+02] [ 7.65641390e-02 9.97064402e-01 -7.15253605e-04 4.91779229e+00] [ 3.58431616e-02 -2.03548365e-03 9.99355355e-01 4.09873533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:4.92, Z:4.10 [[ 9.96394147e-01 -7.68787166e-02 -3.58938370e-02 1.20072743e+02] [ 7.69027481e-02 9.97038344e-01 -7.12661928e-04 4.91756250e+00] [ 3.58423203e-02 -2.05024253e-03 9.99355355e-01 4.09954709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:4.92, Z:4.10 [[ 9.96271536e-01 -7.84516120e-02 -3.58938879e-02 1.20103916e+02] [ 7.84767530e-02 9.96915691e-01 -7.10084456e-04 4.91579294e+00] [ 3.58388874e-02 -2.10939885e-03 9.99355355e-01 4.09935761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:4.92, Z:4.10 [[ 9.96277124e-01 -7.83805748e-02 -3.58939733e-02 1.20136584e+02] [ 7.84058256e-02 9.96921275e-01 -7.05745731e-04 4.91637376e+00] [ 3.58387823e-02 -2.11117828e-03 9.99355355e-01 4.10052994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:4.92, Z:4.10 [[ 9.96274552e-01 -7.84132335e-02 -3.58940233e-02 1.20168971e+02] [ 7.84385973e-02 9.96918699e-01 -7.03190339e-04 4.91608438e+00] [ 3.58385624e-02 -2.11490620e-03 9.99355355e-01 4.10117773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:4.91, Z:4.10 [[ 9.96197735e-01 -7.93831693e-02 -3.58940749e-02 1.20199963e+02] [ 7.94092550e-02 9.96841853e-01 -7.00548795e-04 4.91467139e+00] [ 3.58363279e-02 -2.15243662e-03 9.99355355e-01 4.10114612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:4.91, Z:4.10 [[ 9.96154229e-01 -7.99272516e-02 -3.58941132e-02 1.20231652e+02] [ 7.99537598e-02 9.96798329e-01 -6.98577714e-04 4.91405796e+00] [ 3.58350275e-02 -2.17397817e-03 9.99355355e-01 4.10205700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:4.91, Z:4.10 [[ 9.96096075e-01 -8.06487409e-02 -3.58941505e-02 1.20263818e+02] [ 8.06757846e-02 9.96740153e-01 -6.96657615e-04 4.91360653e+00] [ 3.58333256e-02 -2.20185084e-03 9.99355355e-01 4.10302039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:4.91, Z:4.10 [[ 9.96042852e-01 -8.13034071e-02 -3.58942005e-02 1.20294895e+02] [ 8.13309670e-02 9.96686908e-01 -6.94071664e-04 4.91309366e+00] [ 3.58317101e-02 -2.22798492e-03 9.99355355e-01 4.10411393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:4.91, Z:4.10 [[ 9.96004013e-01 -8.17778024e-02 -3.58942377e-02 1.20327433e+02] [ 8.18057383e-02 9.96648053e-01 -6.92140238e-04 4.91271335e+00] [ 3.58305239e-02 -2.24698017e-03 9.99355355e-01 4.10494349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:4.91, Z:4.11 [[ 9.95949921e-01 -8.24339440e-02 -3.58942866e-02 1.20359531e+02] [ 8.24623955e-02 9.96593938e-01 -6.89598914e-04 4.91198738e+00] [ 3.58288748e-02 -2.27312287e-03 9.99355355e-01 4.10567536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:4.91, Z:4.11 [[ 9.96025095e-01 -8.15205887e-02 -3.58943356e-02 1.20391249e+02] [ 8.15485415e-02 9.96669134e-01 -6.87037608e-04 4.91105121e+00] [ 3.58307841e-02 -2.24282402e-03 9.99355355e-01 4.10634283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:4.91, Z:4.11 [[ 9.96184069e-01 -7.95543441e-02 -3.58943844e-02 1.20423536e+02] [ 7.95811175e-02 9.96828158e-01 -6.84476298e-04 4.90985686e+00] [ 3.58349862e-02 -2.17465084e-03 9.99355355e-01 4.10769991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:4.91, Z:4.11 [[ 9.96404543e-01 -7.67435693e-02 -3.58944329e-02 1.20455783e+02] [ 7.67686171e-02 9.97048702e-01 -6.81925682e-04 4.91016056e+00] [ 3.58408311e-02 -2.07609213e-03 9.99355355e-01 4.10978835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:4.91, Z:4.11 [[ 9.96537568e-01 -7.49964076e-02 -3.58944818e-02 1.20487117e+02] [ 7.50204186e-02 9.97181766e-01 -6.79343261e-04 4.91080943e+00] [ 3.58442710e-02 -2.01582797e-03 9.99355355e-01 4.11129067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:4.91, Z:4.11 [[ 9.96698596e-01 -7.28250775e-02 -3.58945181e-02 1.20518112e+02] [ 7.28477540e-02 9.97342843e-01 -6.77419722e-04 4.91122130e+00] [ 3.58484738e-02 -1.93965174e-03 9.99355355e-01 4.11249380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:4.91, Z:4.11 [[ 9.96822724e-01 -7.11058065e-02 -3.58945970e-02 1.20550265e+02] [ 7.11275228e-02 9.97467003e-01 -6.73210619e-04 4.91188994e+00] [ 3.58515453e-02 -1.88202213e-03 9.99355355e-01 4.11434562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:4.91, Z:4.12 [[ 9.97161460e-01 -6.61860834e-02 -3.58946458e-02 1.20582178e+02] [ 6.62047141e-02 9.97805836e-01 -6.70599788e-04 4.91217391e+00] [ 3.58602714e-02 -1.70769850e-03 9.99355355e-01 4.11540475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:4.91, Z:4.12 [[ 9.97335315e-01 -6.35125230e-02 -3.58946952e-02 1.20612394e+02] [ 6.35295215e-02 9.97979736e-01 -6.67942119e-04 4.91284595e+00] [ 3.58646012e-02 -1.61421055e-03 9.99355355e-01 4.11628380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:4.91, Z:4.12 [[ 9.97501599e-01 -6.08451204e-02 -3.58947358e-02 1.20643168e+02] [ 6.08604741e-02 9.98146061e-01 -6.65754035e-04 4.91351355e+00] [ 3.58686971e-02 -1.52047993e-03 9.99355355e-01 4.11753692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:4.91, Z:4.12 [[ 9.97646784e-01 -5.84162893e-02 -3.58947358e-02 1.20673805e+02] [ 5.84300738e-02 9.98291282e-01 -6.65754035e-04 4.91448629e+00] [ 3.58722927e-02 -1.43314469e-03 9.99355355e-01 4.11904847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:4.92, Z:4.12 [[ 9.97787652e-01 -5.59586490e-02 -3.58947358e-02 1.20703043e+02] [ 5.59708459e-02 9.98432182e-01 -6.65754035e-04 4.91545867e+00] [ 3.58757141e-02 -1.34477757e-03 9.99355355e-01 4.12037600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:4.91, Z:4.12 [[ 9.98021130e-01 -5.16274487e-02 -3.58947125e-02 1.20732502e+02] [ 5.16368030e-02 9.98665708e-01 -6.67007056e-04 4.91423835e+00] [ 3.58812544e-02 -1.18780107e-03 9.99355355e-01 4.11881745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:4.92, Z:4.12 [[ 9.98055054e-01 -5.09650309e-02 -3.58981149e-02 1.20759529e+02] [ 5.09805021e-02 9.98699531e-01 -4.84834000e-04 4.91648221e+00] [ 3.58761401e-02 -1.34621290e-03 9.99355337e-01 4.12174556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:4.92, Z:4.12 [[ 9.98184336e-01 -4.83696016e-02 -3.58944730e-02 1.20787633e+02] [ 4.83764660e-02 9.98828943e-01 -6.77747934e-04 4.91662488e+00] [ 3.58852209e-02 -1.05993038e-03 9.99355356e-01 4.12127081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:4.92, Z:4.12 [[ 9.98223403e-01 -4.75565818e-02 -3.58944132e-02 1.20815814e+02] [ 4.75628080e-02 9.98868017e-01 -6.80898922e-04 4.91702449e+00] [ 3.58861626e-02 -1.02754985e-03 9.99355356e-01 4.12147746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:4.92, Z:4.12 [[ 9.98259577e-01 -4.67912658e-02 -3.58942205e-02 1.20843536e+02] [ 4.67966380e-02 9.98904198e-01 -6.90913239e-04 4.91753319e+00] [ 3.58872162e-02 -9.90018084e-04 9.99355356e-01 4.12257717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:4.92, Z:4.12 [[ 9.98263930e-01 -4.66984530e-02 -3.58940265e-02 1.20871417e+02] [ 4.67034084e-02 9.98908555e-01 -7.00845738e-04 4.91817789e+00] [ 3.58875786e-02 -9.76744359e-04 9.99355356e-01 4.12371317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:4.92, Z:4.13 [[ 9.98247040e-01 -4.70582681e-02 -3.58938294e-02 1.20899096e+02] [ 4.70630982e-02 9.98891666e-01 -7.10802067e-04 4.91898398e+00] [ 3.58874961e-02 -9.79718755e-04 9.99355356e-01 4.12577195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:4.92, Z:4.13 [[ 9.98187133e-01 -4.83124745e-02 -3.58936196e-02 1.20926749e+02] [ 4.83177394e-02 9.98831756e-01 -7.21241991e-04 4.91874045e+00] [ 3.58865320e-02 -1.01436408e-03 9.99355356e-01 4.12713345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:4.92, Z:4.13 [[ 9.97915040e-01 -5.36397802e-02 -3.58935545e-02 1.20954581e+02] [ 5.36483699e-02 9.98559626e-01 -7.24466382e-04 4.91714190e+00] [ 3.58807146e-02 -1.20267479e-03 9.99355356e-01 4.12944686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:4.92, Z:4.13 [[ 9.97486875e-01 -6.10868465e-02 -3.58933457e-02 1.20983077e+02] [ 6.10998809e-02 9.98131387e-01 -7.34665577e-04 4.91642848e+00] [ 3.58711534e-02 -1.46025988e-03 9.99355356e-01 4.13130886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:4.92, Z:4.13 [[ 9.97323474e-01 -6.36990448e-02 -3.58931597e-02 1.21013295e+02] [ 6.37134445e-02 9.97967957e-01 -7.43644049e-04 4.91657451e+00] [ 3.58675927e-02 -1.54522317e-03 9.99355356e-01 4.13185060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:4.92, Z:4.13 [[ 9.97162008e-01 -6.61786296e-02 -3.58931597e-02 1.21042429e+02] [ 6.61946318e-02 9.97806453e-01 -7.43644049e-04 4.91633836e+00] [ 3.58636397e-02 -1.63440090e-03 9.99355356e-01 4.13238948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:4.92, Z:4.13 [[ 9.96846913e-01 -7.07666120e-02 -3.58931465e-02 1.21073303e+02] [ 7.07855566e-02 9.97491279e-01 -7.44282435e-04 4.91528686e+00] [ 3.58557709e-02 -1.79878070e-03 9.99355356e-01 4.13314160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:4.92, Z:4.13 [[ 9.96702188e-01 -7.27765853e-02 -3.58931465e-02 1.21103711e+02] [ 7.27968292e-02 9.97346513e-01 -7.44282435e-04 4.91527384e+00] [ 3.58520708e-02 -1.87107932e-03 9.99355356e-01 4.13388004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:4.92, Z:4.14 [[ 9.96704737e-01 -7.27416536e-02 -3.58931596e-02 1.21135531e+02] [ 7.27618976e-02 9.97349063e-01 -7.43651543e-04 4.91590265e+00] [ 3.58521035e-02 -1.87045339e-03 9.99355356e-01 4.13502314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:4.92, Z:4.14 [[ 9.96486750e-01 -7.56692527e-02 -3.58931856e-02 1.21167027e+02] [ 7.56914346e-02 9.97131012e-01 -7.42393590e-04 4.91565217e+00] [ 3.58463848e-02 -1.97702133e-03 9.99355356e-01 4.13600563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:4.92, Z:4.14 [[ 9.96338482e-01 -7.75970818e-02 -3.58932123e-02 1.21199069e+02] [ 7.76205566e-02 9.96982698e-01 -7.41099689e-04 4.91593376e+00] [ 3.58424188e-02 -2.04766498e-03 9.99355356e-01 4.13724877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:4.92, Z:4.14 [[ 9.96347138e-01 -7.74858306e-02 -3.58932654e-02 1.21231156e+02] [ 7.75093261e-02 9.96991354e-01 -7.38520092e-04 4.91611228e+00] [ 3.58425001e-02 -2.04624043e-03 9.99355356e-01 4.13801736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:4.92, Z:4.14 [[ 9.96371550e-01 -7.71712694e-02 -3.58933186e-02 1.21263515e+02] [ 7.71946546e-02 9.97015769e-01 -7.35926258e-04 4.91696429e+00] [ 3.58429970e-02 -2.03751634e-03 9.99355356e-01 4.13862963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:4.92, Z:4.14 [[ 9.96438004e-01 -7.63083827e-02 -3.58933715e-02 1.21295981e+02] [ 7.63313032e-02 9.97082241e-01 -7.33333235e-04 4.91759216e+00] [ 3.58446028e-02 -2.00906672e-03 9.99355356e-01 4.13920479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:4.92, Z:4.14 [[ 9.96501298e-01 -7.54773101e-02 -3.58934241e-02 1.21327018e+02] [ 7.54997859e-02 9.97145550e-01 -7.30753345e-04 4.91847853e+00] [ 3.58461234e-02 -1.98174917e-03 9.99355356e-01 4.13995562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:4.92, Z:4.14 [[ 9.96591946e-01 -7.42708045e-02 -3.58934631e-02 1.21357716e+02] [ 7.42925692e-02 9.97236222e-01 -7.28832483e-04 4.91939356e+00] [ 3.58483925e-02 -1.94026901e-03 9.99355356e-01 4.14130108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:4.92, Z:4.14 [[ 9.96720200e-01 -7.25293011e-02 -3.58935013e-02 1.21390290e+02] [ 7.25500078e-02 9.97364511e-01 -7.26945035e-04 4.92143640e+00] [ 3.58516292e-02 -1.87951300e-03 9.99355356e-01 4.14318040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:4.92, Z:4.14 [[ 9.96792175e-01 -7.15333037e-02 -3.58935520e-02 1.21421178e+02] [ 7.15534569e-02 9.97436503e-01 -7.24431710e-04 4.92245467e+00] [ 3.58533600e-02 -1.84619987e-03 9.99355356e-01 4.14475707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:4.92, Z:4.15 [[ 9.96833959e-01 -7.09486315e-02 -3.58935897e-02 1.21452892e+02] [ 7.09684740e-02 9.97478297e-01 -7.22559293e-04 4.92355041e+00] [ 3.58543413e-02 -1.82704165e-03 9.99355356e-01 4.14687959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:4.92, Z:4.15 [[ 9.96891661e-01 -7.01331873e-02 -3.58936152e-02 1.21484319e+02] [ 7.01525483e-02 9.97536014e-01 -7.21289961e-04 4.92497231e+00] [ 3.58557602e-02 -1.79898063e-03 9.99355356e-01 4.14850416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:4.93, Z:4.15 [[ 9.96897857e-01 -7.00450477e-02 -3.58936533e-02 1.21515495e+02] [ 7.00644199e-02 9.97542209e-01 -7.19389791e-04 4.92564120e+00] [ 3.58558239e-02 -1.79770986e-03 9.99355356e-01 4.14959121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:4.93, Z:4.15 [[ 9.96902672e-01 -6.99764756e-02 -3.58936783e-02 1.21546142e+02] [ 6.99958484e-02 9.97547024e-01 -7.18140693e-04 4.92645067e+00] [ 3.58558849e-02 -1.79649209e-03 9.99355356e-01 4.14999130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:4.93, Z:4.15 [[ 9.96894646e-01 -7.00906960e-02 -3.58937201e-02 1.21577176e+02] [ 7.01102179e-02 9.97538994e-01 -7.16046579e-04 4.92731665e+00] [ 3.58555736e-02 -1.80269353e-03 9.99355356e-01 4.15149893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:4.93, Z:4.15 [[ 9.96856140e-01 -7.06362204e-02 -3.58937456e-02 1.21608981e+02] [ 7.06561409e-02 9.97500476e-01 -7.14765004e-04 4.92891610e+00] [ 3.58545166e-02 -1.82359566e-03 9.99355356e-01 4.15258196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:4.93, Z:4.15 [[ 9.96827916e-01 -7.10333936e-02 -3.58937720e-02 1.21640379e+02] [ 7.10536186e-02 9.97472242e-01 -7.13433879e-04 4.93099760e+00] [ 3.58537189e-02 -1.83921158e-03 9.99355356e-01 4.15442796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:4.93, Z:4.16 [[ 9.96792849e-01 -7.15237877e-02 -3.58937976e-02 1.21672740e+02] [ 7.15443760e-02 9.97437163e-01 -7.12144185e-04 4.93256531e+00] [ 3.58527429e-02 -1.85813912e-03 9.99355356e-01 4.15595975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:4.93, Z:4.16 [[ 9.96769508e-01 -7.18483076e-02 -3.58938497e-02 1.21704186e+02] [ 7.18692003e-02 9.97413813e-01 -7.09510057e-04 4.93334928e+00] [ 3.58519986e-02 -1.87244428e-03 9.99355356e-01 4.15659190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:4.93, Z:4.16 [[ 9.96743811e-01 -7.22039040e-02 -3.58938884e-02 1.21735208e+02] [ 7.22250970e-02 9.97388106e-01 -7.07548276e-04 4.93444501e+00] [ 3.58512251e-02 -1.88719520e-03 9.99355356e-01 4.15762476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:4.94, Z:4.16 [[ 9.96735289e-01 -7.23214322e-02 -3.58939256e-02 1.21767091e+02] [ 7.23427692e-02 9.97379580e-01 -7.05652212e-04 4.93546293e+00] [ 3.58509022e-02 -1.89331752e-03 9.99355356e-01 4.15919391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:4.94, Z:4.16 [[ 9.96693809e-01 -7.28908387e-02 -3.58939769e-02 1.21798730e+02] [ 7.29126378e-02 9.97338084e-01 -7.03035278e-04 4.93639090e+00] [ 3.58496750e-02 -1.91641363e-03 9.99355356e-01 4.15966831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:4.94, Z:4.16 [[ 9.96686703e-01 -7.29879144e-02 -3.58940150e-02 1.21831015e+02] [ 7.30098462e-02 9.97330974e-01 -7.01087039e-04 4.93724892e+00] [ 3.58493838e-02 -1.92185238e-03 9.99355356e-01 4.16065717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:4.94, Z:4.16 [[ 9.96629783e-01 -7.37610476e-02 -3.58940655e-02 1.21862216e+02] [ 7.37835725e-02 9.97274033e-01 -6.98488182e-04 4.93871305e+00] [ 3.58477407e-02 -1.95225826e-03 9.99355356e-01 4.16127687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:4.94, Z:4.16 [[ 9.96636306e-01 -7.36728337e-02 -3.58941032e-02 1.21894694e+02] [ 7.36953712e-02 9.97280556e-01 -6.96548796e-04 4.94065094e+00] [ 3.58478079e-02 -1.95102344e-03 9.99355356e-01 4.16400477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:4.94, Z:4.17 [[ 9.96661467e-01 -7.33316466e-02 -3.58941529e-02 1.21925344e+02] [ 7.33540559e-02 9.97305721e-01 -6.93975914e-04 4.94252767e+00] [ 3.58483344e-02 -1.94132265e-03 9.99355356e-01 4.16555455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:4.94, Z:4.17 [[ 9.96689570e-01 -7.29486449e-02 -3.58942387e-02 1.21957047e+02] [ 7.29709670e-02 9.97333827e-01 -6.89510926e-04 4.94376835e+00] [ 3.58488373e-02 -1.93200896e-03 9.99355356e-01 4.16736919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:4.94, Z:4.17 [[ 9.96673784e-01 -7.31639831e-02 -3.58942873e-02 1.21988915e+02] [ 7.31865356e-02 9.97318033e-01 -6.86970656e-04 4.94470343e+00] [ 3.58482815e-02 -1.94229289e-03 9.99355356e-01 4.16892930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:4.95, Z:4.17 [[ 9.96616906e-01 -7.39346900e-02 -3.58943360e-02 1.22020965e+02] [ 7.39578324e-02 9.97261135e-01 -6.84416582e-04 4.94551493e+00] [ 3.58466284e-02 -1.97256615e-03 9.99355356e-01 4.17031237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:4.95, Z:4.17 [[ 9.96641836e-01 -7.35978488e-02 -3.58943851e-02 1.22053198e+02] [ 7.36208662e-02 9.97286069e-01 -6.81833361e-04 4.94640956e+00] [ 3.58471516e-02 -1.96303207e-03 9.99355356e-01 4.17109223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:4.95, Z:4.17 [[ 9.96647128e-01 -7.35261371e-02 -3.58944339e-02 1.22085866e+02] [ 7.35492009e-02 9.97291358e-01 -6.79252312e-04 4.94696827e+00] [ 3.58471516e-02 -1.96303206e-03 9.99355356e-01 4.17226510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:4.95, Z:4.17 [[ 9.96684529e-01 -7.30173651e-02 -3.58944826e-02 1.22117784e+02] [ 7.30401927e-02 9.97328768e-01 -6.76671260e-04 4.94785493e+00] [ 3.58480088e-02 -1.94731215e-03 9.99355356e-01 4.17355936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:4.95, Z:4.17 [[ 9.96786905e-01 -7.16062101e-02 -3.58945319e-02 1.22148865e+02] [ 7.16282198e-02 9.97431172e-01 -6.74045858e-04 4.94945894e+00] [ 3.58505909e-02 -1.89918133e-03 9.99355356e-01 4.17433238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:4.95, Z:4.18 [[ 9.96893524e-01 -7.01062146e-02 -3.58945685e-02 1.22181488e+02] [ 7.01273251e-02 9.97537822e-01 -6.72089262e-04 4.95059716e+00] [ 3.58533073e-02 -1.84718864e-03 9.99355356e-01 4.17587413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:4.95, Z:4.18 [[ 9.97003065e-01 -6.85307644e-02 -3.58946168e-02 1.22212350e+02] [ 6.85509496e-02 9.97647392e-01 -6.69502470e-04 4.95186569e+00] [ 3.58560523e-02 -1.79311405e-03 9.99355356e-01 4.17689872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:4.96, Z:4.18 [[ 9.97196301e-01 -6.56590561e-02 -3.58946526e-02 1.22241457e+02] [ 6.56774548e-02 9.97840682e-01 -6.67575278e-04 4.95584802e+00] [ 3.58609770e-02 -1.69176583e-03 9.99355356e-01 4.17539669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:4.95, Z:4.18 [[ 9.97406208e-01 -6.23922741e-02 -3.58895568e-02 1.22273018e+02] [ 6.23988277e-02 9.98050853e-01 -9.38555565e-04 4.95487628e+00] [ 3.58781614e-02 -1.30334512e-03 9.99355322e-01 4.17982842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:4.96, Z:4.18 [[ 9.97512350e-01 -6.06686834e-02 -3.58946065e-02 1.22303249e+02] [ 6.06838856e-02 9.98156812e-01 -6.66791875e-04 4.95566629e+00] [ 3.58688994e-02 -1.51309106e-03 9.99355359e-01 4.18095067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:4.96, Z:4.18 [[ 9.97645542e-01 -5.84375498e-02 -3.58946444e-02 1.22333312e+02] [ 5.84513842e-02 9.98290035e-01 -6.64746341e-04 4.95664084e+00] [ 3.58721119e-02 -1.43491042e-03 9.99355359e-01 4.18276786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:4.96, Z:4.18 [[ 9.97709913e-01 -5.73280312e-02 -3.58946444e-02 1.22363852e+02] [ 5.73411488e-02 9.98354421e-01 -6.64746341e-04 4.95709033e+00] [ 3.58736855e-02 -1.39501613e-03 9.99355359e-01 4.18481605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:4.96, Z:4.19 [[ 9.97747148e-01 -5.66763070e-02 -3.58946444e-02 1.22393243e+02] [ 5.66890036e-02 9.98391664e-01 -6.64746341e-04 4.95732443e+00] [ 3.58745891e-02 -1.37158286e-03 9.99355359e-01 4.18559827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:4.96, Z:4.19 [[ 9.97829851e-01 -5.52011165e-02 -3.58946323e-02 1.22424236e+02] [ 5.52128368e-02 9.98474386e-01 -6.65395330e-04 4.95713814e+00] [ 3.58766016e-02 -1.31789316e-03 9.99355359e-01 4.18642698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:4.96, Z:4.19 [[ 9.97886430e-01 -5.41687024e-02 -3.58946443e-02 1.22453761e+02] [ 5.41797792e-02 9.98530976e-01 -6.64747244e-04 4.95749109e+00] [ 3.58779227e-02 -1.28142165e-03 9.99355359e-01 4.18708199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:4.96, Z:4.19 [[ 9.97981049e-01 -5.23965758e-02 -3.58946324e-02 1.22483649e+02] [ 5.24064848e-02 9.98625614e-01 -6.65390630e-04 4.95835680e+00] [ 3.58801635e-02 -1.21706427e-03 9.99355359e-01 4.18924156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:4.96, Z:4.19 [[ 9.98033287e-01 -5.13919779e-02 -3.58946089e-02 1.22513316e+02] [ 5.14011926e-02 9.98677862e-01 -6.66657677e-04 4.95918605e+00] [ 3.58814121e-02 -1.17967915e-03 9.99355359e-01 4.19094863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:4.96, Z:4.19 [[ 9.98082919e-01 -5.04188943e-02 -3.58945853e-02 1.22543277e+02] [ 5.04274350e-02 9.98727504e-01 -6.67924597e-04 4.95985743e+00] [ 3.58825856e-02 -1.14342774e-03 9.99355359e-01 4.19281500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:4.96, Z:4.19 [[ 9.98126445e-01 -4.95497849e-02 -3.58945613e-02 1.22571879e+02] [ 4.95577182e-02 9.98771037e-01 -6.69210034e-04 4.96037151e+00] [ 3.58836075e-02 -1.11089632e-03 9.99355359e-01 4.19439473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:4.96, Z:4.20 [[ 9.98128456e-01 -4.95093711e-02 -3.58943888e-02 1.22600824e+02] [ 4.95169504e-02 9.98773053e-01 -6.78338244e-04 4.96045683e+00] [ 3.58839324e-02 -1.10031197e-03 9.99355359e-01 4.19509233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:4.96, Z:4.20 [[ 9.98102931e-01 -5.00214324e-02 -3.58942141e-02 1.22628825e+02] [ 5.00290146e-02 9.98747528e-01 -6.87460045e-04 4.95959076e+00] [ 3.58836454e-02 -1.10959628e-03 9.99355359e-01 4.19515630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:4.96, Z:4.20 [[ 9.98069740e-01 -5.06794173e-02 -3.58941520e-02 1.22657291e+02] [ 5.06873085e-02 9.98714333e-01 -6.90687223e-04 4.95935274e+00] [ 3.58830078e-02 -1.13002394e-03 9.99355359e-01 4.19553207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:4.96, Z:4.20 [[ 9.98026687e-01 -5.15203405e-02 -3.58941057e-02 1.22685852e+02] [ 5.15286886e-02 9.98671274e-01 -6.93085711e-04 4.95910073e+00] [ 3.58821203e-02 -1.15785816e-03 9.99355359e-01 4.19668554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:4.96, Z:4.20 [[ 9.97938857e-01 -5.31945721e-02 -3.58939331e-02 1.22713987e+02] [ 5.32036845e-02 9.98583434e-01 -7.01913799e-04 4.95817476e+00] [ 3.58804250e-02 -1.20922244e-03 9.99355359e-01 4.19813318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:4.96, Z:4.20 [[ 9.97839501e-01 -5.50268974e-02 -3.58938841e-02 1.22743922e+02] [ 5.50371036e-02 9.98484061e-01 -7.04410891e-04 4.95693213e+00] [ 3.58782327e-02 -1.27260641e-03 9.99355359e-01 4.20042412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:4.96, Z:4.20 [[ 9.97758930e-01 -5.64690043e-02 -3.58938595e-02 1.22773792e+02] [ 5.64800971e-02 9.98403476e-01 -7.05660429e-04 4.95672193e+00] [ 3.58764021e-02 -1.32320968e-03 9.99355359e-01 4.20189253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:4.96, Z:4.20 [[ 9.97595244e-01 -5.92904935e-02 -3.58938346e-02 1.22804477e+02] [ 5.93033637e-02 9.98239756e-01 -7.06925218e-04 4.95546656e+00] [ 3.58725667e-02 -1.42339989e-03 9.99355359e-01 4.20311121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:4.95, Z:4.21 [[ 9.97327152e-01 -6.36410525e-02 -3.58938346e-02 1.22835356e+02] [ 6.36567336e-02 9.97971603e-01 -7.06925218e-04 4.95401207e+00] [ 3.58660171e-02 -1.57984855e-03 9.99355359e-01 4.20509483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:4.95, Z:4.20 [[ 9.97216385e-01 -6.53537682e-02 -3.58938346e-02 1.22865673e+02] [ 6.53705561e-02 9.97860807e-01 -7.06925218e-04 4.95387379e+00] [ 3.58632510e-02 -1.64144252e-03 9.99355359e-01 4.20411553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:4.95, Z:4.21 [[ 9.97035217e-01 -6.80617954e-02 -3.58938474e-02 1.22897240e+02] [ 6.80803567e-02 9.97679591e-01 -7.06274843e-04 4.95246932e+00] [ 3.58586293e-02 -1.73948505e-03 9.99355359e-01 4.20670425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:4.95, Z:4.21 [[ 9.96985403e-01 -6.87876126e-02 -3.58938728e-02 1.22927305e+02] [ 6.88066895e-02 9.97629762e-01 -7.04984054e-04 4.95169391e+00] [ 3.58572899e-02 -1.76687975e-03 9.99355359e-01 4.20939017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:4.95, Z:4.21 [[ 9.96991552e-01 -6.86984226e-02 -3.58938853e-02 1.22958422e+02] [ 6.87174648e-02 9.97635913e-01 -7.04342887e-04 4.95179459e+00] [ 3.58574163e-02 -1.76431289e-03 9.99355359e-01 4.21235671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:4.95, Z:4.21 [[ 9.97031104e-01 -6.81219780e-02 -3.58939105e-02 1.22989206e+02] [ 6.81406938e-02 9.97675474e-01 -7.03057260e-04 4.95222706e+00] [ 3.58583679e-02 -1.74486601e-03 9.99355359e-01 4.21320269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:4.95, Z:4.21 [[ 9.97077442e-01 -6.74403454e-02 -3.58939230e-02 1.23019910e+02] [ 6.74586436e-02 9.97721824e-01 -7.02419241e-04 4.95257641e+00] [ 3.58595217e-02 -1.72098898e-03 9.99355359e-01 4.21286843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:4.95, Z:4.21 [[ 9.97108110e-01 -6.69853769e-02 -3.58939663e-02 1.23051413e+02] [ 6.70034608e-02 9.97752497e-01 -7.00197956e-04 4.95296566e+00] [ 3.58601976e-02 -1.70684691e-03 9.99355359e-01 4.21434614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:4.95, Z:4.21 [[ 9.97154209e-01 -6.62955814e-02 -3.58939910e-02 1.23081367e+02] [ 6.63132650e-02 9.97798608e-01 -6.98931903e-04 4.95302320e+00] [ 3.58613104e-02 -1.68330485e-03 9.99355359e-01 4.21479298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:4.95, Z:4.22 [[ 9.97199748e-01 -6.56070289e-02 -3.58940032e-02 1.23112492e+02] [ 6.56242902e-02 9.97844159e-01 -6.98304106e-04 4.95310937e+00] [ 3.58624351e-02 -1.65916980e-03 9.99355359e-01 4.21681800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:4.95, Z:4.22 [[ 9.97202125e-01 -6.55708780e-02 -3.58940284e-02 1.23144309e+02] [ 6.55881626e-02 9.97846535e-01 -6.97004811e-04 4.95369825e+00] [ 3.58624351e-02 -1.65916869e-03 9.99355359e-01 4.21796077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:4.95, Z:4.22 [[ 9.97330685e-01 -6.35855430e-02 -3.58940536e-02 1.23174643e+02] [ 6.36015913e-02 9.97975127e-01 -6.95704406e-04 4.95328343e+00] [ 3.58656095e-02 -1.58907158e-03 9.99355359e-01 4.21714071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:4.95, Z:4.22 [[ 9.97407155e-01 -6.23745343e-02 -3.58940661e-02 1.23204676e+02] [ 6.23898233e-02 9.98051615e-01 -6.95059380e-04 4.95381211e+00] [ 3.58674847e-02 -1.54616725e-03 9.99355359e-01 4.21998035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:4.95, Z:4.22 [[ 9.97568533e-01 -5.97380793e-02 -3.58940661e-02 1.23235233e+02] [ 5.97516649e-02 9.98213031e-01 -6.95059380e-04 4.95489805e+00] [ 3.58714461e-02 -1.45136084e-03 9.99355359e-01 4.22156539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:4.96, Z:4.22 [[ 9.97815976e-01 -5.54517115e-02 -3.58940786e-02 1.23264661e+02] [ 5.54625512e-02 9.98460527e-01 -6.94415239e-04 4.95630536e+00] [ 3.58773271e-02 -1.29787855e-03 9.99355359e-01 4.22178224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:4.96, Z:4.22 [[ 9.97881200e-01 -5.42653526e-02 -3.58940540e-02 1.23292899e+02] [ 5.42753804e-02 9.98525763e-01 -6.95683976e-04 4.95691118e+00] [ 3.58788892e-02 -1.25395347e-03 9.99355359e-01 4.22259180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:4.96, Z:4.22 [[ 9.97925818e-01 -5.34385659e-02 -3.58940173e-02 1.23322360e+02] [ 5.34479918e-02 9.98570391e-01 -6.97572736e-04 4.95771231e+00] [ 3.58799802e-02 -1.22233730e-03 9.99355359e-01 4.22484235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:4.96, Z:4.23 [[ 9.97963473e-01 -5.27307020e-02 -3.58939922e-02 1.23351343e+02] [ 5.27396243e-02 9.98608053e-01 -6.98863446e-04 4.95838650e+00] [ 3.58808812e-02 -1.19559547e-03 9.99355359e-01 4.22549361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:4.96, Z:4.23 [[ 9.97982585e-01 -5.23677923e-02 -3.58939442e-02 1.23380282e+02] [ 5.23763920e-02 9.98627169e-01 -7.01319666e-04 4.95895498e+00] [ 3.58813944e-02 -1.18009048e-03 9.99355359e-01 4.22678829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:4.96, Z:4.23 [[ 9.97979249e-01 -5.24313362e-02 -3.58939075e-02 1.23409479e+02] [ 5.24399096e-02 9.98623834e-01 -7.03190878e-04 4.95937865e+00] [ 3.58813808e-02 -1.18050336e-03 9.99355359e-01 4.22828356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:4.96, Z:4.23 [[ 9.98069852e-01 -5.06775143e-02 -3.58937346e-02 1.23437948e+02] [ 5.06846417e-02 9.98714454e-01 -7.11911704e-04 4.95987000e+00] [ 3.58836694e-02 -1.10872347e-03 9.99355359e-01 4.22803555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:4.96, Z:4.23 [[ 9.98178959e-01 -4.84810128e-02 -3.58936977e-02 1.23466739e+02] [ 4.84866551e-02 9.98823575e-01 -7.13764004e-04 4.96065416e+00] [ 3.58860755e-02 -1.02790113e-03 9.99355359e-01 4.23050965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:4.96, Z:4.23 [[ 9.98263164e-01 -4.67152189e-02 -3.58935164e-02 1.23494313e+02] [ 4.67193973e-02 9.98907791e-01 -7.22769169e-04 4.96137456e+00] [ 3.58880775e-02 -9.55409616e-04 9.99355359e-01 4.23011182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:4.96, Z:4.23 [[ 9.98391767e-01 -4.38810019e-02 -3.58934191e-02 1.23522271e+02] [ 4.38831778e-02 9.99036404e-01 -7.27568492e-04 4.96320879e+00] [ 3.58907588e-02 -8.48718902e-04 9.99355359e-01 4.23217742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:4.96, Z:4.23 [[ 9.98668151e-01 -3.70621314e-02 -3.58932052e-02 1.23550148e+02] [ 3.70595314e-02 9.99312787e-01 -7.37972913e-04 4.96467874e+00] [ 3.58958898e-02 -5.93195319e-04 9.99355359e-01 4.23145152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:4.97, Z:4.23 [[ 9.99017155e-01 -2.60078299e-02 -3.58931387e-02 1.23577976e+02] [ 2.59979802e-02 9.99661721e-01 -7.41194212e-04 4.96591683e+00] [ 3.59002736e-02 -1.92683374e-04 9.99355359e-01 4.23223611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:4.97, Z:4.23 [[ 9.99104998e-01 -2.23805708e-02 -3.58930728e-02 1.23606504e+02] [ 2.23682668e-02 9.99749522e-01 -7.44371956e-04 4.96617417e+00] [ 3.59007418e-02 -5.91600880e-05 9.99355359e-01 4.23408434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:4.97, Z:4.24 [[ 9.99128743e-01 -2.12944945e-02 -3.58928871e-02 1.23635334e+02] [ 2.12811721e-02 9.99773246e-01 -7.53217620e-04 4.96671946e+00] [ 3.59007877e-02 -1.12813334e-05 9.99355359e-01 4.23579142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:4.97, Z:4.24 [[ 9.99122725e-01 -2.15753182e-02 -3.58927001e-02 1.23663701e+02] [ 2.15618604e-02 9.99767226e-01 -7.62029670e-04 4.96739152e+00] [ 3.59007862e-02 -1.25522260e-05 9.99355359e-01 4.23681355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:4.97, Z:4.24 [[ 9.99133554e-01 -2.10682576e-02 -3.58924831e-02 1.23691744e+02] [ 2.10541105e-02 9.99778040e-01 -7.72113085e-04 4.96785121e+00] [ 3.59007835e-02 1.57597840e-05 9.99355359e-01 4.23821540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:4.97, Z:4.24 [[ 9.99127591e-01 -2.13495046e-02 -3.58922636e-02 1.23720111e+02] [ 2.13351769e-02 9.99772073e-01 -7.82189011e-04 4.96854146e+00] [ 3.59007821e-02 1.57388287e-05 9.99355359e-01 4.23923793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:4.97, Z:4.24 [[ 9.99133135e-01 -2.10888466e-02 -3.58920407e-02 1.23748616e+02] [ 2.10739881e-02 9.99777605e-01 -7.92285838e-04 4.96872616e+00] [ 3.59007669e-02 3.52105936e-05 9.99355359e-01 4.24081651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:4.97, Z:4.24 [[ 9.99130702e-01 -2.12041361e-02 -3.58918437e-02 1.23776532e+02] [ 2.11890349e-02 9.99775166e-01 -8.01113412e-04 4.96909520e+00] [ 3.59007609e-02 3.99034796e-05 9.99355359e-01 4.24304543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:4.97, Z:4.24 [[ 9.99124535e-01 -2.14931433e-02 -3.58916084e-02 1.23804897e+02] [ 2.14778546e-02 9.99768995e-01 -8.11520009e-04 4.96979483e+00] [ 3.59007593e-02 3.99348066e-05 9.99355359e-01 4.24406799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:4.97, Z:4.24 [[ 9.99119608e-01 -2.17213709e-02 -3.58913708e-02 1.23832856e+02] [ 2.17058567e-02 9.99764062e-01 -8.21895196e-04 4.97009245e+00] [ 3.59007553e-02 4.21186562e-05 9.99355359e-01 4.24493923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:4.97, Z:4.25 [[ 9.99094042e-01 -2.28672133e-02 -3.58912970e-02 1.23860798e+02] [ 2.28523230e-02 9.99738511e-01 -8.25104493e-04 4.97061347e+00] [ 3.59007797e-02 4.15747247e-06 9.99355359e-01 4.24690976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:4.97, Z:4.25 [[ 9.99026605e-01 -2.56451520e-02 -3.58910541e-02 1.23888930e+02] [ 2.56316789e-02 9.99671105e-01 -8.35537152e-04 4.96988078e+00] [ 3.59006772e-02 -8.52241287e-05 9.99355359e-01 4.24775351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:4.97, Z:4.25 [[ 9.98878577e-01 -3.08775843e-02 -3.58909787e-02 1.23916725e+02] [ 3.08673712e-02 9.99523137e-01 -8.38765412e-04 4.96801446e+00] [ 3.58997627e-02 -2.70035361e-04 9.99355359e-01 4.24884582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:4.97, Z:4.25 [[ 9.98766982e-01 -3.42982713e-02 -3.58907403e-02 1.23944429e+02] [ 3.42899035e-02 9.99411568e-01 -8.48845861e-04 4.96724668e+00] [ 3.58987350e-02 -3.82890802e-04 9.99355359e-01 4.25002808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:4.97, Z:4.25 [[ 9.98757261e-01 -3.45804123e-02 -3.58904981e-02 1.23972796e+02] [ 3.45718630e-02 9.99401845e-01 -8.58964440e-04 4.96799619e+00] [ 3.58987334e-02 -3.82904412e-04 9.99355359e-01 4.25105064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:4.97, Z:4.25 [[ 9.98626689e-01 -3.81657752e-02 -3.58902528e-02 1.24000125e+02] [ 3.81591760e-02 9.99271295e-01 -8.69096581e-04 4.96698698e+00] [ 3.58972691e-02 -5.01639430e-04 9.99355359e-01 4.25174211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:4.96, Z:4.25 [[ 9.98319326e-01 -4.55018660e-02 -3.58901460e-02 1.24028425e+02] [ 4.54998453e-02 9.98963964e-01 -8.73484082e-04 4.96432633e+00] [ 3.58927077e-02 -7.60980050e-04 9.99355359e-01 4.25237597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:4.96, Z:4.25 [[ 9.98133312e-01 -4.94146478e-02 -3.58898941e-02 1.24056068e+02] [ 4.94147863e-02 9.98777952e-01 -8.83715127e-04 4.96369561e+00] [ 3.58897034e-02 -8.91425941e-04 9.99355359e-01 4.25315046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:4.96, Z:4.25 [[ 9.97589132e-01 -5.93957765e-02 -3.58896388e-02 1.24082197e+02] [ 5.94019946e-02 9.98233742e-01 -8.93962594e-04 4.96115281e+00] [ 3.58793461e-02 -1.24010876e-03 9.99355360e-01 4.24822405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:4.96, Z:4.25 [[ 9.96972274e-01 -6.89845660e-02 -3.58805466e-02 1.24112676e+02] [ 6.89841771e-02 9.97616971e-01 -1.25031031e-03 4.95664537e+00] [ 3.58812943e-02 -1.22866526e-03 9.99355304e-01 4.25349207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:4.95, Z:4.26 [[ 9.96182828e-01 -7.95722154e-02 -3.58892120e-02 1.24144375e+02] [ 7.95909798e-02 9.96827193e-01 -9.07816429e-04 4.95379231e+00] [ 3.58475795e-02 -1.95210641e-03 9.99355362e-01 4.25603713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:4.95, Z:4.26 [[ 9.95788887e-01 -8.43590853e-02 -3.58892446e-02 1.24177020e+02] [ 8.43809926e-02 9.96433152e-01 -9.06525806e-04 4.95343898e+00] [ 3.58377069e-02 -2.12566176e-03 9.99355362e-01 4.25725662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:4.95, Z:4.26 [[ 9.95599849e-01 -8.65615240e-02 -3.58893107e-02 1.24208722e+02] [ 8.65849505e-02 9.96244061e-01 -9.03904445e-04 4.95365455e+00] [ 3.58327560e-02 -2.20754706e-03 9.99355362e-01 4.25857394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:4.95, Z:4.26 [[ 9.95606138e-01 -8.64891306e-02 -3.58893762e-02 1.24241384e+02] [ 8.65126040e-02 9.96250349e-01 -9.01293998e-04 4.95441582e+00] [ 3.58327557e-02 -2.20754956e-03 9.99355362e-01 4.25974684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:4.95, Z:4.26 [[ 9.95402156e-01 -8.88059465e-02 -3.58894415e-02 1.24273098e+02] [ 8.88310127e-02 9.96046306e-01 -8.98686056e-04 4.95452003e+00] [ 3.58273543e-02 -2.29354140e-03 9.99355362e-01 4.26095290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:4.96, Z:4.26 [[ 9.95408600e-01 -8.87336599e-02 -3.58895065e-02 1.24305760e+02] [ 8.87587728e-02 9.96052748e-01 -8.96083933e-04 4.95527631e+00] [ 3.58273544e-02 -2.29353890e-03 9.99355362e-01 4.26212581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:4.96, Z:4.26 [[ 9.95208293e-01 -9.09526913e-02 -3.58895713e-02 1.24338201e+02] [ 9.09793338e-02 9.95852380e-01 -8.93479307e-04 4.95535513e+00] [ 3.58219794e-02 -2.37601127e-03 9.99355362e-01 4.26295601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:4.96, Z:4.26 [[ 9.95214872e-01 -9.08806490e-02 -3.58896358e-02 1.24370863e+02] [ 9.09073380e-02 9.95858957e-01 -8.90884356e-04 4.95610620e+00] [ 3.58219794e-02 -2.37600989e-03 9.99355362e-01 4.26412892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:4.96, Z:4.26 [[ 9.95052762e-01 -9.26387057e-02 -3.58897000e-02 1.24402274e+02] [ 9.26666258e-02 9.95696795e-01 -8.88288018e-04 4.95638461e+00] [ 3.58175491e-02 -2.44188395e-03 9.99355362e-01 4.26445413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:4.96, Z:4.26 [[ 9.94940672e-01 -9.38348640e-02 -3.58898073e-02 1.24434549e+02] [ 9.38637146e-02 9.95584663e-01 -8.83934160e-04 4.95715783e+00] [ 3.58142855e-02 -2.48928858e-03 9.99355362e-01 4.26466463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:4.96, Z:4.26 [[ 9.94900710e-01 -9.42575969e-02 -3.58898699e-02 1.24465805e+02] [ 9.42868127e-02 9.95544685e-01 -8.81383868e-04 4.95819293e+00] [ 3.58130463e-02 -2.50705200e-03 9.99355362e-01 4.26473575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:4.96, Z:4.27 [[ 9.95067411e-01 -9.24811454e-02 -3.58899164e-02 1.24497995e+02] [ 9.25092796e-02 9.95711434e-01 -8.79483896e-04 4.96091834e+00] [ 3.58173358e-02 -2.44500455e-03 9.99355362e-01 4.26849797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:4.96, Z:4.27 [[ 9.95254836e-01 -9.04418095e-02 -3.58899781e-02 1.24529357e+02] [ 9.04687144e-02 9.95898912e-01 -8.76962010e-04 4.96319189e+00] [ 3.58221041e-02 -2.37411949e-03 9.99355362e-01 4.27057275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:4.97, Z:4.27 [[ 9.95467004e-01 -8.80758247e-02 -3.58900238e-02 1.24561465e+02] [ 8.81012659e-02 9.96111139e-01 -8.75085559e-04 4.96536851e+00] [ 3.58275264e-02 -2.29083773e-03 9.99355362e-01 4.27283185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:4.97, Z:4.28 [[ 9.95984150e-01 -8.20211810e-02 -3.58900836e-02 1.24593159e+02] [ 8.20427933e-02 9.96628426e-01 -8.72628308e-04 4.96877120e+00] [ 3.58406515e-02 -2.07539874e-03 9.99355362e-01 4.27504632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:4.97, Z:4.28 [[ 9.96260757e-01 -7.85900845e-02 -3.58901478e-02 1.24624578e+02] [ 7.86095727e-02 9.96905100e-01 -8.69978466e-04 4.97101078e+00] [ 3.58474431e-02 -1.95458378e-03 9.99355362e-01 4.27604311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:4.97, Z:4.28 [[ 9.96779224e-01 -7.17151881e-02 -3.58902542e-02 1.24655784e+02] [ 7.17303892e-02 9.97423682e-01 -8.65564291e-04 4.97438382e+00] [ 3.58598637e-02 -1.71164540e-03 9.99355362e-01 4.27739716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:4.98, Z:4.28 [[ 9.97254155e-01 -6.47768168e-02 -3.58903011e-02 1.24687355e+02] [ 6.47876027e-02 9.97898703e-01 -8.63616254e-04 4.97790534e+00] [ 3.58708272e-02 -1.46400167e-03 9.99355362e-01 4.27990506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:4.98, Z:4.28 [[ 9.97480135e-01 -6.11985726e-02 -3.58903326e-02 1.24717438e+02] [ 6.12070931e-02 9.98124716e-01 -8.62305802e-04 4.97983473e+00] [ 3.58757999e-02 -1.33661002e-03 9.99355362e-01 4.28093575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:4.98, Z:4.28 [[ 9.97671815e-01 -5.79899055e-02 -3.58903847e-02 1.24748217e+02] [ 5.79964308e-02 9.98316420e-01 -8.60131405e-04 4.98170998e+00] [ 3.58798393e-02 -1.22338535e-03 9.99355362e-01 4.28238845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:4.98, Z:4.28 [[ 9.98028989e-01 -5.14783181e-02 -3.58903847e-02 1.24776533e+02] [ 5.14806368e-02 9.98673622e-01 -8.60131405e-04 4.98414617e+00] [ 3.58870586e-02 -9.89223785e-04 9.99355362e-01 4.28396217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:4.99, Z:4.28 [[ 9.98185840e-01 -4.83416297e-02 -3.58903374e-02 1.24805447e+02] [ 4.83418518e-02 9.98830477e-01 -8.62101771e-04 4.98573177e+00] [ 3.58900382e-02 -8.74467590e-04 9.99355362e-01 4.28473423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:4.99, Z:4.28 [[ 9.98353215e-01 -4.47521802e-02 -3.58901140e-02 1.24833239e+02] [ 4.47497537e-02 9.98997848e-01 -8.71305482e-04 4.98732816e+00] [ 3.58931394e-02 -7.36203131e-04 9.99355362e-01 4.28458643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:4.99, Z:4.29 [[ 9.98635214e-01 -3.79422457e-02 -3.58900347e-02 1.24861300e+02] [ 3.79353059e-02 9.99279815e-01 -8.74557701e-04 4.98933843e+00] [ 3.58973699e-02 -4.88135329e-04 9.99355362e-01 4.28556404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:4.99, Z:4.29 [[ 9.98762889e-01 -3.44182465e-02 -3.58897804e-02 1.24889393e+02] [ 3.44086616e-02 9.99407455e-01 -8.84872905e-04 4.99092806e+00] [ 3.58989698e-02 -3.51141091e-04 9.99355363e-01 4.28655746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:4.99, Z:4.29 [[ 9.99010188e-01 -2.62790081e-02 -3.58895234e-02 1.24914856e+02] [ 2.62638013e-02 9.99654646e-01 -8.95176493e-04 4.99314448e+00] [ 3.59006531e-02 -4.83048728e-05 9.99355363e-01 4.28770815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:4.99, Z:4.29 [[ 9.99100576e-01 -2.25907981e-02 -3.58844782e-02 1.24945433e+02] [ 2.25659883e-02 9.99744755e-01 -1.09629552e-03 4.99381277e+00] [ 3.59000851e-02 2.85540765e-04 9.99355343e-01 4.28884781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:4.99, Z:4.29 [[ 9.99126711e-01 -2.13953793e-02 -3.58894443e-02 1.24972717e+02] [ 2.13769280e-02 9.99771084e-01 -8.97804715e-04 4.99402316e+00] [ 3.59004376e-02 1.29814603e-04 9.99355363e-01 4.28947508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:4.99, Z:4.29 [[ 9.99146223e-01 -2.04641258e-02 -3.58893304e-02 1.24999936e+02] [ 2.04449112e-02 9.99790574e-01 -9.02337160e-04 4.99402686e+00] [ 3.59002798e-02 1.67812592e-04 9.99355363e-01 4.28910089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:4.99, Z:4.29 [[ 9.99144629e-01 -2.05420303e-02 -3.58892170e-02 1.25027842e+02] [ 2.05227047e-02 9.99788976e-01 -9.06823963e-04 4.99248928e+00] [ 3.59002715e-02 1.69504488e-04 9.99355363e-01 4.29007319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:4.99, Z:4.29 [[ 9.99115332e-01 -2.19211108e-02 -3.58889581e-02 1.25056232e+02] [ 2.19023106e-02 9.99759695e-01 -9.16958241e-04 4.99097345e+00] [ 3.59004345e-02 1.30095930e-04 9.99355363e-01 4.29229685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:4.99, Z:4.29 [[ 9.99067453e-01 -2.40046803e-02 -3.58887238e-02 1.25084450e+02] [ 2.39868978e-02 9.99711844e-01 -9.26038808e-04 4.98833481e+00] [ 3.59006115e-02 6.43160837e-05 9.99355363e-01 4.29341220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:4.98, Z:4.29 [[ 9.98901137e-01 -3.01417450e-02 -3.58886405e-02 1.25112803e+02] [ 3.01278060e-02 9.99545623e-01 -9.29253611e-04 4.98208814e+00] [ 3.59003429e-02 -1.53013511e-04 9.99355363e-01 4.29433520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:4.98, Z:4.30 [[ 9.98720687e-01 -3.56232187e-02 -3.58883719e-02 1.25140873e+02] [ 3.56124480e-02 9.99365234e-01 -9.39517263e-04 4.97727486e+00] [ 3.58990598e-02 -3.39757451e-04 9.99355363e-01 4.29586330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:4.97, Z:4.30 [[ 9.98389458e-01 -4.39376884e-02 -3.58882884e-02 1.25169198e+02] [ 4.39321706e-02 9.99034071e-01 -9.42694583e-04 4.97053294e+00] [ 3.58950427e-02 -6.35474075e-04 9.99355363e-01 4.29748245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:4.97, Z:4.30 [[ 9.98190781e-01 -4.82412299e-02 -3.58880106e-02 1.25196738e+02] [ 4.82381153e-02 9.98835410e-01 -9.53152712e-04 4.96638886e+00] [ 3.58921971e-02 -7.79741744e-04 9.99355363e-01 4.29741073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:4.96, Z:4.30 [[ 9.98111934e-01 -4.98460733e-02 -3.58878183e-02 1.25224429e+02] [ 4.98437367e-02 9.98756567e-01 -9.60340788e-04 4.96463636e+00] [ 3.58910634e-02 -8.30255366e-04 9.99355363e-01 4.29786197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:4.96, Z:4.30 [[ 9.98037038e-01 -5.13240261e-02 -3.58875384e-02 1.25251688e+02] [ 5.13222722e-02 9.98681672e-01 -9.70688935e-04 4.96311549e+00] [ 3.58900465e-02 -8.73046507e-04 9.99355363e-01 4.29844521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:4.96, Z:4.30 [[ 9.98022328e-01 -5.16093566e-02 -3.58874164e-02 1.25280063e+02] [ 5.16076257e-02 9.98666963e-01 -9.75177401e-04 4.96395204e+00] [ 3.58899054e-02 -8.78815536e-04 9.99355363e-01 4.29946620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:4.96, Z:4.30 [[ 9.97953250e-01 -5.29284810e-02 -3.58871347e-02 1.25307906e+02] [ 5.29272335e-02 9.98597885e-01 -9.85438134e-04 4.96243070e+00] [ 3.58889746e-02 -9.15985569e-04 9.99355363e-01 4.30026444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:4.96, Z:4.30 [[ 9.97937899e-01 -5.32173246e-02 -3.58868467e-02 1.25336280e+02] [ 5.32158908e-02 9.98582534e-01 -9.95814636e-04 4.96328199e+00] [ 3.58889730e-02 -9.15989351e-04 9.99355364e-01 4.30128699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:4.96, Z:4.30 [[ 9.97906474e-01 -5.38035761e-02 -3.58865557e-02 1.25364310e+02] [ 5.38021479e-02 9.98551109e-01 -1.00619488e-03 4.96206216e+00] [ 3.58886969e-02 -9.26685396e-04 9.99355364e-01 4.30233978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:4.96, Z:4.30 [[ 9.97890416e-01 -5.41007830e-02 -3.58862629e-02 1.25391651e+02] [ 5.40991752e-02 9.98535050e-01 -1.01653223e-03 4.96143380e+00] [ 3.58886865e-02 -9.27029457e-04 9.99355364e-01 4.30270144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:4.96, Z:4.30 [[ 9.97880552e-01 -5.42825012e-02 -3.58861355e-02 1.25419728e+02] [ 5.42808500e-02 9.98525186e-01 -1.02100832e-03 4.96092946e+00] [ 3.58886330e-02 -9.29085592e-04 9.99355364e-01 4.30414649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:4.96, Z:4.31 [[ 9.97881138e-01 -5.42719060e-02 -3.58858463e-02 1.25447492e+02] [ 5.42698861e-02 9.98525772e-01 -1.03107638e-03 4.96040044e+00] [ 3.58889008e-02 -9.18629122e-04 9.99355364e-01 4.30508974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:4.96, Z:4.30 [[ 9.97928601e-01 -5.33922726e-02 -3.58855552e-02 1.25475428e+02] [ 5.33893239e-02 9.98573230e-01 -1.04111010e-03 4.95838313e+00] [ 3.58899420e-02 -8.76951989e-04 9.99355364e-01 4.30479973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:4.96, Z:4.31 [[ 9.97957420e-01 -5.28509359e-02 -3.58854648e-02 1.25503872e+02] [ 5.28475259e-02 9.98602047e-01 -1.04421422e-03 4.95784897e+00] [ 3.58904864e-02 -8.54376706e-04 9.99355364e-01 4.30538591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:4.96, Z:4.31 [[ 9.97979527e-01 -5.24320158e-02 -3.58851926e-02 1.25531366e+02] [ 5.24280020e-02 9.98624151e-01 -1.05348642e-03 4.95767066e+00] [ 3.58910564e-02 -8.30031069e-04 9.99355364e-01 4.30674931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:4.96, Z:4.31 [[ 9.98016540e-01 -5.17229291e-02 -3.58848869e-02 1.25559146e+02] [ 5.17180867e-02 9.98661158e-01 -1.06380022e-03 4.95751264e+00] [ 3.58918655e-02 -7.94207477e-04 9.99355364e-01 4.30809626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:4.96, Z:4.31 [[ 9.98027792e-01 -5.15054167e-02 -3.58847921e-02 1.25586452e+02] [ 5.15003192e-02 9.98672408e-01 -1.06698851e-03 4.95807190e+00] [ 3.58921074e-02 -7.83194057e-04 9.99355364e-01 4.30946009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:4.96, Z:4.31 [[ 9.98047198e-01 -5.11280649e-02 -3.58846989e-02 1.25614106e+02] [ 5.11226113e-02 9.98691811e-01 -1.07011351e-03 4.95777314e+00] [ 3.58924678e-02 -7.66495722e-04 9.99355364e-01 4.31098726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:4.96, Z:4.31 [[ 9.98055096e-01 -5.09738707e-02 -3.58843947e-02 1.25642386e+02] [ 5.09679544e-02 9.98699705e-01 -1.08021927e-03 4.95680968e+00] [ 3.58927973e-02 -7.50835846e-04 9.99355364e-01 4.31109317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:4.96, Z:4.31 [[ 9.98034374e-01 -5.13782108e-02 -3.58840815e-02 1.25669851e+02] [ 5.13721853e-02 9.98678982e-01 -1.09052388e-03 4.95649120e+00] [ 3.58927072e-02 -7.55063367e-04 9.99355364e-01 4.31202887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:4.96, Z:4.31 [[ 9.97994667e-01 -5.21440267e-02 -3.58837663e-02 1.25697450e+02] [ 5.21381265e-02 9.98639276e-01 -1.10080024e-03 4.95712217e+00] [ 3.58923386e-02 -7.72319576e-04 9.99355364e-01 4.31336032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:4.96, Z:4.31 [[ 9.97942150e-01 -5.31398503e-02 -3.58834481e-02 1.25724978e+02] [ 5.31342241e-02 9.98586761e-01 -1.11107651e-03 4.95775471e+00] [ 3.58917787e-02 -7.97849091e-04 9.99355364e-01 4.31485893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:4.96, Z:4.32 [[ 9.97898698e-01 -5.39498788e-02 -3.58831258e-02 1.25752345e+02] [ 5.39444051e-02 9.98543311e-01 -1.12138980e-03 4.95823912e+00] [ 3.58913541e-02 -8.16660454e-04 9.99355364e-01 4.31614158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:4.96, Z:4.32 [[ 9.97824888e-01 -5.52983126e-02 -3.58829857e-02 1.25780159e+02] [ 5.52935495e-02 9.98469507e-01 -1.12585380e-03 4.95790813e+00] [ 3.58903249e-02 -8.60692702e-04 9.99355364e-01 4.31743633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:4.96, Z:4.32 [[ 9.97808999e-01 -5.55844988e-02 -3.58826601e-02 1.25808536e+02] [ 5.55795510e-02 9.98453616e-01 -1.13613875e-03 4.95887333e+00] [ 3.58903234e-02 -8.60692667e-04 9.99355364e-01 4.31845889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:4.96, Z:4.32 [[ 9.97754694e-01 -5.65511137e-02 -3.58823315e-02 1.25837783e+02] [ 5.65464207e-02 9.98399313e-01 -1.14642360e-03 4.95918538e+00] [ 3.58897266e-02 -8.85167884e-04 9.99355364e-01 4.32069200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:4.96, Z:4.32 [[ 9.97747178e-01 -5.66814504e-02 -3.58856902e-02 1.25864394e+02] [ 5.66806175e-02 9.98391818e-01 -1.04136917e-03 4.95943639e+00] [ 3.58870058e-02 -9.94999926e-04 9.99355359e-01 4.32119119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:4.96, Z:4.32 [[ 9.97727271e-01 -5.70332413e-02 -3.58817719e-02 1.25892275e+02] [ 5.70282879e-02 9.98371886e-01 -1.16233680e-03 4.96018770e+00] [ 3.58896441e-02 -8.86580889e-04 9.99355366e-01 4.32283042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:4.96, Z:4.32 [[ 9.97709111e-01 -5.73502704e-02 -3.58814332e-02 1.25919668e+02] [ 5.73451493e-02 9.98353724e-01 -1.17270126e-03 4.96083206e+00] [ 3.58896172e-02 -8.87611413e-04 9.99355366e-01 4.32359958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:4.96, Z:4.32 [[ 9.97684968e-01 -5.77688854e-02 -3.58812004e-02 1.25947572e+02] [ 5.77637802e-02 9.98329582e-01 -1.17978120e-03 4.96132827e+00] [ 3.58894184e-02 -8.95583806e-04 9.99355366e-01 4.32474363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:4.96, Z:4.33 [[ 9.97657407e-01 -5.82431399e-02 -3.58808521e-02 1.25974545e+02] [ 5.82379638e-02 9.98302020e-01 -1.19028104e-03 4.96085086e+00] [ 3.58892528e-02 -9.02135064e-04 9.99355366e-01 4.32530473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:4.96, Z:4.33 [[ 9.97635003e-01 -5.86257325e-02 -3.58807007e-02 1.26001716e+02] [ 5.86206402e-02 9.98279617e-01 -1.19482686e-03 4.96093352e+00] [ 3.58890197e-02 -9.11348552e-04 9.99355366e-01 4.32632654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:4.96, Z:4.33 [[ 9.97560596e-01 -5.98785732e-02 -3.58805514e-02 1.26029962e+02] [ 5.98741300e-02 9.98205215e-01 -1.19929243e-03 4.96061858e+00] [ 3.58879655e-02 -9.51949931e-04 9.99355366e-01 4.32826785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:4.96, Z:4.33 [[ 9.97543327e-01 -6.01657979e-02 -3.58801947e-02 1.26056762e+02] [ 6.01611600e-02 9.98187944e-01 -1.20987136e-03 4.96091800e+00] [ 3.58879707e-02 -9.51695037e-04 9.99355366e-01 4.32901108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:4.96, Z:4.33 [[ 9.97474787e-01 -6.12916959e-02 -3.58800396e-02 1.26084567e+02] [ 6.12876209e-02 9.98119408e-01 -1.21445312e-03 4.96131808e+00] [ 3.58869998e-02 -9.87615902e-04 9.99355366e-01 4.33031502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:4.96, Z:4.33 [[ 9.97449650e-01 -6.16996295e-02 -3.58796798e-02 1.26111641e+02] [ 6.16954393e-02 9.98094270e-01 -1.22499408e-03 4.96203486e+00] [ 3.58868845e-02 -9.91742686e-04 9.99355366e-01 4.33078079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:4.96, Z:4.33 [[ 9.97358058e-01 -6.31629885e-02 -3.58795233e-02 1.26139846e+02] [ 6.31595799e-02 9.98002683e-01 -1.22956062e-03 4.96204024e+00] [ 3.58855232e-02 -1.03982342e-03 9.99355366e-01 4.33103560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:4.96, Z:4.33 [[ 9.97293683e-01 -6.41716106e-02 -3.58791625e-02 1.26167312e+02] [ 6.41684787e-02 9.97938309e-01 -1.23999900e-03 4.96251461e+00] [ 3.58847635e-02 -1.06566811e-03 9.99355366e-01 4.33143581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:4.96, Z:4.33 [[ 9.97187833e-01 -6.57961843e-02 -3.58788005e-02 1.26194187e+02] [ 6.57937291e-02 9.97832462e-01 -1.25038751e-03 4.96270262e+00] [ 3.58833025e-02 -1.11372887e-03 9.99355366e-01 4.33131140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:4.96, Z:4.33 [[ 9.97127104e-01 -6.67102772e-02 -3.58786431e-02 1.26221799e+02] [ 6.67082512e-02 9.97771735e-01 -1.25488761e-03 4.96363260e+00] [ 3.58824098e-02 -1.14211909e-03 9.99355366e-01 4.33297548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:4.96, Z:4.33 [[ 9.97074422e-01 -6.74933034e-02 -3.58782763e-02 1.26249527e+02] [ 6.74914098e-02 9.97719053e-01 -1.26528770e-03 4.96468986e+00] [ 3.58818383e-02 -1.15988944e-03 9.99355366e-01 4.33409227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:4.97, Z:4.34 [[ 9.96974909e-01 -6.89477179e-02 -3.58781626e-02 1.26277657e+02] [ 6.89466490e-02 9.97619542e-01 -1.26850461e-03 4.96596439e+00] [ 3.58802166e-02 -1.20901181e-03 9.99355366e-01 4.33616224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:4.97, Z:4.34 [[ 9.96908750e-01 -6.98978763e-02 -3.58780000e-02 1.26306741e+02] [ 6.98972570e-02 9.97553383e-01 -1.27308746e-03 4.96706690e+00] [ 3.58792064e-02 -1.23862176e-03 9.99355366e-01 4.33776369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:4.97, Z:4.34 [[ 9.96837820e-01 -7.09024144e-02 -3.58776765e-02 1.26335541e+02] [ 7.09021194e-02 9.97482454e-01 -1.28213818e-03 4.96802973e+00] [ 3.58782595e-02 -1.26571947e-03 9.99355366e-01 4.33746358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:4.97, Z:4.34 [[ 9.96785055e-01 -7.16404275e-02 -3.58776078e-02 1.26364116e+02] [ 7.16405408e-02 9.97429689e-01 -1.28405872e-03 4.96943317e+00] [ 3.58773817e-02 -1.29036068e-03 9.99355366e-01 4.33831343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:4.97, Z:4.34 [[ 9.96670690e-01 -7.32144569e-02 -3.58772850e-02 1.26394086e+02] [ 7.32152662e-02 9.97315323e-01 -1.29301486e-03 4.97216962e+00] [ 3.58756335e-02 -1.33805496e-03 9.99355366e-01 4.33945533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:4.97, Z:4.34 [[ 9.96573852e-01 -7.45210092e-02 -3.58772388e-02 1.26423574e+02] [ 7.45226176e-02 9.97218484e-01 -1.29429509e-03 4.97379897e+00] [ 3.58738979e-02 -1.38380510e-03 9.99355366e-01 4.34025710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:4.98, Z:4.34 [[ 9.96315367e-01 -7.79006828e-02 -3.58771929e-02 1.26453292e+02] [ 7.79044319e-02 9.96959990e-01 -1.29556720e-03 4.97518510e+00] [ 3.58690514e-02 -1.50419882e-03 9.99355366e-01 4.34103617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:4.98, Z:4.34 [[ 9.96164142e-01 -7.98112347e-02 -3.58771471e-02 1.26482888e+02] [ 7.98161745e-02 9.96808756e-01 -1.29683363e-03 4.97649431e+00] [ 3.58661563e-02 -1.57171747e-03 9.99355366e-01 4.34189960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:4.98, Z:4.34 [[ 9.96016290e-01 -8.16356752e-02 -3.58771010e-02 1.26512419e+02] [ 8.16417498e-02 9.96660895e-01 -1.29810799e-03 4.97782560e+00] [ 3.58632755e-02 -1.63613260e-03 9.99355366e-01 4.34098057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:4.98, Z:4.34 [[ 9.95647153e-01 -8.60208461e-02 -3.58770316e-02 1.26542192e+02] [ 8.60296904e-02 9.96291726e-01 -1.30002260e-03 4.98063293e+00] [ 3.58558187e-02 -1.79212612e-03 9.99355366e-01 4.34198295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:4.98, Z:4.34 [[ 9.95473343e-01 -8.80094663e-02 -3.58769844e-02 1.26572803e+02] [ 8.80195514e-02 9.96117897e-01 -1.30132169e-03 4.98301291e+00] [ 3.58522349e-02 -1.86244503e-03 9.99355366e-01 4.34325240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:4.99, Z:4.34 [[ 9.95274822e-01 -9.02267784e-02 -3.58769844e-02 1.26602744e+02] [ 9.02382993e-02 9.95919352e-01 -1.30132169e-03 4.98635040e+00] [ 3.58479972e-02 -1.94230535e-03 9.99355366e-01 4.34474348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:4.99, Z:4.35 [[ 9.95224633e-01 -9.07786884e-02 -3.58770070e-02 1.26633740e+02] [ 9.07905890e-02 9.95869157e-01 -1.30070057e-03 4.98842624e+00] [ 3.58468806e-02 -1.96280535e-03 9.99355366e-01 4.34682225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:4.99, Z:4.35 [[ 9.95244406e-01 -9.05616328e-02 -3.58770546e-02 1.26665015e+02] [ 9.05734401e-02 9.95888931e-01 -1.29938510e-03 4.99063302e+00] [ 3.58472360e-02 -1.95630251e-03 9.99355366e-01 4.34726891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:4.99, Z:4.35 [[ 9.95428350e-01 -8.85168426e-02 -3.58771257e-02 1.26695845e+02] [ 8.85273964e-02 9.96072897e-01 -1.29741854e-03 4.99469993e+00] [ 3.58510760e-02 -1.88462133e-03 9.99355367e-01 4.34982852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:5.00, Z:4.35 [[ 9.95584078e-01 -8.67477548e-02 -3.58771699e-02 1.26726839e+02] [ 8.67572072e-02 9.96228642e-01 -1.29619698e-03 4.99783467e+00] [ 3.58543064e-02 -1.82212998e-03 9.99355367e-01 4.35198400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:5.00, Z:4.35 [[ 9.96013415e-01 -8.16707005e-02 -3.58772151e-02 1.26758381e+02] [ 8.16769115e-02 9.96658018e-01 -1.29494462e-03 5.00387937e+00] [ 3.58630731e-02 -1.64055791e-03 9.99355367e-01 4.35411607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:5.01, Z:4.36 [[ 9.96512781e-01 -7.53332564e-02 -3.58772598e-02 1.26789723e+02] [ 7.53354115e-02 9.97157411e-01 -1.29370257e-03 5.00973348e+00] [ 3.58727344e-02 -1.41363699e-03 9.99355367e-01 4.35546000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:5.01, Z:4.36 [[ 9.96726406e-01 -7.24519854e-02 -3.58773043e-02 1.26820524e+02] [ 7.24523212e-02 9.97371040e-01 -1.29246879e-03 5.01291232e+00] [ 3.58766262e-02 -1.31115620e-03 9.99355367e-01 4.35697207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:5.02, Z:4.36 [[ 9.97058764e-01 -6.77247148e-02 -3.58773510e-02 1.26851114e+02] [ 6.77220404e-02 9.97703392e-01 -1.29117010e-03 5.01761807e+00] [ 3.58823989e-02 -1.14231495e-03 9.99355367e-01 4.35811652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:5.02, Z:4.36 [[ 9.97219502e-01 -6.53152370e-02 -3.58773510e-02 1.26880320e+02] [ 6.53110050e-02 9.97864122e-01 -1.29117010e-03 5.02190895e+00] [ 3.58850545e-02 -1.05560585e-03 9.99355367e-01 4.35926121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:5.02, Z:4.36 [[ 9.97256686e-01 -6.47450409e-02 -3.58773275e-02 1.26909081e+02] [ 6.47404169e-02 9.97901303e-01 -1.29182300e-03 5.02458387e+00] [ 3.58856710e-02 -1.03443401e-03 9.99355367e-01 4.35980443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:5.03, Z:4.36 [[ 9.97246547e-01 -6.49010530e-02 -3.58772586e-02 1.26939368e+02] [ 6.48964611e-02 9.97891164e-01 -1.29373292e-03 5.02861424e+00] [ 3.58855640e-02 -1.03813643e-03 9.99355367e-01 4.35928201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:5.03, Z:4.36 [[ 9.97221435e-01 -6.52857670e-02 -3.58772586e-02 1.26969025e+02] [ 6.52814238e-02 9.97866054e-01 -1.29373292e-03 5.03063850e+00] [ 3.58851609e-02 -1.05198032e-03 9.99355367e-01 4.35901491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:5.03, Z:4.36 [[ 9.97151372e-01 -6.63473061e-02 -3.58772350e-02 1.26998727e+02] [ 6.63436255e-02 9.97795995e-01 -1.29438919e-03 5.03329887e+00] [ 3.58840406e-02 -1.08952388e-03 9.99355367e-01 4.35838168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:5.04, Z:4.36 [[ 9.97102567e-01 -6.70767978e-02 -3.58772115e-02 1.27028656e+02] [ 6.70735655e-02 9.97747192e-01 -1.29503848e-03 5.03601281e+00] [ 3.58832541e-02 -1.11512630e-03 9.99355367e-01 4.35951302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:5.04, Z:4.36 [[ 9.97135325e-01 -6.65880624e-02 -3.58772115e-02 1.27057972e+02] [ 6.65845141e-02 9.97779948e-01 -1.29503848e-03 5.03901181e+00] [ 3.58837964e-02 -1.09753808e-03 9.99355367e-01 4.36195176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:5.04, Z:4.36 [[ 9.97161177e-01 -6.61998025e-02 -3.58771884e-02 1.27087915e+02] [ 6.61959802e-02 9.97805799e-01 -1.29567893e-03 5.04132783e+00] [ 3.58842403e-02 -1.08292493e-03 9.99355367e-01 4.36420656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:5.04, Z:4.37 [[ 9.97275874e-01 -6.44488799e-02 -3.58771884e-02 1.27118148e+02] [ 6.44439258e-02 9.97920489e-01 -1.29567893e-03 5.04443620e+00] [ 3.58860864e-02 -1.01991753e-03 9.99355367e-01 4.36649975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:5.05, Z:4.37 [[ 9.97336949e-01 -6.34967563e-02 -3.58771884e-02 1.27147298e+02] [ 6.34911868e-02 9.97981558e-01 -1.29567893e-03 5.04637065e+00] [ 3.58870438e-02 -9.85656802e-04 9.99355367e-01 4.36796576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:5.05, Z:4.37 [[ 9.97447051e-01 -6.17431003e-02 -3.58771415e-02 1.27177019e+02] [ 6.17363508e-02 9.98091650e-01 -1.29697505e-03 5.04924160e+00] [ 3.58887546e-02 -9.21259857e-04 9.99355367e-01 4.36974274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:5.05, Z:4.37 [[ 9.97505888e-01 -6.07851774e-02 -3.58770941e-02 1.27206448e+02] [ 6.07777617e-02 9.98150479e-01 -1.29828733e-03 5.05114393e+00] [ 3.58896552e-02 -8.85480220e-04 9.99355367e-01 4.37082383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:5.05, Z:4.37 [[ 9.97612972e-01 -5.90016431e-02 -3.58770705e-02 1.27234927e+02] [ 5.89930515e-02 9.98257548e-01 -1.29893779e-03 5.05347551e+00] [ 3.58911959e-02 -8.20660678e-04 9.99355367e-01 4.37095950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:5.06, Z:4.37 [[ 9.97664378e-01 -5.81259931e-02 -3.58769821e-02 1.27264892e+02] [ 5.81167482e-02 9.98308945e-01 -1.30137638e-03 5.05500693e+00] [ 3.58919559e-02 -7.86716676e-04 9.99355367e-01 4.37224790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:5.06, Z:4.37 [[ 9.97760643e-01 -5.64494871e-02 -3.58769348e-02 1.27293180e+02] [ 5.64391122e-02 9.98405193e-01 -1.30267899e-03 5.05618318e+00] [ 3.58932535e-02 -7.25100518e-04 9.99355367e-01 4.37355221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:5.06, Z:4.37 [[ 9.97823399e-01 -5.53291479e-02 -3.58768643e-02 1.27322407e+02] [ 5.53179797e-02 9.98467936e-01 -1.30461778e-03 5.05716620e+00] [ 3.58940820e-02 -6.82857496e-04 9.99355367e-01 4.37456194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:5.06, Z:4.38 [[ 9.97881056e-01 -5.42793911e-02 -3.58768169e-02 1.27351036e+02] [ 5.42674981e-02 9.98525580e-01 -1.30591984e-03 5.05809049e+00] [ 3.58948039e-02 -6.43792423e-04 9.99355367e-01 4.37535685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:5.06, Z:4.37 [[ 9.98063262e-01 -5.08193196e-02 -3.58764836e-02 1.27379332e+02] [ 5.08048652e-02 9.98707733e-01 -1.31501193e-03 5.05927752e+00] [ 3.58969496e-02 -5.10234815e-04 9.99355367e-01 4.37466558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:5.06, Z:4.38 [[ 9.98156951e-01 -4.89447464e-02 -3.58763655e-02 1.27407373e+02] [ 4.89289662e-02 9.98801391e-01 -1.31822563e-03 5.06069481e+00] [ 3.58978840e-02 -4.39597396e-04 9.99355367e-01 4.37528602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:5.06, Z:4.38 [[ 9.98364238e-01 -4.45169794e-02 -3.58759919e-02 1.27435616e+02] [ 4.44979784e-02 9.99008591e-01 -1.32831546e-03 5.06183047e+00] [ 3.58995568e-02 -2.70266459e-04 9.99355367e-01 4.37596614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:5.06, Z:4.38 [[ 9.98458427e-01 -4.23522355e-02 -3.58755981e-02 1.27462380e+02] [ 4.23314582e-02 9.99102725e-01 -1.33887002e-03 5.06243232e+00] [ 3.59001119e-02 -1.81860323e-04 9.99355367e-01 4.37649407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:5.06, Z:4.38 [[ 9.98596762e-01 -3.89545873e-02 -3.58754271e-02 1.27489325e+02] [ 3.89314538e-02 9.99240980e-01 -1.34343604e-03 5.06270824e+00] [ 3.59005299e-02 -5.51316468e-05 9.99355367e-01 4.37717341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:5.06, Z:4.38 [[ 9.98634113e-01 -3.79852823e-02 -3.58751442e-02 1.27517025e+02] [ 3.79612536e-02 9.99278299e-01 -1.35094750e-03 5.06333730e+00] [ 3.59005692e-02 -1.27631932e-05 9.99355367e-01 4.37821370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:5.06, Z:4.38 [[ 9.98633840e-01 -3.79928439e-02 -3.58747439e-02 1.27543601e+02] [ 3.79684412e-02 9.99278011e-01 -1.36149514e-03 5.06440652e+00] [ 3.59005698e-02 -2.47298676e-06 9.99355367e-01 4.37828496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:5.06, Z:4.38 [[ 9.98540588e-01 -4.03696700e-02 -3.58745700e-02 1.27571203e+02] [ 4.03466365e-02 9.99184809e-01 -1.36606301e-03 5.06468823e+00] [ 3.59004729e-02 -8.33488774e-05 9.99355367e-01 4.37906919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:5.06, Z:4.38 [[ 9.98302943e-01 -4.58724086e-02 -3.58741687e-02 1.27598229e+02] [ 4.58525503e-02 9.98947270e-01 -1.37651976e-03 5.06249774e+00] [ 3.58995472e-02 -2.70738393e-04 9.99355367e-01 4.37907600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:5.06, Z:4.38 [[ 9.98122950e-01 -4.96350844e-02 -3.58738847e-02 1.27625809e+02] [ 4.96173903e-02 9.98767340e-01 -1.38388306e-03 5.06160123e+00] [ 3.58983535e-02 -3.98683099e-04 9.99355367e-01 4.37939592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:5.06, Z:4.38 [[ 9.98108892e-01 -4.99172518e-02 -3.58734916e-02 1.27654169e+02] [ 4.98993763e-02 9.98753277e-01 -1.39399934e-03 5.06277394e+00] [ 3.58983519e-02 -3.98701721e-04 9.99355367e-01 4.38041849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:5.06, Z:4.38 [[ 9.97662058e-01 -5.81682030e-02 -3.58730949e-02 1.27682196e+02] [ 5.81552918e-02 9.98306561e-01 -1.40413414e-03 5.06023944e+00] [ 3.58940220e-02 -6.85358943e-04 9.99355367e-01 4.38111442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:5.06, Z:4.38 [[ 9.97166884e-01 -6.61162277e-02 -3.58726868e-02 1.27710548e+02] [ 6.61080805e-02 9.97811466e-01 -1.41448442e-03 5.05975410e+00] [ 3.58876985e-02 -9.60997447e-04 9.99355367e-01 4.38267167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:5.06, Z:4.38 [[ 9.96932928e-01 -6.95551124e-02 -3.58723299e-02 1.27740307e+02] [ 6.95488652e-02 9.97577530e-01 -1.42347808e-03 5.06035943e+00] [ 3.58844404e-02 -1.07576767e-03 9.99355367e-01 4.38410006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:5.06, Z:4.39 [[ 9.96705396e-01 -7.27429192e-02 -3.58723046e-02 1.27770505e+02] [ 7.27387105e-02 9.97350015e-01 -1.42411549e-03 5.06070176e+00] [ 3.58808378e-02 -1.18988158e-03 9.99355367e-01 4.38561521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:5.06, Z:4.39 [[ 9.96481165e-01 -7.57526622e-02 -3.58723046e-02 1.27800581e+02] [ 7.57504003e-02 9.97125794e-01 -1.42411549e-03 5.06081923e+00] [ 3.58770807e-02 -1.29823717e-03 9.99355367e-01 4.38729880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:5.06, Z:4.39 [[ 9.96252996e-01 -7.86965415e-02 -3.58723046e-02 1.27831963e+02] [ 7.86961843e-02 9.96897629e-01 -1.42411549e-03 5.06094637e+00] [ 3.58730884e-02 -1.40423417e-03 9.99355367e-01 4.38886584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:5.06, Z:4.39 [[ 9.95841963e-01 -8.37374404e-02 -3.58723550e-02 1.27863330e+02] [ 8.37403911e-02 9.96486589e-01 -1.42284573e-03 5.06013066e+00] [ 3.58654661e-02 -1.58703555e-03 9.99355367e-01 4.38992516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:5.06, Z:4.39 [[ 9.95671610e-01 -8.57392345e-02 -3.58724052e-02 1.27895473e+02] [ 8.57435268e-02 9.96316228e-01 -1.42157715e-03 5.06049387e+00] [ 3.58621444e-02 -1.66040253e-03 9.99355367e-01 4.39067034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:5.06, Z:4.39 [[ 9.95351603e-01 -8.93775680e-02 -3.58725088e-02 1.27926318e+02] [ 8.93843103e-02 9.95996201e-01 -1.41895925e-03 5.06147167e+00] [ 3.58557056e-02 -1.79407609e-03 9.99355367e-01 4.39206707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:5.06, Z:4.39 [[ 9.95253792e-01 -9.04601972e-02 -3.58725859e-02 1.27957046e+02] [ 9.04677108e-02 9.95898381e-01 -1.41700678e-03 5.06280408e+00] [ 3.58536329e-02 -1.83502935e-03 9.99355367e-01 4.39320347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:5.06, Z:4.39 [[ 9.95139983e-01 -9.17036875e-02 -3.58726609e-02 1.27989100e+02] [ 9.17120748e-02 9.95784561e-01 -1.41510673e-03 5.06409686e+00] [ 3.58512124e-02 -1.88172687e-03 9.99355367e-01 4.39428581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:5.07, Z:4.39 [[ 9.95202154e-01 -9.10264634e-02 -3.58727636e-02 1.28020192e+02] [ 9.10345060e-02 9.95846737e-01 -1.41249638e-03 5.06614739e+00] [ 3.58523492e-02 -1.85993987e-03 9.99355367e-01 4.39479703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:5.07, Z:4.39 [[ 9.95293414e-01 -9.00231020e-02 -3.58728402e-02 1.28052143e+02] [ 9.00305647e-02 9.95938004e-01 -1.41055012e-03 5.06818085e+00] [ 3.58541069e-02 -1.82574081e-03 9.99355367e-01 4.39477965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:5.07, Z:4.39 [[ 9.95519337e-01 -8.74893217e-02 -3.58729416e-02 1.28083795e+02] [ 8.74952364e-02 9.96163943e-01 -1.40796707e-03 5.07170409e+00] [ 3.58585130e-02 -1.73705306e-03 9.99355367e-01 4.39419816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:5.07, Z:4.40 [[ 9.95623053e-01 -8.63009934e-02 -3.58730445e-02 1.28115883e+02] [ 8.63062332e-02 9.96267664e-01 -1.40533815e-03 5.07432321e+00] [ 3.58604364e-02 -1.69688029e-03 9.99355367e-01 4.39556252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:5.08, Z:4.40 [[ 9.95841027e-01 -8.37482300e-02 -3.58731469e-02 1.28147767e+02] [ 8.37519112e-02 9.96485650e-01 -1.40272133e-03 5.07757645e+00] [ 3.58645515e-02 -1.60755716e-03 9.99355367e-01 4.39738308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:5.08, Z:4.40 [[ 9.95943881e-01 -8.25160355e-02 -3.58732490e-02 1.28178444e+02] [ 8.25190132e-02 9.96588507e-01 -1.40010450e-03 5.07984975e+00] [ 3.58663987e-02 -1.56579960e-03 9.99355367e-01 4.39859566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:5.08, Z:4.40 [[ 9.96060493e-01 -8.10961909e-02 -3.58734188e-02 1.28210660e+02] [ 8.10984066e-02 9.96705122e-01 -1.39574096e-03 5.08232145e+00] [ 3.58684095e-02 -1.51903467e-03 9.99355367e-01 4.40006710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:5.09, Z:4.40 [[ 9.96192026e-01 -7.94640648e-02 -3.58735190e-02 1.28242984e+02] [ 7.94653171e-02 9.96836658e-01 -1.39316142e-03 5.08500377e+00] [ 3.58707450e-02 -1.46284426e-03 9.99355367e-01 4.40161498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:5.09, Z:4.40 [[ 9.96484132e-01 -7.57130000e-02 -3.58736217e-02 1.28273626e+02] [ 7.57119206e-02 9.97128764e-01 -1.39051020e-03 5.08990235e+00] [ 3.58758998e-02 -1.33043945e-03 9.99355367e-01 4.40297912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:5.09, Z:4.40 [[ 9.96654435e-01 -7.34371090e-02 -3.58737931e-02 1.28304735e+02] [ 7.34347169e-02 9.97299063e-01 -1.38607481e-03 5.09308819e+00] [ 3.58786896e-02 -1.25294423e-03 9.99355367e-01 4.40403101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:5.10, Z:4.41 [[ 9.97019213e-01 -6.83063235e-02 -3.58738683e-02 1.28334366e+02] [ 6.83006836e-02 9.97663822e-01 -1.38412497e-03 5.09763057e+00] [ 3.58846051e-02 -1.07021054e-03 9.99355367e-01 4.40600228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:5.10, Z:4.41 [[ 9.97175071e-01 -6.59919893e-02 -3.58738683e-02 1.28365532e+02] [ 6.59848532e-02 9.97819665e-01 -1.38412497e-03 5.10034474e+00] [ 3.58869924e-02 -9.86917015e-04 9.99355367e-01 4.40831958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:5.10, Z:4.41 [[ 9.97512490e-01 -6.06786222e-02 -3.58739178e-02 1.28395782e+02] [ 6.06680983e-02 9.98157037e-01 -1.38284236e-03 5.10387630e+00] [ 3.58917124e-02 -7.96999843e-04 9.99355367e-01 4.40836461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:5.11, Z:4.41 [[ 9.97767639e-01 -5.63276176e-02 -3.58739178e-02 1.28425108e+02] [ 5.63142827e-02 9.98412134e-01 -1.38284236e-03 5.10776814e+00] [ 3.58948470e-02 -6.40458592e-04 9.99355367e-01 4.40915381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:5.11, Z:4.41 [[ 9.97959735e-01 -5.28150782e-02 -3.58738689e-02 1.28453641e+02] [ 5.27994293e-02 9.98604178e-01 -1.38410750e-03 5.11151644e+00] [ 3.58968972e-02 -5.12836256e-04 9.99355367e-01 4.41100917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:5.11, Z:4.41 [[ 9.98030367e-01 -5.14631554e-02 -3.58737963e-02 1.28481911e+02] [ 5.14465659e-02 9.98674787e-01 -1.38598919e-03 5.11318594e+00] [ 3.58975832e-02 -4.62324324e-04 9.99355367e-01 4.41262185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:5.11, Z:4.41 [[ 9.98093327e-01 -5.02275567e-02 -3.58734447e-02 1.28509272e+02] [ 5.02098446e-02 9.98737716e-01 -1.39502847e-03 5.11455700e+00] [ 3.58982311e-02 -4.08831480e-04 9.99355367e-01 4.41328730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:5.12, Z:4.41 [[ 9.98115330e-01 -4.97884897e-02 -3.58733201e-02 1.28537019e+02] [ 4.97703792e-02 9.98759708e-01 -1.39822608e-03 5.11601222e+00] [ 3.58984423e-02 -3.89837862e-04 9.99355367e-01 4.41417131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:5.12, Z:4.42 [[ 9.98197207e-01 -4.81193230e-02 -3.58729174e-02 1.28564507e+02] [ 4.80997664e-02 9.98841543e-01 -1.40848274e-03 5.11829453e+00] [ 3.58991354e-02 -3.19535404e-04 9.99355367e-01 4.41503264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:5.12, Z:4.42 [[ 9.98228631e-01 -4.74630598e-02 -3.58727925e-02 1.28591939e+02] [ 4.74429656e-02 9.98872951e-01 -1.41165573e-03 5.12152582e+00] [ 3.58993636e-02 -2.92756498e-04 9.99355367e-01 4.41580338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:5.12, Z:4.42 [[ 9.98230345e-01 -4.74273227e-02 -3.58723801e-02 1.28619288e+02] [ 4.74068315e-02 9.98874652e-01 -1.42206059e-03 5.12319973e+00] [ 3.58994557e-02 -2.81051842e-04 9.99355367e-01 4.41626845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:5.12, Z:4.42 [[ 9.98142110e-01 -4.92494936e-02 -3.58722007e-02 1.28647074e+02] [ 4.92300165e-02 9.98786449e-01 -1.42656986e-03 5.12416864e+00] [ 3.58989258e-02 -3.42069582e-04 9.99355367e-01 4.41764510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:5.12, Z:4.42 [[ 9.98065366e-01 -5.07812847e-02 -3.58717981e-02 1.28674955e+02] [ 5.07624352e-02 9.98709723e-01 -1.43662298e-03 5.12483108e+00] [ 3.58984671e-02 -3.87096186e-04 9.99355367e-01 4.41938226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:5.13, Z:4.42 [[ 9.97855426e-01 -5.47520969e-02 -3.58713825e-02 1.28702813e+02] [ 5.47354411e-02 9.98499844e-01 -1.44692772e-03 5.12516174e+00] [ 3.58967921e-02 -5.19611268e-04 9.99355367e-01 4.42139711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:5.13, Z:4.42 [[ 9.97614292e-01 -5.89830337e-02 -3.58709663e-02 1.28732674e+02] [ 5.89687425e-02 9.98258766e-01 -1.45717241e-03 5.12653020e+00] [ 3.58944550e-02 -6.61569752e-04 9.99355367e-01 4.42336667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:5.13, Z:4.42 [[ 9.97373144e-01 -6.29292451e-02 -3.58709142e-02 1.28763456e+02] [ 6.29174575e-02 9.98017668e-01 -1.45845296e-03 5.12707201e+00] [ 3.58915855e-02 -8.02284909e-04 9.99355367e-01 4.42442046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:5.13, Z:4.42 [[ 9.97148183e-01 -6.63986408e-02 -3.58709142e-02 1.28795240e+02] [ 6.63890955e-02 9.97792744e-01 -1.45845296e-03 5.12663889e+00] [ 3.58885773e-02 -9.27143834e-04 9.99355367e-01 4.42490728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:5.13, Z:4.42 [[ 9.96966226e-01 -6.90768969e-02 -3.58709672e-02 1.28825347e+02] [ 6.90691300e-02 9.97610812e-01 -1.45714979e-03 5.12665891e+00] [ 3.58859201e-02 -1.02484737e-03 9.99355367e-01 4.42452620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:5.13, Z:4.43 [[ 9.96827544e-01 -7.10501176e-02 -3.58709935e-02 1.28856192e+02] [ 7.10436498e-02 9.97472144e-01 -1.45650251e-03 5.12924581e+00] [ 3.58838014e-02 -1.09652448e-03 9.99355367e-01 4.42546755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:5.13, Z:4.43 [[ 9.96783791e-01 -7.16612976e-02 -3.58710459e-02 1.28886991e+02] [ 7.16552715e-02 9.97428396e-01 -1.45520941e-03 5.13088958e+00] [ 3.58830820e-02 -1.11982038e-03 9.99355367e-01 4.42675111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:5.13, Z:4.43 [[ 9.96735847e-01 -7.23250666e-02 -3.58710981e-02 1.28917646e+02] [ 7.23195161e-02 9.97380456e-01 -1.45392175e-03 5.13243803e+00] [ 3.58822872e-02 -1.14500453e-03 9.99355367e-01 4.42803035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:5.13, Z:4.43 [[ 9.96690577e-01 -7.29462251e-02 -3.58711761e-02 1.28948853e+02] [ 7.29411456e-02 9.97335190e-01 -1.45199501e-03 5.13410096e+00] [ 3.58815038e-02 -1.16929493e-03 9.99355367e-01 4.42882455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:5.14, Z:4.43 [[ 9.96638990e-01 -7.36476588e-02 -3.58712532e-02 1.28981059e+02] [ 7.36431015e-02 9.97283606e-01 -1.45008732e-03 5.13571083e+00] [ 3.58806083e-02 -1.19645678e-03 9.99355367e-01 4.42940381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:5.14, Z:4.43 [[ 9.96598138e-01 -7.41983680e-02 -3.58713588e-02 1.29012779e+02] [ 7.41942609e-02 9.97242757e-01 -1.44747204e-03 5.13738056e+00] [ 3.58798528e-02 -1.21890101e-03 9.99355367e-01 4.42971688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:5.14, Z:4.43 [[ 9.96606606e-01 -7.40844853e-02 -3.58714636e-02 1.29043734e+02] [ 7.40803982e-02 9.97251226e-01 -1.44486873e-03 5.13940997e+00] [ 3.58799034e-02 -1.21740659e-03 9.99355367e-01 4.42914852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:5.14, Z:4.43 [[ 9.96620638e-01 -7.38954470e-02 -3.58715416e-02 1.29075732e+02] [ 7.38913074e-02 9.97265257e-01 -1.44292953e-03 5.14180484e+00] [ 3.58800681e-02 -1.21254176e-03 9.99355367e-01 4.42985973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:5.15, Z:4.43 [[ 9.96650946e-01 -7.34854905e-02 -3.58716422e-02 1.29107557e+02] [ 7.34811757e-02 9.97295564e-01 -1.44042341e-03 5.14542253e+00] [ 3.58804799e-02 -1.20029110e-03 9.99355367e-01 4.43261976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:5.15, Z:4.43 [[ 9.96670694e-01 -7.32171130e-02 -3.58717442e-02 1.29139830e+02] [ 7.32127162e-02 9.97315312e-01 -1.43787997e-03 5.14758874e+00] [ 3.58807172e-02 -1.19317500e-03 9.99355367e-01 4.43480764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:5.15, Z:4.43 [[ 9.96878637e-01 -7.03291822e-02 -3.58718472e-02 1.29172517e+02] [ 7.03230103e-02 9.97523240e-01 -1.43530544e-03 5.14822213e+00] [ 3.58839451e-02 -1.09179095e-03 9.99355367e-01 4.43237912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:5.15, Z:4.44 [[ 9.96675237e-01 -7.31530696e-02 -3.58761755e-02 1.29202126e+02] [ 7.31526115e-02 9.97319875e-01 -1.32717402e-03 5.15209296e+00] [ 3.58771097e-02 -1.30167445e-03 9.99355362e-01 4.43808801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:5.16, Z:4.44 [[ 9.96562070e-01 -7.46810649e-02 -3.58716961e-02 1.29232793e+02] [ 7.46775799e-02 9.97206693e-01 -1.43885360e-03 5.15569136e+00] [ 3.58789506e-02 -1.24490454e-03 9.99355368e-01 4.43896261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:5.16, Z:4.44 [[ 9.96491521e-01 -7.56165616e-02 -3.58717731e-02 1.29263597e+02] [ 7.56137509e-02 9.97136147e-01 -1.43693128e-03 5.15791818e+00] [ 3.58776975e-02 -1.28050949e-03 9.99355368e-01 4.43994169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:5.16, Z:4.44 [[ 9.96281340e-01 -7.83371062e-02 -3.58718478e-02 1.29295336e+02] [ 7.83361227e-02 9.96925971e-01 -1.43506419e-03 5.16005563e+00] [ 3.58739955e-02 -1.38033380e-03 9.99355368e-01 4.44195865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:5.16, Z:4.44 [[ 9.96157000e-01 -7.99026618e-02 -3.58719513e-02 1.29326657e+02] [ 7.99027845e-02 9.96801632e-01 -1.43247300e-03 5.16115653e+00] [ 3.58716780e-02 -1.43930079e-03 9.99355368e-01 4.44296084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:5.16, Z:4.45 [[ 9.95907258e-01 -8.29573759e-02 -3.58721095e-02 1.29357994e+02] [ 8.29596184e-02 9.96551886e-01 -1.42850128e-03 5.16202306e+00] [ 3.58669231e-02 -1.55328172e-03 9.99355368e-01 4.44542323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:5.16, Z:4.45 [[ 9.95790121e-01 -8.43517377e-02 -3.58722704e-02 1.29389606e+02] [ 8.43550284e-02 9.96434745e-01 -1.42444889e-03 5.16358159e+00] [ 3.58645313e-02 -1.60755426e-03 9.99355368e-01 4.44808771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:5.17, Z:4.45 [[ 9.95669762e-01 -8.57607062e-02 -3.58723745e-02 1.29420828e+02] [ 8.57650036e-02 9.96314379e-01 -1.42182257e-03 5.16540465e+00] [ 3.58620990e-02 -1.66092859e-03 9.99355368e-01 4.44973294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:5.17, Z:4.45 [[ 9.95732720e-01 -8.50265650e-02 -3.58724520e-02 1.29453268e+02] [ 8.50304575e-02 9.96377341e-01 -1.41986468e-03 5.16732195e+00] [ 3.58632245e-02 -1.63644528e-03 9.99355368e-01 4.45260979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:5.17, Z:4.45 [[ 9.95961531e-01 -8.23030299e-02 -3.58725550e-02 1.29485040e+02] [ 8.23052531e-02 9.96606159e-01 -1.41725657e-03 5.16895641e+00] [ 3.58674538e-02 -1.54096670e-03 9.99355368e-01 4.45493150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:5.17, Z:4.46 [[ 9.96139461e-01 -8.01206950e-02 -3.58726586e-02 1.29516137e+02] [ 8.01216003e-02 9.96784093e-01 -1.41462910e-03 5.17037549e+00] [ 3.58706366e-02 -1.46500695e-03 9.99355368e-01 4.45588005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:5.17, Z:4.46 [[ 9.96517718e-01 -7.52700840e-02 -3.58727358e-02 1.29548283e+02] [ 7.52679213e-02 9.97162346e-01 -1.41267097e-03 5.17282433e+00] [ 3.58772732e-02 -1.29231460e-03 9.99355368e-01 4.45739774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:5.17, Z:4.46 [[ 9.96523088e-01 -7.51988995e-02 -3.58728366e-02 1.29580933e+02] [ 7.51967830e-02 9.97167717e-01 -1.41010556e-03 5.17404831e+00] [ 3.58772729e-02 -1.29231916e-03 9.99355368e-01 4.45857064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:5.18, Z:4.46 [[ 9.96963579e-01 -6.91140723e-02 -3.58729371e-02 1.29612583e+02] [ 6.91081127e-02 9.97608183e-01 -1.40754471e-03 5.17749243e+00] [ 3.58844167e-02 -1.07584016e-03 9.99355368e-01 4.45973128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:5.18, Z:4.46 [[ 9.97405767e-01 -6.24088274e-02 -3.58730366e-02 1.29644972e+02] [ 6.23986249e-02 9.98050318e-01 -1.40500462e-03 5.18011997e+00] [ 3.58907802e-02 -8.37068438e-04 9.99355368e-01 4.46095725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:5.18, Z:4.46 [[ 9.97823417e-01 -5.53312509e-02 -3.58731361e-02 1.29675831e+02] [ 5.53165675e-02 9.98467882e-01 -1.40245791e-03 5.18154311e+00] [ 3.58957740e-02 -5.84973408e-04 9.99355368e-01 4.46107579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:5.18, Z:4.46 [[ 9.98391880e-01 -4.38949726e-02 -3.58731869e-02 1.29705304e+02] [ 4.38729528e-02 9.99036136e-01 -1.40115702e-03 5.18319122e+00] [ 3.59001138e-02 -1.74958845e-04 9.99355368e-01 4.45926787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:5.18, Z:4.46 [[ 9.98578945e-01 -3.94107655e-02 -3.58731361e-02 1.29732100e+02] [ 3.93858059e-02 9.99223094e-01 -1.40245645e-03 5.18182794e+00] [ 3.59005380e-02 -1.24288938e-05 9.99355368e-01 4.45998866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:5.18, Z:4.46 [[ 9.98393182e-01 -4.38656216e-02 -3.58728556e-02 1.29759684e+02] [ 4.38432796e-02 9.99037427e-01 -1.40959632e-03 5.17814310e+00] [ 3.59001581e-02 -1.65452280e-04 9.99355368e-01 4.46096677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:5.18, Z:4.46 [[ 9.98380574e-01 -4.41519702e-02 -3.58724495e-02 1.29788032e+02] [ 4.41294444e-02 9.99024813e-01 -1.41985542e-03 5.17932935e+00] [ 3.59001566e-02 -1.65475196e-04 9.99355368e-01 4.46198934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:5.18, Z:4.46 [[ 9.98255197e-01 -4.69015848e-02 -3.58720396e-02 1.29816121e+02] [ 4.68804640e-02 9.98899483e-01 -1.43013732e-03 5.17905339e+00] [ 3.58996375e-02 -2.54055847e-04 9.99355368e-01 4.46290999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:5.18, Z:4.46 [[ 9.98241493e-01 -4.71926725e-02 -3.58716194e-02 1.29844468e+02] [ 4.71713637e-02 9.98885773e-01 -1.44059989e-03 5.18024870e+00] [ 3.58996361e-02 -2.54046618e-04 9.99355368e-01 4.46393256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:5.18, Z:4.46 [[ 9.98087816e-01 -5.03385432e-02 -3.58711966e-02 1.29871636e+02] [ 5.03188893e-02 9.98732148e-01 -1.45105312e-03 5.17963350e+00] [ 3.58987611e-02 -3.56720331e-04 9.99355368e-01 4.46460740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:5.18, Z:4.47 [[ 9.98075296e-01 -5.05862945e-02 -3.58710129e-02 1.29900832e+02] [ 5.05666380e-02 9.98719629e-01 -1.45557894e-03 5.18085541e+00] [ 3.58987171e-02 -3.61099139e-04 9.99355368e-01 4.46565856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:5.18, Z:4.47 [[ 9.97865577e-01 -5.45672650e-02 -3.58706494e-02 1.29929729e+02] [ 5.45498588e-02 9.98509974e-01 -1.46448293e-03 5.17988222e+00] [ 3.58971140e-02 -4.95381760e-04 9.99355368e-01 4.46653836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:5.18, Z:4.47 [[ 9.97655044e-01 -5.82901064e-02 -3.58702699e-02 1.29958611e+02] [ 5.82747727e-02 9.98299494e-01 -1.47372030e-03 5.17867181e+00] [ 3.58951756e-02 -6.20067329e-04 9.99355368e-01 4.46712210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:5.18, Z:4.47 [[ 9.97655043e-01 -5.82901767e-02 -3.58701893e-02 1.29989565e+02] [ 5.82747726e-02 9.98299491e-01 -1.47568030e-03 5.17994616e+00] [ 3.58952093e-02 -6.18107230e-04 9.99355368e-01 4.46823562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:5.18, Z:4.47 [[ 9.97655043e-01 -5.82901767e-02 -3.58701893e-02 1.30020518e+02] [ 5.82747726e-02 9.98299491e-01 -1.47568030e-03 5.18121957e+00] [ 3.58952093e-02 -6.18107230e-04 9.99355368e-01 4.46934853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:5.18, Z:4.47 [[ 9.97423230e-01 -6.21307482e-02 -3.58701893e-02 1.30050139e+02] [ 6.21178254e-02 9.98067732e-01 -1.47568030e-03 5.18008642e+00] [ 3.58925636e-02 -7.56300341e-04 9.99355368e-01 4.46997560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:5.18, Z:4.47 [[ 9.96895780e-01 -7.00866160e-02 -3.58701928e-02 1.30080676e+02] [ 7.00788388e-02 9.97540365e-01 -1.47559345e-03 5.17685816e+00] [ 3.58853846e-02 -1.04272857e-03 9.99355368e-01 4.47174139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:5.17, Z:4.47 [[ 9.96372558e-01 -7.71689992e-02 -3.58701928e-02 1.30111993e+02] [ 7.71658028e-02 9.97017182e-01 -1.47559345e-03 5.17393844e+00] [ 3.58770687e-02 -1.29771140e-03 9.99355368e-01 4.47203662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:5.17, Z:4.47 [[ 9.96014693e-01 -8.16581703e-02 -3.58702444e-02 1.30144050e+02] [ 8.16579239e-02 9.96659325e-01 -1.47433850e-03 5.17190679e+00] [ 3.58708054e-02 -1.46062688e-03 9.99355368e-01 4.47000195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:5.17, Z:4.47 [[ 9.95946777e-01 -8.24823393e-02 -3.58703238e-02 1.30176203e+02] [ 8.24826958e-02 9.96591409e-01 -1.47240575e-03 5.17204995e+00] [ 3.58695040e-02 -1.49224324e-03 9.99355368e-01 4.46943977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:5.17, Z:4.47 [[ 9.95955999e-01 -8.23708647e-02 -3.58704317e-02 1.30207087e+02] [ 8.23712438e-02 9.96600631e-01 -1.46977220e-03 5.17185954e+00] [ 3.58695612e-02 -1.49086363e-03 9.99355368e-01 4.47031839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:5.17, Z:4.48 [[ 9.96302820e-01 -7.80640605e-02 -3.58705120e-02 1.30239379e+02] [ 7.80617231e-02 9.96947447e-01 -1.46780897e-03 5.17303089e+00] [ 3.58755985e-02 -1.33773176e-03 9.99355368e-01 4.47578482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:5.17, Z:4.48 [[ 9.96413334e-01 -7.66404990e-02 -3.58706189e-02 1.30270377e+02] [ 7.66373346e-02 9.97057958e-01 -1.46519262e-03 5.17412021e+00] [ 3.58773791e-02 -1.28909115e-03 9.99355368e-01 4.47644939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:5.18, Z:4.48 [[ 9.96418799e-01 -7.65693815e-02 -3.58706984e-02 1.30303024e+02] [ 7.65662411e-02 9.97063423e-01 -1.46324378e-03 5.17539257e+00] [ 3.58774010e-02 -1.28848093e-03 9.99355368e-01 4.47762247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:5.18, Z:4.48 [[ 9.96492287e-01 -7.56069214e-02 -3.58708026e-02 1.30335574e+02] [ 7.56032504e-02 9.97136909e-01 -1.46068443e-03 5.17681391e+00] [ 3.58785391e-02 -1.25638850e-03 9.99355368e-01 4.47916904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:5.18, Z:4.48 [[ 9.96495048e-01 -7.55704815e-02 -3.58709094e-02 1.30367374e+02] [ 7.55668815e-02 9.97139670e-01 -1.45805596e-03 5.17807732e+00] [ 3.58784928e-02 -1.25770722e-03 9.99355368e-01 4.48031156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:5.18, Z:4.48 [[ 9.96441532e-01 -7.62728498e-02 -3.58709626e-02 1.30398727e+02] [ 7.62697512e-02 9.97086156e-01 -1.45674678e-03 5.17912760e+00] [ 3.58775504e-02 -1.28430640e-03 9.99355368e-01 4.48297639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:5.18, Z:4.48 [[ 9.96298946e-01 -7.81132396e-02 -3.58710420e-02 1.30431177e+02] [ 7.81114020e-02 9.96943575e-01 -1.45478980e-03 5.17934937e+00] [ 3.58750432e-02 -1.35253183e-03 9.99355368e-01 4.48321185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:5.18, Z:4.48 [[ 9.96163158e-01 -7.98262049e-02 -3.58711483e-02 1.30462612e+02] [ 7.98255703e-02 9.96807790e-01 -1.45216215e-03 5.17956369e+00] [ 3.58725607e-02 -1.41684444e-03 9.99355368e-01 4.48065622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:5.18, Z:4.48 [[ 9.96131288e-01 -8.02228925e-02 -3.58712275e-02 1.30494929e+02] [ 8.02225850e-02 9.96775920e-01 -1.45020411e-03 5.18073336e+00] [ 3.58719153e-02 -1.43308891e-03 9.99355368e-01 4.48211292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:5.18, Z:4.48 [[ 9.96194435e-01 -7.94348471e-02 -3.58713336e-02 1.30526346e+02] [ 7.94341241e-02 9.96839066e-01 -1.44757532e-03 5.18294689e+00] [ 3.58729346e-02 -1.40734149e-03 9.99355368e-01 4.48328933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:5.18, Z:4.49 [[ 9.96267194e-01 -7.85170017e-02 -3.58714125e-02 1.30557967e+02] [ 7.85157552e-02 9.96911825e-01 -1.44561749e-03 5.18492031e+00] [ 3.58741408e-02 -1.37624976e-03 9.99355368e-01 4.48538378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:5.19, Z:4.49 [[ 9.96572693e-01 -7.45392669e-02 -3.58715184e-02 1.30588804e+02] [ 7.45355416e-02 9.97217314e-01 -1.44298500e-03 5.18771727e+00] [ 3.58792582e-02 -1.23566360e-03 9.99355368e-01 4.48789760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:5.19, Z:4.49 [[ 9.96960813e-01 -6.91546478e-02 -3.58715972e-02 1.30620126e+02] [ 6.91475109e-02 9.97605406e-01 -1.44102254e-03 5.19083139e+00] [ 3.58853527e-02 -1.04378865e-03 9.99355368e-01 4.48941069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:5.19, Z:4.49 [[ 9.97176790e-01 -6.59672096e-02 -3.58716748e-02 1.30651573e+02] [ 6.59580816e-02 9.97821357e-01 -1.43908968e-03 5.19308919e+00] [ 3.58884559e-02 -9.31000017e-04 9.99355368e-01 4.49013796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:5.20, Z:4.49 [[ 9.97596524e-01 -5.92823260e-02 -3.58717272e-02 1.30681359e+02] [ 5.92689250e-02 9.98241017e-01 -1.43778230e-03 5.19654818e+00] [ 3.58938645e-02 -6.91752085e-04 9.99355368e-01 4.49241041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:5.20, Z:4.49 [[ 9.98003289e-01 -5.19870398e-02 -3.58717531e-02 1.30710808e+02] [ 5.19689505e-02 9.98647667e-01 -1.43713412e-03 5.19906113e+00] [ 3.58979549e-02 -4.29952786e-04 9.99355368e-01 4.49460124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:5.20, Z:4.50 [[ 9.98325945e-01 -4.53710132e-02 -3.58717005e-02 1.30738319e+02] [ 4.53486061e-02 9.98970187e-01 -1.43844619e-03 5.20149770e+00] [ 3.59000231e-02 -1.90693462e-04 9.99355368e-01 4.49611682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:5.20, Z:4.50 [[ 9.98518842e-01 -4.09066220e-02 -3.58715699e-02 1.30766122e+02] [ 4.08812178e-02 9.99162973e-01 -1.44169535e-03 5.20347677e+00] [ 3.59005194e-02 -2.69134874e-05 9.99355368e-01 4.49677392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:5.20, Z:4.49 [[ 9.98635431e-01 -3.79544008e-02 -3.58711515e-02 1.30794460e+02] [ 3.79267211e-02 9.99279468e-01 -1.45203095e-03 5.20191227e+00] [ 3.59004162e-02 8.95743986e-05 9.99355368e-01 4.49323620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:5.20, Z:4.49 [[ 9.98331029e-01 -4.52595480e-02 -3.58710221e-02 1.30822197e+02] [ 4.52364661e-02 9.98975247e-01 -1.45522267e-03 5.19750153e+00] [ 3.59001259e-02 -1.69884327e-04 9.99355368e-01 4.49104184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:5.20, Z:4.49 [[ 9.98318250e-01 -4.55408769e-02 -3.58706099e-02 1.30850553e+02] [ 4.55176141e-02 9.98962462e-01 -1.46531347e-03 5.19872967e+00] [ 3.59001244e-02 -1.69895397e-04 9.99355368e-01 4.49206441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:5.20, Z:4.49 [[ 9.98231624e-01 -4.74020462e-02 -3.58701944e-02 1.30878651e+02] [ 4.73796215e-02 9.98875865e-01 -1.47541523e-03 5.19888832e+00] [ 3.58998091e-02 -2.26710095e-04 9.99355368e-01 4.49371616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:5.20, Z:4.50 [[ 9.98116682e-01 -4.97639311e-02 -3.58697672e-02 1.30906802e+02] [ 4.97426603e-02 9.98760963e-01 -1.48572727e-03 5.19902615e+00] [ 3.58992589e-02 -3.01328472e-04 9.99355368e-01 4.49525121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:5.20, Z:4.50 [[ 9.98102288e-01 -5.00520995e-02 -3.58693356e-02 1.30935155e+02] [ 5.00306428e-02 9.98746563e-01 -1.49607658e-03 5.20027036e+00] [ 3.58992574e-02 -3.01328460e-04 9.99355368e-01 4.49627378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:5.20, Z:4.50 [[ 9.97964301e-01 -5.27321156e-02 -3.58689009e-02 1.30962944e+02] [ 5.27120171e-02 9.98608619e-01 -1.50642576e-03 5.20050233e+00] [ 3.58984306e-02 -3.87362988e-04 9.99355369e-01 4.49773642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:5.20, Z:4.50 [[ 9.97948966e-01 -5.30218351e-02 -3.58684614e-02 1.30991297e+02] [ 5.30015501e-02 9.98593278e-01 -1.51682038e-03 5.20176178e+00] [ 3.58984290e-02 -3.87374727e-04 9.99355369e-01 4.49875899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:5.20, Z:4.50 [[ 9.97933547e-01 -5.33115506e-02 -3.58680183e-02 1.31019649e+02] [ 5.32910786e-02 9.98577853e-01 -1.52722661e-03 5.20302947e+00] [ 3.58984275e-02 -3.87374711e-04 9.99355369e-01 4.49978156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:5.20, Z:4.50 [[ 9.97795589e-01 -5.58343884e-02 -3.58675722e-02 1.31047669e+02] [ 5.58151715e-02 9.98439934e-01 -1.53763272e-03 5.20343385e+00] [ 3.58974692e-02 -4.67711542e-04 9.99355369e-01 4.50119644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:5.20, Z:4.50 [[ 9.97785570e-01 -5.60132502e-02 -3.58674339e-02 1.31076060e+02] [ 5.59940332e-02 9.98429914e-01 -1.54085035e-03 5.20472930e+00] [ 3.58974270e-02 -4.70924038e-04 9.99355369e-01 4.50221832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:5.20, Z:4.50 [[ 9.97224432e-01 -6.52455259e-02 -3.58671566e-02 1.31104415e+02] [ 6.52320420e-02 9.97868923e-01 -1.54727982e-03 5.20393402e+00] [ 3.58916740e-02 -7.96702629e-04 9.99355369e-01 4.50357196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:5.20, Z:4.51 [[ 9.95379607e-01 -8.90674610e-02 -3.58667606e-02 1.31134372e+02] [ 8.90690607e-02 9.96024237e-01 -1.55640519e-03 5.19843197e+00] [ 3.58627879e-02 -1.64540468e-03 9.99355369e-01 4.50510492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:5.20, Z:4.51 [[ 9.94654523e-01 -9.68295280e-02 -3.58667325e-02 1.31166525e+02] [ 9.68361329e-02 9.95299120e-01 -1.55705251e-03 5.19943632e+00] [ 3.58488960e-02 -1.92446636e-03 9.99355369e-01 4.50577673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:5.20, Z:4.51 [[ 9.94304183e-01 -1.00363149e-01 -3.58668423e-02 1.31198434e+02] [ 1.00372136e-01 9.94948751e-01 -1.55451970e-03 5.20081568e+00] [ 3.58416864e-02 -2.05436611e-03 9.99355369e-01 4.50630700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:5.20, Z:4.51 [[ 9.93988673e-01 -1.03441189e-01 -3.58669531e-02 1.31230855e+02] [ 1.03452263e-01 9.94633209e-01 -1.55195928e-03 5.20203896e+00] [ 3.58349991e-02 -2.16788750e-03 9.99355369e-01 4.50685140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:5.20, Z:4.51 [[ 9.93772280e-01 -1.05499810e-01 -3.58670636e-02 1.31261687e+02] [ 1.05512311e-01 9.94416790e-01 -1.54940020e-03 5.20325514e+00] [ 3.58302717e-02 -2.24466582e-03 9.99355369e-01 4.50734178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:5.20, Z:4.51 [[ 9.93779704e-01 -1.05429827e-01 -3.58671459e-02 1.31294329e+02] [ 1.05442351e-01 9.94424213e-01 -1.54749293e-03 5.20460166e+00] [ 3.58303102e-02 -2.24404913e-03 9.99355369e-01 4.50851487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:5.21, Z:4.51 [[ 9.93629164e-01 -1.06839248e-01 -3.58672547e-02 1.31325241e+02] [ 1.06852777e-01 9.94273653e-01 -1.54496795e-03 5.20605795e+00] [ 3.58269295e-02 -2.29739055e-03 9.99355369e-01 4.50932029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:5.21, Z:4.51 [[ 9.93568439e-01 -1.07402440e-01 -3.58674353e-02 1.31357518e+02] [ 1.07416485e-01 9.94212917e-01 -1.54076203e-03 5.20808909e+00] [ 3.58253491e-02 -2.32190132e-03 9.99355369e-01 4.51035241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:5.21, Z:4.51 [[ 9.93575957e-01 -1.07332830e-01 -3.58675430e-02 1.31390161e+02] [ 1.07346921e-01 9.94220434e-01 -1.53825079e-03 5.20942632e+00] [ 3.58253490e-02 -2.32190131e-03 9.99355369e-01 4.51152532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:5.21, Z:4.51 [[ 9.93606898e-01 -1.07045988e-01 -3.58676506e-02 1.31422595e+02] [ 1.07059983e-01 9.94251377e-01 -1.53573955e-03 5.21208056e+00] [ 3.58258557e-02 -2.31406867e-03 9.99355369e-01 4.51279653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:5.22, Z:4.51 [[ 9.93699082e-01 -1.06186784e-01 -3.58678187e-02 1.31454632e+02] [ 1.06200363e-01 9.94343571e-01 -1.53180199e-03 5.21528934e+00] [ 3.58275921e-02 -2.28702515e-03 9.99355369e-01 4.51406044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:5.22, Z:4.52 [[ 9.94051888e-01 -1.02831586e-01 -3.58679295e-02 1.31485119e+02] [ 1.02843082e-01 9.94696417e-01 -1.52920282e-03 5.22068973e+00] [ 3.58349513e-02 -2.16866149e-03 9.99355369e-01 4.51519924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:5.22, Z:4.52 [[ 9.94059186e-01 -1.02760992e-01 -3.58680119e-02 1.31517762e+02] [ 1.02772512e-01 9.94703714e-01 -1.52726750e-03 5.22201877e+00] [ 3.58349882e-02 -2.16805141e-03 9.99355369e-01 4.51637232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:5.23, Z:4.52 [[ 9.94287016e-01 -1.00532621e-01 -3.58681202e-02 1.31551064e+02] [ 1.00542788e-01 9.94931567e-01 -1.52472115e-03 5.22533990e+00] [ 3.58396092e-02 -2.09027037e-03 9.99355369e-01 4.51742330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:5.23, Z:4.52 [[ 9.95055697e-01 -9.26154708e-02 -3.58682895e-02 1.31582293e+02] [ 9.26206514e-02 9.95700307e-01 -1.52072776e-03 5.23300455e+00] [ 3.58549098e-02 -1.80893552e-03 9.99355369e-01 4.51848448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:5.24, Z:4.52 [[ 9.95934226e-01 -8.26345979e-02 -3.58683732e-02 1.31614298e+02] [ 8.26333866e-02 9.96578856e-01 -1.51875087e-03 5.24309115e+00] [ 3.58711637e-02 -1.45134917e-03 9.99355369e-01 4.51913863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:5.25, Z:4.52 [[ 9.96816690e-01 -7.12035001e-02 -3.58684824e-02 1.31646233e+02] [ 7.11949863e-02 9.97461265e-01 -1.51616814e-03 5.25347683e+00] [ 3.58853783e-02 -1.04231440e-03 9.99355369e-01 4.52052807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:5.26, Z:4.52 [[ 9.97282647e-01 -6.43487871e-02 -3.58685920e-02 1.31677450e+02] [ 6.43359355e-02 9.97927150e-01 -1.51357003e-03 5.25961896e+00] [ 3.58916382e-02 -7.98182296e-04 9.99355369e-01 4.52098282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:5.26, Z:4.52 [[ 9.97487547e-01 -6.10903514e-02 -3.58686735e-02 1.31707743e+02] [ 6.10754638e-02 9.98132007e-01 -1.51163652e-03 5.26318572e+00] [ 3.58940175e-02 -6.82857263e-04 9.99355369e-01 4.52175618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:5.27, Z:4.52 [[ 9.97651396e-01 -5.83534720e-02 -3.58687002e-02 1.31738395e+02] [ 5.83368392e-02 9.98295813e-01 -1.51100298e-03 5.26681796e+00] [ 3.58957455e-02 -5.85012358e-04 9.99355369e-01 4.52274560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:5.27, Z:4.52 [[ 9.97784975e-01 -5.60230236e-02 -3.58687002e-02 1.31769237e+02] [ 5.60048856e-02 9.98429351e-01 -1.51100298e-03 5.27059268e+00] [ 3.58970140e-02 -5.01166374e-04 9.99355369e-01 4.52400666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:5.28, Z:4.52 [[ 9.98038015e-01 -5.13182027e-02 -3.58687002e-02 1.31798898e+02] [ 5.12970269e-02 9.98682298e-01 -1.51100298e-03 5.27651916e+00] [ 3.58989779e-02 -3.31919262e-04 9.99355369e-01 4.52479433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:5.28, Z:4.53 [[ 9.98138547e-01 -4.93242080e-02 -3.58687069e-02 1.31828083e+02] [ 4.93017508e-02 9.98782787e-01 -1.51084437e-03 5.27994705e+00] [ 3.58995682e-02 -2.60358038e-04 9.99355369e-01 4.52542652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:5.28, Z:4.53 [[ 9.98229666e-01 -4.74444276e-02 -3.58686535e-02 1.31857198e+02] [ 4.74207117e-02 9.98873861e-01 -1.51211103e-03 5.28277422e+00] [ 3.59000016e-02 -1.91482983e-04 9.99355369e-01 4.52638416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:5.28, Z:4.53 [[ 9.98217555e-01 -4.76988585e-02 -3.58682659e-02 1.31886384e+02] [ 4.76749784e-02 9.98861743e-01 -1.52124947e-03 5.28404095e+00] [ 3.59000004e-02 -1.91480874e-04 9.99355369e-01 4.52743670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:5.29, Z:4.53 [[ 9.98302585e-01 -4.58851193e-02 -3.58678761e-02 1.31914500e+02] [ 4.58597406e-02 9.98946716e-01 -1.53038571e-03 5.28701373e+00] [ 3.59003189e-02 -1.17103483e-04 9.99355369e-01 4.52814876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:5.29, Z:4.53 [[ 9.98370340e-01 -4.43865908e-02 -3.58677379e-02 1.31942754e+02] [ 4.43601291e-02 9.99014428e-01 -1.53361664e-03 5.29007520e+00] [ 3.59004597e-02 -5.99801149e-05 9.99355369e-01 4.52854122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:5.29, Z:4.53 [[ 9.98417972e-01 -4.33023151e-02 -3.58672983e-02 1.31969794e+02] [ 4.32747871e-02 9.99062015e-01 -1.54382990e-03 5.29285358e+00] [ 3.59005067e-02 -1.07621786e-05 9.99355369e-01 4.52918549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:5.30, Z:4.53 [[ 9.98438131e-01 -4.28352440e-02 -3.58669824e-02 1.31997255e+02] [ 4.28071523e-02 9.99082150e-01 -1.55113429e-03 5.29575553e+00] [ 3.59005051e-02 1.33482395e-05 9.99355369e-01 4.53031144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:5.30, Z:4.53 [[ 9.98364328e-01 -4.45225750e-02 -3.58665363e-02 1.32023780e+02] [ 4.44952036e-02 9.99008378e-01 -1.56138144e-03 5.30186832e+00] [ 3.59004870e-02 -3.70613022e-05 9.99355369e-01 4.53122248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:5.30, Z:4.53 [[ 9.98298817e-01 -4.59791411e-02 -3.58523489e-02 1.32053188e+02] [ 4.59411257e-02 9.98942373e-01 -1.88386362e-03 5.30235068e+00] [ 3.59010489e-02 2.33561560e-04 9.99355322e-01 4.53290001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:5.30, Z:4.53 [[ 9.98195801e-01 -4.81537283e-02 -3.58658935e-02 1.32081431e+02] [ 4.81281897e-02 9.98839925e-01 -1.57557735e-03 5.30390137e+00] [ 3.59001563e-02 -1.53425833e-04 9.99355370e-01 4.53313192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:5.31, Z:4.53 [[ 9.97899615e-01 -5.39444646e-02 -3.58657524e-02 1.32110437e+02] [ 5.39225484e-02 9.98543873e-01 -1.57878301e-03 5.30579362e+00] [ 3.58986939e-02 -3.58505812e-04 9.99355370e-01 4.53366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:5.31, Z:4.53 [[ 9.97899612e-01 -5.39447934e-02 -3.58653468e-02 1.32141386e+02] [ 5.39225483e-02 9.98543858e-01 -1.58794406e-03 5.30716837e+00] [ 3.58987831e-02 -3.49342138e-04 9.99355370e-01 4.53478235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:5.31, Z:4.54 [[ 9.97554874e-01 -5.99829138e-02 -3.58653468e-02 1.32171695e+02] [ 5.99645679e-02 9.98199243e-01 -1.58794406e-03 5.30906676e+00] [ 3.58960116e-02 -5.66588692e-04 9.99355370e-01 4.53629390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:5.31, Z:4.54 [[ 9.97392523e-01 -6.26245174e-02 -3.58653755e-02 1.32202760e+02] [ 6.26079014e-02 9.98036939e-01 -1.58729627e-03 5.31006330e+00] [ 3.58943732e-02 -6.62298465e-04 9.99355370e-01 4.53757108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:5.31, Z:4.54 [[ 9.97041214e-01 -6.79888169e-02 -3.58655600e-02 1.32235220e+02] [ 6.79758177e-02 9.97685713e-01 -1.58311685e-03 5.31014188e+00] [ 3.58901910e-02 -8.59558025e-04 9.99355370e-01 4.53872543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:5.31, Z:4.54 [[ 9.96911399e-01 -6.98664162e-02 -3.58656733e-02 1.32267808e+02] [ 6.98547234e-02 9.97555923e-01 -1.58054601e-03 5.31054113e+00] [ 3.58884419e-02 -9.29722354e-04 9.99355370e-01 4.53975339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:5.31, Z:4.54 [[ 9.96798753e-01 -7.14555240e-02 -3.58657868e-02 1.32300351e+02] [ 7.14449514e-02 9.97443296e-01 -1.57796565e-03 5.31157209e+00] [ 3.58868430e-02 -9.89515200e-04 9.99355370e-01 4.54097085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:5.31, Z:4.54 [[ 9.96725336e-01 -7.24723540e-02 -3.58659015e-02 1.32331898e+02] [ 7.24625328e-02 9.97369891e-01 -1.57535440e-03 5.31319892e+00] [ 3.58857399e-02 -1.02873842e-03 9.99355370e-01 4.54215093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:5.31, Z:4.54 [[ 9.96764658e-01 -7.19294656e-02 -3.58659869e-02 1.32364017e+02] [ 7.19193633e-02 9.97409209e-01 -1.57340768e-03 5.31480141e+00] [ 3.58862400e-02 -1.01114177e-03 9.99355370e-01 4.54311948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:5.32, Z:4.54 [[ 9.96828502e-01 -7.10391427e-02 -3.58660989e-02 1.32395797e+02] [ 7.10285566e-02 9.97473046e-01 -1.57084973e-03 5.31631121e+00] [ 3.58870587e-02 -9.81649451e-04 9.99355370e-01 4.54406563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:5.32, Z:4.55 [[ 9.97045533e-01 -6.79251130e-02 -3.58662107e-02 1.32427322e+02] [ 6.79126057e-02 9.97690041e-01 -1.56829312e-03 5.31802645e+00] [ 3.58898877e-02 -8.72108173e-04 9.99355370e-01 4.54524080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:5.32, Z:4.55 [[ 9.97151443e-01 -6.63520952e-02 -3.58663959e-02 1.32459397e+02] [ 6.63387238e-02 9.97795935e-01 -1.56404607e-03 5.31967923e+00] [ 3.58911218e-02 -8.19740140e-04 9.99355370e-01 4.54620719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:5.32, Z:4.55 [[ 9.97428955e-01 -6.20409008e-02 -3.58665059e-02 1.32491558e+02] [ 6.20248342e-02 9.98073385e-01 -1.56152036e-03 5.32297116e+00] [ 3.58942831e-02 -6.67108459e-04 9.99355370e-01 4.54699463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:5.33, Z:4.55 [[ 9.97574492e-01 -5.96550018e-02 -3.58666178e-02 1.32522362e+02] [ 5.96374864e-02 9.98218884e-01 -1.55894593e-03 5.32558853e+00] [ 3.58957341e-02 -5.83830236e-04 9.99355370e-01 4.54818765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:5.33, Z:4.55 [[ 9.97821962e-01 -5.53616638e-02 -3.58666740e-02 1.32552114e+02] [ 5.53414221e-02 9.98466274e-01 -1.55765244e-03 5.32934956e+00] [ 3.58978985e-02 -4.30652934e-04 9.99355370e-01 4.54807589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:5.33, Z:4.55 [[ 9.97998166e-01 -5.20887653e-02 -3.58667018e-02 1.32582852e+02] [ 5.20664335e-02 9.98642410e-01 -1.55701088e-03 5.33289449e+00] [ 3.58991123e-02 -3.13557242e-04 9.99355370e-01 4.54821590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:5.33, Z:4.55 [[ 9.98001286e-01 -5.20289694e-02 -3.58667018e-02 1.32613751e+02] [ 5.20065991e-02 9.98645527e-01 -1.55701088e-03 5.33457218e+00] [ 3.58991310e-02 -3.11406321e-04 9.99355370e-01 4.54918466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:5.34, Z:4.55 [[ 9.97970848e-01 -5.26095699e-02 -3.58667018e-02 1.32643306e+02] [ 5.25875744e-02 9.98615102e-01 -1.55701088e-03 5.33655181e+00] [ 3.58989438e-02 -3.32291380e-04 9.99355370e-01 4.54822848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:5.34, Z:4.55 [[ 9.97880437e-01 -5.42974686e-02 -3.58666744e-02 1.32673913e+02] [ 5.42765402e-02 9.98524727e-01 -1.55764142e-03 5.33891357e+00] [ 3.58983373e-02 -3.92379098e-04 9.99355370e-01 4.54876987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:5.34, Z:4.55 [[ 9.97812088e-01 -5.55393461e-02 -3.58666744e-02 1.32704213e+02] [ 5.55192195e-02 9.98456404e-01 -1.55764142e-03 5.34064242e+00] [ 3.58978211e-02 -4.37056336e-04 9.99355370e-01 4.54967934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:5.34, Z:4.55 [[ 9.97746137e-01 -5.67117956e-02 -3.58666744e-02 1.32734628e+02] [ 5.66924261e-02 9.98390476e-01 -1.55764142e-03 5.34227931e+00] [ 3.58972828e-02 -4.79238082e-04 9.99355370e-01 4.55125597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:5.34, Z:4.55 [[ 9.97674784e-01 -5.79534828e-02 -3.58666744e-02 1.32764979e+02] [ 5.79349153e-02 9.98319147e-01 -1.55764142e-03 5.34369168e+00] [ 3.58966586e-02 -5.23913178e-04 9.99355370e-01 4.55213909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:5.35, Z:4.55 [[ 9.97588596e-01 -5.94186208e-02 -3.58667020e-02 1.32796451e+02] [ 5.94010224e-02 9.98232986e-01 -1.55700732e-03 5.34532512e+00] [ 3.58958402e-02 -5.77266015e-04 9.99355370e-01 4.55279925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:5.35, Z:4.55 [[ 9.97388930e-01 -6.26809154e-02 -3.58667567e-02 1.32828167e+02] [ 6.26654700e-02 9.98033375e-01 -1.55574458e-03 5.34783343e+00] [ 3.58937358e-02 -6.95924741e-04 9.99355370e-01 4.55404565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:5.35, Z:4.56 [[ 9.97176575e-01 -6.59730659e-02 -3.58668701e-02 1.32858764e+02] [ 6.59598421e-02 9.97821070e-01 -1.55312739e-03 5.35123463e+00] [ 3.58911832e-02 -8.17030832e-04 9.99355370e-01 4.55603220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:5.35, Z:4.56 [[ 9.97053888e-01 -6.78019147e-02 -3.58670558e-02 1.32890996e+02] [ 6.77900275e-02 9.97698408e-01 -1.54882686e-03 5.35356105e+00] [ 3.58895179e-02 -8.87164853e-04 9.99355370e-01 4.55760608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:5.36, Z:4.56 [[ 9.96949508e-01 -6.93197245e-02 -3.58671648e-02 1.32922765e+02] [ 6.93089095e-02 9.97594048e-01 -1.54629744e-03 5.35591345e+00] [ 3.58880590e-02 -9.44333604e-04 9.99355370e-01 4.55941963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:5.36, Z:4.56 [[ 9.96721676e-01 -7.25219872e-02 -3.58672761e-02 1.32954660e+02] [ 7.25133358e-02 9.97366248e-01 -1.54371125e-03 5.35896822e+00] [ 3.58847636e-02 -1.06220537e-03 9.99355370e-01 4.55963267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:5.36, Z:4.56 [[ 9.96490215e-01 -7.56358530e-02 -3.58673864e-02 1.32986621e+02] [ 7.56293078e-02 9.97134812e-01 -1.54114487e-03 5.36199043e+00] [ 3.58811854e-02 -1.17688982e-03 9.99355370e-01 4.56075465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:5.37, Z:4.56 [[ 9.96332731e-01 -7.76827637e-02 -3.58674970e-02 1.33017332e+02] [ 7.76776354e-02 9.96977341e-01 -1.53856576e-03 5.36505563e+00] [ 3.58786018e-02 -1.25317893e-03 9.99355370e-01 4.56268683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:5.37, Z:4.56 [[ 9.96391675e-01 -7.69229951e-02 -3.58675794e-02 1.33050098e+02] [ 7.69174445e-02 9.97036281e-01 -1.53664286e-03 5.36699012e+00] [ 3.58794811e-02 -1.22774439e-03 9.99355370e-01 4.56380203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:5.37, Z:4.56 [[ 9.96477283e-01 -7.58058666e-02 -3.58677441e-02 1.33082978e+02] [ 7.57997318e-02 9.97121884e-01 -1.53278934e-03 5.36895184e+00] [ 3.58807070e-02 -1.19137562e-03 9.99355370e-01 4.56490690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:5.37, Z:4.57 [[ 9.96576777e-01 -7.44863803e-02 -3.58679088e-02 1.33115531e+02] [ 7.44795309e-02 9.97221371e-01 -1.52892569e-03 5.37097092e+00] [ 3.58821293e-02 -1.14773319e-03 9.99355370e-01 4.56611027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:5.37, Z:4.57 [[ 9.96649577e-01 -7.35057956e-02 -3.58680744e-02 1.33147855e+02] [ 7.34984521e-02 9.97294165e-01 -1.52502952e-03 5.37277239e+00] [ 3.58831199e-02 -1.11632793e-03 9.99355370e-01 4.56721025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:5.37, Z:4.57 [[ 9.96757352e-01 -7.20295431e-02 -3.58681843e-02 1.33179997e+02] [ 7.20213379e-02 9.97401930e-01 -1.52244216e-03 5.37465634e+00] [ 3.58846570e-02 -1.06576920e-03 9.99355370e-01 4.56830135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:5.38, Z:4.57 [[ 9.96768394e-01 -7.18765017e-02 -3.58683207e-02 1.33211168e+02] [ 7.18683134e-02 9.97412972e-01 -1.51921974e-03 5.37604657e+00] [ 3.58847246e-02 -1.06348549e-03 9.99355370e-01 4.56900753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:5.38, Z:4.57 [[ 9.96745394e-01 -7.21947200e-02 -3.58684013e-02 1.33243735e+02] [ 7.21868059e-02 9.97389975e-01 -1.51731499e-03 5.37704644e+00] [ 3.58843260e-02 -1.07684860e-03 9.99355370e-01 4.57009729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:5.38, Z:4.57 [[ 9.96717021e-01 -7.25853259e-02 -3.58685091e-02 1.33276091e+02] [ 7.25777562e-02 9.97361607e-01 -1.51476275e-03 5.37774888e+00] [ 3.58838234e-02 -1.09346609e-03 9.99355370e-01 4.56984598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:5.38, Z:4.57 [[ 9.96653880e-01 -7.34471589e-02 -3.58686162e-02 1.33305589e+02] [ 7.34402380e-02 9.97298473e-01 -1.51222298e-03 5.38093113e+00] [ 3.58827846e-02 -1.12703681e-03 9.99355370e-01 4.56917463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:5.38, Z:4.57 [[ 9.96859868e-01 -7.06039925e-02 -3.58536016e-02 1.33340052e+02] [ 7.05824971e-02 9.97504199e-01 -1.86648822e-03 5.38100457e+00] [ 3.58958997e-02 -6.70009532e-04 9.99355310e-01 4.57227713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:5.38, Z:4.57 [[ 9.96979226e-01 -6.88901176e-02 -3.58688430e-02 1.33371570e+02] [ 6.88805903e-02 9.97623780e-01 -1.50275010e-03 5.38272760e+00] [ 3.58871354e-02 -9.72456454e-04 9.99355376e-01 4.57435357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:5.39, Z:4.58 [[ 9.97293602e-01 -6.41785861e-02 -3.58689218e-02 1.33402702e+02] [ 6.41660811e-02 9.97938105e-01 -1.50086723e-03 5.38504681e+00] [ 3.58912874e-02 -8.04762855e-04 9.99355376e-01 4.57760540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:5.39, Z:4.58 [[ 9.97469314e-01 -6.13871515e-02 -3.58689994e-02 1.33435107e+02] [ 6.13729094e-02 9.98113781e-01 -1.49900994e-03 5.38684793e+00] [ 3.58933626e-02 -7.06168438e-04 9.99355376e-01 4.57947522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:5.39, Z:4.58 [[ 9.97473503e-01 -6.13189925e-02 -3.58691018e-02 1.33467757e+02] [ 6.13047946e-02 9.98117970e-01 -1.49655635e-03 5.38814765e+00] [ 3.58933624e-02 -7.06172617e-04 9.99355376e-01 4.58064810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:5.39, Z:4.58 [[ 9.97624623e-01 -5.88091187e-02 -3.58692038e-02 1.33500349e+02] [ 5.87933874e-02 9.98269055e-01 -1.49410693e-03 5.38968698e+00] [ 3.58949833e-02 -6.18314139e-04 9.99355376e-01 4.58198941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:5.39, Z:4.58 [[ 9.97951845e-01 -5.29670449e-02 -3.58693051e-02 1.33531194e+02] [ 5.29476283e-02 9.98596176e-01 -1.49167142e-03 5.39174915e+00] [ 3.58979604e-02 -4.10578386e-04 9.99355376e-01 4.58300142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:5.40, Z:4.58 [[ 9.98121101e-01 -4.96755089e-02 -3.58693567e-02 1.33558615e+02] [ 4.96540119e-02 9.98765367e-01 -1.49043090e-03 5.39759274e+00] [ 3.58991091e-02 -2.93426929e-04 9.99355376e-01 4.58236595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:5.40, Z:4.59 [[ 9.98384326e-01 -4.40888483e-02 -3.58456455e-02 1.33591106e+02] [ 4.40435013e-02 9.99027502e-01 -2.05410222e-03 5.39547417e+00] [ 3.59013487e-02 4.72015729e-04 9.99355227e-01 4.58550778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:5.40, Z:4.59 [[ 9.98606422e-01 -3.87121525e-02 -3.58689780e-02 1.33620219e+02] [ 3.86834507e-02 9.99250398e-01 -1.49408897e-03 5.39606418e+00] [ 3.58999299e-02 1.04470998e-04 9.99355384e-01 4.58617697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:5.40, Z:4.59 [[ 9.98671282e-01 -3.70015284e-02 -3.58686104e-02 1.33647840e+02] [ 3.69714086e-02 9.99315194e-01 -1.50286181e-03 5.39664633e+00] [ 3.58996555e-02 1.74751883e-04 9.99355384e-01 4.58673466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:5.40, Z:4.59 [[ 9.98631126e-01 -3.80702848e-02 -3.58681906e-02 1.33673153e+02] [ 3.80404965e-02 9.99275053e-01 -1.51281586e-03 5.40115688e+00] [ 3.58997814e-02 1.46301227e-04 9.99355384e-01 4.58546050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:5.40, Z:4.59 [[ 9.98789632e-01 -3.36822769e-02 -3.58437726e-02 1.33706436e+02] [ 3.36292043e-02 9.99432208e-01 -2.08269962e-03 5.39701734e+00] [ 3.58935709e-02 8.74781229e-04 9.99355235e-01 4.58931580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:5.40, Z:4.59 [[ 9.98783318e-01 -3.38438266e-02 -3.58675321e-02 1.33734047e+02] [ 3.38109319e-02 9.99427086e-01 -1.52344500e-03 5.39563790e+00] [ 3.58985423e-02 3.08876765e-04 9.99355392e-01 4.59021117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:5.40, Z:4.59 [[ 9.98679266e-01 -3.67868995e-02 -3.58670930e-02 1.33758640e+02] [ 3.67555332e-02 9.99323110e-01 -1.53371401e-03 5.39959180e+00] [ 3.58992355e-02 2.13374255e-04 9.99355392e-01 4.58840887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:5.39, Z:4.59 [[ 9.98693026e-01 -3.64342733e-02 -3.58438647e-02 1.33791591e+02] [ 3.63834469e-02 9.99335760e-01 -2.06946072e-03 5.39354398e+00] [ 3.58954551e-02 7.62632638e-04 9.99355260e-01 4.59188905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:5.39, Z:4.59 [[ 9.98535348e-01 -4.05060967e-02 -3.58666282e-02 1.33819985e+02] [ 4.04769349e-02 9.99179288e-01 -1.53910764e-03 5.39056016e+00] [ 3.58995353e-02 8.50822033e-05 9.99355400e-01 4.59252758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:5.39, Z:4.59 [[ 9.98114827e-01 -4.98036977e-02 -3.58661984e-02 1.33848006e+02] [ 4.97801766e-02 9.98758997e-01 -1.54905871e-03 5.38532563e+00] [ 3.58988372e-02 -2.39287223e-04 9.99355400e-01 4.59460649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:5.38, Z:4.60 [[ 9.97927993e-01 -5.34169194e-02 -3.58657611e-02 1.33877959e+02] [ 5.33953690e-02 9.98572233e-01 -1.55911866e-03 5.38451822e+00] [ 3.58978365e-02 -3.59177393e-04 9.99355400e-01 4.59582448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:5.39, Z:4.60 [[ 9.97927993e-01 -5.34169659e-02 -3.58657047e-02 1.33908909e+02] [ 5.33953690e-02 9.98572231e-01 -1.56041492e-03 5.38586542e+00] [ 3.58978494e-02 -3.57880806e-04 9.99355400e-01 4.59693782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:5.38, Z:4.60 [[ 9.97730312e-01 -5.69901425e-02 -3.58657047e-02 1.33939145e+02] [ 5.69708527e-02 9.98374623e-01 -1.56041492e-03 5.38471180e+00] [ 3.58963377e-02 -4.86426513e-04 9.99355400e-01 4.59757464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:5.38, Z:4.60 [[ 9.97516500e-01 -6.06174941e-02 -3.58657327e-02 1.33970770e+02] [ 6.06005703e-02 9.98160878e-01 -1.55977102e-03 5.38345558e+00] [ 3.58943207e-02 -6.17586531e-04 9.99355400e-01 4.59861897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:5.38, Z:4.60 [[ 9.97291591e-01 -6.42115932e-02 -3.58657884e-02 1.34001607e+02] [ 6.41970375e-02 9.97936026e-01 -1.55848936e-03 5.38201161e+00] [ 3.58918355e-02 -7.48209030e-04 9.99355400e-01 4.59939425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:5.38, Z:4.60 [[ 9.96832836e-01 -7.09784260e-02 -3.58658717e-02 1.34034304e+02] [ 7.09683132e-02 9.97477356e-01 -1.55657179e-03 5.37781140e+00] [ 3.58858778e-02 -9.93698543e-04 9.99355400e-01 4.60073733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:5.38, Z:4.60 [[ 9.96628872e-01 -7.37870025e-02 -3.58659850e-02 1.34065188e+02] [ 7.37787999e-02 9.97273420e-01 -1.55395690e-03 5.37632195e+00] [ 3.58828553e-02 -1.09743102e-03 9.99355400e-01 4.60172009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:5.38, Z:4.60 [[ 9.96468692e-01 -7.59194977e-02 -3.58660694e-02 1.34096985e+02] [ 7.59127445e-02 9.97113257e-01 -1.55200644e-03 5.37523705e+00] [ 3.58803608e-02 -1.17616593e-03 9.99355400e-01 4.60269225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:5.37, Z:4.60 [[ 9.96259481e-01 -7.86171914e-02 -3.58661804e-02 1.34128419e+02] [ 7.86122758e-02 9.96904062e-01 -1.54943664e-03 5.37226708e+00] [ 3.58769533e-02 -1.27588112e-03 9.99355400e-01 4.60313297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:5.37, Z:4.60 [[ 9.96179959e-01 -7.96184742e-02 -3.58662631e-02 1.34159781e+02] [ 7.96142754e-02 9.96824544e-01 -1.54751904e-03 5.37036486e+00] [ 3.58755825e-02 -1.31385909e-03 9.99355400e-01 4.60412240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:5.37, Z:4.61 [[ 9.96191753e-01 -7.94707253e-02 -3.58663441e-02 1.34191799e+02] [ 7.94664985e-02 9.96836339e-01 -1.54563883e-03 5.37039776e+00] [ 3.58757082e-02 -1.31042013e-03 9.99355400e-01 4.60612604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:5.37, Z:4.61 [[ 9.96292708e-01 -7.81948621e-02 -3.58664558e-02 1.34223593e+02] [ 7.81899031e-02 9.96937289e-01 -1.54304417e-03 5.36981765e+00] [ 3.58772653e-02 -1.26707104e-03 9.99355400e-01 4.60699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:5.37, Z:4.61 [[ 9.96405020e-01 -7.67504082e-02 -3.58665678e-02 1.34255197e+02] [ 7.67446085e-02 9.97049594e-01 -1.54043510e-03 5.37016321e+00] [ 3.58789759e-02 -1.21766844e-03 9.99355400e-01 4.60763571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:5.37, Z:4.61 [[ 9.96441228e-01 -7.62787976e-02 -3.58667548e-02 1.34287696e+02] [ 7.62728498e-02 9.97085800e-01 -1.53606839e-03 5.37101014e+00] [ 3.58794014e-02 -1.20505774e-03 9.99355400e-01 4.60798885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:5.37, Z:4.61 [[ 9.96423919e-01 -7.65045254e-02 -3.58668614e-02 1.34318248e+02] [ 7.64988133e-02 9.97068493e-01 -1.53357589e-03 5.37273395e+00] [ 3.58790429e-02 -1.21568063e-03 9.99355400e-01 4.60849864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:5.37, Z:4.61 [[ 9.96335661e-01 -7.76490869e-02 -3.58590389e-02 1.34350152e+02] [ 7.76375575e-02 9.96980173e-01 -1.71596908e-03 5.37241498e+00] [ 3.58839942e-02 -1.07432700e-03 9.99355385e-01 4.60965790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:5.37, Z:4.61 [[ 9.96181800e-01 -7.95950949e-02 -3.58670056e-02 1.34380904e+02] [ 7.95915425e-02 9.96826388e-01 -1.52911653e-03 5.37294987e+00] [ 3.58748878e-02 -1.33143224e-03 9.99355402e-01 4.60922081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:5.37, Z:4.61 [[ 9.96089155e-01 -8.07461893e-02 -3.58670861e-02 1.34412817e+02] [ 8.07434498e-02 9.96733747e-01 -1.52722463e-03 5.37442914e+00] [ 3.58732527e-02 -1.37478038e-03 9.99355402e-01 4.61090365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:5.38, Z:4.61 [[ 9.96002765e-01 -8.18048662e-02 -3.58671982e-02 1.34444199e+02] [ 8.18029066e-02 9.96647360e-01 -1.52458906e-03 5.37605500e+00] [ 3.58716672e-02 -1.41554614e-03 9.99355402e-01 4.61194653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:5.38, Z:4.61 [[ 9.95927037e-01 -8.27216664e-02 -3.58672816e-02 1.34476665e+02] [ 8.27203709e-02 9.96571634e-01 -1.52262327e-03 5.37787761e+00] [ 3.58702694e-02 -1.45053316e-03 9.99355402e-01 4.61312360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:5.38, Z:4.61 [[ 9.95838006e-01 -8.37866082e-02 -3.58673932e-02 1.34507600e+02] [ 8.37860966e-02 9.96482604e-01 -1.51999137e-03 5.37966455e+00] [ 3.58685883e-02 -1.49152369e-03 9.99355402e-01 4.61326389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:5.38, Z:4.61 [[ 9.95839038e-01 -8.37743096e-02 -3.58674761e-02 1.34540098e+02] [ 8.37738605e-02 9.96483636e-01 -1.51803187e-03 5.38159324e+00] [ 3.58685250e-02 -1.49304154e-03 9.99355402e-01 4.61493661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:5.38, Z:4.62 [[ 9.95902399e-01 -8.30176431e-02 -3.58675838e-02 1.34572038e+02] [ 8.30167959e-02 9.96546996e-01 -1.51548289e-03 5.38358243e+00] [ 3.58695447e-02 -1.46833884e-03 9.99355402e-01 4.61623190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:5.39, Z:4.62 [[ 9.96151525e-01 -7.99727978e-02 -3.58676904e-02 1.34604481e+02] [ 7.99700710e-02 9.96796117e-01 -1.51295475e-03 5.38695543e+00] [ 3.58737698e-02 -1.36120957e-03 9.99355402e-01 4.61812580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:5.39, Z:4.62 [[ 9.96360425e-01 -7.73266133e-02 -3.58677984e-02 1.34636389e+02] [ 7.73222665e-02 9.97005008e-01 -1.51039184e-03 5.38969476e+00] [ 3.58771681e-02 -1.26848480e-03 9.99355402e-01 4.62019894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:5.39, Z:4.62 [[ 9.96597130e-01 -7.42135721e-02 -3.58679074e-02 1.34667684e+02] [ 7.42073049e-02 9.97241697e-01 -1.50779708e-03 5.39254398e+00] [ 3.58808719e-02 -1.15899450e-03 9.99355402e-01 4.62134866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:5.40, Z:4.62 [[ 9.97093820e-01 -6.72115627e-02 -3.58680860e-02 1.34698083e+02] [ 6.72009212e-02 9.97738330e-01 -1.50353796e-03 5.39752887e+00] [ 3.58880193e-02 -9.11200013e-04 9.99355402e-01 4.62402799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:5.40, Z:4.63 [[ 9.97324111e-01 -6.37055225e-02 -3.58639598e-02 1.34729735e+02] [ 6.36890857e-02 9.97968504e-01 -1.60172380e-03 5.39986953e+00] [ 3.58931410e-02 -6.86705043e-04 9.99355398e-01 4.62681726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:5.40, Z:4.63 [[ 9.97758724e-01 -5.64889313e-02 -3.58682128e-02 1.34761001e+02] [ 5.64714879e-02 9.98403085e-01 -1.50003352e-03 5.40334834e+00] [ 3.58956696e-02 -5.28859814e-04 9.99355403e-01 4.62702825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:5.41, Z:4.63 [[ 9.98091555e-01 -5.02664481e-02 -3.58682660e-02 1.34790267e+02] [ 5.02450331e-02 9.98735796e-01 -1.49875873e-03 5.40720272e+00] [ 3.58982585e-02 -3.06303783e-04 9.99355403e-01 4.62798846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:5.41, Z:4.63 [[ 9.98209290e-01 -4.78715221e-02 -3.58682396e-02 1.34820304e+02] [ 4.78485386e-02 9.98853477e-01 -1.49939093e-03 5.40971229e+00] [ 3.58988940e-02 -2.19536893e-04 9.99355403e-01 4.62911844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:5.41, Z:4.63 [[ 9.98301915e-01 -4.58994635e-02 -3.58681858e-02 1.34848603e+02] [ 4.58751614e-02 9.98946053e-01 -1.50067596e-03 5.41181829e+00] [ 3.58992629e-02 -1.47331126e-04 9.99355403e-01 4.63002192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:5.41, Z:4.63 [[ 9.98403120e-01 -4.36429749e-02 -3.58678095e-02 1.34875955e+02] [ 4.36168956e-02 9.99047190e-01 -1.50961756e-03 5.41327630e+00] [ 3.58995185e-02 -5.72356206e-05 9.99355403e-01 4.63061261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:5.42, Z:4.63 [[ 9.98550801e-01 -4.01224114e-02 -3.58676761e-02 1.34904289e+02] [ 4.00939478e-02 9.99194769e-01 -1.51278154e-03 5.41509824e+00] [ 3.58994907e-02 7.25124903e-05 9.99355403e-01 4.63008557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:5.42, Z:4.63 [[ 9.98595750e-01 -3.89880455e-02 -3.58672473e-02 1.34932134e+02] [ 3.89584876e-02 9.99239669e-01 -1.52287998e-03 5.41670930e+00] [ 3.58993504e-02 1.23407768e-04 9.99355403e-01 4.63073145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:5.42, Z:4.63 [[ 9.98683212e-01 -3.66798802e-02 -3.58668175e-02 1.34960100e+02] [ 3.66484730e-02 9.99327043e-01 -1.53293529e-03 5.41834670e+00] [ 3.58989086e-02 2.16452649e-04 9.99355403e-01 4.63163614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:5.42, Z:4.63 [[ 9.98706425e-01 -3.60427586e-02 -3.58663711e-02 1.34986536e+02] [ 3.60105681e-02 9.99350217e-01 -1.54330970e-03 5.41983894e+00] [ 3.58986909e-02 2.49744910e-04 9.99355403e-01 4.63222132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:5.42, Z:4.63 [[ 9.98739626e-01 -3.51109282e-02 -3.58661778e-02 1.35014729e+02] [ 3.50779761e-02 9.99383380e-01 -1.54778985e-03 5.42126165e+00] [ 3.58984063e-02 2.87726124e-04 9.99355403e-01 4.63306566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:5.42, Z:4.63 [[ 9.98706223e-01 -3.60489928e-02 -3.58657346e-02 1.35041375e+02] [ 3.60162791e-02 9.99349989e-01 -1.55799134e-03 5.42160140e+00] [ 3.58985855e-02 2.64225333e-04 9.99355403e-01 4.63343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:5.42, Z:4.64 [[ 9.98570576e-01 -3.96292246e-02 -3.58654285e-02 1.35069660e+02] [ 3.95985671e-02 9.99214444e-01 -1.56500635e-03 5.42192805e+00] [ 3.58992742e-02 1.42549714e-04 9.99355403e-01 4.63566588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:5.42, Z:4.64 [[ 9.98341551e-01 -4.50316290e-02 -3.58650328e-02 1.35096178e+02] [ 4.50041319e-02 9.98985561e-01 -1.57402284e-03 5.42126114e+00] [ 3.58995307e-02 -4.26622693e-05 9.99355403e-01 4.63722548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:5.42, Z:4.64 [[ 9.98190165e-01 -4.82712859e-02 -3.58647201e-02 1.35124110e+02] [ 4.82456240e-02 9.98834250e-01 -1.58111646e-03 5.42133261e+00] [ 3.58992333e-02 -1.52060907e-04 9.99355403e-01 4.63811687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:5.42, Z:4.64 [[ 9.97887042e-01 -5.41775422e-02 -3.58642678e-02 1.35152939e+02] [ 5.41553261e-02 9.98531256e-01 -1.59130992e-03 5.41981843e+00] [ 3.58978056e-02 -3.54293568e-04 9.99355403e-01 4.63955371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:5.42, Z:4.64 [[ 9.97757075e-01 -5.65208178e-02 -3.58638659e-02 1.35183097e+02] [ 5.64997908e-02 9.98401328e-01 -1.60031793e-03 5.41956554e+00] [ 3.58969826e-02 -4.29572382e-04 9.99355403e-01 4.64070238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:5.42, Z:4.64 [[ 9.97557737e-01 -5.99361967e-02 -3.58638080e-02 1.35212803e+02] [ 5.99173287e-02 9.98202058e-01 -1.60161468e-03 5.41797117e+00] [ 3.58953216e-02 -5.51160459e-04 9.99355403e-01 4.64110970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:5.42, Z:4.64 [[ 9.97516820e-01 -6.06133847e-02 -3.58637792e-02 1.35243731e+02] [ 6.05949311e-02 9.98161153e-01 -1.60225778e-03 5.41806178e+00] [ 3.58949495e-02 -5.74884144e-04 9.99355403e-01 4.64205853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:5.42, Z:4.64 [[ 9.97528162e-01 -6.04264503e-02 -3.58637792e-02 1.35274075e+02] [ 6.04078759e-02 9.98172491e-01 -1.60225778e-03 5.41707406e+00] [ 3.58950566e-02 -5.68157468e-04 9.99355403e-01 4.64326279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:5.42, Z:4.64 [[ 9.97562486e-01 -5.98571228e-02 -3.58637792e-02 1.35304660e+02] [ 5.98381807e-02 9.98206805e-01 -1.60225778e-03 5.41746789e+00] [ 3.58953750e-02 -5.47671047e-04 9.99355403e-01 4.64496008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:5.42, Z:4.65 [[ 9.97623488e-01 -5.88316677e-02 -3.58637792e-02 1.35335385e+02] [ 5.88120632e-02 9.98267787e-01 -1.60225778e-03 5.41833667e+00] [ 3.58959190e-02 -5.10772856e-04 9.99355403e-01 4.64605978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:5.42, Z:4.65 [[ 9.97684344e-01 -5.77904821e-02 -3.58637792e-02 1.35365380e+02] [ 5.77702052e-02 9.98328621e-01 -1.60225778e-03 5.41873524e+00] [ 3.58964325e-02 -4.73310385e-04 9.99355403e-01 4.64629864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:5.42, Z:4.65 [[ 9.97684343e-01 -5.77905051e-02 -3.58637505e-02 1.35396329e+02] [ 5.77702052e-02 9.98328620e-01 -1.60290000e-03 5.42011879e+00] [ 3.58964410e-02 -4.72667990e-04 9.99355403e-01 4.64741173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:5.42, Z:4.65 [[ 9.97881703e-01 -5.42761334e-02 -3.58637505e-02 1.35425827e+02] [ 5.42535644e-02 9.98525904e-01 -1.60290000e-03 5.42013970e+00] [ 3.58978831e-02 -3.46231712e-04 9.99355403e-01 4.64757093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:5.42, Z:4.65 [[ 9.98006097e-01 -5.19386720e-02 -3.58636932e-02 1.35454722e+02] [ 5.19145481e-02 9.98650242e-01 -1.60418096e-03 5.42131279e+00] [ 3.58986050e-02 -2.60865047e-04 9.99355403e-01 4.64733688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:5.42, Z:4.65 [[ 9.98250433e-01 -4.70130792e-02 -3.58586726e-02 1.35483760e+02] [ 4.69817623e-02 9.98894273e-01 -1.71593125e-03 5.42148875e+00] [ 3.58996939e-02 2.82254755e-05 9.99355398e-01 4.65034144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:5.42, Z:4.65 [[ 9.98474908e-01 -4.19724981e-02 -3.58631915e-02 1.35510850e+02] [ 4.19415334e-02 9.99118760e-01 -1.61562646e-03 5.42065767e+00] [ 3.58993993e-02 1.09005234e-04 9.99355403e-01 4.65076278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:5.42, Z:4.65 [[ 9.98549453e-01 -4.01601166e-02 -3.58629924e-02 1.35539262e+02] [ 4.01278251e-02 9.99193241e-01 -1.62003371e-03 5.42079762e+00] [ 3.58991203e-02 1.78579890e-04 9.99355403e-01 4.65121460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:5.42, Z:4.65 [[ 9.98647075e-01 -3.76549951e-02 -3.58625245e-02 1.35566962e+02] [ 3.76207190e-02 9.99290760e-01 -1.63032696e-03 5.41994351e+00] [ 3.58984793e-02 2.78947296e-04 9.99355403e-01 4.65098007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.495099893 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:135.59, Y:5.42, Z:4.65 [[ 9.98655098e-01 -3.74420673e-02 -3.58620530e-02 1.35593730e+02] [ 3.74072839e-02 9.99298756e-01 -1.64063161e-03 5.42140720e+00] [ 3.58983336e-02 2.96923118e-04 9.99355403e-01 4.64950164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:5.42, Z:4.65 [[ 9.98663234e-01 -3.72356560e-02 -3.58503900e-02 1.35622571e+02] [ 3.71916892e-02 9.99306357e-01 -1.89273323e-03 5.41959581e+00] [ 3.58959998e-02 5.56866526e-04 9.99355376e-01 4.65128761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:5.42, Z:4.65 [[ 9.98623114e-01 -3.82863815e-02 -3.58612577e-02 1.35650403e+02] [ 3.82515315e-02 9.99266767e-01 -1.65764589e-03 5.41920144e+00] [ 3.58984283e-02 2.83615471e-04 9.99355403e-01 4.65169295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:5.42, Z:4.65 [[ 9.98572151e-01 -3.95937388e-02 -3.58607760e-02 1.35677422e+02] [ 3.95593596e-02 9.99215830e-01 -1.66800056e-03 5.41887779e+00] [ 3.58986975e-02 2.46989576e-04 9.99355404e-01 4.65253989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:5.42, Z:4.65 [[ 9.98425926e-01 -4.31241288e-02 -3.58605668e-02 1.35706520e+02] [ 4.30918646e-02 9.99069714e-01 -1.67248567e-03 5.41655958e+00] [ 3.58993308e-02 1.24554365e-04 9.99355404e-01 4.65404114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:5.42, Z:4.66 [[ 9.98316014e-01 -4.55980852e-02 -3.58601528e-02 1.35734654e+02] [ 4.55670991e-02 9.98959865e-01 -1.68131730e-03 5.41636826e+00] [ 3.58995182e-02 4.44428478e-05 9.99355404e-01 4.65543955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:5.41, Z:4.66 [[ 9.98056486e-01 -5.09640533e-02 -3.58596789e-02 1.35762332e+02] [ 5.09361678e-02 9.98700479e-01 -1.69136456e-03 5.41455399e+00] [ 3.58992773e-02 -1.38477254e-04 9.99355404e-01 4.65749192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:5.41, Z:4.66 [[ 9.97531827e-01 -6.03686392e-02 -3.58591944e-02 1.35790497e+02] [ 6.03464576e-02 9.98176041e-01 -1.70157551e-03 5.41011789e+00] [ 3.58965105e-02 -4.66599628e-04 9.99355404e-01 4.65916260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:5.41, Z:4.66 [[ 9.97079234e-01 -6.74325967e-02 -3.58587075e-02 1.35819638e+02] [ 6.74146120e-02 9.97723579e-01 -1.71177500e-03 5.40717729e+00] [ 3.58925074e-02 -7.10625548e-04 9.99355404e-01 4.66042914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:5.41, Z:4.66 [[ 9.96873861e-01 -7.04037561e-02 -3.58582746e-02 1.35850364e+02] [ 7.03873674e-02 9.97518249e-01 -1.72079601e-03 5.40671999e+00] [ 3.58904338e-02 -8.08552985e-04 9.99355404e-01 4.66154085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:5.41, Z:4.66 [[ 9.96681377e-01 -7.30781569e-02 -3.58582746e-02 1.35879559e+02] [ 7.30634972e-02 9.97325806e-01 -1.72079601e-03 5.40651836e+00] [ 3.58881352e-02 -9.04845607e-04 9.99355404e-01 4.66234598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:5.41, Z:4.66 [[ 9.96435284e-01 -7.63603976e-02 -3.58582439e-02 1.35909999e+02] [ 7.63478375e-02 9.97079758e-01 -1.72143524e-03 5.40588096e+00] [ 3.58849786e-02 -1.02240056e-03 9.99355404e-01 4.66371833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:5.41, Z:4.67 [[ 9.96351050e-01 -7.74517342e-02 -3.58582439e-02 1.35941621e+02] [ 7.74398800e-02 9.96995537e-01 -1.72143524e-03 5.40668251e+00] [ 3.58838373e-02 -1.06170429e-03 9.99355404e-01 4.66532497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:5.41, Z:4.67 [[ 9.96278492e-01 -7.83795189e-02 -3.58583050e-02 1.35973353e+02] [ 7.83683107e-02 9.96922990e-01 -1.72016027e-03 5.40764817e+00] [ 3.58827940e-02 -1.09639611e-03 9.99355404e-01 4.66713080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:5.41, Z:4.67 [[ 9.96252102e-01 -7.87142092e-02 -3.58583664e-02 1.36004927e+02] [ 7.87032636e-02 9.96896605e-01 -1.71887942e-03 5.40856092e+00] [ 3.58823840e-02 -1.10973323e-03 9.99355404e-01 4.66878802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:5.41, Z:4.67 [[ 9.96234385e-01 -7.89381027e-02 -3.58584295e-02 1.36035227e+02] [ 7.89273492e-02 9.96878891e-01 -1.71756323e-03 5.40971914e+00] [ 3.58820926e-02 -1.11911524e-03 9.99355404e-01 4.66982623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:5.41, Z:4.67 [[ 9.96226447e-01 -7.90381988e-02 -3.58584607e-02 1.36066605e+02] [ 7.90275336e-02 9.96870955e-01 -1.71691051e-03 5.41087659e+00] [ 3.58819595e-02 -1.12337406e-03 9.99355404e-01 4.67092520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:5.41, Z:4.67 [[ 9.96237958e-01 -7.88929470e-02 -3.58585232e-02 1.36098339e+02] [ 7.88822347e-02 9.96882465e-01 -1.71560542e-03 5.41224330e+00] [ 3.58820822e-02 -1.11944920e-03 9.99355404e-01 4.67112312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:5.41, Z:4.67 [[ 9.96213671e-01 -7.91990134e-02 -3.58585856e-02 1.36128642e+02] [ 7.91885461e-02 9.96858182e-01 -1.71429907e-03 5.41384949e+00] [ 3.58816953e-02 -1.13178109e-03 9.99355404e-01 4.67065197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:5.42, Z:4.67 [[ 9.96115352e-01 -8.04261468e-02 -3.58586166e-02 1.36160418e+02] [ 8.04164968e-02 9.96759876e-01 -1.71365140e-03 5.41572018e+00] [ 3.58802526e-02 -1.17662986e-03 9.99355404e-01 4.67062717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:5.42, Z:4.67 [[ 9.95819160e-01 -8.40140182e-02 -3.58586771e-02 1.36191516e+02] [ 8.40067357e-02 9.96463715e-01 -1.71238318e-03 5.41809341e+00] [ 3.58757348e-02 -1.30714643e-03 9.99355404e-01 4.66983050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:5.42, Z:4.67 [[ 9.95672578e-01 -8.57337068e-02 -3.58587380e-02 1.36223636e+02] [ 8.57275832e-02 9.96317145e-01 -1.71110766e-03 5.41987583e+00] [ 3.58733751e-02 -1.37037997e-03 9.99355404e-01 4.67077865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:5.42, Z:4.67 [[ 9.95530483e-01 -8.73681897e-02 -3.58588600e-02 1.36255376e+02] [ 8.73632164e-02 9.96175060e-01 -1.70854781e-03 5.42215610e+00] [ 3.58709747e-02 -1.43183391e-03 9.99355404e-01 4.67182361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:5.42, Z:4.67 [[ 9.95372725e-01 -8.91474737e-02 -3.58589813e-02 1.36286428e+02] [ 8.91437442e-02 9.96017310e-01 -1.70599838e-03 5.42454447e+00] [ 3.58682515e-02 -1.49849960e-03 9.99355404e-01 4.67268609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:5.43, Z:4.67 [[ 9.95195763e-01 -9.11016989e-02 -3.58590716e-02 1.36318084e+02] [ 9.10993035e-02 9.95840355e-01 -1.70409748e-03 5.42721804e+00] [ 3.58651568e-02 -1.57082585e-03 9.99355404e-01 4.67426430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:5.43, Z:4.68 [[ 9.95056832e-01 -9.26067962e-02 -3.58591914e-02 1.36349893e+02] [ 9.26054665e-02 9.95701427e-01 -1.70157203e-03 5.42968394e+00] [ 3.58626252e-02 -1.62759628e-03 9.99355404e-01 4.67622773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:5.43, Z:4.68 [[ 9.94904722e-01 -9.42268690e-02 -3.58593143e-02 1.36381303e+02] [ 9.42266821e-02 9.95549319e-01 -1.69897789e-03 5.43237446e+00] [ 3.58598053e-02 -1.68858309e-03 9.99355404e-01 4.67793893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:5.44, Z:4.68 [[ 9.94686157e-01 -9.65067451e-02 -3.58594060e-02 1.36413385e+02] [ 9.65081052e-02 9.95330752e-01 -1.69704037e-03 5.43656212e+00] [ 3.58557454e-02 -1.77270076e-03 9.99355404e-01 4.68071096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:5.44, Z:4.68 [[ 9.94589829e-01 -9.74944444e-02 -3.58595302e-02 1.36445296e+02] [ 9.74965391e-02 9.95234422e-01 -1.69441357e-03 5.43937213e+00] [ 3.58538347e-02 -1.81093358e-03 9.99355404e-01 4.68237254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:5.44, Z:4.68 [[ 9.94430798e-01 -9.91033365e-02 -3.58596846e-02 1.36476094e+02] [ 9.91065917e-02 9.95075386e-01 -1.69113940e-03 5.44395030e+00] [ 3.58506870e-02 -1.87221002e-03 9.99355404e-01 4.68438686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:5.45, Z:4.69 [[ 9.94368523e-01 -9.97262052e-02 -3.58597760e-02 1.36509325e+02] [ 9.97299340e-02 9.95013109e-01 -1.68919734e-03 5.44731485e+00] [ 3.58494045e-02 -1.89660843e-03 9.99355404e-01 4.68637446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:5.45, Z:4.69 [[ 9.94293271e-01 -1.00473651e-01 -3.58599606e-02 1.36541427e+02] [ 1.00478006e-01 9.94937852e-01 -1.68526948e-03 5.45234765e+00] [ 3.58477574e-02 -1.92748523e-03 9.99355404e-01 4.68800375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:5.46, Z:4.69 [[ 9.94260624e-01 -1.00796147e-01 -3.58601131e-02 1.36574167e+02] [ 1.00800828e-01 9.94905203e-01 -1.68201969e-03 5.45549713e+00] [ 3.58469542e-02 -1.94236313e-03 9.99355404e-01 4.68945885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:5.46, Z:4.69 [[ 9.94214019e-01 -1.01254747e-01 -3.58602997e-02 1.36605718e+02] [ 1.01259868e-01 9.94858595e-01 -1.67803236e-03 5.46010273e+00] [ 3.58458361e-02 -1.96288593e-03 9.99355404e-01 4.68906501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:5.46, Z:4.69 [[ 9.94099358e-01 -1.02374295e-01 -3.58604223e-02 1.36636798e+02] [ 1.02380237e-01 9.94743927e-01 -1.67540804e-03 5.46443319e+00] [ 3.58434560e-02 -2.00587646e-03 9.99355404e-01 4.68889338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:5.47, Z:4.69 [[ 9.94110519e-01 -1.02265825e-01 -3.58605109e-02 1.36668886e+02] [ 1.02271765e-01 9.94755088e-01 -1.67350962e-03 5.46704708e+00] [ 3.58435685e-02 -2.00386421e-03 9.99355404e-01 4.68769446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:5.47, Z:4.69 [[ 9.93938386e-01 -1.03925729e-01 -3.58598372e-02 1.36700137e+02] [ 1.03932224e-01 9.94582950e-01 -1.68799254e-03 5.47119742e+00] [ 3.58410085e-02 -2.04923206e-03 9.99355404e-01 4.68981370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:5.47, Z:4.69 [[ 9.93901920e-01 -1.04273571e-01 -3.58607870e-02 1.36732318e+02] [ 1.04281026e-01 9.94546473e-01 -1.66756752e-03 5.47448691e+00] [ 3.58391025e-02 -2.08220112e-03 9.99355404e-01 4.69059950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:5.48, Z:4.69 [[ 9.94119555e-01 -1.02177813e-01 -3.58609055e-02 1.36764755e+02] [ 1.02184001e-01 9.94764122e-01 -1.66501555e-03 5.47914912e+00] [ 3.58432698e-02 -2.00918629e-03 9.99355404e-01 4.68700340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:5.48, Z:4.69 [[ 9.94121137e-01 -1.02162152e-01 -3.58616828e-02 1.36797015e+02] [ 1.02168932e-01 9.94765697e-01 -1.64825115e-03 5.48317589e+00] [ 3.58423608e-02 -2.02538853e-03 9.99355404e-01 4.69151338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:5.49, Z:4.69 [[ 9.94393892e-01 -9.94724139e-02 -3.58612010e-02 1.36827469e+02] [ 9.94770761e-02 9.95038472e-01 -1.65866799e-03 5.48966607e+00] [ 3.58482663e-02 -1.91799810e-03 9.99355404e-01 4.69259542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:5.49, Z:4.70 [[ 9.94536908e-01 -9.80321723e-02 -3.58612904e-02 1.36859621e+02] [ 9.80359706e-02 9.95181493e-01 -1.65673304e-03 5.49341737e+00] [ 3.58509057e-02 -1.86801426e-03 9.99355404e-01 4.69529210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:5.50, Z:4.70 [[ 9.94909395e-01 -9.41767181e-02 -3.58614110e-02 1.36891049e+02] [ 9.41781120e-02 9.95553990e-01 -1.65411848e-03 5.49950604e+00] [ 3.58577503e-02 -1.73166197e-03 9.99355404e-01 4.69610722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:5.50, Z:4.70 [[ 9.95111985e-01 -9.20112763e-02 -3.58617088e-02 1.36924309e+02] [ 9.20115004e-02 9.95756581e-01 -1.64763722e-03 5.50357498e+00] [ 3.58611337e-02 -1.66010609e-03 9.99355404e-01 4.69796547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:5.51, Z:4.70 [[ 9.95292841e-01 -9.00338043e-02 -3.58618843e-02 1.36957527e+02] [ 9.00328854e-02 9.95937437e-01 -1.64380687e-03 5.50773276e+00] [ 3.58641913e-02 -1.59267971e-03 9.99355404e-01 4.69949418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:5.51, Z:4.70 [[ 9.95725541e-01 -8.51149827e-02 -3.58620602e-02 1.36989111e+02] [ 8.51110171e-02 9.96370125e-01 -1.63996082e-03 5.51442205e+00] [ 3.58714707e-02 -1.41930555e-03 9.99355404e-01 4.69818362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:5.52, Z:4.70 [[ 9.95885154e-01 -8.32276427e-02 -3.58597075e-02 1.37021139e+02] [ 8.32206033e-02 9.96529714e-01 -1.69146707e-03 5.51868701e+00] [ 3.58760409e-02 -1.29975955e-03 9.99355402e-01 4.69985516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:5.52, Z:4.70 [[ 9.95988545e-01 -8.19812202e-02 -3.58594061e-02 1.37052676e+02] [ 8.19731362e-02 9.96633093e-01 -1.69808454e-03 5.52299675e+00] [ 3.58778818e-02 -1.24823522e-03 9.99355402e-01 4.70151500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:5.53, Z:4.71 [[ 9.96074263e-01 -8.09346058e-02 -3.58559997e-02 1.37085208e+02] [ 8.09231499e-02 9.96718767e-01 -1.77302554e-03 5.52632039e+00] [ 3.58818469e-02 -1.13551533e-03 9.99355394e-01 4.70526205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:5.53, Z:4.70 [[ 9.96278557e-01 -7.83766161e-02 -3.58628353e-02 1.37116552e+02] [ 7.83689396e-02 9.96923106e-01 -1.62188679e-03 5.53143394e+00] [ 3.58796072e-02 -1.19468135e-03 9.99355406e-01 4.70180680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:5.53, Z:4.71 [[ 9.96244873e-01 -7.88065989e-02 -3.58562864e-02 1.37148109e+02] [ 7.87939910e-02 9.96889355e-01 -1.76677622e-03 5.53469508e+00] [ 3.58839838e-02 -1.06511816e-03 9.99355395e-01 4.70525289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:5.54, Z:4.71 [[ 9.96179305e-01 -7.96280756e-02 -3.58630853e-02 1.37179997e+02] [ 7.96214244e-02 9.96823865e-01 -1.61589031e-03 5.54006208e+00] [ 3.58778495e-02 -1.24575344e-03 9.99355406e-01 4.70567397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:5.55, Z:4.71 [[ 9.96056631e-01 -8.11481333e-02 -3.58632004e-02 1.37210550e+02] [ 8.11425577e-02 9.96701200e-01 -1.61333257e-03 5.54567663e+00] [ 3.58758138e-02 -1.30306120e-03 9.99355406e-01 4.70665896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:5.55, Z:4.71 [[ 9.96170650e-01 -7.97361931e-02 -3.58632860e-02 1.37243395e+02] [ 7.97297723e-02 9.96815212e-01 -1.61142631e-03 5.54760901e+00] [ 3.58775580e-02 -1.25411604e-03 9.99355406e-01 4.70753843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:5.55, Z:4.71 [[ 9.96418366e-01 -7.65784032e-02 -3.58634588e-02 1.37275926e+02] [ 7.65700782e-02 9.97062906e-01 -1.60757164e-03 5.54980586e+00] [ 3.58812297e-02 -1.14425394e-03 9.99355406e-01 4.70817319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:5.55, Z:4.71 [[ 9.96539842e-01 -7.49809484e-02 -3.58636307e-02 1.37308553e+02] [ 7.49717283e-02 9.97184370e-01 -1.60372747e-03 5.55175839e+00] [ 3.58829010e-02 -1.09058006e-03 9.99355406e-01 4.70936462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:5.55, Z:4.71 [[ 9.96545215e-01 -7.49094238e-02 -3.58638033e-02 1.37341198e+02] [ 7.49002965e-02 9.97189744e-01 -1.59985895e-03 5.55315531e+00] [ 3.58828613e-02 -1.09187772e-03 9.99355406e-01 4.71053698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.37, Y:5.56, Z:4.71 [[ 9.96708063e-01 -7.27105026e-02 -3.58639178e-02 1.37372977e+02] [ 7.27000458e-02 9.97352572e-01 -1.59728823e-03 5.55515813e+00] [ 3.58851102e-02 -1.01527840e-03 9.99355406e-01 4.71136973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:5.56, Z:4.71 [[ 9.96718999e-01 -7.25603669e-02 -3.58640601e-02 1.37405417e+02] [ 7.25499281e-02 9.97363508e-01 -1.59408511e-03 5.55703454e+00] [ 3.58851722e-02 -1.01308007e-03 9.99355406e-01 4.71368071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:5.56, Z:4.72 [[ 9.96692172e-01 -7.29278775e-02 -3.58641740e-02 1.37437823e+02] [ 7.29177687e-02 9.97336686e-01 -1.59151816e-03 5.55888534e+00] [ 3.58847225e-02 -1.02888185e-03 9.99355406e-01 4.71540610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:5.56, Z:4.71 [[ 9.96695417e-01 -7.28834632e-02 -3.58642888e-02 1.37468788e+02] [ 7.28734188e-02 9.97339932e-01 -1.58892724e-03 5.56018369e+00] [ 3.58846939e-02 -1.02987684e-03 9.99355406e-01 4.71443787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:5.56, Z:4.72 [[ 9.96569763e-01 -7.45844399e-02 -3.58590212e-02 1.37500806e+02] [ 7.45712251e-02 9.97214228e-01 -1.70770316e-03 5.56114633e+00] [ 3.58864942e-02 -9.72205809e-04 9.99355399e-01 4.71691643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:5.56, Z:4.72 [[ 9.96343918e-01 -7.75405291e-02 -3.58645261e-02 1.37532681e+02] [ 7.75337103e-02 9.96988474e-01 -1.58298781e-03 5.56146665e+00] [ 3.58792649e-02 -1.20350950e-03 9.99355407e-01 4.71771208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:5.56, Z:4.72 [[ 9.96294538e-01 -7.81723785e-02 -3.58646395e-02 1.37564106e+02] [ 7.81660610e-02 9.96939100e-01 -1.58041488e-03 5.56242966e+00] [ 3.58784062e-02 -1.22883889e-03 9.99355407e-01 4.71825089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:5.56, Z:4.72 [[ 9.96192402e-01 -7.94663453e-02 -3.58580322e-02 1.37597193e+02] [ 7.94554687e-02 9.96836914e-01 -1.73049775e-03 5.56266588e+00] [ 3.58821265e-02 -1.12520805e-03 9.99355396e-01 4.71949294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:5.56, Z:4.72 [[ 9.96171845e-01 -7.97205129e-02 -3.58649467e-02 1.37629418e+02] [ 7.97154694e-02 9.96816417e-01 -1.57283925e-03 5.56275853e+00] [ 3.58761552e-02 -1.29217289e-03 9.99355408e-01 4.71988488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:5.56, Z:4.72 [[ 9.96230238e-01 -7.89874017e-02 -3.58650595e-02 1.37661013e+02] [ 7.89819766e-02 9.96874807e-01 -1.57026248e-03 5.56348690e+00] [ 3.58770052e-02 -1.26835032e-03 9.99355408e-01 4.72096795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:5.56, Z:4.72 [[ 9.96275213e-01 -7.84179710e-02 -3.58653342e-02 1.37693422e+02] [ 7.84124039e-02 9.96919781e-01 -1.56396368e-03 5.56383995e+00] [ 3.58775039e-02 -1.25414882e-03 9.99355408e-01 4.72259302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:5.56, Z:4.72 [[ 9.96265392e-01 -7.85425844e-02 -3.58654723e-02 1.37725956e+02] [ 7.85372120e-02 9.96909961e-01 -1.56078941e-03 5.56475023e+00] [ 3.58772350e-02 -1.26181373e-03 9.99355408e-01 4.72441223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:5.56, Z:4.73 [[ 9.96177545e-01 -7.96489730e-02 -3.58655818e-02 1.37757720e+02] [ 7.96444071e-02 9.96822121e-01 -1.55827054e-03 5.56486719e+00] [ 3.58757199e-02 -1.30417887e-03 9.99355408e-01 4.72623709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:5.56, Z:4.73 [[ 9.96133175e-01 -8.02019308e-02 -3.58656928e-02 1.37791266e+02] [ 8.01978147e-02 9.96777754e-01 -1.55571021e-03 5.56378985e+00] [ 3.58748957e-02 -1.32665564e-03 9.99355408e-01 4.72549551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:5.57, Z:4.73 [[ 9.95899149e-01 -8.30556741e-02 -3.58697656e-02 1.37821556e+02] [ 8.30567946e-02 9.96543744e-01 -1.46143559e-03 5.56603950e+00] [ 3.58671710e-02 -1.52378529e-03 9.99355404e-01 4.72760240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:5.57, Z:4.73 [[ 9.95809224e-01 -8.41286034e-02 -3.58659576e-02 1.37854093e+02] [ 8.41272492e-02 9.96453815e-01 -1.54957711e-03 5.56662386e+00] [ 3.58691340e-02 -1.47422117e-03 9.99355408e-01 4.72809369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:5.57, Z:4.73 [[ 9.95893489e-01 -8.31251096e-02 -3.58660655e-02 1.37888150e+02] [ 8.31231958e-02 9.96538078e-01 -1.54707498e-03 5.56546936e+00] [ 3.58705008e-02 -1.44058008e-03 9.99355408e-01 4.72810505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:5.57, Z:4.73 [[ 9.95581395e-01 -8.67808505e-02 -3.58715767e-02 1.37918729e+02] [ 8.67859196e-02 9.96225974e-01 -1.41868282e-03 5.56626033e+00] [ 3.58593110e-02 -1.70073355e-03 9.99355401e-01 4.72794548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:5.57, Z:4.73 [[ 9.95527283e-01 -8.74015863e-02 -3.58663022e-02 1.37951161e+02] [ 8.74026443e-02 9.96171874e-01 -1.54141799e-03 5.56663628e+00] [ 3.58637239e-02 -1.60028600e-03 9.99355408e-01 4.72915091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:5.57, Z:4.73 [[ 9.95504804e-01 -8.76572045e-02 -3.58664124e-02 1.37982043e+02] [ 8.76585203e-02 9.96149394e-01 -1.53885061e-03 5.56725905e+00] [ 3.58631963e-02 -1.61206347e-03 9.99355408e-01 4.72938691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:5.57, Z:4.73 [[ 9.95492739e-01 -8.77940430e-02 -3.58665996e-02 1.38015309e+02] [ 8.77956048e-02 9.96137328e-01 -1.53447475e-03 5.56782818e+00] [ 3.58627764e-02 -1.62137133e-03 9.99355408e-01 4.73106606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.05, Y:5.57, Z:4.73 [[ 9.95532661e-01 -8.73401134e-02 -3.58667618e-02 1.38048112e+02] [ 8.73415180e-02 9.96177251e-01 -1.53067331e-03 5.56918086e+00] [ 3.58633414e-02 -1.60882215e-03 9.99355408e-01 4.73357101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:5.57, Z:4.73 [[ 9.95570987e-01 -8.69020935e-02 -3.58669298e-02 1.38079182e+02] [ 8.69033563e-02 9.96215577e-01 -1.52672819e-03 5.57104508e+00] [ 3.58638700e-02 -1.59699029e-03 9.99355408e-01 4.73463790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:5.57, Z:4.74 [[ 9.95665623e-01 -8.58109834e-02 -3.58670129e-02 1.38111631e+02] [ 8.58116101e-02 9.96310214e-01 -1.52477309e-03 5.57266275e+00] [ 3.58655135e-02 -1.55964197e-03 9.99355408e-01 4.73678649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:5.58, Z:4.74 [[ 9.95884359e-01 -8.32339479e-02 -3.58671503e-02 1.38142990e+02] [ 8.32330229e-02 9.96528950e-01 -1.52153300e-03 5.57509831e+00] [ 3.58692969e-02 -1.47006043e-03 9.99355408e-01 4.73857639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:5.58, Z:4.74 [[ 9.96112532e-01 -8.04571813e-02 -3.58673301e-02 1.38175611e+02] [ 8.04546120e-02 9.96757118e-01 -1.51728377e-03 5.57689957e+00] [ 3.58730929e-02 -1.37430674e-03 9.99355408e-01 4.73946642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:5.58, Z:4.74 [[ 9.96217135e-01 -7.91513946e-02 -3.58674929e-02 1.38208340e+02] [ 7.91481191e-02 9.96861718e-01 -1.51342545e-03 5.57828466e+00] [ 3.58747203e-02 -1.33114423e-03 9.99355408e-01 4.74047976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:5.58, Z:4.74 [[ 9.96388831e-01 -7.69597806e-02 -3.58676553e-02 1.38241075e+02] [ 7.69552260e-02 9.97033407e-01 -1.50956505e-03 5.57985034e+00] [ 3.58774264e-02 -1.25608976e-03 9.99355409e-01 4.74190697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:5.58, Z:4.74 [[ 9.96517343e-01 -7.52773804e-02 -3.58678192e-02 1.38272026e+02] [ 7.52718778e-02 9.97161911e-01 -1.50566187e-03 5.58135229e+00] [ 3.58793654e-02 -1.19941994e-03 9.99355409e-01 4.74300046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:5.58, Z:4.74 [[ 9.96615613e-01 -7.39649431e-02 -3.58679001e-02 1.38304281e+02] [ 7.39586610e-02 9.97260174e-01 -1.50373267e-03 5.58254883e+00] [ 3.58808518e-02 -1.15409840e-03 9.99355409e-01 4.74432749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:5.58, Z:4.75 [[ 9.96639500e-01 -7.36423399e-02 -3.58680053e-02 1.38336639e+02] [ 7.36359395e-02 9.97284059e-01 -1.50121907e-03 5.58370344e+00] [ 3.58811432e-02 -1.14500004e-03 9.99355409e-01 4.74561717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:5.58, Z:4.75 [[ 9.96681844e-01 -7.30669602e-02 -3.58681115e-02 1.38368462e+02] [ 7.30602792e-02 9.97326401e-01 -1.49867616e-03 5.58444504e+00] [ 3.58817183e-02 -1.12683092e-03 9.99355409e-01 4.74627480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:5.59, Z:4.75 [[ 9.96716203e-01 -7.25967023e-02 -3.58682193e-02 1.38399977e+02] [ 7.25898100e-02 9.97360758e-01 -1.49609128e-03 5.58564673e+00] [ 3.58821657e-02 -1.11248881e-03 9.99355409e-01 4.74613761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:5.59, Z:4.75 [[ 9.96740611e-01 -7.22607680e-02 -3.58682995e-02 1.38432447e+02] [ 7.22537277e-02 9.97385164e-01 -1.49416834e-03 5.58674092e+00] [ 3.58824795e-02 -1.10232008e-03 9.99355409e-01 4.74783176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:5.59, Z:4.75 [[ 9.96769607e-01 -7.18596363e-02 -3.58684054e-02 1.38464528e+02] [ 7.18524281e-02 9.97414159e-01 -1.49162169e-03 5.58765711e+00] [ 3.58828427e-02 -1.09042885e-03 9.99355409e-01 4.74895128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:5.59, Z:4.75 [[ 9.96791197e-01 -7.15594794e-02 -3.58685102e-02 1.38496670e+02] [ 7.15521679e-02 9.97435747e-01 -1.48909558e-03 5.58800422e+00] [ 3.58830932e-02 -1.08215230e-03 9.99355409e-01 4.74991393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:5.59, Z:4.75 [[ 9.96794761e-01 -7.15097749e-02 -3.58686146e-02 1.38528662e+02] [ 7.15025218e-02 9.97439311e-01 -1.48657753e-03 5.58911353e+00] [ 3.58830711e-02 -1.08288370e-03 9.99355409e-01 4.75109154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:5.59, Z:4.75 [[ 9.96802715e-01 -7.13987607e-02 -3.58687186e-02 1.38561120e+02] [ 7.13915263e-02 9.97447266e-01 -1.48406259e-03 5.59031614e+00] [ 3.58831156e-02 -1.08140495e-03 9.99355409e-01 4.75228035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:5.59, Z:4.75 [[ 9.96771066e-01 -7.18391860e-02 -3.58688241e-02 1.38592267e+02] [ 7.18323282e-02 9.97415621e-01 -1.48150899e-03 5.59160482e+00] [ 3.58825559e-02 -1.09981585e-03 9.99355409e-01 4.75331104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:5.59, Z:4.75 [[ 9.96646256e-01 -7.35504001e-02 -3.58689026e-02 1.38623801e+02] [ 7.35447172e-02 9.97290823e-01 -1.47960757e-03 5.59273935e+00] [ 3.58805531e-02 -1.16332295e-03 9.99355409e-01 4.75423283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:5.59, Z:4.76 [[ 9.96484715e-01 -7.57074840e-02 -3.58690618e-02 1.38656148e+02] [ 7.57033356e-02 9.97129293e-01 -1.47573573e-03 5.59449695e+00] [ 3.58778165e-02 -1.24485953e-03 9.99355409e-01 4.75675470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:5.60, Z:4.76 [[ 9.96382210e-01 -7.70447523e-02 -3.58691690e-02 1.38687369e+02] [ 7.70415626e-02 9.97026794e-01 -1.47312786e-03 5.59572991e+00] [ 3.58760193e-02 -1.29561843e-03 9.99355409e-01 4.75783796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:5.60, Z:4.76 [[ 9.96290244e-01 -7.82249773e-02 -3.58692487e-02 1.38719436e+02] [ 7.82226211e-02 9.96934831e-01 -1.47118343e-03 5.59673114e+00] [ 3.58743867e-02 -1.34006095e-03 9.99355409e-01 4.75909668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:5.60, Z:4.76 [[ 9.96061421e-01 -8.10865862e-02 -3.58693535e-02 1.38752057e+02] [ 8.10861736e-02 9.96706013e-01 -1.46862419e-03 5.59714483e+00] [ 3.58702860e-02 -1.44566873e-03 9.99355409e-01 4.76062080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:5.60, Z:4.76 [[ 9.95930326e-01 -8.26811245e-02 -3.58694579e-02 1.38782717e+02] [ 8.26818358e-02 9.96574917e-01 -1.46606841e-03 5.59801317e+00] [ 3.58678183e-02 -1.50565064e-03 9.99355409e-01 4.76238597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:5.60, Z:4.77 [[ 9.95666406e-01 -8.58008363e-02 -3.58695361e-02 1.38815279e+02] [ 8.58036358e-02 9.96310992e-01 -1.46415404e-03 5.59911043e+00] [ 3.58628387e-02 -1.61992762e-03 9.99355409e-01 4.76526513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:5.60, Z:4.77 [[ 9.95543004e-01 -8.72209561e-02 -3.58696402e-02 1.38848102e+02] [ 8.72247670e-02 9.96187585e-01 -1.46159798e-03 5.60017150e+00] [ 3.58603722e-02 -1.67363737e-03 9.99355409e-01 4.76699765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:5.60, Z:4.77 [[ 9.95341928e-01 -8.94863335e-02 -3.58697981e-02 1.38879433e+02] [ 8.94917509e-02 9.95986497e-01 -1.45771282e-03 5.60156561e+00] [ 3.58562800e-02 -1.75912835e-03 9.99355409e-01 4.76676458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:5.60, Z:4.77 [[ 9.95295143e-01 -9.00051713e-02 -3.58698761e-02 1.38911379e+02] [ 9.00109938e-02 9.95939708e-01 -1.45579140e-03 5.60295056e+00] [ 3.58552627e-02 -1.77974108e-03 9.99355409e-01 4.76771743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:5.60, Z:4.77 [[ 9.95298251e-01 -8.99707571e-02 -3.58699790e-02 1.38943178e+02] [ 8.99766487e-02 9.95942815e-01 -1.45325258e-03 5.60436172e+00] [ 3.58551981e-02 -1.78104074e-03 9.99355409e-01 4.76894455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:5.61, Z:4.77 [[ 9.95382977e-01 -8.90284600e-02 -3.58700847e-02 1.38974430e+02] [ 8.90338353e-02 9.96027546e-01 -1.45063851e-03 5.60579012e+00] [ 3.58567405e-02 -1.74971034e-03 9.99355409e-01 4.76903462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:5.61, Z:4.77 [[ 9.95466111e-01 -8.80940077e-02 -3.58701633e-02 1.39006682e+02] [ 8.80988478e-02 9.96110684e-01 -1.44869321e-03 5.60763628e+00] [ 3.58582740e-02 -1.71799506e-03 9.99355409e-01 4.77037955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:5.61, Z:4.77 [[ 9.95404306e-01 -8.87895777e-02 -3.58702920e-02 1.39036795e+02] [ 8.87949831e-02 9.96048875e-01 -1.44549824e-03 5.61107492e+00] [ 3.58569092e-02 -1.74624680e-03 9.99355409e-01 4.77187418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:5.61, Z:4.77 [[ 9.95503174e-01 -8.76769782e-02 -3.58633346e-02 1.39068997e+02] [ 8.76754482e-02 9.96147779e-01 -1.61836983e-03 5.61445692e+00] [ 3.58670748e-02 -1.53324162e-03 9.99355393e-01 4.77447484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:5.61, Z:4.78 [[ 9.95762274e-01 -8.46849150e-02 -3.58602669e-02 1.39102861e+02] [ 8.46786955e-02 9.96406868e-01 -1.69492558e-03 5.61394456e+00] [ 3.58749508e-02 -1.34885767e-03 9.99355376e-01 4.77719992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:5.62, Z:4.78 [[ 9.95759347e-01 -8.47147433e-02 -3.58711041e-02 1.39132387e+02] [ 8.47183737e-02 9.96403922e-01 -1.42148250e-03 5.61900703e+00] [ 3.58625293e-02 -1.62348711e-03 9.99355414e-01 4.77877075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:5.62, Z:4.78 [[ 9.95789099e-01 -8.43690005e-02 -3.58600298e-02 1.39163707e+02] [ 8.43623632e-02 9.96433690e-01 -1.70085907e-03 5.62134146e+00] [ 3.58756416e-02 -1.33153993e-03 9.99355375e-01 4.77946786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:5.62, Z:4.78 [[ 9.96066726e-01 -8.10263678e-02 -3.58581291e-02 1.39197980e+02] [ 8.10158517e-02 9.96711279e-01 -1.74857413e-03 5.61966024e+00] [ 3.58818823e-02 -1.16338036e-03 9.99355361e-01 4.78211915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:5.62, Z:4.78 [[ 9.96167607e-01 -7.97705681e-02 -3.58713690e-02 1.39229737e+02] [ 7.97713266e-02 9.96812189e-01 -1.41235510e-03 5.62077819e+00] [ 3.58696822e-02 -1.45456429e-03 9.99355417e-01 4.78209655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:5.62, Z:4.78 [[ 9.96238159e-01 -7.88845209e-02 -3.58714698e-02 1.39260746e+02] [ 7.88847983e-02 9.96882742e-01 -1.40978979e-03 5.62205580e+00] [ 3.58708598e-02 -1.42522728e-03 9.99355417e-01 4.78233231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:5.62, Z:4.78 [[ 9.96221604e-01 -7.90932815e-02 -3.58715449e-02 1.39293009e+02] [ 7.90937627e-02 9.96866187e-01 -1.40787691e-03 5.62324397e+00] [ 3.58704838e-02 -1.43465807e-03 9.99355417e-01 4.78387843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:5.62, Z:4.79 [[ 9.96203891e-01 -7.93160249e-02 -3.58716454e-02 1.39326471e+02] [ 7.93167425e-02 9.96848474e-01 -1.40531158e-03 5.62411992e+00] [ 3.58700587e-02 -1.44524520e-03 9.99355417e-01 4.78518017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:5.62, Z:4.79 [[ 9.96152243e-01 -7.99620077e-02 -3.58717965e-02 1.39359419e+02] [ 7.99632823e-02 9.96796825e-01 -1.40144337e-03 5.62486311e+00] [ 3.58689551e-02 -1.47237563e-03 9.99355417e-01 4.78663779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:5.63, Z:4.79 [[ 9.96161007e-01 -7.98526857e-02 -3.58719493e-02 1.39392920e+02] [ 7.98540306e-02 9.96805588e-01 -1.39752013e-03 5.62608112e+00] [ 3.58689553e-02 -1.47236468e-03 9.99355417e-01 4.78784060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.125099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.42, Y:5.63, Z:4.79 [[ 9.95920381e-01 -8.27996745e-02 -3.58721022e-02 1.39422554e+02] [ 8.28030680e-02 9.96564955e-01 -1.39358592e-03 5.62832155e+00] [ 3.58642684e-02 -1.58241950e-03 9.99355417e-01 4.78707114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.155099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.46, Y:5.63, Z:4.79 [[ 9.95943827e-01 -8.25231207e-02 -3.58584512e-02 1.39455281e+02] [ 8.25137415e-02 9.96588401e-01 -1.74389850e-03 5.62953354e+00] [ 3.58800285e-02 -1.22199002e-03 9.99355357e-01 4.78837446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:5.63, Z:4.79 [[ 9.95992171e-01 -8.19374282e-02 -3.58587816e-02 1.39490073e+02] [ 8.19279771e-02 9.96636742e-01 -1.73535410e-03 5.62696345e+00] [ 3.58803697e-02 -1.20943834e-03 9.99355360e-01 4.79190031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:5.63, Z:4.79 [[ 9.96018041e-01 -8.16162644e-02 -3.58726456e-02 1.39522393e+02] [ 8.16196225e-02 9.96662607e-01 -1.37325466e-03 5.62783562e+00] [ 3.58650044e-02 -1.56012537e-03 9.99355426e-01 4.79258432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:5.63, Z:4.79 [[ 9.96097448e-01 -8.06412376e-02 -3.58728906e-02 1.39555813e+02] [ 8.06441959e-02 9.96742016e-01 -1.36682476e-03 5.62963812e+00] [ 3.58662397e-02 -1.53144976e-03 9.99355426e-01 4.79480023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:5.63, Z:4.80 [[ 9.96128654e-01 -8.02547848e-02 -3.58730390e-02 1.39586638e+02] [ 8.02576334e-02 9.96773221e-01 -1.36291937e-03 5.63110926e+00] [ 3.58666654e-02 -1.52144218e-03 9.99355426e-01 4.79662337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:5.63, Z:4.80 [[ 9.96129872e-01 -8.02396295e-02 -3.58731122e-02 1.39619153e+02] [ 8.02425377e-02 9.96774439e-01 -1.36098805e-03 5.63255321e+00] [ 3.58666065e-02 -1.52282871e-03 9.99355426e-01 4.79814879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:5.63, Z:4.80 [[ 9.96092104e-01 -8.07070661e-02 -3.58732588e-02 1.39651540e+02] [ 8.07104161e-02 9.96736669e-01 -1.35711320e-03 5.63319689e+00] [ 3.58657211e-02 -1.54353591e-03 9.99355426e-01 4.79960465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:5.63, Z:4.80 [[ 9.96045889e-01 -8.12753870e-02 -3.58733800e-02 1.39684308e+02] [ 8.12792201e-02 9.96690451e-01 -1.35390219e-03 5.63403026e+00] [ 3.58646942e-02 -1.56721164e-03 9.99355426e-01 4.80111305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:5.64, Z:4.80 [[ 9.95988349e-01 -8.19774256e-02 -3.58735233e-02 1.39716850e+02] [ 8.19818500e-02 9.96632908e-01 -1.35009489e-03 5.63506593e+00] [ 3.58634112e-02 -1.59629902e-03 9.99355426e-01 4.80247508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:5.64, Z:4.80 [[ 9.95962555e-01 -8.22901571e-02 -3.58736656e-02 1.39749251e+02] [ 8.22949201e-02 9.96607111e-01 -1.34630294e-03 5.63553914e+00] [ 3.58627377e-02 -1.61135313e-03 9.99355426e-01 4.80346998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:5.64, Z:4.81 [[ 9.95972808e-01 -8.21659265e-02 -3.58737596e-02 1.39782522e+02] [ 8.21706993e-02 9.96617364e-01 -1.34379435e-03 5.63608025e+00] [ 3.58628258e-02 -1.60938928e-03 9.99355426e-01 4.80528194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:5.64, Z:4.81 [[ 9.96023778e-01 -8.15456697e-02 -3.58739047e-02 1.39813733e+02] [ 8.15501808e-02 9.96668336e-01 -1.33990875e-03 5.63597233e+00] [ 3.58636487e-02 -1.59094244e-03 9.99355426e-01 4.80663021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:5.64, Z:4.81 [[ 9.96002778e-01 -8.18025253e-02 -3.58721849e-02 1.39846051e+02] [ 8.18055520e-02 9.96647345e-01 -1.38582753e-03 5.63654629e+00] [ 3.58652821e-02 -1.55425582e-03 9.99355425e-01 4.80551684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:5.64, Z:4.81 [[ 9.95988124e-01 -8.19800450e-02 -3.58737991e-02 1.39877659e+02] [ 8.19847426e-02 9.96632680e-01 -1.34254257e-03 5.63652408e+00] [ 3.58630623e-02 -1.60394773e-03 9.99355426e-01 4.80847360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:5.64, Z:4.81 [[ 9.95984082e-01 -8.20289788e-02 -3.58741511e-02 1.39909598e+02] [ 8.20340484e-02 9.96628636e-01 -1.33307122e-03 5.63732462e+00] [ 3.58625567e-02 -1.61518413e-03 9.99355426e-01 4.81028355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:5.64, Z:4.81 [[ 9.96014819e-01 -8.16548805e-02 -3.58742444e-02 1.39941251e+02] [ 8.16597985e-02 9.96659374e-01 -1.33055485e-03 5.63844549e+00] [ 3.58630483e-02 -1.60423122e-03 9.99355426e-01 4.81150289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:5.64, Z:4.81 [[ 9.96055169e-01 -8.11611215e-02 -3.58744008e-02 1.39973384e+02] [ 8.11658720e-02 9.96699725e-01 -1.32632421e-03 5.63926844e+00] [ 3.58636514e-02 -1.59068495e-03 9.99355426e-01 4.81363439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:5.64, Z:4.82 [[ 9.96026794e-01 -8.15085634e-02 -3.58744937e-02 1.40005941e+02] [ 8.15136292e-02 9.96671348e-01 -1.32380678e-03 5.64011655e+00] [ 3.58629816e-02 -1.60571315e-03 9.99355426e-01 4.81514345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:5.64, Z:4.82 [[ 9.95998783e-01 -8.18500779e-02 -3.58746350e-02 1.40038104e+02] [ 8.18555028e-02 9.96643334e-01 -1.31996667e-03 5.64007126e+00] [ 3.58622552e-02 -1.62185109e-03 9.99355426e-01 4.81534974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:5.64, Z:4.82 [[ 9.95981916e-01 -8.20550214e-02 -3.58747283e-02 1.40071216e+02] [ 8.20606702e-02 9.96626465e-01 -1.31742778e-03 5.64035593e+00] [ 3.58618052e-02 -1.63176999e-03 9.99355426e-01 4.81602407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:5.64, Z:4.82 [[ 9.95942250e-01 -8.25350075e-02 -3.58748705e-02 1.40102014e+02] [ 8.25411066e-02 9.96586795e-01 -1.31354207e-03 5.64063090e+00] [ 3.58608354e-02 -1.65293947e-03 9.99355426e-01 4.81641669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:5.64, Z:4.82 [[ 9.95950575e-01 -8.24344257e-02 -3.58750378e-02 1.40135495e+02] [ 8.24406245e-02 9.96595118e-01 -1.30895848e-03 5.64161975e+00] [ 3.58607907e-02 -1.65390257e-03 9.99355426e-01 4.81787800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:5.64, Z:4.82 [[ 9.96004907e-01 -8.17752805e-02 -3.58751758e-02 1.40167150e+02] [ 8.17811891e-02 9.96649454e-01 -1.30516325e-03 5.64250727e+00] [ 3.58617045e-02 -1.63396554e-03 9.99355426e-01 4.81905660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:5.64, Z:4.82 [[ 9.96213096e-01 -7.91986954e-02 -3.58752666e-02 1.40199115e+02] [ 7.92030265e-02 9.96857655e-01 -1.30266483e-03 5.64295721e+00] [ 3.58657034e-02 -1.54369793e-03 9.99355426e-01 4.81978879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:5.64, Z:4.82 [[ 9.96351533e-01 -7.74375998e-02 -3.58753592e-02 1.40231599e+02] [ 7.74408835e-02 9.96996098e-01 -1.30010970e-03 5.64367640e+00] [ 3.58682705e-02 -1.48285322e-03 9.99355426e-01 4.82032071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:5.64, Z:4.82 [[ 9.96502421e-01 -7.54710295e-02 -3.58754743e-02 1.40262655e+02] [ 7.54731554e-02 9.97146991e-01 -1.29692594e-03 5.64477620e+00] [ 3.58710015e-02 -1.41524541e-03 9.99355426e-01 4.82110244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:5.65, Z:4.82 [[ 9.96747636e-01 -7.21601602e-02 -3.58756273e-02 1.40295090e+02] [ 7.21602975e-02 9.97392210e-01 -1.29267761e-03 5.64600640e+00] [ 3.58753510e-02 -1.30032259e-03 9.99355426e-01 4.82381378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:5.65, Z:4.82 [[ 9.96876087e-01 -7.03633387e-02 -3.58757206e-02 1.40326660e+02] [ 7.03624074e-02 9.97520660e-01 -1.29008367e-03 5.64692171e+00] [ 3.58775471e-02 -1.23824851e-03 9.99355426e-01 4.82483943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:5.65, Z:4.83 [[ 9.97146393e-01 -6.64228804e-02 -3.58757899e-02 1.40358690e+02] [ 6.64194710e-02 9.97790957e-01 -1.28815242e-03 5.64780422e+00] [ 3.58821016e-02 -1.09837445e-03 9.99355426e-01 4.82642643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:5.65, Z:4.83 [[ 9.97285303e-01 -6.43035410e-02 -3.58758841e-02 1.40389669e+02] [ 6.42988562e-02 9.97929860e-01 -1.28552443e-03 5.64886600e+00] [ 3.58842798e-02 -1.02474370e-03 9.99355426e-01 4.82707731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:5.65, Z:4.83 [[ 9.97536716e-01 -6.02778252e-02 -3.58759541e-02 1.40421080e+02] [ 6.02706092e-02 9.98181249e-01 -1.28356718e-03 5.65034901e+00] [ 3.58880754e-02 -8.81860222e-04 9.99355426e-01 4.82819317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:5.65, Z:4.83 [[ 9.97732393e-01 -5.69471462e-02 -3.58761052e-02 1.40452324e+02] [ 5.69379307e-02 9.98376900e-01 -1.27933073e-03 5.65183080e+00] [ 3.58907290e-02 -7.66281486e-04 9.99355426e-01 4.82941886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:5.65, Z:4.83 [[ 9.97803391e-01 -5.56892689e-02 -3.58761509e-02 1.40483076e+02] [ 5.56792871e-02 9.98447887e-01 -1.27804749e-03 5.65304388e+00] [ 3.58916406e-02 -7.22318387e-04 9.99355426e-01 4.82991894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:5.65, Z:4.83 [[ 9.97852559e-01 -5.48011851e-02 -3.58761736e-02 1.40513596e+02] [ 5.47906526e-02 9.98497047e-01 -1.27741125e-03 5.65410024e+00] [ 3.58922570e-02 -6.91010880e-04 9.99355426e-01 4.83106194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:5.65, Z:4.83 [[ 9.97905249e-01 -5.38332096e-02 -3.58761736e-02 1.40542757e+02] [ 5.38220519e-02 9.98549726e-01 -1.27741125e-03 5.65452542e+00] [ 3.58929104e-02 -6.56193887e-04 9.99355426e-01 4.83144444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:5.66, Z:4.83 [[ 9.97898880e-01 -5.39511599e-02 -3.58761507e-02 1.40572916e+02] [ 5.39400553e-02 9.98543358e-01 -1.27805255e-03 5.65508004e+00] [ 3.58928444e-02 -6.59794351e-04 9.99355426e-01 4.83299099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:5.66, Z:4.83 [[ 9.97898880e-01 -5.39511599e-02 -3.58761507e-02 1.40603876e+02] [ 5.39400553e-02 9.98543358e-01 -1.27805255e-03 5.65618296e+00] [ 3.58928444e-02 -6.59794351e-04 9.99355426e-01 4.83410384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:5.66, Z:4.84 [[ 9.97865815e-01 -5.45592933e-02 -3.58761507e-02 1.40634679e+02] [ 5.45485814e-02 9.98510300e-01 -1.27805255e-03 5.65698292e+00] [ 3.58924357e-02 -6.81668184e-04 9.99355426e-01 4.83560670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:5.66, Z:4.84 [[ 9.97818344e-01 -5.54207003e-02 -3.58761507e-02 1.40665491e+02] [ 5.54105448e-02 9.98462838e-01 -1.27805255e-03 5.65769815e+00] [ 3.58918338e-02 -7.12652782e-04 9.99355426e-01 4.83647468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:5.66, Z:4.84 [[ 9.97676108e-01 -5.79248165e-02 -3.58761507e-02 1.40695143e+02] [ 5.79162786e-02 9.98320625e-01 -1.27805255e-03 5.65740511e+00] [ 3.58899322e-02 -8.02730650e-04 9.99355426e-01 4.83744317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:5.66, Z:4.84 [[ 9.97595280e-01 -5.93005901e-02 -3.58761281e-02 1.40725714e+02] [ 5.92929182e-02 9.98239808e-01 -1.27868864e-03 5.65783876e+00] [ 3.58888062e-02 -8.51586578e-04 9.99355426e-01 4.83830183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:5.66, Z:4.84 [[ 9.97500341e-01 -6.08766582e-02 -3.58762054e-02 1.40756829e+02] [ 6.08700827e-02 9.98144881e-01 -1.27651476e-03 5.65814901e+00] [ 3.58873607e-02 -9.10463682e-04 9.99355426e-01 4.83967866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:5.66, Z:4.84 [[ 9.97396455e-01 -6.25556237e-02 -3.58762505e-02 1.40787548e+02] [ 6.25501787e-02 9.98041006e-01 -1.27524710e-03 5.65837591e+00] [ 3.58857430e-02 -9.72138941e-04 9.99355426e-01 4.84060103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:5.66, Z:4.84 [[ 9.97288192e-01 -6.42584968e-02 -3.58762728e-02 1.40819179e+02] [ 6.42541749e-02 9.97932751e-01 -1.27461825e-03 5.65872281e+00] [ 3.58840127e-02 -1.03403857e-03 9.99355426e-01 4.84195423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:5.66, Z:4.84 [[ 9.97054111e-01 -6.77937354e-02 -3.58763175e-02 1.40849559e+02] [ 6.77917439e-02 9.97698681e-01 -1.27335792e-03 5.65832387e+00] [ 3.58800804e-02 -1.16251139e-03 9.99355426e-01 4.84043605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:5.66, Z:4.84 [[ 9.96681479e-01 -7.30710337e-02 -3.58699402e-02 1.40881837e+02] [ 7.30660229e-02 9.97326049e-01 -1.45228994e-03 5.65745299e+00] [ 3.58801460e-02 -1.17340339e-03 9.99355411e-01 4.84400663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:5.66, Z:4.84 [[ 9.96491719e-01 -7.56117408e-02 -3.58764297e-02 1.40913484e+02] [ 7.56149683e-02 9.97136283e-01 -1.26881211e-03 5.65746600e+00] [ 3.58696269e-02 -1.44843434e-03 9.99355428e-01 4.84480171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:5.66, Z:4.85 [[ 9.96284599e-01 -7.82934790e-02 -3.58765735e-02 1.40946061e+02] [ 7.82985879e-02 9.96929151e-01 -1.26473410e-03 5.65754284e+00] [ 3.58654224e-02 -1.54904994e-03 9.99355428e-01 4.84588309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:5.66, Z:4.85 [[ 9.96088796e-01 -8.07463630e-02 -3.58766630e-02 1.40977679e+02] [ 8.07531504e-02 9.96733332e-01 -1.26218926e-03 5.65742366e+00] [ 3.58613831e-02 -1.63990099e-03 9.99355428e-01 4.84687576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:5.66, Z:4.85 [[ 9.95634246e-01 -8.61702275e-02 -3.58767295e-02 1.41010281e+02] [ 8.61805931e-02 9.96278735e-01 -1.26029587e-03 5.65672763e+00] [ 3.58518227e-02 -1.83708411e-03 9.99355428e-01 4.84862260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:5.66, Z:4.85 [[ 9.95301306e-01 -8.99342232e-02 -3.58768193e-02 1.41042957e+02] [ 8.99471177e-02 9.95945749e-01 -1.25773474e-03 5.65657930e+00] [ 3.58444791e-02 -1.97519146e-03 9.99355428e-01 4.84945736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:5.66, Z:4.85 [[ 9.95144713e-01 -9.16506626e-02 -3.58769578e-02 1.41074637e+02] [ 9.16648109e-02 9.95789130e-01 -1.25377235e-03 5.65649582e+00] [ 3.58407936e-02 -2.04096963e-03 9.99355428e-01 4.84859978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:5.66, Z:4.85 [[ 9.95122908e-01 -9.18870849e-02 -3.58770263e-02 1.41107680e+02] [ 9.19014569e-02 9.95767320e-01 -1.25180959e-03 5.65744619e+00] [ 3.58401954e-02 -2.05144658e-03 9.99355428e-01 4.84994341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:5.66, Z:4.85 [[ 9.95126988e-01 -9.18428379e-02 -3.58771600e-02 1.41140601e+02] [ 9.18573194e-02 9.95771397e-01 -1.24796397e-03 5.65909771e+00] [ 3.58400663e-02 -2.05369712e-03 9.99355428e-01 4.85260901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:5.66, Z:4.85 [[ 9.95313533e-01 -8.97986146e-02 -3.58772947e-02 1.41174023e+02] [ 8.98119121e-02 9.95957967e-01 -1.24407918e-03 5.66124023e+00] [ 3.58439941e-02 -1.98395960e-03 9.99355428e-01 4.85413304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:5.66, Z:4.85 [[ 9.95436394e-01 -8.84262199e-02 -3.58774302e-02 1.41207321e+02] [ 8.84387697e-02 9.96080843e-01 -1.24016033e-03 5.66271008e+00] [ 3.58464836e-02 -1.93845506e-03 9.99355428e-01 4.85489571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:5.66, Z:4.86 [[ 9.95547193e-01 -8.71698775e-02 -3.58775640e-02 1.41240272e+02] [ 8.71817535e-02 9.96191655e-01 -1.23627759e-03 5.66450546e+00] [ 3.58486960e-02 -1.89709625e-03 9.99355428e-01 4.85576483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:5.67, Z:4.86 [[ 9.95696514e-01 -8.54473064e-02 -3.58776971e-02 1.41272190e+02] [ 8.54582065e-02 9.96340994e-01 -1.23240388e-03 5.66607657e+00] [ 3.58517259e-02 -1.83894339e-03 9.99355428e-01 4.85601608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:5.67, Z:4.86 [[ 9.95892349e-01 -8.31336965e-02 -3.58778069e-02 1.41303662e+02] [ 8.31432144e-02 9.96536851e-01 -1.22919820e-03 5.66861961e+00] [ 3.58557445e-02 -1.75884711e-03 9.99355428e-01 4.85677181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:5.67, Z:4.86 [[ 9.96000829e-01 -8.18237238e-02 -3.58779481e-02 1.41336268e+02] [ 8.18325427e-02 9.96645340e-01 -1.22506175e-03 5.67065655e+00] [ 3.58578289e-02 -1.71582120e-03 9.99355428e-01 4.85826988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:5.67, Z:4.86 [[ 9.96221384e-01 -7.90931174e-02 -3.58780366e-02 1.41368474e+02] [ 7.91002628e-02 9.96865916e-01 -1.22246544e-03 5.67391489e+00] [ 3.58622804e-02 -1.62011591e-03 9.99355428e-01 4.85881452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:5.67, Z:4.86 [[ 9.96226931e-01 -7.90231672e-02 -3.58781464e-02 1.41401131e+02] [ 7.90303835e-02 9.96871462e-01 -1.21923327e-03 5.67496259e+00] [ 3.58622480e-02 -1.62083065e-03 9.99355428e-01 4.85998712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:5.68, Z:4.86 [[ 9.96319098e-01 -7.78524737e-02 -3.58782318e-02 1.41433591e+02] [ 7.78590231e-02 9.96963636e-01 -1.21671662e-03 5.67712739e+00] [ 3.58640168e-02 -1.58120607e-03 9.99355428e-01 4.86105792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:5.68, Z:4.86 [[ 9.96409657e-01 -7.66846894e-02 -3.58783168e-02 1.41465386e+02] [ 7.66905737e-02 9.97054202e-01 -1.21420436e-03 5.67932095e+00] [ 3.58657374e-02 -1.54168375e-03 9.99355428e-01 4.86204739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:5.68, Z:4.86 [[ 9.96518590e-01 -7.52558288e-02 -3.58784019e-02 1.41497214e+02] [ 7.52608794e-02 9.97163142e-01 -1.21168459e-03 5.68290296e+00] [ 3.58678063e-02 -1.49277386e-03 9.99355428e-01 4.86289813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:5.69, Z:4.86 [[ 9.96552165e-01 -7.48098726e-02 -3.58784877e-02 1.41528495e+02] [ 7.48147263e-02 9.97196718e-01 -1.20913750e-03 5.68518003e+00] [ 3.58683656e-02 -1.47927064e-03 9.99355428e-01 4.86377394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:5.69, Z:4.86 [[ 9.96586575e-01 -7.43499942e-02 -3.58786315e-02 1.41560538e+02] [ 7.43547043e-02 9.97231130e-01 -1.20485600e-03 5.68823913e+00] [ 3.58688693e-02 -1.46700172e-03 9.99355428e-01 4.86458879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:5.69, Z:4.87 [[ 9.96728344e-01 -7.24246223e-02 -3.58787156e-02 1.41594457e+02] [ 7.24281775e-02 9.97372906e-01 -1.20234630e-03 5.68840557e+00] [ 3.58715383e-02 -1.40021734e-03 9.99355428e-01 4.86612697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:5.69, Z:4.87 [[ 9.96576978e-01 -7.44762538e-02 -3.58833552e-02 1.41624438e+02] [ 7.44861349e-02 9.97221483e-01 -1.06325202e-03 5.69203786e+00] [ 3.58628397e-02 -1.61319995e-03 9.99355419e-01 4.86723979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:5.70, Z:4.87 [[ 9.96596379e-01 -7.42183452e-02 -3.58788879e-02 1.41655971e+02] [ 7.42232473e-02 9.97240932e-01 -1.19714709e-03 5.69561475e+00] [ 3.58687459e-02 -1.46997512e-03 9.99355428e-01 4.86850788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:5.70, Z:4.87 [[ 9.96624123e-01 -7.38448299e-02 -3.58789533e-02 1.41687536e+02] [ 7.38495609e-02 9.97268677e-01 -1.19518423e-03 5.69800495e+00] [ 3.58692145e-02 -1.45849552e-03 9.99355428e-01 4.86977036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:5.70, Z:4.87 [[ 9.96682168e-01 -7.30571903e-02 -3.58790160e-02 1.41719955e+02] [ 7.30614797e-02 9.97326725e-01 -1.19330006e-03 5.70200375e+00] [ 3.58702807e-02 -1.43203310e-03 9.99355428e-01 4.87288511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:5.70, Z:4.87 [[ 9.96675603e-01 -7.31466510e-02 -3.58791015e-02 1.41750707e+02] [ 7.31510909e-02 9.97320159e-01 -1.19072257e-03 5.70409160e+00] [ 3.58700486e-02 -1.43783128e-03 9.99355428e-01 4.87477736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:5.71, Z:4.88 [[ 9.96725643e-01 -7.24615294e-02 -3.58792334e-02 1.41782805e+02] [ 7.24656695e-02 9.97370201e-01 -1.18673478e-03 5.70683267e+00] [ 3.58708709e-02 -1.41716368e-03 9.99355428e-01 4.87630013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:5.71, Z:4.88 [[ 9.96774164e-01 -7.17909568e-02 -3.58793186e-02 1.41813751e+02] [ 7.17947561e-02 9.97418724e-01 -1.18415264e-03 5.70972534e+00] [ 3.58717157e-02 -1.39561417e-03 9.99355428e-01 4.87707788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:5.71, Z:4.88 [[ 9.96822513e-01 -7.11164393e-02 -3.58793819e-02 1.41844524e+02] [ 7.11198714e-02 9.97467075e-01 -1.18223173e-03 5.71176795e+00] [ 3.58725783e-02 -1.37326182e-03 9.99355428e-01 4.87742297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:5.71, Z:4.88 [[ 9.96949187e-01 -6.93179855e-02 -3.58794440e-02 1.41875404e+02] [ 6.93203225e-02 9.97593755e-01 -1.18034580e-03 5.71449114e+00] [ 3.58749284e-02 -1.31042984e-03 9.99355428e-01 4.87619793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:5.72, Z:4.88 [[ 9.97058942e-01 -6.77232688e-02 -3.58751375e-02 1.41907648e+02] [ 6.77198722e-02 9.97703513e-01 -1.31118730e-03 5.71676072e+00] [ 3.58815486e-02 -1.12212871e-03 9.99355420e-01 4.87861859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:5.72, Z:4.88 [[ 9.97267730e-01 -6.45734256e-02 -3.58796170e-02 1.41938604e+02] [ 6.45729116e-02 9.97912301e-01 -1.17433528e-03 5.71991019e+00] [ 3.58805420e-02 -1.14572466e-03 9.99355429e-01 4.87771788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:5.72, Z:4.88 [[ 9.97476699e-01 -6.12637673e-02 -3.58745813e-02 1.41970410e+02] [ 6.12555783e-02 9.98121230e-01 -1.32837029e-03 5.72221246e+00] [ 3.58885621e-02 -8.72499810e-04 9.99355417e-01 4.88183809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:5.72, Z:4.88 [[ 9.97774910e-01 -5.61949170e-02 -3.58797993e-02 1.42001459e+02] [ 5.61892130e-02 9.98419455e-01 -1.16810659e-03 5.72466794e+00] [ 3.58887313e-02 -8.50550237e-04 9.99355430e-01 4.88074394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:5.73, Z:4.88 [[ 9.97886730e-01 -5.41747471e-02 -3.58771559e-02 1.42033036e+02] [ 5.41648102e-02 9.98531227e-01 -1.24957981e-03 5.72661516e+00] [ 3.58921562e-02 -6.96340232e-04 9.99355426e-01 4.88238263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:5.73, Z:4.89 [[ 9.97959794e-01 -5.28124562e-02 -3.58760835e-02 1.42063218e+02] [ 5.28004546e-02 9.98604259e-01 -1.28255165e-03 5.72835776e+00] [ 3.58937445e-02 -6.14338535e-04 9.99355423e-01 4.88592643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:5.73, Z:4.89 [[ 9.97959883e-01 -5.28081200e-02 -3.58799958e-02 1.42094185e+02] [ 5.28004576e-02 9.98604407e-01 -1.16173064e-03 5.72930085e+00] [ 3.58912707e-02 -7.35119626e-04 9.99355430e-01 4.88699415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:5.73, Z:4.89 [[ 9.98057544e-01 -5.09290149e-02 -3.58799958e-02 1.42124803e+02] [ 5.09201389e-02 9.98702053e-01 -1.16173064e-03 5.73090867e+00] [ 3.58925912e-02 -6.67540343e-04 9.99355430e-01 4.88809877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:5.73, Z:4.89 [[ 9.98149682e-01 -4.90900958e-02 -3.58799958e-02 1.42155218e+02] [ 4.90800324e-02 9.98794173e-01 -1.16173064e-03 5.73239423e+00] [ 3.58937602e-02 -6.01410291e-04 9.99355430e-01 4.88894920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:5.73, Z:4.89 [[ 9.98302603e-01 -4.58752555e-02 -3.58799958e-02 1.42184945e+02] [ 4.58631165e-02 9.98947058e-01 -1.16173064e-03 5.73451971e+00] [ 3.58955109e-02 -4.85809709e-04 9.99355430e-01 4.88945716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:5.74, Z:4.89 [[ 9.98355217e-01 -4.47156405e-02 -3.58799752e-02 1.42214237e+02] [ 4.47027301e-02 9.98999657e-01 -1.16236653e-03 5.73608014e+00] [ 3.58960588e-02 -4.43478160e-04 9.99355430e-01 4.89060528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:5.74, Z:4.89 [[ 9.98400791e-01 -4.36862731e-02 -3.58799344e-02 1.42242572e+02] [ 4.36726531e-02 9.99045217e-01 -1.16362406e-03 5.73687507e+00] [ 3.58965112e-02 -4.05208745e-04 9.99355430e-01 4.89122615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:5.74, Z:4.89 [[ 9.98489239e-01 -4.16159865e-02 -3.58796412e-02 1.42270100e+02] [ 4.16007080e-02 9.99133628e-01 -1.17259502e-03 5.73659218e+00] [ 3.58973548e-02 -3.21794964e-04 9.99355430e-01 4.89083141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:5.74, Z:4.89 [[ 9.98522148e-01 -4.08188425e-02 -3.58795372e-02 1.42297734e+02] [ 4.08029355e-02 9.99166522e-01 -1.17576728e-03 5.73705374e+00] [ 3.58976259e-02 -2.89960777e-04 9.99355430e-01 4.89139043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:5.74, Z:4.89 [[ 9.98547660e-01 -4.01900098e-02 -3.58794343e-02 1.42325576e+02] [ 4.01735846e-02 9.99192020e-01 -1.17889984e-03 5.73720646e+00] [ 3.58978244e-02 -2.64217809e-04 9.99355430e-01 4.89310660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:5.74, Z:4.89 [[ 9.98557969e-01 -3.99333489e-02 -3.58790938e-02 1.42352428e+02] [ 3.99163889e-02 9.99202316e-01 -1.18917229e-03 5.73782230e+00] [ 3.58979613e-02 -2.44706396e-04 9.99355431e-01 4.89427603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:5.74, Z:4.90 [[ 9.98549292e-01 -4.01498902e-02 -3.58789460e-02 1.42380627e+02] [ 4.01329102e-02 9.99193637e-01 -1.19361770e-03 5.73809280e+00] [ 3.58979381e-02 -2.48040411e-04 9.99355431e-01 4.89758379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:5.74, Z:4.90 [[ 9.98542055e-01 -4.03297798e-02 -3.58785980e-02 1.42407696e+02] [ 4.03125434e-02 9.99186394e-01 -1.20398657e-03 5.73812476e+00] [ 3.58979635e-02 -2.44126316e-04 9.99355431e-01 4.89883806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:5.74, Z:4.90 [[ 9.98506139e-01 -4.12095587e-02 -3.58784469e-02 1.42435413e+02] [ 4.11927288e-02 9.99150489e-01 -1.20847203e-03 5.73783385e+00] [ 3.58977684e-02 -2.71264398e-04 9.99355431e-01 4.89966804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:5.74, Z:4.90 [[ 9.98454051e-01 -4.24531661e-02 -3.58780944e-02 1.42462833e+02] [ 4.24367659e-02 9.99098411e-01 -1.21884982e-03 5.73612773e+00] [ 3.58974911e-02 -3.05584752e-04 9.99355431e-01 4.89985296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:5.74, Z:4.90 [[ 9.98432006e-01 -4.29686281e-02 -3.58779413e-02 1.42491097e+02] [ 4.29523993e-02 9.99076371e-01 -1.22333944e-03 5.73612313e+00] [ 3.58973686e-02 -3.19622405e-04 9.99355431e-01 4.90095779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:5.74, Z:4.90 [[ 9.98390378e-01 -4.39253733e-02 -3.58777774e-02 1.42518469e+02] [ 4.39095899e-02 9.99034754e-01 -1.22812793e-03 5.73553382e+00] [ 3.58970925e-02 -3.49227377e-04 9.99355431e-01 4.90181883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:5.74, Z:4.90 [[ 9.98315030e-01 -4.56058500e-02 -3.58776699e-02 1.42546014e+02] [ 4.55910387e-02 9.98959429e-01 -1.23125906e-03 5.73517878e+00] [ 3.58964893e-02 -4.06515815e-04 9.99355431e-01 4.90314017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:5.73, Z:4.90 [[ 9.98238562e-01 -4.72503016e-02 -3.58773193e-02 1.42575190e+02] [ 4.72361877e-02 9.98882977e-01 -1.24139255e-03 5.73346254e+00] [ 3.58958997e-02 -4.55501873e-04 9.99355431e-01 4.90340473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:5.73, Z:4.90 [[ 9.98150542e-01 -4.90748047e-02 -3.58770061e-02 1.42603900e+02] [ 4.90615457e-02 9.98794975e-01 -1.25037924e-03 5.73137309e+00] [ 3.58951355e-02 -5.12114659e-04 9.99355431e-01 4.90343793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:5.73, Z:4.90 [[ 9.98075103e-01 -5.05860834e-02 -3.58766905e-02 1.42632593e+02] [ 5.05734771e-02 9.98719549e-01 -1.25936992e-03 5.73018176e+00] [ 3.58944587e-02 -5.57463223e-04 9.99355431e-01 4.90410470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:5.73, Z:4.90 [[ 9.98031009e-01 -5.14487463e-02 -3.58766234e-02 1.42662034e+02] [ 5.14366285e-02 9.98675464e-01 -1.26127821e-03 5.73013605e+00] [ 3.58939947e-02 -5.86577787e-04 9.99355431e-01 4.90476772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:5.73, Z:4.91 [[ 9.97994822e-01 -5.21460139e-02 -3.58765791e-02 1.42691426e+02] [ 5.21343010e-02 9.98639285e-01 -1.26253835e-03 5.73006714e+00] [ 3.58935976e-02 -6.10393635e-04 9.99355431e-01 4.90537813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:5.73, Z:4.91 [[ 9.97994821e-01 -5.21460589e-02 -3.58765349e-02 1.42722386e+02] [ 5.21343010e-02 9.98639283e-01 -1.26379125e-03 5.73115836e+00] [ 3.58936188e-02 -6.09140944e-04 9.99355431e-01 4.90649141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:5.73, Z:4.91 [[ 9.97896986e-01 -5.39859202e-02 -3.58765349e-02 1.42751723e+02] [ 5.39753505e-02 9.98541469e-01 -1.26379125e-03 5.73041283e+00] [ 3.58924348e-02 -6.75315064e-04 9.99355431e-01 4.90761356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:5.73, Z:4.91 [[ 9.97798401e-01 -5.57783861e-02 -3.58764905e-02 1.42781834e+02] [ 5.57689288e-02 9.98442901e-01 -1.26505139e-03 5.72979112e+00] [ 3.58911898e-02 -7.38527187e-04 9.99355431e-01 4.91008664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:5.73, Z:4.91 [[ 9.97745953e-01 -5.67088243e-02 -3.58764905e-02 1.42812578e+02] [ 5.66999681e-02 9.98390461e-01 -1.26505139e-03 5.72976054e+00] [ 3.58904855e-02 -7.71995957e-04 9.99355431e-01 4.91097437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:5.73, Z:4.91 [[ 9.97674444e-01 -5.79532749e-02 -3.58764905e-02 1.42843271e+02] [ 5.79452226e-02 9.98318962e-01 -1.26505139e-03 5.72992360e+00] [ 3.58894946e-02 -8.16761783e-04 9.99355431e-01 4.91210712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:5.73, Z:4.91 [[ 9.97597020e-01 -5.92711007e-02 -3.58764905e-02 1.42873374e+02] [ 5.92638998e-02 9.98241549e-01 -1.26505139e-03 5.73021248e+00] [ 3.58883844e-02 -8.64169237e-04 9.99355431e-01 4.91375139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:5.73, Z:4.91 [[ 9.97424141e-01 -6.21124821e-02 -3.58764905e-02 1.42905206e+02] [ 6.21071171e-02 9.98068688e-01 -1.26505139e-03 5.73017234e+00] [ 3.58857773e-02 -9.66392597e-04 9.99355431e-01 4.91452373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:5.73, Z:4.92 [[ 9.97334579e-01 -6.35343282e-02 -3.58765363e-02 1.42936098e+02] [ 6.35299288e-02 9.97979134e-01 -1.26375107e-03 5.73063187e+00] [ 3.58843262e-02 -1.01885116e-03 9.99355431e-01 4.91537186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:5.73, Z:4.92 [[ 9.97250738e-01 -6.48369953e-02 -3.58765817e-02 1.42968501e+02] [ 6.48334842e-02 9.97895298e-01 -1.26246077e-03 5.73128570e+00] [ 3.58829263e-02 -1.06701386e-03 9.99355431e-01 4.91702206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:5.73, Z:4.92 [[ 9.97115731e-01 -6.68811146e-02 -3.58766733e-02 1.42999995e+02] [ 6.68790185e-02 9.97760297e-01 -1.25985236e-03 5.73120382e+00] [ 3.58805805e-02 -1.14317809e-03 9.99355431e-01 4.91699115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:5.73, Z:4.92 [[ 9.97023222e-01 -6.82462729e-02 -3.58767414e-02 1.43031899e+02] [ 6.82451292e-02 9.97667790e-01 -1.25791124e-03 5.73129182e+00] [ 3.58789170e-02 -1.19424613e-03 9.99355431e-01 4.91846594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:5.73, Z:4.92 [[ 9.96991044e-01 -6.87147047e-02 -3.58768311e-02 1.43063459e+02] [ 6.87139559e-02 9.97635613e-01 -1.25534689e-03 5.73194040e+00] [ 3.58782652e-02 -1.21366938e-03 9.99355431e-01 4.92006049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:5.73, Z:4.92 [[ 9.96948306e-01 -6.93319766e-02 -3.58768978e-02 1.43095424e+02] [ 6.93316956e-02 9.97592875e-01 -1.25343732e-03 5.73275243e+00] [ 3.58774409e-02 -1.23779394e-03 9.99355431e-01 4.92168083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:5.73, Z:4.92 [[ 9.96860451e-01 -7.05838659e-02 -3.58769861e-02 1.43127449e+02] [ 7.05844853e-02 9.97505020e-01 -1.25090380e-03 5.73369936e+00] [ 3.58757674e-02 -1.28538208e-03 9.99355431e-01 4.92265071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:5.73, Z:4.92 [[ 9.96819859e-01 -7.11547951e-02 -3.58770743e-02 1.43159132e+02] [ 7.11558748e-02 9.97464427e-01 -1.24837132e-03 5.73497777e+00] [ 3.58749329e-02 -1.30846328e-03 9.99355431e-01 4.92396649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:5.74, Z:4.92 [[ 9.96700588e-01 -7.28063610e-02 -3.58771645e-02 1.43190805e+02] [ 7.28086020e-02 9.97345154e-01 -1.24577258e-03 5.73659340e+00] [ 3.58726163e-02 -1.37050392e-03 9.99355431e-01 4.92463035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:5.74, Z:4.92 [[ 9.96562017e-01 -7.46790998e-02 -3.58772546e-02 1.43221631e+02] [ 7.46826454e-02 9.97206577e-01 -1.24317356e-03 5.73746270e+00] [ 3.58698733e-02 -1.44050873e-03 9.99355431e-01 4.92455302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:5.74, Z:4.93 [[ 9.96311428e-01 -7.79509843e-02 -3.58773217e-02 1.43253832e+02] [ 7.79567162e-02 9.96955972e-01 -1.24123159e-03 5.73900682e+00] [ 3.58648654e-02 -1.56022497e-03 9.99355431e-01 4.92749891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:5.74, Z:4.93 [[ 9.96155235e-01 -7.99222049e-02 -3.58774094e-02 1.43285126e+02] [ 7.99293033e-02 9.96799765e-01 -1.23869357e-03 5.74070292e+00] [ 3.58615924e-02 -1.63372525e-03 9.99355431e-01 4.92943442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:5.74, Z:4.93 [[ 9.96116849e-01 -8.03991934e-02 -3.58774746e-02 1.43316436e+02] [ 8.04066685e-02 9.96761375e-01 -1.23680112e-03 5.74206288e+00] [ 3.58607187e-02 -1.65278977e-03 9.99355431e-01 4.93063463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:5.74, Z:4.93 [[ 9.96122415e-01 -8.03301385e-02 -3.58776188e-02 1.43349092e+02] [ 8.03377197e-02 9.96766939e-01 -1.23260479e-03 5.74312138e+00] [ 3.58606396e-02 -1.65450082e-03 9.99355431e-01 4.93180688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:5.74, Z:4.93 [[ 9.96075988e-01 -8.09037490e-02 -3.58777039e-02 1.43381714e+02] [ 8.09117906e-02 9.96720507e-01 -1.23012142e-03 5.74449381e+00] [ 3.58595647e-02 -1.67763485e-03 9.99355431e-01 4.93324622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:5.75, Z:4.93 [[ 9.96081709e-01 -8.08332393e-02 -3.58777907e-02 1.43414371e+02] [ 8.08413264e-02 9.96726228e-01 -1.22758470e-03 5.74555036e+00] [ 3.58595646e-02 -1.67763353e-03 9.99355431e-01 4.93441906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:5.75, Z:4.93 [[ 9.96026287e-01 -8.15132715e-02 -3.58778774e-02 1.43446096e+02] [ 8.15218899e-02 9.96670799e-01 -1.22504664e-03 5.74763902e+00] [ 3.58582903e-02 -1.70465371e-03 9.99355431e-01 4.93496989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:5.75, Z:4.94 [[ 9.96009522e-01 -8.17178292e-02 -3.58779647e-02 1.43478616e+02] [ 8.17266721e-02 9.96654031e-01 -1.22248329e-03 5.74905219e+00] [ 3.58578168e-02 -1.71458166e-03 9.99355431e-01 4.93539878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:5.75, Z:4.94 [[ 9.95987000e-01 -8.19918366e-02 -3.58780518e-02 1.43509510e+02] [ 8.20009488e-02 9.96631505e-01 -1.21992207e-03 5.75029958e+00] [ 3.58572204e-02 -1.72700777e-03 9.99355431e-01 4.93574469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.54, Y:5.75, Z:4.94 [[ 9.95960821e-01 -8.23091585e-02 -3.58782028e-02 1.43542048e+02] [ 8.23186363e-02 9.96605320e-01 -1.21546462e-03 5.75158969e+00] [ 3.58564517e-02 -1.74288959e-03 9.99355431e-01 4.93689574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:5.75, Z:4.94 [[ 9.95924827e-01 -8.27435049e-02 -3.58782884e-02 1.43575323e+02] [ 8.27533547e-02 9.96569321e-01 -1.21293337e-03 5.75287294e+00] [ 3.58555638e-02 -1.76105827e-03 9.99355431e-01 4.93810039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:5.75, Z:4.94 [[ 9.95838584e-01 -8.37750252e-02 -3.58784164e-02 1.43607723e+02] [ 8.37856792e-02 9.96483065e-01 -1.20913425e-03 5.75393320e+00] [ 3.58535296e-02 -1.80199495e-03 9.99355431e-01 4.94015668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:5.76, Z:4.94 [[ 9.95790364e-01 -8.43462145e-02 -3.58785036e-02 1.43639272e+02] [ 8.43573312e-02 9.96434837e-01 -1.20654230e-03 5.75511138e+00] [ 3.58523582e-02 -1.82515162e-03 9.99355431e-01 4.94104613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:5.76, Z:4.94 [[ 9.95707597e-01 -8.53176415e-02 -3.58787161e-02 1.43672648e+02] [ 8.53296153e-02 9.96352054e-01 -1.20018987e-03 5.75636175e+00] [ 3.58502298e-02 -1.86647887e-03 9.99355431e-01 4.94288566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:5.76, Z:4.94 [[ 9.95678220e-01 -8.56597394e-02 -3.58788405e-02 1.43706006e+02] [ 8.56720686e-02 9.96322671e-01 -1.19645912e-03 5.75744001e+00] [ 3.58493906e-02 -1.88252619e-03 9.99355431e-01 4.94406965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:5.76, Z:4.95 [[ 9.95645825e-01 -8.60354020e-02 -3.58789646e-02 1.43739271e+02] [ 8.60481085e-02 9.96290269e-01 -1.19272534e-03 5.75913035e+00] [ 3.58484799e-02 -1.89978503e-03 9.99355431e-01 4.94650647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:5.76, Z:4.95 [[ 9.95590452e-01 -8.66737691e-02 -3.58790923e-02 1.43771529e+02] [ 8.66870274e-02 9.96234885e-01 -1.18887105e-03 5.76063034e+00] [ 3.58470473e-02 -1.92662320e-03 9.99355431e-01 4.94799646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:5.76, Z:4.95 [[ 9.95576258e-01 -8.68366154e-02 -3.58791978e-02 1.43804094e+02] [ 8.68500938e-02 9.96220686e-01 -1.18567830e-03 5.76224133e+00] [ 3.58465594e-02 -1.93567853e-03 9.99355431e-01 4.95002688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:5.76, Z:4.95 [[ 9.95601462e-01 -8.65471189e-02 -3.58793228e-02 1.43837334e+02] [ 8.65605463e-02 9.96245891e-01 -1.18188420e-03 5.76341877e+00] [ 3.58469166e-02 -1.92904815e-03 9.99355431e-01 4.95107966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:5.77, Z:4.95 [[ 9.95636794e-01 -8.61396469e-02 -3.58794471e-02 1.43870029e+02] [ 8.61529465e-02 9.96281226e-01 -1.17809871e-03 5.76542508e+00] [ 3.58475006e-02 -1.91816167e-03 9.99355431e-01 4.95228416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:5.77, Z:4.95 [[ 9.95637550e-01 -8.61308638e-02 -3.58795724e-02 1.43903476e+02] [ 8.61442952e-02 9.96281979e-01 -1.17427167e-03 5.76706915e+00] [ 3.58473124e-02 -1.92167151e-03 9.99355431e-01 4.95340462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:5.77, Z:4.95 [[ 9.95613197e-01 -8.64118559e-02 -3.58796978e-02 1.43935205e+02] [ 8.64256073e-02 9.96257620e-01 -1.17042738e-03 5.76861872e+00] [ 3.58465611e-02 -1.93563173e-03 9.99355431e-01 4.95442152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:5.77, Z:4.96 [[ 9.95620077e-01 -8.63325092e-02 -3.58798012e-02 1.43968405e+02] [ 8.63463236e-02 9.96264498e-01 -1.16724885e-03 5.77132308e+00] [ 3.58465436e-02 -1.93595253e-03 9.99355431e-01 4.95643820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:5.77, Z:4.96 [[ 9.95772330e-01 -8.45582570e-02 -3.58799243e-02 1.44001335e+02] [ 8.45710594e-02 9.96416771e-01 -1.16345156e-03 5.77331358e+00] [ 3.58497378e-02 -1.87587034e-03 9.99355431e-01 4.95813941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:5.77, Z:4.96 [[ 9.95849270e-01 -8.36472014e-02 -3.58800472e-02 1.44034576e+02] [ 8.36595508e-02 9.96493720e-01 -1.15965027e-03 5.77487465e+00] [ 3.58512432e-02 -1.84687175e-03 9.99355431e-01 4.95979294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:5.78, Z:4.96 [[ 9.96057773e-01 -8.11266110e-02 -3.58801706e-02 1.44063785e+02] [ 8.11374671e-02 9.96702250e-01 -1.15582000e-03 5.77579217e+00] [ 3.58556145e-02 -1.75996266e-03 9.99355431e-01 4.96157099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.10, Y:5.78, Z:4.96 [[ 9.96032491e-01 -8.14391357e-02 -3.58739937e-02 1.44097447e+02] [ 8.14432629e-02 9.96677067e-01 -1.34868955e-03 5.77747598e+00] [ 3.58646229e-02 -1.57835648e-03 9.99355411e-01 4.96383917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:5.78, Z:4.97 [[ 9.96235097e-01 -7.89190318e-02 -3.58806129e-02 1.44128804e+02] [ 7.89290114e-02 9.96879587e-01 -1.14046152e-03 5.77857608e+00] [ 3.58586547e-02 -1.69585351e-03 9.99355433e-01 4.96527279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:5.78, Z:4.97 [[ 9.96299883e-01 -7.80968616e-02 -3.58806742e-02 1.44161799e+02] [ 7.81063787e-02 9.96944380e-01 -1.13853245e-03 5.77979061e+00] [ 3.58599523e-02 -1.66818978e-03 9.99355433e-01 4.96707879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:5.78, Z:4.97 [[ 9.96409721e-01 -7.66827019e-02 -3.58807975e-02 1.44193828e+02] [ 7.66914444e-02 9.97054229e-01 -1.13463115e-03 5.78081443e+00] [ 3.58621075e-02 -1.62119268e-03 9.99355433e-01 4.96807576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:5.78, Z:4.97 [[ 9.96398576e-01 -7.68273279e-02 -3.58808994e-02 1.44225711e+02] [ 7.68362801e-02 9.97043081e-01 -1.13140047e-03 5.78188009e+00] [ 3.58617250e-02 -1.62962902e-03 9.99355433e-01 4.96943291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:5.78, Z:4.97 [[ 9.96391649e-01 -7.69170752e-02 -3.58809801e-02 1.44256948e+02] [ 7.69261775e-02 9.97036152e-01 -1.12883662e-03 5.78299248e+00] [ 3.58614611e-02 -1.63542326e-03 9.99355433e-01 4.97022412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:5.78, Z:4.97 [[ 9.96409172e-01 -7.66896844e-02 -3.58811072e-02 1.44289500e+02] [ 7.66987855e-02 9.97053675e-01 -1.12477905e-03 5.78371776e+00] [ 3.58616488e-02 -1.63129719e-03 9.99355433e-01 4.97089246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:5.78, Z:4.97 [[ 9.96383982e-01 -7.70162390e-02 -3.58811879e-02 1.44320745e+02] [ 7.70256440e-02 9.97028480e-01 -1.12220112e-03 5.78378630e+00] [ 3.58609939e-02 -1.64562838e-03 9.99355433e-01 4.97007131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:5.78, Z:4.97 [[ 9.96394366e-01 -7.68817505e-02 -3.58812479e-02 1.44353234e+02] [ 7.68911375e-02 9.97038865e-01 -1.12027990e-03 5.78404687e+00] [ 3.58611277e-02 -1.64270938e-03 9.99355433e-01 4.97081561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:5.78, Z:4.97 [[ 9.96437734e-01 -7.63175727e-02 -3.58813282e-02 1.44384289e+02] [ 7.63266875e-02 9.97082237e-01 -1.11770116e-03 5.78419947e+00] [ 3.58619352e-02 -1.62498331e-03 9.99355433e-01 4.97119210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:5.79, Z:4.97 [[ 9.96499934e-01 -7.55010138e-02 -3.58814570e-02 1.44416346e+02] [ 7.55097496e-02 9.97144442e-01 -1.11354951e-03 5.78510178e+00] [ 3.58630696e-02 -1.59974783e-03 9.99355433e-01 4.97227697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:5.79, Z:4.97 [[ 9.96773950e-01 -7.17928170e-02 -3.58815349e-02 1.44447780e+02] [ 7.17992451e-02 9.97418485e-01 -1.11103599e-03 5.78709426e+00] [ 3.58686705e-02 -1.46881538e-03 9.99355433e-01 4.97178723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:5.79, Z:4.97 [[ 9.96889215e-01 -7.01770711e-02 -3.58757880e-02 1.44479764e+02] [ 7.01757858e-02 9.97533798e-01 -1.29659165e-03 5.78779970e+00] [ 3.58783021e-02 -1.22505339e-03 9.99355416e-01 4.97383561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:5.79, Z:4.98 [[ 9.97032162e-01 -6.81129068e-02 -3.58817493e-02 1.44511617e+02] [ 6.81172579e-02 9.97676713e-01 -1.10262193e-03 5.78886465e+00] [ 3.58734884e-02 -1.34481684e-03 9.99355434e-01 4.97542929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:5.79, Z:4.98 [[ 9.97386831e-01 -6.27056855e-02 -3.58818282e-02 1.44543781e+02] [ 6.27066341e-02 9.98031396e-01 -1.10004749e-03 5.79095217e+00] [ 3.58801703e-02 -1.15285579e-03 9.99355434e-01 4.97758885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:5.79, Z:4.98 [[ 9.97781723e-01 -5.60724659e-02 -3.58819064e-02 1.44574691e+02] [ 5.60692206e-02 9.98426281e-01 -1.09748948e-03 5.79298854e+00] [ 3.58869773e-02 -9.16815577e-04 9.99355434e-01 4.98018010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:5.79, Z:4.98 [[ 9.97944582e-01 -5.30951144e-02 -3.58820333e-02 1.44605346e+02] [ 5.30900956e-02 9.98589128e-01 -1.09332551e-03 5.79446220e+00] [ 3.58894586e-02 -8.13902314e-04 9.99355434e-01 4.98240694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:5.80, Z:4.98 [[ 9.98132588e-01 -4.94349724e-02 -3.58820333e-02 1.44633992e+02] [ 4.94275899e-02 9.98777111e-01 -1.09332551e-03 5.79710589e+00] [ 3.58922021e-02 -6.82278610e-04 9.99355434e-01 4.98429052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:5.80, Z:4.99 [[ 9.98226877e-01 -4.74999049e-02 -3.58728324e-02 1.44663431e+02] [ 4.74805503e-02 9.98871193e-01 -1.39172803e-03 5.79616430e+00] [ 3.58984458e-02 -3.14001498e-04 9.99355394e-01 4.98594989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:5.80, Z:4.99 [[ 9.98274728e-01 -4.64765437e-02 -3.58817383e-02 1.44692853e+02] [ 4.64669492e-02 9.98919220e-01 -1.10172309e-03 5.79586134e+00] [ 3.58941623e-02 -5.67492596e-04 9.99355436e-01 4.98670568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:5.80, Z:4.99 [[ 9.98241817e-01 -4.71781482e-02 -3.58816995e-02 1.44721488e+02] [ 4.71689614e-02 9.98886316e-01 -1.10298341e-03 5.79593063e+00] [ 3.58937754e-02 -5.91458338e-04 9.99355436e-01 4.98739530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.75, Y:5.79, Z:4.99 [[ 9.98131321e-01 -4.94609941e-02 -3.58814242e-02 1.44749841e+02] [ 4.94529620e-02 9.98775835e-01 -1.11186801e-03 5.79449506e+00] [ 3.58924935e-02 -6.64652427e-04 9.99355436e-01 4.98672751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:5.79, Z:4.99 [[ 9.98067507e-01 -5.07325847e-02 -3.58811418e-02 1.44779391e+02] [ 5.07250488e-02 9.98712027e-01 -1.12090923e-03 5.79421644e+00] [ 3.58917945e-02 -7.01329593e-04 9.99355436e-01 4.98691260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:5.79, Z:4.99 [[ 9.98006041e-01 -5.19277233e-02 -3.58811014e-02 1.44809120e+02] [ 5.19209129e-02 9.98650569e-01 -1.12220002e-03 5.79408970e+00] [ 3.58909557e-02 -7.43017142e-04 9.99355436e-01 4.98681006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:5.79, Z:4.99 [[ 9.97851322e-01 -5.48205009e-02 -3.58810814e-02 1.44838411e+02] [ 5.48155358e-02 9.98495867e-01 -1.12284020e-03 5.79385819e+00] [ 3.58886661e-02 -8.46413125e-04 9.99355436e-01 4.98673121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:5.79, Z:4.99 [[ 9.97741291e-01 -5.67878839e-02 -3.58810868e-02 1.44868496e+02] [ 5.67841959e-02 9.98385845e-01 -1.12266769e-03 5.79366445e+00] [ 3.58869231e-02 -9.17346751e-04 9.99355436e-01 4.98743754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:5.79, Z:4.99 [[ 9.97734202e-01 -5.69122913e-02 -3.58810868e-02 1.44898786e+02] [ 5.69086837e-02 9.98378756e-01 -1.12266769e-03 5.79389705e+00] [ 3.58868084e-02 -9.21821465e-04 9.99355436e-01 4.98856246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:5.79, Z:4.99 [[ 9.97743003e-01 -5.67577979e-02 -3.58810868e-02 1.44928877e+02] [ 5.67540904e-02 9.98387556e-01 -1.12266769e-03 5.79462136e+00] [ 3.58869507e-02 -9.16264611e-04 9.99355436e-01 4.99060882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:5.80, Z:4.99 [[ 9.97804869e-01 -5.56595955e-02 -3.58810868e-02 1.44959037e+02] [ 5.56551786e-02 9.98449418e-01 -1.12266769e-03 5.79552532e+00] [ 3.58879375e-02 -8.76765006e-04 9.99355436e-01 4.99188460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.99, Y:5.80, Z:4.99 [[ 9.97893501e-01 -5.40472744e-02 -3.58810868e-02 1.44989657e+02] [ 5.40418160e-02 9.98538042e-01 -1.12266769e-03 5.79647731e+00] [ 3.58893073e-02 -8.18776300e-04 9.99355436e-01 4.99379627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:5.80, Z:5.00 [[ 9.98118488e-01 -4.97195282e-02 -3.58810868e-02 1.45018892e+02] [ 4.97112750e-02 9.98762999e-01 -1.12266769e-03 5.79784667e+00] [ 3.58925204e-02 -6.63139194e-04 9.99355436e-01 4.99625301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:5.80, Z:5.00 [[ 9.98347956e-01 -4.48765912e-02 -3.58810667e-02 1.45048725e+02] [ 4.48651882e-02 9.98992419e-01 -1.12330820e-03 5.79895298e+00] [ 3.58953239e-02 -4.88358363e-04 9.99355436e-01 4.99947162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.08, Y:5.80, Z:5.00 [[ 9.98458769e-01 -4.23395521e-02 -3.58810268e-02 1.45076187e+02] [ 4.23264656e-02 9.99103201e-01 -1.12458270e-03 5.79939350e+00] [ 3.58964630e-02 -3.95867588e-04 9.99355436e-01 5.00043925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:5.80, Z:5.00 [[ 9.98541514e-01 -4.03410927e-02 -3.58809274e-02 1.45103672e+02] [ 4.03266029e-02 9.99185915e-01 -1.12774359e-03 5.79942618e+00] [ 3.58972117e-02 -3.20857116e-04 9.99355436e-01 5.00181224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:5.80, Z:5.00 [[ 9.98679657e-01 -3.67631074e-02 -3.58805982e-02 1.45132065e+02] [ 3.67459360e-02 9.99323992e-01 -1.13812211e-03 5.79860001e+00] [ 3.58981836e-02 -1.81846766e-04 9.99355436e-01 5.00259044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:5.80, Z:5.00 [[ 9.98775587e-01 -3.40577904e-02 -3.58802652e-02 1.45160293e+02] [ 3.40385000e-02 9.99419862e-01 -1.14852542e-03 5.79757718e+00] [ 3.58985660e-02 -7.41912584e-05 9.99355436e-01 5.00268363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:5.80, Z:5.00 [[ 9.98797321e-01 -3.34144590e-02 -3.58801621e-02 1.45187114e+02] [ 3.33946381e-02 9.99441580e-01 -1.15173979e-03 5.79840160e+00] [ 3.58986106e-02 -4.78504124e-05 9.99355436e-01 5.00310987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:5.80, Z:5.00 [[ 9.98823084e-01 -3.26421423e-02 -3.58738965e-02 1.45216357e+02] [ 3.26148762e-02 9.99467088e-01 -1.34514514e-03 5.79567461e+00] [ 3.58986873e-02 1.73539322e-04 9.99355419e-01 5.00286337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:5.79, Z:5.00 [[ 9.98818705e-01 -3.27695107e-02 -3.58797107e-02 1.45244479e+02] [ 3.27487509e-02 9.99462935e-01 -1.16629696e-03 5.79475074e+00] [ 3.58986600e-02 -1.00964910e-05 9.99355435e-01 5.00328508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:5.79, Z:5.00 [[ 9.98759416e-01 -3.45296826e-02 -3.58793767e-02 1.45273633e+02] [ 3.45096922e-02 9.99403671e-01 -1.17648343e-03 5.79068026e+00] [ 3.58986044e-02 -6.31623364e-05 9.99355435e-01 5.00327254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:5.79, Z:5.00 [[ 9.98749610e-01 -3.48124686e-02 -3.58790830e-02 1.45301985e+02] [ 3.47923413e-02 9.99393860e-01 -1.18537349e-03 5.79168259e+00] [ 3.58986010e-02 -6.44259887e-05 9.99355435e-01 5.00429456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:5.79, Z:5.01 [[ 9.98713446e-01 -3.58353102e-02 -3.58787446e-02 1.45329935e+02] [ 3.58154779e-02 9.99357705e-01 -1.19552723e-03 5.79103458e+00] [ 3.58985420e-02 -9.10252653e-05 9.99355435e-01 5.00609013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:5.79, Z:5.01 [[ 9.98635362e-01 -3.79493567e-02 -3.58783989e-02 1.45357792e+02] [ 3.79305186e-02 9.99279651e-01 -1.20581611e-03 5.78904090e+00] [ 3.58983138e-02 -1.56715661e-04 9.99355436e-01 5.00851081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:5.79, Z:5.01 [[ 9.98580005e-01 -3.93792045e-02 -3.58782915e-02 1.45386748e+02] [ 3.93611745e-02 9.99224317e-01 -1.20900116e-03 5.78856173e+00] [ 3.58980709e-02 -2.04927309e-04 9.99355436e-01 5.01083618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:5.79, Z:5.01 [[ 9.98516734e-01 -4.09524378e-02 -3.58779850e-02 1.45414504e+02] [ 4.09350985e-02 9.99161065e-01 -1.21802918e-03 5.78801429e+00] [ 3.58977670e-02 -2.52446334e-04 9.99355436e-01 5.01273718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:5.79, Z:5.02 [[ 9.98322114e-01 -4.54503637e-02 -3.58778763e-02 1.45443264e+02] [ 4.54358126e-02 9.98966514e-01 -1.22122419e-03 5.78512423e+00] [ 3.58963021e-02 -4.10965349e-04 9.99355436e-01 5.01566051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:5.78, Z:5.02 [[ 9.98188192e-01 -4.83025211e-02 -3.58775693e-02 1.45471284e+02] [ 4.82894894e-02 9.98832625e-01 -1.23017636e-03 5.78365599e+00] [ 3.58951074e-02 -5.04561991e-04 9.99355436e-01 5.01690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:5.78, Z:5.02 [[ 9.97998619e-01 -5.20728582e-02 -3.58772101e-02 1.45499090e+02] [ 5.20618877e-02 9.98643090e-01 -1.24056441e-03 5.78222714e+00] [ 3.58931277e-02 -6.29753723e-04 9.99355436e-01 5.01790857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:5.78, Z:5.02 [[ 9.97573937e-01 -5.96581207e-02 -3.58768480e-02 1.45527124e+02] [ 5.96516766e-02 9.98218469e-01 -1.25094972e-03 5.77812284e+00] [ 3.58875616e-02 -8.92199297e-04 9.99355436e-01 5.01832211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:5.78, Z:5.02 [[ 9.97285576e-01 -6.42988269e-02 -3.58767357e-02 1.45556473e+02] [ 6.42952661e-02 9.97930131e-01 -1.25416210e-03 5.77679187e+00] [ 3.58831167e-02 -1.05594650e-03 9.99355436e-01 5.01906965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:5.78, Z:5.02 [[ 9.96989005e-01 -6.87443419e-02 -3.58767381e-02 1.45587536e+02] [ 6.87436572e-02 9.97633568e-01 -1.25409336e-03 5.77515551e+00] [ 3.58780501e-02 -1.21598090e-03 9.99355436e-01 5.02015494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:5.77, Z:5.02 [[ 9.96681105e-01 -7.30727815e-02 -3.58767834e-02 1.45618878e+02] [ 7.30749422e-02 9.97325666e-01 -1.25279606e-03 5.77354014e+00] [ 3.58723822e-02 -1.37305572e-03 9.99355436e-01 5.02056482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:5.77, Z:5.02 [[ 9.96047524e-01 -8.12538234e-02 -3.58768292e-02 1.45650544e+02] [ 8.12613235e-02 9.96692044e-01 -1.25148300e-03 5.76929371e+00] [ 3.58598380e-02 -1.66886208e-03 9.99355436e-01 5.01940646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:5.77, Z:5.02 [[ 9.95757411e-01 -8.47350433e-02 -3.58768977e-02 1.45682816e+02] [ 8.47448670e-02 9.96401900e-01 -1.24951836e-03 5.76808828e+00] [ 3.58536870e-02 -1.79616575e-03 9.99355436e-01 5.02011859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:5.77, Z:5.02 [[ 9.95289567e-01 -9.00639757e-02 -3.58769880e-02 1.45715257e+02] [ 9.00773425e-02 9.95933993e-01 -1.24691825e-03 5.76540492e+00] [ 3.58434143e-02 -1.99065901e-03 9.99355436e-01 5.02044780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:5.77, Z:5.02 [[ 9.95142373e-01 -9.16760211e-02 -3.58770785e-02 1.45746061e+02] [ 9.16905255e-02 9.95786774e-01 -1.24430841e-03 5.76533866e+00] [ 3.58399935e-02 -2.05132416e-03 9.99355436e-01 5.02061538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:5.77, Z:5.02 [[ 9.95035103e-01 -9.28330108e-02 -3.58772312e-02 1.45778548e+02] [ 9.28484232e-02 9.95679483e-01 -1.23989225e-03 5.76524563e+00] [ 3.58373259e-02 -2.09740802e-03 9.99355436e-01 5.02220630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:5.77, Z:5.02 [[ 9.95025406e-01 -9.29368515e-02 -3.58773210e-02 1.45810598e+02] [ 9.29524247e-02 9.95669783e-01 -1.23728852e-03 5.76622812e+00] [ 3.58369541e-02 -2.10375046e-03 9.99355436e-01 5.02419210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:5.77, Z:5.03 [[ 9.95083891e-01 -9.23085089e-02 -3.58774121e-02 1.45843067e+02] [ 9.23237702e-02 9.95728275e-01 -1.23464106e-03 5.76732239e+00] [ 3.58381215e-02 -2.08376652e-03 9.99355436e-01 5.02638128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:5.77, Z:5.03 [[ 9.95164365e-01 -9.14368169e-02 -3.58775024e-02 1.45874520e+02] [ 9.14516084e-02 9.95808759e-01 -1.23200955e-03 5.76856618e+00] [ 3.58397822e-02 -2.05500330e-03 9.99355436e-01 5.02697428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:5.77, Z:5.03 [[ 9.95294990e-01 -9.00037984e-02 -3.58775696e-02 1.45906107e+02] [ 9.00177324e-02 9.95939403e-01 -1.23005117e-03 5.77071663e+00] [ 3.58425945e-02 -2.00535369e-03 9.99355436e-01 5.02892508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:5.77, Z:5.03 [[ 9.95357381e-01 -8.93111330e-02 -3.58776363e-02 1.45937975e+02] [ 8.93246886e-02 9.96001803e-01 -1.22810112e-03 5.77324602e+00] [ 3.58438736e-02 -1.98235917e-03 9.99355436e-01 5.03067907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:5.77, Z:5.03 [[ 9.95495609e-01 -8.77569417e-02 -3.58777271e-02 1.45971359e+02] [ 8.77695866e-02 9.96140049e-01 -1.22544471e-03 5.77400940e+00] [ 3.58467821e-02 -1.92904844e-03 9.99355436e-01 5.02923009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:5.78, Z:5.03 [[ 9.95317727e-01 -8.97507537e-02 -3.58806947e-02 1.46001872e+02] [ 8.97678223e-02 9.95962069e-01 -1.13825579e-03 5.77696076e+00] [ 3.58379702e-02 -2.08800566e-03 9.99355432e-01 5.03168380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:5.78, Z:5.03 [[ 9.95289239e-01 -9.00673217e-02 -3.58776920e-02 1.46034534e+02] [ 9.00814380e-02 9.95933648e-01 -1.22612152e-03 5.77851384e+00] [ 3.58422342e-02 -2.01156853e-03 9.99355436e-01 5.03236993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:5.78, Z:5.03 [[ 9.95245967e-01 -9.05441815e-02 -3.58778011e-02 1.46066799e+02] [ 9.05587216e-02 9.95890367e-01 -1.22292045e-03 5.78023062e+00] [ 3.58410848e-02 -2.03194116e-03 9.99355436e-01 5.03323794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:5.78, Z:5.03 [[ 9.95250848e-01 -9.04904783e-02 -3.58778892e-02 1.46097903e+02] [ 9.05050766e-02 9.95895246e-01 -1.22033102e-03 5.78280962e+00] [ 3.58410476e-02 -2.03259563e-03 9.99355436e-01 5.03373524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:5.79, Z:5.04 [[ 9.95282622e-01 -9.01403017e-02 -3.58779547e-02 1.46130199e+02] [ 9.01547426e-02 9.95927024e-01 -1.21840208e-03 5.78511930e+00] [ 3.58416518e-02 -2.02191335e-03 9.99355436e-01 5.03561439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:5.79, Z:5.04 [[ 9.95411539e-01 -8.87053217e-02 -3.58780430e-02 1.46162441e+02] [ 8.87189273e-02 9.96055959e-01 -1.21579608e-03 5.78860553e+00] [ 3.58443861e-02 -1.97284404e-03 9.99355436e-01 5.03747579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:5.79, Z:5.04 [[ 9.95511851e-01 -8.75723350e-02 -3.58781314e-02 1.46194497e+02] [ 8.75853010e-02 9.96156285e-01 -1.21318171e-03 5.79087125e+00] [ 3.58464672e-02 -1.93466017e-03 9.99355436e-01 5.03885966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:5.79, Z:5.04 [[ 9.95775104e-01 -8.45262958e-02 -3.58782189e-02 1.46226807e+02] [ 8.45373834e-02 9.96419573e-01 -1.21058896e-03 5.79486955e+00] [ 3.58520861e-02 -1.82757639e-03 9.99355436e-01 5.04074440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:5.80, Z:5.04 [[ 9.95974177e-01 -8.21473447e-02 -3.58783067e-02 1.46257743e+02] [ 8.21569865e-02 9.96618668e-01 -1.20798154e-03 5.79756240e+00] [ 3.58562227e-02 -1.74453513e-03 9.99355436e-01 5.04106330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:5.80, Z:5.04 [[ 9.96453022e-01 -7.61191062e-02 -3.58783719e-02 1.46289387e+02] [ 7.61249176e-02 9.97097559e-01 -1.20604197e-03 5.80275350e+00] [ 3.58660399e-02 -1.52947393e-03 9.99355436e-01 5.04358748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:5.81, Z:5.05 [[ 9.96715369e-01 -7.26030928e-02 -3.58784586e-02 1.46321470e+02] [ 7.26067231e-02 9.97359923e-01 -1.20345744e-03 5.80619757e+00] [ 3.58711114e-02 -1.40551278e-03 9.99355436e-01 5.04540859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:5.81, Z:5.05 [[ 9.96975515e-01 -6.89387537e-02 -3.58785461e-02 1.46353031e+02] [ 6.89401087e-02 9.97620078e-01 -1.20084163e-03 5.80920617e+00] [ 3.58759425e-02 -1.27626117e-03 9.99355436e-01 5.04689481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:5.81, Z:5.05 [[ 9.97452552e-01 -6.16533144e-02 -3.58786112e-02 1.46383925e+02] [ 6.16500303e-02 9.98097108e-01 -1.19889401e-03 5.81336788e+00] [ 3.58842539e-02 -1.01607758e-03 9.99355436e-01 5.04868885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:5.82, Z:5.05 [[ 9.97643212e-01 -5.84871122e-02 -3.58786748e-02 1.46414491e+02] [ 5.84818509e-02 9.98287754e-01 -1.19698613e-03 5.81582246e+00] [ 3.58872500e-02 -9.04086223e-04 9.99355436e-01 5.04998226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:5.82, Z:5.05 [[ 9.97972604e-01 -5.25680723e-02 -3.58786748e-02 1.46443556e+02] [ 5.25589877e-02 9.98617104e-01 -1.19698613e-03 5.81925962e+00] [ 3.58919816e-02 -6.91187462e-04 9.99355436e-01 5.05060931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:5.82, Z:5.05 [[ 9.98102096e-01 -5.00492736e-02 -3.58786322e-02 1.46473170e+02] [ 5.00385165e-02 9.98746570e-01 -1.19826414e-03 5.82106149e+00] [ 3.58936331e-02 -5.99323578e-04 9.99355436e-01 5.05141311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:5.82, Z:5.05 [[ 9.98176391e-01 -4.85450234e-02 -3.58785895e-02 1.46501541e+02] [ 4.85332493e-02 9.98820847e-01 -1.19953975e-03 5.82293192e+00] [ 3.58945149e-02 -5.43952273e-04 9.99355436e-01 5.05257359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:5.82, Z:5.05 [[ 9.98330433e-01 -4.52669310e-02 -3.58782895e-02 1.46529032e+02] [ 4.52527206e-02 9.98974840e-01 -1.20844763e-03 5.82422111e+00] [ 3.58962112e-02 -4.17160168e-04 9.99355436e-01 5.05299024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:5.82, Z:5.05 [[ 9.98417638e-01 -4.33009849e-02 -3.58781831e-02 1.46556971e+02] [ 4.32853924e-02 9.99062014e-01 -1.21159719e-03 5.82457109e+00] [ 3.58969932e-02 -3.43321231e-04 9.99355436e-01 5.05357500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:5.83, Z:5.05 [[ 9.98438314e-01 -4.28218826e-02 -3.58778352e-02 1.46583531e+02] [ 4.28056138e-02 9.99082673e-01 -1.22181345e-03 5.82532735e+00] [ 3.58972438e-02 -3.15867400e-04 9.99355436e-01 5.05405846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:5.83, Z:5.05 [[ 9.98405439e-01 -4.35817718e-02 -3.58776840e-02 1.46611229e+02] [ 4.35658344e-02 9.99049806e-01 -1.22623847e-03 5.82639134e+00] [ 3.58970349e-02 -3.38758085e-04 9.99355436e-01 5.05475666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:5.83, Z:5.06 [[ 9.98262891e-01 -4.67334637e-02 -3.58773310e-02 1.46638605e+02] [ 4.67191926e-02 9.98907297e-01 -1.23647986e-03 5.82722749e+00] [ 3.58959127e-02 -4.41827975e-04 9.99355436e-01 5.05624074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:5.83, Z:5.06 [[ 9.98117332e-01 -4.97455115e-02 -3.58772216e-02 1.46666657e+02] [ 4.97330712e-02 9.98761776e-01 -1.23964632e-03 5.82765101e+00] [ 3.58944644e-02 -5.46971941e-04 9.99355436e-01 5.05741881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:5.83, Z:5.06 [[ 9.97944912e-01 -5.30924003e-02 -3.58768684e-02 1.46695042e+02] [ 5.30817568e-02 9.98589388e-01 -1.24978584e-03 5.82766531e+00] [ 3.58926142e-02 -6.57189788e-04 9.99355436e-01 5.05838717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:5.83, Z:5.06 [[ 9.97734407e-01 -5.69115724e-02 -3.58765519e-02 1.46723777e+02] [ 5.69030714e-02 9.98378914e-01 -1.25880522e-03 5.82777563e+00] [ 3.58900335e-02 -7.85532721e-04 9.99355436e-01 5.05913337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:5.83, Z:5.06 [[ 9.97243319e-01 -6.49510558e-02 -3.58764845e-02 1.46753774e+02] [ 6.49476807e-02 9.97887874e-01 -1.26072308e-03 5.82686318e+00] [ 3.58825942e-02 -1.07284679e-03 9.99355436e-01 5.05994590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:5.83, Z:5.06 [[ 9.96964680e-01 -6.90963732e-02 -3.58764400e-02 1.46785239e+02] [ 6.90956323e-02 9.97609243e-01 -1.26198949e-03 5.82719644e+00] [ 3.58778670e-02 -1.22074636e-03 9.99355436e-01 5.06057380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:5.83, Z:5.06 [[ 9.96691975e-01 -7.29245166e-02 -3.58764848e-02 1.46815602e+02] [ 7.29262968e-02 9.97336536e-01 -1.26071375e-03 5.82724257e+00] [ 3.58728660e-02 -1.35979591e-03 9.99355436e-01 5.06092301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:5.83, Z:5.06 [[ 9.96113080e-01 -8.04463070e-02 -3.58765071e-02 1.46847852e+02] [ 8.04529756e-02 9.96757609e-01 -1.26007981e-03 5.82650481e+00] [ 3.58615502e-02 -1.63118977e-03 9.99355436e-01 5.06243778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:5.83, Z:5.06 [[ 9.95872435e-01 -8.33724407e-02 -3.58765974e-02 1.46879661e+02] [ 8.33810955e-02 9.96516940e-01 -1.25750221e-03 5.82657636e+00] [ 3.58564781e-02 -1.73911821e-03 9.99355436e-01 5.06360847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:5.83, Z:5.06 [[ 9.95878447e-01 -8.33005487e-02 -3.58766881e-02 1.46912316e+02] [ 8.33092502e-02 9.96522952e-01 -1.25491040e-03 5.82765965e+00] [ 3.58564779e-02 -1.73912177e-03 9.99355436e-01 5.06478131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:5.83, Z:5.07 [[ 9.95467210e-01 -8.80788925e-02 -3.58767784e-02 1.46944200e+02] [ 8.80907799e-02 9.96111664e-01 -1.25232214e-03 5.82656953e+00] [ 3.58475806e-02 -1.91376776e-03 9.99355436e-01 5.06592784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:5.83, Z:5.07 [[ 9.95323296e-01 -8.96905066e-02 -3.58768690e-02 1.46976508e+02] [ 8.97035309e-02 9.95967728e-01 -1.24972093e-03 5.82680604e+00] [ 3.58442918e-02 -1.97440547e-03 9.99355437e-01 5.06768514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:5.83, Z:5.07 [[ 9.95238239e-01 -9.06294158e-02 -3.58769615e-02 1.47008836e+02] [ 9.06431435e-02 9.95882656e-01 -1.24706197e-03 5.82731068e+00] [ 3.58422642e-02 -2.01087681e-03 9.99355437e-01 5.06900798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:5.83, Z:5.07 [[ 9.95215463e-01 -9.08791411e-02 -3.58770765e-02 1.47041239e+02] [ 9.08931497e-02 9.95859874e-01 -1.24374499e-03 5.82803280e+00] [ 3.58415713e-02 -2.02318623e-03 9.99355437e-01 5.07029647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:5.83, Z:5.07 [[ 9.95220296e-01 -9.08261466e-02 -3.58771870e-02 1.47073237e+02] [ 9.08402359e-02 9.95864706e-01 -1.24054676e-03 5.82886086e+00] [ 3.58414984e-02 -2.02447482e-03 9.99355437e-01 5.07103909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:5.83, Z:5.07 [[ 9.95259611e-01 -9.03942883e-02 -3.58772732e-02 1.47105323e+02] [ 9.04081876e-02 9.95904025e-01 -1.23805049e-03 5.82956062e+00] [ 3.58422335e-02 -2.01141759e-03 9.99355437e-01 5.07195492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:5.83, Z:5.07 [[ 9.95382238e-01 -8.90337861e-02 -3.58773629e-02 1.47137503e+02] [ 8.90468982e-02 9.96026668e-01 -1.23544454e-03 5.83011722e+00] [ 3.58448066e-02 -1.96502834e-03 9.99355437e-01 5.07206082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:5.83, Z:5.07 [[ 9.95459304e-01 -8.81679178e-02 -3.58774744e-02 1.47169447e+02] [ 8.81805860e-02 9.96103743e-01 -1.23219767e-03 5.83101918e+00] [ 3.58463269e-02 -1.93709409e-03 9.99355437e-01 5.07281099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:5.83, Z:5.07 [[ 9.95518373e-01 -8.74983963e-02 -3.58775612e-02 1.47201297e+02] [ 8.75107221e-02 9.96162819e-01 -1.22966515e-03 5.83227294e+00] [ 3.58474863e-02 -1.91551704e-03 9.99355437e-01 5.07358789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:5.83, Z:5.07 [[ 9.95755975e-01 -8.47515974e-02 -3.58776489e-02 1.47233362e+02] [ 8.47622374e-02 9.96400450e-01 -1.22710075e-03 5.83423761e+00] [ 3.58525043e-02 -1.81917690e-03 9.99355437e-01 5.07291950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:5.84, Z:5.07 [[ 9.95762097e-01 -8.46795921e-02 -3.58777375e-02 1.47266017e+02] [ 8.46902788e-02 9.96406572e-01 -1.22450556e-03 5.83529318e+00] [ 3.58525041e-02 -1.81917937e-03 9.99355437e-01 5.07409231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:5.84, Z:5.07 [[ 9.95905962e-01 -8.29704588e-02 -3.58778258e-02 1.47297196e+02] [ 8.29801325e-02 9.96550453e-01 -1.22191284e-03 5.83724390e+00] [ 3.58554462e-02 -1.76023646e-03 9.99355437e-01 5.07445600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:5.84, Z:5.08 [[ 9.96091022e-01 -8.07183517e-02 -3.58778915e-02 1.47328988e+02] [ 8.07266375e-02 9.96735532e-01 -1.21998149e-03 5.83941593e+00] [ 3.58592442e-02 -1.68108893e-03 9.99355437e-01 5.07614258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:5.84, Z:5.08 [[ 9.96271797e-01 -7.84555788e-02 -3.58779784e-02 1.47360648e+02] [ 7.84624927e-02 9.96916323e-01 -1.21742028e-03 5.84200942e+00] [ 3.58628557e-02 -1.60219413e-03 9.99355437e-01 5.07776441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:5.84, Z:5.08 [[ 9.96504016e-01 -7.54487317e-02 -3.58780668e-02 1.47391770e+02] [ 7.54537943e-02 9.97148559e-01 -1.21481037e-03 5.84454069e+00] [ 3.58674185e-02 -1.49657286e-03 9.99355437e-01 5.07865826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:5.85, Z:5.08 [[ 9.96714099e-01 -7.26206917e-02 -3.58781325e-02 1.47423664e+02] [ 7.26239952e-02 9.97358654e-01 -1.21286546e-03 5.84730427e+00] [ 3.58714451e-02 -1.39673322e-03 9.99355437e-01 5.08021674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:5.85, Z:5.08 [[ 9.97172162e-01 -6.60335664e-02 -3.58782183e-02 1.47455448e+02] [ 6.60327025e-02 9.97816725e-01 -1.21032289e-03 5.85191615e+00] [ 3.58798082e-02 -1.16223542e-03 9.99355437e-01 5.08272447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:5.85, Z:5.08 [[ 9.97391122e-01 -6.26394215e-02 -3.58783054e-02 1.47485473e+02] [ 6.26364569e-02 9.98035679e-01 -1.20773481e-03 5.85456427e+00] [ 3.58834807e-02 -1.04270596e-03 9.99355437e-01 5.08349531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:5.86, Z:5.08 [[ 9.97748729e-01 -5.66588028e-02 -3.58783269e-02 1.47515423e+02] [ 5.66519971e-02 9.98393256e-01 -1.20709620e-03 5.85882683e+00] [ 3.58890722e-02 -8.28200172e-04 9.99355437e-01 5.08458088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:5.86, Z:5.09 [[ 9.97884315e-01 -5.42184018e-02 -3.58783977e-02 1.47545198e+02] [ 5.42100955e-02 9.98528825e-01 -1.20498746e-03 5.86158338e+00] [ 3.58909468e-02 -7.42533286e-04 9.99355437e-01 5.08576353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:5.86, Z:5.09 [[ 9.97996772e-01 -5.21074513e-02 -3.58783557e-02 1.47574276e+02] [ 5.20977367e-02 9.98641262e-01 -1.20623875e-03 5.86423651e+00] [ 3.58924604e-02 -6.65358744e-04 9.99355437e-01 5.08756388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:5.87, Z:5.09 [[ 9.98161061e-01 -4.88594156e-02 -3.58783125e-02 1.47604040e+02] [ 4.88475576e-02 9.98805516e-01 -1.20752077e-03 5.86759455e+00] [ 3.58944552e-02 -5.47267719e-04 9.99355437e-01 5.08942176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:5.87, Z:5.09 [[ 9.98198450e-01 -4.80895415e-02 -3.58782687e-02 1.47632087e+02] [ 4.80771398e-02 9.98842894e-01 -1.20882163e-03 5.86939382e+00] [ 3.58948854e-02 -5.18280656e-04 9.99355437e-01 5.09046308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:5.87, Z:5.09 [[ 9.98203478e-01 -4.79851462e-02 -3.58781598e-02 1.47660177e+02] [ 4.79725612e-02 9.98847919e-01 -1.21204464e-03 5.87237674e+00] [ 3.58949854e-02 -5.11300040e-04 9.99355437e-01 5.08879388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:5.87, Z:5.09 [[ 9.98265178e-01 -4.66887553e-02 -3.58719214e-02 1.47688832e+02] [ 4.66687536e-02 9.98909446e-01 -1.39515865e-03 5.87423059e+00] [ 3.58979393e-02 -2.81359565e-04 9.99355422e-01 5.09201059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:5.88, Z:5.09 [[ 9.98287400e-01 -4.62066588e-02 -3.58777205e-02 1.47716304e+02] [ 4.61924464e-02 9.98931808e-01 -1.22538204e-03 5.87573287e+00] [ 3.58960170e-02 -4.33996227e-04 9.99355436e-01 5.09263477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:5.88, Z:5.09 [[ 9.98274397e-01 -4.64868354e-02 -3.58776128e-02 1.47744656e+02] [ 4.64726909e-02 9.98918805e-01 -1.22852734e-03 5.87677211e+00] [ 3.58959325e-02 -4.40921819e-04 9.99355436e-01 5.09365495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:5.88, Z:5.09 [[ 9.98306312e-01 -4.57966165e-02 -3.58772651e-02 1.47772502e+02] [ 4.57816645e-02 9.98950702e-01 -1.23859906e-03 5.87922249e+00] [ 3.58963428e-02 -4.06019660e-04 9.99355436e-01 5.09430065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:5.88, Z:5.10 [[ 9.98293295e-01 -4.60797710e-02 -3.58769119e-02 1.47800851e+02] [ 4.60646371e-02 9.98937681e-01 -1.24874611e-03 5.88027957e+00] [ 3.58963411e-02 -4.06042060e-04 9.99355436e-01 5.09532315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:5.88, Z:5.10 [[ 9.98362835e-01 -4.45479775e-02 -3.58765551e-02 1.47828356e+02] [ 4.45314895e-02 9.99007188e-01 -1.25891548e-03 5.88221241e+00] [ 3.58970185e-02 -3.40782006e-04 9.99355436e-01 5.09688310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:5.88, Z:5.10 [[ 9.98395704e-01 -4.38052439e-02 -3.58764444e-02 1.47855757e+02] [ 4.37881637e-02 9.99040041e-01 -1.26206068e-03 5.88363818e+00] [ 3.58972894e-02 -3.10927662e-04 9.99355436e-01 5.09773594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:5.89, Z:5.10 [[ 9.98431300e-01 -4.29865768e-02 -3.58760894e-02 1.47883460e+02] [ 4.29686084e-02 9.99075613e-01 -1.27207482e-03 5.88527310e+00] [ 3.58976081e-02 -2.71466315e-04 9.99355436e-01 5.09895204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:5.89, Z:5.10 [[ 9.98483166e-01 -4.17648188e-02 -3.58757284e-02 1.47911631e+02] [ 4.17456991e-02 9.99127446e-01 -1.28217565e-03 5.88676037e+00] [ 3.58979747e-02 -2.17426559e-04 9.99355436e-01 5.09947748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:5.89, Z:5.10 [[ 9.98543616e-01 -4.02939770e-02 -3.58753673e-02 1.47939135e+02] [ 4.02735481e-02 9.99187856e-01 -1.29220050e-03 5.88821180e+00] [ 3.58982992e-02 -1.54509772e-04 9.99355436e-01 5.10003828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:5.89, Z:5.10 [[ 9.98605685e-01 -3.87255871e-02 -3.58749960e-02 1.47967322e+02] [ 3.87037789e-02 9.99249879e-01 -1.30242730e-03 5.88956681e+00] [ 3.58985227e-02 -8.78866128e-05 9.99355436e-01 5.10092946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:5.89, Z:5.10 [[ 9.98738744e-01 -3.51273892e-02 -3.58746227e-02 1.47994328e+02] [ 3.51028937e-02 9.99382841e-01 -1.31262878e-03 5.89105169e+00] [ 3.58985916e-02 5.16701451e-05 9.99355436e-01 5.09805307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:5.89, Z:5.10 [[ 9.98758168e-01 -3.45777083e-02 -3.58678748e-02 1.48022763e+02] [ 3.45463011e-02 9.99401980e-01 -1.49520264e-03 5.89191024e+00] [ 3.58981257e-02 2.54243447e-04 9.99355422e-01 5.10357390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:5.89, Z:5.10 [[ 9.98781999e-01 -3.38757971e-02 -3.58740615e-02 1.48050537e+02] [ 3.38499387e-02 9.99426044e-01 -1.32810461e-03 5.89280171e+00] [ 3.58984619e-02 1.12152196e-04 9.99355436e-01 5.10469440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:5.89, Z:5.11 [[ 9.98782939e-01 -3.38484822e-02 -3.58736761e-02 1.48078672e+02] [ 3.38222351e-02 9.99426968e-01 -1.33843454e-03 5.89353127e+00] [ 3.58984233e-02 1.23477684e-04 9.99355436e-01 5.10593457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:5.89, Z:5.11 [[ 9.98771794e-01 -3.41761617e-02 -3.58732851e-02 1.48106673e+02] [ 3.41497524e-02 9.99415817e-01 -1.34883319e-03 5.89413540e+00] [ 3.58984265e-02 1.22112744e-04 9.99355436e-01 5.10697756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:5.89, Z:5.11 [[ 9.98708949e-01 -3.59662397e-02 -3.58728942e-02 1.48133663e+02] [ 3.59406142e-02 9.99353003e-01 -1.35914873e-03 5.89326418e+00] [ 3.58985681e-02 6.81001430e-05 9.99355436e-01 5.10744043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:5.89, Z:5.11 [[ 9.98636817e-01 -3.79164389e-02 -3.58727244e-02 1.48161173e+02] [ 3.78919107e-02 9.99280913e-01 -1.36361707e-03 5.89301354e+00] [ 3.58986323e-02 2.47214028e-06 9.99355436e-01 5.10843359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:5.89, Z:5.11 [[ 9.98548960e-01 -4.01640245e-02 -3.58723395e-02 1.48189235e+02] [ 4.01405849e-02 9.99193098e-01 -1.37366788e-03 5.89270010e+00] [ 3.58985661e-02 -6.82620614e-05 9.99355436e-01 5.10987066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:5.89, Z:5.11 [[ 9.98456608e-01 -4.23981826e-02 -3.58719512e-02 1.48217215e+02] [ 4.23758227e-02 9.99100783e-01 -1.38373450e-03 5.89220262e+00] [ 3.58983624e-02 -1.38504589e-04 9.99355436e-01 5.11122897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:5.89, Z:5.11 [[ 9.98346051e-01 -4.49265446e-02 -3.58715554e-02 1.48243707e+02] [ 4.49054501e-02 9.98990269e-01 -1.39392129e-03 5.89186121e+00] [ 3.58979588e-02 -2.19212530e-04 9.99355437e-01 5.11259019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:5.89, Z:5.11 [[ 9.98225390e-01 -4.75322485e-02 -3.58713831e-02 1.48271519e+02] [ 4.75126768e-02 9.98869656e-01 -1.39834142e-03 5.89154181e+00] [ 3.58973024e-02 -3.08485521e-04 9.99355437e-01 5.11394736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:5.89, Z:5.12 [[ 9.98079137e-01 -5.05104819e-02 -3.58709881e-02 1.48299178e+02] [ 5.04924711e-02 9.98723449e-01 -1.40840037e-03 5.89128033e+00] [ 3.58963359e-02 -4.05519808e-04 9.99355437e-01 5.11533019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:5.89, Z:5.12 [[ 9.97906848e-01 -5.38072928e-02 -3.58705817e-02 1.48327786e+02] [ 5.37910412e-02 9.98551206e-01 -1.41867670e-03 5.89095396e+00] [ 3.58949478e-02 -5.13808747e-04 9.99355437e-01 5.11650201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:5.89, Z:5.12 [[ 9.97532196e-01 -6.03559877e-02 -3.58702225e-02 1.48356066e+02] [ 6.03436414e-02 9.98176641e-01 -1.42770071e-03 5.88852399e+00] [ 3.58909885e-02 -7.40362420e-04 9.99355437e-01 5.11800643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:5.89, Z:5.12 [[ 9.97331293e-01 -6.35894974e-02 -3.58701462e-02 1.48385576e+02] [ 6.35791716e-02 9.97975774e-01 -1.42961563e-03 5.88784149e+00] [ 3.58884454e-02 -8.54793773e-04 9.99355437e-01 5.11836655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:5.89, Z:5.12 [[ 9.97109812e-01 -6.69727912e-02 -3.58701468e-02 1.48415747e+02] [ 6.69646525e-02 9.97754324e-01 -1.42960064e-03 5.88701620e+00] [ 3.58853384e-02 -9.76563092e-04 9.99355437e-01 5.11848684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:5.89, Z:5.12 [[ 9.96876085e-01 -7.03662094e-02 -3.58701468e-02 1.48446717e+02] [ 7.03602644e-02 9.97520621e-01 -1.42960064e-03 5.88631147e+00] [ 3.58818067e-02 -1.09869833e-03 9.99355437e-01 5.11867275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:5.89, Z:5.12 [[ 9.96633475e-01 -7.37227423e-02 -3.58702243e-02 1.48479222e+02] [ 7.37190377e-02 9.97278028e-01 -1.42765369e-03 5.88589651e+00] [ 3.58778371e-02 -1.22147096e-03 9.99355437e-01 5.11960885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:5.89, Z:5.12 [[ 9.96397094e-01 -7.68514895e-02 -3.58703286e-02 1.48510814e+02] [ 7.68499031e-02 9.97041655e-01 -1.42502752e-03 5.88557582e+00] [ 3.58737273e-02 -1.33673800e-03 9.99355437e-01 5.12004567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:5.88, Z:5.12 [[ 9.95863344e-01 -8.34836171e-02 -3.58704063e-02 1.48542201e+02] [ 8.34863925e-02 9.96507901e-01 -1.42306869e-03 5.88381697e+00] [ 3.58639462e-02 -1.57750888e-03 9.99355437e-01 5.12054775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:5.88, Z:5.12 [[ 9.95614741e-01 -8.63978984e-02 -3.58704817e-02 1.48574184e+02] [ 8.64026286e-02 9.96259287e-01 -1.42116640e-03 5.88356595e+00] [ 3.58590863e-02 -1.68436970e-03 9.99355437e-01 5.12147344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:5.88, Z:5.12 [[ 9.95405316e-01 -8.87781437e-02 -3.58705846e-02 1.48606216e+02] [ 8.87845086e-02 9.96049848e-01 -1.41856343e-03 5.88355928e+00] [ 3.58548278e-02 -1.77270665e-03 9.99355437e-01 5.12220143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:5.88, Z:5.12 [[ 9.95218646e-01 -9.08467941e-02 -3.58706871e-02 1.48637837e+02] [ 9.08545919e-02 9.95863162e-01 -1.41596847e-03 5.88376424e+00] [ 3.58509321e-02 -1.84981841e-03 9.99355437e-01 5.12254188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:5.88, Z:5.12 [[ 9.94917776e-01 -9.40845741e-02 -3.58707634e-02 1.48669548e+02] [ 9.40945385e-02 9.95562262e-01 -1.41403301e-03 5.88350393e+00] [ 3.58446170e-02 -1.96839635e-03 9.99355437e-01 5.12334440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:5.88, Z:5.12 [[ 9.94853486e-01 -9.47619353e-02 -3.58708378e-02 1.48701205e+02] [ 9.47724065e-02 9.95497964e-01 -1.41214247e-03 5.88417461e+00] [ 3.58431633e-02 -1.99469076e-03 9.99355437e-01 5.12466935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:5.89, Z:5.13 [[ 9.94818113e-01 -9.51325366e-02 -3.58709110e-02 1.48733342e+02] [ 9.51433148e-02 9.95462586e-01 -1.41027941e-03 5.88521760e+00] [ 3.58423133e-02 -2.00990588e-03 9.99355437e-01 5.12619725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.77, Y:5.89, Z:5.13 [[ 9.94795249e-01 -9.53712932e-02 -3.58710083e-02 1.48765197e+02] [ 9.53823151e-02 9.95439718e-01 -1.40780205e-03 5.88623155e+00] [ 3.58416903e-02 -2.02098502e-03 9.99355437e-01 5.12779356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:5.89, Z:5.13 [[ 9.94802109e-01 -9.52996729e-02 -3.58711051e-02 1.48797782e+02] [ 9.53107373e-02 9.95446577e-01 -1.40532921e-03 5.88744107e+00] [ 3.58416963e-02 -2.02087702e-03 9.99355437e-01 5.12955593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:5.89, Z:5.13 [[ 9.94906558e-01 -9.42029381e-02 -3.58712596e-02 1.48830235e+02] [ 9.42134342e-02 9.95551036e-01 -1.40137470e-03 5.88849936e+00] [ 3.58436833e-02 -1.98531768e-03 9.99355437e-01 5.13123173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:5.89, Z:5.13 [[ 9.94984942e-01 -9.33713502e-02 -3.58713872e-02 1.48861792e+02] [ 9.33814252e-02 9.95629426e-01 -1.39810263e-03 5.88989983e+00] [ 3.58451514e-02 -1.95863020e-03 9.99355437e-01 5.13210697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:5.89, Z:5.13 [[ 9.95064111e-01 -9.25237782e-02 -3.58715121e-02 1.48894314e+02] [ 9.25334197e-02 9.95708602e-01 -1.39489007e-03 5.89136637e+00] [ 3.58466337e-02 -1.93130864e-03 9.99355437e-01 5.13337833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:5.89, Z:5.13 [[ 9.95131793e-01 -9.17929313e-02 -3.58716116e-02 1.48926110e+02] [ 9.18021917e-02 9.95776290e-01 -1.39232582e-03 5.89312140e+00] [ 3.58479060e-02 -1.90754488e-03 9.99355437e-01 5.13466106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:5.90, Z:5.13 [[ 9.95366314e-01 -8.92139050e-02 -3.58717116e-02 1.48957263e+02] [ 8.92215880e-02 9.96010832e-01 -1.38974395e-03 5.89573723e+00] [ 3.58525978e-02 -1.81722676e-03 9.99355437e-01 5.13480384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:5.90, Z:5.14 [[ 9.95628839e-01 -8.62347348e-02 -3.58717860e-02 1.48988001e+02] [ 8.62405580e-02 9.96273376e-01 -1.38782323e-03 5.89919041e+00] [ 3.58577839e-02 -1.71184600e-03 9.99355437e-01 5.13506454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:5.90, Z:5.14 [[ 9.95634882e-01 -8.61649101e-02 -3.58718592e-02 1.49020650e+02] [ 8.61707563e-02 9.96279419e-01 -1.38592755e-03 5.90039020e+00] [ 3.58578133e-02 -1.71122742e-03 9.99355437e-01 5.13623757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:5.90, Z:5.14 [[ 9.95905951e-01 -8.29731310e-02 -3.58719562e-02 1.49051617e+02] [ 8.29770016e-02 9.96550502e-01 -1.38341265e-03 5.90435405e+00] [ 3.58630020e-02 -1.59879848e-03 9.99355437e-01 5.13720611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:5.91, Z:5.14 [[ 9.95911626e-01 -8.29049561e-02 -3.58720283e-02 1.49084266e+02] [ 8.29088500e-02 9.96556177e-01 -1.38153887e-03 5.90554799e+00] [ 3.58630278e-02 -1.59821800e-03 9.99355437e-01 5.13837913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:5.91, Z:5.14 [[ 9.96088384e-01 -8.07534609e-02 -3.58721227e-02 1.49115543e+02] [ 8.07560507e-02 9.96732942e-01 -1.37908408e-03 5.90830098e+00] [ 3.58662922e-02 -1.52320132e-03 9.99355437e-01 5.13975763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:5.91, Z:5.14 [[ 9.96093855e-01 -8.06859262e-02 -3.58721930e-02 1.49148192e+02] [ 8.06885380e-02 9.96738413e-01 -1.37725481e-03 5.90949008e+00] [ 3.58663177e-02 -1.52259975e-03 9.99355437e-01 5.14093066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:5.91, Z:5.14 [[ 9.96099321e-01 -8.06183694e-02 -3.58722861e-02 1.49180842e+02] [ 8.06210249e-02 9.96743879e-01 -1.37482347e-03 5.91067666e+00] [ 3.58663177e-02 -1.52259975e-03 9.99355437e-01 5.14210349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:5.91, Z:5.14 [[ 9.96490047e-01 -7.56356942e-02 -3.58723792e-02 1.49213135e+02] [ 7.56352135e-02 9.97134610e-01 -1.37239213e-03 5.91472389e+00] [ 3.58733926e-02 -1.34563996e-03 9.99355437e-01 5.14386230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:5.92, Z:5.15 [[ 9.96676208e-01 -7.31416601e-02 -3.58724785e-02 1.49244289e+02] [ 7.31396598e-02 9.97320768e-01 -1.36979124e-03 5.91719423e+00] [ 3.58765566e-02 -1.25846253e-03 9.99355437e-01 5.14549777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:5.92, Z:5.15 [[ 9.96852419e-01 -7.06994255e-02 -3.58726428e-02 1.49275107e+02] [ 7.06960012e-02 9.97496973e-01 -1.36547445e-03 5.91983169e+00] [ 3.58793908e-02 -1.17487588e-03 9.99355437e-01 5.14676859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:5.92, Z:5.15 [[ 9.97114015e-01 -6.69088127e-02 -3.58727156e-02 1.49306805e+02] [ 6.69030066e-02 9.97758552e-01 -1.36355811e-03 5.92347833e+00] [ 3.58835429e-02 -1.04036963e-03 9.99355437e-01 5.14770845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:5.93, Z:5.15 [[ 9.97221930e-01 -6.52806527e-02 -3.58728148e-02 1.49338449e+02] [ 6.52738882e-02 9.97866458e-01 -1.36094384e-03 5.92519487e+00] [ 3.58851219e-02 -9.84395062e-04 9.99355437e-01 5.14882910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:5.93, Z:5.15 [[ 9.97320700e-01 -6.37539018e-02 -3.58728638e-02 1.49369174e+02] [ 6.37461971e-02 9.97965217e-01 -1.35965190e-03 5.92697151e+00] [ 3.58865534e-02 -9.30749661e-04 9.99355437e-01 5.14922882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:5.93, Z:5.15 [[ 9.97418719e-01 -6.22015644e-02 -3.58728881e-02 1.49400265e+02] [ 6.21928795e-02 9.98063224e-01 -1.35901077e-03 5.92833918e+00] [ 3.58879429e-02 -8.75535421e-04 9.99355437e-01 5.14966331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:5.93, Z:5.15 [[ 9.97493478e-01 -6.09909365e-02 -3.58729363e-02 1.49431103e+02] [ 6.09815152e-02 9.98137972e-01 -1.35773528e-03 5.92977021e+00] [ 3.58889495e-02 -8.33253922e-04 9.99355437e-01 5.15021187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:5.93, Z:5.15 [[ 9.97574906e-01 -5.96442786e-02 -3.58729363e-02 1.49460663e+02] [ 5.96339873e-02 9.98219387e-01 -1.35773528e-03 5.93144879e+00] [ 3.58900417e-02 -7.84803582e-04 9.99355437e-01 5.15097785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:5.93, Z:5.15 [[ 9.97792251e-01 -5.58905947e-02 -3.58729121e-02 1.49491197e+02] [ 5.58778557e-02 9.98436688e-01 -1.35837532e-03 5.93397884e+00] [ 3.58927520e-02 -6.49125041e-04 9.99355437e-01 5.15199174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.52, Y:5.94, Z:5.15 [[ 9.97905308e-01 -5.38342865e-02 -3.58729121e-02 1.49522020e+02] [ 5.38202194e-02 9.98549718e-01 -1.35837532e-03 5.93555185e+00] [ 3.58940134e-02 -5.75158062e-04 9.99355437e-01 5.15358126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:5.94, Z:5.15 [[ 9.98120176e-01 -4.96915251e-02 -3.58729121e-02 1.49551968e+02] [ 4.96747833e-02 9.98764522e-01 -1.35837532e-03 5.93531280e+00] [ 3.58960917e-02 -4.26157323e-04 9.99355437e-01 5.15219525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:5.94, Z:5.16 [[ 9.98111772e-01 -4.98568255e-02 -3.58773953e-02 1.49579655e+02] [ 4.98444273e-02 9.98756224e-01 -1.24047738e-03 5.93844311e+00] [ 3.58946181e-02 -5.50153141e-04 9.99355429e-01 5.15632440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:5.94, Z:5.15 [[ 9.98434661e-01 -4.29114778e-02 -3.58724551e-02 1.49609925e+02] [ 4.28899478e-02 9.99078864e-01 -1.36985456e-03 5.93770779e+00] [ 3.58981942e-02 -1.70857451e-04 9.99355438e-01 5.15470777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:5.94, Z:5.16 [[ 9.98425735e-01 -4.31147898e-02 -3.58770993e-02 1.49635372e+02] [ 4.30977405e-02 9.99070080e-01 -1.24879946e-03 5.94071303e+00] [ 3.58975782e-02 -2.99388395e-04 9.99355429e-01 5.15877406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:5.94, Z:5.16 [[ 9.98608796e-01 -3.86483083e-02 -3.58717324e-02 1.49665532e+02] [ 3.86233922e-02 9.99252875e-01 -1.38755456e-03 5.94021650e+00] [ 3.58985584e-02 1.36201239e-07 9.99355439e-01 5.15694161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:5.94, Z:5.16 [[ 9.98601198e-01 -3.88390654e-02 -3.58772017e-02 1.49692924e+02] [ 3.88193480e-02 9.99245468e-01 -1.24627052e-03 5.94131677e+00] [ 3.58985352e-02 -1.48202338e-04 9.99355429e-01 5.15788033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:5.94, Z:5.16 [[ 9.98703406e-01 -3.61160752e-02 -3.58766773e-02 1.49720886e+02] [ 3.60941179e-02 9.99347601e-01 -1.25971962e-03 5.94307666e+00] [ 3.58987675e-02 -3.68507452e-05 9.99355431e-01 5.15843275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:5.95, Z:5.16 [[ 9.98661926e-01 -3.72466295e-02 -3.58754149e-02 1.49746693e+02] [ 3.72242464e-02 9.99306103e-01 -1.29187634e-03 5.94582330e+00] [ 3.58986391e-02 -4.52875715e-05 9.99355435e-01 5.16216539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:5.95, Z:5.16 [[ 9.98658807e-01 -3.73350280e-02 -3.58703555e-02 1.49774453e+02] [ 3.73081099e-02 9.99302802e-01 -1.41971319e-03 5.94678979e+00] [ 3.58983518e-02 7.95539129e-05 9.99355443e-01 5.16337508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:5.95, Z:5.16 [[ 9.98637175e-01 -3.79096186e-02 -3.58699403e-02 1.49801228e+02] [ 3.78826969e-02 9.99281170e-01 -1.43012791e-03 5.94749696e+00] [ 3.58983715e-02 6.93288217e-05 9.99355443e-01 5.16417534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:5.95, Z:5.16 [[ 9.98595360e-01 -3.89957429e-02 -3.58697599e-02 1.49827834e+02] [ 3.89693597e-02 9.99239376e-01 -1.43463687e-03 5.94781010e+00] [ 3.58984213e-02 3.48001477e-05 9.99355443e-01 5.16481234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:5.95, Z:5.17 [[ 9.98416012e-01 -4.33455918e-02 -3.58695825e-02 1.49856159e+02] [ 4.33218555e-02 9.99060131e-01 -1.43905906e-03 5.94649765e+00] [ 3.58982467e-02 -1.17157262e-04 9.99355443e-01 5.16569239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:5.95, Z:5.17 [[ 9.98277651e-01 -4.64234303e-02 -3.58691671e-02 1.49884309e+02] [ 4.64013105e-02 9.98921828e-01 -1.44934014e-03 5.94620538e+00] [ 3.58977773e-02 -2.17532493e-04 9.99355443e-01 5.16651246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:5.95, Z:5.17 [[ 9.98089871e-01 -5.02995255e-02 -3.58687499e-02 1.49911927e+02] [ 5.02795389e-02 9.98734118e-01 -1.45959305e-03 5.94599428e+00] [ 3.58967611e-02 -3.46659168e-04 9.99355443e-01 5.16770225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:5.95, Z:5.17 [[ 9.97885367e-01 -5.42056958e-02 -3.58683243e-02 1.49939856e+02] [ 5.41878576e-02 9.98529677e-01 -1.46997852e-03 5.94547531e+00] [ 3.58952674e-02 -4.76757591e-04 9.99355444e-01 5.16883455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:5.94, Z:5.17 [[ 9.97632114e-01 -5.86825209e-02 -3.58681921e-02 1.49968339e+02] [ 5.86674582e-02 9.98276494e-01 -1.47319622e-03 5.94473932e+00] [ 3.58928239e-02 -6.34587802e-04 9.99355444e-01 5.17030144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:5.94, Z:5.17 [[ 9.97081905e-01 -6.73880916e-02 -3.58680991e-02 1.49998567e+02] [ 6.73785727e-02 9.97726391e-01 -1.47545743e-03 5.94144206e+00] [ 3.58859773e-02 -9.45589420e-04 9.99355444e-01 5.17085784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:5.94, Z:5.17 [[ 9.96799299e-01 -7.14467636e-02 -3.58680450e-02 1.50028830e+02] [ 7.14398213e-02 9.97443819e-01 -1.47677064e-03 5.94037385e+00] [ 3.58818703e-02 -1.09036279e-03 9.99355444e-01 5.17070726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:5.94, Z:5.17 [[ 9.96206315e-01 -7.92872017e-02 -3.58680719e-02 1.50060578e+02] [ 7.92853541e-02 9.96850868e-01 -1.47611837e-03 5.93798300e+00] [ 3.58721559e-02 -1.37329434e-03 9.99355444e-01 5.17099396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:5.94, Z:5.17 [[ 9.95936449e-01 -8.26078990e-02 -3.58681519e-02 1.50093150e+02] [ 8.26082702e-02 9.96581006e-01 -1.47417132e-03 5.93807565e+00] [ 3.58672971e-02 -1.49482504e-03 9.99355444e-01 5.17237797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:5.94, Z:5.17 [[ 9.95669127e-01 -8.57697955e-02 -3.58682570e-02 1.50125345e+02] [ 8.57723053e-02 9.96313679e-01 -1.47160973e-03 5.93847805e+00] [ 3.58622547e-02 -1.61126672e-03 9.99355444e-01 5.17373777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:5.94, Z:5.18 [[ 9.95400233e-01 -8.88360092e-02 -3.58683611e-02 1.50157546e+02] [ 8.88405955e-02 9.96044773e-01 -1.46906892e-03 5.93894237e+00] [ 3.58569998e-02 -1.72425502e-03 9.99355444e-01 5.17522501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:5.94, Z:5.18 [[ 9.95144368e-01 -9.16577370e-02 -3.58684646e-02 1.50189885e+02] [ 9.16642417e-02 9.95788891e-01 -1.46653600e-03 5.93921795e+00] [ 3.58518380e-02 -1.82844058e-03 9.99355444e-01 5.17628403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:5.94, Z:5.18 [[ 9.94915929e-01 -9.41049389e-02 -3.58685695e-02 1.50222546e+02] [ 9.41131212e-02 9.95560434e-01 -1.46396603e-03 5.93965280e+00] [ 3.58470951e-02 -1.91917991e-03 9.99355444e-01 5.17714402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:5.94, Z:5.18 [[ 9.94718812e-01 -9.61661218e-02 -3.58686766e-02 1.50254935e+02] [ 9.61757339e-02 9.95363297e-01 -1.46133772e-03 5.93998697e+00] [ 3.58428954e-02 -1.99607617e-03 9.99355444e-01 5.17786656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:5.94, Z:5.18 [[ 9.94538049e-01 -9.80178537e-02 -3.58687841e-02 1.50286595e+02] [ 9.80287607e-02 9.95182513e-01 -1.45869318e-03 5.94034605e+00] [ 3.58389647e-02 -2.06544658e-03 9.99355444e-01 5.17828932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:5.94, Z:5.18 [[ 9.94358463e-01 -9.98231374e-02 -3.58690440e-02 1.50319579e+02] [ 9.98354451e-02 9.95002902e-01 -1.45227451e-03 5.94096938e+00] [ 3.58347735e-02 -2.13692052e-03 9.99355444e-01 5.17928463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:5.94, Z:5.18 [[ 9.94241886e-01 -1.00977580e-01 -3.58692044e-02 1.50351428e+02] [ 1.00990779e-01 9.94886308e-01 -1.44830352e-03 5.94158822e+00] [ 3.58320265e-02 -2.18249486e-03 9.99355444e-01 5.17977171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:5.94, Z:5.18 [[ 9.94140583e-01 -1.01970054e-01 -3.58693367e-02 1.50384008e+02] [ 1.01984014e-01 9.94784988e-01 -1.44501930e-03 5.94250391e+00] [ 3.58296263e-02 -2.22154658e-03 9.99355444e-01 5.18144116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:5.94, Z:5.18 [[ 9.94160594e-01 -1.01774733e-01 -3.58694377e-02 1.50417298e+02] [ 1.01788657e-01 9.94805000e-01 -1.44250690e-03 5.94398500e+00] [ 3.58299067e-02 -2.21701837e-03 9.99355444e-01 5.18313403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:5.95, Z:5.18 [[ 9.94256436e-01 -1.00834077e-01 -3.58695943e-02 1.50449153e+02] [ 1.00847531e-01 9.94900852e-01 -1.43860353e-03 5.94555618e+00] [ 3.58317502e-02 -2.18701921e-03 9.99355444e-01 5.18421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:5.95, Z:5.18 [[ 9.94650997e-01 -9.68646397e-02 -3.58696976e-02 1.50483853e+02] [ 9.68756144e-02 9.95295460e-01 -1.43602289e-03 5.94532172e+00] [ 3.58400470e-02 -2.04655739e-03 9.99355444e-01 5.18103799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:5.95, Z:5.19 [[ 9.94582164e-01 -9.75669090e-02 -3.58750157e-02 1.50514098e+02] [ 9.75831456e-02 9.95226524e-01 -1.30228492e-03 5.94906195e+00] [ 3.58308271e-02 -2.20556753e-03 9.99355436e-01 5.18580033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:5.95, Z:5.19 [[ 9.94769513e-01 -9.56397009e-02 -3.58700991e-02 1.50547151e+02] [ 9.56502434e-02 9.95413983e-01 -1.42596884e-03 5.95076642e+00] [ 3.58419774e-02 -2.01247337e-03 9.99355444e-01 5.18765548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:5.95, Z:5.19 [[ 9.95104540e-01 -9.20884312e-02 -3.58702561e-02 1.50579015e+02] [ 9.20968157e-02 9.95749042e-01 -1.42200719e-03 5.95371737e+00] [ 3.58487236e-02 -1.88849055e-03 9.99355444e-01 5.18932259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:5.96, Z:5.19 [[ 9.95280806e-01 -9.01633719e-02 -3.58703858e-02 1.50611567e+02] [ 9.01706275e-02 9.95925321e-01 -1.41872786e-03 5.95584667e+00] [ 3.58521428e-02 -1.82242259e-03 9.99355444e-01 5.19108812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:5.96, Z:5.19 [[ 9.95445113e-01 -8.83308231e-02 -3.58704858e-02 1.50643825e+02] [ 8.83369832e-02 9.96089640e-01 -1.41619507e-03 5.95829965e+00] [ 3.58553130e-02 -1.75894604e-03 9.99355444e-01 5.19257686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:5.96, Z:5.19 [[ 9.95637587e-01 -8.61341811e-02 -3.58705883e-02 1.50674576e+02] [ 8.61390124e-02 9.96282125e-01 -1.41359542e-03 5.96075735e+00] [ 3.58589848e-02 -1.68242831e-03 9.99355444e-01 5.19339529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:5.96, Z:5.19 [[ 9.95835489e-01 -8.38151249e-02 -3.58706645e-02 1.50706924e+02] [ 8.38185247e-02 9.96480036e-01 -1.41165915e-03 5.96347474e+00] [ 3.58627194e-02 -1.60084590e-03 9.99355444e-01 5.19463464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:5.97, Z:5.20 [[ 9.96021881e-01 -8.15702190e-02 -3.58707652e-02 1.50738221e+02] [ 8.15722581e-02 9.96666434e-01 -1.40909496e-03 5.96608200e+00] [ 3.58661278e-02 -1.52256990e-03 9.99355444e-01 5.19516736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:5.97, Z:5.20 [[ 9.96226056e-01 -7.90375081e-02 -3.58708401e-02 1.50769955e+02] [ 7.90379770e-02 9.96870612e-01 -1.40718571e-03 5.96883181e+00] [ 3.58698068e-02 -1.43328356e-03 9.99355444e-01 5.19691855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:5.97, Z:5.20 [[ 9.96620060e-01 -7.39035307e-02 -3.58709411e-02 1.50801933e+02] [ 7.39007714e-02 9.97264610e-01 -1.40460526e-03 5.97370544e+00] [ 3.58766254e-02 -1.25103244e-03 9.99355444e-01 5.19855444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:5.98, Z:5.20 [[ 9.96831664e-01 -7.09922660e-02 -3.58710419e-02 1.50833801e+02] [ 7.09877167e-02 9.97476204e-01 -1.40202835e-03 5.97664533e+00] [ 3.58800438e-02 -1.14881711e-03 9.99355444e-01 5.19983666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:5.98, Z:5.20 [[ 9.97050881e-01 -6.78439563e-02 -3.58711418e-02 1.50865167e+02] [ 6.78374637e-02 9.97695404e-01 -1.39946656e-03 5.97960512e+00] [ 3.58834187e-02 -1.03806792e-03 9.99355444e-01 5.20062412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:5.98, Z:5.20 [[ 9.97248886e-01 -6.48684582e-02 -3.58711912e-02 1.50895593e+02] [ 6.48600880e-02 9.97893388e-01 -1.39819920e-03 5.98272800e+00] [ 3.58863235e-02 -9.32256021e-04 9.99355444e-01 5.20144645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:5.99, Z:5.20 [[ 9.97455293e-01 -6.16132684e-02 -3.58712157e-02 1.50926895e+02] [ 6.16028172e-02 9.98099764e-01 -1.39757096e-03 5.98579520e+00] [ 3.58891608e-02 -8.15753388e-04 9.99355444e-01 5.20289883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:5.99, Z:5.20 [[ 9.97638127e-01 -5.85783227e-02 -3.58712654e-02 1.50957159e+02] [ 5.85659567e-02 9.98282565e-01 -1.39629434e-03 5.98864394e+00] [ 3.58914514e-02 -7.07838508e-04 9.99355444e-01 5.20439619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:5.99, Z:5.21 [[ 9.97804232e-01 -5.56773529e-02 -3.58712654e-02 1.50987208e+02] [ 5.56631132e-02 9.98448631e-01 -1.39629434e-03 5.99129782e+00] [ 3.58933578e-02 -6.03477906e-04 9.99355444e-01 5.20587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:5.99, Z:5.21 [[ 9.98095653e-01 -5.01828696e-02 -3.58712654e-02 1.51015934e+02] [ 5.01650822e-02 9.98739964e-01 -1.39629434e-03 5.99480756e+00] [ 3.58961363e-02 -4.05849668e-04 9.99355444e-01 5.20669841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:6.00, Z:5.21 [[ 9.98220948e-01 -4.76255898e-02 -3.58711891e-02 1.51044414e+02] [ 4.76060815e-02 9.98865209e-01 -1.39825083e-03 5.99698141e+00] [ 3.58970753e-02 -3.11923487e-04 9.99355444e-01 5.20790479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:6.00, Z:5.21 [[ 9.98330308e-01 -4.52755990e-02 -3.58708337e-02 1.51072453e+02] [ 4.52542486e-02 9.98974510e-01 -1.40731022e-03 5.99915714e+00] [ 3.58977653e-02 -2.18347175e-04 9.99355444e-01 5.20937484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:6.00, Z:5.21 [[ 9.98317173e-01 -4.55646251e-02 -3.58704234e-02 1.51100798e+02] [ 4.55430883e-02 9.98961369e-01 -1.41769105e-03 6.00033801e+00] [ 3.58977638e-02 -2.18344538e-04 9.99355444e-01 5.21039735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:6.00, Z:5.21 [[ 9.98402100e-01 -4.36645117e-02 -3.58700102e-02 1.51127194e+02] [ 4.36413760e-02 9.99046241e-01 -1.42806913e-03 6.00221805e+00] [ 3.58981548e-02 -1.39629386e-04 9.99355444e-01 5.21128553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:6.00, Z:5.21 [[ 9.98526889e-01 -4.07112766e-02 -3.58698308e-02 1.51155056e+02] [ 4.06860743e-02 9.99170952e-01 -1.43256198e-03 6.00472350e+00] [ 3.58984144e-02 -2.89509451e-05 9.99355444e-01 5.21208809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:6.01, Z:5.21 [[ 9.98628501e-01 -3.81376597e-02 -3.58697038e-02 1.51182632e+02] [ 3.81106836e-02 9.99272493e-01 -1.43573469e-03 6.00588802e+00] [ 3.58983639e-02 6.67466471e-05 9.99355444e-01 5.21090464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:6.01, Z:5.21 [[ 9.98723623e-01 -3.55614523e-02 -3.58679363e-02 1.51210154e+02] [ 3.55312359e-02 9.99367471e-01 -1.47970768e-03 6.00756866e+00] [ 3.58978693e-02 2.03386911e-04 9.99355443e-01 5.21104064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:6.01, Z:5.21 [[ 9.98754021e-01 -3.46978048e-02 -3.58673528e-02 1.51238988e+02] [ 3.46665137e-02 9.99397819e-01 -1.49413050e-03 6.00912203e+00] [ 3.58975973e-02 2.48872769e-04 9.99355443e-01 5.21274914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:6.01, Z:5.22 [[ 9.98718483e-01 -3.57057798e-02 -3.58676530e-02 1.51267045e+02] [ 3.56754044e-02 9.99362324e-01 -1.48672345e-03 6.01079047e+00] [ 3.58978657e-02 2.05225162e-04 9.99355443e-01 5.21600093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:6.01, Z:5.22 [[ 9.98708341e-01 -3.59872708e-02 -3.58687464e-02 1.51295390e+02] [ 3.59580416e-02 9.99352234e-01 -1.45986041e-03 6.01199241e+00] [ 3.58980482e-02 1.68204890e-04 9.99355443e-01 5.21701112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:6.01, Z:5.21 [[ 9.98752592e-01 -3.47379204e-02 -3.58683304e-02 1.51324113e+02] [ 3.47075212e-02 9.99396431e-01 -1.47001120e-03 6.01145746e+00] [ 3.58977465e-02 2.23276660e-04 9.99355443e-01 5.21472060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79509989299999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:151.35, Y:6.01, Z:5.22 [[ 9.98577601e-01 -3.94478152e-02 -3.58698181e-02 1.51350308e+02] [ 3.94217552e-02 9.99221632e-01 -1.43375624e-03 6.01265627e+00] [ 3.58984567e-02 1.76656787e-05 9.99355443e-01 5.21632552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:6.01, Z:5.22 [[ 9.98424062e-01 -4.31679583e-02 -3.58597342e-02 1.51379226e+02] [ 4.31355755e-02 9.99067821e-01 -1.67657614e-03 6.01303149e+00] [ 3.58986809e-02 1.27103685e-04 9.99355427e-01 5.22078127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:6.01, Z:5.22 [[ 9.98283929e-01 -4.62896174e-02 -3.58673654e-02 1.51406995e+02] [ 4.62658319e-02 9.98928047e-01 -1.49329820e-03 6.01333389e+00] [ 3.58980415e-02 -1.68697901e-04 9.99355443e-01 5.22161537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:6.01, Z:5.22 [[ 9.97951329e-01 -5.29783689e-02 -3.58669303e-02 1.51434444e+02] [ 5.29585274e-02 9.98595580e-01 -1.50367539e-03 6.01253280e+00] [ 3.58962204e-02 -3.98864956e-04 9.99355443e-01 5.22192288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:6.01, Z:5.22 [[ 9.97767782e-01 -5.63296578e-02 -3.58667412e-02 1.51462647e+02] [ 5.63118184e-02 9.98412092e-01 -1.50817354e-03 6.01237560e+00] [ 3.58947430e-02 -5.14914446e-04 9.99355443e-01 5.22241780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:6.01, Z:5.22 [[ 9.97592010e-01 -5.93612954e-02 -3.58666609e-02 1.51492087e+02] [ 5.93453454e-02 9.98236370e-01 -1.51008032e-03 6.01211837e+00] [ 3.58930457e-02 -6.22075323e-04 9.99355443e-01 5.22397610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:6.01, Z:5.23 [[ 9.97423055e-01 -6.21356299e-02 -3.58666063e-02 1.51521426e+02] [ 6.21214256e-02 9.98067455e-01 -1.51137606e-03 6.01187591e+00] [ 3.58912028e-02 -7.20603390e-04 9.99355443e-01 5.22535595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:6.01, Z:5.23 [[ 9.97144639e-01 -6.64541709e-02 -3.58665792e-02 1.51553061e+02] [ 6.64427340e-02 9.97789094e-01 -1.51201948e-03 6.01068777e+00] [ 3.58877616e-02 -8.75371458e-04 9.99355443e-01 5.22802097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:6.01, Z:5.23 [[ 9.97024333e-01 -6.82353632e-02 -3.58666330e-02 1.51584336e+02] [ 6.82251235e-02 9.97668808e-01 -1.51074195e-03 6.01114739e+00] [ 3.58861070e-02 -9.40758981e-04 9.99355443e-01 5.22969966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:6.01, Z:5.23 [[ 9.97031629e-01 -6.81286430e-02 -3.58666874e-02 1.51615341e+02] [ 6.81183808e-02 9.97676104e-01 -1.50944914e-03 6.01026040e+00] [ 3.58861737e-02 -9.38212139e-04 9.99355443e-01 5.22783375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:6.01, Z:5.23 [[ 9.96833506e-01 -7.09678144e-02 -3.58682505e-02 1.51645465e+02] [ 7.09607211e-02 9.97478024e-01 -1.47235879e-03 6.01147359e+00] [ 3.58822817e-02 -1.07754035e-03 9.99355443e-01 5.23216095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:6.01, Z:5.23 [[ 9.96736424e-01 -7.23194146e-02 -3.58664785e-02 1.51676588e+02] [ 7.23116863e-02 9.97380934e-01 -1.51432954e-03 6.01180565e+00] [ 3.58820572e-02 -1.08417813e-03 9.99355444e-01 5.23321465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:6.01, Z:5.23 [[ 9.96829063e-01 -7.10310600e-02 -3.58665329e-02 1.51709410e+02] [ 7.10225450e-02 9.97473563e-01 -1.51304028e-03 6.00973742e+00] [ 3.58833912e-02 -1.03908992e-03 9.99355444e-01 5.23092667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:6.01, Z:5.23 [[ 9.96826072e-01 -7.10695310e-02 -3.58734501e-02 1.51741187e+02] [ 7.10669533e-02 9.97470636e-01 -1.34858282e-03 6.01100898e+00] [ 3.58785562e-02 -1.20511429e-03 9.99355431e-01 5.23201757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:6.01, Z:5.23 [[ 9.96445381e-01 -7.62213634e-02 -3.58734761e-02 1.51770424e+02] [ 7.62221399e-02 9.97089950e-01 -1.34796400e-03 6.01136818e+00] [ 3.58718262e-02 -1.39118061e-03 9.99355431e-01 5.23443618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:6.01, Z:5.24 [[ 9.96308120e-01 -7.79982043e-02 -3.58665640e-02 1.51803030e+02] [ 7.79942347e-02 9.96952664e-01 -1.51194495e-03 6.01164160e+00] [ 3.58751955e-02 -1.29102218e-03 9.99355444e-01 5.23528111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:6.01, Z:5.24 [[ 9.96176380e-01 -7.96630499e-02 -3.58666725e-02 1.51834538e+02] [ 7.96602500e-02 9.96820930e-01 -1.50936727e-03 6.01190247e+00] [ 3.58728907e-02 -1.35355208e-03 9.99355444e-01 5.23560016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:6.01, Z:5.24 [[ 9.95892430e-01 -8.31375048e-02 -3.58667532e-02 1.51866870e+02] [ 8.31370223e-02 9.96536985e-01 -1.50744703e-03 6.01237804e+00] [ 3.58678715e-02 -1.48059997e-03 9.99355444e-01 5.23571533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:6.01, Z:5.24 [[ 9.95757910e-01 -8.47334207e-02 -3.58668606e-02 1.51899279e+02] [ 8.47340633e-02 9.96402466e-01 -1.50488662e-03 6.01348126e+00] [ 3.58653426e-02 -1.54064209e-03 9.99355444e-01 5.23658766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:6.01, Z:5.24 [[ 9.95635868e-01 -8.61555495e-02 -3.58669686e-02 1.51930108e+02] [ 8.61572053e-02 9.96280422e-01 -1.50230972e-03 6.01454517e+00] [ 3.58629909e-02 -1.59444434e-03 9.99355444e-01 5.23732917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:6.02, Z:5.24 [[ 9.95519471e-01 -8.74901673e-02 -3.58671515e-02 1.51962212e+02] [ 8.74928446e-02 9.96164022e-01 -1.49793109e-03 6.01571977e+00] [ 3.58606201e-02 -1.64689954e-03 9.99355444e-01 5.23859992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:6.02, Z:5.24 [[ 9.95398694e-01 -8.88536927e-02 -3.58672594e-02 1.51993916e+02] [ 8.88573460e-02 9.96043240e-01 -1.49534243e-03 6.01663243e+00] [ 3.58582079e-02 -1.69860757e-03 9.99355444e-01 5.23974301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:6.02, Z:5.24 [[ 9.95277180e-01 -9.02045848e-02 -3.58673684e-02 1.52024881e+02] [ 9.02092070e-02 9.95921719e-01 -1.49272267e-03 6.01767945e+00] [ 3.58557416e-02 -1.74989405e-03 9.99355444e-01 5.24042059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:6.02, Z:5.24 [[ 9.95125713e-01 -9.18604465e-02 -3.58674496e-02 1.52056770e+02] [ 9.18662114e-02 9.95770243e-01 -1.49076943e-03 6.01856147e+00] [ 3.58526817e-02 -1.81150371e-03 9.99355444e-01 5.24209140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:6.02, Z:5.24 [[ 9.95132331e-01 -9.17886850e-02 -3.58675567e-02 1.52089415e+02] [ 9.17944961e-02 9.95776860e-01 -1.48818786e-03 6.01985676e+00] [ 3.58526818e-02 -1.81150044e-03 9.99355444e-01 5.24326417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:6.02, Z:5.25 [[ 9.94994272e-01 -9.32733092e-02 -3.58676638e-02 1.52121672e+02] [ 9.32801749e-02 9.95638791e-01 -1.48560301e-03 6.02137401e+00] [ 3.58498045e-02 -1.86757546e-03 9.99355444e-01 5.24558375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575099893 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:152.15, Y:6.02, Z:5.24 [[ 9.95065630e-01 -9.25088965e-02 -3.58677712e-02 1.52152267e+02] [ 9.25153605e-02 9.95710153e-01 -1.48300467e-03 6.02255852e+00] [ 3.58510951e-02 -1.84263280e-03 9.99355444e-01 5.24465693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:6.02, Z:5.25 [[ 9.94916354e-01 -9.41026910e-02 -3.58626842e-02 1.52185381e+02] [ 9.41057730e-02 9.95560910e-01 -1.60579603e-03 6.02452577e+00] [ 3.58545962e-02 -1.77725288e-03 9.99355437e-01 5.24797532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:6.03, Z:5.25 [[ 9.94875966e-01 -9.45267306e-02 -3.58679585e-02 1.52217546e+02] [ 9.45346892e-02 9.95520471e-01 -1.47778771e-03 6.02634051e+00] [ 3.58469774e-02 -1.92055084e-03 9.99355445e-01 5.25065882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:6.03, Z:5.25 [[ 9.94824023e-01 -9.50717876e-02 -3.58680654e-02 1.52248910e+02] [ 9.50801927e-02 9.95468523e-01 -1.47518963e-03 6.02839442e+00] [ 3.58457790e-02 -1.94278848e-03 9.99355445e-01 5.25277687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:6.03, Z:5.26 [[ 9.94779608e-01 -9.55353764e-02 -3.58681451e-02 1.52281586e+02] [ 9.55441516e-02 9.95424103e-01 -1.47324898e-03 6.03027855e+00] [ 3.58447635e-02 -1.96143345e-03 9.99355445e-01 5.25528116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:6.03, Z:5.26 [[ 9.94789909e-01 -9.54279902e-02 -3.58683035e-02 1.52315080e+02] [ 9.54368348e-02 9.95434403e-01 -1.46938160e-03 6.03156050e+00] [ 3.58447635e-02 -1.96143137e-03 9.99355445e-01 5.25648399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:6.03, Z:5.26 [[ 9.94792956e-01 -9.53961629e-02 -3.58684616e-02 1.52347796e+02] [ 9.54051260e-02 9.95437449e-01 -1.46551213e-03 6.03321252e+00] [ 3.58446142e-02 -1.96415396e-03 9.99355445e-01 5.25812471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:6.04, Z:5.26 [[ 9.94776166e-01 -9.55710334e-02 -3.58686193e-02 1.52380794e+02] [ 9.55802489e-02 9.95420655e-01 -1.46164309e-03 6.03526177e+00] [ 3.58440552e-02 -1.97432385e-03 9.99355445e-01 5.25941300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:6.04, Z:5.26 [[ 9.94760714e-01 -9.57316706e-02 -3.58687755e-02 1.52413592e+02] [ 9.57411283e-02 9.95405199e-01 -1.45779997e-03 6.03722600e+00] [ 3.58435232e-02 -1.98395490e-03 9.99355445e-01 5.26004030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:6.04, Z:5.26 [[ 9.94770920e-01 -9.56254968e-02 -3.58689306e-02 1.52447086e+02] [ 9.56350233e-02 9.95415405e-01 -1.45397407e-03 6.03849255e+00] [ 3.58435230e-02 -1.98395489e-03 9.99355445e-01 5.26124313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:6.04, Z:5.26 [[ 9.94852835e-01 -9.47694356e-02 -3.58690852e-02 1.52479172e+02] [ 9.47785450e-02 9.95497325e-01 -1.45014815e-03 6.03998344e+00] [ 3.58450081e-02 -1.95693571e-03 9.99355445e-01 5.25904635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:6.04, Z:5.26 [[ 9.94755491e-01 -9.57863937e-02 -3.58675370e-02 1.52511167e+02] [ 9.57947855e-02 9.95399992e-01 -1.48843910e-03 6.04263362e+00] [ 3.58451183e-02 -1.95529005e-03 9.99355444e-01 5.26193798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:6.04, Z:5.26 [[ 9.94760414e-01 -9.57345645e-02 -3.58693752e-02 1.52542290e+02] [ 9.57445655e-02 9.95404891e-01 -1.44273991e-03 6.04421026e+00] [ 3.58426716e-02 -1.99911719e-03 9.99355445e-01 5.26228296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:6.05, Z:5.26 [[ 9.94844256e-01 -9.48592744e-02 -3.58695511e-02 1.52574477e+02] [ 9.48688659e-02 9.95488739e-01 -1.43835352e-03 6.04539338e+00] [ 3.58441753e-02 -1.97196590e-03 9.99355445e-01 5.25914029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:6.05, Z:5.26 [[ 9.94778513e-01 -9.55474237e-02 -3.58664209e-02 1.52606284e+02] [ 9.55546513e-02 9.95423030e-01 -1.51651894e-03 6.04713331e+00] [ 3.58471608e-02 -1.91860288e-03 9.99355442e-01 5.26296788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:6.05, Z:5.26 [[ 9.94774501e-01 -9.55878771e-02 -3.58698956e-02 1.52637530e+02] [ 9.55982653e-02 9.95418971e-01 -1.42932173e-03 6.04905522e+00] [ 3.58422004e-02 -2.00724698e-03 9.99355446e-01 5.26301094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:6.05, Z:5.26 [[ 9.94802911e-01 -9.52917312e-02 -3.58699723e-02 1.52669204e+02] [ 9.53019968e-02 9.95447383e-01 -1.42739425e-03 6.05114052e+00] [ 3.58426889e-02 -1.99850403e-03 9.99355446e-01 5.26409664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:6.05, Z:5.26 [[ 9.94850458e-01 -9.47940085e-02 -3.58700737e-02 1.52699260e+02] [ 9.48040435e-02 9.95494934e-01 -1.42484163e-03 6.05394537e+00] [ 3.58435431e-02 -1.98312368e-03 9.99355446e-01 5.26249964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:6.05, Z:5.27 [[ 9.94881060e-01 -9.44754608e-02 -3.58617231e-02 1.52731872e+02] [ 9.44777532e-02 9.95525631e-01 -1.63448597e-03 6.05495787e+00] [ 3.58556834e-02 -1.76201589e-03 9.99355425e-01 5.26603538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:6.06, Z:5.27 [[ 9.94888346e-01 -9.43954335e-02 -3.58703266e-02 1.52763701e+02] [ 9.44055040e-02 9.95532819e-01 -1.41666467e-03 6.05644187e+00] [ 3.58438141e-02 -1.97693310e-03 9.99355449e-01 5.26715334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:6.06, Z:5.27 [[ 9.94884211e-01 -9.44389573e-02 -3.58704496e-02 1.52795619e+02] [ 9.44491682e-02 9.95528682e-01 -1.41354350e-03 6.05798377e+00] [ 3.58435550e-02 -1.98162202e-03 9.99355449e-01 5.26947119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:6.06, Z:5.27 [[ 9.95002960e-01 -9.31794664e-02 -3.58705522e-02 1.52827323e+02] [ 9.31889553e-02 9.95647442e-01 -1.41093442e-03 6.05976421e+00] [ 3.58458937e-02 -1.93885536e-03 9.99355449e-01 5.26706807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23509989299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:152.86, Y:6.06, Z:5.27 [[ 9.94922557e-01 -9.40351457e-02 -3.58677658e-02 1.52857898e+02] [ 9.40426440e-02 9.95567067e-01 -1.48172901e-03 6.06309356e+00] [ 3.58481010e-02 -1.89889392e-03 9.99355446e-01 5.26942987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:6.06, Z:5.27 [[ 9.94995943e-01 -9.32582141e-02 -3.58605436e-02 1.52891101e+02] [ 9.32586000e-02 9.95640527e-01 -1.66558635e-03 6.06415638e+00] [ 3.58595402e-02 -1.68705243e-03 9.99355416e-01 5.27085971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:6.07, Z:5.28 [[ 9.94921941e-01 -9.40431712e-02 -3.58638021e-02 1.52923878e+02] [ 9.40470686e-02 9.95566495e-01 -1.58204795e-03 6.06599211e+00] [ 3.58535805e-02 -1.79887123e-03 9.99355435e-01 5.27562655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:6.07, Z:5.28 [[ 9.94918446e-01 -9.40772862e-02 -3.58712999e-02 1.52955818e+02] [ 9.40881685e-02 9.95562901e-01 -1.38833876e-03 6.06814077e+00] [ 3.58427465e-02 -1.99378107e-03 9.99355453e-01 5.27737478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:6.07, Z:5.28 [[ 9.94906912e-01 -9.41991405e-02 -3.58714220e-02 1.52988744e+02] [ 9.42102154e-02 9.95551363e-01 -1.38517808e-03 6.07109324e+00] [ 3.58423256e-02 -2.00133115e-03 9.99355453e-01 5.27966905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:6.07, Z:5.28 [[ 9.94874120e-01 -9.45447790e-02 -3.58715706e-02 1.53021840e+02] [ 9.45562164e-02 9.95518565e-01 -1.38131887e-03 6.07288825e+00] [ 3.58414110e-02 -2.01764160e-03 9.99355453e-01 5.28081388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:6.07, Z:5.28 [[ 9.94884486e-01 -9.44355841e-02 -3.58717213e-02 1.53055339e+02] [ 9.44470919e-02 9.95528930e-01 -1.37739352e-03 6.07408619e+00] [ 3.58414113e-02 -2.01763231e-03 9.99355453e-01 5.28201669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:6.08, Z:5.28 [[ 9.94839506e-01 -9.49081972e-02 -3.58718720e-02 1.53087065e+02] [ 9.49201525e-02 9.95483942e-01 -1.37345887e-03 6.07559451e+00] [ 3.58402250e-02 -2.03859241e-03 9.99355453e-01 5.28279816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:6.08, Z:5.28 [[ 9.94793429e-01 -9.53899012e-02 -3.58719964e-02 1.53120461e+02] [ 9.54022857e-02 9.95437857e-01 -1.37020173e-03 6.07731565e+00] [ 3.58390466e-02 -2.05920276e-03 9.99355453e-01 5.28354569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:6.08, Z:5.28 [[ 9.94729521e-01 -9.60539893e-02 -3.58721432e-02 1.53152151e+02] [ 9.60669426e-02 9.95373938e-01 -1.36634774e-03 6.07891443e+00] [ 3.58374395e-02 -2.08698068e-03 9.99355453e-01 5.28406172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:6.08, Z:5.29 [[ 9.94639589e-01 -9.69807716e-02 -3.58722402e-02 1.53185399e+02] [ 9.69944169e-02 9.95283991e-01 -1.36379630e-03 6.08047338e+00] [ 3.58353284e-02 -2.12292122e-03 9.99355454e-01 5.28518454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:6.08, Z:5.29 [[ 9.94547825e-01 -9.79172940e-02 -3.58723877e-02 1.53217873e+02] [ 9.79316860e-02 9.95192210e-01 -1.35990550e-03 6.08162271e+00] [ 3.58330790e-02 -2.16055235e-03 9.99355454e-01 5.28601457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:6.08, Z:5.29 [[ 9.94312141e-01 -1.00282250e-01 -3.58725093e-02 1.53250244e+02] [ 1.00298290e-01 9.94956488e-01 -1.35668846e-03 6.08330910e+00] [ 3.58276377e-02 -2.24897955e-03 9.99355454e-01 5.28721083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:6.08, Z:5.29 [[ 9.94223697e-01 -1.01155262e-01 -3.58727478e-02 1.53283380e+02] [ 1.01172096e-01 9.94868023e-01 -1.35035368e-03 6.08446884e+00] [ 3.58252451e-02 -2.28676745e-03 9.99355454e-01 5.28882651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:6.09, Z:5.29 [[ 9.94139500e-01 -1.01979363e-01 -3.58728882e-02 1.53315982e+02] [ 1.01996865e-01 9.94783809e-01 -1.34661365e-03 6.08569933e+00] [ 3.58230951e-02 -2.32020030e-03 9.99355454e-01 5.29039411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:6.09, Z:5.29 [[ 9.94126704e-01 -1.02103976e-01 -3.58730311e-02 1.53349001e+02] [ 1.02121696e-01 9.94771007e-01 -1.34279609e-03 6.08695833e+00] [ 3.58225561e-02 -2.32850531e-03 9.99355454e-01 5.29209433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:6.09, Z:5.29 [[ 9.94193554e-01 -1.01450930e-01 -3.58731787e-02 1.53380594e+02] [ 1.01468369e-01 9.94837865e-01 -1.33884090e-03 6.08881096e+00] [ 3.58238232e-02 -2.30892594e-03 9.99355454e-01 5.29325510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:6.09, Z:5.29 [[ 9.94358641e-01 -9.98198355e-02 -3.58733006e-02 1.53412366e+02] [ 9.98363348e-02 9.95002976e-01 -1.33556727e-03 6.09066487e+00] [ 3.58273569e-02 -2.25342600e-03 9.99355454e-01 5.29374125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:6.09, Z:5.30 [[ 9.94398713e-01 -9.94208596e-02 -3.58704943e-02 1.53444063e+02] [ 9.94343842e-02 9.95043121e-01 -1.41115178e-03 6.09223185e+00] [ 3.58329865e-02 -2.16351299e-03 9.99355450e-01 5.29663836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:6.09, Z:5.30 [[ 9.94528468e-01 -9.81132700e-02 -3.58735596e-02 1.53476176e+02] [ 9.81289220e-02 9.95172824e-01 -1.32837457e-03 6.09376828e+00] [ 3.58307228e-02 -2.19912740e-03 9.99355454e-01 5.29815190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:6.10, Z:5.30 [[ 9.94670863e-01 -9.66589504e-02 -3.58736769e-02 1.53508951e+02] [ 9.66737743e-02 9.95315239e-01 -1.32519957e-03 6.09531910e+00] [ 3.58337097e-02 -2.14990634e-03 9.99355454e-01 5.30018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:6.10, Z:5.30 [[ 9.94772397e-01 -9.56083000e-02 -3.58738204e-02 1.53540581e+02] [ 9.56225833e-02 9.95416785e-01 -1.32130324e-03 6.09661833e+00] [ 3.58357305e-02 -2.11595139e-03 9.99355454e-01 5.30192613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:6.10, Z:5.30 [[ 9.95032499e-01 -9.28621943e-02 -3.58739390e-02 1.53573530e+02] [ 9.28748149e-02 9.95676921e-01 -1.31807453e-03 6.09781472e+00] [ 3.58412524e-02 -2.02025845e-03 9.99355454e-01 5.30321719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:6.10, Z:5.30 [[ 9.95131907e-01 -9.17907260e-02 -3.58740808e-02 1.53604774e+02] [ 9.18027918e-02 9.95776340e-01 -1.31420490e-03 6.09978531e+00] [ 3.58431927e-02 -1.98553353e-03 9.99355454e-01 5.30216934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:6.10, Z:5.30 [[ 9.95378847e-01 -8.90755256e-02 -3.58678480e-02 1.53637667e+02] [ 8.90797229e-02 9.96023393e-01 -1.48421002e-03 6.09969552e+00] [ 3.58574224e-02 -1.71774670e-03 9.99355440e-01 5.30285008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:6.10, Z:5.30 [[ 9.95443263e-01 -8.83501091e-02 -3.58743542e-02 1.53670516e+02] [ 8.83602624e-02 9.96087727e-01 -1.30542941e-03 6.10077761e+00] [ 3.58493387e-02 -1.87038643e-03 9.99355456e-01 5.30406117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:6.10, Z:5.30 [[ 9.95507404e-01 -8.76243674e-02 -3.58744949e-02 1.53701639e+02] [ 8.76341903e-02 9.96151873e-01 -1.30155027e-03 6.10197282e+00] [ 3.58504928e-02 -1.84812938e-03 9.99355456e-01 5.30466857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:6.10, Z:5.31 [[ 9.95631578e-01 -8.62019498e-02 -3.58745648e-02 1.53734969e+02] [ 8.62109213e-02 9.96276060e-01 -1.29962173e-03 6.10297000e+00] [ 3.58530000e-02 -1.79883484e-03 9.99355456e-01 5.30550170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.76, Y:6.11, Z:5.30 [[ 9.95675920e-01 -8.56882079e-02 -3.58747027e-02 1.53763855e+02] [ 8.56969840e-02 9.96320404e-01 -1.29580242e-03 6.10653378e+00] [ 3.58537333e-02 -1.78415456e-03 9.99355456e-01 5.30394182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:6.11, Z:5.31 [[ 9.96024684e-01 -8.15387653e-02 -3.58644523e-02 1.53797299e+02] [ 8.15347027e-02 9.96669254e-01 -1.57827170e-03 6.10565695e+00] [ 3.58736872e-02 -1.35219988e-03 9.99355417e-01 5.30766150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:6.11, Z:5.31 [[ 9.96296589e-01 -7.81415901e-02 -3.58747723e-02 1.53829455e+02] [ 7.81456305e-02 9.96941118e-01 -1.29168983e-03 6.10717689e+00] [ 3.58659703e-02 -1.51655053e-03 9.99355458e-01 5.30910871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:6.11, Z:5.31 [[ 9.96831321e-01 -7.09951552e-02 -3.58748656e-02 1.53860548e+02] [ 7.09946669e-02 9.97475862e-01 -1.28909375e-03 6.10930227e+00] [ 3.58758319e-02 -1.26191510e-03 9.99355458e-01 5.31226281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:6.11, Z:5.31 [[ 9.97118452e-01 -6.68414254e-02 -3.58750149e-02 1.53891356e+02] [ 6.68384015e-02 9.97762986e-01 -1.28492540e-03 6.11075092e+00] [ 3.58806482e-02 -1.11660582e-03 9.99355458e-01 5.31387447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225099893 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:153.92, Y:6.12, Z:5.31 [[ 9.97266586e-01 -6.45936064e-02 -3.58750825e-02 1.53920793e+02] [ 6.45891977e-02 9.97911113e-01 -1.28303288e-03 6.11512959e+00] [ 3.58830193e-02 -1.03761698e-03 9.99355458e-01 5.31402094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255099893 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:153.95, Y:6.12, Z:5.32 [[ 9.97279696e-01 -6.43974625e-02 -3.58632714e-02 1.53951655e+02] [ 6.43811002e-02 9.97924083e-01 -1.61208650e-03 6.11621766e+00] [ 3.58926365e-02 -7.01215728e-04 9.99355406e-01 5.31524120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:6.11, Z:5.32 [[ 9.97842131e-01 -5.49992153e-02 -3.58631845e-02 1.53983065e+02] [ 5.49766957e-02 9.98486333e-01 -1.61451249e-03 6.11485825e+00] [ 3.58976965e-02 -3.60610798e-04 9.99355405e-01 5.32004865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:6.12, Z:5.32 [[ 9.98041484e-01 -5.12460755e-02 -3.58752778e-02 1.54013069e+02] [ 5.12333677e-02 9.98685896e-01 -1.27403881e-03 6.11547995e+00] [ 3.58934235e-02 -5.66467722e-04 9.99355463e-01 5.32105082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:6.12, Z:5.32 [[ 9.98199585e-01 -4.80682526e-02 -3.58752326e-02 1.54042290e+02] [ 4.80534475e-02 9.98843952e-01 -1.27531031e-03 6.11607366e+00] [ 3.58950611e-02 -4.50914386e-04 9.99355463e-01 5.32207498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:6.12, Z:5.32 [[ 9.98323150e-01 -4.54297141e-02 -3.58751863e-02 1.54070263e+02] [ 4.54131592e-02 9.98967475e-01 -1.27661175e-03 6.11665945e+00] [ 3.58961404e-02 -3.54734488e-04 9.99355463e-01 5.32310336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:6.12, Z:5.32 [[ 9.98392166e-01 -4.38869288e-02 -3.58750712e-02 1.54098585e+02] [ 4.38692622e-02 9.99036461e-01 -1.27983857e-03 6.11705298e+00] [ 3.58966724e-02 -2.96032099e-04 9.99355463e-01 5.32394487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:6.12, Z:5.32 [[ 9.98434439e-01 -4.29147637e-02 -3.58747011e-02 1.54125810e+02] [ 4.28961000e-02 9.99078706e-01 -1.29013015e-03 6.11730653e+00] [ 3.58970156e-02 -2.50774389e-04 9.99355463e-01 5.32449035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:6.12, Z:5.32 [[ 9.98400821e-01 -4.36901022e-02 -3.58744392e-02 1.54152327e+02] [ 4.36716786e-02 9.99045095e-01 -1.29737165e-03 6.11890793e+00] [ 3.58968648e-02 -2.71400057e-04 9.99355463e-01 5.32388041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:6.12, Z:5.32 [[ 9.98433574e-01 -4.29406584e-02 -3.58677875e-02 1.54181026e+02] [ 4.29152097e-02 9.99077623e-01 -1.47945216e-03 6.11719704e+00] [ 3.58982326e-02 -6.21389200e-05 9.99355449e-01 5.32447776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:6.12, Z:5.33 [[ 9.98440885e-01 -4.27694733e-02 -3.58688178e-02 1.54211263e+02] [ 4.27449238e-02 9.99084964e-01 -1.45134786e-03 6.11565122e+00] [ 3.58980699e-02 -8.41248444e-05 9.99355453e-01 5.32644970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:6.11, Z:5.33 [[ 9.98452806e-01 -4.24860459e-02 -3.58738015e-02 1.54240244e+02] [ 4.24661960e-02 9.99097038e-01 -1.31544557e-03 6.11489287e+00] [ 3.58972969e-02 -2.10013561e-04 9.99355462e-01 5.32707019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:6.11, Z:5.33 [[ 9.98408900e-01 -4.35053215e-02 -3.58741704e-02 1.54268513e+02] [ 4.34864896e-02 9.99053162e-01 -1.30541658e-03 6.11435760e+00] [ 3.58969960e-02 -2.56702213e-04 9.99355462e-01 5.32837405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:6.11, Z:5.33 [[ 9.98304977e-01 -4.58292884e-02 -3.58726932e-02 1.54296631e+02] [ 4.58105215e-02 9.98949241e-01 -1.34534662e-03 6.11233831e+00] [ 3.58966559e-02 -3.00280561e-04 9.99355462e-01 5.33013814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:6.11, Z:5.33 [[ 9.98261110e-01 -4.67746482e-02 -3.58732267e-02 1.54325101e+02] [ 4.67570083e-02 9.98905406e-01 -1.33096573e-03 6.11167677e+00] [ 3.58962156e-02 -3.48673432e-04 9.99355462e-01 5.33208278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:6.11, Z:5.33 [[ 9.98182258e-01 -4.84287021e-02 -3.58725619e-02 1.54352477e+02] [ 4.84114900e-02 9.98826566e-01 -1.34876998e-03 6.11106648e+00] [ 3.58957870e-02 -3.90325907e-04 9.99355462e-01 5.33278504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:6.11, Z:5.33 [[ 9.97947721e-01 -5.30419379e-02 -3.58733639e-02 1.54379436e+02] [ 5.30284728e-02 9.98592119e-01 -1.32737736e-03 6.10902338e+00] [ 3.58932651e-02 -5.77656496e-04 9.99355462e-01 5.33463759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:6.11, Z:5.33 [[ 9.97821913e-01 -5.53588771e-02 -3.58723494e-02 1.54407999e+02] [ 5.53459424e-02 9.98466320e-01 -1.35425063e-03 6.10873571e+00] [ 3.58923025e-02 -6.34088029e-04 9.99355463e-01 5.33443404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:6.11, Z:5.34 [[ 9.97546716e-01 -6.01167675e-02 -3.58681437e-02 1.54437338e+02] [ 6.01029188e-02 9.98191110e-01 -1.46519086e-03 6.10555135e+00] [ 3.58913447e-02 -6.94183797e-04 9.99355457e-01 5.33665518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:6.11, Z:5.34 [[ 9.97546799e-01 -6.01130411e-02 -3.58720845e-02 1.54468298e+02] [ 6.01029220e-02 9.98191257e-01 -1.36135431e-03 6.10667571e+00] [ 3.58890363e-02 -7.98002466e-04 9.99355462e-01 5.33773602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:6.10, Z:5.34 [[ 9.97194154e-01 -6.57039814e-02 -3.58720845e-02 1.54497943e+02] [ 6.56974750e-02 9.97838659e-01 -1.36135431e-03 6.10461633e+00] [ 3.58839991e-02 -9.99170819e-04 9.99355462e-01 5.33824096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:6.11, Z:5.34 [[ 9.97194153e-01 -6.57040270e-02 -3.58720362e-02 1.54528900e+02] [ 6.56974750e-02 9.97838657e-01 -1.36262623e-03 6.10579289e+00] [ 3.58840344e-02 -9.97899292e-04 9.99355462e-01 5.33935416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:6.11, Z:5.34 [[ 9.97007217e-01 -6.84821554e-02 -3.58720362e-02 1.54559829e+02] [ 6.84773991e-02 9.97651737e-01 -1.36262623e-03 6.10509118e+00] [ 3.58811148e-02 -1.09787555e-03 9.99355462e-01 5.34006898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:6.10, Z:5.34 [[ 9.96766540e-01 -7.19003536e-02 -3.58720362e-02 1.54590565e+02] [ 7.18978073e-02 9.97411073e-01 -1.36262623e-03 6.10456465e+00] [ 3.58771394e-02 -1.22090051e-03 9.99355462e-01 5.34039021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:6.10, Z:5.34 [[ 9.96494547e-01 -7.55765081e-02 -3.58721180e-02 1.54622027e+02] [ 7.55764168e-02 9.97139085e-01 -1.36046936e-03 6.10366323e+00] [ 3.58723104e-02 -1.35538584e-03 9.99355462e-01 5.34055067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:6.10, Z:5.34 [[ 9.96199159e-01 -7.93752016e-02 -3.58721659e-02 1.54653721e+02] [ 7.93776131e-02 9.96843692e-01 -1.35920643e-03 6.10288317e+00] [ 3.58668295e-02 -1.49340660e-03 9.99355462e-01 5.34092272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:6.10, Z:5.34 [[ 9.95675317e-01 -8.56962468e-02 -3.58722143e-02 1.54685110e+02] [ 8.57027949e-02 9.96319822e-01 -1.35792575e-03 6.10112464e+00] [ 3.58565673e-02 -1.72229588e-03 9.99355462e-01 5.33987489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:6.10, Z:5.34 [[ 9.95461087e-01 -8.81498913e-02 -3.58722868e-02 1.54717416e+02] [ 8.81580968e-02 9.96105572e-01 -1.35600863e-03 6.10133552e+00] [ 3.58521168e-02 -1.81257870e-03 9.99355462e-01 5.34198623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:6.10, Z:5.34 [[ 9.95228148e-01 -9.07419757e-02 -3.58723857e-02 1.54748991e+02] [ 9.07519537e-02 9.95872608e-01 -1.35338851e-03 6.10154904e+00] [ 3.58471354e-02 -1.90855874e-03 9.99355462e-01 5.34367037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:6.10, Z:5.35 [[ 9.95169514e-01 -9.13827046e-02 -3.58725486e-02 1.54781090e+02] [ 9.13932532e-02 9.95813965e-01 -1.34905585e-03 6.10274152e+00] [ 3.58456652e-02 -1.93596967e-03 9.99355462e-01 5.34512636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:6.10, Z:5.35 [[ 9.95246068e-01 -9.05451179e-02 -3.58726449e-02 1.54813184e+02] [ 9.05552164e-02 9.95890526e-01 -1.34648910e-03 6.10437206e+00] [ 3.58471452e-02 -1.90836715e-03 9.99355462e-01 5.34744955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:6.11, Z:5.35 [[ 9.95391454e-01 -8.89325579e-02 -3.58727436e-02 1.54844090e+02] [ 8.89417069e-02 9.96035926e-01 -1.34385539e-03 6.10696588e+00] [ 3.58500539e-02 -1.85292088e-03 9.99355462e-01 5.34905511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:6.11, Z:5.35 [[ 9.95474946e-01 -8.79930303e-02 -3.58728170e-02 1.54876453e+02] [ 8.80016415e-02 9.96119426e-01 -1.34189286e-03 6.10907177e+00] [ 3.58516871e-02 -1.82104606e-03 9.99355462e-01 5.35040309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:6.11, Z:5.35 [[ 9.95581556e-01 -8.67784553e-02 -3.58729127e-02 1.54907949e+02] [ 8.67863724e-02 9.96226045e-01 -1.33932959e-03 6.11112223e+00] [ 3.58537549e-02 -1.77986812e-03 9.99355462e-01 5.35106053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:6.11, Z:5.35 [[ 9.95658184e-01 -8.58947593e-02 -3.58729840e-02 1.54939793e+02] [ 8.59021731e-02 9.96302679e-01 -1.33741663e-03 6.11319282e+00] [ 3.58552272e-02 -1.74995747e-03 9.99355462e-01 5.35220150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:6.11, Z:5.35 [[ 9.95664353e-01 -8.58231785e-02 -3.58730801e-02 1.54972443e+02] [ 8.58306387e-02 9.96308848e-01 -1.33483603e-03 6.11434854e+00] [ 3.58552269e-02 -1.74996072e-03 9.99355462e-01 5.35337431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:6.12, Z:5.35 [[ 9.95711176e-01 -8.52781890e-02 -3.58731758e-02 1.55004626e+02] [ 8.52853891e-02 9.96355673e-01 -1.33225869e-03 6.11648310e+00] [ 3.58560548e-02 -1.73291289e-03 9.99355462e-01 5.35429376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:6.12, Z:5.36 [[ 9.95717420e-01 -8.52052114e-02 -3.58732730e-02 1.55037277e+02] [ 8.52124586e-02 9.96361917e-01 -1.32963455e-03 6.11763564e+00] [ 3.58560549e-02 -1.73290951e-03 9.99355462e-01 5.35546656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:6.12, Z:5.36 [[ 9.95764136e-01 -8.46574646e-02 -3.58733702e-02 1.55067911e+02] [ 8.46644517e-02 9.96408636e-01 -1.32700703e-03 6.11959566e+00] [ 3.58568769e-02 -1.71581322e-03 9.99355462e-01 5.35631446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:6.12, Z:5.36 [[ 9.95815688e-01 -8.40488614e-02 -3.58734425e-02 1.55099415e+02] [ 8.40555250e-02 9.96460191e-01 -1.32504992e-03 6.12170326e+00] [ 3.58578263e-02 -1.69585555e-03 9.99355462e-01 5.35711065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:6.12, Z:5.36 [[ 9.95893324e-01 -8.31238724e-02 -3.58735121e-02 1.55131194e+02] [ 8.31300051e-02 9.96537832e-01 -1.32316352e-03 6.12387428e+00] [ 3.58592985e-02 -1.66443552e-03 9.99355462e-01 5.35811959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:6.13, Z:5.36 [[ 9.95961678e-01 -8.23007898e-02 -3.58736042e-02 1.55163695e+02] [ 8.23064798e-02 9.96606191e-01 -1.32066060e-03 6.12633132e+00] [ 3.58605475e-02 -1.63730273e-03 9.99355462e-01 5.35946046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:6.13, Z:5.36 [[ 9.96052756e-01 -8.11910362e-02 -3.58737011e-02 1.55194654e+02] [ 8.11961029e-02 9.96697274e-01 -1.31802313e-03 6.12893358e+00] [ 3.58622318e-02 -1.59998416e-03 9.99355462e-01 5.35995904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:6.13, Z:5.36 [[ 9.96168405e-01 -7.97595199e-02 -3.58737732e-02 1.55226607e+02] [ 7.97637310e-02 9.96812929e-01 -1.31605781e-03 6.13164020e+00] [ 3.58644091e-02 -1.55041078e-03 9.99355462e-01 5.36137342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:6.13, Z:5.36 [[ 9.96277772e-01 -7.83815493e-02 -3.58738663e-02 1.55258407e+02] [ 7.83849603e-02 9.96922300e-01 -1.31351528e-03 6.13449961e+00] [ 3.58664127e-02 -1.50334551e-03 9.99355462e-01 5.36340047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:6.14, Z:5.36 [[ 9.96401867e-01 -7.67878719e-02 -3.58739625e-02 1.55289225e+02] [ 7.67903465e-02 9.97046400e-01 -1.31088262e-03 6.13763193e+00] [ 3.58686651e-02 -1.44860813e-03 9.99355462e-01 5.36476216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:6.14, Z:5.36 [[ 9.96641891e-01 -7.36069932e-02 -3.58741215e-02 1.55320079e+02] [ 7.36075674e-02 9.97286428e-01 -1.30651732e-03 6.13967122e+00] [ 3.58729433e-02 -1.33847693e-03 9.99355462e-01 5.36289389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:6.15, Z:5.37 [[ 9.96801796e-01 -7.14085137e-02 -3.58748295e-02 1.55349938e+02] [ 7.14083653e-02 9.97446334e-01 -1.28707071e-03 6.14575405e+00] [ 3.58751250e-02 -1.27880854e-03 9.99355462e-01 5.36751020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:6.15, Z:5.37 [[ 9.96956700e-01 -6.92125550e-02 -3.58742282e-02 1.55380778e+02] [ 6.92103920e-02 9.97601234e-01 -1.30361941e-03 6.14847343e+00] [ 3.58784011e-02 -1.18321729e-03 9.99355462e-01 5.36815207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:6.15, Z:5.37 [[ 9.97104761e-01 -6.70457491e-02 -3.58742737e-02 1.55412218e+02] [ 6.70422304e-02 9.97749289e-01 -1.30236432e-03 6.15115995e+00] [ 3.58808491e-02 -1.10649767e-03 9.99355462e-01 5.36923588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:6.15, Z:5.37 [[ 9.97252511e-01 -6.48109722e-02 -3.58743207e-02 1.55442597e+02] [ 6.48060556e-02 9.97897030e-01 -1.30106932e-03 6.15385285e+00] [ 3.58832017e-02 -1.02737858e-03 9.99355462e-01 5.37051875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:6.16, Z:5.37 [[ 9.97558865e-01 -5.99111234e-02 -3.58743440e-02 1.55473065e+02] [ 5.99030637e-02 9.98203352e-01 -1.30042702e-03 6.15872665e+00] [ 3.58878005e-02 -8.51730614e-04 9.99355462e-01 5.37243102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:6.16, Z:5.37 [[ 9.97700566e-01 -5.75030963e-02 -3.58744198e-02 1.55503526e+02] [ 5.74935562e-02 9.98345033e-01 -1.29833380e-03 6.16170928e+00] [ 3.58897070e-02 -7.67199600e-04 9.99355462e-01 5.37410268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:6.16, Z:5.38 [[ 9.97842548e-01 -5.49843143e-02 -3.58744198e-02 1.55532979e+02] [ 5.49731473e-02 9.98486989e-01 -1.29833380e-03 6.16433680e+00] [ 3.58915294e-02 -6.76597055e-04 9.99355462e-01 5.37528385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:6.17, Z:5.38 [[ 9.98082905e-01 -5.04335573e-02 -3.58743733e-02 1.55561372e+02] [ 5.04194057e-02 9.98727287e-01 -1.29961676e-03 6.16766891e+00] [ 3.58942598e-02 -5.11639308e-04 9.99355462e-01 5.37584253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:6.17, Z:5.38 [[ 9.98181948e-01 -4.84337951e-02 -3.58743041e-02 1.55589740e+02] [ 4.84182840e-02 9.98826299e-01 -1.30152413e-03 6.16942269e+00] [ 3.58952361e-02 -4.37814351e-04 9.99355462e-01 5.37660836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:6.17, Z:5.38 [[ 9.98262728e-01 -4.67393340e-02 -3.58742354e-02 1.55618488e+02] [ 4.67226612e-02 9.98907050e-01 -1.30341516e-03 6.17114075e+00] [ 3.58959474e-02 -3.74988970e-04 9.99355462e-01 5.37711095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:6.17, Z:5.38 [[ 9.98338860e-01 -4.50841672e-02 -3.58739157e-02 1.55645852e+02] [ 4.50661121e-02 9.98983145e-01 -1.31215433e-03 6.17259437e+00] [ 3.58965945e-02 -3.06723250e-04 9.99355462e-01 5.37764017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:6.17, Z:5.38 [[ 9.98389841e-01 -4.39410241e-02 -3.58735479e-02 1.55673559e+02] [ 4.39218727e-02 9.99034094e-01 -1.32213387e-03 6.17434142e+00] [ 3.58969934e-02 -2.55628380e-04 9.99355463e-01 5.37844260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:6.18, Z:5.38 [[ 9.98447063e-01 -4.26213211e-02 -3.58731802e-02 1.55700541e+02] [ 4.26009624e-02 9.99091279e-01 -1.33203685e-03 6.17637821e+00] [ 3.58973547e-02 -1.98263726e-04 9.99355463e-01 5.37929343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:6.18, Z:5.38 [[ 9.98555549e-01 -3.99992779e-02 -3.58730205e-02 1.55728627e+02] [ 3.99770735e-02 9.99199704e-01 -1.33632505e-03 6.17850199e+00] [ 3.58977635e-02 -9.97035832e-05 9.99355463e-01 5.38069330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:6.18, Z:5.38 [[ 9.98582025e-01 -3.93331000e-02 -3.58726379e-02 1.55756667e+02] [ 3.93100997e-02 9.99226152e-01 -1.34651836e-03 6.18080040e+00] [ 3.58978406e-02 -6.55479422e-05 9.99355463e-01 5.38087277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:6.18, Z:5.38 [[ 9.98578773e-01 -3.94192998e-02 -3.58685436e-02 1.55784090e+02] [ 3.93924559e-02 9.99222757e-01 -1.45506930e-03 6.18194668e+00] [ 3.58980228e-02 4.00512949e-05 9.99355457e-01 5.38189515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:6.18, Z:5.38 [[ 9.98641656e-01 -3.77929068e-02 -3.58683512e-02 1.55812844e+02] [ 3.77648314e-02 9.99285588e-01 -1.46015407e-03 6.18081273e+00] [ 3.58979099e-02 1.03608442e-04 9.99355457e-01 5.38379309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:6.18, Z:5.38 [[ 9.98639093e-01 -3.78570200e-02 -3.58720996e-02 1.55839391e+02] [ 3.78325334e-02 9.99283166e-01 -1.36139156e-03 6.18089607e+00] [ 3.58979235e-02 2.40642420e-06 9.99355462e-01 5.38447600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:6.18, Z:5.39 [[ 9.98613573e-01 -3.85244789e-02 -3.58719322e-02 1.55866915e+02] [ 3.85002649e-02 9.99257657e-01 -1.36578631e-03 6.18106412e+00] [ 3.58979192e-02 -1.71861486e-05 9.99355462e-01 5.38504992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:6.18, Z:5.39 [[ 9.98571048e-01 -3.96117979e-02 -3.58715511e-02 1.55895077e+02] [ 3.95879282e-02 9.99215144e-01 -1.37572571e-03 6.18106678e+00] [ 3.58978920e-02 -4.63205228e-05 9.99355462e-01 5.38605988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:6.18, Z:5.39 [[ 9.98504371e-01 -4.12587243e-02 -3.58711543e-02 1.55923263e+02] [ 4.12355481e-02 9.99148492e-01 -1.38599331e-03 6.18140710e+00] [ 3.58977941e-02 -9.52463293e-05 9.99355462e-01 5.38687193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:6.18, Z:5.39 [[ 9.98420701e-01 -4.32364690e-02 -3.58707553e-02 1.55950130e+02] [ 4.32142004e-02 9.99064854e-01 -1.39624424e-03 6.18155806e+00] [ 3.58975796e-02 -1.56086859e-04 9.99355462e-01 5.38723062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:6.18, Z:5.39 [[ 9.98314254e-01 -4.56284081e-02 -3.58705820e-02 1.55978336e+02] [ 4.56075234e-02 9.98958454e-01 -1.40068446e-03 6.18152340e+00] [ 3.58971321e-02 -2.37645146e-04 9.99355462e-01 5.38830461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:6.18, Z:5.39 [[ 9.98056528e-01 -5.09558318e-02 -3.58701831e-02 1.56005566e+02] [ 5.09380210e-02 9.98700820e-01 -1.41082459e-03 6.17937796e+00] [ 3.58954710e-02 -4.19073449e-04 9.99355462e-01 5.38917562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:6.18, Z:5.39 [[ 9.97897138e-01 -5.39875165e-02 -3.58699075e-02 1.56034048e+02] [ 5.39714125e-02 9.98541475e-01 -1.41779756e-03 6.17839663e+00] [ 3.58941337e-02 -5.21133447e-04 9.99355462e-01 5.39064267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:6.18, Z:5.39 [[ 9.97728485e-01 -5.70196997e-02 -3.58695543e-02 1.56063548e+02] [ 5.70052346e-02 9.98372860e-01 -1.42667922e-03 6.17770431e+00] [ 3.58925383e-02 -6.21313863e-04 9.99355462e-01 5.39216634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:6.18, Z:5.39 [[ 9.97552183e-01 -6.00251681e-02 -3.58695034e-02 1.56092802e+02] [ 6.00125984e-02 9.98196598e-01 -1.42795677e-03 6.17711918e+00] [ 3.58905296e-02 -7.28160708e-04 9.99355462e-01 5.39374748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:6.18, Z:5.40 [[ 9.97373565e-01 -6.29233826e-02 -3.58694781e-02 1.56123620e+02] [ 6.29126626e-02 9.98018014e-01 -1.42859070e-03 6.17698776e+00] [ 3.58882771e-02 -8.31805779e-04 9.99355462e-01 5.39531011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:6.18, Z:5.40 [[ 9.97203404e-01 -6.55648583e-02 -3.58694781e-02 1.56154478e+02] [ 6.55558452e-02 9.97847879e-01 -1.42859070e-03 6.17687516e+00] [ 3.58859480e-02 -9.26858450e-04 9.99355462e-01 5.39676857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:6.18, Z:5.40 [[ 9.96879494e-01 -7.03182435e-02 -3.58694781e-02 1.56184712e+02] [ 7.03123030e-02 9.97524004e-01 -1.42859070e-03 6.17555350e+00] [ 3.58811215e-02 -1.09793284e-03 9.99355462e-01 5.39818151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:6.18, Z:5.40 [[ 9.96749801e-01 -7.21333091e-02 -3.58694781e-02 1.56215526e+02] [ 7.21285422e-02 9.97394321e-01 -1.42859070e-03 6.17506048e+00] [ 3.58790628e-02 -1.16326567e-03 9.99355462e-01 5.39880013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:6.17, Z:5.40 [[ 9.96611875e-01 -7.40144929e-02 -3.58695627e-02 1.56245512e+02] [ 7.40110189e-02 9.97256403e-01 -1.42646433e-03 6.17445976e+00] [ 3.58767301e-02 -1.23311160e-03 9.99355462e-01 5.39894428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:6.17, Z:5.40 [[ 9.96332897e-01 -7.76796752e-02 -3.58695874e-02 1.56276623e+02] [ 7.76785942e-02 9.96977434e-01 -1.42584334e-03 6.17283243e+00] [ 3.58719282e-02 -1.36568450e-03 9.99355462e-01 5.39907621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:6.17, Z:5.40 [[ 9.96199740e-01 -7.93690583e-02 -3.58696368e-02 1.56309264e+02] [ 7.93691150e-02 9.96844278e-01 -1.42460003e-03 6.17280468e+00] [ 3.58695113e-02 -1.42775515e-03 9.99355462e-01 5.40000054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:6.17, Z:5.40 [[ 9.96205387e-01 -7.92980978e-02 -3.58697380e-02 1.56341912e+02] [ 7.92982003e-02 9.96849925e-01 -1.42204743e-03 6.17403896e+00] [ 3.58695113e-02 -1.42775435e-03 9.99355462e-01 5.40117334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:6.17, Z:5.40 [[ 9.96053561e-01 -8.11828668e-02 -3.58698390e-02 1.56373751e+02] [ 8.11842806e-02 9.96698098e-01 -1.41949404e-03 6.17463312e+00] [ 3.58666389e-02 -1.49817498e-03 9.99355462e-01 5.40260924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:6.18, Z:5.40 [[ 9.95947973e-01 -8.24680705e-02 -3.58699416e-02 1.56405931e+02] [ 8.24704094e-02 9.96592506e-01 -1.41689831e-03 6.17513519e+00] [ 3.58645638e-02 -1.54705176e-03 9.99355462e-01 5.40363979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:6.18, Z:5.40 [[ 9.95744354e-01 -8.48912319e-02 -3.58700447e-02 1.56437200e+02] [ 8.48952332e-02 9.96388880e-01 -1.41428201e-03 6.17516767e+00] [ 3.58605738e-02 -1.63693248e-03 9.99355462e-01 5.40384807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:6.18, Z:5.40 [[ 9.95695168e-01 -8.54661367e-02 -3.58702051e-02 1.56468773e+02] [ 8.54706567e-02 9.96339690e-01 -1.41020341e-03 6.17597564e+00] [ 3.58594336e-02 -1.66171727e-03 9.99355462e-01 5.40451235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:6.18, Z:5.41 [[ 9.95659155e-01 -8.58846354e-02 -3.58702805e-02 1.56500691e+02] [ 8.58894954e-02 9.96303674e-01 -1.40828117e-03 6.17717911e+00] [ 3.58586420e-02 -1.67871226e-03 9.99355462e-01 5.40629919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:6.18, Z:5.41 [[ 9.95666842e-01 -8.57954323e-02 -3.58703842e-02 1.56531605e+02] [ 8.58003296e-02 9.96311361e-01 -1.40563651e-03 6.17838107e+00] [ 3.58586684e-02 -1.67814512e-03 9.99355462e-01 5.40663130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:6.18, Z:5.41 [[ 9.95757906e-01 -8.47319423e-02 -3.58704613e-02 1.56563346e+02] [ 8.47362221e-02 9.96402430e-01 -1.40366482e-03 6.18017913e+00] [ 3.58603501e-02 -1.64181704e-03 9.99355462e-01 5.40878967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:6.18, Z:5.41 [[ 9.95833266e-01 -8.38415704e-02 -3.58705639e-02 1.56594530e+02] [ 8.38453684e-02 9.96477793e-01 -1.40103721e-03 6.18184452e+00] [ 3.58616855e-02 -1.61238119e-03 9.99355462e-01 5.41024151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:6.18, Z:5.41 [[ 9.95839249e-01 -8.37704078e-02 -3.58707337e-02 1.56627179e+02] [ 8.37743164e-02 9.96483775e-01 -1.39667720e-03 6.18305511e+00] [ 3.58616043e-02 -1.61418022e-03 9.99355462e-01 5.41141376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:6.19, Z:5.41 [[ 9.96033954e-01 -8.14226324e-02 -3.58708332e-02 1.56658547e+02] [ 8.14251137e-02 9.96678487e-01 -1.39411785e-03 6.18569516e+00] [ 3.58652005e-02 -1.53219795e-03 9.99355462e-01 5.41330531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:6.19, Z:5.41 [[ 9.96119346e-01 -8.03711828e-02 -3.58709072e-02 1.56691101e+02] [ 8.03730522e-02 9.96763881e-01 -1.39221118e-03 6.18771471e+00] [ 3.58667183e-02 -1.49624581e-03 9.99355462e-01 5.41473809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01509989299998 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:156.72, Y:6.19, Z:5.41 [[ 9.96192218e-01 -7.94627912e-02 -3.58710055e-02 1.56722249e+02] [ 7.94641641e-02 9.96836755e-01 -1.38967361e-03 6.19087438e+00] [ 3.58679640e-02 -1.46607743e-03 9.99355462e-01 5.41363653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:6.19, Z:5.42 [[ 9.96302629e-01 -7.80662319e-02 -3.58710930e-02 1.56753587e+02] [ 7.80667827e-02 9.96947166e-01 -1.38741096e-03 6.19271727e+00] [ 3.58698945e-02 -1.41805963e-03 9.99355462e-01 5.41692038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:6.19, Z:5.42 [[ 9.96360351e-01 -7.73260040e-02 -3.58711542e-02 1.56784669e+02] [ 7.73261328e-02 9.97004889e-01 -1.38582752e-03 6.19478825e+00] [ 3.58708766e-02 -1.39299403e-03 9.99355462e-01 5.41737036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:6.20, Z:5.42 [[ 9.96430605e-01 -7.64153459e-02 -3.58712300e-02 1.56816525e+02] [ 7.64149563e-02 9.97075142e-01 -1.38386129e-03 6.19690825e+00] [ 3.58720600e-02 -1.36217673e-03 9.99355462e-01 5.41896127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:6.20, Z:5.42 [[ 9.96509317e-01 -7.53818885e-02 -3.58713276e-02 1.56848969e+02] [ 7.53809215e-02 9.97153854e-01 -1.38132712e-03 6.19913642e+00] [ 3.58733596e-02 -1.32750839e-03 9.99355462e-01 5.42023760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:6.20, Z:5.42 [[ 9.96586880e-01 -7.43493881e-02 -3.58714267e-02 1.56880879e+02] [ 7.43478460e-02 9.97231416e-01 -1.37874909e-03 6.20123735e+00] [ 3.58746228e-02 -1.29292005e-03 9.99355462e-01 5.42104467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:6.20, Z:5.42 [[ 9.96753268e-01 -7.20843735e-02 -3.58715253e-02 1.56911582e+02] [ 7.20814589e-02 9.97397799e-01 -1.37618027e-03 6.20393893e+00] [ 3.58773814e-02 -1.21395970e-03 9.99355462e-01 5.42171172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:6.21, Z:5.42 [[ 9.96755797e-01 -7.20493616e-02 -3.58715986e-02 1.56943385e+02] [ 7.20464933e-02 9.97400328e-01 -1.37426659e-03 6.20512667e+00] [ 3.58773592e-02 -1.21461470e-03 9.99355462e-01 5.42285430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.98, Y:6.21, Z:5.42 [[ 9.96832978e-01 -7.09735128e-02 -3.58716467e-02 1.56975174e+02] [ 7.09699940e-02 9.97477506e-01 -1.37300822e-03 6.20719518e+00] [ 3.58786079e-02 -1.17715068e-03 9.99355462e-01 5.42451366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:6.21, Z:5.43 [[ 9.96937152e-01 -6.94948473e-02 -3.58717459e-02 1.57006678e+02] [ 6.94904658e-02 9.97581674e-01 -1.37041209e-03 6.20897148e+00] [ 3.58802329e-02 -1.12652961e-03 9.99355462e-01 5.42559903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:6.21, Z:5.43 [[ 9.97034589e-01 -6.80826089e-02 -3.58718197e-02 1.57038441e+02] [ 6.80773839e-02 9.97679105e-01 -1.36847841e-03 6.21110623e+00] [ 3.58817345e-02 -1.07763934e-03 9.99355462e-01 5.42710739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.07, Y:6.21, Z:5.43 [[ 9.97147050e-01 -6.64151149e-02 -3.58718931e-02 1.57069581e+02] [ 6.64088814e-02 9.97791558e-01 -1.36654984e-03 6.21286713e+00] [ 3.58834317e-02 -1.01956115e-03 9.99355462e-01 5.42787246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:6.21, Z:5.43 [[ 9.97274283e-01 -6.44764231e-02 -3.58719419e-02 1.57100868e+02] [ 6.44689827e-02 9.97918777e-01 -1.36526905e-03 6.21483779e+00] [ 3.58853121e-02 -9.51079892e-04 9.99355462e-01 5.42899356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:6.22, Z:5.43 [[ 9.97556252e-01 -5.99560171e-02 -3.58719914e-02 1.57131480e+02] [ 5.99457026e-02 9.98200707e-01 -1.36396820e-03 6.21762528e+00] [ 3.58892253e-02 -7.89736722e-04 9.99355462e-01 5.42858675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:6.22, Z:5.43 [[ 9.97556254e-01 -5.99559398e-02 -3.58720731e-02 1.57162436e+02] [ 5.99457026e-02 9.98200710e-01 -1.36181576e-03 6.21879943e+00] [ 3.58891778e-02 -7.91888793e-04 9.99355462e-01 5.42969886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:6.22, Z:5.43 [[ 9.97722247e-01 -5.71271557e-02 -3.58720731e-02 1.57192878e+02] [ 5.71150913e-02 9.98366672e-01 -1.36181576e-03 6.22071740e+00] [ 3.58912789e-02 -6.90122842e-04 9.99355462e-01 5.43136733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:6.22, Z:5.43 [[ 9.98073146e-01 -5.06279573e-02 -3.58720731e-02 1.57221092e+02] [ 5.06116961e-02 9.98717478e-01 -1.36181576e-03 6.22341129e+00] [ 3.58950123e-02 -4.56354715e-04 9.99355462e-01 5.43233619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:6.23, Z:5.43 [[ 9.98259648e-01 -4.68067734e-02 -3.58719997e-02 1.57248357e+02] [ 4.67879763e-02 9.98903912e-01 -1.36374652e-03 6.22527636e+00] [ 3.58965134e-02 -3.17005145e-04 9.99355462e-01 5.43323106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:6.23, Z:5.43 [[ 9.98413679e-01 -4.33973913e-02 -3.58718784e-02 1.57276552e+02] [ 4.33762797e-02 9.99057871e-01 -1.36692967e-03 6.22720382e+00] [ 3.58974036e-02 -1.91227350e-04 9.99355462e-01 5.43425414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:6.23, Z:5.43 [[ 9.98391379e-01 -4.39077597e-02 -3.58714896e-02 1.57302161e+02] [ 4.38866136e-02 9.99035569e-01 -1.37705651e-03 6.23390024e+00] [ 3.58973575e-02 -1.99436854e-04 9.99355462e-01 5.43409704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:6.23, Z:5.44 [[ 9.98687387e-01 -3.65789718e-02 -3.58536062e-02 1.57335708e+02] [ 3.65365519e-02 9.99330627e-01 -1.83784201e-03 6.23078781e+00] [ 3.58968332e-02 5.25462494e-04 9.99355363e-01 5.43684375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:6.23, Z:5.44 [[ 9.98782402e-01 -3.38668428e-02 -3.58713121e-02 1.57362911e+02] [ 3.38392388e-02 9.99426341e-01 -1.37654760e-03 6.23234057e+00] [ 3.58973535e-02 1.61013624e-04 9.99355469e-01 5.43749806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:6.24, Z:5.44 [[ 9.98787779e-01 -3.37080548e-02 -3.58711419e-02 1.57387661e+02] [ 3.36801897e-02 9.99431707e-01 -1.38096814e-03 6.23815369e+00] [ 3.58973063e-02 1.71147243e-04 9.99355469e-01 5.43912113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:6.23, Z:5.44 [[ 9.98950424e-01 -2.85074680e-02 -3.58521144e-02 1.57421300e+02] [ 2.84587227e-02 9.99593221e-01 -1.86930729e-03 6.23414607e+00] [ 3.58908197e-02 8.47039928e-04 9.99355358e-01 5.43959987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:6.24, Z:5.44 [[ 9.98852873e-01 -3.17209230e-02 -3.58708965e-02 1.57445505e+02] [ 3.16917447e-02 9.99496735e-01 -1.38186577e-03 6.23848230e+00] [ 3.58966780e-02 2.43469298e-04 9.99355477e-01 5.44159717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:6.23, Z:5.44 [[ 9.98951398e-01 -2.84717178e-02 -3.58533975e-02 1.57478469e+02] [ 2.84243899e-02 9.99594272e-01 -1.82917050e-03 6.23454337e+00] [ 3.58909304e-02 8.08141479e-04 9.99355386e-01 5.44134263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:6.24, Z:5.44 [[ 9.98809531e-01 -3.30580668e-02 -3.58703892e-02 1.57501981e+02] [ 3.30294179e-02 9.99453412e-01 -1.39112634e-03 6.23900196e+00] [ 3.58967708e-02 2.04692176e-04 9.99355482e-01 5.44326966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:6.24, Z:5.44 [[ 9.98799369e-01 -3.33851036e-02 -3.58504678e-02 1.57531670e+02] [ 3.33385206e-02 9.99442318e-01 -1.89654240e-03 6.23757038e+00] [ 3.58937909e-02 6.99063789e-04 9.99355366e-01 5.44497348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:6.24, Z:5.45 [[ 9.98735122e-01 -3.52495949e-02 -3.58555754e-02 1.57559568e+02] [ 3.52089008e-02 9.99378414e-01 -1.76592950e-03 6.23714649e+00] [ 3.58955364e-02 5.01260414e-04 9.99355422e-01 5.44592429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:6.23, Z:5.45 [[ 9.98746599e-01 -3.49247483e-02 -3.58537849e-02 1.57591854e+02] [ 3.48822064e-02 9.99389789e-01 -1.81157569e-03 6.23238160e+00] [ 3.58951754e-02 5.58645930e-04 9.99355404e-01 5.44639377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:6.23, Z:5.45 [[ 9.98528948e-01 -4.06607286e-02 -3.58698355e-02 1.57621128e+02] [ 4.06366422e-02 9.99173009e-01 -1.40059012e-03 6.22950155e+00] [ 3.58971205e-02 -5.90998890e-05 9.99355489e-01 5.44842707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:6.23, Z:5.45 [[ 9.98225317e-01 -4.75352191e-02 -3.58694827e-02 1.57645896e+02] [ 4.75152454e-02 9.98869518e-01 -1.40956876e-03 6.23364218e+00] [ 3.58959370e-02 -2.97280054e-04 9.99355489e-01 5.44930616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:6.23, Z:5.45 [[ 9.98269128e-01 -4.66226748e-02 -3.58479396e-02 1.57679537e+02] [ 4.65826611e-02 9.98912533e-01 -1.95106676e-03 6.22767597e+00] [ 3.58999201e-02 2.77797288e-04 9.99355351e-01 5.45102952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:6.23, Z:5.45 [[ 9.97992146e-01 -5.22022928e-02 -3.58691580e-02 1.57705531e+02] [ 5.21852333e-02 9.98636424e-01 -1.41230069e-03 6.23043058e+00] [ 3.58939730e-02 -4.62375384e-04 9.99355497e-01 5.45156233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:6.22, Z:5.45 [[ 9.97826814e-01 -5.52829912e-02 -3.58530273e-02 1.57737839e+02] [ 5.52533389e-02 9.98470712e-01 -1.81810100e-03 6.22306410e+00] [ 3.58987078e-02 -1.66849545e-04 9.99355420e-01 5.45231801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:6.22, Z:5.45 [[ 9.97659450e-01 -5.82154494e-02 -3.58689610e-02 1.57766917e+02] [ 5.82022123e-02 9.98303813e-01 -1.41397957e-03 6.22172427e+00] [ 3.58904360e-02 -6.76982799e-04 9.99355501e-01 5.45310045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:6.22, Z:5.45 [[ 9.97385503e-01 -6.27343771e-02 -3.58686030e-02 1.57794895e+02] [ 6.27237348e-02 9.98029913e-01 -1.42300318e-03 6.22414055e+00] [ 3.58872100e-02 -8.30530004e-04 9.99355501e-01 5.45474946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:6.22, Z:5.46 [[ 9.97394463e-01 -6.26001662e-02 -3.58539307e-02 1.57826936e+02] [ 6.25762318e-02 9.98038581e-01 -1.79043079e-03 6.22029768e+00] [ 3.58956874e-02 -4.57838128e-04 9.99355437e-01 5.45541490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:6.22, Z:5.46 [[ 9.97294426e-01 -6.41660022e-02 -3.58685408e-02 1.57856606e+02] [ 6.41563224e-02 9.97938848e-01 -1.42195768e-03 6.21951666e+00] [ 3.58858516e-02 -8.83083196e-04 9.99355505e-01 5.45668613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:6.22, Z:5.46 [[ 9.97152757e-01 -6.63312175e-02 -3.58684907e-02 1.57886651e+02] [ 6.63228916e-02 9.97797198e-01 -1.42321975e-03 6.21806174e+00] [ 3.58838834e-02 -9.59734518e-04 9.99355505e-01 5.45765329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:6.22, Z:5.46 [[ 9.97132198e-01 -6.66395772e-02 -3.58684658e-02 1.57917416e+02] [ 6.66314281e-02 9.97776641e-01 -1.42384664e-03 6.21793432e+00] [ 3.58836019e-02 -9.70203773e-04 9.99355505e-01 5.45924513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:6.22, Z:5.46 [[ 9.97108504e-01 -6.69931645e-02 -3.58684658e-02 1.57947012e+02] [ 6.69852439e-02 9.97752950e-01 -1.42384664e-03 6.21789381e+00] [ 3.58832556e-02 -9.82928342e-04 9.99355505e-01 5.46030211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:6.22, Z:5.46 [[ 9.97111516e-01 -6.69483301e-02 -3.58684404e-02 1.57976666e+02] [ 6.69403575e-02 9.97755962e-01 -1.42448632e-03 6.21793746e+00] [ 3.58833172e-02 -9.80674509e-04 9.99355505e-01 5.46144985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:6.22, Z:5.46 [[ 9.97134310e-01 -6.66080014e-02 -3.58683892e-02 1.58006468e+02] [ 6.65997626e-02 9.97778752e-01 -1.42577312e-03 6.21794154e+00] [ 3.58836846e-02 -9.67138911e-04 9.99355505e-01 5.46290714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:6.22, Z:5.46 [[ 9.97146955e-01 -6.64184594e-02 -3.58683376e-02 1.58037113e+02] [ 6.64100515e-02 9.97791395e-01 -1.42707127e-03 6.21874198e+00] [ 3.58839025e-02 -9.59018375e-04 9.99355505e-01 5.46372631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:6.22, Z:5.46 [[ 9.97158233e-01 -6.62489323e-02 -3.58683376e-02 1.58065879e+02] [ 6.62404148e-02 9.97802671e-01 -1.42707127e-03 6.21962373e+00] [ 3.58840650e-02 -9.52917695e-04 9.99355505e-01 5.46354805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:6.22, Z:5.47 [[ 9.97180435e-01 -6.59139401e-02 -3.58682606e-02 1.58095892e+02] [ 6.59051366e-02 9.97824870e-01 -1.42900428e-03 6.22068937e+00] [ 3.58844337e-02 -9.38927503e-04 9.99355505e-01 5.46507011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:6.22, Z:5.47 [[ 9.97193814e-01 -6.57112527e-02 -3.58682091e-02 1.58124695e+02] [ 6.57022717e-02 9.97838246e-01 -1.43029638e-03 6.22178741e+00] [ 3.58846574e-02 -9.30340113e-04 9.99355505e-01 5.46537663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:6.22, Z:5.47 [[ 9.97201622e-01 -6.55926922e-02 -3.58681323e-02 1.58153402e+02] [ 6.55835656e-02 9.97846053e-01 -1.43221884e-03 6.22317165e+00] [ 3.58848173e-02 -9.24149058e-04 9.99355505e-01 5.46589816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:6.22, Z:5.47 [[ 9.97216670e-01 -6.53635687e-02 -3.58680570e-02 1.58183477e+02] [ 6.53542263e-02 9.97861097e-01 -1.43410274e-03 6.22497262e+00] [ 3.58850767e-02 -9.14017951e-04 9.99355505e-01 5.46695938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:6.23, Z:5.47 [[ 9.97234179e-01 -6.50959142e-02 -3.58680070e-02 1.58213203e+02] [ 6.50863539e-02 9.97878603e-01 -1.43535189e-03 6.22691899e+00] [ 3.58853522e-02 -9.03135829e-04 9.99355505e-01 5.46823281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:6.23, Z:5.47 [[ 9.97307225e-01 -6.39670862e-02 -3.58679557e-02 1.58241913e+02] [ 6.39567504e-02 9.97951637e-01 -1.43663180e-03 6.23009909e+00] [ 3.58863823e-02 -8.61234621e-04 9.99355505e-01 5.46884802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:6.23, Z:5.47 [[ 9.97354204e-01 -6.32304318e-02 -3.58678794e-02 1.58271207e+02] [ 6.32195517e-02 9.97998607e-01 -1.43853526e-03 6.23229283e+00] [ 3.58870528e-02 -8.32822064e-04 9.99355505e-01 5.47014719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:6.23, Z:5.47 [[ 9.97413392e-01 -6.22898418e-02 -3.58678288e-02 1.58300318e+02] [ 6.22783087e-02 9.98057784e-01 -1.43979562e-03 6.23472672e+00] [ 3.58878503e-02 -7.97716279e-04 9.99355505e-01 5.47183303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:6.24, Z:5.47 [[ 9.97482574e-01 -6.11720310e-02 -3.58677773e-02 1.58329157e+02] [ 6.11597297e-02 9.98126951e-01 -1.44107659e-03 6.23707113e+00] [ 3.58887488e-02 -7.56214775e-04 9.99355505e-01 5.47234096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:6.24, Z:5.48 [[ 9.97566145e-01 -5.97937712e-02 -3.58677007e-02 1.58358485e+02] [ 5.97805111e-02 9.98210503e-01 -1.44298183e-03 6.23957349e+00] [ 3.58897968e-02 -7.04719656e-04 9.99355505e-01 5.47514683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:6.25, Z:5.48 [[ 9.97498241e-01 -6.09161022e-02 -3.58676487e-02 1.58384340e+02] [ 6.09035207e-02 9.98142613e-01 -1.44427227e-03 6.24708379e+00] [ 3.58890080e-02 -7.43807036e-04 9.99355505e-01 5.47586336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:6.25, Z:5.48 [[ 9.97861795e-01 -5.46529563e-02 -3.58454000e-02 1.58418313e+02] [ 5.46166524e-02 9.98505410e-01 -1.99193509e-03 6.24671209e+00] [ 3.59006909e-02 2.99201716e-05 9.99355362e-01 5.47863784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:6.25, Z:5.48 [[ 9.97943439e-01 -5.31263831e-02 -3.58675272e-02 1.58447365e+02] [ 5.31088707e-02 9.98587688e-01 -1.44149945e-03 6.24908710e+00] [ 3.58934527e-02 -4.66348946e-04 9.99355514e-01 5.47994370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:6.25, Z:5.48 [[ 9.98015693e-01 -5.17515549e-02 -3.58671713e-02 1.58474808e+02] [ 5.17328388e-02 9.98659907e-01 -1.45029930e-03 6.25132903e+00] [ 3.58941612e-02 -4.08089131e-04 9.99355514e-01 5.48124043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:6.25, Z:5.48 [[ 9.98076910e-01 -5.05574709e-02 -3.58667629e-02 1.58502168e+02] [ 5.05376235e-02 9.98721090e-01 -1.46033022e-03 6.25306938e+00] [ 3.58947232e-02 -3.55099092e-04 9.99355514e-01 5.48305347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:6.25, Z:5.48 [[ 9.98194103e-01 -4.81885753e-02 -3.58663347e-02 1.58529915e+02] [ 4.81668240e-02 9.98838222e-01 -1.47077283e-03 6.25488139e+00] [ 3.58955404e-02 -2.59450664e-04 9.99355514e-01 5.48459361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:6.26, Z:5.49 [[ 9.98211964e-01 -4.78172625e-02 -3.58662022e-02 1.58557580e+02] [ 4.77951557e-02 9.98856071e-01 -1.47399749e-03 6.25658386e+00] [ 3.58956563e-02 -2.42868786e-04 9.99355514e-01 5.48582305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:6.26, Z:5.49 [[ 9.98226299e-01 -4.75173950e-02 -3.58657736e-02 1.58584255e+02] [ 4.74947226e-02 9.98870386e-01 -1.48435361e-03 6.25863825e+00] [ 3.58957917e-02 -2.21714155e-04 9.99355514e-01 5.48708471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:6.26, Z:5.49 [[ 9.98197373e-01 -4.81214273e-02 -3.58654713e-02 1.58610721e+02] [ 4.80988836e-02 9.98841465e-01 -1.49162249e-03 6.25962341e+00] [ 3.58956989e-02 -2.36155472e-04 9.99355514e-01 5.48784119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:6.26, Z:5.49 [[ 9.98141406e-01 -4.92688062e-02 -3.58652879e-02 1.58639085e+02] [ 4.92468448e-02 9.98785518e-01 -1.49601824e-03 6.26017685e+00] [ 3.58954372e-02 -2.73014517e-04 9.99355514e-01 5.48903380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:6.26, Z:5.49 [[ 9.98084024e-01 -5.04181815e-02 -3.58648484e-02 1.58665678e+02] [ 5.03965859e-02 9.98728149e-01 -1.50648150e-03 6.26027623e+00] [ 3.58951877e-02 -3.03870794e-04 9.99355514e-01 5.48911725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:6.26, Z:5.49 [[ 9.97995751e-01 -5.21365042e-02 -3.58645452e-02 1.58692805e+02] [ 5.21157596e-02 9.98639903e-01 -1.51366492e-03 6.26035020e+00] [ 3.58946832e-02 -3.58476861e-04 9.99355514e-01 5.48930913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:6.26, Z:5.49 [[ 9.97899945e-01 -5.39393691e-02 -3.58642452e-02 1.58721090e+02] [ 5.39195339e-02 9.98544126e-01 -1.52074095e-03 6.26076255e+00] [ 3.58940592e-02 -4.16236078e-04 9.99355514e-01 5.49042284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:6.26, Z:5.49 [[ 9.97672723e-01 -5.79907363e-02 -3.58638038e-02 1.58748453e+02] [ 5.79731453e-02 9.98316969e-01 -1.53107964e-03 6.26476943e+00] [ 3.58922324e-02 -5.51621115e-04 9.99355514e-01 5.48912970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:6.27, Z:5.49 [[ 9.97548377e-01 -6.01006834e-02 -3.58489003e-02 1.58778329e+02] [ 6.00719613e-02 9.98192281e-01 -1.87873947e-03 6.26553042e+00] [ 3.58970091e-02 -2.79380239e-04 9.99355456e-01 5.49021057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:6.27, Z:5.49 [[ 9.97558077e-01 -5.99403074e-02 -3.58474983e-02 1.58808332e+02] [ 5.99103058e-02 9.98201934e-01 -1.91146887e-03 6.26673361e+00] [ 3.58976162e-02 -2.40833378e-04 9.99355444e-01 5.49129896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:6.26, Z:5.49 [[ 9.97597872e-01 -5.92742094e-02 -3.58476547e-02 1.58842329e+02] [ 5.92439095e-02 9.98241714e-01 -1.90780660e-03 6.26321831e+00] [ 3.58977080e-02 -2.20531406e-04 9.99355445e-01 5.49453995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:6.26, Z:5.50 [[ 9.97326472e-01 -6.36685236e-02 -3.58640249e-02 1.58872306e+02] [ 6.36549200e-02 9.97970808e-01 -1.52217150e-03 6.26170239e+00] [ 3.58881643e-02 -7.64819700e-04 9.99355520e-01 5.49567300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:6.26, Z:5.50 [[ 9.97154048e-01 -6.63142535e-02 -3.58639703e-02 1.58902943e+02] [ 6.63023132e-02 9.97798418e-01 -1.52345706e-03 6.26170697e+00] [ 3.58860397e-02 -8.58742814e-04 9.99355520e-01 5.49678035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:6.26, Z:5.50 [[ 9.96966620e-01 -6.90748429e-02 -3.58639703e-02 1.58932689e+02] [ 6.90646867e-02 9.97611020e-01 -1.52345706e-03 6.26149788e+00] [ 3.58835245e-02 -9.58098035e-04 9.99355520e-01 5.49738918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:6.26, Z:5.50 [[ 9.96793979e-01 -7.15230072e-02 -3.58639429e-02 1.58962927e+02] [ 7.15144105e-02 9.97438402e-01 -1.52410105e-03 6.26153192e+00] [ 3.58810822e-02 -1.04557398e-03 9.99355520e-01 5.49870074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:6.26, Z:5.50 [[ 9.96602023e-01 -7.41497481e-02 -3.58639429e-02 1.58993230e+02] [ 7.41428497e-02 9.97246467e-01 -1.52410105e-03 6.26161891e+00] [ 3.58782020e-02 -1.14013274e-03 9.99355520e-01 5.49984623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:6.26, Z:5.50 [[ 9.96410739e-01 -7.66773431e-02 -3.58639701e-02 1.59024068e+02] [ 7.66721024e-02 9.97055198e-01 -1.52346008e-03 6.26207301e+00] [ 3.58751727e-02 -1.23177400e-03 9.99355520e-01 5.50166019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:6.26, Z:5.50 [[ 9.96223689e-01 -7.90704352e-02 -3.58640248e-02 1.59055311e+02] [ 7.90667888e-02 9.96868159e-01 -1.52217146e-03 6.26270473e+00] [ 3.58720632e-02 -1.31923001e-03 9.99355520e-01 5.50317930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:6.26, Z:5.50 [[ 9.96057418e-01 -8.11380783e-02 -3.58640800e-02 1.59087101e+02] [ 8.11358163e-02 9.96701894e-01 -1.52086965e-03 6.26288896e+00] [ 3.58691969e-02 -1.39498791e-03 9.99355520e-01 5.50447033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:6.26, Z:5.51 [[ 9.95738939e-01 -8.49572248e-02 -3.58641353e-02 1.59118652e+02] [ 8.49574813e-02 9.96383419e-01 -1.51956561e-03 6.26173564e+00] [ 3.58635278e-02 -1.53383596e-03 9.99355520e-01 5.50539295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:6.26, Z:5.51 [[ 9.95618641e-01 -8.63555521e-02 -3.58641901e-02 1.59150848e+02] [ 8.63567602e-02 9.96263120e-01 -1.51827097e-03 6.26199555e+00] [ 3.58612811e-02 -1.58549638e-03 9.99355520e-01 5.50626973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:6.26, Z:5.51 [[ 9.95529501e-01 -8.73771445e-02 -3.58643011e-02 1.59182454e+02] [ 8.73791084e-02 9.96173978e-01 -1.51564382e-03 6.26225701e+00] [ 3.58595161e-02 -1.62492252e-03 9.99355520e-01 5.50709907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:6.26, Z:5.51 [[ 9.95428472e-01 -8.85206403e-02 -3.58643838e-02 1.59214567e+02] [ 8.85234149e-02 9.96072946e-01 -1.51368532e-03 6.26286498e+00] [ 3.58575348e-02 -1.66807226e-03 9.99355520e-01 5.50847423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:6.26, Z:5.51 [[ 9.95338489e-01 -8.95266998e-02 -3.58644944e-02 1.59247009e+02] [ 8.95302202e-02 9.95982960e-01 -1.51105958e-03 6.26366118e+00] [ 3.58557055e-02 -1.70694032e-03 9.99355520e-01 5.50920365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.28, Y:6.26, Z:5.51 [[ 9.95256303e-01 -9.04357287e-02 -3.58646045e-02 1.59277710e+02] [ 9.04399318e-02 9.95900770e-01 -1.50844114e-03 6.26433932e+00] [ 3.58540042e-02 -1.74230683e-03 9.99355520e-01 5.50983547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:6.26, Z:5.51 [[ 9.95098654e-01 -9.21541819e-02 -3.58646865e-02 1.59310107e+02] [ 9.21595680e-02 9.95743112e-01 -1.50648888e-03 6.26446439e+00] [ 3.58508438e-02 -1.80616896e-03 9.99355520e-01 5.50982724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:6.27, Z:5.51 [[ 9.95050750e-01 -9.26699564e-02 -3.58647917e-02 1.59342381e+02] [ 9.26757668e-02 9.95695205e-01 -1.50398016e-03 6.26520620e+00] [ 3.58497749e-02 -1.82726049e-03 9.99355520e-01 5.51044927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:6.27, Z:5.51 [[ 9.94991895e-01 -9.32997240e-02 -3.58648971e-02 1.59373947e+02] [ 9.33060327e-02 9.95636344e-01 -1.50146341e-03 6.26608717e+00] [ 3.58484812e-02 -1.85246734e-03 9.99355520e-01 5.51086533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:6.27, Z:5.51 [[ 9.94918214e-01 -9.40821552e-02 -3.58649754e-02 1.59405747e+02] [ 9.40890380e-02 9.95562657e-01 -1.49959000e-03 6.26703366e+00] [ 3.58469149e-02 -1.88253163e-03 9.99355520e-01 5.51167021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:6.27, Z:5.51 [[ 9.94777675e-01 -9.55566503e-02 -3.58650814e-02 1.59438206e+02] [ 9.55645796e-02 9.95422106e-01 -1.49705047e-03 6.26798366e+00] [ 3.58439480e-02 -1.93819904e-03 9.99355520e-01 5.51225461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.47, Y:6.27, Z:5.51 [[ 9.94726761e-01 -9.60851626e-02 -3.58651904e-02 1.59469358e+02] [ 9.60935283e-02 9.95371187e-01 -1.49443452e-03 6.26956310e+00] [ 3.58427702e-02 -1.95985868e-03 9.99355520e-01 5.51299750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.50, Y:6.27, Z:5.51 [[ 9.94684434e-01 -9.65223235e-02 -3.58652716e-02 1.59500675e+02] [ 9.65310425e-02 9.95328855e-01 -1.49248493e-03 6.27128895e+00] [ 3.58417978e-02 -1.97756052e-03 9.99355520e-01 5.51394987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:6.27, Z:5.52 [[ 9.94646670e-01 -9.69106758e-02 -3.58653495e-02 1.59533127e+02] [ 9.69197139e-02 9.95291087e-01 -1.49060977e-03 6.27297119e+00] [ 3.58409187e-02 -1.99342937e-03 9.99355520e-01 5.51502518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:6.27, Z:5.52 [[ 9.94601634e-01 -9.73717519e-02 -3.58654560e-02 1.59564139e+02] [ 9.73811809e-02 9.95246046e-01 -1.48804246e-03 6.27447371e+00] [ 3.58398466e-02 -2.01261100e-03 9.99355520e-01 5.51593983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:6.28, Z:5.52 [[ 9.94585105e-01 -9.75404123e-02 -3.58655353e-02 1.59596102e+02] [ 9.75500194e-02 9.95229514e-01 -1.48612990e-03 6.27600831e+00] [ 3.58393969e-02 -2.02060100e-03 9.99355520e-01 5.51745114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:6.28, Z:5.52 [[ 9.94595131e-01 -9.74380881e-02 -3.58656434e-02 1.59627205e+02] [ 9.74477228e-02 9.95239539e-01 -1.48351615e-03 6.27895841e+00] [ 3.58394574e-02 -2.01952734e-03 9.99355520e-01 5.51916122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.66, Y:6.28, Z:5.52 [[ 9.94609264e-01 -9.72936872e-02 -3.58657239e-02 1.59658966e+02] [ 9.73032984e-02 9.95253673e-01 -1.48156758e-03 6.28124893e+00] [ 3.58396406e-02 -2.01627239e-03 9.99355520e-01 5.52078356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:6.28, Z:5.52 [[ 9.94656248e-01 -9.68121381e-02 -3.58658296e-02 1.59691429e+02] [ 9.68215295e-02 9.95300660e-01 -1.47900402e-03 6.28339632e+00] [ 3.58404694e-02 -2.00148389e-03 9.99355520e-01 5.52249528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:6.29, Z:5.52 [[ 9.94690336e-01 -9.64612375e-02 -3.58659357e-02 1.59722124e+02] [ 9.64704941e-02 9.95334750e-01 -1.47642719e-03 6.28567966e+00] [ 3.58410301e-02 -1.99141668e-03 9.99355520e-01 5.52408133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:6.29, Z:5.53 [[ 9.94728028e-01 -9.60717440e-02 -3.58660147e-02 1.59753667e+02] [ 9.60808174e-02 9.95372444e-01 -1.47450438e-03 6.28786800e+00] [ 3.58417009e-02 -1.97930518e-03 9.99355520e-01 5.52541299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:6.29, Z:5.53 [[ 9.94655079e-01 -9.68240565e-02 -3.58660925e-02 1.59785259e+02] [ 9.68336855e-02 9.95299487e-01 -1.47260900e-03 6.29123138e+00] [ 3.58400875e-02 -2.00830790e-03 9.99355520e-01 5.52722382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:6.29, Z:5.53 [[ 9.94661992e-01 -9.67529755e-02 -3.58661974e-02 1.59817904e+02] [ 9.67626504e-02 9.95306399e-01 -1.47004970e-03 6.29250906e+00] [ 3.58400875e-02 -2.00830576e-03 9.99355520e-01 5.52839658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:6.30, Z:5.53 [[ 9.94496571e-01 -9.84387054e-02 -3.58663022e-02 1.59850469e+02] [ 9.84495646e-02 9.95140960e-01 -1.46748826e-03 6.29509716e+00] [ 3.58364841e-02 -2.07160980e-03 9.99355520e-01 5.52842980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:6.30, Z:5.53 [[ 9.94402719e-01 -9.93822554e-02 -3.58664092e-02 1.59881814e+02] [ 9.93938201e-02 9.95047096e-01 -1.46486969e-03 6.29661231e+00] [ 3.58343483e-02 -2.10822902e-03 9.99355520e-01 5.52778067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:6.30, Z:5.53 [[ 9.94284653e-01 -1.00556567e-01 -3.58664889e-02 1.59913283e+02] [ 1.00568963e-01 9.94929014e-01 -1.46291567e-03 6.29838718e+00] [ 3.58317162e-02 -2.15250098e-03 9.99355520e-01 5.52814561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:6.30, Z:5.53 [[ 9.94176220e-01 -1.01622995e-01 -3.58665653e-02 1.59946117e+02] [ 1.01636149e-01 9.94820566e-01 -1.46103892e-03 6.30025952e+00] [ 3.58292720e-02 -2.19280944e-03 9.99355520e-01 5.52971342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:6.30, Z:5.53 [[ 9.94093436e-01 -1.02429573e-01 -3.58667276e-02 1.59978334e+02] [ 1.02443394e-01 9.94737768e-01 -1.45704522e-03 6.30233863e+00] [ 3.58272331e-02 -2.22587022e-03 9.99355520e-01 5.53070645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:6.31, Z:5.53 [[ 9.93981031e-01 -1.03514624e-01 -3.58668617e-02 1.60011325e+02] [ 1.03529268e-01 9.94625345e-01 -1.45373670e-03 6.30542711e+00] [ 3.58245727e-02 -2.26828321e-03 9.99355520e-01 5.53169370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:6.31, Z:5.53 [[ 9.93998909e-01 -1.03342762e-01 -3.58670229e-02 1.60043843e+02] [ 1.03357437e-01 9.94643222e-01 -1.44974738e-03 6.30788111e+00] [ 3.58247121e-02 -2.26607625e-03 9.99355520e-01 5.53305816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:6.31, Z:5.53 [[ 9.94050428e-01 -1.02845957e-01 -3.58671840e-02 1.60076695e+02] [ 1.02860454e-01 9.94694746e-01 -1.44575190e-03 6.31043019e+00] [ 3.58255892e-02 -2.25216453e-03 9.99355520e-01 5.53423685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:6.31, Z:5.54 [[ 9.94151249e-01 -1.01866713e-01 -3.58673436e-02 1.60108229e+02] [ 1.01880717e-01 9.94795577e-01 -1.44178112e-03 6.31313715e+00] [ 3.58275443e-02 -2.22084220e-03 9.99355520e-01 5.53507665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:6.32, Z:5.54 [[ 9.94244070e-01 -1.00956688e-01 -3.58674754e-02 1.60141040e+02] [ 1.00970221e-01 9.94888408e-01 -1.43849567e-03 6.31596971e+00] [ 3.58293612e-02 -2.19133112e-03 9.99355520e-01 5.53686344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.17, Y:6.32, Z:5.54 [[ 9.94438977e-01 -9.90183507e-02 -3.58676331e-02 1.60171858e+02] [ 9.90307692e-02 9.95083338e-01 -1.43455216e-03 6.31993304e+00] [ 3.58333310e-02 -2.12542471e-03 9.99355520e-01 5.53835689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:6.32, Z:5.54 [[ 9.94510620e-01 -9.82961589e-02 -3.58677109e-02 1.60204694e+02] [ 9.83081796e-02 9.95154988e-01 -1.43260266e-03 6.32242977e+00] [ 3.58347508e-02 -2.10135081e-03 9.99355520e-01 5.53971476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:6.32, Z:5.54 [[ 9.94566336e-01 -9.77307505e-02 -3.58678664e-02 1.60237200e+02] [ 9.77425451e-02 9.95210708e-01 -1.42869947e-03 6.32469538e+00] [ 3.58357126e-02 -2.08488015e-03 9.99355520e-01 5.54082052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.27, Y:6.33, Z:5.54 [[ 9.94628570e-01 -9.70952814e-02 -3.58680230e-02 1.60269142e+02] [ 9.71068060e-02 9.95272947e-01 -1.42475638e-03 6.32826588e+00] [ 3.58368101e-02 -2.06592575e-03 9.99355520e-01 5.54092848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:6.33, Z:5.54 [[ 9.94629079e-01 -9.70900186e-02 -3.58681526e-02 1.60302110e+02] [ 9.71016574e-02 9.95273454e-01 -1.42148639e-03 6.33106668e+00] [ 3.58366323e-02 -2.06900537e-03 9.99355520e-01 5.54141791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:6.33, Z:5.54 [[ 9.94623965e-01 -9.71423332e-02 -3.58683056e-02 1.60334636e+02] [ 9.71541450e-02 9.95268337e-01 -1.41761694e-03 6.33374686e+00] [ 3.58362995e-02 -2.07475878e-03 9.99355520e-01 5.54277542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:6.34, Z:5.54 [[ 9.94610553e-01 -9.72795012e-02 -3.58684598e-02 1.60366413e+02] [ 9.72915425e-02 9.95254921e-01 -1.41370450e-03 6.33632468e+00] [ 3.58357856e-02 -2.08361236e-03 9.99355520e-01 5.54400993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:6.34, Z:5.54 [[ 9.94516410e-01 -9.82372409e-02 -3.58685873e-02 1.60398562e+02] [ 9.82500192e-02 9.95160763e-01 -1.41046155e-03 6.34027543e+00] [ 3.58335706e-02 -2.12136223e-03 9.99355520e-01 5.54489772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:6.34, Z:5.55 [[ 9.94461406e-01 -9.87924418e-02 -3.58687121e-02 1.60431635e+02] [ 9.88056941e-02 9.95105750e-01 -1.40728139e-03 6.34256198e+00] [ 3.58321904e-02 -2.14454596e-03 9.99355520e-01 5.54574663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:6.34, Z:5.55 [[ 9.94405910e-01 -9.93494324e-02 -3.58688660e-02 1.60463799e+02] [ 9.93631870e-02 9.95050244e-01 -1.40334753e-03 6.34483671e+00] [ 3.58307456e-02 -2.16854776e-03 9.99355520e-01 5.54646403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.50, Y:6.35, Z:5.55 [[ 9.94239324e-01 -1.01002880e-01 -3.58689933e-02 1.60495887e+02] [ 1.01017823e-01 9.94883631e-01 -1.40008654e-03 6.34861150e+00] [ 3.58268870e-02 -2.23138651e-03 9.99355520e-01 5.54749321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:6.35, Z:5.55 [[ 9.94190496e-01 -1.01482332e-01 -3.58691189e-02 1.60528593e+02] [ 1.01497702e-01 9.94834793e-01 -1.39686135e-03 6.35132870e+00] [ 3.58256042e-02 -2.25188686e-03 9.99355520e-01 5.54922121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:6.35, Z:5.55 [[ 9.94188034e-01 -1.01506396e-01 -3.58692731e-02 1.60560994e+02] [ 1.01521924e-01 9.94832327e-01 -1.39288864e-03 6.35390283e+00] [ 3.58252996e-02 -2.25672439e-03 9.99355520e-01 5.55071637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:6.36, Z:5.55 [[ 9.94284896e-01 -1.00553129e-01 -3.58694005e-02 1.60592905e+02] [ 1.00568157e-01 9.94929201e-01 -1.38960162e-03 6.35812175e+00] [ 3.58272427e-02 -2.22565960e-03 9.99355520e-01 5.55240098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:6.36, Z:5.55 [[ 9.94396570e-01 -9.94426389e-02 -3.58695234e-02 1.60626089e+02] [ 9.94570622e-02 9.95040889e-01 -1.38642139e-03 6.36054833e+00] [ 3.58295119e-02 -2.18882475e-03 9.99355520e-01 5.55332313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:6.37, Z:5.55 [[ 9.94503472e-01 -9.83677327e-02 -3.58696688e-02 1.60657381e+02] [ 9.83815951e-02 9.95147803e-01 -1.38265057e-03 6.36544908e+00] [ 3.58316303e-02 -2.15386443e-03 9.99355520e-01 5.55418171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:6.37, Z:5.56 [[ 9.94695245e-01 -9.64110691e-02 -3.58646879e-02 1.60690499e+02] [ 9.64190214e-02 9.95339684e-01 -1.51182075e-03 6.36664488e+00] [ 3.58433034e-02 -1.95423720e-03 9.99355512e-01 5.55547791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:6.37, Z:5.56 [[ 9.94744092e-01 -9.59038010e-02 -3.58699261e-02 1.60723910e+02] [ 9.59163350e-02 9.95388450e-01 -1.37519775e-03 6.36921262e+00] [ 3.58363968e-02 -2.07254201e-03 9.99355521e-01 5.55637241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:6.37, Z:5.56 [[ 9.94794196e-01 -9.53826312e-02 -3.58700746e-02 1.60755560e+02] [ 9.53949671e-02 9.95438556e-01 -1.37131374e-03 6.37151335e+00] [ 3.58372548e-02 -2.05764964e-03 9.99355521e-01 5.55651192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:6.37, Z:5.56 [[ 9.94925234e-01 -9.40058901e-02 -3.58701972e-02 1.60787388e+02] [ 9.40174499e-02 9.95569610e-01 -1.36809863e-03 6.37413896e+00] [ 3.58398876e-02 -2.01126862e-03 9.99355521e-01 5.55631134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.82, Y:6.38, Z:5.56 [[ 9.94935409e-01 -9.38981032e-02 -3.58702956e-02 1.60820887e+02] [ 9.39096861e-02 9.95579784e-01 -1.36551440e-03 6.37532544e+00] [ 3.58399604e-02 -2.00996957e-03 9.99355521e-01 5.55751452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:6.38, Z:5.56 [[ 9.94968261e-01 -9.35493002e-02 -3.58704431e-02 1.60852531e+02] [ 9.35607968e-02 9.95612637e-01 -1.36162917e-03 6.37710709e+00] [ 3.58404459e-02 -2.00128943e-03 9.99355521e-01 5.55768124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:6.38, Z:5.56 [[ 9.95057991e-01 -9.25899364e-02 -3.58705649e-02 1.60885901e+02] [ 9.26009273e-02 9.95702377e-01 -1.35841268e-03 6.37864152e+00] [ 3.58421821e-02 -1.96994818e-03 9.99355521e-01 5.55894729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:6.38, Z:5.56 [[ 9.95224529e-01 -9.07823167e-02 -3.58707131e-02 1.60917773e+02] [ 9.07922781e-02 9.95868931e-01 -1.35448911e-03 6.38065668e+00] [ 3.58454923e-02 -1.90876297e-03 9.99355521e-01 5.56005952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:6.38, Z:5.56 [[ 9.95373692e-01 -8.91319096e-02 -3.58708352e-02 1.60950372e+02] [ 8.91409190e-02 9.96018108e-01 -1.35124596e-03 6.38256695e+00] [ 3.58484406e-02 -1.85256454e-03 9.99355521e-01 5.56161920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:6.39, Z:5.56 [[ 9.95724195e-01 -8.51269615e-02 -3.58709792e-02 1.60981692e+02] [ 8.51335162e-02 9.96368641e-01 -1.34741349e-03 6.38589144e+00] [ 3.58554200e-02 -1.71217038e-03 9.99355521e-01 5.56337765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:6.39, Z:5.56 [[ 9.96150066e-01 -7.99894191e-02 -3.58711335e-02 1.61013389e+02] [ 7.99927975e-02 9.96794536e-01 -1.34329350e-03 6.38875213e+00] [ 3.58635991e-02 -1.53131040e-03 9.99355521e-01 5.56456186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:6.39, Z:5.57 [[ 9.96155766e-01 -7.99183578e-02 -3.58712291e-02 1.61046042e+02] [ 7.99217822e-02 9.96800236e-01 -1.34073412e-03 6.38991289e+00] [ 3.58635989e-02 -1.53131254e-03 9.99355521e-01 5.56573461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:6.39, Z:5.57 [[ 9.96356646e-01 -7.73736470e-02 -3.58713245e-02 1.61078343e+02] [ 7.73755171e-02 9.97001123e-01 -1.33817687e-03 6.39184457e+00] [ 3.58672905e-02 -1.44226087e-03 9.99355521e-01 5.56650974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:6.39, Z:5.57 [[ 9.96582664e-01 -7.44058808e-02 -3.58714198e-02 1.61110953e+02] [ 7.44059234e-02 9.97227143e-01 -1.33561748e-03 6.39347783e+00] [ 3.58713313e-02 -1.33799290e-03 9.99355521e-01 5.56716529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:6.40, Z:5.57 [[ 9.96671549e-01 -7.32055897e-02 -3.58715149e-02 1.61139652e+02] [ 7.32049482e-02 9.97316027e-01 -1.33305807e-03 6.39772882e+00] [ 3.58728241e-02 -1.29735134e-03 9.99355521e-01 5.56634915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:6.40, Z:5.57 [[ 9.97236437e-01 -6.50644882e-02 -3.58622544e-02 1.61171927e+02] [ 6.50496702e-02 9.97880775e-01 -1.58106577e-03 6.39855099e+00] [ 3.58891254e-02 -7.56131426e-04 9.99355492e-01 5.56820505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:6.40, Z:5.57 [[ 9.97446777e-01 -6.17507795e-02 -3.58715585e-02 1.61203083e+02] [ 6.17428372e-02 9.98091205e-01 -1.33018908e-03 6.40074838e+00] [ 3.58852273e-02 -8.88018985e-04 9.99355523e-01 5.56909735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:6.40, Z:5.57 [[ 9.97786127e-01 -5.60006517e-02 -3.58716053e-02 1.61234809e+02] [ 5.59890406e-02 9.98430499e-01 -1.32892682e-03 6.40358826e+00] [ 3.58897255e-02 -6.82432018e-04 9.99355523e-01 5.56999474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:6.41, Z:5.57 [[ 9.97921028e-01 -5.35429414e-02 -3.58716516e-02 1.61264859e+02] [ 5.35297881e-02 9.98565370e-01 -1.32767568e-03 6.40545836e+00] [ 3.58912767e-02 -5.95286430e-04 9.99355523e-01 5.57105532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:6.41, Z:5.57 [[ 9.98043765e-01 -5.12042020e-02 -3.58716053e-02 1.61294851e+02] [ 5.11894939e-02 9.98688074e-01 -1.32892444e-03 6.40699433e+00] [ 3.58925910e-02 -5.09924568e-04 9.99355523e-01 5.57216687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:6.41, Z:5.57 [[ 9.98240161e-01 -4.72208507e-02 -3.58716053e-02 1.61324745e+02] [ 4.72035714e-02 9.98884406e-01 -1.32892444e-03 6.40854995e+00] [ 3.58943401e-02 -3.66682135e-04 9.99355523e-01 5.57283086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:6.41, Z:5.57 [[ 9.98323477e-01 -4.54253936e-02 -3.58715587e-02 1.61352514e+02] [ 4.54069105e-02 9.98967689e-01 -1.33018337e-03 6.40994735e+00] [ 3.58949521e-02 -3.00863369e-04 9.99355523e-01 5.57319890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:6.41, Z:5.57 [[ 9.98468134e-01 -4.21263395e-02 -3.58713834e-02 1.61380069e+02] [ 4.21055585e-02 9.99112276e-01 -1.33489420e-03 6.41178229e+00] [ 3.58957737e-02 -1.77535310e-04 9.99355523e-01 5.57443700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:6.41, Z:5.58 [[ 9.98529037e-01 -4.06575165e-02 -3.58710088e-02 1.61407477e+02] [ 4.06354291e-02 9.99173135e-01 -1.34488386e-03 6.41310864e+00] [ 3.58960280e-02 -1.14728247e-04 9.99355523e-01 5.57562355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:6.41, Z:5.58 [[ 9.98580615e-01 -3.93707096e-02 -3.58706286e-02 1.61434561e+02] [ 3.93474306e-02 9.99224671e-01 -1.35495012e-03 6.41431220e+00] [ 3.58961624e-02 -5.83901482e-05 9.99355523e-01 5.57635044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:6.42, Z:5.58 [[ 9.98614188e-01 -3.85099200e-02 -3.58704633e-02 1.61461918e+02] [ 3.84859292e-02 9.99258218e-01 -1.35931195e-03 6.41544071e+00] [ 3.58962022e-02 -2.30799149e-05 9.99355523e-01 5.57829634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:6.42, Z:5.58 [[ 9.98641650e-01 -3.77914368e-02 -3.58700662e-02 1.61489088e+02] [ 3.77666090e-02 9.99285648e-01 -1.36971229e-03 6.41648744e+00] [ 3.58962057e-02 1.31609825e-05 9.99355523e-01 5.57901955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:6.42, Z:5.58 [[ 9.98648276e-01 -3.76161949e-02 -3.58697921e-02 1.61517334e+02] [ 3.75909977e-02 9.99292260e-01 -1.37685156e-03 6.41655997e+00] [ 3.58961976e-02 2.66091610e-05 9.99355523e-01 5.58013090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:6.42, Z:5.58 [[ 9.98609899e-01 -3.86219578e-02 -3.58693912e-02 1.61545066e+02] [ 3.85970368e-02 9.99253894e-01 -1.38721777e-03 6.41715068e+00] [ 3.58962059e-02 8.37182418e-07 9.99355524e-01 5.58116552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:6.42, Z:5.58 [[ 9.98558334e-01 -3.99333137e-02 -3.58689895e-02 1.61572883e+02] [ 3.99088681e-02 9.99202346e-01 -1.39752699e-03 6.41773443e+00] [ 3.58961864e-02 -3.59785473e-05 9.99355524e-01 5.58191968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:6.42, Z:5.58 [[ 9.98311119e-01 -4.56985155e-02 -3.58685871e-02 1.61598202e+02] [ 4.56774206e-02 9.98955250e-01 -1.40777986e-03 6.42027549e+00] [ 3.58954469e-02 -2.32982257e-04 9.99355524e-01 5.58219461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.63, Y:6.42, Z:5.58 [[ 9.98167748e-01 -4.87381409e-02 -3.58572105e-02 1.61627927e+02] [ 4.87087408e-02 9.98811589e-01 -1.69354487e-03 6.41692241e+00] [ 3.58971376e-02 -5.61177015e-05 9.99355488e-01 5.58350847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:6.42, Z:5.58 [[ 9.98022691e-01 -5.16158853e-02 -3.58679457e-02 1.61655831e+02] [ 5.15980629e-02 9.98666919e-01 -1.42298513e-03 6.41659706e+00] [ 3.58935794e-02 -4.30545067e-04 9.99355525e-01 5.58384266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:6.42, Z:5.58 [[ 9.97857026e-01 -5.47252805e-02 -3.58678176e-02 1.61685975e+02] [ 5.47093498e-02 9.98501303e-01 -1.42620688e-03 6.41620066e+00] [ 3.58921122e-02 -5.39154419e-04 9.99355525e-01 5.58495039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:6.41, Z:5.59 [[ 9.97506985e-01 -6.07726754e-02 -3.58677667e-02 1.61715495e+02] [ 6.07606041e-02 9.98151347e-01 -1.42748558e-03 6.41437537e+00] [ 3.58882117e-02 -7.55420339e-04 9.99355525e-01 5.58525063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:6.41, Z:5.59 [[ 9.97126301e-01 -6.67281202e-02 -3.58677716e-02 1.61746655e+02] [ 6.67199014e-02 9.97770724e-01 -1.42736247e-03 6.41343824e+00] [ 3.58830576e-02 -9.69833525e-04 9.99355525e-01 5.58690333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:6.41, Z:5.59 [[ 9.96928675e-01 -6.96183668e-02 -3.58678228e-02 1.61779158e+02] [ 6.96120624e-02 9.97573119e-01 -1.42607438e-03 6.41368369e+00] [ 3.58800568e-02 -1.07513867e-03 9.99355525e-01 5.58820094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:6.41, Z:5.59 [[ 9.96742996e-01 -7.22280584e-02 -3.58679263e-02 1.61810293e+02] [ 7.22235349e-02 9.97387455e-01 -1.42346661e-03 6.41384739e+00] [ 3.58770339e-02 -1.17167806e-03 9.99355525e-01 5.58885922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:6.41, Z:5.59 [[ 9.96555611e-01 -7.47689764e-02 -3.58680031e-02 1.61841626e+02] [ 7.47661656e-02 9.97200080e-01 -1.42152760e-03 6.41381946e+00] [ 3.58738618e-02 -1.26508176e-03 9.99355525e-01 5.58962608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:6.41, Z:5.59 [[ 9.96361470e-01 -7.73130182e-02 -3.58680790e-02 1.61874112e+02] [ 7.73119217e-02 9.97005944e-01 -1.41961071e-03 6.41400321e+00] [ 3.58704423e-02 -1.35858471e-03 9.99355525e-01 5.59063292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:6.41, Z:5.59 [[ 9.96189868e-01 -7.94935224e-02 -3.58681805e-02 1.61905011e+02] [ 7.94939288e-02 9.96834343e-01 -1.41704212e-03 6.41408359e+00] [ 3.58672798e-02 -1.43965958e-03 9.99355525e-01 5.59124278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:6.41, Z:5.59 [[ 9.96036089e-01 -8.13976452e-02 -3.58682560e-02 1.61936741e+02] [ 8.13993524e-02 9.96680562e-01 -1.41512782e-03 6.41429102e+00] [ 3.58643816e-02 -1.51013443e-03 9.99355525e-01 5.59268421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:6.41, Z:5.59 [[ 9.95775479e-01 -8.45260715e-02 -3.58683572e-02 1.61967975e+02] [ 8.45298955e-02 9.96419942e-01 -1.41255815e-03 6.41411831e+00] [ 3.58593444e-02 -1.62535772e-03 9.99355525e-01 5.59342987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:6.41, Z:5.59 [[ 9.95645081e-01 -8.60484036e-02 -3.58684325e-02 1.61999880e+02] [ 8.60532817e-02 9.96289538e-01 -1.41064304e-03 6.41467920e+00] [ 3.58567276e-02 -1.68209652e-03 9.99355525e-01 5.59377833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.03, Y:6.42, Z:5.59 [[ 9.95658414e-01 -8.58939571e-02 -3.58685342e-02 1.62030714e+02] [ 8.58988283e-02 9.96302870e-01 -1.40805319e-03 6.41559087e+00] [ 3.58568668e-02 -1.67912506e-03 9.99355525e-01 5.59385318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:6.42, Z:5.59 [[ 9.95688900e-01 -8.55397560e-02 -3.58687101e-02 1.62062500e+02] [ 8.55445596e-02 9.96333357e-01 -1.40355847e-03 6.41686576e+00] [ 3.58572524e-02 -1.67086541e-03 9.99355525e-01 5.59470066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:6.42, Z:5.60 [[ 9.95798062e-01 -8.42594085e-02 -3.58688127e-02 1.62094382e+02] [ 8.42634779e-02 9.96442524e-01 -1.40093100e-03 6.41927134e+00] [ 3.58592519e-02 -1.62738653e-03 9.99355525e-01 5.59580102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:6.42, Z:5.60 [[ 9.95880237e-01 -8.32824962e-02 -3.58689143e-02 1.62125922e+02] [ 8.32860270e-02 9.96524702e-01 -1.39832565e-03 6.42093759e+00] [ 3.58607152e-02 -1.59481448e-03 9.99355525e-01 5.59633980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:6.42, Z:5.60 [[ 9.95961164e-01 -8.23089784e-02 -3.58690860e-02 1.62158480e+02] [ 8.23120380e-02 9.96605632e-01 -1.39390672e-03 6.42259544e+00] [ 3.58620641e-02 -1.56418061e-03 9.99355525e-01 5.59752112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:6.42, Z:5.60 [[ 9.96029532e-01 -8.14774416e-02 -3.58691836e-02 1.62190827e+02] [ 8.14800537e-02 9.96674001e-01 -1.39138967e-03 6.42442593e+00] [ 3.58632496e-02 -1.53675781e-03 9.99355525e-01 5.59879473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:6.43, Z:5.60 [[ 9.96207245e-01 -7.92749666e-02 -3.58692812e-02 1.62223243e+02] [ 7.92762443e-02 9.96851718e-01 -1.38887027e-03 6.42659883e+00] [ 3.58664572e-02 -1.45997927e-03 9.99355525e-01 5.59990349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:6.43, Z:5.60 [[ 9.96303840e-01 -7.80515620e-02 -3.58693800e-02 1.62255215e+02] [ 7.80521402e-02 9.96948314e-01 -1.38631423e-03 6.42824701e+00] [ 3.58681219e-02 -1.41849168e-03 9.99355525e-01 5.60119861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:6.43, Z:5.60 [[ 9.96406192e-01 -7.67338375e-02 -3.58694796e-02 1.62287109e+02] [ 7.67336562e-02 9.97050666e-01 -1.38373034e-03 6.43023170e+00] [ 3.58698675e-02 -1.37363884e-03 9.99355525e-01 5.60211199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:6.43, Z:5.60 [[ 9.96539427e-01 -7.49836212e-02 -3.58695786e-02 1.62319532e+02] [ 7.49824003e-02 9.97183901e-01 -1.38115922e-03 6.43204016e+00] [ 3.58721307e-02 -1.31320749e-03 9.99355525e-01 5.60400423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:6.44, Z:5.61 [[ 9.96841387e-01 -7.08563063e-02 -3.58696798e-02 1.62350617e+02] [ 7.08525113e-02 9.97485850e-01 -1.37852800e-03 6.43556124e+00] [ 3.58771754e-02 -1.16728313e-03 9.99355525e-01 5.60514592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:6.44, Z:5.61 [[ 9.96997495e-01 -6.86247384e-02 -3.58697548e-02 1.62382921e+02] [ 6.86195711e-02 9.97641950e-01 -1.37657193e-03 6.43819781e+00] [ 3.58796390e-02 -1.08892843e-03 9.99355525e-01 5.60630106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:6.44, Z:5.61 [[ 9.97190656e-01 -6.57582679e-02 -3.58698534e-02 1.62413935e+02] [ 6.57513404e-02 9.97835093e-01 -1.37399862e-03 6.44042911e+00] [ 3.58825503e-02 -9.88352353e-04 9.99355525e-01 5.60756046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:6.44, Z:5.61 [[ 9.97554452e-01 -5.99871497e-02 -3.58700162e-02 1.62445322e+02] [ 5.99766466e-02 9.98198841e-01 -1.36973648e-03 6.44406473e+00] [ 3.58875751e-02 -7.84976555e-04 9.99355525e-01 5.60920253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:6.45, Z:5.61 [[ 9.97732632e-01 -5.69467583e-02 -3.58700648e-02 1.62475870e+02] [ 5.69343373e-02 9.98376987e-01 -1.36846110e-03 6.44677357e+00] [ 3.58897767e-02 -6.76880075e-04 9.99355525e-01 5.61053838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:6.45, Z:5.61 [[ 9.97896630e-01 -5.39968059e-02 -3.58700648e-02 1.62505267e+02] [ 5.39824799e-02 9.98540945e-01 -1.36846110e-03 6.44933439e+00] [ 3.58916210e-02 -5.70772336e-04 9.99355525e-01 5.61183861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:6.45, Z:5.61 [[ 9.98045993e-01 -5.11618721e-02 -3.58700160e-02 1.62535424e+02] [ 5.11456700e-02 9.98690264e-01 -1.36973867e-03 6.45175248e+00] [ 3.58931142e-02 -4.67533810e-04 9.99355525e-01 5.61320495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:6.45, Z:5.61 [[ 9.98180889e-01 -4.84587970e-02 -3.58700160e-02 1.62564442e+02] [ 4.84408502e-02 9.98825114e-01 -1.36973867e-03 6.45405550e+00] [ 3.58942487e-02 -3.70327110e-04 9.99355525e-01 5.61400563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:6.46, Z:5.61 [[ 9.98440244e-01 -4.27834786e-02 -3.58699433e-02 1.62592785e+02] [ 4.27618014e-02 9.99084354e-01 -1.37164145e-03 6.45723443e+00] [ 3.58957827e-02 -1.64361363e-04 9.99355525e-01 5.61469370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:6.46, Z:5.62 [[ 9.98557113e-01 -3.99632863e-02 -3.58696039e-02 1.62620878e+02] [ 3.99394732e-02 9.99201147e-01 -1.38045964e-03 6.45943231e+00] [ 3.58961171e-02 -5.41452938e-05 9.99355525e-01 5.61602442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:6.46, Z:5.62 [[ 9.98666940e-01 -3.71179624e-02 -3.58692014e-02 1.62648605e+02] [ 3.70919415e-02 9.99310889e-01 -1.39084011e-03 6.46172042e+00] [ 3.58961087e-02 5.85277163e-05 9.99355525e-01 5.61710851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:6.47, Z:5.62 [[ 9.98863551e-01 -3.13852946e-02 -3.58687932e-02 1.62675949e+02] [ 3.13552028e-02 9.99507322e-01 -1.40128997e-03 6.46504500e+00] [ 3.58951013e-02 2.75024193e-04 9.99355525e-01 5.61755618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:6.47, Z:5.62 [[ 9.98932178e-01 -2.91194456e-02 -3.58686666e-02 1.62703783e+02] [ 2.90877776e-02 9.99575874e-01 -1.40452066e-03 6.46668801e+00] [ 3.58943527e-02 3.59681086e-04 9.99355525e-01 5.61967158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:6.47, Z:5.62 [[ 9.99011645e-01 -2.62526307e-02 -3.58682570e-02 1.62730716e+02] [ 2.62187427e-02 9.99655228e-01 -1.41490612e-03 6.46796181e+00] [ 3.58930356e-02 4.73087087e-04 9.99355525e-01 5.61986000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:6.47, Z:5.62 [[ 9.99004095e-01 -2.65386310e-02 -3.58680789e-02 1.62759055e+02] [ 2.65047658e-02 9.99647679e-01 -1.41940489e-03 6.46913993e+00] [ 3.58931109e-02 4.67316267e-04 9.99355525e-01 5.62088037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:6.47, Z:5.62 [[ 9.99015316e-01 -2.61133779e-02 -3.58676696e-02 1.62787178e+02] [ 2.60788701e-02 9.99658866e-01 -1.42967407e-03 6.46999352e+00] [ 3.58927676e-02 4.92877996e-04 9.99355525e-01 5.62103664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:6.47, Z:5.62 [[ 9.98964475e-01 -2.79910184e-02 -3.58675427e-02 1.62815225e+02] [ 2.79576062e-02 9.99608083e-01 -1.43285088e-03 6.46972637e+00] [ 3.58935926e-02 4.28596491e-04 9.99355525e-01 5.62169695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:6.47, Z:5.62 [[ 9.98906181e-01 -2.99998388e-02 -3.58671318e-02 1.62843258e+02] [ 2.99673543e-02 9.99549836e-01 -1.44306440e-03 6.46979774e+00] [ 3.58942774e-02 3.66642907e-04 9.99355526e-01 5.62226614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:6.47, Z:5.62 [[ 9.98839305e-01 -3.21499648e-02 -3.58667201e-02 1.62870572e+02] [ 3.21185010e-02 9.99483011e-01 -1.45322480e-03 6.46961711e+00] [ 3.58948986e-02 2.99552766e-04 9.99355526e-01 5.62283298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:6.47, Z:5.62 [[ 9.98602598e-01 -3.88129289e-02 -3.58665410e-02 1.62898432e+02] [ 3.87856019e-02 9.99246492e-01 -1.45763249e-03 6.46860097e+00] [ 3.58960903e-02 6.44902085e-05 9.99355526e-01 5.62357351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:6.47, Z:5.62 [[ 9.98442214e-01 -4.27406927e-02 -3.58661237e-02 1.62926166e+02] [ 4.27155324e-02 9.99086197e-01 -1.46782901e-03 6.46833938e+00] [ 3.58960851e-02 -6.64981193e-05 9.99355526e-01 5.62448814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.95, Y:6.47, Z:5.63 [[ 9.98258480e-01 -4.68365155e-02 -3.58656989e-02 1.62954196e+02] [ 4.68136271e-02 9.98902548e-01 -1.47813730e-03 6.46764038e+00] [ 3.58955688e-02 -2.03440362e-04 9.99355526e-01 5.62530200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:6.47, Z:5.63 [[ 9.98052718e-01 -5.10338585e-02 -3.58652682e-02 1.62982413e+02] [ 5.10133059e-02 9.98696864e-01 -1.48851400e-03 6.46723998e+00] [ 3.58944955e-02 -3.43990450e-04 9.99355526e-01 5.62647821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:6.47, Z:5.63 [[ 9.97646418e-01 -5.84408879e-02 -3.58648343e-02 1.63010634e+02] [ 5.84247441e-02 9.98290690e-01 -1.49889584e-03 6.46565967e+00] [ 3.58911270e-02 -6.00025703e-04 9.99355526e-01 5.62864582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:6.47, Z:5.63 [[ 9.97469971e-01 -6.13789493e-02 -3.58647536e-02 1.63041303e+02] [ 6.13646338e-02 9.98114287e-01 -1.50082337e-03 6.46569678e+00] [ 3.58892420e-02 -7.03801229e-04 9.99355526e-01 5.63016778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:6.47, Z:5.63 [[ 9.97292329e-01 -6.42007066e-02 -3.58647536e-02 1.63071336e+02] [ 6.41882141e-02 9.97936682e-01 -1.50082337e-03 6.46581897e+00] [ 3.58871072e-02 -8.05334851e-04 9.99355526e-01 5.63222291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:6.47, Z:5.63 [[ 9.97146892e-01 -6.64213453e-02 -3.58647536e-02 1.63102397e+02] [ 6.64102877e-02 9.97791271e-01 -1.50082337e-03 6.46598091e+00] [ 3.58852248e-02 -8.85247248e-04 9.99355526e-01 5.63377308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.345099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:163.13, Y:6.47, Z:5.63 [[ 9.96807337e-01 -7.13361585e-02 -3.58648078e-02 1.63126982e+02] [ 7.13283242e-02 9.97451764e-01 -1.49952706e-03 6.47144218e+00] [ 3.58803864e-02 -1.06343707e-03 9.99355526e-01 5.63191959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:6.47, Z:5.63 [[ 9.96731490e-01 -7.24028055e-02 -3.58353132e-02 1.63158249e+02] [ 7.23700081e-02 9.97375398e-01 -2.21320294e-03 6.47169616e+00] [ 3.59015019e-02 -3.87432843e-04 9.99355258e-01 5.63353942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:6.47, Z:5.64 [[ 9.96902500e-01 -7.00110966e-02 -3.58308781e-02 1.63194621e+02] [ 6.99728955e-02 9.97546194e-01 -2.32058145e-03 6.46582734e+00] [ 3.59054225e-02 -1.93796841e-04 9.99355174e-01 5.63714587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:6.47, Z:5.64 [[ 9.96659282e-01 -7.33750926e-02 -3.58660269e-02 1.63221029e+02] [ 7.33702218e-02 9.97303714e-01 -1.45373723e-03 6.46972963e+00] [ 3.58759899e-02 -1.18261765e-03 9.99355550e-01 5.63665130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:6.47, Z:5.64 [[ 9.96857299e-01 -7.06488191e-02 -3.58366984e-02 1.63256155e+02] [ 7.06165759e-02 9.97501181e-01 -2.16625211e-03 6.46559069e+00] [ 3.59001922e-02 -3.71220710e-04 9.99355311e-01 5.64020186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:6.47, Z:5.64 [[ 9.96861730e-01 -7.05715856e-02 -3.58656221e-02 1.63283140e+02] [ 7.05649614e-02 9.97506129e-01 -1.45207811e-03 6.46977118e+00] [ 3.58786533e-02 -1.08333514e-03 9.99355567e-01 5.64066016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:6.47, Z:5.64 [[ 9.97035594e-01 -6.80815883e-02 -3.58458011e-02 1.63315806e+02] [ 6.80556333e-02 9.97679632e-01 -1.94514011e-03 6.46958385e+00] [ 3.58950539e-02 -5.00134773e-04 9.99355440e-01 5.64229824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:6.47, Z:5.64 [[ 9.97261885e-01 -6.46804872e-02 -3.58492307e-02 1.63348226e+02] [ 6.46554150e-02 9.97905917e-01 -1.85944963e-03 6.46941979e+00] [ 3.58944295e-02 -4.63488646e-04 9.99355480e-01 5.64333528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:6.47, Z:5.64 [[ 9.97310298e-01 -6.39273307e-02 -3.58533914e-02 1.63379419e+02] [ 6.39055607e-02 9.97954409e-01 -1.75402707e-03 6.47097044e+00] [ 3.58921803e-02 -5.41921827e-04 9.99355521e-01 5.64353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:6.47, Z:5.64 [[ 9.97468080e-01 -6.14174024e-02 -3.58515392e-02 1.63410535e+02] [ 6.13923211e-02 9.98112087e-01 -1.80106961e-03 6.47091843e+00] [ 3.58944716e-02 -4.04499763e-04 9.99355504e-01 5.64341387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:6.47, Z:5.64 [[ 9.97592677e-01 -5.93588580e-02 -3.58521628e-02 1.63442458e+02] [ 5.93330178e-02 9.98236648e-01 -1.78520228e-03 6.46812262e+00] [ 3.58949104e-02 -3.46312298e-04 9.99355510e-01 5.64472524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:6.47, Z:5.64 [[ 9.97522810e-01 -6.05127180e-02 -3.58671872e-02 1.63470245e+02] [ 6.05014479e-02 9.98167127e-01 -1.40048741e-03 6.47203588e+00] [ 3.58861945e-02 -7.72998626e-04 9.99355584e-01 5.64321097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:6.47, Z:5.64 [[ 9.97670756e-01 -5.80324949e-02 -3.58509656e-02 1.63499811e+02] [ 5.80047914e-02 9.98314658e-01 -1.81323508e-03 6.47171081e+00] [ 3.58957711e-02 -2.70516171e-04 9.99355503e-01 5.64331631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:6.47, Z:5.64 [[ 9.97764333e-01 -5.63998293e-02 -3.58524074e-02 1.63531244e+02] [ 5.63723893e-02 9.98408232e-01 -1.77657292e-03 6.46954922e+00] [ 3.58955371e-02 -2.48484772e-04 9.99355517e-01 5.64477080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:6.47, Z:5.64 [[ 9.97656977e-01 -5.82590116e-02 -3.58670185e-02 1.63559093e+02] [ 5.82461901e-02 9.98301263e-01 -1.40315188e-03 6.47374615e+00] [ 3.58878361e-02 -6.89252910e-04 9.99355586e-01 5.64483961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:6.47, Z:5.65 [[ 9.97858515e-01 -5.47081695e-02 -3.58524766e-02 1.63590690e+02] [ 5.46797826e-02 9.98502368e-01 -1.77254695e-03 6.47157468e+00] [ 3.58957556e-02 -1.91654560e-04 9.99355521e-01 5.64771185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:6.47, Z:5.65 [[ 9.97881492e-01 -5.42778734e-02 -3.58669919e-02 1.63618970e+02] [ 5.42625584e-02 9.98525719e-01 -1.40100594e-03 6.47227583e+00] [ 3.58901575e-02 -5.48196843e-04 9.99355590e-01 5.64866463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:6.47, Z:5.65 [[ 9.97897083e-01 -5.39905162e-02 -3.58669177e-02 1.63647804e+02] [ 5.39749475e-02 9.98541305e-01 -1.40290423e-03 6.47332851e+00] [ 3.58903423e-02 -5.35960961e-04 9.99355590e-01 5.64984607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:6.48, Z:5.65 [[ 9.97852292e-01 -5.48123353e-02 -3.58665690e-02 1.63676382e+02] [ 5.47969788e-02 9.98496519e-01 -1.41176320e-03 6.47624205e+00] [ 3.58900263e-02 -5.56648472e-04 9.99355590e-01 5.65033475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:6.48, Z:5.65 [[ 9.97930783e-01 -5.33700401e-02 -3.58579216e-02 1.63704498e+02] [ 5.33459036e-02 9.98574763e-01 -1.63020530e-03 6.47722968e+00] [ 3.58938197e-02 -2.86041174e-04 9.99355568e-01 5.65270247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:6.48, Z:5.66 [[ 9.98006731e-01 -5.19312231e-02 -3.58568335e-02 1.63735464e+02] [ 5.19051744e-02 9.98650642e-01 -1.65758942e-03 6.47634586e+00] [ 3.58945304e-02 -2.06869791e-04 9.99355562e-01 5.65619994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:6.48, Z:5.66 [[ 9.98041217e-01 -5.12577469e-02 -3.58660320e-02 1.63763696e+02] [ 5.12395732e-02 9.98685372e-01 -1.42630642e-03 6.47742625e+00] [ 3.58919908e-02 -4.14247577e-04 9.99355589e-01 5.65766955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:6.48, Z:5.66 [[ 9.98114604e-01 -4.98085445e-02 -3.58656667e-02 1.63792095e+02] [ 4.97891076e-02 9.98758722e-01 -1.43543362e-03 6.47834421e+00] [ 3.58926443e-02 -3.52992285e-04 9.99355589e-01 5.65945852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:6.48, Z:5.66 [[ 9.98063598e-01 -5.08206175e-02 -3.58653016e-02 1.63819404e+02] [ 5.08015081e-02 9.98707725e-01 -1.44449989e-03 6.48174377e+00] [ 3.58923641e-02 -3.80308652e-04 9.99355589e-01 5.66072595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:6.48, Z:5.66 [[ 9.98140493e-01 -4.92948851e-02 -3.58548577e-02 1.63850223e+02] [ 4.92655596e-02 9.98784266e-01 -1.70146290e-03 6.48041040e+00] [ 3.58951411e-02 -6.81106046e-05 9.99355559e-01 5.66188048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:6.48, Z:5.66 [[ 9.98111465e-01 -4.98719317e-02 -3.58649382e-02 1.63876884e+02] [ 4.98519189e-02 9.98755564e-01 -1.45259991e-03 6.48124297e+00] [ 3.58927505e-02 -3.38079370e-04 9.99355590e-01 5.66251569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:6.48, Z:5.66 [[ 9.97993719e-01 -5.21752432e-02 -3.58647565e-02 1.63905119e+02] [ 5.21565562e-02 9.98637858e-01 -1.45707333e-03 6.48113249e+00] [ 3.58919267e-02 -4.16432152e-04 9.99355590e-01 5.66314982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:6.48, Z:5.66 [[ 9.97897142e-01 -5.39911396e-02 -3.58643339e-02 1.63933345e+02] [ 5.39732536e-02 9.98541303e-01 -1.46740058e-03 6.48149119e+00] [ 3.58912454e-02 -4.71399949e-04 9.99355591e-01 5.66333934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:6.48, Z:5.66 [[ 9.97795550e-01 -5.58372565e-02 -3.58642029e-02 1.63961119e+02] [ 5.58204475e-02 9.98439740e-01 -1.47059571e-03 6.48163973e+00] [ 3.58903595e-02 -5.34602002e-04 9.99355591e-01 5.66301540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:6.48, Z:5.66 [[ 9.97657555e-01 -5.82509715e-02 -3.58640078e-02 1.63990010e+02] [ 5.82355505e-02 9.98301780e-01 -1.47533944e-03 6.48201395e+00] [ 3.58890427e-02 -6.16676694e-04 9.99355591e-01 5.66413674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:6.48, Z:5.66 [[ 9.97333260e-01 -6.35623225e-02 -3.58636348e-02 1.64018946e+02] [ 6.35500081e-02 9.97977551e-01 -1.48435148e-03 6.48408548e+00] [ 3.58854512e-02 -7.98741179e-04 9.99355591e-01 5.66283933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:6.48, Z:5.66 [[ 9.97306267e-01 -6.39887095e-02 -3.58560295e-02 1.64049546e+02] [ 6.39700829e-02 9.97950423e-01 -1.66764454e-03 6.48273852e+00] [ 3.58892502e-02 -6.30560828e-04 9.99355574e-01 5.66446493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:6.48, Z:5.67 [[ 9.97187793e-01 -6.58050517e-02 -3.58636447e-02 1.64080016e+02] [ 6.57942143e-02 9.97832110e-01 -1.48357109e-03 6.48337156e+00] [ 3.58835227e-02 -8.80221338e-04 9.99355591e-01 5.66554068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:6.48, Z:5.67 [[ 9.96937162e-01 -6.94988790e-02 -3.58636447e-02 1.64109485e+02] [ 6.94904287e-02 9.97581515e-01 -1.48357109e-03 6.48376218e+00] [ 3.58800155e-02 -1.01315289e-03 9.99355591e-01 5.66734026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:6.48, Z:5.67 [[ 9.96803580e-01 -7.13892413e-02 -3.58636182e-02 1.64140485e+02] [ 7.13819900e-02 9.97447948e-01 -1.48420956e-03 6.48470769e+00] [ 3.58780490e-02 -1.08055104e-03 9.99355591e-01 5.66878897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:6.49, Z:5.67 [[ 9.96663541e-01 -7.33183690e-02 -3.58636706e-02 1.64171597e+02] [ 7.33124103e-02 9.97307922e-01 -1.48294299e-03 6.48559153e+00] [ 3.58758498e-02 -1.15125692e-03 9.99355591e-01 5.67057762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:6.49, Z:5.67 [[ 9.96416714e-01 -7.65997749e-02 -3.58637227e-02 1.64201507e+02] [ 7.65959834e-02 9.97061111e-01 -1.48168205e-03 6.48640947e+00] [ 3.58718197e-02 -1.27064435e-03 9.99355591e-01 5.67147909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.23, Y:6.49, Z:5.67 [[ 9.96491400e-01 -7.56219668e-02 -3.58637486e-02 1.64229733e+02] [ 7.56175654e-02 9.97135793e-01 -1.48105646e-03 6.48774798e+00] [ 3.58730278e-02 -1.23606933e-03 9.99355591e-01 5.67408869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:6.49, Z:5.68 [[ 9.96202886e-01 -7.93387369e-02 -3.58493318e-02 1.64262253e+02] [ 7.93242538e-02 9.96847190e-01 -1.82838365e-03 6.48919740e+00] [ 3.58813673e-02 -1.02228043e-03 9.99355534e-01 5.67502777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:6.49, Z:5.68 [[ 9.96074922e-01 -8.09230559e-02 -3.58637586e-02 1.64294731e+02] [ 8.09221756e-02 9.96719326e-01 -1.47848529e-03 6.49093831e+00] [ 3.58657449e-02 -1.42949125e-03 9.99355595e-01 5.67699204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:6.49, Z:5.68 [[ 9.95896216e-01 -8.30933861e-02 -3.58638610e-02 1.64326724e+02] [ 8.30939994e-02 9.96540621e-01 -1.47599732e-03 6.49306092e+00] [ 3.58624399e-02 -1.51013150e-03 9.99355595e-01 5.67777877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:6.49, Z:5.68 [[ 9.95836304e-01 -8.38083078e-02 -3.58639642e-02 1.64358014e+02] [ 8.38094741e-02 9.96480708e-01 -1.47348531e-03 6.49456239e+00] [ 3.58612388e-02 -1.53838982e-03 9.99355595e-01 5.67804370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:6.50, Z:5.68 [[ 9.95762365e-01 -8.46822082e-02 -3.58641374e-02 1.64390351e+02] [ 8.46840920e-02 9.96406767e-01 -1.46925687e-03 6.49637606e+00] [ 3.58596892e-02 -1.57409122e-03 9.99355595e-01 5.67977490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:6.50, Z:5.68 [[ 9.95658315e-01 -8.58968894e-02 -3.58642426e-02 1.64422592e+02] [ 8.58996517e-02 9.96302714e-01 -1.46668613e-03 6.49881276e+00] [ 3.58576260e-02 -1.62040770e-03 9.99355595e-01 5.68076343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.45, Y:6.50, Z:5.68 [[ 9.95604401e-01 -8.65195042e-02 -3.58643467e-02 1.64454796e+02] [ 8.65227611e-02 9.96248798e-01 -1.46413659e-03 6.50054716e+00] [ 3.58564886e-02 -1.64538146e-03 9.99355595e-01 5.68275256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.48, Y:6.50, Z:5.68 [[ 9.95689884e-01 -8.55300842e-02 -3.58644545e-02 1.64484392e+02] [ 8.55327959e-02 9.96334284e-01 -1.46148979e-03 6.50342210e+00] [ 3.58579870e-02 -1.61239646e-03 9.99355595e-01 5.68326799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:6.51, Z:5.68 [[ 9.95655451e-01 -8.59331671e-02 -3.58568537e-02 1.64518264e+02] [ 8.59294401e-02 9.96299862e-01 -1.64786231e-03 6.50571031e+00] [ 3.58657845e-02 -1.44045628e-03 9.99355578e-01 5.68468742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:6.51, Z:5.68 [[ 9.95766417e-01 -8.46343132e-02 -3.58646966e-02 1.64549403e+02] [ 8.46366967e-02 9.96410816e-01 -1.45449145e-03 6.50801251e+00] [ 3.58590715e-02 -1.58713570e-03 9.99355596e-01 5.68496907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:6.51, Z:5.69 [[ 9.96058847e-01 -8.11202267e-02 -3.58647751e-02 1.64581081e+02] [ 8.11204062e-02 9.96703251e-01 -1.45255180e-03 6.51172729e+00] [ 3.58643693e-02 -1.46253805e-03 9.99355596e-01 5.68628457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:6.51, Z:5.69 [[ 9.96249544e-01 -7.87436172e-02 -3.58648783e-02 1.64612492e+02] [ 7.87423509e-02 9.96893946e-01 -1.44999955e-03 6.51455365e+00] [ 3.58676583e-02 -1.37952345e-03 9.99355596e-01 5.68613735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:6.52, Z:5.69 [[ 9.96254894e-01 -7.86758600e-02 -3.58649550e-02 1.64645138e+02] [ 7.86746182e-02 9.96899297e-01 -1.44809912e-03 6.51580836e+00] [ 3.58676789e-02 -1.37898581e-03 9.99355596e-01 5.68731015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:6.52, Z:5.69 [[ 9.96709081e-01 -7.26959830e-02 -3.58650533e-02 1.64676775e+02] [ 7.26909619e-02 9.97353465e-01 -1.44566075e-03 6.52039437e+00] [ 3.58752289e-02 -1.16616203e-03 9.99355596e-01 5.68873010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:6.52, Z:5.69 [[ 9.96935961e-01 -6.95153298e-02 -3.58651563e-02 1.64708541e+02] [ 6.95083446e-02 9.97580326e-01 -1.44310180e-03 6.52318789e+00] [ 3.58786920e-02 -1.05424756e-03 9.99355596e-01 5.68931149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:6.53, Z:5.69 [[ 9.97136242e-01 -6.65807652e-02 -3.58652586e-02 1.64740117e+02] [ 6.65719750e-02 9.97780586e-01 -1.44055432e-03 6.52589173e+00] [ 3.58815720e-02 -9.51192182e-04 9.99355596e-01 5.69040807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:6.53, Z:5.69 [[ 9.97361918e-01 -6.31100981e-02 -3.58653095e-02 1.64770507e+02] [ 6.30991112e-02 9.98006228e-01 -1.43928586e-03 6.52854427e+00] [ 3.58846357e-02 -8.27580246e-04 9.99355596e-01 5.69134912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:6.53, Z:5.69 [[ 9.97462847e-01 -6.14971524e-02 -3.58604051e-02 1.64801474e+02] [ 6.14807349e-02 9.98107049e-01 -1.56139877e-03 6.53115444e+00] [ 3.58885447e-02 -6.47286804e-04 9.99355589e-01 5.69305224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:6.54, Z:5.69 [[ 9.97692669e-01 -5.76455654e-02 -3.58654022e-02 1.64832111e+02] [ 5.76311435e-02 9.98336911e-01 -1.43665634e-03 6.53506313e+00] [ 3.58885717e-02 -6.33622640e-04 9.99355597e-01 5.69444535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:6.54, Z:5.70 [[ 9.97776948e-01 -5.61679242e-02 -3.58654022e-02 1.64861984e+02] [ 5.61525482e-02 9.98421167e-01 -1.43665634e-03 6.53789768e+00] [ 3.58894707e-02 -5.80471145e-04 9.99355597e-01 5.69509675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:6.54, Z:5.70 [[ 9.97906199e-01 -5.38227832e-02 -3.58653773e-02 1.64891210e+02] [ 5.38058709e-02 9.98550381e-01 -1.43727851e-03 6.54205667e+00] [ 3.58907444e-02 -4.95498726e-04 9.99355597e-01 5.69605197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:6.54, Z:5.70 [[ 9.97971857e-01 -5.25913656e-02 -3.58653271e-02 1.64920904e+02] [ 5.25736134e-02 9.98616015e-01 -1.43853038e-03 6.54469893e+00] [ 3.58913443e-02 -4.49957006e-04 9.99355597e-01 5.69751412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.95, Y:6.55, Z:5.70 [[ 9.98098848e-01 -5.01235612e-02 -3.58652756e-02 1.64950197e+02] [ 5.01041703e-02 9.98742959e-01 -1.43981127e-03 6.54824939e+00] [ 3.58923600e-02 -3.59925913e-04 9.99355597e-01 5.69868096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17509989299998 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:164.98, Y:6.55, Z:5.70 [[ 9.98079583e-01 -5.05057444e-02 -3.58652501e-02 1.64979197e+02] [ 5.04865772e-02 9.98723701e-01 -1.44044657e-03 6.55194304e+00] [ 3.58922262e-02 -3.73033411e-04 9.99355597e-01 5.69873615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:6.55, Z:5.70 [[ 9.98176446e-01 -4.85540544e-02 -3.58648334e-02 1.65007959e+02] [ 4.85332577e-02 9.98820514e-01 -1.45074793e-03 6.55278295e+00] [ 3.58929710e-02 -2.92534792e-04 9.99355597e-01 5.70185889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:6.56, Z:5.70 [[ 9.98256283e-01 -4.68840407e-02 -3.58647372e-02 1.65036638e+02] [ 4.68620812e-02 9.98900312e-01 -1.45312272e-03 6.55612917e+00] [ 3.58934255e-02 -2.30107344e-04 9.99355597e-01 5.70477717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:6.56, Z:5.71 [[ 9.98316979e-01 -4.55734142e-02 -3.58646617e-02 1.65065593e+02] [ 4.55505423e-02 9.98960976e-01 -1.45498499e-03 6.55884559e+00] [ 3.58937060e-02 -1.81118564e-04 9.99355597e-01 5.70728674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:6.56, Z:5.71 [[ 9.98324387e-01 -4.54111283e-02 -3.58643033e-02 1.65093653e+02] [ 4.53878363e-02 9.98968369e-01 -1.46376461e-03 6.56035348e+00] [ 3.58937758e-02 -1.66491221e-04 9.99355597e-01 5.70802383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:6.56, Z:5.71 [[ 9.98316204e-01 -4.55907547e-02 -3.58641762e-02 1.65121522e+02] [ 4.55674669e-02 9.98960187e-01 -1.46687384e-03 6.56157950e+00] [ 3.58937600e-02 -1.69835735e-04 9.99355597e-01 5.70900880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:6.56, Z:5.71 [[ 9.98297567e-01 -4.59973660e-02 -3.58637652e-02 1.65149419e+02] [ 4.59739820e-02 9.98941546e-01 -1.47685309e-03 6.56238970e+00] [ 3.58937364e-02 -1.74461255e-04 9.99355597e-01 5.70939564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:6.56, Z:5.71 [[ 9.98227985e-01 -4.74835759e-02 -3.58636378e-02 1.65177201e+02] [ 4.74610397e-02 9.98871994e-01 -1.47994182e-03 6.56332014e+00] [ 3.58934563e-02 -2.24806194e-04 9.99355597e-01 5.71084922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:6.56, Z:5.71 [[ 9.98059519e-01 -5.09021230e-02 -3.58632065e-02 1.65204555e+02] [ 5.08814197e-02 9.98703590e-01 -1.49032056e-03 6.56319225e+00] [ 3.58925735e-02 -3.37342241e-04 9.99355597e-01 5.71067904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:6.56, Z:5.71 [[ 9.97845503e-01 -5.49380848e-02 -3.58630728e-02 1.65234557e+02] [ 5.49198711e-02 9.98489648e-01 -1.49353036e-03 6.56284302e+00] [ 3.58909586e-02 -4.79282782e-04 9.99355597e-01 5.71195816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:6.56, Z:5.71 [[ 9.97734405e-01 -5.69201209e-02 -3.58630200e-02 1.65265113e+02] [ 5.69031412e-02 9.98378585e-01 -1.49479735e-03 6.56334580e+00] [ 3.58899552e-02 -5.49307750e-04 9.99355597e-01 5.71292092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:6.56, Z:5.71 [[ 9.97624775e-01 -5.88103104e-02 -3.58630200e-02 1.65296000e+02] [ 5.87945512e-02 9.98268985e-01 -1.49479735e-03 6.56379128e+00] [ 3.58888501e-02 -6.17303300e-04 9.99355597e-01 5.71382502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:6.56, Z:5.71 [[ 9.97520120e-01 -6.05595158e-02 -3.58630200e-02 1.65325337e+02] [ 6.05448863e-02 9.98164356e-01 -1.49479735e-03 6.56419082e+00] [ 3.58877125e-02 -6.80232040e-04 9.99355597e-01 5.71412421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:6.56, Z:5.71 [[ 9.97306578e-01 -6.39799599e-02 -3.58629938e-02 1.65357162e+02] [ 6.39675171e-02 9.97950861e-01 -1.49542439e-03 6.56410134e+00] [ 3.58851828e-02 -8.02670094e-04 9.99355597e-01 5.71471994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:6.56, Z:5.71 [[ 9.97196866e-01 -6.56677452e-02 -3.58630482e-02 1.65388473e+02] [ 6.56564397e-02 9.97841169e-01 -1.49412039e-03 6.56453216e+00] [ 3.58837414e-02 -8.64707895e-04 9.99355597e-01 5.71472896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:6.56, Z:5.72 [[ 9.97089915e-01 -6.72721141e-02 -3.58631292e-02 1.65419620e+02] [ 6.72619154e-02 9.97734237e-01 -1.49217361e-03 6.56491665e+00] [ 3.58822535e-02 -9.24391504e-04 9.99355597e-01 5.71545432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:6.57, Z:5.72 [[ 9.96993969e-01 -6.86793879e-02 -3.58631817e-02 1.65451204e+02] [ 6.86701440e-02 9.97638305e-01 -1.49090877e-03 6.56519575e+00] [ 3.58808786e-02 -9.76302806e-04 9.99355597e-01 5.71620532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:6.57, Z:5.72 [[ 9.96833519e-01 -7.09701476e-02 -3.58632602e-02 1.65483710e+02] [ 7.09624523e-02 9.97477876e-01 -1.48901863e-03 6.56529451e+00] [ 3.58784845e-02 -1.06064122e-03 9.99355597e-01 5.71839027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:6.57, Z:5.72 [[ 9.96762719e-01 -7.19576284e-02 -3.58633666e-02 1.65514543e+02] [ 7.19506637e-02 9.97407085e-01 -1.48645174e-03 6.56624672e+00] [ 3.58773375e-02 -1.09875335e-03 9.99355597e-01 5.71968181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:6.57, Z:5.72 [[ 9.96678521e-01 -7.31145561e-02 -3.58634458e-02 1.65546381e+02] [ 7.31084081e-02 9.97322895e-01 -1.48453929e-03 6.56710707e+00] [ 3.58759770e-02 -1.14231100e-03 9.99355597e-01 5.72110820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:6.57, Z:5.72 [[ 9.96427434e-01 -7.64602837e-02 -3.58635505e-02 1.65578681e+02] [ 7.64563901e-02 9.97071825e-01 -1.48200567e-03 6.56761791e+00] [ 3.58718503e-02 -1.26528650e-03 9.99355597e-01 5.72287925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:6.57, Z:5.72 [[ 9.96282178e-01 -7.83301958e-02 -3.58636547e-02 1.65610978e+02] [ 7.83276024e-02 9.96926576e-01 -1.47948017e-03 6.56844049e+00] [ 3.58693184e-02 -1.33513436e-03 9.99355597e-01 5.72487296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:6.57, Z:5.73 [[ 9.96116072e-01 -8.04149375e-02 -3.58637622e-02 1.65641851e+02] [ 8.04137865e-02 9.96760474e-01 -1.47686796e-03 6.56927856e+00] [ 3.58663429e-02 -1.41280901e-03 9.99355597e-01 5.72570743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:6.57, Z:5.73 [[ 9.95938035e-01 -8.25906497e-02 -3.58638422e-02 1.65673860e+02] [ 8.25909763e-02 9.96582438e-01 -1.47492300e-03 6.57011363e+00] [ 3.58630902e-02 -1.49309783e-03 9.99355597e-01 5.72726626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:6.57, Z:5.73 [[ 9.95570148e-01 -8.69129374e-02 -3.58639475e-02 1.65706133e+02] [ 8.69161533e-02 9.96214542e-01 -1.47235958e-03 6.57023112e+00] [ 3.58561531e-02 -1.65131911e-03 9.99355597e-01 5.72828316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:6.57, Z:5.73 [[ 9.95381319e-01 -8.90494194e-02 -3.58640533e-02 1.65737255e+02] [ 8.90541111e-02 9.96025705e-01 -1.46977717e-03 6.57076510e+00] [ 3.58524018e-02 -1.73085265e-03 9.99355597e-01 5.72842837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:6.57, Z:5.73 [[ 9.95181775e-01 -9.12523949e-02 -3.58641322e-02 1.65769469e+02] [ 9.12585821e-02 9.95826148e-01 -1.46785000e-03 6.57138477e+00] [ 3.58483854e-02 -1.81213228e-03 9.99355597e-01 5.72945193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:6.57, Z:5.73 [[ 9.94955742e-01 -9.36847251e-02 -3.58642353e-02 1.65801783e+02] [ 9.36925781e-02 9.95600097e-01 -1.46532523e-03 6.57233107e+00] [ 3.58437148e-02 -1.90227891e-03 9.99355597e-01 5.73083216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:6.57, Z:5.73 [[ 9.94583318e-01 -9.75590682e-02 -3.58643406e-02 1.65833591e+02] [ 9.75695235e-02 9.95227637e-01 -1.46274389e-03 6.57231291e+00] [ 3.58358869e-02 -2.04444595e-03 9.99355597e-01 5.73081370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:6.57, Z:5.73 [[ 9.94436818e-01 -9.90411833e-02 -3.58644454e-02 1.65865370e+02] [ 9.90526914e-02 9.95081118e-01 -1.46016962e-03 6.57318475e+00] [ 3.58326494e-02 -2.10042341e-03 9.99355597e-01 5.73128374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:6.57, Z:5.73 [[ 9.94350583e-01 -9.99032104e-02 -3.58645494e-02 1.65896411e+02] [ 9.99153689e-02 9.94994872e-01 -1.45761178e-03 6.57431900e+00] [ 3.58306628e-02 -2.13404255e-03 9.99355597e-01 5.73109515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.93, Y:6.58, Z:5.73 [[ 9.94299326e-01 -1.00412041e-01 -3.58646267e-02 1.65928141e+02] [ 1.00424598e-01 9.94943607e-01 -1.45570624e-03 6.57691182e+00] [ 3.58294515e-02 -2.15428300e-03 9.99355597e-01 5.73349436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:6.58, Z:5.74 [[ 9.94349107e-01 -9.99178398e-02 -3.58647291e-02 1.65960530e+02] [ 9.99301671e-02 9.94993392e-01 -1.45317935e-03 6.57964806e+00] [ 3.58303670e-02 -2.13900079e-03 9.99355597e-01 5.73539391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.99, Y:6.58, Z:5.74 [[ 9.94449935e-01 -9.89092572e-02 -3.58648310e-02 1.65993379e+02] [ 9.89210216e-02 9.95094230e-01 -1.45066027e-03 6.58239155e+00] [ 3.58323701e-02 -2.10517671e-03 9.99355597e-01 5.73740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:6.59, Z:5.74 [[ 9.94774819e-01 -9.55864134e-02 -3.58649834e-02 1.66025346e+02] [ 9.55961610e-02 9.95419148e-01 -1.44688292e-03 6.58617612e+00] [ 3.58389936e-02 -1.98923203e-03 9.99355597e-01 5.73916033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:6.59, Z:5.74 [[ 9.94970136e-01 -9.35314089e-02 -3.58650838e-02 1.66057368e+02] [ 9.35399152e-02 9.95614483e-01 -1.44438852e-03 6.58881081e+00] [ 3.58428926e-02 -1.91769346e-03 9.99355597e-01 5.74083747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:6.59, Z:5.74 [[ 9.95167770e-01 -9.14045889e-02 -3.58651845e-02 1.66087979e+02] [ 9.14118080e-02 9.95812132e-01 -1.44188517e-03 6.59120490e+00] [ 3.58467807e-02 -1.84358371e-03 9.99355597e-01 5.74207186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.12, Y:6.59, Z:5.74 [[ 9.95555386e-01 -8.70813259e-02 -3.58652593e-02 1.66119921e+02] [ 8.70858132e-02 9.96199773e-01 -1.44002070e-03 6.59485117e+00] [ 3.58543621e-02 -1.68973492e-03 9.99355597e-01 5.74489328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.15, Y:6.60, Z:5.75 [[ 9.95741511e-01 -8.49265502e-02 -3.58653633e-02 1.66152143e+02] [ 8.49297362e-02 9.96385906e-01 -1.43742640e-03 6.59713294e+00] [ 3.58578182e-02 -1.61473071e-03 9.99355597e-01 5.74527666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:6.60, Z:5.75 [[ 9.95993977e-01 -8.19125402e-02 -3.58654925e-02 1.66184581e+02] [ 8.19138920e-02 9.96638378e-01 -1.43419537e-03 6.60070672e+00] [ 3.58624049e-02 -1.50943213e-03 9.99355597e-01 5.74655438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:6.60, Z:5.75 [[ 9.96078033e-01 -8.08839148e-02 -3.58656426e-02 1.66216284e+02] [ 8.08847364e-02 9.96722435e-01 -1.43043308e-03 6.60316359e+00] [ 3.58637896e-02 -1.47616007e-03 9.99355597e-01 5.74817213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:6.61, Z:5.75 [[ 9.96151689e-01 -7.99716259e-02 -3.58657463e-02 1.66249281e+02] [ 7.99719510e-02 9.96796092e-01 -1.42782797e-03 6.60540401e+00] [ 3.58650214e-02 -1.44592046e-03 9.99355597e-01 5.74908097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:6.61, Z:5.75 [[ 9.96239453e-01 -7.88707193e-02 -3.58659018e-02 1.66281311e+02] [ 7.88704731e-02 9.96883855e-01 -1.42391084e-03 6.60764518e+00] [ 3.58664433e-02 -1.41020448e-03 9.99355597e-01 5.74980772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:6.61, Z:5.75 [[ 9.96260090e-01 -7.86095532e-02 -3.58660056e-02 1.66312534e+02] [ 7.86092322e-02 9.96904493e-01 -1.42129118e-03 6.60935547e+00] [ 3.58667092e-02 -1.40342348e-03 9.99355597e-01 5.75062409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:6.61, Z:5.75 [[ 9.96270337e-01 -7.84795550e-02 -3.58660828e-02 1.66343313e+02] [ 7.84792200e-02 9.96914739e-01 -1.41934155e-03 6.61119294e+00] [ 3.58668158e-02 -1.40069431e-03 9.99355597e-01 5.75133287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:6.61, Z:5.75 [[ 9.96329087e-01 -7.77301055e-02 -3.58661588e-02 1.66375528e+02] [ 7.77293548e-02 9.96973489e-01 -1.41741771e-03 6.61301368e+00] [ 3.58677855e-02 -1.37563889e-03 9.99355597e-01 5.75255559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:6.61, Z:5.75 [[ 9.96360661e-01 -7.73242860e-02 -3.58662590e-02 1.66407407e+02] [ 7.73233642e-02 9.97005063e-01 -1.41487837e-03 6.61462310e+00] [ 3.58682462e-02 -1.36357065e-03 9.99355597e-01 5.75444137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:6.62, Z:5.76 [[ 9.96392932e-01 -7.69072744e-02 -3.58663590e-02 1.66439024e+02] [ 7.69061742e-02 9.97037334e-01 -1.41233903e-03 6.61639992e+00] [ 3.58687181e-02 -1.35109982e-03 9.99355597e-01 5.75684606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:6.62, Z:5.76 [[ 9.96422167e-01 -7.65275197e-02 -3.58664614e-02 1.66470426e+02] [ 7.65262675e-02 9.97066569e-01 -1.40973358e-03 6.61815081e+00] [ 3.58691330e-02 -1.34003663e-03 9.99355597e-01 5.75810508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:6.62, Z:5.76 [[ 9.96445248e-01 -7.62263697e-02 -3.58665376e-02 1.66502274e+02] [ 7.62249926e-02 9.97089649e-01 -1.40779220e-03 6.62028737e+00] [ 3.58694642e-02 -1.33113872e-03 9.99355597e-01 5.76041681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:6.62, Z:5.76 [[ 9.96435845e-01 -7.63491371e-02 -3.58666383e-02 1.66533239e+02] [ 7.63479317e-02 9.97080247e-01 -1.40522129e-03 6.62195208e+00] [ 3.58692040e-02 -1.33813079e-03 9.99355597e-01 5.76174039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:6.62, Z:5.76 [[ 9.96422814e-01 -7.65189426e-02 -3.58667972e-02 1.66564933e+02] [ 7.65179933e-02 9.97067216e-01 -1.40115297e-03 6.62356026e+00] [ 3.58688224e-02 -1.34831456e-03 9.99355597e-01 5.76265169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.60, Y:6.63, Z:5.76 [[ 9.96294056e-01 -7.81774885e-02 -3.58668957e-02 1.66596170e+02] [ 7.81777026e-02 9.96938459e-01 -1.39862828e-03 6.62522508e+00] [ 3.58664289e-02 -1.41054646e-03 9.99355597e-01 5.76266152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:6.63, Z:5.76 [[ 9.96299489e-01 -7.81081516e-02 -3.58670539e-02 1.66628821e+02] [ 7.81084672e-02 9.96943891e-01 -1.39455920e-03 6.62643210e+00] [ 3.58663667e-02 -1.41212198e-03 9.99355597e-01 5.76383362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:6.63, Z:5.76 [[ 9.96211305e-01 -7.92248896e-02 -3.58671506e-02 1.66661454e+02] [ 7.92260171e-02 9.96855707e-01 -1.39206669e-03 6.62745596e+00] [ 3.58646601e-02 -1.45481892e-03 9.99355597e-01 5.76450908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:6.63, Z:5.76 [[ 9.95936661e-01 -8.26057358e-02 -3.58672488e-02 1.66693933e+02] [ 8.26091416e-02 9.96581055e-01 -1.38953176e-03 6.62843285e+00] [ 3.58594040e-02 -1.57907702e-03 9.99355597e-01 5.76464015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:6.63, Z:5.77 [[ 9.95787781e-01 -8.43814392e-02 -3.58673713e-02 1.66727289e+02] [ 8.43861079e-02 9.96432167e-01 -1.38636327e-03 6.62926889e+00] [ 3.58563858e-02 -1.64618426e-03 9.99355597e-01 5.76637020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:6.63, Z:5.77 [[ 9.95676141e-01 -8.56886447e-02 -3.58675225e-02 1.66759751e+02] [ 8.56943003e-02 9.96320519e-01 -1.38244052e-03 6.62998565e+00] [ 3.58540081e-02 -1.69717920e-03 9.99355597e-01 5.76711943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:6.63, Z:5.77 [[ 9.95617451e-01 -8.63678388e-02 -3.58676474e-02 1.66791916e+02] [ 8.63740507e-02 9.96261824e-01 -1.37919317e-03 6.63063485e+00] [ 3.58526857e-02 -1.72488521e-03 9.99355597e-01 5.76744871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:6.63, Z:5.77 [[ 9.95611864e-01 -8.64321708e-02 -3.58677709e-02 1.66824916e+02] [ 8.64385400e-02 9.96256235e-01 -1.37597386e-03 6.63131588e+00] [ 3.58524188e-02 -1.73042184e-03 9.99355597e-01 5.76953357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:6.63, Z:5.77 [[ 9.95621671e-01 -8.63190587e-02 -3.58679216e-02 1.66857317e+02] [ 8.63254963e-02 9.96266042e-01 -1.37203415e-03 6.63238759e+00] [ 3.58524249e-02 -1.73028920e-03 9.99355597e-01 5.77046362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:6.63, Z:5.77 [[ 9.95611584e-01 -8.64352735e-02 -3.58680458e-02 1.66889098e+02] [ 8.64419034e-02 9.96255953e-01 -1.36877737e-03 6.63303736e+00] [ 3.58520648e-02 -1.73773155e-03 9.99355597e-01 5.77200414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:6.63, Z:5.77 [[ 9.95596660e-01 -8.66069724e-02 -3.58681436e-02 1.66922287e+02] [ 8.66138057e-02 9.96241026e-01 -1.36621122e-03 6.63287509e+00] [ 3.58516396e-02 -1.74648109e-03 9.99355597e-01 5.77336110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:6.63, Z:5.77 [[ 9.95536309e-01 -8.72979028e-02 -3.58682905e-02 1.66954584e+02] [ 8.73053222e-02 9.96180669e-01 -1.36234384e-03 6.63322351e+00] [ 3.58502274e-02 -1.77522990e-03 9.99355597e-01 5.77433570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:6.63, Z:5.78 [[ 9.95497946e-01 -8.77342349e-02 -3.58684118e-02 1.66988076e+02] [ 8.77420519e-02 9.96142302e-01 -1.35914203e-03 6.63319488e+00] [ 3.58492856e-02 -1.79414495e-03 9.99355597e-01 5.77586898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:6.63, Z:5.78 [[ 9.95377852e-01 -8.90863510e-02 -3.58685600e-02 1.67020578e+02] [ 8.90951842e-02 9.96022194e-01 -1.35522036e-03 6.63245979e+00] [ 3.58466135e-02 -1.84675962e-03 9.99355597e-01 5.77682329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:6.63, Z:5.78 [[ 9.95304948e-01 -8.98971480e-02 -3.58686827e-02 1.67052349e+02] [ 8.99066230e-02 9.95949282e-01 -1.35196529e-03 6.63283510e+00] [ 3.58449266e-02 -1.87921439e-03 9.99355597e-01 5.77747805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:6.63, Z:5.78 [[ 9.95260490e-01 -9.03879798e-02 -3.58688019e-02 1.67085409e+02] [ 9.03978864e-02 9.95904816e-01 -1.34879501e-03 6.63314534e+00] [ 3.58438274e-02 -1.90006150e-03 9.99355597e-01 5.77803439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.12, Y:6.63, Z:5.78 [[ 9.95163916e-01 -9.14450617e-02 -3.58689436e-02 1.67116608e+02] [ 9.14557886e-02 9.95808229e-01 -1.34501571e-03 6.63221399e+00] [ 3.58415843e-02 -1.94191143e-03 9.99355597e-01 5.77729776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:6.63, Z:5.78 [[ 9.95141357e-01 -9.16901732e-02 -3.58690986e-02 1.67149935e+02] [ 9.17012078e-02 9.95785665e-01 -1.34086931e-03 6.63230426e+00] [ 3.58408787e-02 -1.95488516e-03 9.99355597e-01 5.77799321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:6.63, Z:5.78 [[ 9.95155030e-01 -9.15416002e-02 -3.58692410e-02 1.67180699e+02] [ 9.15526758e-02 9.95799337e-01 -1.33705058e-03 6.63287683e+00] [ 3.58409621e-02 -1.95335238e-03 9.99355597e-01 5.77869263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:6.63, Z:5.78 [[ 9.95201230e-01 -9.10379295e-02 -3.58693110e-02 1.67213625e+02] [ 9.10487467e-02 9.95845542e-01 -1.33516770e-03 6.63393954e+00] [ 3.58418444e-02 -1.93709528e-03 9.99355597e-01 5.78057188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:6.64, Z:5.78 [[ 9.95253615e-01 -9.04633853e-02 -3.58694538e-02 1.67246468e+02] [ 9.04739688e-02 9.95897931e-01 -1.33132130e-03 6.63507783e+00] [ 3.58427506e-02 -1.92024950e-03 9.99355597e-01 5.78216905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:6.64, Z:5.78 [[ 9.95326590e-01 -8.96568541e-02 -3.58695972e-02 1.67278475e+02] [ 8.96670547e-02 9.95970912e-01 -1.32744639e-03 6.63623812e+00] [ 3.58440901e-02 -1.89507844e-03 9.99355597e-01 5.78318248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:6.64, Z:5.78 [[ 9.95431223e-01 -8.84875373e-02 -3.58697156e-02 1.67311462e+02] [ 8.84970962e-02 9.96075555e-01 -1.32423839e-03 6.63703584e+00] [ 3.58461255e-02 -1.85617744e-03 9.99355597e-01 5.78456401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:6.64, Z:5.79 [[ 9.95655482e-01 -8.59273759e-02 -3.58698569e-02 1.67343522e+02] [ 8.59354158e-02 9.96299835e-01 -1.32040197e-03 6.63760751e+00] [ 3.58505911e-02 -1.76782560e-03 9.99355597e-01 5.78573259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:6.64, Z:5.79 [[ 9.95890328e-01 -8.31612866e-02 -3.58699742e-02 1.67376695e+02] [ 8.31676514e-02 9.96534699e-01 -1.31720571e-03 6.63865328e+00] [ 3.58552145e-02 -1.67142909e-03 9.99355597e-01 5.78746705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:6.64, Z:5.79 [[ 9.96022416e-01 -8.15639771e-02 -3.58701139e-02 1.67409194e+02] [ 8.15694455e-02 9.96666795e-01 -1.31339205e-03 6.64003335e+00] [ 3.58576769e-02 -1.61773738e-03 9.99355597e-01 5.78879047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:6.64, Z:5.79 [[ 9.96167025e-01 -7.97783640e-02 -3.58702074e-02 1.67440122e+02] [ 7.97827693e-02 9.96811412e-01 -1.31083247e-03 6.64106415e+00] [ 3.58604082e-02 -1.55601640e-03 9.99355597e-01 5.78972158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:6.64, Z:5.79 [[ 9.96425058e-01 -7.64880794e-02 -3.58702769e-02 1.67472503e+02] [ 7.64904250e-02 9.97069457e-01 -1.30892919e-03 6.64213080e+00] [ 3.58652749e-02 -1.43948288e-03 9.99355597e-01 5.79066065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:6.64, Z:5.79 [[ 9.96557876e-01 -7.47376540e-02 -3.58703682e-02 1.67504567e+02] [ 7.47389577e-02 9.97202277e-01 -1.30642084e-03 6.64302932e+00] [ 3.58676517e-02 -1.37898995e-03 9.99355597e-01 5.79181348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:6.64, Z:5.79 [[ 9.96678019e-01 -7.31179654e-02 -3.58704597e-02 1.67535335e+02] [ 7.31183124e-02 9.97322421e-01 -1.30390267e-03 6.64366124e+00] [ 3.58697525e-02 -1.32321635e-03 9.99355597e-01 5.79225193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:6.64, Z:5.79 [[ 9.96786622e-01 -7.16221751e-02 -3.58705278e-02 1.67567576e+02] [ 7.16216224e-02 9.97431024e-01 -1.30202820e-03 6.64455076e+00] [ 3.58716314e-02 -1.27126110e-03 9.99355597e-01 5.79371164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:6.64, Z:5.79 [[ 9.96988068e-01 -6.87611185e-02 -3.58706212e-02 1.67599752e+02] [ 6.87588090e-02 9.97632466e-01 -1.29945023e-03 6.64477735e+00] [ 3.58750479e-02 -1.17088481e-03 9.99355597e-01 5.79465216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.63, Y:6.65, Z:5.80 [[ 9.97094577e-01 -6.71989279e-02 -3.58707152e-02 1.67631358e+02] [ 6.71957022e-02 9.97738972e-01 -1.29684947e-03 6.64544321e+00] [ 3.58767574e-02 -1.11727632e-03 9.99355597e-01 5.79575110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:6.65, Z:5.80 [[ 9.97201449e-01 -6.55938754e-02 -3.58707851e-02 1.67662826e+02] [ 6.55896821e-02 9.97845838e-01 -1.29491216e-03 6.64612602e+00] [ 3.58784520e-02 -1.06146511e-03 9.99355597e-01 5.79706309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:6.65, Z:5.80 [[ 9.97403155e-01 -6.24518132e-02 -3.58708313e-02 1.67692983e+02] [ 6.24456357e-02 9.98047528e-01 -1.29363328e-03 6.64621506e+00] [ 3.58815842e-02 -9.49702947e-04 9.99355597e-01 5.79813691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:6.65, Z:5.80 [[ 9.97520451e-01 -6.05494223e-02 -3.58708541e-02 1.67724600e+02] [ 6.05420387e-02 9.98164811e-01 -1.29299911e-03 6.64681014e+00] [ 3.58833147e-02 -8.81901580e-04 9.99355597e-01 5.79942245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:6.65, Z:5.80 [[ 9.97634813e-01 -5.86349573e-02 -3.58708999e-02 1.67754666e+02] [ 5.86263828e-02 9.98279159e-01 -1.29172662e-03 6.64739170e+00] [ 3.58849122e-02 -8.14309665e-04 9.99355597e-01 5.80065354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:6.65, Z:5.80 [[ 9.97748709e-01 -5.66638399e-02 -3.58709227e-02 1.67784113e+02] [ 5.66540151e-02 9.98393037e-01 -1.29109560e-03 6.64949304e+00] [ 3.58864378e-02 -7.44042831e-04 9.99355597e-01 5.80174930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:6.65, Z:5.80 [[ 9.97927542e-01 -5.34250897e-02 -3.58661464e-02 1.67814422e+02] [ 5.34084112e-02 9.98571737e-01 -1.42363143e-03 6.64866999e+00] [ 3.58909778e-02 -4.94872881e-04 9.99355589e-01 5.80466288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:6.65, Z:5.81 [[ 9.98016253e-01 -5.17380854e-02 -3.58710124e-02 1.67844502e+02] [ 5.17251865e-02 9.98660526e-01 -1.28813747e-03 6.64956750e+00] [ 3.58896099e-02 -5.69852676e-04 9.99355598e-01 5.80656145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:6.65, Z:5.81 [[ 9.98163486e-01 -4.88152487e-02 -3.58709660e-02 1.67873591e+02] [ 4.88004168e-02 9.98807718e-01 -1.28942790e-03 6.64929007e+00] [ 3.58911414e-02 -4.63458247e-04 9.99355598e-01 5.80948384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:6.65, Z:5.81 [[ 9.98177801e-01 -4.85217275e-02 -3.58708714e-02 1.67901650e+02] [ 4.85066118e-02 9.98822026e-01 -1.29205437e-03 6.64993231e+00] [ 3.58913092e-02 -4.50274447e-04 9.99355598e-01 5.80995952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:6.65, Z:5.81 [[ 9.98196337e-01 -4.81389818e-02 -3.58707487e-02 1.67929438e+02] [ 4.81234969e-02 9.98840553e-01 -1.29545203e-03 6.65003902e+00] [ 3.58915202e-02 -4.33110391e-04 9.99355598e-01 5.81059185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:6.65, Z:5.81 [[ 9.98201144e-01 -4.80392851e-02 -3.58706326e-02 1.67957237e+02] [ 4.80236207e-02 9.98845356e-01 -1.29865813e-03 6.64880346e+00] [ 3.58916014e-02 -4.26315623e-04 9.99355598e-01 5.81238243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:6.65, Z:5.81 [[ 9.98161487e-01 -4.88566293e-02 -3.58702568e-02 1.67985308e+02] [ 4.88411223e-02 9.98805703e-01 -1.30895877e-03 6.64891490e+00] [ 3.58913683e-02 -4.45391364e-04 9.99355598e-01 5.81413267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:6.65, Z:5.82 [[ 9.98125779e-01 -4.95810520e-02 -3.58698711e-02 1.68013517e+02] [ 4.95656359e-02 9.98769997e-01 -1.31944344e-03 6.64868439e+00] [ 3.58911704e-02 -4.60942455e-04 9.99355598e-01 5.81510390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:6.65, Z:5.82 [[ 9.98058437e-01 -5.09187340e-02 -3.58697515e-02 1.68041433e+02] [ 5.09040648e-02 9.98702672e-01 -1.32268623e-03 6.64843171e+00] [ 3.58905662e-02 -5.05797999e-04 9.99355598e-01 5.81622948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:6.65, Z:5.82 [[ 9.97896496e-01 -5.39996079e-02 -3.58695737e-02 1.68070096e+02] [ 5.39867549e-02 9.98540769e-01 -1.32749098e-03 6.64621435e+00] [ 3.58889157e-02 -6.11783289e-04 9.99355598e-01 5.81727932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:6.65, Z:5.82 [[ 9.97807497e-01 -5.56201100e-02 -3.58692420e-02 1.68098676e+02] [ 5.56079833e-02 9.98451785e-01 -1.33639461e-03 6.64530249e+00] [ 3.58880391e-02 -6.61151647e-04 9.99355598e-01 5.81832610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.13, Y:6.64, Z:5.82 [[ 9.97698551e-01 -5.75413244e-02 -3.58691713e-02 1.68128517e+02] [ 5.75303703e-02 9.98342860e-01 -1.33828870e-03 6.64484807e+00] [ 3.58867379e-02 -7.28358008e-04 9.99355598e-01 5.81923443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:6.64, Z:5.82 [[ 9.97583966e-01 -5.94948471e-02 -3.58691241e-02 1.68158546e+02] [ 5.94851093e-02 9.98228294e-01 -1.33955145e-03 6.64404428e+00] [ 3.58852710e-02 -7.97363726e-04 9.99355598e-01 5.82023836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:6.64, Z:5.82 [[ 9.97317552e-01 -6.38052466e-02 -3.58690768e-02 1.68189226e+02] [ 6.37982478e-02 9.97961916e-01 -1.34081746e-03 6.64129649e+00] [ 3.58815238e-02 -9.51163458e-04 9.99355598e-01 5.82152058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:6.64, Z:5.82 [[ 9.97173740e-01 -6.60147019e-02 -3.58690768e-02 1.68218975e+02] [ 6.60091307e-02 9.97818118e-01 -1.34081746e-03 6.64048308e+00] [ 3.58793284e-02 -1.03065861e-03 9.99355598e-01 5.82170431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:6.64, Z:5.82 [[ 9.96858469e-01 -7.06158858e-02 -3.58690527e-02 1.68249786e+02] [ 7.06132653e-02 9.97502866e-01 -1.34146100e-03 6.63790967e+00] [ 3.58742114e-02 -1.19558418e-03 9.99355598e-01 5.82230887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:6.64, Z:5.82 [[ 9.96690089e-01 -7.29539460e-02 -3.58690527e-02 1.68279937e+02] [ 7.29528370e-02 9.97334490e-01 -1.34146100e-03 6.63718142e+00] [ 3.58713083e-02 -1.27972827e-03 9.99355598e-01 5.82282226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:6.64, Z:5.82 [[ 9.96540344e-01 -7.49716693e-02 -3.58690764e-02 1.68310969e+02] [ 7.49718877e-02 9.97184746e-01 -1.34082883e-03 6.63645309e+00] [ 3.58686200e-02 -1.35298234e-03 9.99355598e-01 5.82439243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:6.64, Z:5.82 [[ 9.96394027e-01 -7.68917949e-02 -3.58691246e-02 1.68341856e+02] [ 7.68933014e-02 9.97038427e-01 -1.33953758e-03 6.63586105e+00] [ 3.58658950e-02 -1.42338817e-03 9.99355598e-01 5.82488786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:6.63, Z:5.83 [[ 9.96102434e-01 -8.05812427e-02 -3.58692754e-02 1.68372646e+02] [ 8.05852812e-02 9.96746823e-01 -1.33548767e-03 6.63385942e+00] [ 3.58602015e-02 -1.56025313e-03 9.99355598e-01 5.82540221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:6.63, Z:5.83 [[ 9.95912644e-01 -8.28938783e-02 -3.58693464e-02 1.68404600e+02] [ 8.28994816e-02 9.96557022e-01 -1.33357749e-03 6.63276986e+00] [ 3.58563944e-02 -1.64542353e-03 9.99355598e-01 5.82686781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:6.63, Z:5.83 [[ 9.95853988e-01 -8.35955668e-02 -3.58694402e-02 1.68436434e+02] [ 8.36017149e-02 9.96498360e-01 -1.33105027e-03 6.63271410e+00] [ 3.58551082e-02 -1.67321499e-03 9.99355598e-01 5.82810305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:6.63, Z:5.83 [[ 9.95803282e-01 -8.41973879e-02 -3.58695334e-02 1.68469016e+02] [ 8.42040159e-02 9.96447650e-01 -1.32853423e-03 6.63299065e+00] [ 3.58539713e-02 -1.69740001e-03 9.99355598e-01 5.82948279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:6.63, Z:5.83 [[ 9.95823350e-01 -8.39596669e-02 -3.58696259e-02 1.68501122e+02] [ 8.39662310e-02 9.96467718e-01 -1.32603262e-03 6.63283860e+00] [ 3.58542575e-02 -1.69134305e-03 9.99355598e-01 5.83207362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:6.63, Z:5.83 [[ 9.95862587e-01 -8.34929407e-02 -3.58697211e-02 1.68533364e+02] [ 8.34992956e-02 9.96506957e-01 -1.32344980e-03 6.63351128e+00] [ 3.58549254e-02 -1.67712231e-03 9.99355598e-01 5.83368345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:6.63, Z:5.83 [[ 9.95941320e-01 -8.25484256e-02 -3.58698173e-02 1.68564236e+02] [ 8.25542632e-02 9.96585696e-01 -1.32083966e-03 6.63396886e+00] [ 3.58563800e-02 -1.64572754e-03 9.99355598e-01 5.83430391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:6.64, Z:5.84 [[ 9.95947048e-01 -8.24792235e-02 -3.58699764e-02 1.68596886e+02] [ 8.24851721e-02 9.96591422e-01 -1.31650399e-03 6.63510363e+00] [ 3.58562950e-02 -1.64757291e-03 9.99355598e-01 5.83547605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:6.64, Z:5.84 [[ 9.96005830e-01 -8.17662836e-02 -3.58700675e-02 1.68629039e+02] [ 8.17718604e-02 9.96650208e-01 -1.31401559e-03 6.63579373e+00] [ 3.58573524e-02 -1.62439497e-03 9.99355598e-01 5.83725294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:6.64, Z:5.84 [[ 9.96137999e-01 -8.01399902e-02 -3.58701618e-02 1.68659513e+02] [ 8.01446076e-02 9.96782384e-01 -1.31143629e-03 6.63651966e+00] [ 3.58598440e-02 -1.56842853e-03 9.99355598e-01 5.83815534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:6.64, Z:5.84 [[ 9.96152897e-01 -7.99545747e-02 -3.58702114e-02 1.68691016e+02] [ 7.99591209e-02 9.96797283e-01 -1.31007974e-03 6.63747844e+00] [ 3.58600761e-02 -1.56311084e-03 9.99355598e-01 5.84051687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:6.64, Z:5.84 [[ 9.96167975e-01 -7.97664742e-02 -3.58702599e-02 1.68722809e+02] [ 7.97709465e-02 9.96812361e-01 -1.30875137e-03 6.63829926e+00] [ 3.58603129e-02 -1.55766838e-03 9.99355598e-01 5.84151559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:6.64, Z:5.84 [[ 9.96167986e-01 -7.97662861e-02 -3.58703542e-02 1.68753904e+02] [ 7.97708514e-02 9.96812372e-01 -1.30616139e-03 6.63885388e+00] [ 3.58602005e-02 -1.56025253e-03 9.99355598e-01 5.84191112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:6.64, Z:5.84 [[ 9.96080422e-01 -8.08523302e-02 -3.58705107e-02 1.68785230e+02] [ 8.08577530e-02 9.96724801e-01 -1.30184964e-03 6.63894187e+00] [ 3.58582852e-02 -1.60366195e-03 9.99355598e-01 5.84263195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:6.64, Z:5.84 [[ 9.95999382e-01 -8.18445648e-02 -3.58705800e-02 1.68817566e+02] [ 8.18506983e-02 9.96643754e-01 -1.29993601e-03 6.63964000e+00] [ 3.58565822e-02 -1.64129656e-03 9.99355598e-01 5.84422847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:6.64, Z:5.84 [[ 9.95931077e-01 -8.26715510e-02 -3.58706752e-02 1.68848412e+02] [ 8.26783141e-02 9.96575443e-01 -1.29730501e-03 6.64042156e+00] [ 3.58550842e-02 -1.67370057e-03 9.99355598e-01 5.84471106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:6.64, Z:5.85 [[ 9.95765886e-01 -8.46379940e-02 -3.58707460e-02 1.68879766e+02] [ 8.46460999e-02 9.96410237e-01 -1.29534450e-03 6.64152733e+00] [ 3.58516138e-02 -1.74645889e-03 9.99355598e-01 5.84514284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.91, Y:6.64, Z:5.85 [[ 9.95678059e-01 -8.56649750e-02 -3.58708150e-02 1.68911929e+02] [ 8.56738143e-02 9.96322400e-01 -1.29343006e-03 6.64293997e+00] [ 3.58496981e-02 -1.78534961e-03 9.99355598e-01 5.84749013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:6.64, Z:5.85 [[ 9.95603547e-01 -8.65266170e-02 -3.58709094e-02 1.68943088e+02] [ 8.65361082e-02 9.96247879e-01 -1.29080610e-03 6.64431474e+00] [ 3.58480065e-02 -1.81899777e-03 9.99355598e-01 5.84873911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:6.65, Z:5.85 [[ 9.95561713e-01 -8.70066037e-02 -3.58709796e-02 1.68975253e+02] [ 8.70164757e-02 9.96206039e-01 -1.28885267e-03 6.64573253e+00] [ 3.58470252e-02 -1.83823386e-03 9.99355598e-01 5.85101405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:6.65, Z:5.85 [[ 9.95749138e-01 -8.48346602e-02 -3.58710739e-02 1.69008421e+02] [ 8.48432212e-02 9.96393483e-01 -1.28622163e-03 6.64501028e+00] [ 3.58508205e-02 -1.76266338e-03 9.99355598e-01 5.85105094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:6.65, Z:5.85 [[ 9.95591186e-01 -8.66655804e-02 -3.58785030e-02 1.69038763e+02] [ 8.66827827e-02 9.96235380e-01 -1.07872162e-03 6.64945692e+00] [ 3.58369221e-02 -2.03608274e-03 9.99355577e-01 5.85466821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:6.65, Z:5.86 [[ 9.95767827e-01 -8.46151129e-02 -3.58708543e-02 1.69071100e+02] [ 8.46233518e-02 9.96412174e-01 -1.29122857e-03 6.65239401e+00] [ 3.58514134e-02 -1.74974806e-03 9.99355600e-01 5.85669469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:6.65, Z:5.86 [[ 9.95880573e-01 -8.32775995e-02 -3.58709469e-02 1.69102282e+02] [ 8.32850657e-02 9.96524931e-01 -1.28865030e-03 6.65408652e+00] [ 3.58536086e-02 -1.70417237e-03 9.99355600e-01 5.85755076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:6.66, Z:5.86 [[ 9.95989804e-01 -8.19608422e-02 -3.58710159e-02 1.69134633e+02] [ 8.19675256e-02 9.96634170e-01 -1.28672802e-03 6.65595746e+00] [ 3.58557414e-02 -1.65869042e-03 9.99355600e-01 5.85914382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:6.66, Z:5.86 [[ 9.96091001e-01 -8.07216226e-02 -3.58711097e-02 1.69166732e+02] [ 8.07275985e-02 9.96735374e-01 -1.28410545e-03 6.65758202e+00] [ 3.58576591e-02 -1.61670266e-03 9.99355600e-01 5.86048773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:6.66, Z:5.86 [[ 9.96221780e-01 -7.90912260e-02 -3.58712033e-02 1.69198082e+02] [ 7.90962414e-02 9.96866161e-01 -1.28148541e-03 6.66009301e+00] [ 3.58601430e-02 -1.56063368e-03 9.99355600e-01 5.86102537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:6.66, Z:5.86 [[ 9.96266635e-01 -7.85241567e-02 -3.58712731e-02 1.69230600e+02] [ 7.85288756e-02 9.96911018e-01 -1.27953031e-03 6.66176798e+00] [ 3.58609414e-02 -1.54217739e-03 9.99355600e-01 5.86195906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:6.66, Z:5.86 [[ 9.96275003e-01 -7.84178723e-02 -3.58713650e-02 1.69262548e+02] [ 7.84226153e-02 9.96919386e-01 -1.27694874e-03 6.66352632e+00] [ 3.58609948e-02 -1.54093414e-03 9.99355600e-01 5.86294572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:6.66, Z:5.86 [[ 9.96272665e-01 -7.84475311e-02 -3.58714584e-02 1.69293902e+02] [ 7.84523876e-02 9.96917047e-01 -1.27432024e-03 6.66497444e+00] [ 3.58608356e-02 -1.54463114e-03 9.99355600e-01 5.86281237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:6.67, Z:5.86 [[ 9.96237093e-01 -7.88979598e-02 -3.58715278e-02 1.69325115e+02] [ 7.89031780e-02 9.96881472e-01 -1.27236240e-03 6.66683688e+00] [ 3.58600482e-02 -1.56280293e-03 9.99355600e-01 5.86294007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:6.67, Z:5.86 [[ 9.96233314e-01 -7.89455903e-02 -3.58716763e-02 1.69356794e+02] [ 7.89509903e-02 9.96877692e-01 -1.26816315e-03 6.66831925e+00] [ 3.58597897e-02 -1.56871799e-03 9.99355600e-01 5.86352365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:6.67, Z:5.87 [[ 9.96206018e-01 -7.92892556e-02 -3.58717629e-02 1.69388721e+02] [ 7.92949661e-02 9.96850393e-01 -1.26570741e-03 6.67001356e+00] [ 3.58591380e-02 -1.58354489e-03 9.99355600e-01 5.86538316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:6.67, Z:5.87 [[ 9.96198643e-01 -7.93818235e-02 -3.58718550e-02 1.69419788e+02] [ 7.93876880e-02 9.96843017e-01 -1.26309068e-03 6.67178080e+00] [ 3.58588746e-02 -1.58949441e-03 9.99355600e-01 5.86552903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:6.68, Z:5.87 [[ 9.96174495e-01 -7.96842558e-02 -3.58719236e-02 1.69451372e+02] [ 7.96903859e-02 9.96818866e-01 -1.26113990e-03 6.67511972e+00] [ 3.58583032e-02 -1.60233203e-03 9.99355600e-01 5.86802433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:6.68, Z:5.87 [[ 9.96195575e-01 -7.94202410e-02 -3.58720159e-02 1.69483408e+02] [ 7.94262949e-02 9.96839947e-01 -1.25850993e-03 6.67718075e+00] [ 3.58586096e-02 -1.59545929e-03 9.99355600e-01 5.86932665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:6.68, Z:5.87 [[ 9.96198218e-01 -7.93870430e-02 -3.58721074e-02 1.69514980e+02] [ 7.93931694e-02 9.96842589e-01 -1.25589600e-03 6.67935271e+00] [ 3.58585463e-02 -1.59687895e-03 9.99355600e-01 5.86987057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:6.68, Z:5.87 [[ 9.96187691e-01 -7.95189685e-02 -3.58722582e-02 1.69546621e+02] [ 7.95253356e-02 9.96832059e-01 -1.25157296e-03 6.68265515e+00] [ 3.58581409e-02 -1.60595180e-03 9.99355600e-01 5.87297747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:6.68, Z:5.87 [[ 9.96163402e-01 -7.98226244e-02 -3.58723489e-02 1.69578736e+02] [ 7.98292814e-02 9.96807768e-01 -1.24896987e-03 6.68492846e+00] [ 3.58575321e-02 -1.61948576e-03 9.99355600e-01 5.87498105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:6.69, Z:5.88 [[ 9.96115505e-01 -8.04180910e-02 -3.58724394e-02 1.69611003e+02] [ 8.04252269e-02 9.96759866e-01 -1.24636316e-03 6.68736942e+00] [ 3.58564381e-02 -1.64352741e-03 9.99355600e-01 5.87691120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:169.64, Y:6.69, Z:5.87 [[ 9.95956332e-01 -8.23659332e-02 -3.58725309e-02 1.69641433e+02] [ 8.23744240e-02 9.96600676e-01 -1.24372434e-03 6.69045994e+00] [ 3.58530291e-02 -1.71628394e-03 9.99355600e-01 5.87438828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:6.69, Z:5.88 [[ 9.95897304e-01 -8.30765773e-02 -3.58725848e-02 1.69673777e+02] [ 8.30855838e-02 9.96541641e-01 -1.24216868e-03 6.69214328e+00] [ 3.58517197e-02 -1.74342221e-03 9.99355600e-01 5.87800143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:6.69, Z:5.88 [[ 9.95639637e-01 -8.61096060e-02 -3.58726908e-02 1.69706313e+02] [ 8.61206854e-02 9.96283942e-01 -1.23909881e-03 6.69466955e+00] [ 3.58460841e-02 -1.85568483e-03 9.99355600e-01 5.87886327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:6.70, Z:5.88 [[ 9.95545749e-01 -8.71883291e-02 -3.58727802e-02 1.69737826e+02] [ 8.72001996e-02 9.96190040e-01 -1.23650756e-03 6.69654094e+00] [ 3.58439153e-02 -1.89711375e-03 9.99355600e-01 5.87884719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:6.70, Z:5.88 [[ 9.95356224e-01 -8.93259597e-02 -3.58728466e-02 1.69769822e+02] [ 8.93392831e-02 9.96000486e-01 -1.23457626e-03 6.69927687e+00] [ 3.58396524e-02 -1.97601124e-03 9.99355600e-01 5.87938220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:6.70, Z:5.88 [[ 9.95295343e-01 -9.00017414e-02 -3.58729350e-02 1.69802097e+02] [ 9.00155948e-02 9.95939594e-01 -1.23200246e-03 6.70169748e+00] [ 3.58381587e-02 -2.00291727e-03 9.99355600e-01 5.88069086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:6.70, Z:5.88 [[ 9.95257210e-01 -9.04224104e-02 -3.58730229e-02 1.69834825e+02] [ 9.04366282e-02 9.95901453e-01 -1.22943918e-03 6.70390506e+00] [ 3.58371645e-02 -2.02062702e-03 9.99355600e-01 5.88224858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:6.71, Z:5.88 [[ 9.95243116e-01 -9.05773502e-02 -3.58731556e-02 1.69868101e+02] [ 9.05918078e-02 9.95887354e-01 -1.22555484e-03 6.70608306e+00] [ 3.58366295e-02 -2.03008900e-03 9.99355600e-01 5.88325549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:6.71, Z:5.88 [[ 9.95238629e-01 -9.06265896e-02 -3.58732875e-02 1.69901332e+02] [ 9.06412183e-02 9.95882863e-01 -1.22168116e-03 6.70834933e+00] [ 3.58363091e-02 -2.03573420e-03 9.99355600e-01 5.88449866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:6.71, Z:5.89 [[ 9.95279471e-01 -9.01768942e-02 -3.58734186e-02 1.69933183e+02] [ 9.01913705e-02 9.95923709e-01 -1.21781852e-03 6.71033640e+00] [ 3.58370072e-02 -2.02340301e-03 9.99355600e-01 5.88559658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:6.71, Z:5.89 [[ 9.95338517e-01 -8.95227368e-02 -3.58736225e-02 1.69965359e+02] [ 8.95370066e-02 9.95982759e-01 -1.21178234e-03 6.71350297e+00] [ 3.58379916e-02 -2.00588313e-03 9.99355600e-01 5.88685487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:6.72, Z:5.89 [[ 9.95380723e-01 -8.90521806e-02 -3.58737292e-02 1.69997908e+02] [ 8.90662596e-02 9.96024970e-01 -1.20861720e-03 6.71570733e+00] [ 3.58387600e-02 -1.99210461e-03 9.99355600e-01 5.88889861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:6.72, Z:5.89 [[ 9.95232534e-01 -9.06932740e-02 -3.58738620e-02 1.70026935e+02] [ 9.07085573e-02 9.95876753e-01 -1.20466241e-03 6.72069723e+00] [ 3.58351999e-02 -2.05514704e-03 9.99355600e-01 5.88669064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:6.72, Z:5.89 [[ 9.95392012e-01 -8.89307820e-02 -3.58616659e-02 1.70060831e+02] [ 8.89319348e-02 9.96036474e-01 -1.56615934e-03 6.72050630e+00] [ 3.58588071e-02 -1.63030483e-03 9.99355536e-01 5.89123433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:6.72, Z:5.89 [[ 9.95388996e-01 -8.89595713e-02 -3.58739605e-02 1.70093135e+02] [ 8.89739677e-02 9.96033231e-01 -1.19810605e-03 6.72202037e+00] [ 3.58382398e-02 -1.99926702e-03 9.99355604e-01 5.89189496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:6.72, Z:5.89 [[ 9.95378455e-01 -8.90773994e-02 -3.58740683e-02 1.70125735e+02] [ 8.90919884e-02 9.96022685e-01 -1.19486979e-03 6.72344260e+00] [ 3.58378217e-02 -2.00674442e-03 9.99355604e-01 5.89268579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:6.72, Z:5.89 [[ 9.95324456e-01 -8.96786981e-02 -3.58741929e-02 1.70158147e+02] [ 8.96938112e-02 9.95968675e-01 -1.19111511e-03 6.72492545e+00] [ 3.58363900e-02 -2.03214709e-03 9.99355604e-01 5.89384534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:6.73, Z:5.89 [[ 9.95208750e-01 -9.09537242e-02 -3.58742770e-02 1.70189421e+02] [ 9.09697538e-02 9.95852947e-01 -1.18857625e-03 6.72656070e+00] [ 3.58336099e-02 -2.08059266e-03 9.99355604e-01 5.89340290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:6.73, Z:5.89 [[ 9.95154962e-01 -9.15403371e-02 -3.58743396e-02 1.70221370e+02] [ 9.15568144e-02 9.95799147e-01 -1.18668397e-03 6.72786251e+00] [ 3.58322663e-02 -2.10360581e-03 9.99355604e-01 5.89468314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:6.73, Z:5.89 [[ 9.95111739e-01 -9.20089802e-02 -3.58744238e-02 1.70252492e+02] [ 9.20258524e-02 9.95755914e-01 -1.18413372e-03 6.72888042e+00] [ 3.58311206e-02 -2.12302907e-03 9.99355604e-01 5.89447009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:6.73, Z:5.90 [[ 9.95071637e-01 -9.24416471e-02 -3.58744865e-02 1.70285879e+02] [ 9.24588677e-02 9.95715803e-01 -1.18223279e-03 6.72994526e+00] [ 3.58300806e-02 -2.14050808e-03 9.99355604e-01 5.89615955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:6.73, Z:5.90 [[ 9.95117615e-01 -9.19453346e-02 -3.58746107e-02 1.70317966e+02] [ 9.19623699e-02 9.95761786e-01 -1.17844936e-03 6.73141304e+00] [ 3.58309194e-02 -2.12641851e-03 9.99355604e-01 5.89722441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:6.73, Z:5.90 [[ 9.95172210e-01 -9.13524975e-02 -3.58746945e-02 1.70351217e+02] [ 9.13692408e-02 9.95816388e-01 -1.17589428e-03 6.73304072e+00] [ 3.58320296e-02 -2.10762629e-03 9.99355604e-01 5.89859889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:6.73, Z:5.90 [[ 9.95248489e-01 -9.05176360e-02 -3.58748220e-02 1.70382942e+02] [ 9.05339792e-02 9.95892677e-01 -1.17199034e-03 6.73469878e+00] [ 3.58335584e-02 -2.08146878e-03 9.99355604e-01 5.89995819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:6.74, Z:5.90 [[ 9.95447821e-01 -8.82984996e-02 -3.58749276e-02 1.70414567e+02] [ 8.83135229e-02 9.96092042e-01 -1.16875128e-03 6.73702805e+00] [ 3.58379288e-02 -2.00481032e-03 9.99355604e-01 5.90176230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:6.74, Z:5.90 [[ 9.95625460e-01 -8.62723738e-02 -3.58750604e-02 1.70445217e+02] [ 8.62862328e-02 9.96269707e-01 -1.16466048e-03 6.73839406e+00] [ 3.58417139e-02 -1.93595819e-03 9.99355604e-01 5.90150784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:6.74, Z:5.90 [[ 9.95702735e-01 -8.53773050e-02 -3.58716973e-02 1.70477882e+02] [ 8.53868690e-02 9.96347065e-01 -1.26808339e-03 6.74022185e+00] [ 3.58489259e-02 -1.80033782e-03 9.99355599e-01 5.90466154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:6.74, Z:5.91 [[ 9.95877478e-01 -8.33128337e-02 -3.58750653e-02 1.70508766e+02] [ 8.33247903e-02 9.96521763e-01 -1.16431589e-03 6.74156782e+00] [ 3.58472857e-02 -1.82976632e-03 9.99355604e-01 5.90566797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:6.74, Z:5.91 [[ 9.96126221e-01 -8.02840019e-02 -3.58751999e-02 1.70541034e+02] [ 8.02941487e-02 9.96770537e-01 -1.16015388e-03 6.74274058e+00] [ 3.58524840e-02 -1.72490893e-03 9.99355604e-01 5.90658496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:6.74, Z:5.91 [[ 9.96202388e-01 -7.93332563e-02 -3.58752824e-02 1.70572123e+02] [ 7.93428800e-02 9.96846712e-01 -1.15759742e-03 6.74381044e+00] [ 3.58539932e-02 -1.69324691e-03 9.99355604e-01 5.90684802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:6.74, Z:5.91 [[ 9.96249644e-01 -7.87375758e-02 -3.58753436e-02 1.70604429e+02] [ 7.87468826e-02 9.96893973e-01 -1.15569487e-03 6.74474984e+00] [ 3.58549105e-02 -1.67371087e-03 9.99355604e-01 5.90753412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:6.75, Z:5.91 [[ 9.96255045e-01 -7.86691780e-02 -3.58754227e-02 1.70637086e+02] [ 7.86785290e-02 9.96899373e-01 -1.15323541e-03 6.74573628e+00] [ 3.58549105e-02 -1.67370889e-03 9.99355604e-01 5.90870677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:6.75, Z:5.91 [[ 9.96258277e-01 -7.86282020e-02 -3.58755017e-02 1.70669437e+02] [ 7.86376149e-02 9.96902604e-01 -1.15077397e-03 6.74669411e+00] [ 3.58548643e-02 -1.67469580e-03 9.99355604e-01 5.90909491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:6.75, Z:5.91 [[ 9.96126590e-01 -8.02792607e-02 -3.58755804e-02 1.70701747e+02] [ 8.02898298e-02 9.96770899e-01 -1.14831351e-03 6.74703950e+00] [ 3.58519203e-02 -1.73657863e-03 9.99355604e-01 5.90965418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:6.75, Z:5.91 [[ 9.96010751e-01 -8.17038569e-02 -3.58756611e-02 1.70732990e+02] [ 8.17154383e-02 9.96655043e-01 -1.14578793e-03 6.74760082e+00] [ 3.58492738e-02 -1.79037827e-03 9.99355604e-01 5.91057013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:6.75, Z:5.91 [[ 9.95853605e-01 -8.35974318e-02 -3.58757211e-02 1.70765225e+02] [ 8.36103058e-02 9.96497872e-01 -1.14390471e-03 6.74770111e+00] [ 3.58457072e-02 -1.86041838e-03 9.99355604e-01 5.91220671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:6.75, Z:5.91 [[ 9.95756289e-01 -8.47486825e-02 -3.58758040e-02 1.70796857e+02] [ 8.47623950e-02 9.96400539e-01 -1.14129998e-03 6.74834106e+00] [ 3.58433941e-02 -1.90446244e-03 9.99355604e-01 5.91192617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:6.75, Z:5.91 [[ 9.95624539e-01 -8.62826562e-02 -3.58759067e-02 1.70827762e+02] [ 8.62974775e-02 9.96268764e-01 -1.13806220e-03 6.74873143e+00] [ 3.58402403e-02 -1.96291760e-03 9.99355604e-01 5.91365047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:6.75, Z:5.92 [[ 9.95546852e-01 -8.71744230e-02 -3.58759637e-02 1.70859724e+02] [ 8.71898860e-02 9.96191062e-01 -1.13626238e-03 6.74949643e+00] [ 3.58383674e-02 -1.99681875e-03 9.99355604e-01 5.91636928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:6.75, Z:5.92 [[ 9.95507786e-01 -8.76193913e-02 -3.58760415e-02 1.70890881e+02] [ 8.76352307e-02 9.96151987e-01 -1.13379991e-03 6.75001897e+00] [ 3.58373329e-02 -2.01529854e-03 9.99355604e-01 5.91729076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:6.75, Z:5.92 [[ 9.95329134e-01 -8.96260017e-02 -3.58760994e-02 1.70923139e+02] [ 8.96432055e-02 9.95973300e-01 -1.13196641e-03 6.74939352e+00] [ 3.58330907e-02 -2.08936940e-03 9.99355604e-01 5.92027908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:6.75, Z:5.92 [[ 9.95338517e-01 -8.95217087e-02 -3.58761780e-02 1.70956645e+02] [ 8.95389347e-02 9.95982682e-01 -1.12946996e-03 6.75035522e+00] [ 3.58331640e-02 -2.08810980e-03 9.99355604e-01 5.92148217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:6.75, Z:5.92 [[ 9.95288532e-01 -9.00756914e-02 -3.58762959e-02 1.70989683e+02] [ 9.00934109e-02 9.95932684e-01 -1.12571157e-03 6.75032772e+00] [ 3.58317749e-02 -2.11181005e-03 9.99355604e-01 5.92304284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:6.75, Z:5.92 [[ 9.95257828e-01 -9.04142624e-02 -3.58764169e-02 1.71023038e+02] [ 9.04323400e-02 9.95901970e-01 -1.12184170e-03 6.74883074e+00] [ 3.58308248e-02 -2.12786660e-03 9.99355604e-01 5.92355379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:6.75, Z:5.92 [[ 9.95188189e-01 -9.11775378e-02 -3.58765377e-02 1.71056113e+02] [ 9.11962488e-02 9.95832312e-01 -1.11796441e-03 6.74872102e+00] [ 3.58289488e-02 -2.15922068e-03 9.99355604e-01 5.92485890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:6.75, Z:5.93 [[ 9.95142314e-01 -9.16768204e-02 -3.58766596e-02 1.71088259e+02] [ 9.16959955e-02 9.95786425e-01 -1.11403852e-03 6.74874585e+00] [ 3.58276221e-02 -2.18111915e-03 9.99355604e-01 5.92555005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:6.75, Z:5.93 [[ 9.95075690e-01 -9.23971275e-02 -3.58767597e-02 1.71120724e+02] [ 9.24168850e-02 9.95719783e-01 -1.11080512e-03 6.74771106e+00] [ 3.58258346e-02 -2.21028321e-03 9.99355604e-01 5.92546333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:6.75, Z:5.93 [[ 9.95029968e-01 -9.28881833e-02 -3.58768385e-02 1.71152165e+02] [ 9.29083502e-02 9.95674048e-01 -1.10825442e-03 6.74728125e+00] [ 3.58245808e-02 -2.23051152e-03 9.99355604e-01 5.92525452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:6.75, Z:5.92 [[ 9.95029943e-01 -9.28883999e-02 -3.58769700e-02 1.71184311e+02] [ 9.29087204e-02 9.95674018e-01 -1.10398156e-03 6.74663965e+00] [ 3.58243140e-02 -2.23478867e-03 9.99355605e-01 5.92492433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:6.75, Z:5.93 [[ 9.94913622e-01 -9.41265147e-02 -3.58759493e-02 1.71215916e+02] [ 9.41464418e-02 9.95557710e-01 -1.13725198e-03 6.74604249e+00] [ 3.58236235e-02 -2.24612549e-03 9.99355604e-01 5.92620478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:6.74, Z:5.93 [[ 9.94746293e-01 -9.58782330e-02 -3.58772399e-02 1.71249119e+02] [ 9.59008128e-02 9.95390293e-01 -1.09496626e-03 6.74434498e+00] [ 3.58168398e-02 -2.35144284e-03 9.99355605e-01 5.92713463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:6.74, Z:5.93 [[ 9.94707981e-01 -9.62748542e-02 -3.58773542e-02 1.71282355e+02] [ 9.62978257e-02 9.95351967e-01 -1.09120971e-03 6.74401237e+00] [ 3.58156511e-02 -2.36947619e-03 9.99355605e-01 5.92860279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:6.74, Z:5.93 [[ 9.94653079e-01 -9.68403777e-02 -3.58774698e-02 1.71315028e+02] [ 9.68638522e-02 9.95297047e-01 -1.08739527e-03 6.74410059e+00] [ 3.58140435e-02 -2.39364888e-03 9.99355605e-01 5.93009140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:6.74, Z:5.93 [[ 9.94732113e-01 -9.60251167e-02 -3.58775863e-02 1.71347413e+02] [ 9.60482021e-02 9.95376094e-01 -1.08353747e-03 6.74338429e+00] [ 3.58157385e-02 -2.36814814e-03 9.99355605e-01 5.93151997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:6.74, Z:5.93 [[ 9.94931516e-01 -9.39365296e-02 -3.58776628e-02 1.71378347e+02] [ 9.39583541e-02 9.95575542e-01 -1.08099706e-03 6.74400614e+00] [ 3.58204687e-02 -2.29548811e-03 9.99355605e-01 5.93254011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:6.74, Z:5.93 [[ 9.95013563e-01 -9.30652291e-02 -3.58729969e-02 1.71411568e+02] [ 9.30809457e-02 9.95657778e-01 -1.23535115e-03 6.74385470e+00] [ 3.58321966e-02 -2.10990132e-03 9.99355593e-01 5.93351282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:6.74, Z:5.94 [[ 9.95135489e-01 -9.17504181e-02 -3.58778272e-02 1.71443835e+02] [ 9.17710785e-02 9.95779552e-01 -1.07400631e-03 6.74368219e+00] [ 3.58249472e-02 -2.22376510e-03 9.99355606e-01 5.93506542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:6.74, Z:5.94 [[ 9.95394448e-01 -8.88969606e-02 -3.58779016e-02 1.71475893e+02] [ 8.89158639e-02 9.96038564e-01 -1.07151636e-03 6.74294286e+00] [ 3.58310281e-02 -2.12353318e-03 9.99355606e-01 5.93749134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:6.74, Z:5.94 [[ 9.95559576e-01 -8.70281662e-02 -3.58779757e-02 1.71507972e+02] [ 8.70459496e-02 9.96203724e-01 -1.06902868e-03 6.74312972e+00] [ 3.58348086e-02 -2.05875073e-03 9.99355606e-01 5.93955006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:6.74, Z:5.94 [[ 9.95875562e-01 -8.33344543e-02 -3.58780538e-02 1.71539246e+02] [ 8.33499424e-02 9.96519769e-01 -1.06640052e-03 6.74231972e+00] [ 3.58420578e-02 -1.92843150e-03 9.99355606e-01 5.94078135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:6.74, Z:5.94 [[ 9.95975220e-01 -8.21347816e-02 -3.58781120e-02 1.71570341e+02] [ 8.21495641e-02 9.96619444e-01 -1.06444128e-03 6.74236851e+00] [ 3.58442516e-02 -1.88721413e-03 9.99355606e-01 5.94169892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:6.74, Z:5.94 [[ 9.96259492e-01 -7.86115540e-02 -3.58782393e-02 1.71603612e+02] [ 7.86242127e-02 9.96903761e-01 -1.06013257e-03 6.74020047e+00] [ 3.58504904e-02 -1.76473118e-03 9.99355606e-01 5.93923466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:6.74, Z:5.94 [[ 9.96150074e-01 -7.99836964e-02 -3.58836780e-02 1.71632520e+02] [ 8.00038969e-02 9.96794167e-01 -8.74887101e-04 6.74131297e+00] [ 3.58386176e-02 -1.99931522e-03 9.99355590e-01 5.94261563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:6.74, Z:5.94 [[ 9.96222943e-01 -7.90733585e-02 -3.58782805e-02 1.71663748e+02] [ 7.90863941e-02 9.96867204e-01 -1.05795255e-03 6.74117831e+00] [ 3.58495370e-02 -1.78352722e-03 9.99355607e-01 5.94280758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:6.74, Z:5.94 [[ 9.96357901e-01 -7.73542314e-02 -3.58783375e-02 1.71694839e+02] [ 7.73662248e-02 9.97002183e-01 -1.05601565e-03 6.74042949e+00] [ 3.58524681e-02 -1.72360199e-03 9.99355607e-01 5.94286139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:6.74, Z:5.94 [[ 9.96487997e-01 -7.56598524e-02 -3.58783938e-02 1.71725706e+02] [ 7.56708192e-02 9.97132296e-01 -1.05409901e-03 6.74071488e+00] [ 3.58552582e-02 -1.66455044e-03 9.99355607e-01 5.94389421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:6.74, Z:5.95 [[ 9.96624650e-01 -7.38379559e-02 -3.58784484e-02 1.71756736e+02] [ 7.38478116e-02 9.97268967e-01 -1.05223802e-03 6.74125197e+00] [ 3.58581583e-02 -1.60085855e-03 9.99355607e-01 5.94501024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:6.74, Z:5.95 [[ 9.97080156e-01 -6.74084367e-02 -3.58784844e-02 1.71786661e+02] [ 6.74141807e-02 9.97724523e-01 -1.05100843e-03 6.74128662e+00] [ 3.58676906e-02 -1.37077898e-03 9.99355607e-01 5.94594976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:6.74, Z:5.95 [[ 9.97324681e-01 -6.36883951e-02 -3.58785398e-02 1.71817385e+02] [ 6.36918034e-02 9.97969064e-01 -1.04911333e-03 6.74202768e+00] [ 3.58724892e-02 -1.23886228e-03 9.99355607e-01 5.94796038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:6.74, Z:5.95 [[ 9.97892896e-01 -5.40601411e-02 -3.58785398e-02 1.71846616e+02] [ 5.40573302e-02 9.98537282e-01 -1.04911333e-03 6.74309930e+00] [ 3.58827749e-02 -8.92595332e-04 9.99355607e-01 5.94988571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:6.74, Z:5.95 [[ 9.98161036e-01 -4.88597600e-02 -3.58785421e-02 1.71875379e+02] [ 4.88535942e-02 9.98805399e-01 -1.04903413e-03 6.74434286e+00] [ 3.58869372e-02 -7.05690742e-04 9.99355607e-01 5.95168186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:6.75, Z:5.95 [[ 9.98146857e-01 -4.91487635e-02 -3.58782742e-02 1.71903742e+02] [ 4.91424579e-02 9.98791219e-01 -1.05812044e-03 6.74524141e+00] [ 3.58869105e-02 -7.06986988e-04 9.99355607e-01 5.95270385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:6.75, Z:5.95 [[ 9.98384508e-01 -4.40584347e-02 -3.58779649e-02 1.71931517e+02] [ 4.40484704e-02 9.99028824e-01 -1.06850344e-03 6.74639133e+00] [ 3.58901977e-02 -5.13592192e-04 9.99355607e-01 5.95428407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:6.75, Z:5.96 [[ 9.98785024e-01 -3.37826737e-02 -3.58776531e-02 1.71958005e+02] [ 3.37657073e-02 9.99429194e-01 -1.07887466e-03 6.74665393e+00] [ 3.58936211e-02 -1.33870476e-04 9.99355607e-01 5.95539751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:6.75, Z:5.96 [[ 9.98932431e-01 -2.90999735e-02 -3.58774375e-02 1.71985509e+02] [ 2.90797317e-02 9.99576505e-01 -1.08599752e-03 6.74682913e+00] [ 3.58938461e-02 4.15318885e-05 9.99355607e-01 5.95635959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:6.75, Z:5.96 [[ 9.99151345e-01 -2.02341965e-02 -3.58771231e-02 1.72013788e+02] [ 2.02078705e-02 9.99795199e-01 -1.09628603e-03 6.74578300e+00] [ 3.58919579e-02 3.70355408e-04 9.99355607e-01 5.95723921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:6.75, Z:5.96 [[ 9.99219642e-01 -1.65215395e-02 -3.58768019e-02 1.72040574e+02] [ 1.64924475e-02 9.99863378e-01 -1.10669746e-03 6.74551675e+00] [ 3.58901847e-02 5.14137568e-04 9.99355608e-01 5.95810704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:6.75, Z:5.96 [[ 9.99262358e-01 -1.36969204e-02 -3.58766624e-02 1.72068570e+02] [ 1.36658472e-02 9.99906001e-01 -1.11120302e-03 6.74516596e+00] [ 3.58885100e-02 6.20098365e-04 9.99355608e-01 5.95961539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:6.74, Z:5.96 [[ 9.99305150e-01 -1.01047465e-02 -3.58763411e-02 1.72095646e+02] [ 1.00709909e-02 9.99948657e-01 -1.12148100e-03 6.74306122e+00] [ 3.58858314e-02 7.59391434e-04 9.99355608e-01 5.96005413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:6.74, Z:5.96 [[ 9.99308068e-01 -9.81244550e-03 -3.58762015e-02 1.72123835e+02] [ 9.77834202e-03 9.99951557e-01 -1.12592978e-03 6.74194375e+00] [ 3.58855116e-02 7.74340940e-04 9.99355608e-01 5.96029253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:6.74, Z:5.96 [[ 9.99303437e-01 -1.02743545e-02 -3.58758771e-02 1.72150927e+02] [ 1.02401809e-02 9.99946923e-01 -1.13617075e-03 6.74033178e+00] [ 3.58856464e-02 7.68003866e-04 9.99355608e-01 5.96055672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:6.74, Z:5.96 [[ 9.99255491e-01 -1.41913907e-02 -3.58757360e-02 1.72179455e+02] [ 1.41595805e-02 9.99899098e-01 -1.14060932e-03 6.73547533e+00] [ 3.58883029e-02 6.31774751e-04 9.99355608e-01 5.96077710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:6.73, Z:5.96 [[ 9.99201526e-01 -1.75859583e-02 -3.58754042e-02 1.72207440e+02] [ 1.75559635e-02 9.99845220e-01 -1.15095136e-03 6.73360120e+00] [ 3.58900920e-02 5.20205064e-04 9.99355608e-01 5.96223291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:6.73, Z:5.96 [[ 9.99122221e-01 -2.16279302e-02 -3.58750663e-02 1.72235748e+02] [ 2.16001647e-02 9.99766015e-01 -1.16139119e-03 6.73170965e+00] [ 3.58917905e-02 3.85464406e-04 9.99355608e-01 5.96349778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:6.73, Z:5.96 [[ 9.99019265e-01 -2.59521131e-02 -3.58747243e-02 1.72262284e+02] [ 2.59267584e-02 9.99663158e-01 -1.17186000e-03 6.72995718e+00] [ 3.58930524e-02 2.40595408e-04 9.99355608e-01 5.96472971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:6.72, Z:5.97 [[ 9.98729786e-01 -3.53811891e-02 -3.58745755e-02 1.72289015e+02] [ 3.53617506e-02 9.99373885e-01 -1.17639683e-03 6.72496667e+00] [ 3.58937362e-02 -9.36852345e-05 9.99355608e-01 5.96642402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:6.72, Z:5.97 [[ 9.98542904e-01 -4.03124572e-02 -3.58744301e-02 1.72317030e+02] [ 4.02960408e-02 9.99187087e-01 -1.18081551e-03 6.72290401e+00] [ 3.58928689e-02 -2.66502550e-04 9.99355608e-01 5.96818719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:6.72, Z:5.97 [[ 9.98322617e-01 -4.54422804e-02 -3.58740944e-02 1.72345227e+02] [ 4.54288106e-02 9.98966869e-01 -1.19092697e-03 6.72054240e+00] [ 3.58911502e-02 -4.40788113e-04 9.99355608e-01 5.96961700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:6.71, Z:5.97 [[ 9.97864148e-01 -5.45913594e-02 -3.58737478e-02 1.72372561e+02] [ 5.45834237e-02 9.98508491e-01 -1.20127755e-03 6.71438186e+00] [ 3.58858212e-02 -7.59400180e-04 9.99355608e-01 5.97102934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:6.71, Z:5.97 [[ 9.97589106e-01 -5.94059054e-02 -3.58735971e-02 1.72400671e+02] [ 5.94009179e-02 9.98233478e-01 -1.20576240e-03 6.71215567e+00] [ 3.58818550e-02 -9.28069165e-04 9.99355608e-01 5.97203466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:6.71, Z:5.97 [[ 9.97321569e-01 -6.37400799e-02 -3.58732528e-02 1.72428289e+02] [ 6.37375273e-02 9.97965956e-01 -1.21591961e-03 6.71006777e+00] [ 3.58777878e-02 -1.07380958e-03 9.99355608e-01 5.97318085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:6.71, Z:5.97 [[ 9.97050593e-01 -6.78472588e-02 -3.58728958e-02 1.72456313e+02] [ 6.78469850e-02 9.97694985e-01 -1.22636147e-03 6.70829692e+00] [ 3.58734135e-02 -1.21112339e-03 9.99355608e-01 5.97406281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:6.71, Z:5.98 [[ 9.96792121e-01 -7.15446002e-02 -3.58725336e-02 1.72484377e+02] [ 7.15463388e-02 9.97436510e-01 -1.23686817e-03 6.70670696e+00] [ 3.58690659e-02 -1.33364799e-03 9.99355608e-01 5.97506948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:6.70, Z:5.98 [[ 9.96359454e-01 -7.73369700e-02 -3.58724211e-02 1.72512483e+02] [ 7.73423370e-02 9.97003824e-01 -1.24012158e-03 6.70245322e+00] [ 3.58608483e-02 -1.53885002e-03 9.99355608e-01 5.97579265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:6.70, Z:5.98 [[ 9.96356700e-01 -7.73725009e-02 -3.58723100e-02 1.72542601e+02] [ 7.73777756e-02 9.97001070e-01 -1.24332647e-03 6.70352815e+00] [ 3.58609308e-02 -1.53692290e-03 9.99355608e-01 5.97687584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:6.70, Z:5.98 [[ 9.96125749e-01 -8.02911689e-02 -3.58722657e-02 1.72571511e+02] [ 8.02982856e-02 9.96770102e-01 -1.24460239e-03 6.70206933e+00] [ 3.58563326e-02 -1.64070095e-03 9.99355608e-01 5.97806563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:6.70, Z:5.98 [[ 9.95972810e-01 -8.21666890e-02 -3.58719539e-02 1.72601465e+02] [ 8.21746982e-02 9.96617152e-01 -1.25352685e-03 6.70058492e+00] [ 3.58536027e-02 -1.69928832e-03 9.99355608e-01 5.97877893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:6.70, Z:5.98 [[ 9.95847561e-01 -8.36710355e-02 -3.58719082e-02 1.72630905e+02] [ 8.36799710e-02 9.96491891e-01 -1.25483360e-03 6.69808412e+00] [ 3.58510588e-02 -1.75213726e-03 9.99355608e-01 5.97720602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:6.70, Z:5.98 [[ 9.95882327e-01 -8.32563436e-02 -3.58716105e-02 1.72660046e+02] [ 8.32647071e-02 9.96526664e-01 -1.26328560e-03 6.69837984e+00] [ 3.58521929e-02 -1.72875534e-03 9.99355608e-01 5.97781094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:6.70, Z:5.98 [[ 9.96118783e-01 -8.03779853e-02 -3.58712860e-02 1.72688611e+02] [ 8.03841579e-02 9.96763145e-01 -1.27243542e-03 6.69917764e+00] [ 3.58574516e-02 -1.61598630e-03 9.99355608e-01 5.97860219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:6.70, Z:5.98 [[ 9.96292125e-01 -7.82002299e-02 -3.58709598e-02 1.72715911e+02] [ 7.82046658e-02 9.96936501e-01 -1.28156396e-03 6.70019344e+00] [ 3.58612878e-02 -1.52846435e-03 9.99355608e-01 5.97927350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:6.70, Z:5.98 [[ 9.96655520e-01 -7.34238477e-02 -3.58707853e-02 1.72743564e+02] [ 7.34250200e-02 9.97299911e-01 -1.28643086e-03 6.70137009e+00] [ 3.58683857e-02 -1.35168471e-03 9.99355608e-01 5.97962835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:6.70, Z:5.98 [[ 9.96810860e-01 -7.12839651e-02 -3.58706732e-02 1.72771467e+02] [ 7.12836419e-02 9.97455252e-01 -1.28954763e-03 6.70274841e+00] [ 3.58713155e-02 -1.27155714e-03 9.99355608e-01 5.98130932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:6.70, Z:5.98 [[ 9.96940276e-01 -6.94507577e-02 -3.58702975e-02 1.72799214e+02] [ 6.94488769e-02 9.97584665e-01 -1.29991672e-03 6.70455098e+00] [ 3.58739389e-02 -1.19521254e-03 9.99355608e-01 5.98261146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:6.71, Z:5.98 [[ 9.97146281e-01 -6.64277273e-02 -3.58699210e-02 1.72826775e+02] [ 6.64235223e-02 9.97790659e-01 -1.31022363e-03 6.70710683e+00] [ 3.58777073e-02 -1.07612188e-03 9.99355608e-01 5.98465807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:6.71, Z:5.99 [[ 9.97127026e-01 -6.67163369e-02 -3.58695390e-02 1.72855151e+02] [ 6.67119455e-02 9.97771403e-01 -1.32059894e-03 6.70821664e+00] [ 3.58777058e-02 -1.07612183e-03 9.99355608e-01 5.98568043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:6.71, Z:5.99 [[ 9.97184972e-01 -6.58447841e-02 -3.58691540e-02 1.72882361e+02] [ 6.58394566e-02 9.97829341e-01 -1.33097415e-03 6.71006952e+00] [ 3.58789320e-02 -1.03437819e-03 9.99355609e-01 5.98730200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:6.71, Z:5.99 [[ 9.97260428e-01 -6.46920529e-02 -3.58688880e-02 1.72910504e+02] [ 6.46857242e-02 9.97904788e-01 -1.33810426e-03 6.71198001e+00] [ 3.58802998e-02 -9.85766575e-04 9.99355609e-01 5.98816000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:6.71, Z:5.99 [[ 9.97264007e-01 -6.46370721e-02 -3.58685000e-02 1.72937633e+02] [ 6.46303370e-02 9.97908363e-01 -1.34842490e-03 6.71342367e+00] [ 3.58806344e-02 -9.73457623e-04 9.99355609e-01 5.98853395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:6.71, Z:5.99 [[ 9.97254082e-01 -6.47901070e-02 -3.58683314e-02 1.72965949e+02] [ 6.47833101e-02 9.97898438e-01 -1.35289502e-03 6.71483120e+00] [ 3.58806061e-02 -9.74489156e-04 9.99355609e-01 5.98922783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:6.72, Z:5.99 [[ 9.97235634e-01 -6.50736600e-02 -3.58679441e-02 1.72994324e+02] [ 6.50666800e-02 9.97879987e-01 -1.36308700e-03 6.71598082e+00] [ 3.58806047e-02 -9.74489117e-04 9.99355609e-01 5.99025018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:6.72, Z:5.99 [[ 9.97211757e-01 -6.54387495e-02 -3.58675539e-02 1.73022383e+02] [ 6.54316391e-02 9.97856109e-01 -1.37327886e-03 6.71772896e+00] [ 3.58805234e-02 -9.77423017e-04 9.99355609e-01 5.99156512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:6.72, Z:5.99 [[ 9.97157996e-01 -6.62531378e-02 -3.58671584e-02 1.73049104e+02] [ 6.62461851e-02 9.97802350e-01 -1.38353131e-03 6.72081111e+00] [ 3.58799982e-02 -9.96463104e-04 9.99355609e-01 5.99270063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:6.72, Z:5.99 [[ 9.97097961e-01 -6.71506982e-02 -3.58669865e-02 1.73076899e+02] [ 6.71441659e-02 9.97742319e-01 -1.38797479e-03 6.72269613e+00] [ 3.58792137e-02 -1.02431205e-03 9.99355609e-01 5.99435223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:6.72, Z:6.00 [[ 9.96965371e-01 -6.90915199e-02 -3.58665834e-02 1.73104275e+02] [ 6.90858702e-02 9.97609737e-01 -1.39831429e-03 6.72489193e+00] [ 3.58774645e-02 -1.08380320e-03 9.99355609e-01 5.99509639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:6.73, Z:6.00 [[ 9.96872827e-01 -7.04143754e-02 -3.58661794e-02 1.73132273e+02] [ 7.04092111e-02 9.97517197e-01 -1.40859966e-03 6.72685605e+00] [ 3.58763164e-02 -1.12111467e-03 9.99355609e-01 5.99653740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:6.73, Z:6.00 [[ 9.96789769e-01 -7.15807407e-02 -3.58657696e-02 1.73159804e+02] [ 7.15759580e-02 9.97434143e-01 -1.41895959e-03 6.72877388e+00] [ 3.58753133e-02 -1.15272241e-03 9.99355609e-01 5.99773592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:6.73, Z:6.00 [[ 9.96705011e-01 -7.27516154e-02 -3.58653592e-02 1.73187955e+02] [ 7.27472196e-02 9.97349387e-01 -1.42925624e-03 6.73160511e+00] [ 3.58742747e-02 -1.18455831e-03 9.99355609e-01 5.99948334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:6.73, Z:6.00 [[ 9.96710473e-01 -7.26769200e-02 -3.58649995e-02 1.73216417e+02] [ 7.26721533e-02 9.97354846e-01 -1.43822766e-03 6.73392776e+00] [ 3.58746570e-02 -1.17289017e-03 9.99355609e-01 6.00069020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:6.74, Z:6.00 [[ 9.96748853e-01 -7.21486889e-02 -3.58648991e-02 1.73244680e+02] [ 7.21434909e-02 9.97393223e-01 -1.44072620e-03 6.73640870e+00] [ 3.58753538e-02 -1.15137683e-03 9.99355609e-01 6.00325470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:6.74, Z:6.00 [[ 9.96845427e-01 -7.08020507e-02 -3.58645339e-02 1.73272978e+02] [ 7.07956575e-02 9.97489786e-01 -1.44976118e-03 6.73898111e+00] [ 3.58771523e-02 -1.09386545e-03 9.99355609e-01 6.00492103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:6.74, Z:6.01 [[ 9.97096288e-01 -6.71768786e-02 -3.58644563e-02 1.73300707e+02] [ 6.71680736e-02 9.97740619e-01 -1.45167740e-03 6.74268292e+00] [ 3.58809440e-02 -9.61484290e-04 9.99355609e-01 6.00701881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:6.75, Z:6.01 [[ 9.97221112e-01 -6.52978102e-02 -3.58643315e-02 1.73329606e+02] [ 6.52876803e-02 9.97865423e-01 -1.45475560e-03 6.74502986e+00] [ 3.58827686e-02 -8.90786006e-04 9.99355609e-01 6.00872985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:6.75, Z:6.01 [[ 9.97415551e-01 -6.22574912e-02 -3.58639601e-02 1.73358977e+02] [ 6.22450702e-02 9.98059822e-01 -1.46385293e-03 6.74634045e+00] [ 3.58855135e-02 -7.72285042e-04 9.99355609e-01 6.00760499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:6.75, Z:6.01 [[ 9.97414124e-01 -6.22782351e-02 -3.58676265e-02 1.73385538e+02] [ 6.22690523e-02 9.98058454e-01 -1.37412757e-03 6.74968145e+00] [ 3.58835660e-02 -8.62868861e-04 9.99355605e-01 6.01101323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:6.75, Z:6.01 [[ 9.97526195e-01 -6.04591318e-02 -3.58634150e-02 1.73413077e+02] [ 6.04450972e-02 9.98170432e-01 -1.47643048e-03 6.75217879e+00] [ 3.58870642e-02 -6.94989530e-04 9.99355610e-01 6.01200508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:6.75, Z:6.01 [[ 9.97530241e-01 -6.03924051e-02 -3.58632826e-02 1.73440488e+02] [ 6.03782121e-02 9.98174475e-01 -1.47964030e-03 6.75373008e+00] [ 3.58871723e-02 -6.89374936e-04 9.99355610e-01 6.01359276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:6.76, Z:6.01 [[ 9.97519319e-01 -6.05728069e-02 -3.58628508e-02 1.73467671e+02] [ 6.05583569e-02 9.98163546e-01 -1.49003329e-03 6.75522338e+00] [ 3.58872458e-02 -6.85458330e-04 9.99355610e-01 6.01441961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:6.76, Z:6.02 [[ 9.97464293e-01 -6.14723841e-02 -3.58626631e-02 1.73495069e+02] [ 6.14583532e-02 9.98108530e-01 -1.49453709e-03 6.75602949e+00] [ 3.58867027e-02 -7.13312839e-04 9.99355610e-01 6.01501271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:6.76, Z:6.02 [[ 9.97413256e-01 -6.22951650e-02 -3.58623698e-02 1.73523298e+02] [ 6.22814138e-02 9.98057499e-01 -1.50154284e-03 6.75702861e+00] [ 3.58862459e-02 -7.35900364e-04 9.99355610e-01 6.01638911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:6.76, Z:6.02 [[ 9.97296708e-01 -6.41342190e-02 -3.58619372e-02 1.73551604e+02] [ 6.41212869e-02 9.97940968e-01 -1.51180523e-03 6.75924120e+00] [ 3.58850547e-02 -7.91795183e-04 9.99355610e-01 6.01810324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:6.76, Z:6.02 [[ 9.97229126e-01 -6.51768486e-02 -3.58615288e-02 1.73579041e+02] [ 6.51642441e-02 9.97873392e-01 -1.52143019e-03 6.76091883e+00] [ 3.58844274e-02 -8.19674922e-04 9.99355610e-01 6.01930202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:6.76, Z:6.02 [[ 9.97210525e-01 -6.54610620e-02 -3.58610930e-02 1.73607403e+02] [ 6.54482743e-02 9.97854788e-01 -1.53163405e-03 6.76219960e+00] [ 3.58844257e-02 -8.19685056e-04 9.99355610e-01 6.02032436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:6.76, Z:6.02 [[ 9.97123640e-01 -6.67716965e-02 -3.58606539e-02 1.73635777e+02] [ 6.67593886e-02 9.97767912e-01 -1.54184796e-03 6.76392584e+00] [ 3.58835615e-02 -8.56622277e-04 9.99355610e-01 6.02180683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:6.77, Z:6.02 [[ 9.97023930e-01 -6.82445963e-02 -3.58602607e-02 1.73663284e+02] [ 6.82329133e-02 9.97668213e-01 -1.55093802e-03 6.76550675e+00] [ 3.58824854e-02 -9.00527743e-04 9.99355611e-01 6.02270145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:6.77, Z:6.02 [[ 9.96748148e-01 -7.21608377e-02 -3.58600462e-02 1.73692093e+02] [ 7.21515082e-02 9.97392470e-01 -1.55588244e-03 6.76671801e+00] [ 3.58788138e-02 -1.03653347e-03 9.99355611e-01 6.02454041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:6.77, Z:6.03 [[ 9.96578817e-01 -7.44630479e-02 -3.58596646e-02 1.73721956e+02] [ 7.44548923e-02 9.97223155e-01 -1.56462783e-03 6.76783111e+00] [ 3.58765948e-02 -1.11065251e-03 9.99355611e-01 6.02620870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:6.77, Z:6.03 [[ 9.96411087e-01 -7.66748596e-02 -3.58596099e-02 1.73751386e+02] [ 7.66680891e-02 9.97055441e-01 -1.56588182e-03 6.76878127e+00] [ 3.58740829e-02 -1.18902576e-03 9.99355611e-01 6.02768090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:6.77, Z:6.03 [[ 9.96240771e-01 -7.88569483e-02 -3.58595544e-02 1.73782077e+02] [ 7.88515434e-02 9.96885138e-01 -1.56715105e-03 6.77015569e+00] [ 3.58714376e-02 -1.26632144e-03 9.99355611e-01 6.02934324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:6.77, Z:6.03 [[ 9.95857008e-01 -8.35638192e-02 -3.58595544e-02 1.73811225e+02] [ 8.35614593e-02 9.96501393e-01 -1.56715105e-03 6.77245262e+00] [ 3.58650530e-02 -1.43581834e-03 9.99355611e-01 6.03027872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:6.77, Z:6.03 [[ 9.95681578e-01 -8.56287850e-02 -3.58595259e-02 1.73842642e+02] [ 8.56277380e-02 9.96325967e-01 -1.56780300e-03 6.77414275e+00] [ 3.58620259e-02 -1.50953752e-03 9.99355611e-01 6.03151550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:6.78, Z:6.03 [[ 9.95504159e-01 -8.76673272e-02 -3.58595832e-02 1.73872905e+02] [ 8.76676468e-02 9.96148548e-01 -1.56649001e-03 6.77608288e+00] [ 3.58588018e-02 -1.58427796e-03 9.99355611e-01 6.03215352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:6.78, Z:6.03 [[ 9.95195932e-01 -9.10996392e-02 -3.58596117e-02 1.73904485e+02] [ 9.11022044e-02 9.95840317e-01 -1.56583845e-03 6.77854211e+00] [ 3.58530944e-02 -1.70857361e-03 9.99355611e-01 6.03313838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:6.78, Z:6.03 [[ 9.95090917e-01 -9.22396442e-02 -3.58596683e-02 1.73937056e+02] [ 9.22429941e-02 9.95735297e-01 -1.56454178e-03 6.78035579e+00] [ 3.58510502e-02 -1.75094186e-03 9.99355611e-01 6.03382052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:6.78, Z:6.03 [[ 9.94947900e-01 -9.37696779e-02 -3.58597823e-02 1.73967907e+02] [ 9.37741128e-02 9.95592274e-01 -1.56192481e-03 6.78222016e+00] [ 3.58481833e-02 -1.80868545e-03 9.99355611e-01 6.03362899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:6.78, Z:6.03 [[ 9.94822790e-01 -9.50877812e-02 -3.58598672e-02 1.74000520e+02] [ 9.50931400e-02 9.95467157e-01 -1.55997281e-03 6.78394243e+00] [ 3.58456544e-02 -1.85813086e-03 9.99355611e-01 6.03463547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:6.79, Z:6.04 [[ 9.94695128e-01 -9.64140264e-02 -3.58599781e-02 1.74032511e+02] [ 9.64203362e-02 9.95339486e-01 -1.55741772e-03 6.78572676e+00] [ 3.58430091e-02 -1.90847533e-03 9.99355611e-01 6.03585047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:6.79, Z:6.04 [[ 9.94549400e-01 -9.79057925e-02 -3.58600906e-02 1.74063530e+02] [ 9.79131618e-02 9.95193748e-01 -1.55482490e-03 6.78783998e+00] [ 3.58399643e-02 -1.96482468e-03 9.99355611e-01 6.03680876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:6.79, Z:6.04 [[ 9.94313083e-01 -1.00277319e-01 -3.58601742e-02 1.74094435e+02] [ 1.00286295e-01 9.94957410e-01 -1.55289429e-03 6.79053946e+00] [ 3.58350661e-02 -2.05222089e-03 9.99355611e-01 6.03709214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:6.79, Z:6.04 [[ 9.94202871e-01 -1.01364162e-01 -3.58602568e-02 1.74125649e+02] [ 1.01373911e-01 9.94847187e-01 -1.55098380e-03 6.79251612e+00] [ 3.58326898e-02 -2.09330192e-03 9.99355611e-01 6.03765826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:6.79, Z:6.04 [[ 9.94102980e-01 -1.02339148e-01 -3.58603378e-02 1.74157939e+02] [ 1.02349596e-01 9.94747285e-01 -1.54910891e-03 6.79487860e+00] [ 3.58305081e-02 -2.13031729e-03 9.99355611e-01 6.03829468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:6.80, Z:6.04 [[ 9.93942520e-01 -1.03885973e-01 -3.58604455e-02 1.74189569e+02] [ 1.03897513e-01 9.94586806e-01 -1.54661125e-03 6.79900380e+00] [ 3.58269972e-02 -2.18856841e-03 9.99355611e-01 6.03929596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:6.80, Z:6.04 [[ 9.93879682e-01 -1.04485402e-01 -3.58605546e-02 1.74221138e+02] [ 1.04497421e-01 9.94523959e-01 -1.54407652e-03 6.80172695e+00] [ 3.58255142e-02 -2.21270920e-03 9.99355611e-01 6.04134227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:6.80, Z:6.04 [[ 9.93809117e-01 -1.05154415e-01 -3.58606663e-02 1.74253143e+02] [ 1.05166962e-01 9.94453385e-01 -1.54148009e-03 6.80470767e+00] [ 3.58238544e-02 -2.23942035e-03 9.99355611e-01 6.04334853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:6.81, Z:6.04 [[ 9.93806215e-01 -1.05181800e-01 -3.58607790e-02 1.74284074e+02] [ 1.05194459e-01 9.94450480e-01 -1.53885349e-03 6.80763536e+00] [ 3.58236282e-02 -2.24303308e-03 9.99355611e-01 6.04443660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:6.81, Z:6.05 [[ 9.93790245e-01 -1.05332559e-01 -3.58608628e-02 1.74315073e+02] [ 1.05345386e-01 9.94434506e-01 -1.53689706e-03 6.81292221e+00] [ 3.58231647e-02 -2.25042313e-03 9.99355611e-01 6.04517162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:6.82, Z:6.05 [[ 9.93831691e-01 -1.04940759e-01 -3.58609452e-02 1.74346695e+02] [ 1.04953401e-01 9.94475956e-01 -1.53497351e-03 6.81609987e+00] [ 3.58239290e-02 -2.23822285e-03 9.99355611e-01 6.04695907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:6.82, Z:6.05 [[ 9.93886375e-01 -1.04421538e-01 -3.58610542e-02 1.74378387e+02] [ 1.04433936e-01 9.94530645e-01 -1.53242180e-03 6.81954083e+00] [ 3.58249352e-02 -2.22205787e-03 9.99355611e-01 6.04832268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:6.82, Z:6.05 [[ 9.93893748e-01 -1.04351307e-01 -3.58611622e-02 1.74411028e+02] [ 1.04363750e-01 9.94538017e-01 -1.52988967e-03 6.82087191e+00] [ 3.58249351e-02 -2.22205760e-03 9.99355611e-01 6.04949530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:6.82, Z:6.05 [[ 9.93988397e-01 -1.03445810e-01 -3.58612701e-02 1.74442714e+02] [ 1.03457757e-01 9.94632676e-01 -1.52735726e-03 6.82413086e+00] [ 3.58267897e-02 -2.19195117e-03 9.99355611e-01 6.05094765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:6.83, Z:6.05 [[ 9.94219224e-01 -1.01203244e-01 -3.58613771e-02 1.74474641e+02] [ 1.01213828e-01 9.94863526e-01 -1.52483972e-03 6.82945662e+00] [ 3.58314948e-02 -2.11364229e-03 9.99355611e-01 6.05274616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:6.83, Z:6.05 [[ 9.94318480e-01 -1.00223319e-01 -3.58614842e-02 1.74507009e+02] [ 1.00233359e-01 9.94962791e-01 -1.52231645e-03 6.83270080e+00] [ 3.58334141e-02 -2.08084964e-03 9.99355611e-01 6.05443881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:6.84, Z:6.06 [[ 9.94561856e-01 -9.77786358e-02 -3.58615919e-02 1.74538919e+02] [ 9.77871827e-02 9.95206188e-01 -1.51977506e-03 6.83802600e+00] [ 3.58382797e-02 -1.99529374e-03 9.99355611e-01 6.05619599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:6.84, Z:6.06 [[ 9.94643387e-01 -9.69457154e-02 -3.58617038e-02 1.74571223e+02] [ 9.69538178e-02 9.95287725e-01 -1.51712961e-03 6.84106697e+00] [ 3.58397929e-02 -1.96792617e-03 9.99355611e-01 6.05617767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:6.84, Z:6.06 [[ 9.94728787e-01 -9.60654377e-02 -3.58618429e-02 1.74603249e+02] [ 9.60730883e-02 9.95373131e-01 -1.51383547e-03 6.84407998e+00] [ 3.58413421e-02 -1.93950228e-03 9.99355611e-01 6.05767579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:6.85, Z:6.06 [[ 9.94807341e-01 -9.52484873e-02 -3.58619491e-02 1.74635780e+02] [ 9.52556993e-02 9.95451690e-01 -1.51131555e-03 6.84701663e+00] [ 3.58427884e-02 -1.91258723e-03 9.99355611e-01 6.05872801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:6.85, Z:6.06 [[ 9.94849695e-01 -9.48050506e-02 -3.58620553e-02 1.74668219e+02] [ 9.48120661e-02 9.95494046e-01 -1.50879094e-03 6.84987733e+00] [ 3.58435035e-02 -1.89913536e-03 9.99355611e-01 6.06042272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:6.85, Z:6.06 [[ 9.94917721e-01 -9.40884309e-02 -3.58621649e-02 1.74700111e+02] [ 9.40950762e-02 9.95562076e-01 -1.50618136e-03 6.85345847e+00] [ 3.58447256e-02 -1.87592662e-03 9.99355611e-01 6.06105847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:6.86, Z:6.06 [[ 9.94939150e-01 -9.38615238e-02 -3.58622739e-02 1.74731917e+02] [ 9.38681155e-02 9.95583505e-01 -1.50358231e-03 6.85579084e+00] [ 3.58450169e-02 -1.87035116e-03 9.99355611e-01 6.06112547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:6.86, Z:6.06 [[ 9.94941420e-01 -9.38374082e-02 -3.58624092e-02 1.74763750e+02] [ 9.38441005e-02 9.95585774e-01 -1.50034846e-03 6.85810272e+00] [ 3.58448932e-02 -1.87271670e-03 9.99355611e-01 6.06304963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:6.86, Z:6.06 [[ 9.94933323e-01 -9.39231759e-02 -3.58625162e-02 1.74796105e+02] [ 9.39300158e-02 9.95577676e-01 -1.49778594e-03 6.86040547e+00] [ 3.58445973e-02 -1.87836957e-03 9.99355611e-01 6.06458867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:6.86, Z:6.07 [[ 9.94877545e-01 -9.45121283e-02 -3.58626250e-02 1.74828154e+02] [ 9.45194434e-02 9.95521893e-01 -1.49517715e-03 6.86337761e+00] [ 3.58433407e-02 -1.90219718e-03 9.99355611e-01 6.06546274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:6.87, Z:6.07 [[ 9.94830461e-01 -9.50064045e-02 -3.58627604e-02 1.74861221e+02] [ 9.50141569e-02 9.95474803e-01 -1.49192124e-03 6.86581672e+00] [ 3.58422164e-02 -1.92326125e-03 9.99355611e-01 6.06658726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:6.87, Z:6.07 [[ 9.94805178e-01 -9.52707111e-02 -3.58629204e-02 1.74893672e+02] [ 9.52787733e-02 9.95449517e-01 -1.48806502e-03 6.86827521e+00] [ 3.58414958e-02 -1.93664028e-03 9.99355611e-01 6.06795899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.93, Y:6.87, Z:6.07 [[ 9.94757340e-01 -9.57688558e-02 -3.58630799e-02 1.74925415e+02] [ 9.57773790e-02 9.95401673e-01 -1.48421245e-03 6.87153853e+00] [ 3.58403110e-02 -1.95844057e-03 9.99355611e-01 6.06883202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:6.87, Z:6.07 [[ 9.94749237e-01 -9.58529476e-02 -3.58631864e-02 1.74958625e+02] [ 9.58616180e-02 9.95393568e-01 -1.48163473e-03 6.87398833e+00] [ 3.58400041e-02 -1.96404805e-03 9.99355611e-01 6.07024489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.99, Y:6.88, Z:6.07 [[ 9.94723266e-01 -9.61220241e-02 -3.58633484e-02 1.74990385e+02] [ 9.61310102e-02 9.95367593e-01 -1.47770102e-03 6.87635050e+00] [ 3.58392544e-02 -1.97767633e-03 9.99355611e-01 6.07148843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:6.88, Z:6.07 [[ 9.94654812e-01 -9.68277668e-02 -3.58634823e-02 1.75021474e+02] [ 9.68373271e-02 9.95299130e-01 -1.47444465e-03 6.87987188e+00] [ 3.58376599e-02 -2.00636030e-03 9.99355611e-01 6.07346355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:6.88, Z:6.08 [[ 9.94615102e-01 -9.72347832e-02 -3.58635615e-02 1.75053858e+02] [ 9.72446764e-02 9.95259416e-01 -1.47251569e-03 6.88225063e+00] [ 3.58367270e-02 -2.02295410e-03 9.99355611e-01 6.07527596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:6.88, Z:6.08 [[ 9.94578170e-01 -9.76117889e-02 -3.58636668e-02 1.75085444e+02] [ 9.76220188e-02 9.95222478e-01 -1.46994635e-03 6.88434584e+00] [ 3.58358115e-02 -2.03910701e-03 9.99355611e-01 6.07680699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:6.89, Z:6.08 [[ 9.94524953e-01 -9.81524817e-02 -3.58637455e-02 1.75118627e+02] [ 9.81631309e-02 9.95169254e-01 -1.46802526e-03 6.88635413e+00] [ 3.58345872e-02 -2.06050979e-03 9.99355611e-01 6.07826880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:6.89, Z:6.08 [[ 9.94345365e-01 -9.99553684e-02 -3.58639038e-02 1.75151667e+02] [ 9.99673251e-02 9.94989643e-01 -1.46414726e-03 6.88862346e+00] [ 3.58305622e-02 -2.12935048e-03 9.99355611e-01 6.07970814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:6.89, Z:6.08 [[ 9.94248881e-01 -1.00910510e-01 -3.58640661e-02 1.75182689e+02] [ 1.00923228e-01 9.94893145e-01 -1.46016171e-03 6.89039919e+00] [ 3.58282591e-02 -2.16775318e-03 9.99355611e-01 6.07953901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.22, Y:6.89, Z:6.08 [[ 9.94191209e-01 -1.01477109e-01 -3.58641463e-02 1.75215916e+02] [ 1.01490265e-01 9.94835464e-01 -1.45818760e-03 6.89204199e+00] [ 3.58268973e-02 -2.19014443e-03 9.99355611e-01 6.08063017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:6.89, Z:6.08 [[ 9.94023581e-01 -1.03106123e-01 -3.58642998e-02 1.75248383e+02] [ 1.03120471e-01 9.94667810e-01 -1.45440329e-03 6.89446931e+00] [ 3.58230224e-02 -2.25263233e-03 9.99355611e-01 6.08219457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:6.90, Z:6.08 [[ 9.93989186e-01 -1.03437121e-01 -3.58644588e-02 1.75279985e+02] [ 1.03451825e-01 9.94633408e-01 -1.45047159e-03 6.89606861e+00] [ 3.58220215e-02 -2.26849065e-03 9.99355611e-01 6.08343251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:6.90, Z:6.08 [[ 9.93982536e-01 -1.03500961e-01 -3.58645902e-02 1.75311770e+02] [ 1.03515824e-01 9.94626754e-01 -1.44721552e-03 6.89838847e+00] [ 3.58216691e-02 -2.27404565e-03 9.99355611e-01 6.08424912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:6.90, Z:6.09 [[ 9.94033557e-01 -1.03009707e-01 -3.58648460e-02 1.75345131e+02] [ 1.03024480e-01 9.94677777e-01 -1.44084791e-03 6.90003325e+00] [ 3.58223866e-02 -2.26270593e-03 9.99355611e-01 6.08573595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:6.90, Z:6.09 [[ 9.94075011e-01 -1.02608835e-01 -3.58650041e-02 1.75377465e+02] [ 1.02623490e-01 9.94719234e-01 -1.43690301e-03 6.90193358e+00] [ 3.58230483e-02 -2.25220253e-03 9.99355611e-01 6.08654010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.41, Y:6.90, Z:6.09 [[ 9.94250281e-01 -1.00896341e-01 -3.58651346e-02 1.75409431e+02] [ 1.00910004e-01 9.94894525e-01 -1.43363605e-03 6.90498039e+00] [ 3.58266747e-02 -2.19375782e-03 9.99355611e-01 6.08790152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:6.91, Z:6.09 [[ 9.94294141e-01 -1.00463319e-01 -3.58647794e-02 1.75440743e+02] [ 1.00476381e-01 9.94938398e-01 -1.44254797e-03 6.90731799e+00] [ 3.58281693e-02 -2.16924625e-03 9.99355611e-01 6.08876332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:6.91, Z:6.09 [[ 9.94429866e-01 -9.91105583e-02 -3.58655750e-02 1.75472074e+02] [ 9.91234649e-02 9.95074126e-01 -1.42248692e-03 6.90931100e+00] [ 3.58298892e-02 -2.14055659e-03 9.99355611e-01 6.08861887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:6.91, Z:6.09 [[ 9.94776010e-01 -9.55737722e-02 -3.58656516e-02 1.75504095e+02] [ 9.55844572e-02 9.95420310e-01 -1.42055357e-03 6.91235265e+00] [ 3.58371657e-02 -2.01506623e-03 9.99355611e-01 6.08971615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:6.91, Z:6.09 [[ 9.94963254e-01 -9.36043270e-02 -3.58657523e-02 1.75534775e+02] [ 9.36138280e-02 9.95607574e-01 -1.41800739e-03 6.91477002e+00] [ 3.58409462e-02 -1.94666512e-03 9.99355611e-01 6.09081313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.57, Y:6.92, Z:6.09 [[ 9.95167919e-01 -9.14027054e-02 -3.58658270e-02 1.75567379e+02] [ 9.14108488e-02 9.95812257e-01 -1.41611535e-03 6.91748722e+00] [ 3.58450669e-02 -1.86925312e-03 9.99355611e-01 6.09248501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:6.92, Z:6.09 [[ 9.95548264e-01 -8.71624110e-02 -3.58659758e-02 1.75599445e+02] [ 8.71679453e-02 9.96192629e-01 -1.41233636e-03 6.92157314e+00] [ 3.58525234e-02 -1.72031440e-03 9.99355611e-01 6.09483987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:6.92, Z:6.10 [[ 9.95691878e-01 -8.55061872e-02 -3.58660759e-02 1.75632727e+02] [ 8.55107411e-02 9.96336251e-01 -1.40978882e-03 6.92429885e+00] [ 3.58552173e-02 -1.66321946e-03 9.99355611e-01 6.09660293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.67, Y:6.93, Z:6.10 [[ 9.95933592e-01 -8.26431717e-02 -3.58662284e-02 1.75665653e+02] [ 8.26460127e-02 9.96577975e-01 -1.40590032e-03 6.92785745e+00] [ 3.58596813e-02 -1.56401741e-03 9.99355611e-01 6.09810324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:6.93, Z:6.10 [[ 9.95939567e-01 -8.25710680e-02 -3.58663813e-02 1.75698303e+02] [ 8.25740030e-02 9.96583950e-01 -1.40198858e-03 6.92907479e+00] [ 3.58596236e-02 -1.56533478e-03 9.99355611e-01 6.09927543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:6.93, Z:6.10 [[ 9.96058391e-01 -8.11250717e-02 -3.58664824e-02 1.75729905e+02] [ 8.11271644e-02 9.96702777e-01 -1.39939530e-03 6.93106860e+00] [ 3.58617487e-02 -1.51586658e-03 9.99355611e-01 6.10015891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:6.93, Z:6.10 [[ 9.96217076e-01 -7.91525590e-02 -3.58665577e-02 1.75762464e+02] [ 7.91534451e-02 9.96861464e-01 -1.39746353e-03 6.93395515e+00] [ 3.58646021e-02 -1.44678458e-03 9.99355611e-01 6.10114736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:6.94, Z:6.10 [[ 9.96288044e-01 -7.82541823e-02 -3.58666569e-02 1.75794485e+02] [ 7.82545790e-02 9.96932433e-01 -1.39491383e-03 6.93612542e+00] [ 3.58657913e-02 -1.41699417e-03 9.99355611e-01 6.10281268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:6.94, Z:6.10 [[ 9.96344804e-01 -7.75281043e-02 -3.58667581e-02 1.75826514e+02] [ 7.75281251e-02 9.96989193e-01 -1.39230725e-03 6.93815308e+00] [ 3.58667131e-02 -1.39346441e-03 9.99355611e-01 6.10413154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:6.94, Z:6.11 [[ 9.96351122e-01 -7.74468243e-02 -3.58668586e-02 1.75858179e+02] [ 7.74468858e-02 9.96995511e-01 -1.38971284e-03 6.94043805e+00] [ 3.58667258e-02 -1.39313455e-03 9.99355611e-01 6.10533201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:6.94, Z:6.11 [[ 9.96330735e-01 -7.77086051e-02 -3.58669595e-02 1.75890109e+02] [ 7.77089297e-02 9.96975124e-01 -1.38710374e-03 6.94227437e+00] [ 3.58662563e-02 -1.40516894e-03 9.99355611e-01 6.10635928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:6.94, Z:6.11 [[ 9.96296122e-01 -7.81510811e-02 -3.58670601e-02 1.75921753e+02] [ 7.81517855e-02 9.96940511e-01 -1.38449714e-03 6.94411273e+00] [ 3.58655252e-02 -1.42370566e-03 9.99355611e-01 6.10696739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:6.95, Z:6.11 [[ 9.96218424e-01 -7.91353121e-02 -3.58671598e-02 1.75953634e+02] [ 7.91367461e-02 9.96862812e-01 -1.38190958e-03 6.94591320e+00] [ 3.58639956e-02 -1.46172654e-03 9.99355611e-01 6.10836649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:6.95, Z:6.11 [[ 9.96005570e-01 -8.17706838e-02 -3.58672583e-02 1.75985942e+02] [ 8.17739148e-02 9.96649951e-01 -1.37934806e-03 6.94783977e+00] [ 3.58598915e-02 -1.55916777e-03 9.99355611e-01 6.10915328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:6.95, Z:6.11 [[ 9.95890970e-01 -8.31547320e-02 -3.58673582e-02 1.76018177e+02] [ 8.31589520e-02 9.96535345e-01 -1.37674644e-03 6.94899390e+00] [ 3.58575731e-02 -1.61160257e-03 9.99355611e-01 6.10947560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:6.95, Z:6.11 [[ 9.95580940e-01 -8.67877607e-02 -3.58674819e-02 1.76051605e+02] [ 8.67944478e-02 9.96225294e-01 -1.37351658e-03 6.94986867e+00] [ 3.58512971e-02 -1.74565135e-03 9.99355611e-01 6.11036314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:176.08, Y:6.95, Z:6.11 [[ 9.95350589e-01 -8.93908151e-02 -3.58676255e-02 1.76081624e+02] [ 8.93993223e-02 9.95994922e-01 -1.36975409e-03 6.95216033e+00] [ 3.58464163e-02 -1.84315588e-03 9.99355611e-01 6.11044761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:6.95, Z:6.11 [[ 9.95261787e-01 -9.03779638e-02 -3.58580470e-02 1.76114547e+02] [ 9.03781422e-02 9.95906205e-01 -1.61926616e-03 6.95162690e+00] [ 3.58575975e-02 -1.62918993e-03 9.99355582e-01 6.11342190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:6.95, Z:6.12 [[ 9.94994193e-01 -9.32741070e-02 -3.58677755e-02 1.76147119e+02] [ 9.32853582e-02 9.95638480e-01 -1.36335328e-03 6.95250064e+00] [ 3.58385031e-02 -1.98940969e-03 9.99355614e-01 6.11515485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.18, Y:6.95, Z:6.12 [[ 9.94899912e-01 -9.42743729e-02 -3.58679244e-02 1.76180062e+02] [ 9.42864129e-02 9.95544185e-01 -1.35942668e-03 6.95345662e+00] [ 3.58362626e-02 -2.02936444e-03 9.99355614e-01 6.11604340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:6.95, Z:6.12 [[ 9.94864177e-01 -9.46506770e-02 -3.58680718e-02 1.76212375e+02] [ 9.46631009e-02 9.95508443e-01 -1.35552558e-03 6.95438358e+00] [ 3.58352697e-02 -2.04681906e-03 9.99355614e-01 6.11695223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:6.96, Z:6.12 [[ 9.94829432e-01 -9.50150801e-02 -3.58683133e-02 1.76245671e+02] [ 9.50279707e-02 9.95473689e-01 -1.34910514e-03 6.95541927e+00] [ 3.58341475e-02 -2.06636352e-03 9.99355614e-01 6.11802789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:6.96, Z:6.12 [[ 9.94908905e-01 -9.41792165e-02 -3.58684568e-02 1.76278933e+02] [ 9.41917033e-02 9.95553169e-01 -1.34527973e-03 6.95640110e+00] [ 3.58356532e-02 -2.04008025e-03 9.99355614e-01 6.11947726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:6.96, Z:6.12 [[ 9.94979810e-01 -9.34270887e-02 -3.58686047e-02 1.76309828e+02] [ 9.34392306e-02 9.95624081e-01 -1.34132418e-03 6.95749011e+00] [ 3.58369626e-02 -2.01694435e-03 9.99355614e-01 6.12045527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:6.96, Z:6.12 [[ 9.95076404e-01 -9.23925774e-02 -3.58686778e-02 1.76342665e+02] [ 9.24041199e-02 9.95720686e-01 -1.33936650e-03 6.95877503e+00] [ 3.58389320e-02 -1.98164160e-03 9.99355614e-01 6.12227099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:6.96, Z:6.12 [[ 9.95370455e-01 -8.91688561e-02 -3.58688209e-02 1.76373829e+02] [ 8.91784496e-02 9.96014769e-01 -1.33552337e-03 6.96109385e+00] [ 3.58449624e-02 -1.86938533e-03 9.99355614e-01 6.12041707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.41, Y:6.96, Z:6.12 [[ 9.95467112e-01 -8.80853478e-02 -3.58636421e-02 1.76406367e+02] [ 8.80892361e-02 9.96111496e-01 -1.47475570e-03 6.96298707e+00] [ 3.58540905e-02 -1.69113003e-03 9.99355605e-01 6.12218633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.44, Y:6.96, Z:6.12 [[ 9.95486492e-01 -8.78667660e-02 -3.58619076e-02 1.76439076e+02] [ 8.78688329e-02 9.96130892e-01 -1.52149766e-03 6.96405564e+00] [ 3.58568430e-02 -1.63651359e-03 9.99355597e-01 6.12337789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.47, Y:6.97, Z:6.12 [[ 9.95605885e-01 -8.65033276e-02 -3.58621841e-02 1.76470909e+02] [ 8.65047813e-02 9.96250285e-01 -1.51400396e-03 6.96567067e+00] [ 3.58586775e-02 -1.59489914e-03 9.99355598e-01 6.12420593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:6.97, Z:6.13 [[ 9.95739252e-01 -8.49545634e-02 -3.58617354e-02 1.76504406e+02] [ 8.49545759e-02 9.96383656e-01 -1.52621291e-03 6.96673075e+00] [ 3.58617058e-02 -1.52690842e-03 9.99355596e-01 6.12798969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:6.97, Z:6.13 [[ 9.95829244e-01 -8.38896990e-02 -3.58697016e-02 1.76536155e+02] [ 8.38968745e-02 9.96473584e-01 -1.30773195e-03 6.96782216e+00] [ 3.58529154e-02 -1.70707814e-03 9.99355620e-01 6.12828911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:6.97, Z:6.13 [[ 9.95943074e-01 -8.25272774e-02 -3.58697938e-02 1.76568554e+02] [ 8.25336624e-02 9.96587423e-01 -1.30519921e-03 6.96923369e+00] [ 3.58550999e-02 -1.66056134e-03 9.99355620e-01 6.12884338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:6.97, Z:6.13 [[ 9.96063463e-01 -8.10612628e-02 -3.58698853e-02 1.76600188e+02] [ 8.10667900e-02 9.96707820e-01 -1.30267873e-03 6.97055001e+00] [ 3.58573920e-02 -1.61030577e-03 9.99355620e-01 6.12930062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:6.97, Z:6.13 [[ 9.96173586e-01 -7.96964848e-02 -3.58699989e-02 1.76633208e+02] [ 7.97012419e-02 9.96817949e-01 -1.29954385e-03 6.97213238e+00] [ 3.58594278e-02 -1.56431221e-03 9.99355620e-01 6.13083249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:6.97, Z:6.13 [[ 9.96434641e-01 -7.63632035e-02 -3.58701402e-02 1.76665241e+02] [ 7.63659452e-02 9.97079016e-01 -1.29563335e-03 6.97361943e+00] [ 3.58643028e-02 -1.44824321e-03 9.99355620e-01 6.13175751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:6.97, Z:6.13 [[ 9.96561105e-01 -7.46946438e-02 -3.58702337e-02 1.76696558e+02] [ 7.46963998e-02 9.97205483e-01 -1.29303870e-03 6.97489296e+00] [ 3.58665768e-02 -1.39078524e-03 9.99355620e-01 6.13268726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:6.98, Z:6.13 [[ 9.96773901e-01 -7.17990681e-02 -3.58703794e-02 1.76727699e+02] [ 7.17990977e-02 9.97418281e-01 -1.28898460e-03 6.97571570e+00] [ 3.58703200e-02 -1.29063466e-03 9.99355620e-01 6.13461344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:6.98, Z:6.14 [[ 9.96886311e-01 -7.02209975e-02 -3.58705254e-02 1.76760237e+02] [ 7.02201536e-02 9.97530691e-01 -1.28490703e-03 6.97681775e+00] [ 3.58721775e-02 -1.23792758e-03 9.99355620e-01 6.13663321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:6.98, Z:6.13 [[ 9.97042352e-01 -6.79694602e-02 -3.58706166e-02 1.76790669e+02] [ 6.79672527e-02 9.97686728e-01 -1.28235677e-03 6.97859368e+00] [ 3.58747992e-02 -1.15946325e-03 9.99355620e-01 6.13493404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:6.98, Z:6.14 [[ 9.97095684e-01 -6.71876906e-02 -3.58609959e-02 1.76823350e+02] [ 6.71753442e-02 9.97739981e-01 -1.55041270e-03 6.97888917e+00] [ 3.58841180e-02 -8.63064926e-04 9.99355585e-01 6.13970829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:6.98, Z:6.14 [[ 9.97219159e-01 -6.53241291e-02 -3.58706901e-02 1.76855104e+02] [ 6.53203525e-02 9.97863526e-01 -1.27844836e-03 6.97922308e+00] [ 3.58775669e-02 -1.06819293e-03 9.99355622e-01 6.14113949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:6.98, Z:6.14 [[ 9.97259890e-01 -6.46992916e-02 -3.58707823e-02 1.76886589e+02] [ 6.46952043e-02 9.97904255e-01 -1.27585834e-03 6.97979475e+00] [ 3.58781534e-02 -1.04830523e-03 9.99355622e-01 6.14248867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:6.98, Z:6.14 [[ 9.97287590e-01 -6.42708757e-02 -3.58708509e-02 1.76918301e+02] [ 6.42665811e-02 9.97931953e-01 -1.27392634e-03 6.97997882e+00] [ 3.58785446e-02 -1.03482601e-03 9.99355622e-01 6.14378868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:6.98, Z:6.15 [[ 9.97243038e-01 -6.49584674e-02 -3.58708962e-02 1.76949789e+02] [ 6.49546629e-02 9.97887405e-01 -1.27264919e-03 6.97909435e+00] [ 3.58777848e-02 -1.06084142e-03 9.99355622e-01 6.14509278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:6.98, Z:6.15 [[ 9.97202726e-01 -6.55743817e-02 -3.58709414e-02 1.76981070e+02] [ 6.55710210e-02 9.97847095e-01 -1.27137431e-03 6.97922053e+00] [ 3.58770842e-02 -1.08427632e-03 9.99355622e-01 6.14606984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:6.98, Z:6.15 [[ 9.97046646e-01 -6.79061877e-02 -3.58710830e-02 1.77011973e+02] [ 6.79044780e-02 9.97691022e-01 -1.26736443e-03 6.97873435e+00] [ 3.58743194e-02 -1.17218571e-03 9.99355622e-01 6.14685529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.04, Y:6.98, Z:6.15 [[ 9.96960134e-01 -6.91646793e-02 -3.58711277e-02 1.77044272e+02] [ 6.91638284e-02 9.97604512e-01 -1.26609931e-03 6.97911284e+00] [ 3.58727682e-02 -1.21873398e-03 9.99355622e-01 6.14766780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:6.98, Z:6.15 [[ 9.96859082e-01 -7.06061302e-02 -3.58712193e-02 1.77075481e+02] [ 7.06063046e-02 9.97503460e-01 -1.26349852e-03 6.97939185e+00] [ 3.58708761e-02 -1.27320426e-03 9.99355622e-01 6.14807866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:6.98, Z:6.15 [[ 9.96762975e-01 -7.19501334e-02 -3.58712875e-02 1.77107794e+02] [ 7.19512463e-02 9.97407352e-01 -1.26155851e-03 6.97988585e+00] [ 3.58690552e-02 -1.32350903e-03 9.99355622e-01 6.14866726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.14, Y:6.98, Z:6.15 [[ 9.96581999e-01 -7.44148103e-02 -3.58713769e-02 1.77138548e+02] [ 7.44176082e-02 9.97226371e-01 -1.25901299e-03 6.97938455e+00] [ 3.58655722e-02 -1.41475239e-03 9.99355622e-01 6.14885047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:6.98, Z:6.15 [[ 9.96515051e-01 -7.53059940e-02 -3.58714434e-02 1.77170783e+02] [ 7.53094363e-02 9.97159420e-01 -1.25711556e-03 6.97983938e+00] [ 3.58642160e-02 -1.44872360e-03 9.99355622e-01 6.15035642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:6.98, Z:6.15 [[ 9.96454003e-01 -7.61094801e-02 -3.58715334e-02 1.77202700e+02] [ 7.61135345e-02 9.97098368e-01 -1.25454214e-03 6.98055252e+00] [ 3.58629299e-02 -1.48021566e-03 9.99355622e-01 6.15188389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:6.98, Z:6.15 [[ 9.96350178e-01 -7.74567636e-02 -3.58716248e-02 1.77233451e+02] [ 7.74617834e-02 9.96994536e-01 -1.25192207e-03 6.98170386e+00] [ 3.58607838e-02 -1.53132725e-03 9.99355622e-01 6.15404695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:6.98, Z:6.16 [[ 9.96328775e-01 -7.77315493e-02 -3.58716928e-02 1.77265112e+02] [ 7.77368169e-02 9.96973131e-01 -1.24997213e-03 6.98307897e+00] [ 3.58602761e-02 -1.54316801e-03 9.99355622e-01 6.15568127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:6.98, Z:6.16 [[ 9.96289788e-01 -7.82296175e-02 -3.58717816e-02 1.77297065e+02] [ 7.82352990e-02 9.96934141e-01 -1.24741619e-03 6.98442952e+00] [ 3.58593887e-02 -1.56365155e-03 9.99355622e-01 6.15698576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:6.99, Z:6.16 [[ 9.96214512e-01 -7.91824174e-02 -3.58718712e-02 1.77328038e+02] [ 7.91888079e-02 9.96858858e-01 -1.24483568e-03 6.98558591e+00] [ 3.58577617e-02 -1.60052735e-03 9.99355622e-01 6.15850588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:6.99, Z:6.16 [[ 9.96143384e-01 -8.00722380e-02 -3.58719378e-02 1.77357716e+02] [ 8.00792731e-02 9.96787723e-01 -1.24291335e-03 6.98727176e+00] [ 3.58562301e-02 -1.63447879e-03 9.99355622e-01 6.15812772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:6.99, Z:6.16 [[ 9.96061313e-01 -8.10903081e-02 -3.58639553e-02 1.77390400e+02] [ 8.10897761e-02 9.96705715e-01 -1.47180102e-03 6.98704459e+00] [ 3.58651580e-02 -1.44219605e-03 9.99355598e-01 6.16030189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:6.99, Z:6.16 [[ 9.95962539e-01 -8.22911248e-02 -3.58718698e-02 1.77421202e+02] [ 8.22995734e-02 9.96606860e-01 -1.24351982e-03 6.98751838e+00] [ 3.58524821e-02 -1.71374042e-03 9.99355624e-01 6.16092014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:6.99, Z:6.16 [[ 9.95833660e-01 -8.38363044e-02 -3.58719356e-02 1.77453089e+02] [ 8.38458210e-02 9.96477966e-01 -1.24161903e-03 6.98816355e+00] [ 3.58496861e-02 -1.77126587e-03 9.99355624e-01 6.16200896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:6.99, Z:6.16 [[ 9.95617317e-01 -8.63675606e-02 -3.58720229e-02 1.77484674e+02] [ 8.63788060e-02 9.96261595e-01 -1.23909058e-03 6.98762381e+00] [ 3.58449360e-02 -1.86492247e-03 9.99355624e-01 6.15992600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:6.99, Z:6.16 [[ 9.95393964e-01 -8.89056842e-02 -3.58697050e-02 1.77516988e+02] [ 8.89161453e-02 9.96038258e-01 -1.30663191e-03 6.98870042e+00] [ 3.58437655e-02 -1.88878238e-03 9.99355621e-01 6.16199815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:6.99, Z:6.16 [[ 9.95193031e-01 -9.11285024e-02 -3.58667978e-02 1.77550028e+02] [ 9.11373549e-02 9.95837359e-01 -1.39144611e-03 6.98885763e+00] [ 3.58442976e-02 -1.88404760e-03 9.99355611e-01 6.16417026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.58, Y:6.99, Z:6.17 [[ 9.95072742e-01 -9.24304702e-02 -3.58726274e-02 1.77582835e+02] [ 9.24463236e-02 9.95716922e-01 -1.22005621e-03 6.98898285e+00] [ 3.58317525e-02 -2.10224784e-03 9.99355625e-01 6.16510988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.61, Y:6.99, Z:6.17 [[ 9.94958202e-01 -9.36553357e-02 -3.58727607e-02 1.77614425e+02] [ 9.36721232e-02 9.95602358e-01 -1.21612528e-03 6.98933997e+00] [ 3.58289017e-02 -2.15028384e-03 9.99355625e-01 6.16553731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:6.99, Z:6.17 [[ 9.94824905e-01 -9.50607634e-02 -3.58728265e-02 1.77646525e+02] [ 9.50785307e-02 9.95469035e-01 -1.21417984e-03 6.99007434e+00] [ 3.58257088e-02 -2.20283930e-03 9.99355625e-01 6.16591488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:6.99, Z:6.17 [[ 9.94829035e-01 -9.50175039e-02 -3.58729148e-02 1.77678598e+02] [ 9.50353371e-02 9.95473162e-01 -1.21156667e-03 6.99122813e+00] [ 3.58256440e-02 -2.20389285e-03 9.99355625e-01 6.16657160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:6.99, Z:6.17 [[ 9.94838169e-01 -9.49217832e-02 -3.58730026e-02 1.77709333e+02] [ 9.49396479e-02 9.95482296e-01 -1.20896214e-03 6.99271766e+00] [ 3.58256958e-02 -2.20304855e-03 9.99355625e-01 6.16713369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:6.99, Z:6.17 [[ 9.94872091e-01 -9.45655605e-02 -3.58730679e-02 1.77742252e+02] [ 9.45832644e-02 9.95516222e-01 -1.20702123e-03 6.99409715e+00] [ 3.58263636e-02 -2.19216013e-03 9.99355625e-01 6.16821985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:7.00, Z:6.17 [[ 9.95039592e-01 -9.27864380e-02 -3.58731975e-02 1.77775645e+02] [ 9.28031289e-02 9.95683751e-01 -1.20315655e-03 6.99591752e+00] [ 3.58299964e-02 -2.13195656e-03 9.99355625e-01 6.16937737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:7.00, Z:6.17 [[ 9.95165139e-01 -9.14300294e-02 -3.58733266e-02 1.77807080e+02] [ 9.14459810e-02 9.95809316e-01 -1.19929393e-03 6.99756481e+00] [ 3.58326443e-02 -2.08697604e-03 9.99355625e-01 6.17033377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:7.00, Z:6.17 [[ 9.95274238e-01 -9.02346136e-02 -3.58734656e-02 1.77838760e+02] [ 9.02499413e-02 9.95918430e-01 -1.19512213e-03 6.99941152e+00] [ 3.58348869e-02 -2.04810390e-03 9.99355625e-01 6.17274348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:7.00, Z:6.17 [[ 9.95438263e-01 -8.84067429e-02 -3.58735519e-02 1.77869644e+02] [ 8.84209808e-02 9.96082481e-01 -1.19252696e-03 7.00177021e+00] [ 3.58384440e-02 -1.98488768e-03 9.99355625e-01 6.17472292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:7.00, Z:6.18 [[ 9.95514812e-01 -8.75405214e-02 -3.58736161e-02 1.77902113e+02] [ 8.75542683e-02 9.96159040e-01 -1.19059215e-03 7.00334418e+00] [ 3.58400520e-02 -1.95563608e-03 9.99355625e-01 6.17670297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:7.01, Z:6.18 [[ 9.95592181e-01 -8.66561272e-02 -3.58737459e-02 1.77934458e+02] [ 8.66694428e-02 9.96236417e-01 -1.18666659e-03 7.00514264e+00] [ 3.58415641e-02 -1.92772160e-03 9.99355625e-01 6.17775663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:7.01, Z:6.18 [[ 9.95645935e-01 -8.60362178e-02 -3.58739511e-02 1.77965155e+02] [ 8.60493563e-02 9.96290176e-01 -1.18043202e-03 7.00735339e+00] [ 3.58424249e-02 -1.91163806e-03 9.99355625e-01 6.17893219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:7.01, Z:6.18 [[ 9.95671059e-01 -8.57449608e-02 -3.58740129e-02 1.77998110e+02] [ 8.57579784e-02 9.96315302e-01 -1.17855063e-03 7.00857620e+00] [ 3.58428827e-02 -1.90303407e-03 9.99355625e-01 6.18085455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:7.01, Z:6.18 [[ 9.95698915e-01 -8.54208201e-02 -3.58741401e-02 1.78030842e+02] [ 8.54337676e-02 9.96343160e-01 -1.17466618e-03 7.00957433e+00] [ 3.58432950e-02 -1.89524910e-03 9.99355626e-01 6.18233989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:7.01, Z:6.18 [[ 9.95743391e-01 -8.49007392e-02 -3.58742678e-02 1.78063364e+02] [ 8.49134908e-02 9.96387640e-01 -1.17075146e-03 7.01069123e+00] [ 3.58440747e-02 -1.88044128e-03 9.99355626e-01 6.18295455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:7.01, Z:6.18 [[ 9.95792153e-01 -8.43268040e-02 -3.58744709e-02 1.78096260e+02] [ 8.43394090e-02 9.96436404e-01 -1.16449644e-03 7.01203905e+00] [ 3.58448270e-02 -1.86603525e-03 9.99355626e-01 6.18495009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:7.01, Z:6.19 [[ 9.95902638e-01 -8.30117414e-02 -3.58745965e-02 1.78127739e+02] [ 8.30236351e-02 9.96546903e-01 -1.16061403e-03 7.01423877e+00] [ 3.58470626e-02 -1.82258084e-03 9.99355626e-01 6.18640836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:7.02, Z:6.19 [[ 9.95925313e-01 -8.27392059e-02 -3.58747002e-02 1.78159339e+02] [ 8.27510389e-02 9.96569579e-01 -1.15739851e-03 7.01587400e+00] [ 3.58473971e-02 -1.81598624e-03 9.99355626e-01 6.18777105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:7.02, Z:6.19 [[ 9.95971057e-01 -8.21866855e-02 -3.58748015e-02 1.78191178e+02] [ 8.21982741e-02 9.96615328e-01 -1.15425060e-03 7.01795828e+00] [ 3.58482411e-02 -1.79924658e-03 9.99355626e-01 6.18910474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:7.02, Z:6.19 [[ 9.96094021e-01 -8.06826710e-02 -3.58748832e-02 1.78223732e+02] [ 8.06933781e-02 9.96738307e-01 -1.15170694e-03 7.01901096e+00] [ 3.58507931e-02 -1.74765711e-03 9.99355626e-01 6.18933032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:7.02, Z:6.19 [[ 9.96253236e-01 -7.86922936e-02 -3.58749640e-02 1.78255275e+02] [ 7.87018041e-02 9.96897540e-01 -1.14918376e-03 7.02008956e+00] [ 3.58540953e-02 -1.67854635e-03 9.99355626e-01 6.18951255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.29, Y:7.02, Z:6.19 [[ 9.96459323e-01 -7.60381492e-02 -3.58750242e-02 1.78287797e+02] [ 7.60460109e-02 9.97103650e-01 -1.14730233e-03 7.02138351e+00] [ 3.58583563e-02 -1.58491238e-03 9.99355626e-01 6.19090423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:7.02, Z:6.19 [[ 9.96886574e-01 -7.02149190e-02 -3.58751064e-02 1.78318731e+02] [ 7.02191086e-02 9.97530935e-01 -1.14472484e-03 7.02385151e+00] [ 3.58669052e-02 -1.37795717e-03 9.99355626e-01 6.19238061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:7.03, Z:6.19 [[ 9.97094978e-01 -6.71906076e-02 -3.58751676e-02 1.78349881e+02] [ 6.71929116e-02 9.97739348e-01 -1.14280314e-03 7.02568520e+00] [ 3.58708520e-02 -1.27107370e-03 9.99355626e-01 6.19268287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:7.03, Z:6.20 [[ 9.97289652e-01 -6.42364256e-02 -3.58752274e-02 1.78382337e+02] [ 6.42368883e-02 9.97934026e-01 -1.14092343e-03 7.02731763e+00] [ 3.58743990e-02 -1.16668184e-03 9.99355626e-01 6.19554226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.41, Y:7.03, Z:6.20 [[ 9.97351765e-01 -6.32646816e-02 -3.58753063e-02 1.78410995e+02] [ 6.32646057e-02 9.97996139e-01 -1.13843796e-03 7.03200701e+00] [ 3.58754401e-02 -1.13421400e-03 9.99355626e-01 6.19663017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.44, Y:7.03, Z:6.20 [[ 9.97829214e-01 -5.52324854e-02 -3.58640857e-02 1.78443732e+02] [ 5.52146024e-02 9.98473399e-01 -1.48962566e-03 7.02989524e+00] [ 3.58916112e-02 -4.93829228e-04 9.99355567e-01 6.19871718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:7.03, Z:6.20 [[ 9.97829513e-01 -5.52198067e-02 -3.58752803e-02 1.78474706e+02] [ 5.52146134e-02 9.98473863e-01 -1.13624091e-03 7.03070383e+00] [ 3.58832727e-02 -8.47065018e-04 9.99355629e-01 6.19970726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:7.03, Z:6.20 [[ 9.97959424e-01 -5.28199919e-02 -3.58752803e-02 1.78504334e+02] [ 5.28132490e-02 9.98603760e-01 -1.13624091e-03 7.03143249e+00] [ 3.58852060e-02 -7.60767787e-04 9.99355629e-01 6.20128574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:7.03, Z:6.20 [[ 9.98182180e-01 -4.84283237e-02 -3.58752417e-02 1.78532800e+02] [ 4.84187020e-02 9.98826479e-01 -1.13745807e-03 7.03212121e+00] [ 3.58882265e-02 -6.01642263e-04 9.99355629e-01 6.20353511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:7.03, Z:6.21 [[ 9.98284110e-01 -4.62796491e-02 -3.58751842e-02 1.78562838e+02] [ 4.62685755e-02 9.98928386e-01 -1.13926737e-03 7.03305079e+00] [ 3.58894648e-02 -5.22581156e-04 9.99355629e-01 6.20571324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:7.03, Z:6.21 [[ 9.98371991e-01 -4.43434571e-02 -3.58751435e-02 1.78591565e+02] [ 4.43310880e-02 9.99016243e-01 -1.14054807e-03 7.03391838e+00] [ 3.58904269e-02 -4.51692898e-04 9.99355629e-01 6.20688866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:7.03, Z:6.21 [[ 9.98538687e-01 -4.04164065e-02 -3.58748533e-02 1.78619703e+02] [ 4.04011783e-02 9.99182878e-01 -1.14960427e-03 7.03343217e+00] [ 3.58920021e-02 -3.01462004e-04 9.99355629e-01 6.20810617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:7.03, Z:6.21 [[ 9.98527021e-01 -4.07039054e-02 -3.58745196e-02 1.78648052e+02] [ 4.06884917e-02 9.99171207e-01 -1.15992665e-03 7.03441160e+00] [ 3.58920006e-02 -3.01461992e-04 9.99355629e-01 6.20912853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:7.03, Z:6.21 [[ 9.98584196e-01 -3.92765411e-02 -3.58741828e-02 1.78676469e+02] [ 3.92598359e-02 9.99228350e-01 -1.17024893e-03 7.03313572e+00] [ 3.58924639e-02 -2.39822446e-04 9.99355629e-01 6.21016410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:7.03, Z:6.21 [[ 9.98554479e-01 -4.00252523e-02 -3.58738420e-02 1.78704839e+02] [ 4.00086579e-02 9.99198636e-01 -1.18060738e-03 7.03299814e+00] [ 3.58923480e-02 -2.56363487e-04 9.99355629e-01 6.21117742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:7.03, Z:6.21 [[ 9.98517303e-01 -4.09424962e-02 -3.58734972e-02 1.78731852e+02] [ 4.09261205e-02 9.99161466e-01 -1.19099172e-03 7.03289522e+00] [ 3.58921782e-02 -2.78937229e-04 9.99355629e-01 6.21159442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:7.03, Z:6.21 [[ 9.98454341e-01 -4.24503424e-02 -3.58733473e-02 1.78759465e+02] [ 4.24347778e-02 9.99098524e-01 -1.19549070e-03 7.03252457e+00] [ 3.58917573e-02 -3.28634642e-04 9.99355629e-01 6.21210886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:7.03, Z:6.21 [[ 9.98297404e-01 -4.59937129e-02 -3.58730020e-02 1.78787821e+02] [ 4.59800656e-02 9.98941630e-01 -1.20576397e-03 7.03017729e+00] [ 3.58904926e-02 -4.45731940e-04 9.99355629e-01 6.21129640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:7.03, Z:6.21 [[ 9.98162491e-01 -4.88343523e-02 -3.58726544e-02 1.78815911e+02] [ 4.88221699e-02 9.98806747e-01 -1.21601800e-03 7.03068515e+00] [ 3.58892327e-02 -5.37597271e-04 9.99355629e-01 6.21194528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:7.03, Z:6.21 [[ 9.97934768e-01 -5.32874683e-02 -3.58698166e-02 1.78844495e+02] [ 5.32751752e-02 9.98579024e-01 -1.29910070e-03 7.02883162e+00] [ 3.58880723e-02 -6.14553005e-04 9.99355627e-01 6.21230709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:7.03, Z:6.21 [[ 9.97901652e-01 -5.39087373e-02 -3.58628126e-02 1.78874293e+02] [ 5.38895386e-02 9.98545773e-01 -1.50245135e-03 7.02544002e+00] [ 3.58916551e-02 -4.33331737e-04 9.99355593e-01 6.21328382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:7.02, Z:6.21 [[ 9.97807779e-01 -5.56131899e-02 -3.58721297e-02 1.78904344e+02] [ 5.56048463e-02 9.98452095e-01 -1.23097852e-03 7.02444761e+00] [ 3.58850617e-02 -7.66384310e-04 9.99355630e-01 6.21406105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:7.02, Z:6.22 [[ 9.97654558e-01 -5.82973017e-02 -3.58720871e-02 1.78933790e+02] [ 5.82906469e-02 9.98298894e-01 -1.23221906e-03 7.02184448e+00] [ 3.58828999e-02 -8.61678198e-04 9.99355630e-01 6.21583851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:7.02, Z:6.22 [[ 9.97598882e-01 -5.92424371e-02 -3.58720427e-02 1.78964435e+02] [ 5.92363463e-02 9.98243224e-01 -1.23350898e-03 7.02116144e+00] [ 3.58820996e-02 -8.94381566e-04 9.99355630e-01 6.21746417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:7.02, Z:6.22 [[ 9.97514591e-01 -6.06451764e-02 -3.58720427e-02 1.78994372e+02] [ 6.06399917e-02 9.98158940e-01 -1.23350898e-03 7.01913588e+00] [ 3.58808065e-02 -9.44837166e-04 9.99355630e-01 6.21926135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:7.02, Z:6.22 [[ 9.97479953e-01 -6.12122669e-02 -3.58720207e-02 1.79025370e+02] [ 6.12074255e-02 9.98124305e-01 -1.23414933e-03 7.01866325e+00] [ 3.58802808e-02 -9.64594817e-04 9.99355630e-01 6.22054834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.06, Y:7.02, Z:6.22 [[ 9.97467647e-01 -6.14124677e-02 -3.58720207e-02 1.79056186e+02] [ 6.14077556e-02 9.98112000e-01 -1.23414933e-03 7.01802022e+00] [ 3.58800865e-02 -9.71796250e-04 9.99355630e-01 6.22166728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:7.02, Z:6.22 [[ 9.97464678e-01 -6.14606694e-02 -3.58720207e-02 1.79086283e+02] [ 6.14559885e-02 9.98109031e-01 -1.23414933e-03 7.01737151e+00] [ 3.58800395e-02 -9.73530123e-04 9.99355630e-01 6.22225247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:7.02, Z:6.22 [[ 9.97436867e-01 -6.19103780e-02 -3.58720207e-02 1.79115908e+02] [ 6.19059875e-02 9.98081222e-01 -1.23414933e-03 7.01501784e+00] [ 3.58795969e-02 -9.89706823e-04 9.99355630e-01 6.22234177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:7.01, Z:6.22 [[ 9.97450738e-01 -6.16865003e-02 -3.58719985e-02 1.79146011e+02] [ 6.16819422e-02 9.98095092e-01 -1.23479319e-03 7.01251192e+00] [ 3.58798357e-02 -9.81009157e-04 9.99355630e-01 6.22282395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:7.01, Z:6.22 [[ 9.97470668e-01 -6.13634223e-02 -3.58719548e-02 1.79175471e+02] [ 6.13586098e-02 9.98115020e-01 -1.23606273e-03 7.01110253e+00] [ 3.58801859e-02 -9.68116956e-04 9.99355630e-01 6.22311023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:7.01, Z:6.22 [[ 9.97504690e-01 -6.08078920e-02 -3.58719109e-02 1.79205610e+02] [ 6.08026750e-02 9.98149039e-01 -1.23733346e-03 7.01121902e+00] [ 3.58807531e-02 -9.46862211e-04 9.99355630e-01 6.22379238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:7.01, Z:6.22 [[ 9.97550549e-01 -6.00508835e-02 -3.58719109e-02 1.79236047e+02] [ 6.00451775e-02 9.98194894e-01 -1.23733346e-03 7.01117041e+00] [ 3.58814613e-02 -9.19632585e-04 9.99355630e-01 6.22444218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:7.01, Z:6.22 [[ 9.97598263e-01 -5.92529523e-02 -3.58719109e-02 1.79265371e+02] [ 5.92467309e-02 9.98242603e-01 -1.23733346e-03 7.01139432e+00] [ 3.58821854e-02 -8.90931741e-04 9.99355630e-01 6.22483907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:7.01, Z:6.23 [[ 9.97596155e-01 -5.92884209e-02 -3.58719169e-02 1.79295486e+02] [ 5.92822287e-02 9.98240495e-01 -1.23715991e-03 7.01246153e+00] [ 3.58821494e-02 -8.92381211e-04 9.99355630e-01 6.22592129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.33, Y:7.01, Z:6.23 [[ 9.97661425e-01 -5.81798097e-02 -3.58718729e-02 1.79325442e+02] [ 5.81728556e-02 9.98305757e-01 -1.23843635e-03 7.01276606e+00] [ 3.58831492e-02 -8.51229108e-04 9.99355630e-01 6.22710806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.095099893 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:179.35, Y:7.02, Z:6.22 [[ 9.97542918e-01 -6.01775608e-02 -3.58718286e-02 1.79352681e+02] [ 6.01718509e-02 9.98187263e-01 -1.23971801e-03 7.01664664e+00] [ 3.58814056e-02 -9.21802400e-04 9.99355630e-01 6.22407902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:7.01, Z:6.23 [[ 9.97744290e-01 -5.67512260e-02 -3.58556817e-02 1.79384797e+02] [ 5.67267814e-02 9.98388293e-01 -1.69951984e-03 7.01362257e+00] [ 3.58943427e-02 -3.38291201e-04 9.99355533e-01 6.22801627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:7.01, Z:6.23 [[ 9.97767246e-01 -5.63361984e-02 -3.58713641e-02 1.79413745e+02] [ 5.63276613e-02 9.98411555e-01 -1.24935245e-03 7.01364773e+00] [ 3.58847682e-02 -7.73987095e-04 9.99355635e-01 6.23051627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.44, Y:7.01, Z:6.23 [[ 9.97786980e-01 -5.59858029e-02 -3.58710443e-02 1.79442277e+02] [ 5.59767119e-02 9.98431282e-01 -1.25846836e-03 7.01315648e+00] [ 3.58852290e-02 -7.52259768e-04 9.99355635e-01 6.23366418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.47, Y:7.01, Z:6.23 [[ 9.97795923e-01 -5.58264105e-02 -3.58707178e-02 1.79469855e+02] [ 5.58168847e-02 9.98440218e-01 -1.26770585e-03 7.01338153e+00] [ 3.58855387e-02 -7.37279993e-04 9.99355635e-01 6.23477586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:7.01, Z:6.24 [[ 9.97768841e-01 -5.63084285e-02 -3.58706019e-02 1.79497279e+02] [ 5.62990964e-02 9.98413139e-01 -1.27097580e-03 7.01263197e+00] [ 3.58852469e-02 -7.51342425e-04 9.99355635e-01 6.23682588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.53, Y:7.01, Z:6.24 [[ 9.97728712e-01 -5.70151345e-02 -3.58704875e-02 1.79526388e+02] [ 5.70061431e-02 9.98373015e-01 -1.27419643e-03 7.01274930e+00] [ 3.58847752e-02 -7.73535783e-04 9.99355635e-01 6.23902664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:7.01, Z:6.24 [[ 9.97674879e-01 -5.79497046e-02 -3.58701592e-02 1.79554570e+02] [ 5.79409869e-02 9.98319185e-01 -1.28337360e-03 7.01267608e+00] [ 3.58842392e-02 -7.97962822e-04 9.99355635e-01 6.24092802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:7.01, Z:6.24 [[ 9.97606643e-01 -5.91127959e-02 -3.58700894e-02 1.79583615e+02] [ 5.91047594e-02 9.98250958e-01 -1.28532026e-03 7.01248957e+00] [ 3.58833300e-02 -8.37848980e-04 9.99355635e-01 6.24220815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:7.01, Z:6.24 [[ 9.97513177e-01 -6.06696254e-02 -3.58700204e-02 1.79612733e+02] [ 6.06625254e-02 9.98157503e-01 -1.28724281e-03 7.01220355e+00] [ 3.58820266e-02 -8.91924358e-04 9.99355635e-01 6.24307865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:7.01, Z:6.24 [[ 9.97416883e-01 -6.22326942e-02 -3.58699521e-02 1.79642584e+02] [ 6.22265355e-02 9.98061219e-01 -1.28914559e-03 7.01181800e+00] [ 3.58806351e-02 -9.46247264e-04 9.99355635e-01 6.24411937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:7.01, Z:6.24 [[ 9.97137629e-01 -6.65574824e-02 -3.58699062e-02 1.79671056e+02] [ 6.65540722e-02 9.97781985e-01 -1.29042023e-03 7.01032099e+00] [ 3.58762333e-02 -1.10056176e-03 9.99355635e-01 6.24396025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:7.01, Z:6.24 [[ 9.96976314e-01 -6.89317371e-02 -3.58698378e-02 1.79701404e+02] [ 6.89297929e-02 9.97620676e-01 -1.29231946e-03 7.01023961e+00] [ 3.58735736e-02 -1.18408860e-03 9.99355635e-01 6.24497955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:7.01, Z:6.25 [[ 9.96790298e-01 -7.15713448e-02 -3.58698378e-02 1.79731787e+02] [ 7.15711068e-02 9.97434663e-01 -1.29231946e-03 7.00996750e+00] [ 3.58703126e-02 -1.27907249e-03 9.99355635e-01 6.24595083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:7.01, Z:6.25 [[ 9.96427003e-01 -7.64629492e-02 -3.58698378e-02 1.79761091e+02] [ 7.64658739e-02 9.97071362e-01 -1.29231946e-03 7.00846254e+00] [ 3.58636025e-02 -1.45511649e-03 9.99355635e-01 6.24664248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:7.01, Z:6.25 [[ 9.96271644e-01 -7.84612352e-02 -3.58698439e-02 1.79791990e+02] [ 7.84654584e-02 9.96915996e-01 -1.29214991e-03 7.00824542e+00] [ 3.58606048e-02 -1.52721143e-03 9.99355635e-01 6.24715355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:7.01, Z:6.25 [[ 9.96133100e-01 -8.02009865e-02 -3.58698889e-02 1.79823252e+02] [ 8.02063799e-02 9.96777443e-01 -1.29089934e-03 7.00843296e+00] [ 3.58578275e-02 -1.59108637e-03 9.99355635e-01 6.24723419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:7.01, Z:6.25 [[ 9.96027138e-01 -8.15063686e-02 -3.58699337e-02 1.79853807e+02] [ 8.15126512e-02 9.96671473e-01 -1.28965260e-03 7.00842505e+00] [ 3.58556546e-02 -1.63932441e-03 9.99355635e-01 6.24702521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:7.01, Z:6.25 [[ 9.95827018e-01 -8.39159868e-02 -3.58700097e-02 1.79884975e+02] [ 8.39239043e-02 9.96471335e-01 -1.28753670e-03 7.00756891e+00] [ 3.58514813e-02 -1.72818743e-03 9.99355635e-01 6.24756486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:7.01, Z:6.25 [[ 9.95723874e-01 -8.51311126e-02 -3.58700569e-02 1.79916141e+02] [ 8.51398638e-02 9.96368180e-01 -1.28622008e-03 7.00771691e+00] [ 3.58492806e-02 -1.77325172e-03 9.99355635e-01 6.24804939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.95, Y:7.01, Z:6.25 [[ 9.95697731e-01 -8.54363032e-02 -3.58701275e-02 1.79947906e+02] [ 8.54453227e-02 9.96342033e-01 -1.28424862e-03 7.00839639e+00] [ 3.58486372e-02 -1.78621117e-03 9.99355635e-01 6.24995057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:7.01, Z:6.25 [[ 9.95671742e-01 -8.57386145e-02 -3.58702203e-02 1.79980001e+02] [ 8.57479230e-02 9.96316040e-01 -1.28164929e-03 7.00930944e+00] [ 3.58479627e-02 -1.79969491e-03 9.99355635e-01 6.25151306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:7.01, Z:6.25 [[ 9.95660780e-01 -8.58657768e-02 -3.58703124e-02 1.80012613e+02] [ 8.58752604e-02 9.96305076e-01 -1.27906643e-03 7.01033873e+00] [ 3.58476024e-02 -1.80685614e-03 9.99355635e-01 6.25308215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:7.01, Z:6.25 [[ 9.95644160e-01 -8.60582424e-02 -3.58704039e-02 1.80044555e+02] [ 8.60679429e-02 9.96288452e-01 -1.27649553e-03 7.01170425e+00] [ 3.58471222e-02 -1.81635656e-03 9.99355635e-01 6.25459198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:7.01, Z:6.26 [[ 9.95651590e-01 -8.59721938e-02 -3.58704957e-02 1.80075740e+02] [ 8.59819315e-02 9.96295882e-01 -1.27391048e-03 7.01287600e+00] [ 3.58471481e-02 -1.81584351e-03 9.99355635e-01 6.25579204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:7.01, Z:6.26 [[ 9.95603436e-01 -8.65280377e-02 -3.58705640e-02 1.80107231e+02] [ 8.65382043e-02 9.96247721e-01 -1.27198479e-03 7.01461600e+00] [ 3.58460300e-02 -1.83778176e-03 9.99355635e-01 6.25796911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.14, Y:7.02, Z:6.26 [[ 9.95587789e-01 -8.67078533e-02 -3.58706310e-02 1.80139796e+02] [ 8.67182043e-02 9.96232071e-01 -1.27009271e-03 7.01595753e+00] [ 3.58456000e-02 -1.84614791e-03 9.99355635e-01 6.25975328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:7.02, Z:6.26 [[ 9.95538518e-01 -8.72717029e-02 -3.58707216e-02 1.80171813e+02] [ 8.72825109e-02 9.96182793e-01 -1.26752853e-03 7.01744537e+00] [ 3.58444150e-02 -1.86901318e-03 9.99355635e-01 6.26146606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:7.02, Z:6.26 [[ 9.95502873e-01 -8.76773296e-02 -3.58708146e-02 1.80203664e+02] [ 8.76884949e-02 9.96147142e-01 -1.26489269e-03 7.01861160e+00] [ 3.58435118e-02 -1.88625343e-03 9.99355635e-01 6.26309014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:7.02, Z:6.26 [[ 9.95438544e-01 -8.84046537e-02 -3.58709091e-02 1.80235038e+02] [ 8.84163862e-02 9.96082803e-01 -1.26220493e-03 7.02007807e+00] [ 3.58419805e-02 -1.91512872e-03 9.99355635e-01 6.26406568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:7.02, Z:6.27 [[ 9.95410676e-01 -8.87178275e-02 -3.58710665e-02 1.80267004e+02] [ 8.87299239e-02 9.96054928e-01 -1.25771775e-03 7.02176059e+00] [ 3.58411345e-02 -1.93089132e-03 9.99355635e-01 6.26545947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:7.02, Z:6.27 [[ 9.95415172e-01 -8.86673316e-02 -3.58711581e-02 1.80299548e+02] [ 8.86794895e-02 9.96059422e-01 -1.25509996e-03 7.02366975e+00] [ 3.58410913e-02 -1.93169044e-03 9.99355635e-01 6.26650564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:7.03, Z:6.27 [[ 9.95465135e-01 -8.81045932e-02 -3.58712492e-02 1.80330227e+02] [ 8.81164806e-02 9.96109390e-01 -1.25249054e-03 7.02547257e+00] [ 3.58420383e-02 -1.91403757e-03 9.99355635e-01 6.26721092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:7.03, Z:6.27 [[ 9.95471474e-01 -8.80328722e-02 -3.58714008e-02 1.80362879e+02] [ 8.80448698e-02 9.96115728e-01 -1.24813213e-03 7.02654802e+00] [ 3.58419432e-02 -1.91581288e-03 9.99355635e-01 6.26838308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:7.03, Z:6.27 [[ 9.95588360e-01 -8.67009466e-02 -3.58714904e-02 1.80393990e+02] [ 8.67121749e-02 9.96232627e-01 -1.24555165e-03 7.02933635e+00] [ 3.58443396e-02 -1.87043823e-03 9.99355635e-01 6.26768551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:7.03, Z:6.27 [[ 9.95691918e-01 -8.55034306e-02 -3.58715571e-02 1.80426295e+02] [ 8.55139531e-02 9.96336197e-01 -1.24362934e-03 7.03145868e+00] [ 3.58464653e-02 -1.82924697e-03 9.99355635e-01 6.26874290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:7.03, Z:6.27 [[ 9.95799465e-01 -8.42416199e-02 -3.58716448e-02 1.80458317e+02] [ 8.42514170e-02 9.96443756e-01 -1.24109410e-03 7.03361617e+00] [ 3.58486282e-02 -1.78635607e-03 9.99355635e-01 6.26988377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:7.04, Z:6.27 [[ 9.96089182e-01 -8.07437960e-02 -3.58717326e-02 1.80490056e+02] [ 8.07514217e-02 9.96733502e-01 -1.23855066e-03 7.03673087e+00] [ 3.58545629e-02 -1.66298649e-03 9.99355635e-01 6.27123218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:7.04, Z:6.27 [[ 9.96257385e-01 -7.86411852e-02 -3.58718225e-02 1.80522219e+02] [ 7.86475447e-02 9.96901718e-01 -1.23594121e-03 7.03877732e+00] [ 3.58578774e-02 -1.58991521e-03 9.99355635e-01 6.27271974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:7.04, Z:6.27 [[ 9.96546000e-01 -7.48950923e-02 -3.58719129e-02 1.80553255e+02] [ 7.48991238e-02 9.97190353e-01 -1.23331124e-03 7.04247903e+00] [ 3.58634945e-02 -1.45772346e-03 9.99355635e-01 6.27423321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:7.04, Z:6.28 [[ 9.96679452e-01 -7.30976438e-02 -3.58720614e-02 1.80584281e+02] [ 7.31006689e-02 9.97323810e-01 -1.22897798e-03 7.04479706e+00] [ 3.58658963e-02 -1.39737459e-03 9.99355635e-01 6.27586303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.61, Y:7.05, Z:6.28 [[ 9.96877835e-01 -7.03404140e-02 -3.58721064e-02 1.80614804e+02] [ 7.03417040e-02 9.97522199e-01 -1.22766269e-03 7.04765516e+00] [ 3.58695768e-02 -1.29947536e-03 9.99355635e-01 6.27634996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:7.05, Z:6.28 [[ 9.96877836e-01 -7.03403906e-02 -3.58721287e-02 1.80645765e+02] [ 7.03417040e-02 9.97522200e-01 -1.22701063e-03 7.04871388e+00] [ 3.58695531e-02 -1.30012696e-03 9.99355635e-01 6.27746244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:7.05, Z:6.28 [[ 9.96937846e-01 -6.94846847e-02 -3.58721287e-02 1.80675617e+02] [ 6.94854450e-02 9.97582211e-01 -1.22701063e-03 7.05051972e+00] [ 3.58706559e-02 -1.26933750e-03 9.99355635e-01 6.27828844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:7.05, Z:6.28 [[ 9.97036470e-01 -6.80548798e-02 -3.58721502e-02 1.80705858e+02] [ 6.80547387e-02 9.97680835e-01 -1.22638101e-03 7.05241609e+00] [ 3.58724180e-02 -1.21852321e-03 9.99355635e-01 6.27951956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:7.05, Z:6.28 [[ 9.97059751e-01 -6.77129317e-02 -3.58721502e-02 1.80735406e+02] [ 6.77125695e-02 9.97704116e-01 -1.22638101e-03 7.05415392e+00] [ 3.58728338e-02 -1.20622032e-03 9.99355635e-01 6.28032737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:7.06, Z:6.28 [[ 9.97088028e-01 -6.72952681e-02 -3.58721556e-02 1.80765821e+02] [ 6.72946418e-02 9.97732393e-01 -1.22622285e-03 7.05607182e+00] [ 3.58733307e-02 -1.19135173e-03 9.99355635e-01 6.28180820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:7.06, Z:6.28 [[ 9.97122101e-01 -6.67885100e-02 -3.58721556e-02 1.80794845e+02] [ 6.67875562e-02 9.97766465e-01 -1.22622285e-03 7.05881881e+00] [ 3.58739315e-02 -1.17311970e-03 9.99355635e-01 6.28308313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:7.06, Z:6.28 [[ 9.97134203e-01 -6.66075755e-02 -3.58721603e-02 1.80824518e+02] [ 6.66065097e-02 9.97778567e-01 -1.22608503e-03 7.06046063e+00] [ 3.58741393e-02 -1.16674808e-03 9.99355635e-01 6.28382298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:7.06, Z:6.29 [[ 9.97142212e-01 -6.64875786e-02 -3.58721387e-02 1.80855088e+02] [ 6.64864125e-02 9.97786576e-01 -1.22671762e-03 7.06216718e+00] [ 3.58743000e-02 -1.16179789e-03 9.99355635e-01 6.28572933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:7.06, Z:6.29 [[ 9.97162015e-01 -6.61899147e-02 -3.58721387e-02 1.80885658e+02] [ 6.61885562e-02 9.97806379e-01 -1.22671762e-03 7.06404526e+00] [ 3.58746452e-02 -1.15108886e-03 9.99355635e-01 6.28725247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:7.07, Z:6.29 [[ 9.97256816e-01 -6.47459154e-02 -3.58721387e-02 1.80916141e+02] [ 6.47436239e-02 9.97901177e-01 -1.22671762e-03 7.06682742e+00] [ 3.58762744e-02 -1.09913975e-03 9.99355635e-01 6.28944658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:7.07, Z:6.29 [[ 9.97326745e-01 -6.36596646e-02 -3.58721387e-02 1.80945248e+02] [ 6.36566712e-02 9.97971103e-01 -1.22671762e-03 7.06898507e+00] [ 3.58774503e-02 -1.06006265e-03 9.99355635e-01 6.29067091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:7.07, Z:6.29 [[ 9.97399941e-01 -6.25023684e-02 -3.58721440e-02 1.80974815e+02] [ 6.24986329e-02 9.98044296e-01 -1.22656280e-03 7.07137710e+00] [ 3.58786518e-02 -1.01858630e-03 9.99355635e-01 6.29280075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:7.07, Z:6.29 [[ 9.97484260e-01 -6.11419907e-02 -3.58721002e-02 1.81004279e+02] [ 6.11373304e-02 9.98128609e-01 -1.22784405e-03 7.07371253e+00] [ 3.58800422e-02 -9.68369319e-04 9.99355635e-01 6.29423000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:7.08, Z:6.30 [[ 9.97638973e-01 -5.85634293e-02 -3.58720565e-02 1.81033691e+02] [ 5.85570576e-02 9.98283307e-01 -1.22911890e-03 7.07713129e+00] [ 3.58824566e-02 -8.74345165e-04 9.99355635e-01 6.29534666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:7.08, Z:6.30 [[ 9.97703560e-01 -5.74526039e-02 -3.58720623e-02 1.81063106e+02] [ 5.74455209e-02 9.98347886e-01 -1.22894999e-03 7.07909045e+00] [ 3.58834039e-02 -8.34561521e-04 9.99355635e-01 6.29701825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:7.08, Z:6.30 [[ 9.97752308e-01 -5.65997351e-02 -3.58720187e-02 1.81092222e+02] [ 5.65920557e-02 9.98396627e-01 -1.23021913e-03 7.08064904e+00] [ 3.58841326e-02 -8.02617303e-04 9.99355635e-01 6.29762037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:7.08, Z:6.30 [[ 9.97801087e-01 -5.57332177e-02 -3.58719971e-02 1.81122148e+02] [ 5.57249561e-02 9.98445399e-01 -1.23084918e-03 7.08288639e+00] [ 3.58848296e-02 -7.70822815e-04 9.99355635e-01 6.30011879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:7.08, Z:6.30 [[ 9.97788184e-01 -5.59637677e-02 -3.58719527e-02 1.81150854e+02] [ 5.59556085e-02 9.98432497e-01 -1.23214333e-03 7.08460549e+00] [ 3.58846787e-02 -7.77818883e-04 9.99355635e-01 6.30109975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.18, Y:7.09, Z:6.30 [[ 9.97770464e-01 -5.62788579e-02 -3.58718864e-02 1.81180317e+02] [ 5.62708329e-02 9.98414779e-01 -1.23406962e-03 7.08606751e+00] [ 3.58844735e-02 -7.87222709e-04 9.99355635e-01 6.30219983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:7.09, Z:6.30 [[ 9.97750847e-01 -5.66256003e-02 -3.58718418e-02 1.81210036e+02] [ 5.66177527e-02 9.98395164e-01 -1.23536322e-03 7.08712983e+00] [ 3.58842266e-02 -7.98398376e-04 9.99355635e-01 6.30261849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:7.09, Z:6.30 [[ 9.97708747e-01 -5.73626290e-02 -3.58717976e-02 1.81240013e+02] [ 5.73552113e-02 9.98353069e-01 -1.23664797e-03 7.08851004e+00] [ 3.58836566e-02 -8.23620034e-04 9.99355635e-01 6.30376643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:7.09, Z:6.30 [[ 9.97680044e-01 -5.78597269e-02 -3.58717532e-02 1.81269709e+02] [ 5.78525840e-02 9.98324369e-01 -1.23793205e-03 7.08972510e+00] [ 3.58832718e-02 -8.40213522e-04 9.99355635e-01 6.30403481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:7.09, Z:6.31 [[ 9.97632520e-01 -5.86734546e-02 -3.58717312e-02 1.81298819e+02] [ 5.86668144e-02 9.98276851e-01 -1.23856945e-03 7.09074123e+00] [ 3.58825900e-02 -8.68843035e-04 9.99355635e-01 6.30553947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:7.09, Z:6.31 [[ 9.97619285e-01 -5.88980769e-02 -3.58716879e-02 1.81328732e+02] [ 5.88915366e-02 9.98263617e-01 -1.23982386e-03 7.09162158e+00] [ 3.58824241e-02 -8.75666630e-04 9.99355635e-01 6.30646901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:7.09, Z:6.31 [[ 9.97621026e-01 -5.88686185e-02 -3.58716445e-02 1.81359648e+02] [ 5.88620142e-02 9.98265357e-01 -1.24107814e-03 7.09252010e+00] [ 3.58824805e-02 -8.73351601e-04 9.99355635e-01 6.30842426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:7.09, Z:6.31 [[ 9.97620867e-01 -5.88713121e-02 -3.58716445e-02 1.81389998e+02] [ 5.88647095e-02 9.98265198e-01 -1.24107814e-03 7.09340860e+00] [ 3.58824782e-02 -8.73448484e-04 9.99355635e-01 6.30986089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:7.09, Z:6.31 [[ 9.97616442e-01 -5.89462456e-02 -3.58716445e-02 1.81419860e+02] [ 5.89396914e-02 9.98260774e-01 -1.24107814e-03 7.09425753e+00] [ 3.58824125e-02 -8.76143700e-04 9.99355635e-01 6.31023632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:7.09, Z:6.31 [[ 9.97601907e-01 -5.91917455e-02 -3.58716221e-02 1.81449902e+02] [ 5.91853266e-02 9.98246240e-01 -1.24172554e-03 7.09495614e+00] [ 3.58822117e-02 -8.84325903e-04 9.99355635e-01 6.31115728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.48, Y:7.10, Z:6.31 [[ 9.97548915e-01 -6.00781948e-02 -3.58716221e-02 1.81479774e+02] [ 6.00723485e-02 9.98193253e-01 -1.24172554e-03 7.09555223e+00] [ 3.58814118e-02 -9.16210617e-04 9.99355635e-01 6.31149872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:7.10, Z:6.31 [[ 9.97504168e-01 -6.08166277e-02 -3.58715998e-02 1.81509183e+02] [ 6.08112353e-02 9.98148511e-01 -1.24236763e-03 7.09634628e+00] [ 3.58807406e-02 -9.42129405e-04 9.99355635e-01 6.31201380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.54, Y:7.10, Z:6.31 [[ 9.97463320e-01 -6.14829587e-02 -3.58715778e-02 1.81539691e+02] [ 6.14779739e-02 9.98107666e-01 -1.24300245e-03 7.09697327e+00] [ 3.58801203e-02 -9.65462571e-04 9.99355635e-01 6.31311016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.57, Y:7.10, Z:6.31 [[ 9.97430135e-01 -6.20190005e-02 -3.58715778e-02 1.81569879e+02] [ 6.20143620e-02 9.98074483e-01 -1.24300245e-03 7.09767751e+00] [ 3.58795963e-02 -9.84744909e-04 9.99355635e-01 6.31428154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.60, Y:7.10, Z:6.32 [[ 9.97393816e-01 -6.26003676e-02 -3.58715778e-02 1.81600173e+02] [ 6.25961047e-02 9.98038167e-01 -1.24300245e-03 7.09838330e+00] [ 3.58790162e-02 -1.00565808e-03 9.99355635e-01 6.31542610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.63, Y:7.10, Z:6.32 [[ 9.97290472e-01 -6.42257282e-02 -3.58715778e-02 1.81630612e+02] [ 6.42225153e-02 9.97934829e-01 -1.24300245e-03 7.09909023e+00] [ 3.58773296e-02 -1.06412845e-03 9.99355635e-01 6.31752214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:7.10, Z:6.32 [[ 9.97221554e-01 -6.52870763e-02 -3.58715778e-02 1.81661181e+02] [ 6.52845492e-02 9.97865914e-01 -1.24300245e-03 7.09988449e+00] [ 3.58761768e-02 -1.10231095e-03 9.99355635e-01 6.31903270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:7.10, Z:6.32 [[ 9.97152854e-01 -6.63280940e-02 -3.58715778e-02 1.81691429e+02] [ 6.63262396e-02 9.97797216e-01 -1.24300245e-03 7.10023459e+00] [ 3.58750065e-02 -1.13976342e-03 9.99355635e-01 6.32029813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.72, Y:7.10, Z:6.32 [[ 9.97024508e-01 -6.82302010e-02 -3.58715778e-02 1.81722387e+02] [ 6.82295759e-02 9.97668873e-01 -1.24300245e-03 7.10024736e+00] [ 3.58727669e-02 -1.20819863e-03 9.99355635e-01 6.32235468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:7.10, Z:6.32 [[ 9.96961405e-01 -6.91461066e-02 -3.58716231e-02 1.81752484e+02] [ 6.91461204e-02 9.97605770e-01 -1.24169507e-03 7.10110383e+00] [ 3.58715966e-02 -1.24246151e-03 9.99355635e-01 6.32292027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:7.10, Z:6.32 [[ 9.96904665e-01 -6.99593452e-02 -3.58717003e-02 1.81782476e+02] [ 6.99599650e-02 9.97549030e-01 -1.23945921e-03 7.10204060e+00] [ 3.58704916e-02 -1.27396024e-03 9.99355635e-01 6.32321015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:7.10, Z:6.32 [[ 9.96821123e-01 -7.11397787e-02 -3.58717219e-02 1.81813652e+02] [ 7.11411840e-02 9.97465487e-01 -1.23883379e-03 7.10260936e+00] [ 3.58689349e-02 -1.31706108e-03 9.99355635e-01 6.32424576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:7.10, Z:6.32 [[ 9.96786377e-01 -7.16249600e-02 -3.58717660e-02 1.81843640e+02] [ 7.16267248e-02 9.97430740e-01 -1.23755541e-03 7.10345081e+00] [ 3.58682420e-02 -1.33579874e-03 9.99355635e-01 6.32444211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:7.10, Z:6.33 [[ 9.96775311e-01 -7.17787920e-02 -3.58717879e-02 1.81875314e+02] [ 7.17806791e-02 9.97419673e-01 -1.23692149e-03 7.10437487e+00] [ 3.58680117e-02 -1.34196849e-03 9.99355635e-01 6.32515518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:7.11, Z:6.33 [[ 9.96772889e-01 -7.18123888e-02 -3.58718299e-02 1.81906790e+02] [ 7.18143413e-02 9.97417251e-01 -1.23570328e-03 7.10538895e+00] [ 3.58679208e-02 -1.34439631e-03 9.99355635e-01 6.32732614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:7.11, Z:6.33 [[ 9.96787237e-01 -7.16129411e-02 -3.58718740e-02 1.81937526e+02] [ 7.16148108e-02 9.97431599e-01 -1.23442141e-03 7.10687799e+00] [ 3.58681412e-02 -1.33850196e-03 9.99355635e-01 6.32781826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.97, Y:7.11, Z:6.33 [[ 9.96792786e-01 -7.15356517e-02 -3.58718959e-02 1.81969189e+02] [ 7.15374943e-02 9.97437148e-01 -1.23378524e-03 7.10851046e+00] [ 3.58682211e-02 -1.33635732e-03 9.99355635e-01 6.32989927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:7.11, Z:6.33 [[ 9.96799134e-01 -7.14471098e-02 -3.58719397e-02 1.82000625e+02] [ 7.14489410e-02 9.97443497e-01 -1.23250793e-03 7.11026383e+00] [ 3.58682922e-02 -1.33444927e-03 9.99355635e-01 6.33125889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:7.11, Z:6.33 [[ 9.96819223e-01 -7.11662613e-02 -3.58719833e-02 1.82030934e+02] [ 7.11679566e-02 9.97463586e-01 -1.23123936e-03 7.11173209e+00] [ 3.58686198e-02 -1.32561269e-03 9.99355635e-01 6.33226053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:7.11, Z:6.33 [[ 9.96818775e-01 -7.11725348e-02 -3.58720049e-02 1.82061932e+02] [ 7.11742568e-02 9.97463138e-01 -1.23060975e-03 7.11400908e+00] [ 3.58685882e-02 -1.32646839e-03 9.99355635e-01 6.33437613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.09, Y:7.12, Z:6.34 [[ 9.96819001e-01 -7.11693385e-02 -3.58720480e-02 1.82093442e+02] [ 7.11711036e-02 9.97463364e-01 -1.22935254e-03 7.11573128e+00] [ 3.58685459e-02 -1.32761127e-03 9.99355635e-01 6.33597774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:7.12, Z:6.34 [[ 9.96821924e-01 -7.11283740e-02 -3.58720916e-02 1.82123860e+02] [ 7.11301584e-02 9.97466286e-01 -1.22807934e-03 7.11720538e+00] [ 3.58685532e-02 -1.32741114e-03 9.99355635e-01 6.33728812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:7.12, Z:6.34 [[ 9.96804058e-01 -7.13782681e-02 -3.58721625e-02 1.82155054e+02] [ 7.13802886e-02 9.97448420e-01 -1.22600377e-03 7.11902629e+00] [ 3.58681418e-02 -1.33847978e-03 9.99355635e-01 6.33885116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:7.12, Z:6.34 [[ 9.96742879e-01 -7.22275414e-02 -3.58722061e-02 1.82185965e+02] [ 7.22301567e-02 9.97387239e-01 -1.22472777e-03 7.12143432e+00] [ 3.58669396e-02 -1.37031638e-03 9.99355635e-01 6.34128929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:7.12, Z:6.34 [[ 9.96711874e-01 -7.26541207e-02 -3.58722503e-02 1.82217058e+02] [ 7.26570584e-02 9.97356233e-01 -1.22342940e-03 7.12310338e+00] [ 3.58662997e-02 -1.38696558e-03 9.99355635e-01 6.34234661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:7.12, Z:6.34 [[ 9.96659203e-01 -7.33730924e-02 -3.58723165e-02 1.82249475e+02] [ 7.33765648e-02 9.97303558e-01 -1.22148770e-03 7.12488520e+00] [ 3.58652132e-02 -1.41478039e-03 9.99355635e-01 6.34399651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:7.13, Z:6.34 [[ 9.96529590e-01 -7.51128891e-02 -3.58724032e-02 1.82280374e+02] [ 7.51175781e-02 9.97173939e-01 -1.21893385e-03 7.12701148e+00] [ 3.58625833e-02 -1.47994440e-03 9.99355635e-01 6.34495491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:7.13, Z:6.35 [[ 9.96534859e-01 -7.50428976e-02 -3.58725383e-02 1.82313027e+02] [ 7.50476847e-02 9.97179206e-01 -1.21494473e-03 7.12805561e+00] [ 3.58625223e-02 -1.48141617e-03 9.99355635e-01 6.34612701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:7.13, Z:6.35 [[ 9.96460399e-01 -7.60251783e-02 -3.58726234e-02 1.82345391e+02] [ 7.60306910e-02 9.97104741e-01 -1.21242874e-03 7.12922598e+00] [ 3.58609379e-02 -1.51928311e-03 9.99355635e-01 6.34681885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:7.13, Z:6.35 [[ 9.96376287e-01 -7.71196649e-02 -3.58727076e-02 1.82377253e+02] [ 7.71259750e-02 9.97020622e-01 -1.20993280e-03 7.13057847e+00] [ 3.58591388e-02 -1.56116920e-03 9.99355635e-01 6.34807537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:7.13, Z:6.35 [[ 9.96307885e-01 -7.79983371e-02 -3.58727934e-02 1.82408605e+02] [ 7.80053071e-02 9.96952213e-01 -1.20738238e-03 7.13198744e+00] [ 3.58576346e-02 -1.59534368e-03 9.99355635e-01 6.34847053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:7.13, Z:6.35 [[ 9.96175271e-01 -7.96741395e-02 -3.58728575e-02 1.82440352e+02] [ 7.96822618e-02 9.96819584e-01 -1.20547640e-03 7.13427036e+00] [ 3.58548122e-02 -1.65756464e-03 9.99355635e-01 6.35041567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:7.14, Z:6.35 [[ 9.96134950e-01 -8.01766378e-02 -3.58729443e-02 1.82471586e+02] [ 8.01851782e-02 9.96779259e-01 -1.20288623e-03 7.13597666e+00] [ 3.58538502e-02 -1.67824142e-03 9.99355635e-01 6.35118176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:7.14, Z:6.35 [[ 9.96155997e-01 -7.99146838e-02 -3.58730089e-02 1.82503305e+02] [ 7.99231241e-02 9.96800307e-01 -1.20095756e-03 7.13775486e+00] [ 3.58542004e-02 -1.67074186e-03 9.99355635e-01 6.35338391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:7.14, Z:6.35 [[ 9.96212126e-01 -7.92118738e-02 -3.58730954e-02 1.82534280e+02] [ 7.92199525e-02 9.96856441e-01 -1.19836848e-03 7.13976632e+00] [ 3.58552512e-02 -1.64803570e-03 9.99355635e-01 6.35495586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:7.15, Z:6.36 [[ 9.96167828e-01 -7.97669990e-02 -3.58731598e-02 1.82561925e+02] [ 7.97755063e-02 9.96812137e-01 -1.19643554e-03 7.14540616e+00] [ 3.58542372e-02 -1.66994889e-03 9.99355635e-01 6.35525321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:7.15, Z:6.36 [[ 9.96473325e-01 -7.58614108e-02 -3.58602678e-02 1.82593971e+02] [ 7.58533737e-02 9.97117721e-01 -1.58653463e-03 7.14958287e+00] [ 3.58772653e-02 -1.13918286e-03 9.99355554e-01 6.35883987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:7.15, Z:6.36 [[ 9.96839083e-01 -7.08943037e-02 -3.58586288e-02 1.82628231e+02] [ 7.08812612e-02 9.97483418e-01 -1.63645393e-03 7.14842889e+00] [ 3.58844028e-02 -9.10423600e-04 9.99355533e-01 6.36122431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:7.15, Z:6.36 [[ 9.97024084e-01 -6.82351435e-02 -3.58739606e-02 1.82660078e+02] [ 6.82373568e-02 9.97668436e-01 -1.16409581e-03 7.15088918e+00] [ 3.58697504e-02 -1.28731269e-03 9.99355644e-01 6.36400472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.69, Y:7.16, Z:6.37 [[ 9.97093091e-01 -6.72192003e-02 -3.58740445e-02 1.82688455e+02] [ 6.72208502e-02 9.97737445e-01 -1.16150337e-03 7.15633725e+00] [ 3.58709528e-02 -1.25335679e-03 9.99355644e-01 6.36551097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.72, Y:7.16, Z:6.37 [[ 9.97508704e-01 -6.07486173e-02 -3.58607114e-02 1.82721391e+02] [ 6.07314126e-02 9.98152910e-01 -1.56986365e-03 7.15700048e+00] [ 3.58898405e-02 -6.11919002e-04 9.99355565e-01 6.36778669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.75, Y:7.16, Z:6.37 [[ 9.97533405e-01 -6.03337588e-02 -3.58740008e-02 1.82749025e+02] [ 6.03310713e-02 9.98177750e-01 -1.15840365e-03 7.16261130e+00] [ 3.58785203e-02 -1.00877056e-03 9.99355649e-01 6.36860654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:7.16, Z:6.37 [[ 9.97920739e-01 -5.35560503e-02 -3.58601176e-02 1.82781190e+02] [ 5.35336845e-02 9.98564787e-01 -1.58426617e-03 7.16282443e+00] [ 3.58934977e-02 -3.38752154e-04 9.99355563e-01 6.37020270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:7.16, Z:6.37 [[ 9.98056655e-01 -5.09507483e-02 -3.58738694e-02 1.82811641e+02] [ 5.09419966e-02 9.98700942e-01 -1.15854757e-03 7.16452693e+00] [ 3.58862960e-02 -6.71190424e-04 9.99355654e-01 6.37141239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:7.17, Z:6.37 [[ 9.98180774e-01 -4.84583064e-02 -3.58738694e-02 1.82840668e+02] [ 4.84479459e-02 9.98825037e-01 -1.15854757e-03 7.16643585e+00] [ 3.58878602e-02 -5.81575377e-04 9.99355654e-01 6.37176252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:7.17, Z:6.37 [[ 9.98308630e-01 -4.57487220e-02 -3.58738487e-02 1.82868892e+02] [ 4.57365897e-02 9.98952862e-01 -1.15918855e-03 7.16834842e+00] [ 3.58893152e-02 -4.83519561e-04 9.99355654e-01 6.37192354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:7.17, Z:6.37 [[ 9.98543640e-01 -4.02947840e-02 -3.58737878e-02 1.82897961e+02] [ 4.02790652e-02 9.99187795e-01 -1.16106947e-03 7.17108174e+00] [ 3.58914360e-02 -2.85584105e-04 9.99355654e-01 6.37295312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:7.17, Z:6.37 [[ 9.98632608e-01 -3.80263966e-02 -3.58734998e-02 1.82925733e+02] [ 3.80088974e-02 9.99276716e-01 -1.16990045e-03 7.17266261e+00] [ 3.58920402e-02 -1.95211437e-04 9.99355654e-01 6.37403485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:7.17, Z:6.38 [[ 9.98704847e-01 -3.60796831e-02 -3.58731678e-02 1.82953601e+02] [ 3.60605658e-02 9.99348910e-01 -1.17999445e-03 7.17404763e+00] [ 3.58923850e-02 -1.15140552e-04 9.99355654e-01 6.37540157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:7.18, Z:6.38 [[ 9.98763869e-01 -3.44074600e-02 -3.58728314e-02 1.82981629e+02] [ 3.43869001e-02 9.99407887e-01 -1.19013533e-03 7.17513711e+00] [ 3.58925401e-02 -4.48913022e-05 9.99355654e-01 6.37647234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:7.18, Z:6.38 [[ 9.98836323e-01 -3.22360636e-02 -3.58724932e-02 1.83009072e+02] [ 3.22137407e-02 9.99480282e-01 -1.20024271e-03 7.17602182e+00] [ 3.58925407e-02 4.32588222e-05 9.99355654e-01 6.37731083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:7.18, Z:6.38 [[ 9.98748019e-01 -3.48649638e-02 -3.58723884e-02 1.83032477e+02] [ 3.48442237e-02 9.99392031e-01 -1.20336633e-03 7.18065766e+00] [ 3.58925344e-02 -4.80857880e-05 9.99355654e-01 6.37874154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:7.18, Z:6.38 [[ 9.98833422e-01 -3.23447514e-02 -3.58554307e-02 1.83065323e+02] [ 3.23046355e-02 9.99476627e-01 -1.69774481e-03 7.17693605e+00] [ 3.58915780e-02 5.37467637e-04 9.99355545e-01 6.38067432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:7.18, Z:6.38 [[ 9.98734666e-01 -3.52460471e-02 -3.58717706e-02 1.83093463e+02] [ 3.52251082e-02 9.99378664e-01 -1.21574245e-03 7.17519160e+00] [ 3.58923322e-02 -4.93828694e-05 9.99355661e-01 6.38168778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:7.17, Z:6.38 [[ 9.98641895e-01 -3.77834420e-02 -3.58716630e-02 1.83122295e+02] [ 3.77640256e-02 9.99285941e-01 -1.21890841e-03 7.17466789e+00] [ 3.58921031e-02 -1.37405388e-04 9.99355661e-01 6.38319508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:7.17, Z:6.39 [[ 9.98503107e-01 -4.12891140e-02 -3.58713590e-02 1.83150825e+02] [ 4.12716397e-02 9.99147209e-01 -1.22778853e-03 7.17411521e+00] [ 3.58914625e-02 -2.54519144e-04 9.99355661e-01 6.38504607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:7.17, Z:6.39 [[ 9.98340317e-01 -4.50541890e-02 -3.58710486e-02 1.83178861e+02] [ 4.50388204e-02 9.98984472e-01 -1.23679214e-03 7.17335617e+00] [ 3.58903432e-02 -3.80850260e-04 9.99355662e-01 6.38638646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:7.17, Z:6.39 [[ 9.98128773e-01 -4.95201578e-02 -3.58706884e-02 1.83207282e+02] [ 4.95072989e-02 9.98772983e-01 -1.24715348e-03 7.17236938e+00] [ 3.58884337e-02 -5.31041112e-04 9.99355662e-01 6.38703886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:7.17, Z:6.39 [[ 9.97870653e-01 -5.44745739e-02 -3.58703258e-02 1.83236011e+02] [ 5.44645416e-02 9.98514913e-01 -1.25749666e-03 7.17132037e+00] [ 3.58855568e-02 -6.98841830e-04 9.99355662e-01 6.38757499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:7.17, Z:6.39 [[ 9.97309565e-01 -6.39294431e-02 -3.58700072e-02 1.83265830e+02] [ 6.39251930e-02 9.97953890e-01 -1.26651857e-03 7.16814344e+00] [ 3.58775810e-02 -1.02988605e-03 9.99355662e-01 6.38861521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.30, Y:7.17, Z:6.39 [[ 9.96992487e-01 -6.86973508e-02 -3.58699613e-02 1.83296586e+02] [ 6.86961348e-02 9.97636825e-01 -1.26781857e-03 7.16711469e+00] [ 3.58722900e-02 -1.20012210e-03 9.99355662e-01 6.38941768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:7.17, Z:6.39 [[ 9.96685164e-01 -7.30207128e-02 -3.58700299e-02 1.83328585e+02] [ 7.30223613e-02 9.97329500e-01 -1.26587246e-03 7.16607958e+00] [ 3.58666739e-02 -1.35763798e-03 9.99355662e-01 6.39075572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.36, Y:7.17, Z:6.39 [[ 9.96372467e-01 -7.71702054e-02 -3.58701194e-02 1.83361115e+02] [ 7.71746280e-02 9.97016791e-01 -1.26333363e-03 7.16509708e+00] [ 3.58606030e-02 -1.50951227e-03 9.99355662e-01 6.39221277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:7.16, Z:6.39 [[ 9.95785851e-01 -8.44030086e-02 -3.58702104e-02 1.83392531e+02] [ 8.44122027e-02 9.96430123e-01 -1.26074366e-03 7.16231800e+00] [ 3.58485687e-02 -1.77245277e-03 9.99355662e-01 6.39270562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.42, Y:7.16, Z:6.39 [[ 9.95554713e-01 -8.70869450e-02 -3.58702782e-02 1.83423437e+02] [ 8.70979453e-02 9.96198958e-01 -1.25881169e-03 7.16182169e+00] [ 3.58435598e-02 -1.87101162e-03 9.99355662e-01 6.39335277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:7.16, Z:6.39 [[ 9.95350448e-01 -8.93912990e-02 -3.58703441e-02 1.83455289e+02] [ 8.94038581e-02 9.95994664e-01 -1.25693126e-03 7.16170491e+00] [ 3.58390300e-02 -1.95586006e-03 9.99355662e-01 6.39468954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:7.16, Z:6.40 [[ 9.95179982e-01 -9.12694707e-02 -3.58704304e-02 1.83487786e+02] [ 9.12833342e-02 9.95824171e-01 -1.25446271e-03 7.16159995e+00] [ 3.58351358e-02 -2.02595631e-03 9.99355662e-01 6.39570579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:7.16, Z:6.40 [[ 9.94941407e-01 -9.38344447e-02 -3.58705162e-02 1.83519750e+02] [ 9.38500570e-02 9.95585556e-01 -1.25200359e-03 7.16043649e+00] [ 3.58296489e-02 -2.12077979e-03 9.99355662e-01 6.39733871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:7.16, Z:6.40 [[ 9.94900317e-01 -9.42690750e-02 -3.58706025e-02 1.83552495e+02] [ 9.42850577e-02 9.95544457e-01 -1.24952752e-03 7.16062259e+00] [ 3.58285713e-02 -2.13890650e-03 9.99355662e-01 6.39927740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:7.16, Z:6.40 [[ 9.94879098e-01 -9.44927025e-02 -3.58707407e-02 1.83584547e+02] [ 9.45089729e-02 9.95523231e-01 -1.24554857e-03 7.16081234e+00] [ 3.58278509e-02 -2.15093662e-03 9.99355662e-01 6.39991527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:7.16, Z:6.40 [[ 9.94908607e-01 -9.41814548e-02 -3.58708547e-02 1.83617224e+02] [ 9.41976420e-02 9.95552741e-01 -1.24225500e-03 7.16046841e+00] [ 3.58283251e-02 -2.14301974e-03 9.99355662e-01 6.40015795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:7.16, Z:6.40 [[ 9.94955593e-01 -9.36837213e-02 -3.58709879e-02 1.83650099e+02] [ 9.36997249e-02 9.95599733e-01 -1.23839747e-03 7.16112796e+00] [ 3.58291636e-02 -2.12895121e-03 9.99355662e-01 6.40045162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.68, Y:7.16, Z:6.40 [[ 9.95008330e-01 -9.31218851e-02 -3.58711203e-02 1.83682660e+02] [ 9.31376632e-02 9.95652475e-01 -1.23454885e-03 7.16173282e+00] [ 3.58301333e-02 -2.11256594e-03 9.99355662e-01 6.40121480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:7.16, Z:6.40 [[ 9.95029777e-01 -9.28923868e-02 -3.58712570e-02 1.83714262e+02] [ 9.29081594e-02 9.95673922e-01 -1.23056469e-03 7.16259474e+00] [ 3.58303853e-02 -2.10828395e-03 9.99355662e-01 6.40163007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:7.16, Z:6.40 [[ 9.95022971e-01 -9.29652226e-02 -3.58713700e-02 1.83746297e+02] [ 9.29811610e-02 9.95667112e-01 -1.22726364e-03 7.16354182e+00] [ 3.58300362e-02 -2.11420612e-03 9.99355662e-01 6.40205363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:7.16, Z:6.40 [[ 9.95075010e-01 -9.24064964e-02 -3.58714803e-02 1.83778497e+02] [ 9.24221893e-02 9.95719158e-01 -1.22402897e-03 7.16446893e+00] [ 3.58310284e-02 -2.09732011e-03 9.99355662e-01 6.40082703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:7.17, Z:6.40 [[ 9.95078478e-01 -9.23691171e-02 -3.58715693e-02 1.83810260e+02] [ 9.23848797e-02 9.95722623e-01 -1.22141508e-03 7.16591394e+00] [ 3.58309542e-02 -2.09858677e-03 9.99355662e-01 6.40085832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.84, Y:7.17, Z:6.40 [[ 9.95121506e-01 -9.19043591e-02 -3.58716798e-02 1.83842457e+02] [ 9.19199378e-02 9.95765656e-01 -1.21816110e-03 7.16762158e+00] [ 3.58317411e-02 -2.08510427e-03 9.99355662e-01 6.40213339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.87, Y:7.17, Z:6.40 [[ 9.95176899e-01 -9.13025515e-02 -3.58717668e-02 1.83873424e+02] [ 9.13178329e-02 9.95821056e-01 -1.21559362e-03 7.17093840e+00] [ 3.58328475e-02 -2.06600132e-03 9.99355662e-01 6.40356271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:7.17, Z:6.41 [[ 9.95236700e-01 -9.06483466e-02 -3.58718316e-02 1.83904563e+02] [ 9.06632733e-02 9.95880865e-01 -1.21368072e-03 7.17318976e+00] [ 3.58340888e-02 -2.04435807e-03 9.99355662e-01 6.40532426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:7.18, Z:6.41 [[ 9.95280110e-01 -9.01704146e-02 -3.58719699e-02 1.83936403e+02] [ 9.01851793e-02 9.95924279e-01 -1.20957744e-03 7.17563317e+00] [ 3.58348339e-02 -2.03125167e-03 9.99355662e-01 6.40727787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:7.18, Z:6.41 [[ 9.95460462e-01 -8.81570402e-02 -3.58720580e-02 1.83967121e+02] [ 8.81705960e-02 9.96104658e-01 -1.20696099e-03 7.17928821e+00] [ 3.58387261e-02 -1.96137878e-03 9.99355662e-01 6.40948955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:7.18, Z:6.41 [[ 9.95569430e-01 -8.69177532e-02 -3.58722048e-02 1.83998988e+02] [ 8.69306644e-02 9.96213638e-01 -1.20257981e-03 7.18158893e+00] [ 3.58409052e-02 -1.92114290e-03 9.99355662e-01 6.41118173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.03, Y:7.18, Z:6.41 [[ 9.95664409e-01 -8.58228613e-02 -3.58722916e-02 1.84031081e+02] [ 8.58351572e-02 9.96308630e-01 -1.19998473e-03 7.18396582e+00] [ 3.58428599e-02 -1.88432170e-03 9.99355662e-01 6.41281525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:7.19, Z:6.42 [[ 9.95820072e-01 -8.39973570e-02 -3.58723788e-02 1.84061718e+02] [ 8.40085657e-02 9.96464313e-01 -1.19737301e-03 7.18750079e+00] [ 3.58461215e-02 -1.82121902e-03 9.99355662e-01 6.41504187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.09, Y:7.19, Z:6.42 [[ 9.95889974e-01 -8.31644560e-02 -3.58724436e-02 1.84093477e+02] [ 8.31751958e-02 9.96534223e-01 -1.19542841e-03 7.18940472e+00] [ 3.58475349e-02 -1.79318235e-03 9.99355662e-01 6.41565193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.12, Y:7.19, Z:6.42 [[ 9.95934389e-01 -8.26308324e-02 -3.58725315e-02 1.84124359e+02] [ 8.26413219e-02 9.96578642e-01 -1.19278588e-03 7.19110092e+00] [ 3.58483596e-02 -1.77661695e-03 9.99355662e-01 6.41632037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.16, Y:7.19, Z:6.42 [[ 9.96013058e-01 -8.16770753e-02 -3.58725969e-02 1.84156677e+02] [ 8.16870187e-02 9.96657320e-01 -1.19081514e-03 7.19315156e+00] [ 3.58499486e-02 -1.74425807e-03 9.99355662e-01 6.41529565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:7.20, Z:6.42 [[ 9.96058000e-01 -8.11271322e-02 -3.58726828e-02 1.84189191e+02] [ 8.11368130e-02 9.96702265e-01 -1.18822361e-03 7.19510268e+00] [ 3.58507813e-02 -1.72705552e-03 9.99355662e-01 6.41552208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:7.20, Z:6.42 [[ 9.96114072e-01 -8.04356836e-02 -3.58727694e-02 1.84221053e+02] [ 8.04450114e-02 9.96758343e-01 -1.18560234e-03 7.19724934e+00] [ 3.58518469e-02 -1.70479017e-03 9.99355662e-01 6.41600921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.25, Y:7.20, Z:6.42 [[ 9.96119959e-01 -8.03627078e-02 -3.58728560e-02 1.84253710e+02] [ 8.03720827e-02 9.96764229e-01 -1.18297598e-03 7.19826864e+00] [ 3.58518468e-02 -1.70479016e-03 9.99355662e-01 6.41718184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:7.20, Z:6.42 [[ 9.96205039e-01 -7.93010246e-02 -3.58729424e-02 1.84285087e+02] [ 7.93098072e-02 9.96849317e-01 -1.18034962e-03 7.20036873e+00] [ 3.58535211e-02 -1.66920591e-03 9.99355662e-01 6.41779620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:7.20, Z:6.42 [[ 9.96334072e-01 -7.76630192e-02 -3.58730067e-02 1.84317188e+02] [ 7.76708129e-02 9.96978363e-01 -1.17839337e-03 7.20253311e+00] [ 3.58561291e-02 -1.61221213e-03 9.99355662e-01 6.41842987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:7.21, Z:6.42 [[ 9.96712650e-01 -7.26430558e-02 -3.58730932e-02 1.84348602e+02] [ 7.26476987e-02 9.97356972e-01 -1.17575337e-03 7.20556971e+00] [ 3.58636899e-02 -1.43420941e-03 9.99355662e-01 6.41808689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:7.21, Z:6.42 [[ 9.96941702e-01 -6.94288134e-02 -3.58731576e-02 1.84380307e+02] [ 6.94314494e-02 9.97586034e-01 -1.17378450e-03 7.20746622e+00] [ 3.58680555e-02 -1.32053061e-03 9.99355662e-01 6.41841987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.41, Y:7.21, Z:6.42 [[ 9.97178260e-01 -6.59441316e-02 -3.58732424e-02 1.84411682e+02] [ 6.59446089e-02 9.97822598e-01 -1.17118854e-03 7.20932253e+00] [ 3.58723649e-02 -1.19776319e-03 9.99355662e-01 6.41905685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:7.21, Z:6.42 [[ 9.97393461e-01 -6.26050390e-02 -3.58733054e-02 1.84442359e+02] [ 6.26034285e-02 9.98037797e-01 -1.16925478e-03 7.21165040e+00] [ 3.58761159e-02 -1.07958484e-03 9.99355662e-01 6.41981813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.47, Y:7.21, Z:6.42 [[ 9.97597280e-01 -5.92686436e-02 -3.58733260e-02 1.84473776e+02] [ 5.92649006e-02 9.98241607e-01 -1.16862228e-03 7.21405239e+00] [ 3.58795093e-02 -9.60214695e-04 9.99355662e-01 6.42107956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:7.22, Z:6.42 [[ 9.97777686e-01 -5.61497187e-02 -3.58733669e-02 1.84504605e+02] [ 5.61440066e-02 9.98421999e-01 -1.16736722e-03 7.21693515e+00] [ 3.58823060e-02 -8.49301585e-04 9.99355662e-01 6.42192194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.53, Y:7.22, Z:6.42 [[ 9.98106634e-01 -4.99624744e-02 -3.58733669e-02 1.84534452e+02] [ 4.99527677e-02 9.98750899e-01 -1.16736722e-03 7.22101435e+00] [ 3.58868819e-02 -6.26816995e-04 9.99355662e-01 6.42359949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.56, Y:7.22, Z:6.42 [[ 9.98217686e-01 -4.76922718e-02 -3.58733669e-02 1.84563642e+02] [ 4.76810999e-02 9.98861927e-01 -1.16736722e-03 7.22347363e+00] [ 3.58882147e-02 -5.45194983e-04 9.99355662e-01 6.42453203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:7.23, Z:6.43 [[ 9.98362092e-01 -4.45672296e-02 -3.58733246e-02 1.84591610e+02] [ 4.45539944e-02 9.99006294e-01 -1.16866444e-03 7.22621983e+00] [ 3.58897612e-02 -4.31549627e-04 9.99355662e-01 6.42611648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.62, Y:7.23, Z:6.43 [[ 9.98373601e-01 -4.43087490e-02 -3.58732195e-02 1.84619484e+02] [ 4.42952313e-02 9.99017797e-01 -1.17188259e-03 7.22774104e+00] [ 3.58899093e-02 -4.19035915e-04 9.99355662e-01 6.42676346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.65, Y:7.23, Z:6.43 [[ 9.98362806e-01 -4.45515795e-02 -3.58728816e-02 1.84646133e+02] [ 4.45378502e-02 9.99006998e-01 -1.18213668e-03 7.22871701e+00] [ 3.58899258e-02 -4.17499732e-04 9.99355662e-01 6.42777686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:7.23, Z:6.43 [[ 9.98305757e-01 -4.58122525e-02 -3.58727347e-02 1.84674128e+02] [ 4.57991771e-02 9.98949962e-01 -1.18657717e-03 7.22968347e+00] [ 3.58894267e-02 -4.58374912e-04 9.99355662e-01 6.42774697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.70, Y:7.23, Z:6.43 [[ 9.98226581e-01 -4.75064634e-02 -3.58723847e-02 1.84702362e+02] [ 4.74941045e-02 9.98870801e-01 -1.19706525e-03 7.23049319e+00] [ 3.58887460e-02 -5.08784432e-04 9.99355662e-01 6.42823616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:7.23, Z:6.43 [[ 9.98024857e-01 -5.15711360e-02 -3.58720331e-02 1.84730376e+02] [ 5.15610253e-02 9.98669116e-01 -1.20750952e-03 7.23083817e+00] [ 3.58865642e-02 -6.44474292e-04 9.99355662e-01 6.42831401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:7.23, Z:6.43 [[ 9.97903021e-01 -5.38773203e-02 -3.58719243e-02 1.84760179e+02] [ 5.38685827e-02 9.98547300e-01 -1.21073333e-03 7.23140756e+00] [ 3.58850442e-02 -7.24175270e-04 9.99355662e-01 6.42836044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:7.23, Z:6.43 [[ 9.97768656e-01 -5.63108925e-02 -3.58718805e-02 1.84790686e+02] [ 5.63036795e-02 9.98412954e-01 -1.21203050e-03 7.23168781e+00] [ 3.58832007e-02 -8.10392818e-04 9.99355662e-01 6.42902412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.82, Y:7.23, Z:6.43 [[ 9.97451897e-01 -6.16678376e-02 -3.58718805e-02 1.84820865e+02] [ 6.16640845e-02 9.98096224e-01 -1.21203050e-03 7.23102047e+00] [ 3.58783317e-02 -1.00306455e-03 9.99355662e-01 6.42912283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.85, Y:7.23, Z:6.43 [[ 9.97283232e-01 -6.43378874e-02 -3.58718805e-02 1.84851835e+02] [ 6.43358592e-02 9.97927567e-01 -1.21203050e-03 7.23128322e+00] [ 3.58755179e-02 -1.09911056e-03 9.99355662e-01 6.43005998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.88, Y:7.23, Z:6.43 [[ 9.97102575e-01 -6.70795089e-02 -3.58719239e-02 1.84882754e+02] [ 6.70792984e-02 9.97746913e-01 -1.21074566e-03 7.23137585e+00] [ 3.58723175e-02 -1.19902587e-03 9.99355662e-01 6.43143546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:7.23, Z:6.43 [[ 9.96745934e-01 -7.21854370e-02 -3.58720640e-02 1.84913528e+02] [ 7.21886763e-02 9.97390264e-01 -1.20657779e-03 7.23040893e+00] [ 3.58655448e-02 -1.38690531e-03 9.99355662e-01 6.43328555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:7.23, Z:6.43 [[ 9.96750887e-01 -7.21169905e-02 -3.58721281e-02 1.84946183e+02] [ 7.21202541e-02 9.97395216e-01 -1.20467026e-03 7.23144245e+00] [ 3.58655662e-02 -1.38635084e-03 9.99355662e-01 6.43445833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:7.23, Z:6.43 [[ 9.96446718e-01 -7.62044809e-02 -3.58722106e-02 1.84978596e+02] [ 7.62104756e-02 9.97091028e-01 -1.20220780e-03 7.23103018e+00] [ 3.58594730e-02 -1.53590222e-03 9.99355662e-01 6.43433026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:7.23, Z:6.44 [[ 9.96337509e-01 -7.76192455e-02 -3.58722937e-02 1.85010044e+02] [ 7.76262443e-02 9.96981809e-01 -1.19972481e-03 7.23150728e+00] [ 3.58571460e-02 -1.58930060e-03 9.99355662e-01 6.43520812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:7.23, Z:6.43 [[ 9.96279322e-01 -7.83625394e-02 -3.58723556e-02 1.85042689e+02] [ 7.83700855e-02 9.96923615e-01 -1.19787148e-03 7.23181113e+00] [ 3.58558666e-02 -1.61790499e-03 9.99355662e-01 6.43484531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.07, Y:7.23, Z:6.44 [[ 9.96313359e-01 -7.79285445e-02 -3.58724407e-02 1.85073849e+02] [ 7.79359018e-02 9.96957655e-01 -1.19531656e-03 7.23239836e+00] [ 3.58564536e-02 -1.60484116e-03 9.99355662e-01 6.43582856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:7.23, Z:6.44 [[ 9.96376785e-01 -7.71133273e-02 -3.58725040e-02 1.85106292e+02] [ 7.71202258e-02 9.97021086e-01 -1.19341317e-03 7.23337730e+00] [ 3.58576710e-02 -1.57740643e-03 9.99355662e-01 6.43586298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.14, Y:7.23, Z:6.44 [[ 9.96484431e-01 -7.57095477e-02 -3.58725907e-02 1.85138272e+02] [ 7.57156323e-02 9.97128740e-01 -1.19080143e-03 7.23465288e+00] [ 3.58597462e-02 -1.52950080e-03 9.99355662e-01 6.43659273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.17, Y:7.24, Z:6.44 [[ 9.96607553e-01 -7.40711550e-02 -3.58726778e-02 1.85169380e+02] [ 7.40762747e-02 9.97251871e-01 -1.18817254e-03 7.23627476e+00] [ 3.58621043e-02 -1.47317261e-03 9.99355662e-01 6.43805963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:7.24, Z:6.44 [[ 9.96782417e-01 -7.16795554e-02 -3.58727426e-02 1.85201331e+02] [ 7.16831996e-02 9.97426745e-01 -1.18621191e-03 7.23783814e+00] [ 3.58654600e-02 -1.38907779e-03 9.99355662e-01 6.43900222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:7.24, Z:6.44 [[ 9.97163906e-01 -6.61610545e-02 -3.58728275e-02 1.85232601e+02] [ 6.61612246e-02 9.97808244e-01 -1.18363812e-03 7.24080033e+00] [ 3.58725138e-02 -1.19310899e-03 9.99355662e-01 6.44051044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:7.24, Z:6.44 [[ 9.97488430e-01 -6.10734603e-02 -3.58728906e-02 1.85265445e+02] [ 6.10704122e-02 9.98132761e-01 -1.18172517e-03 7.24093454e+00] [ 3.58780793e-02 -1.01201503e-03 9.99355662e-01 6.43957780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:7.24, Z:6.44 [[ 9.97575094e-01 -5.96375131e-02 -3.58789402e-02 1.85294896e+02] [ 5.96401636e-02 9.98219443e-01 -9.97334219e-04 7.24429498e+00] [ 3.58745343e-02 -1.14491009e-03 9.99355646e-01 6.44243487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:7.25, Z:6.44 [[ 9.97771179e-01 -5.62655456e-02 -3.58728673e-02 1.85325802e+02] [ 5.62593930e-02 9.98415487e-01 -1.18170830e-03 7.24619067e+00] [ 3.58825157e-02 -8.39111256e-04 9.99355663e-01 6.44341887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.36, Y:7.25, Z:6.44 [[ 9.98113729e-01 -4.98208879e-02 -3.58728673e-02 1.85355411e+02] [ 4.98105745e-02 9.98757984e-01 -1.18170830e-03 7.24834239e+00] [ 3.58871864e-02 -6.07368851e-04 9.99355663e-01 6.44411818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:7.25, Z:6.45 [[ 9.98244303e-01 -4.71322834e-02 -3.58728250e-02 1.85383969e+02] [ 4.71201887e-02 9.98888526e-01 -1.18298999e-03 7.24947163e+00] [ 3.58887103e-02 -5.09421262e-04 9.99355663e-01 6.44505685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:7.25, Z:6.45 [[ 9.98418475e-01 -4.32863756e-02 -3.58725235e-02 1.85411927e+02] [ 4.32714733e-02 9.99062640e-01 -1.19206438e-03 7.25056081e+00] [ 3.58904982e-02 -3.62077836e-04 9.99355663e-01 6.44563874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.44, Y:7.25, Z:6.45 [[ 9.98460761e-01 -4.23000583e-02 -3.58721744e-02 1.85439516e+02] [ 4.22841455e-02 9.99104902e-01 -1.20247711e-03 7.25152284e+00] [ 3.58909302e-02 -3.16198033e-04 9.99355663e-01 6.44600757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.47, Y:7.25, Z:6.45 [[ 9.98479402e-01 -4.18580595e-02 -3.58718221e-02 1.85466826e+02] [ 4.18414873e-02 9.99123525e-01 -1.21289623e-03 7.25227459e+00] [ 3.58911509e-02 -2.89878490e-04 9.99355663e-01 6.44688012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.49, Y:7.25, Z:6.45 [[ 9.98454504e-01 -4.24480090e-02 -3.58715787e-02 1.85494319e+02] [ 4.24315602e-02 9.99098631e-01 -1.22005386e-03 7.25153648e+00] [ 3.58910340e-02 -3.03918781e-04 9.99355663e-01 6.44643873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:7.25, Z:6.45 [[ 9.98406778e-01 -4.35563962e-02 -3.58712323e-02 1.85522051e+02] [ 4.35402995e-02 9.99050914e-01 -1.23015591e-03 7.25169817e+00] [ 3.58907685e-02 -3.33648203e-04 9.99355663e-01 6.44695015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:7.25, Z:6.45 [[ 9.98222211e-01 -4.76012391e-02 -3.58683524e-02 1.85550242e+02] [ 4.75847610e-02 9.98866340e-01 -1.31341832e-03 7.25074039e+00] [ 3.58902103e-02 -3.95703634e-04 9.99355661e-01 6.44785379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:7.25, Z:6.45 [[ 9.98105652e-01 -4.99839491e-02 -3.58707672e-02 1.85577310e+02] [ 4.99715108e-02 9.98749869e-01 -1.24377793e-03 7.25064253e+00] [ 3.58880930e-02 -5.51094646e-04 9.99355663e-01 6.44891236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:7.25, Z:6.45 [[ 9.97977422e-01 -5.24821007e-02 -3.58705183e-02 1.85606206e+02] [ 5.24710184e-02 9.98621664e-01 -1.25091734e-03 7.25023653e+00] [ 3.58867274e-02 -6.33775361e-04 9.99355663e-01 6.45008706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:7.25, Z:6.45 [[ 9.97834282e-01 -5.51368727e-02 -3.58702065e-02 1.85634757e+02] [ 5.51271853e-02 9.98478546e-01 -1.25979519e-03 7.24991313e+00] [ 3.58850927e-02 -7.20356695e-04 9.99355663e-01 6.45123342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:7.25, Z:6.45 [[ 9.97528606e-01 -6.04154816e-02 -3.58698944e-02 1.85664908e+02] [ 6.04088860e-02 9.98172909e-01 -1.26861932e-03 7.24842044e+00] [ 3.58810011e-02 -9.01376297e-04 9.99355663e-01 6.45304967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:7.25, Z:6.45 [[ 9.97373005e-01 -6.29320568e-02 -3.58698499e-02 1.85695100e+02] [ 6.29270416e-02 9.98017322e-01 -1.26987638e-03 7.24811222e+00] [ 3.58786474e-02 -9.90643119e-04 9.99355663e-01 6.45440474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.72, Y:7.25, Z:6.46 [[ 9.97211139e-01 -6.54469039e-02 -3.58698499e-02 1.85724867e+02] [ 6.54435135e-02 9.97855467e-01 -1.26987638e-03 7.24785293e+00] [ 3.58760353e-02 -1.08111414e-03 9.99355663e-01 6.45529967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:7.25, Z:6.46 [[ 9.97083455e-01 -6.73642294e-02 -3.58698275e-02 1.85754311e+02] [ 6.73620551e-02 9.97727788e-01 -1.27050893e-03 7.24772215e+00] [ 3.58739105e-02 -1.14946186e-03 9.99355663e-01 6.45579623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:7.25, Z:6.46 [[ 9.96648742e-01 -7.35180946e-02 -3.58660584e-02 1.85785897e+02] [ 7.35160606e-02 9.97293082e-01 -1.37728589e-03 7.24642210e+00] [ 3.58702273e-02 -1.26406107e-03 9.99355657e-01 6.45701576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:7.25, Z:6.46 [[ 9.96441621e-01 -7.62721679e-02 -3.58699451e-02 1.85818274e+02] [ 7.62758680e-02 9.97085947e-01 -1.26728048e-03 7.24633638e+00] [ 3.58620764e-02 -1.47324018e-03 9.99355663e-01 6.45799526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:7.25, Z:6.46 [[ 9.96237882e-01 -7.88886696e-02 -3.58700377e-02 1.85849915e+02] [ 7.88941561e-02 9.96882196e-01 -1.26465320e-03 7.24617031e+00] [ 3.58579688e-02 -1.57004093e-03 9.99355663e-01 6.45877990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:7.25, Z:6.46 [[ 9.96027727e-01 -8.14990999e-02 -3.58701068e-02 1.85882031e+02] [ 8.15063455e-02 9.96672023e-01 -1.26268999e-03 7.24607369e+00] [ 3.58536400e-02 -1.66596708e-03 9.99355663e-01 6.46036095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:7.24, Z:6.46 [[ 9.95665923e-01 -8.58061738e-02 -3.58701985e-02 1.85913727e+02] [ 8.58162996e-02 9.96310180e-01 -1.26008094e-03 7.24462473e+00] [ 3.58459666e-02 -1.82362805e-03 9.99355663e-01 6.46217818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:7.24, Z:6.46 [[ 9.95529704e-01 -8.73723493e-02 -3.58703435e-02 1.85945589e+02] [ 8.73836374e-02 9.96173942e-01 -1.25593978e-03 7.24478990e+00] [ 3.58428358e-02 -1.88415573e-03 9.99355663e-01 6.46323765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.98, Y:7.25, Z:6.46 [[ 9.95451766e-01 -8.82558441e-02 -3.58704348e-02 1.85976322e+02] [ 8.82677979e-02 9.96095992e-01 -1.25332456e-03 7.24503552e+00] [ 3.58410096e-02 -1.91858015e-03 9.99355663e-01 6.46368147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.01, Y:7.25, Z:6.46 [[ 9.95386020e-01 -8.89942212e-02 -3.58705875e-02 1.86008181e+02] [ 8.90068104e-02 9.96030234e-01 -1.24893965e-03 7.24557775e+00] [ 3.58393381e-02 -1.94954952e-03 9.99355663e-01 6.46474369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:7.25, Z:6.47 [[ 9.95413331e-01 -8.86881892e-02 -3.58706785e-02 1.86040414e+02] [ 8.87006744e-02 9.96057547e-01 -1.24632189e-03 7.24681321e+00] [ 3.58397940e-02 -1.94114795e-03 9.99355663e-01 6.46586871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:7.25, Z:6.47 [[ 9.95479488e-01 -8.79424644e-02 -3.58707688e-02 1.86072165e+02] [ 8.79545607e-02 9.96123711e-01 -1.24371641e-03 7.24794472e+00] [ 3.58410988e-02 -1.91690353e-03 9.99355663e-01 6.46690331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:7.25, Z:6.47 [[ 9.95571057e-01 -8.68996707e-02 -3.58708602e-02 1.86103964e+02] [ 8.69111870e-02 9.96215291e-01 -1.24107400e-03 7.24903606e+00] [ 3.58429484e-02 -1.88200168e-03 9.99355663e-01 6.46779455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:7.25, Z:6.47 [[ 9.95691710e-01 -8.55061073e-02 -3.58709512e-02 1.86134816e+02] [ 8.55168166e-02 9.96335958e-01 -1.23843929e-03 7.25006873e+00] [ 3.58454126e-02 -1.83446581e-03 9.99355663e-01 6.46889792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:7.25, Z:6.47 [[ 9.96011338e-01 -8.16987435e-02 -3.58710190e-02 1.86165976e+02] [ 8.17070602e-02 9.96655621e-01 -1.23647329e-03 7.25153191e+00] [ 3.58520710e-02 -1.69937409e-03 9.99355663e-01 6.46982158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:7.25, Z:6.47 [[ 9.96017207e-01 -8.16271303e-02 -3.58710857e-02 1.86198630e+02] [ 8.16354703e-02 9.96661490e-01 -1.23453515e-03 7.25259673e+00] [ 3.58521012e-02 -1.69873470e-03 9.99355663e-01 6.47099440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:7.25, Z:6.47 [[ 9.96204499e-01 -7.93086100e-02 -3.58711742e-02 1.86230610e+02] [ 7.93155431e-02 9.96848798e-01 -1.23195686e-03 7.25430518e+00] [ 3.58558417e-02 -1.61786069e-03 9.99355663e-01 6.47237539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.26, Y:7.26, Z:6.47 [[ 9.96454051e-01 -7.61089811e-02 -3.58712629e-02 1.86262085e+02] [ 7.61139380e-02 9.97098369e-01 -1.22936901e-03 7.25600689e+00] [ 3.58607437e-02 -1.50529336e-03 9.99355663e-01 6.47220932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:7.26, Z:6.47 [[ 9.96646308e-01 -7.35494373e-02 -3.58694310e-02 1.86292715e+02] [ 7.35508190e-02 9.97290645e-01 -1.28280741e-03 7.25836253e+00] [ 3.58665977e-02 -1.35972076e-03 9.99355662e-01 6.47439931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.32, Y:7.26, Z:6.48 [[ 9.97150234e-01 -6.63675799e-02 -3.58713589e-02 1.86324901e+02] [ 6.63663460e-02 9.97794570e-01 -1.22641925e-03 7.26208637e+00] [ 3.58736416e-02 -1.15772677e-03 9.99355663e-01 6.47743892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:7.26, Z:6.48 [[ 9.97415063e-01 -6.22611940e-02 -3.58711091e-02 1.86354756e+02] [ 6.22570437e-02 9.98059386e-01 -1.23374914e-03 7.26407484e+00] [ 3.58783118e-02 -1.00266923e-03 9.99355663e-01 6.47662405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:7.27, Z:6.48 [[ 9.97607952e-01 -5.90898572e-02 -3.58714765e-02 1.86384857e+02] [ 5.90840457e-02 9.98252263e-01 -1.22297190e-03 7.26771407e+00] [ 3.58810478e-02 -8.99385463e-04 9.99355663e-01 6.47939786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:7.27, Z:6.48 [[ 9.97841654e-01 -5.50046695e-02 -3.58680764e-02 1.86413840e+02] [ 5.49926487e-02 9.98485884e-01 -1.32235808e-03 7.27020262e+00] [ 3.58865038e-02 -6.52976549e-04 9.99355659e-01 6.48041780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:7.27, Z:6.48 [[ 9.98059029e-01 -5.09088795e-02 -3.58672563e-02 1.86442890e+02] [ 5.08933551e-02 9.98703186e-01 -1.34628550e-03 7.27238616e+00] [ 3.58892811e-02 -4.81732615e-04 9.99355656e-01 6.48099896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:7.27, Z:6.48 [[ 9.98466350e-01 -4.21721918e-02 -3.58671697e-02 1.86472462e+02] [ 4.21509400e-02 9.99110344e-01 -1.34880493e-03 7.27482870e+00] [ 3.58921423e-02 -1.65098579e-04 9.99355656e-01 6.48188874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.50, Y:7.28, Z:6.48 [[ 9.98599732e-01 -3.88825102e-02 -3.58709548e-02 1.86500181e+02] [ 3.88630720e-02 9.99243777e-01 -1.23924824e-03 7.27707308e+00] [ 3.58920134e-02 -1.56542541e-04 9.99355662e-01 6.48273222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.53, Y:7.28, Z:6.49 [[ 9.98690016e-01 -3.64904385e-02 -3.58706032e-02 1.86526345e+02] [ 3.64690952e-02 9.99334000e-01 -1.24934152e-03 7.28044563e+00] [ 3.58923024e-02 -6.04635459e-05 9.99355662e-01 6.48501527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:7.28, Z:6.48 [[ 9.98826630e-01 -3.25445446e-02 -3.58638393e-02 1.86555249e+02] [ 3.25137709e-02 9.99470249e-01 -1.44111303e-03 7.28049873e+00] [ 3.58917407e-02 2.73353420e-04 9.99355647e-01 6.48412450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.58, Y:7.28, Z:6.48 [[ 9.98905796e-01 -3.00090896e-02 -3.58701174e-02 1.86582981e+02] [ 2.99830847e-02 9.99549609e-01 -1.26279556e-03 7.28175567e+00] [ 3.58918572e-02 1.85917034e-04 9.99355662e-01 6.48442527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:7.28, Z:6.48 [[ 9.99025623e-01 -2.57131099e-02 -3.58697683e-02 1.86610454e+02] [ 2.56839834e-02 9.99669302e-01 -1.27263516e-03 7.28338483e+00] [ 3.58906297e-02 3.50116598e-04 9.99355662e-01 6.48469213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:7.28, Z:6.49 [[ 9.99064146e-01 -2.41702050e-02 -3.58696601e-02 1.86638088e+02] [ 2.41399752e-02 9.99707774e-01 -1.27567763e-03 7.28439163e+00] [ 3.58900115e-02 4.08591077e-04 9.99355662e-01 6.48604831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:7.29, Z:6.49 [[ 9.99055164e-01 -2.45391804e-02 -3.58693155e-02 1.86664177e+02] [ 2.45088430e-02 9.99698787e-01 -1.28529614e-03 7.28781452e+00] [ 3.58900513e-02 4.04966323e-04 9.99355663e-01 6.48958930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:7.29, Z:6.49 [[ 9.99144791e-01 -2.05855149e-02 -3.58597602e-02 1.86694580e+02] [ 2.05431801e-02 9.99787767e-01 -1.54866027e-03 7.28501452e+00] [ 3.58840295e-02 8.10662333e-04 9.99355632e-01 6.49039341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:7.28, Z:6.49 [[ 9.99149059e-01 -2.03612705e-02 -3.58688686e-02 1.86722035e+02] [ 2.03278311e-02 9.99792527e-01 -1.29674590e-03 7.28477930e+00] [ 3.58878302e-02 5.66506140e-04 9.99355664e-01 6.49176962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:7.28, Z:6.49 [[ 9.99149357e-01 -2.03472817e-02 -3.58685132e-02 1.86749329e+02] [ 2.03134831e-02 9.99792806e-01 -1.30650383e-03 7.28441004e+00] [ 3.58876653e-02 5.76778022e-04 9.99355664e-01 6.49249283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:7.29, Z:6.49 [[ 9.99118030e-01 -2.18317142e-02 -3.58683586e-02 1.86775377e+02] [ 2.17987197e-02 9.99761520e-01 -1.31073420e-03 7.28612964e+00] [ 3.58884203e-02 5.27693880e-04 9.99355664e-01 6.49493690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:7.28, Z:6.50 [[ 9.99070560e-01 -2.39200109e-02 -3.58587504e-02 1.86802998e+02] [ 2.38790204e-02 9.99713621e-01 -1.57100966e-03 7.28364797e+00] [ 3.58860598e-02 7.13277663e-04 9.99355633e-01 6.49552034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:7.28, Z:6.50 [[ 9.99066082e-01 -2.41069181e-02 -3.58583493e-02 1.86832849e+02] [ 2.40656592e-02 9.99709129e-01 -1.58184327e-03 7.28028294e+00] [ 3.58860525e-02 7.17411146e-04 9.99355631e-01 6.49507617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:7.28, Z:6.50 [[ 9.99024127e-01 -2.57737986e-02 -3.58678811e-02 1.86860496e+02] [ 2.57428826e-02 9.99667721e-01 -1.32356871e-03 7.27859066e+00] [ 3.58900764e-02 3.98934424e-04 9.99355664e-01 6.49522136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:7.28, Z:6.50 [[ 9.98971354e-01 -2.77445012e-02 -3.58674983e-02 1.86888013e+02] [ 2.77144854e-02 9.99614990e-01 -1.33386339e-03 7.27743166e+00] [ 3.58906963e-02 3.38442061e-04 9.99355664e-01 6.49565269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:7.28, Z:6.50 [[ 9.98763411e-01 -3.44264941e-02 -3.58673179e-02 1.86912570e+02] [ 3.44006109e-02 9.99407227e-01 -1.33869814e-03 7.27775177e+00] [ 3.58921434e-02 1.03185072e-04 9.99355664e-01 6.49600255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:7.27, Z:6.50 [[ 9.98802605e-01 -3.32889899e-02 -3.58496890e-02 1.86944981e+02] [ 3.32457145e-02 9.99445583e-01 -1.80274062e-03 7.27254430e+00] [ 3.58898248e-02 6.08733495e-04 9.99355567e-01 6.49792736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:7.27, Z:6.50 [[ 9.98726951e-01 -3.54689910e-02 -3.58667977e-02 1.86973243e+02] [ 3.54434663e-02 9.99370775e-01 -1.34742855e-03 7.27133137e+00] [ 3.58920214e-02 7.44695718e-05 9.99355671e-01 6.49893831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:7.27, Z:6.50 [[ 9.98573277e-01 -3.95599714e-02 -3.58666772e-02 1.87001064e+02] [ 3.95369694e-02 9.99217196e-01 -1.35062826e-03 7.26721826e+00] [ 3.58920315e-02 -6.93584391e-05 9.99355671e-01 6.50082341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:7.27, Z:6.50 [[ 9.98479997e-01 -4.18485967e-02 -3.58662790e-02 1.87028259e+02] [ 4.18266937e-02 9.99123954e-01 -1.36112115e-03 7.26568569e+00] [ 3.58918195e-02 -1.41115630e-04 9.99355671e-01 6.50059801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:7.26, Z:6.50 [[ 9.98374242e-01 -4.43001405e-02 -3.58660036e-02 1.87056126e+02] [ 4.42795594e-02 9.99018242e-01 -1.36834122e-03 7.26410474e+00] [ 3.58914096e-02 -2.22014212e-04 9.99355671e-01 6.50140667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:7.26, Z:6.50 [[ 9.98264139e-01 -4.67158085e-02 -3.58656075e-02 1.87082906e+02] [ 4.66964156e-02 9.98908176e-01 -1.37864429e-03 7.26260254e+00] [ 3.58908531e-02 -2.98544161e-04 9.99355671e-01 6.50115362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:7.26, Z:6.50 [[ 9.98139228e-01 -4.93128015e-02 -3.58654355e-02 1.87110682e+02] [ 4.92949240e-02 9.98783309e-01 -1.38310611e-03 7.26104786e+00] [ 3.58900032e-02 -3.87451452e-04 9.99355671e-01 6.50219834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:7.26, Z:6.50 [[ 9.98001566e-01 -5.20247440e-02 -3.58650384e-02 1.87137867e+02] [ 5.20082493e-02 9.98645683e-01 -1.39332752e-03 7.25969551e+00] [ 3.58889533e-02 -4.74734815e-04 9.99355671e-01 6.50218920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:7.26, Z:6.50 [[ 9.97694713e-01 -5.76105188e-02 -3.58648658e-02 1.87166225e+02] [ 5.75974709e-02 9.98338909e-01 -1.39775507e-03 7.25658662e+00] [ 3.58858164e-02 -6.71192720e-04 9.99355671e-01 6.50391863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:7.26, Z:6.50 [[ 9.97545415e-01 -6.01405504e-02 -3.58644550e-02 1.87193164e+02] [ 6.01287603e-02 9.98189636e-01 -1.40821822e-03 7.25575033e+00] [ 3.58842183e-02 -7.51723591e-04 9.99355671e-01 6.50405419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.22, Y:7.26, Z:6.51 [[ 9.97343501e-01 -6.34010690e-02 -3.58642764e-02 1.87220657e+02] [ 6.33912219e-02 9.97987754e-01 -1.41275328e-03 7.25530269e+00] [ 3.58816787e-02 -8.64479995e-04 9.99355671e-01 6.50559435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:7.25, Z:6.51 [[ 9.96979700e-01 -6.88858532e-02 -3.58638737e-02 1.87249274e+02] [ 6.88791850e-02 9.97623994e-01 -1.42290281e-03 7.25296990e+00] [ 3.58766788e-02 -1.05166917e-03 9.99355671e-01 6.50649087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:7.25, Z:6.51 [[ 9.96793099e-01 -7.15354834e-02 -3.58635212e-02 1.87279304e+02] [ 7.15302104e-02 9.97437406e-01 -1.43173134e-03 7.25285192e+00] [ 3.58740372e-02 -1.13818530e-03 9.99355671e-01 6.50792082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:7.25, Z:6.51 [[ 9.96623930e-01 -7.38549504e-02 -3.58634697e-02 1.87309487e+02] [ 7.38511304e-02 9.97268247e-01 -1.43302095e-03 7.25290953e+00] [ 3.58713353e-02 -1.22037481e-03 9.99355671e-01 6.50912061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:7.25, Z:6.51 [[ 9.96480106e-01 -7.57707773e-02 -3.58634697e-02 1.87339127e+02] [ 7.57681960e-02 9.97124429e-01 -1.43302095e-03 7.25300964e+00] [ 3.58689229e-02 -1.28933353e-03 9.99355671e-01 6.50972211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:7.25, Z:6.51 [[ 9.96279687e-01 -7.83619883e-02 -3.58634181e-02 1.87369344e+02] [ 7.83610363e-02 9.96924015e-01 -1.43431069e-03 7.25255399e+00] [ 3.58654982e-02 -1.38132000e-03 9.99355671e-01 6.51038093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:7.25, Z:6.51 [[ 9.96219220e-01 -7.91269979e-02 -3.58634181e-02 1.87398389e+02] [ 7.91265406e-02 9.96863548e-01 -1.43431069e-03 7.25327909e+00] [ 3.58644269e-02 -1.40886033e-03 9.99355671e-01 6.51043911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.43, Y:7.25, Z:6.51 [[ 9.96202105e-01 -7.93421722e-02 -3.58634246e-02 1.87429015e+02] [ 7.93418600e-02 9.96846434e-01 -1.43414902e-03 7.25417501e+00] [ 3.58641154e-02 -1.41676854e-03 9.99355671e-01 6.51194866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:7.26, Z:6.51 [[ 9.96201089e-01 -7.93549305e-02 -3.58634246e-02 1.87459576e+02] [ 7.93546265e-02 9.96845418e-01 -1.43414902e-03 7.25532860e+00] [ 3.58640972e-02 -1.41722784e-03 9.99355671e-01 6.51276645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:7.26, Z:6.51 [[ 9.96267808e-01 -7.85128590e-02 -3.58634246e-02 1.87489977e+02] [ 7.85120104e-02 9.96912136e-01 -1.43414902e-03 7.25780743e+00] [ 3.58652824e-02 -1.38691306e-03 9.99355671e-01 6.51383228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:7.26, Z:6.51 [[ 9.96325289e-01 -7.77800284e-02 -3.58634246e-02 1.87519812e+02] [ 7.77787059e-02 9.96969616e-01 -1.43414902e-03 7.25983429e+00] [ 3.58662928e-02 -1.36053181e-03 9.99355671e-01 6.51434677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:7.26, Z:6.52 [[ 9.96437743e-01 -7.63258586e-02 -3.58634506e-02 1.87550653e+02] [ 7.63236191e-02 9.97082068e-01 -1.43349857e-03 7.26321916e+00] [ 3.58682165e-02 -1.30883626e-03 9.99355671e-01 6.51508414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:7.27, Z:6.52 [[ 9.96472584e-01 -7.58696426e-02 -3.58634506e-02 1.87580745e+02] [ 7.58671081e-02 9.97116907e-01 -1.43349857e-03 7.26527565e+00] [ 3.58688120e-02 -1.29241425e-03 9.99355671e-01 6.51636782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:7.27, Z:6.52 [[ 9.96502256e-01 -7.54789196e-02 -3.58634506e-02 1.87610402e+02] [ 7.54761324e-02 9.97146578e-01 -1.43349857e-03 7.26706254e+00] [ 3.58693160e-02 -1.27834998e-03 9.99355671e-01 6.51695933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:7.27, Z:6.52 [[ 9.96528567e-01 -7.51307369e-02 -3.58634566e-02 1.87640216e+02] [ 7.51277300e-02 9.97172889e-01 -1.43334839e-03 7.26883758e+00] [ 3.58697551e-02 -1.26596746e-03 9.99355671e-01 6.51723264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:7.27, Z:6.52 [[ 9.96562684e-01 -7.46768417e-02 -3.58634307e-02 1.87669317e+02] [ 7.46735180e-02 9.97207004e-01 -1.43399537e-03 7.27202149e+00] [ 3.58703506e-02 -1.24898226e-03 9.99355671e-01 6.51843373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:7.27, Z:6.52 [[ 9.96577947e-01 -7.44728939e-02 -3.58634057e-02 1.87699675e+02] [ 7.44694159e-02 9.97222266e-01 -1.43462082e-03 7.27456397e+00] [ 3.58706271e-02 -1.24101541e-03 9.99355671e-01 6.52109332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:7.28, Z:6.52 [[ 9.96627528e-01 -7.38064190e-02 -3.58634057e-02 1.87729232e+02] [ 7.38025102e-02 9.97271844e-01 -1.43462082e-03 7.27684048e+00] [ 3.58714490e-02 -1.21702677e-03 9.99355671e-01 6.52171441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:7.28, Z:6.52 [[ 9.96659086e-01 -7.33790474e-02 -3.58633798e-02 1.87759761e+02] [ 7.33748390e-02 9.97303401e-01 -1.43526773e-03 7.27951408e+00] [ 3.58719892e-02 -1.20099710e-03 9.99355671e-01 6.52317930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:7.28, Z:6.53 [[ 9.96757164e-01 -7.20345331e-02 -3.58633798e-02 1.87789633e+02] [ 7.20294556e-02 9.97401473e-01 -1.43526773e-03 7.28379690e+00] [ 3.58735767e-02 -1.15260633e-03 9.99355671e-01 6.52505058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.82, Y:7.29, Z:6.53 [[ 9.96797415e-01 -7.14753895e-02 -3.58633798e-02 1.87819304e+02] [ 7.14699505e-02 9.97441721e-01 -1.43526773e-03 7.28667111e+00] [ 3.58742176e-02 -1.13248282e-03 9.99355671e-01 6.52579523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:7.29, Z:6.53 [[ 9.96842787e-01 -7.08398012e-02 -3.58633543e-02 1.87849224e+02] [ 7.08339285e-02 9.97487089e-01 -1.43590505e-03 7.28941721e+00] [ 3.58749521e-02 -1.10897068e-03 9.99355671e-01 6.52773355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:7.29, Z:6.53 [[ 9.96941964e-01 -6.94301040e-02 -3.58633543e-02 1.87879804e+02] [ 6.94233202e-02 9.97586257e-01 -1.43590505e-03 7.29412402e+00] [ 3.58764844e-02 -1.05823913e-03 9.99355671e-01 6.53107521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:7.30, Z:6.53 [[ 9.97024337e-01 -6.82370154e-02 -3.58633543e-02 1.87909360e+02] [ 6.82294606e-02 9.97668622e-01 -1.43590505e-03 7.29723815e+00] [ 3.58777251e-02 -1.01530504e-03 9.99355671e-01 6.53220136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.94, Y:7.30, Z:6.53 [[ 9.97117460e-01 -6.68624792e-02 -3.58633593e-02 1.87939860e+02] [ 6.68540408e-02 9.97761733e-01 -1.43577906e-03 7.30043195e+00] [ 3.58790873e-02 -9.65970117e-04 9.99355671e-01 6.53391542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:7.30, Z:6.54 [[ 9.97216262e-01 -6.53723708e-02 -3.58633593e-02 1.87969777e+02] [ 6.53629696e-02 9.97860522e-01 -1.43577906e-03 7.30387161e+00] [ 3.58804907e-02 -9.12353437e-04 9.99355671e-01 6.53552742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.00, Y:7.31, Z:6.54 [[ 9.97319250e-01 -6.37819404e-02 -3.58633078e-02 1.87999405e+02] [ 6.37714655e-02 9.97963494e-01 -1.43706514e-03 7.30695460e+00] [ 3.58819308e-02 -8.53842970e-04 9.99355671e-01 6.53625683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:7.31, Z:6.54 [[ 9.97317055e-01 -6.38162597e-02 -3.58633056e-02 1.88029514e+02] [ 6.38058050e-02 9.97961299e-01 -1.43711896e-03 7.30819142e+00] [ 3.58819026e-02 -8.55023837e-04 9.99355671e-01 6.53733912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:7.31, Z:6.54 [[ 9.97408211e-01 -6.23753797e-02 -3.58632561e-02 1.88058542e+02] [ 6.23639500e-02 9.98052438e-01 -1.43835380e-03 7.31113294e+00] [ 3.58831281e-02 -8.01948423e-04 9.99355671e-01 6.53872716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:7.32, Z:6.54 [[ 9.97561749e-01 -5.98697709e-02 -3.58631807e-02 1.88088470e+02] [ 5.98566554e-02 9.98205944e-01 -1.44023242e-03 7.31538237e+00] [ 3.58850665e-02 -7.09929272e-04 9.99355671e-01 6.54013653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:7.32, Z:6.54 [[ 9.97629771e-01 -5.87254279e-02 -3.58631291e-02 1.88117919e+02] [ 5.87115274e-02 9.98273950e-01 -1.44151511e-03 7.31811253e+00] [ 3.58858811e-02 -6.67480699e-04 9.99355671e-01 6.54096048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:7.32, Z:6.54 [[ 9.97678699e-01 -5.78882753e-02 -3.58630777e-02 1.88146962e+02] [ 5.78737884e-02 9.98322865e-01 -1.44279310e-03 7.32078386e+00] [ 3.58864513e-02 -6.36088225e-04 9.99355671e-01 6.54144427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:7.32, Z:6.54 [[ 9.97744773e-01 -5.67381136e-02 -3.58630011e-02 1.88176182e+02] [ 5.67228157e-02 9.98388920e-01 -1.44469551e-03 7.32307418e+00] [ 3.58871922e-02 -5.92813003e-04 9.99355671e-01 6.54234429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:7.33, Z:6.54 [[ 9.97809540e-01 -5.55875108e-02 -3.58629484e-02 1.88205392e+02] [ 5.55714231e-02 9.98453667e-01 -1.44600193e-03 7.32658395e+00] [ 3.58878720e-02 -5.50120557e-04 9.99355671e-01 6.54286336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:7.33, Z:6.54 [[ 9.97813777e-01 -5.55114337e-02 -3.58628960e-02 1.88233586e+02] [ 5.54952503e-02 9.98457902e-01 -1.44730099e-03 7.32882447e+00] [ 3.58879336e-02 -5.46083518e-04 9.99355671e-01 6.54418546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:7.33, Z:6.55 [[ 9.97819521e-01 -5.54083253e-02 -3.58625244e-02 1.88262195e+02] [ 5.53917465e-02 9.98463636e-01 -1.45645068e-03 7.33084025e+00] [ 3.58881260e-02 -5.33212942e-04 9.99355671e-01 6.54522932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:7.33, Z:6.55 [[ 9.97845951e-01 -5.49303427e-02 -3.58624452e-02 1.88291374e+02] [ 5.49133854e-02 9.98490057e-01 -1.45839775e-03 7.33256173e+00] [ 3.58884052e-02 -5.14071985e-04 9.99355671e-01 6.54598232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:7.34, Z:6.55 [[ 9.97867908e-01 -5.45302592e-02 -3.58620820e-02 1.88319526e+02] [ 5.45127246e-02 9.98511998e-01 -1.46727557e-03 7.33534620e+00] [ 3.58887300e-02 -4.90792597e-04 9.99355672e-01 6.54677885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:7.34, Z:6.55 [[ 9.97886681e-01 -5.41858815e-02 -3.58617155e-02 1.88347796e+02] [ 5.41678048e-02 9.98530756e-01 -1.47617933e-03 7.33742515e+00] [ 3.58890139e-02 -4.69490711e-04 9.99355672e-01 6.54842974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:7.34, Z:6.55 [[ 9.97855025e-01 -5.47657973e-02 -3.58616376e-02 1.88376094e+02] [ 5.47480269e-02 9.98499108e-01 -1.47806891e-03 7.33935875e+00] [ 3.58887608e-02 -4.88455406e-04 9.99355672e-01 6.55025410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:7.34, Z:6.55 [[ 9.97740449e-01 -5.68151987e-02 -3.58612617e-02 1.88404725e+02] [ 5.67984256e-02 9.98384559e-01 -1.48713210e-03 7.34088167e+00] [ 3.58878217e-02 -5.53091363e-04 9.99355672e-01 6.55092385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.43, Y:7.34, Z:6.55 [[ 9.97647599e-01 -5.84229746e-02 -3.58611819e-02 1.88434182e+02] [ 5.84071704e-02 9.98291733e-01 -1.48905599e-03 7.34174806e+00] [ 3.58869165e-02 -6.08997024e-04 9.99355672e-01 6.55196075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:7.34, Z:6.55 [[ 9.97543539e-01 -6.01736408e-02 -3.58611286e-02 1.88463655e+02] [ 6.01589209e-02 9.98187699e-01 -1.49033740e-03 7.34240638e+00] [ 3.58858165e-02 -6.70690355e-04 9.99355672e-01 6.55303034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:7.34, Z:6.55 [[ 9.97438100e-01 -6.18968303e-02 -3.58611021e-02 1.88493128e+02] [ 6.18832004e-02 9.98082284e-01 -1.49097375e-03 7.34274537e+00] [ 3.58846173e-02 -7.32045742e-04 9.99355672e-01 6.55407366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:7.34, Z:6.56 [[ 9.97286697e-01 -6.42901786e-02 -3.58610764e-02 1.88524052e+02] [ 6.42780723e-02 9.97930912e-01 -1.49159307e-03 7.34287229e+00] [ 3.58827714e-02 -8.17534937e-04 9.99355672e-01 6.55581258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:7.34, Z:6.56 [[ 9.97235827e-01 -6.50744894e-02 -3.58610764e-02 1.88554949e+02] [ 6.50628897e-02 9.97880051e-01 -1.49159307e-03 7.34352370e+00] [ 3.58821174e-02 -8.45755212e-04 9.99355672e-01 6.55687343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:7.34, Z:6.56 [[ 9.97215770e-01 -6.53811284e-02 -3.58610764e-02 1.88584722e+02] [ 6.53697268e-02 9.97859997e-01 -1.49159307e-03 7.34396975e+00] [ 3.58818556e-02 -8.56788639e-04 9.99355672e-01 6.55799518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:7.34, Z:6.56 [[ 9.97219759e-01 -6.53202692e-02 -3.58610495e-02 1.88615134e+02] [ 6.53088052e-02 9.97863985e-01 -1.49223823e-03 7.34446770e+00] [ 3.58819232e-02 -8.53952853e-04 9.99355672e-01 6.55902663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.64, Y:7.34, Z:6.56 [[ 9.97292806e-01 -6.41953566e-02 -3.58610495e-02 1.88644535e+02] [ 6.41831658e-02 9.97937019e-01 -1.49223823e-03 7.34383834e+00] [ 3.58828637e-02 -8.13477242e-04 9.99355672e-01 6.55955892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.68, Y:7.34, Z:6.56 [[ 9.97352063e-01 -6.32680777e-02 -3.58610228e-02 1.88675271e+02] [ 6.32552648e-02 9.97996264e-01 -1.49288155e-03 7.34393105e+00] [ 3.58836185e-02 -7.79469995e-04 9.99355672e-01 6.56049093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.71, Y:7.34, Z:6.56 [[ 9.97427435e-01 -6.20685039e-02 -3.58610228e-02 1.88705628e+02] [ 6.20549163e-02 9.98071620e-01 -1.49288155e-03 7.34413154e+00] [ 3.58845300e-02 -7.36311750e-04 9.99355672e-01 6.56174044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:7.34, Z:6.56 [[ 9.97493086e-01 -6.10043494e-02 -3.58610228e-02 1.88736077e+02] [ 6.09900746e-02 9.98137256e-01 -1.49288155e-03 7.34452790e+00] [ 3.58852951e-02 -6.98027425e-04 9.99355672e-01 6.56275408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:7.34, Z:6.56 [[ 9.97551735e-01 -6.00376736e-02 -3.58610228e-02 1.88765654e+02] [ 6.00227745e-02 9.98195892e-01 -1.49288155e-03 7.34483237e+00] [ 3.58859547e-02 -6.63251500e-04 9.99355672e-01 6.56316768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:7.34, Z:6.56 [[ 9.97638258e-01 -5.85823798e-02 -3.58609958e-02 1.88795855e+02] [ 5.85665177e-02 9.98282391e-01 -1.49352938e-03 7.34421614e+00] [ 3.58868951e-02 -6.10251595e-04 9.99355672e-01 6.56315545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:7.34, Z:6.56 [[ 9.97664074e-01 -5.81411099e-02 -3.58609407e-02 1.88824031e+02] [ 5.81249155e-02 9.98308199e-01 -1.49484971e-03 7.34447570e+00] [ 3.58871834e-02 -5.93056295e-04 9.99355672e-01 6.56394580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:7.34, Z:6.56 [[ 9.97666868e-01 -5.80931984e-02 -3.58608588e-02 1.88852365e+02] [ 5.80769025e-02 9.98310990e-01 -1.49681298e-03 7.34486183e+00] [ 3.58872441e-02 -5.89366886e-04 9.99355672e-01 6.56468376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:7.34, Z:6.57 [[ 9.97575611e-01 -5.96398070e-02 -3.58607563e-02 1.88881658e+02] [ 5.96244215e-02 9.98219756e-01 -1.49926504e-03 7.34427488e+00] [ 3.58863312e-02 -6.42546607e-04 9.99355672e-01 6.56500778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:7.34, Z:6.57 [[ 9.97496988e-01 -6.09408957e-02 -3.58603763e-02 1.88911085e+02] [ 6.09260258e-02 9.98141145e-01 -1.50829897e-03 7.34447274e+00] [ 3.58856341e-02 -6.80306529e-04 9.99355672e-01 6.56587253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:7.34, Z:6.57 [[ 9.97401369e-01 -6.24863754e-02 -3.58603213e-02 1.88939338e+02] [ 6.24724567e-02 9.98045547e-01 -1.50960586e-03 7.34458854e+00] [ 3.58845638e-02 -7.34599419e-04 9.99355672e-01 6.56652617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.97, Y:7.34, Z:6.57 [[ 9.97275145e-01 -6.44696004e-02 -3.58602393e-02 1.88969107e+02] [ 6.44568927e-02 9.97919348e-01 -1.51155198e-03 7.34457441e+00] [ 3.58830757e-02 -8.04006374e-04 9.99355672e-01 6.56723662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:7.34, Z:6.57 [[ 9.96959243e-01 -6.91831979e-02 -3.58601843e-02 1.88998969e+02] [ 6.91734887e-02 9.97603498e-01 -1.51285412e-03 7.34347252e+00] [ 3.58789094e-02 -9.72320160e-04 9.99355672e-01 6.56769124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:7.34, Z:6.57 [[ 9.96781070e-01 -7.17045737e-02 -3.58601872e-02 1.89029057e+02] [ 7.16964966e-02 9.97425348e-01 -1.51278494e-03 7.34355419e+00] [ 3.58763333e-02 -1.06313441e-03 9.99355672e-01 6.56856939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:7.34, Z:6.57 [[ 9.96594191e-01 -7.42567537e-02 -3.58601872e-02 1.89058289e+02] [ 7.42503264e-02 9.97238487e-01 -1.51278494e-03 7.34405697e+00] [ 3.58734934e-02 -1.15499793e-03 9.99355672e-01 6.56870431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.09, Y:7.34, Z:6.57 [[ 9.96395673e-01 -7.68760084e-02 -3.58572372e-02 1.89088476e+02] [ 7.68687639e-02 9.97039963e-01 -1.58263253e-03 7.34392276e+00] [ 3.58727649e-02 -1.17937329e-03 9.99355669e-01 6.57081443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:7.34, Z:6.57 [[ 9.96045789e-01 -8.12824345e-02 -3.58601840e-02 1.89119825e+02] [ 8.12805509e-02 9.96690114e-01 -1.51278044e-03 7.34279207e+00] [ 3.58644534e-02 -1.40793692e-03 9.99355672e-01 6.57226617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:7.34, Z:6.57 [[ 9.95892913e-01 -8.31345253e-02 -3.58602384e-02 1.89150996e+02] [ 8.31338862e-02 9.96537241e-01 -1.51149086e-03 7.34290972e+00] [ 3.58617201e-02 -1.47591794e-03 9.99355672e-01 6.57359160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:7.34, Z:6.58 [[ 9.95734604e-01 -8.50096305e-02 -3.58602924e-02 1.89182044e+02] [ 8.50102507e-02 9.96378932e-01 -1.51020820e-03 7.34304669e+00] [ 3.58588221e-02 -1.54472589e-03 9.99355672e-01 6.57501744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:7.34, Z:6.58 [[ 9.95484176e-01 -8.78936320e-02 -3.58603475e-02 1.89212896e+02] [ 8.78961657e-02 9.96128499e-01 -1.50889927e-03 7.34224584e+00] [ 3.58541368e-02 -1.64990170e-03 9.99355672e-01 6.57633869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:7.34, Z:6.58 [[ 9.95275896e-01 -9.02215118e-02 -3.58604297e-02 1.89245623e+02] [ 9.02256228e-02 9.95920211e-01 -1.50694182e-03 7.34142733e+00] [ 3.58500853e-02 -1.73570674e-03 9.99355672e-01 6.57719617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:7.34, Z:6.58 [[ 9.95185756e-01 -9.12103783e-02 -3.58605390e-02 1.89277387e+02] [ 9.12152231e-02 9.95830066e-01 -1.50433708e-03 7.34144144e+00] [ 3.58482141e-02 -1.77393223e-03 9.99355672e-01 6.57826209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:7.34, Z:6.58 [[ 9.95094141e-01 -9.22044729e-02 -3.58606501e-02 1.89309948e+02] [ 9.22100567e-02 9.95738445e-01 -1.50168309e-03 7.34166299e+00] [ 3.58462899e-02 -1.81239654e-03 9.99355672e-01 6.57919796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:7.34, Z:6.58 [[ 9.94971186e-01 -9.35218981e-02 -3.58607604e-02 1.89341832e+02] [ 9.35284298e-02 9.95615481e-01 -1.49904543e-03 7.34066756e+00] [ 3.58437218e-02 -1.86249360e-03 9.99355672e-01 6.57970628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:7.34, Z:6.58 [[ 9.94916124e-01 -9.41058173e-02 -3.58608696e-02 1.89373496e+02] [ 9.41128211e-02 9.95560414e-01 -1.49642867e-03 7.34108859e+00] [ 3.58424848e-02 -1.88614659e-03 9.99355672e-01 6.58039159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:7.34, Z:6.58 [[ 9.94917763e-01 -9.40884542e-02 -3.58609509e-02 1.89406090e+02] [ 9.40955169e-02 9.95562052e-01 -1.49447849e-03 7.34180686e+00] [ 3.58424150e-02 -1.88747151e-03 9.99355672e-01 6.58118571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:7.34, Z:6.58 [[ 9.94940452e-01 -9.38481783e-02 -3.58610611e-02 1.89437531e+02] [ 9.38551806e-02 9.95584743e-01 -1.49182965e-03 7.34257277e+00] [ 3.58427307e-02 -1.88146469e-03 9.99355672e-01 6.58158544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.47, Y:7.34, Z:6.58 [[ 9.95075468e-01 -9.24055777e-02 -3.58611431e-02 1.89468643e+02] [ 9.24117168e-02 9.95719767e-01 -1.48985486e-03 7.34360109e+00] [ 3.58453200e-02 -1.83147177e-03 9.99355672e-01 6.58231290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:7.34, Z:6.58 [[ 9.95082161e-01 -9.23334457e-02 -3.58612242e-02 1.89501287e+02] [ 9.23396084e-02 9.95726460e-01 -1.48790031e-03 7.34489686e+00] [ 3.58453528e-02 -1.83082835e-03 9.99355672e-01 6.58348570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:7.35, Z:6.58 [[ 9.95187630e-01 -9.11896106e-02 -3.58613318e-02 1.89533582e+02] [ 9.11951261e-02 9.95831935e-01 -1.48530162e-03 7.34615337e+00] [ 3.58473035e-02 -1.79222488e-03 9.99355672e-01 6.58472760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:7.35, Z:6.59 [[ 9.95459413e-01 -8.81732085e-02 -3.58614398e-02 1.89565458e+02] [ 8.81768653e-02 9.96103731e-01 -1.48268958e-03 7.34779151e+00] [ 3.58524475e-02 -1.68619205e-03 9.99355672e-01 6.58717607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.60, Y:7.35, Z:6.59 [[ 9.95633354e-01 -8.61868533e-02 -3.58615488e-02 1.89596422e+02] [ 8.61893194e-02 9.96277677e-01 -1.48004785e-03 7.34940593e+00] [ 3.58556213e-02 -1.61729748e-03 9.99355672e-01 6.58901987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:7.35, Z:6.59 [[ 9.95845927e-01 -8.36948847e-02 -3.58616299e-02 1.89627526e+02] [ 8.36958090e-02 9.96490254e-01 -1.47808131e-03 7.35120784e+00] [ 3.58594725e-02 -1.52952688e-03 9.99355672e-01 6.59106288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:7.35, Z:6.59 [[ 9.96141759e-01 -8.00970437e-02 -3.58616826e-02 1.89658792e+02] [ 8.00956865e-02 9.96786085e-01 -1.47680100e-03 7.35195195e+00] [ 3.58647136e-02 -1.40126294e-03 9.99355672e-01 6.59256788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:7.35, Z:6.59 [[ 9.96281255e-01 -7.83412916e-02 -3.58650567e-02 1.89689193e+02] [ 7.83417416e-02 9.96925587e-01 -1.39493534e-03 7.35469353e+00] [ 3.58640737e-02 -1.41998307e-03 9.99355668e-01 6.59430523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:7.36, Z:6.60 [[ 9.96819960e-01 -7.11612839e-02 -3.58613731e-02 1.89719122e+02] [ 7.11538919e-02 9.97464246e-01 -1.48395611e-03 7.35694417e+00] [ 3.58760377e-02 -1.07243919e-03 9.99355672e-01 6.59576328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:7.36, Z:6.60 [[ 9.97084926e-01 -6.73469410e-02 -3.58614001e-02 1.89748959e+02] [ 6.73371075e-02 9.97729179e-01 -1.48330208e-03 7.35898359e+00] [ 3.58798612e-02 -9.35824811e-04 9.99355672e-01 6.59712980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:7.36, Z:6.60 [[ 9.97341396e-01 -6.34358232e-02 -3.58613462e-02 1.89777980e+02] [ 6.34234162e-02 9.97985604e-01 -1.48460607e-03 7.36099169e+00] [ 3.58832844e-02 -7.93789993e-04 9.99355672e-01 6.59862444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:7.36, Z:6.60 [[ 9.97576893e-01 -5.96180604e-02 -3.58612657e-02 1.89807105e+02] [ 5.96031180e-02 9.98221047e-01 -1.48654669e-03 7.36291312e+00] [ 3.58860952e-02 -6.54498629e-04 9.99355672e-01 6.59953611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:7.36, Z:6.60 [[ 9.97960514e-01 -5.28089486e-02 -3.58612121e-02 1.89834599e+02] [ 5.27895642e-02 9.98604550e-01 -1.48783990e-03 7.36449296e+00] [ 3.58897408e-02 -4.08292285e-04 9.99355672e-01 6.59985163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.86, Y:7.37, Z:6.60 [[ 9.98064771e-01 -5.08005532e-02 -3.58610786e-02 1.89862953e+02] [ 5.07797575e-02 9.98708763e-01 -1.49104952e-03 7.36574726e+00] [ 3.58905196e-02 -3.32852874e-04 9.99355672e-01 6.60040096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:7.37, Z:6.60 [[ 9.98141217e-01 -4.92760064e-02 -3.58606504e-02 1.89890420e+02] [ 4.92538596e-02 9.98785164e-01 -1.50127733e-03 7.36662366e+00] [ 3.58910626e-02 -2.67788662e-04 9.99355672e-01 6.60074315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:7.37, Z:6.60 [[ 9.98167853e-01 -4.87337829e-02 -3.58602153e-02 1.89918202e+02] [ 4.87109154e-02 9.98811775e-01 -1.51160078e-03 7.36725738e+00] [ 3.58912713e-02 -2.37952603e-04 9.99355672e-01 6.60135602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:7.37, Z:6.60 [[ 9.98153828e-01 -4.90205321e-02 -3.58597776e-02 1.89946560e+02] [ 4.89974791e-02 9.98797743e-01 -1.52191255e-03 7.36852399e+00] [ 3.58912699e-02 -2.37935873e-04 9.99355672e-01 6.60237836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.97, Y:7.37, Z:6.60 [[ 9.98142480e-01 -4.92513803e-02 -3.58593378e-02 1.89974021e+02] [ 4.92281064e-02 9.98786387e-01 -1.53220747e-03 7.36803879e+00] [ 3.58912817e-02 -2.35925936e-04 9.99355673e-01 6.60217145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:7.37, Z:6.60 [[ 9.98087380e-01 -5.03557753e-02 -3.58591467e-02 1.90001644e+02] [ 5.03330538e-02 9.98731306e-01 -1.53666619e-03 7.36809093e+00] [ 3.58910324e-02 -2.71173230e-04 9.99355673e-01 6.60231785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:7.37, Z:6.60 [[ 9.98000136e-01 -5.20565198e-02 -3.58587123e-02 1.90030069e+02] [ 5.20345338e-02 9.98644088e-01 -1.54673764e-03 7.36830293e+00] [ 3.58906088e-02 -3.22247001e-04 9.99355673e-01 6.60258319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:7.37, Z:6.60 [[ 9.97897941e-01 -5.39804086e-02 -3.58582627e-02 1.90057288e+02] [ 5.39592920e-02 9.98541922e-01 -1.55709159e-03 7.36847455e+00] [ 3.58900310e-02 -3.81067978e-04 9.99355673e-01 6.60306757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:7.37, Z:6.60 [[ 9.97617659e-01 -5.89339031e-02 -3.58580673e-02 1.90085140e+02] [ 5.89158226e-02 9.98261733e-01 -1.56157683e-03 7.36817299e+00] [ 3.58877663e-02 -5.54750910e-04 9.99355673e-01 6.60347680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:7.37, Z:6.60 [[ 9.97458613e-01 -6.15674129e-02 -3.58576179e-02 1.90111502e+02] [ 6.15506644e-02 9.98102723e-01 -1.57182912e-03 7.36877443e+00] [ 3.58863595e-02 -6.39225710e-04 9.99355673e-01 6.60393114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.14, Y:7.37, Z:6.60 [[ 9.97239692e-01 -6.50190016e-02 -3.58542253e-02 1.90139728e+02] [ 6.50017218e-02 9.97883790e-01 -1.64863952e-03 7.36948800e+00] [ 3.58855431e-02 -6.86497609e-04 9.99355671e-01 6.60470683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:7.37, Z:6.61 [[ 9.97026553e-01 -6.82079929e-02 -3.58569832e-02 1.90168725e+02] [ 6.81950136e-02 9.97670749e-01 -1.58630201e-03 7.37006268e+00] [ 3.58816617e-02 -8.63682228e-04 9.99355673e-01 6.60642998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:7.37, Z:6.61 [[ 9.96783777e-01 -7.16692766e-02 -3.58554907e-02 1.90197299e+02] [ 7.16573260e-02 9.97427994e-01 -1.61990950e-03 7.37051471e+00] [ 3.58793679e-02 -9.54609069e-04 9.99355672e-01 6.60656731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:7.37, Z:6.61 [[ 9.96272529e-01 -7.84560989e-02 -3.58564917e-02 1.90227176e+02] [ 7.84493438e-02 9.96916821e-01 -1.59744093e-03 7.37070631e+00] [ 3.58712687e-02 -1.22143172e-03 9.99355673e-01 6.60752996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:7.37, Z:6.61 [[ 9.96011383e-01 -8.17045927e-02 -3.58564345e-02 1.90256532e+02] [ 8.16998926e-02 9.96655694e-01 -1.59872217e-03 7.37144542e+00] [ 3.58671426e-02 -1.33712137e-03 9.99355673e-01 6.60838322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:7.37, Z:6.61 [[ 9.95736551e-01 -8.49884552e-02 -3.58564408e-02 1.90287445e+02] [ 8.49858847e-02 9.96380873e-01 -1.59858256e-03 7.37208805e+00] [ 3.58625328e-02 -1.45552425e-03 9.99355673e-01 6.60957663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:7.37, Z:6.61 [[ 9.95233713e-01 -9.06872166e-02 -3.58564408e-02 1.90318373e+02] [ 9.06883347e-02 9.95878040e-01 -1.59858256e-03 7.37247041e+00] [ 3.58536129e-02 -1.66079764e-03 9.99355673e-01 6.61134399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:7.37, Z:6.61 [[ 9.95005661e-01 -9.31560292e-02 -3.58564976e-02 1.90350007e+02] [ 9.31587916e-02 9.95649983e-01 -1.59730593e-03 7.37378624e+00] [ 3.58493199e-02 -1.75101955e-03 9.99355673e-01 6.61281986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:7.38, Z:6.61 [[ 9.94823528e-01 -9.50813098e-02 -3.58565541e-02 1.90381392e+02] [ 9.50853647e-02 9.95467843e-01 -1.59603778e-03 7.37519825e+00] [ 3.58457999e-02 -1.82165758e-03 9.99355673e-01 6.61482959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:7.38, Z:6.62 [[ 9.94677175e-01 -9.66002710e-02 -3.58567412e-02 1.90413089e+02] [ 9.66054612e-02 9.95321481e-01 -1.59182254e-03 7.37673141e+00] [ 3.58427553e-02 -1.88060747e-03 9.99355673e-01 6.61611274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.44, Y:7.38, Z:6.62 [[ 9.94649025e-01 -9.68896426e-02 -3.58568529e-02 1.90444919e+02] [ 9.68951109e-02 9.95293329e-01 -1.58930168e-03 7.37890731e+00] [ 3.58420734e-02 -1.89355638e-03 9.99355673e-01 6.61583889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:7.38, Z:6.62 [[ 9.94729912e-01 -9.60556114e-02 -3.58569666e-02 1.90475500e+02] [ 9.60606318e-02 9.95374220e-01 -1.58673282e-03 7.38127958e+00] [ 3.58435148e-02 -1.86607227e-03 9.99355673e-01 6.61679867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:7.38, Z:6.62 [[ 9.94770319e-01 -9.56373182e-02 -3.58541042e-02 1.90507820e+02] [ 9.56397404e-02 9.95414644e-01 -1.65147146e-03 7.38373093e+00] [ 3.58476426e-02 -1.78624243e-03 9.99355670e-01 6.61806857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:7.39, Z:6.62 [[ 9.94846006e-01 -9.48456029e-02 -3.58571557e-02 1.90540367e+02] [ 9.48499981e-02 9.95490318e-01 -1.58232158e-03 7.38622201e+00] [ 3.58455276e-02 -1.82688486e-03 9.99355673e-01 6.61948843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:7.39, Z:6.62 [[ 9.94911762e-01 -9.41532882e-02 -3.58572677e-02 1.90572110e+02] [ 9.41573265e-02 9.95556077e-01 -1.57977944e-03 7.38868437e+00] [ 3.58466622e-02 -1.80448332e-03 9.99355673e-01 6.62084898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:7.39, Z:6.62 [[ 9.94956635e-01 -9.36778690e-02 -3.58573805e-02 1.90603467e+02] [ 9.36816916e-02 9.95600951e-01 -1.57721621e-03 7.39105983e+00] [ 3.58473924e-02 -1.78991833e-03 9.99355673e-01 6.62175084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:7.39, Z:6.62 [[ 9.95020537e-01 -9.29966349e-02 -3.58574644e-02 1.90634126e+02] [ 9.30000850e-02 9.95664855e-01 -1.57530667e-03 7.39397293e+00] [ 3.58485153e-02 -1.76728475e-03 9.99355673e-01 6.62168026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:7.40, Z:6.62 [[ 9.95023671e-01 -9.29630595e-02 -3.58575462e-02 1.90666545e+02] [ 9.29665549e-02 9.95667989e-01 -1.57344108e-03 7.39649386e+00] [ 3.58484829e-02 -1.76794142e-03 9.99355673e-01 6.62252116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:7.40, Z:6.62 [[ 9.95099284e-01 -9.21501091e-02 -3.58576573e-02 1.90698598e+02] [ 9.21531693e-02 9.95743604e-01 -1.57090656e-03 7.40044093e+00] [ 3.58497921e-02 -1.74118877e-03 9.99355673e-01 6.62337682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:7.40, Z:6.62 [[ 9.95198603e-01 -9.10711892e-02 -3.58577725e-02 1.90730591e+02] [ 9.10736454e-02 9.95842925e-01 -1.56827252e-03 7.40338054e+00] [ 3.58515335e-02 -1.70495543e-03 9.99355673e-01 6.62392361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:7.41, Z:6.62 [[ 9.95338868e-01 -8.95251365e-02 -3.58578873e-02 1.90761660e+02] [ 8.95266864e-02 9.95983193e-01 -1.56564246e-03 7.40668703e+00] [ 3.58540175e-02 -1.65189304e-03 9.99355673e-01 6.62441210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:7.41, Z:6.63 [[ 9.95769420e-01 -8.46018151e-02 -3.58579727e-02 1.90792477e+02] [ 8.46002491e-02 9.96413746e-01 -1.56368431e-03 7.41209311e+00] [ 3.58616674e-02 -1.47652440e-03 9.99355673e-01 6.62510490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.82, Y:7.42, Z:6.63 [[ 9.96002658e-01 -8.18101721e-02 -3.58580569e-02 1.90824131e+02] [ 8.18068693e-02 9.96646977e-01 -1.56175218e-03 7.41577980e+00] [ 3.58655912e-02 -1.37792604e-03 9.99355673e-01 6.62701208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:7.42, Z:6.63 [[ 9.96276337e-01 -7.84069622e-02 -3.58581699e-02 1.90856158e+02] [ 7.84015517e-02 9.96920642e-01 -1.55915344e-03 7.41929416e+00] [ 3.58699982e-02 -1.25798848e-03 9.99355673e-01 6.62951539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:7.43, Z:6.63 [[ 9.96771938e-01 -7.18323558e-02 -3.58582835e-02 1.90886149e+02] [ 7.18227887e-02 9.97416194e-01 -1.55653546e-03 7.42509775e+00] [ 3.58774423e-02 -1.02393105e-03 9.99355673e-01 6.63304104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:7.43, Z:6.64 [[ 9.97006453e-01 -6.85004619e-02 -3.58583115e-02 1.90916851e+02] [ 6.84887647e-02 9.97650674e-01 -1.55589047e-03 7.42833760e+00] [ 3.58806479e-02 -9.04658619e-04 9.99355673e-01 6.63548597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:7.43, Z:6.64 [[ 9.97217792e-01 -6.53517686e-02 -3.58583662e-02 1.90947127e+02] [ 6.53380825e-02 9.97861973e-01 -1.55462907e-03 7.43166203e+00] [ 3.58832978e-02 -7.92613117e-04 9.99355673e-01 6.63803470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:7.43, Z:6.64 [[ 9.97410206e-01 -6.23462772e-02 -3.58583662e-02 1.90976279e+02] [ 6.23306499e-02 9.98054344e-01 -1.55462907e-03 7.43487702e+00] [ 3.58855235e-02 -6.84472365e-04 9.99355673e-01 6.63900326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:7.44, Z:6.64 [[ 9.97712420e-01 -5.73071327e-02 -3.58583381e-02 1.91006103e+02] [ 5.72882285e-02 9.98356469e-01 -1.55527589e-03 7.43997578e+00] [ 3.58885322e-02 -5.02542594e-04 9.99355673e-01 6.63997829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:7.44, Z:6.64 [[ 9.97824539e-01 -5.53206397e-02 -3.58582811e-02 1.91034616e+02] [ 5.53004061e-02 9.98468548e-01 -1.55658945e-03 7.44283643e+00] [ 3.58894774e-02 -4.29774356e-04 9.99355673e-01 6.64025193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:7.45, Z:6.64 [[ 9.97918886e-01 -5.35920560e-02 -3.58578822e-02 1.91062768e+02] [ 5.35703786e-02 9.98562849e-01 -1.56572524e-03 7.44546868e+00] [ 3.58902594e-02 -3.58453535e-04 9.99355673e-01 6.64034809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:7.45, Z:6.64 [[ 9.98000892e-01 -5.20426929e-02 -3.58577407e-02 1.91090720e+02] [ 5.20198995e-02 9.98644816e-01 -1.56895973e-03 7.44760835e+00] [ 3.58907997e-02 -2.99492861e-04 9.99355673e-01 6.64006168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:7.45, Z:6.64 [[ 9.98078688e-01 -5.05288596e-02 -3.58576004e-02 1.91118022e+02] [ 5.05049746e-02 9.98722572e-01 -1.57215862e-03 7.45018833e+00] [ 3.58912343e-02 -2.41849186e-04 9.99355673e-01 6.64142595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:7.45, Z:6.64 [[ 9.98115566e-01 -4.97954053e-02 -3.58571400e-02 1.91145089e+02] [ 4.97706724e-02 9.98759418e-01 -1.58259058e-03 7.45236077e+00] [ 3.58914620e-02 -2.05025671e-04 9.99355673e-01 6.64215819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:7.46, Z:6.64 [[ 9.98164755e-01 -4.87996068e-02 -3.58569399e-02 1.91173326e+02] [ 4.87740692e-02 9.98808576e-01 -1.58711033e-03 7.45548330e+00] [ 3.58916695e-02 -1.64691275e-04 9.99355673e-01 6.64355147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:7.46, Z:6.64 [[ 9.98171691e-01 -4.86578723e-02 -3.58564785e-02 1.91200735e+02] [ 4.86318713e-02 9.98815493e-01 -1.59746757e-03 7.45762084e+00] [ 3.58917356e-02 -1.49220740e-04 9.99355673e-01 6.64484391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:7.46, Z:6.65 [[ 9.98177088e-01 -4.85473676e-02 -3.58560124e-02 1.91228087e+02] [ 4.85209219e-02 9.98820872e-01 -1.60786121e-03 7.45957706e+00] [ 3.58917910e-02 -1.34836560e-04 9.99355673e-01 6.64610021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:7.46, Z:6.65 [[ 9.98188692e-01 -4.83085351e-02 -3.58555431e-02 1.91254838e+02] [ 4.82815618e-02 9.98832454e-01 -1.61826119e-03 7.46137974e+00] [ 3.58918559e-02 -1.15831602e-04 9.99355673e-01 6.64699863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:7.46, Z:6.65 [[ 9.98181440e-01 -4.84583965e-02 -3.58552143e-02 1.91282715e+02] [ 4.84312594e-02 9.98825195e-01 -1.62551212e-03 7.46308103e+00] [ 3.58918612e-02 -1.13957157e-04 9.99355673e-01 6.64804210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:7.46, Z:6.65 [[ 9.98173328e-01 -4.86255504e-02 -3.58547420e-02 1.91311043e+02] [ 4.85981492e-02 9.98817072e-01 -1.63586505e-03 7.46470167e+00] [ 3.58918733e-02 -1.09597236e-04 9.99355673e-01 6.64820005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:7.47, Z:6.65 [[ 9.98163647e-01 -4.88242376e-02 -3.58542634e-02 1.91338393e+02] [ 4.87965902e-02 9.98807380e-01 -1.64628702e-03 7.46617881e+00] [ 3.58918816e-02 -1.06301949e-04 9.99355673e-01 6.64880261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:7.47, Z:6.65 [[ 9.98087704e-01 -5.03529648e-02 -3.58540557e-02 1.91366357e+02] [ 5.03261413e-02 9.98731473e-01 -1.65079828e-03 7.46783682e+00] [ 3.58916965e-02 -1.56754810e-04 9.99355673e-01 6.64991635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:7.47, Z:6.65 [[ 9.98011730e-01 -5.18373084e-02 -3.58535863e-02 1.91393867e+02] [ 5.18110784e-02 9.98655523e-01 -1.66093122e-03 7.46919776e+00] [ 3.58914802e-02 -1.99984137e-04 9.99355673e-01 6.65099488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:7.47, Z:6.65 [[ 9.97787696e-01 -5.59845439e-02 -3.58531008e-02 1.91421867e+02] [ 5.59606154e-02 9.98431578e-01 -1.67134754e-03 7.46997733e+00] [ 3.58904376e-02 -3.38711568e-04 9.99355673e-01 6.65083758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:7.47, Z:6.65 [[ 9.97623980e-01 -5.88299738e-02 -3.58528826e-02 1.91450699e+02] [ 5.88077141e-02 9.98267922e-01 -1.67601346e-03 7.47022788e+00] [ 3.58893825e-02 -4.36394850e-04 9.99355673e-01 6.65119338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:7.47, Z:6.65 [[ 9.97426438e-01 -6.20894618e-02 -3.58524660e-02 1.91480170e+02] [ 6.20689877e-02 9.98070439e-01 -1.68487892e-03 7.47064182e+00] [ 3.58878997e-02 -5.44783495e-04 9.99355673e-01 6.65170341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:7.47, Z:6.65 [[ 9.97219798e-01 -6.53244227e-02 -3.58524059e-02 1.91510353e+02] [ 6.53059917e-02 9.97863861e-01 -1.68615773e-03 7.47105394e+00] [ 3.58859674e-02 -6.59907052e-04 9.99355673e-01 6.65265781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.54, Y:7.47, Z:6.65 [[ 9.96997686e-01 -6.86310395e-02 -3.58524059e-02 1.91539806e+02] [ 6.86147444e-02 9.97641806e-01 -1.68615773e-03 7.47179257e+00] [ 3.58835817e-02 -7.78908312e-04 9.99355673e-01 6.65337591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:7.47, Z:6.65 [[ 9.96848545e-01 -7.07642917e-02 -3.58523758e-02 1.91570873e+02] [ 7.07493519e-02 9.97492699e-01 -1.68679773e-03 7.47138894e+00] [ 3.58818481e-02 -8.55050489e-04 9.99355673e-01 6.65498599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:7.47, Z:6.66 [[ 9.96589469e-01 -7.43216758e-02 -3.58569298e-02 1.91601042e+02] [ 7.43125117e-02 9.97233735e-01 -1.59009256e-03 7.47244561e+00] [ 3.58759183e-02 -1.07994901e-03 9.99355669e-01 6.65580616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:7.47, Z:6.66 [[ 9.96352843e-01 -7.74315044e-02 -3.58521165e-02 1.91631598e+02] [ 7.74206844e-02 9.96997078e-01 -1.69208071e-03 7.47234315e+00] [ 3.58754758e-02 -1.08978597e-03 9.99355674e-01 6.65696291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:7.47, Z:6.66 [[ 9.96309303e-01 -7.79897212e-02 -3.58521468e-02 1.91662588e+02] [ 7.79792852e-02 9.96953545e-01 -1.69143759e-03 7.47353358e+00] [ 3.58748396e-02 -1.11052977e-03 9.99355674e-01 6.65859730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:7.47, Z:6.66 [[ 9.96305524e-01 -7.80379530e-02 -3.58522068e-02 1.91694903e+02] [ 7.80275940e-02 9.96949767e-01 -1.69016617e-03 7.47493538e+00] [ 3.58747463e-02 -1.11353954e-03 9.99355674e-01 6.66045410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:7.48, Z:6.66 [[ 9.96337429e-01 -7.76294982e-02 -3.58523289e-02 1.91726293e+02] [ 7.76189683e-02 9.96981669e-01 -1.68757143e-03 7.47643619e+00] [ 3.58751200e-02 -1.10143020e-03 9.99355674e-01 6.66138284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:7.48, Z:6.66 [[ 9.96461689e-01 -7.60178052e-02 -3.58524199e-02 1.91757940e+02] [ 7.60063028e-02 9.97105912e-01 -1.68563696e-03 7.47766599e+00] [ 3.58767982e-02 -1.04533723e-03 9.99355674e-01 6.66314957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:7.48, Z:6.66 [[ 9.96538936e-01 -7.49986281e-02 -3.58518529e-02 1.91788972e+02] [ 7.49860323e-02 9.97183139e-01 -1.69772572e-03 7.47941439e+00] [ 3.58781904e-02 -9.96538425e-04 9.99355674e-01 6.66478335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.82, Y:7.48, Z:6.67 [[ 9.96541671e-01 -7.49618914e-02 -3.58526453e-02 1.91820764e+02] [ 7.49498794e-02 9.97185886e-01 -1.68082384e-03 7.48086832e+00] [ 3.58777496e-02 -1.01214045e-03 9.99355674e-01 6.66592124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:7.48, Z:6.67 [[ 9.96585668e-01 -7.43746577e-02 -3.58527063e-02 1.91852274e+02] [ 7.43623129e-02 9.97229876e-01 -1.67952313e-03 7.48218070e+00] [ 3.58783038e-02 -9.92301480e-04 9.99355674e-01 6.66694841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:7.48, Z:6.67 [[ 9.96606388e-01 -7.40964523e-02 -3.58527972e-02 1.91883855e+02] [ 7.40839975e-02 9.97250594e-01 -1.67757877e-03 7.48397678e+00] [ 3.58785260e-02 -9.84232819e-04 9.99355674e-01 6.66869052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:7.48, Z:6.67 [[ 9.96601932e-01 -7.41584537e-02 -3.58484839e-02 1.91915078e+02] [ 7.41427318e-02 9.97246070e-01 -1.76958008e-03 7.48406575e+00] [ 3.58809890e-02 -8.94337594e-04 9.99355670e-01 6.66863699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:7.48, Z:6.67 [[ 9.96606892e-01 -7.40897329e-02 -3.58526754e-02 1.91945135e+02] [ 7.40771817e-02 9.97251096e-01 -1.68013978e-03 7.48479165e+00] [ 3.58786009e-02 -9.81426268e-04 9.99355674e-01 6.66907142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.98, Y:7.49, Z:6.67 [[ 9.96600148e-01 -7.41803799e-02 -3.58527047e-02 1.91976451e+02] [ 7.41679097e-02 9.97244353e-01 -1.67951469e-03 7.48599909e+00] [ 3.58784943e-02 -9.85315574e-04 9.99355674e-01 6.67040160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:7.49, Z:6.67 [[ 9.96594154e-01 -7.42608381e-02 -3.58527654e-02 1.92006345e+02] [ 7.42484666e-02 9.97238361e-01 -1.67821689e-03 7.48711681e+00] [ 3.58783788e-02 -9.89511714e-04 9.99355674e-01 6.67096483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:7.49, Z:6.67 [[ 9.96649260e-01 -7.35175514e-02 -3.58527956e-02 1.92037125e+02] [ 7.35047226e-02 9.97293458e-01 -1.67757288e-03 7.48866578e+00] [ 3.58790895e-02 -9.63398024e-04 9.99355674e-01 6.67147657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:7.49, Z:6.67 [[ 9.96705286e-01 -7.27540010e-02 -3.58528550e-02 1.92068098e+02] [ 7.27407245e-02 9.97349476e-01 -1.67630143e-03 7.49045889e+00] [ 3.58797838e-02 -9.37184150e-04 9.99355674e-01 6.67306780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:7.49, Z:6.67 [[ 9.96781235e-01 -7.17059178e-02 -3.58529154e-02 1.92098893e+02] [ 7.16920103e-02 9.97425411e-01 -1.67500788e-03 7.49224718e+00] [ 3.58807169e-02 -9.00751159e-04 9.99355674e-01 6.67420974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.13, Y:7.49, Z:6.67 [[ 9.96916961e-01 -6.97935296e-02 -3.58529755e-02 1.92129657e+02] [ 6.97784326e-02 9.97561110e-01 -1.67372142e-03 7.49413638e+00] [ 3.58823490e-02 -8.33203163e-04 9.99355674e-01 6.67486933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:7.50, Z:6.68 [[ 9.96966447e-01 -6.90830004e-02 -3.58530768e-02 1.92160513e+02] [ 6.90675225e-02 9.97610587e-01 -1.67154783e-03 7.49562138e+00] [ 3.58828846e-02 -8.09806091e-04 9.99355674e-01 6.67755876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:7.50, Z:6.68 [[ 9.96996074e-01 -6.86540651e-02 -3.58531367e-02 1.92191663e+02] [ 6.86383563e-02 9.97640209e-01 -1.67026245e-03 7.49720685e+00] [ 3.58832011e-02 -7.95655269e-04 9.99355674e-01 6.67969102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:7.50, Z:6.68 [[ 9.97020393e-01 -6.82999582e-02 -3.58531970e-02 1.92221496e+02] [ 6.82840671e-02 9.97664523e-01 -1.66896655e-03 7.49846264e+00] [ 3.58834531e-02 -7.84208424e-04 9.99355674e-01 6.68081854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:7.50, Z:6.68 [[ 9.97017570e-01 -6.83410752e-02 -3.58533464e-02 1.92251548e+02] [ 6.83253262e-02 9.97661704e-01 -1.66575167e-03 7.49938276e+00] [ 3.58833499e-02 -7.88907902e-04 9.99355674e-01 6.68320562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:7.50, Z:6.69 [[ 9.97012493e-01 -6.84151050e-02 -3.58533464e-02 1.92281749e+02] [ 6.83994039e-02 9.97656628e-01 -1.66575167e-03 7.50032906e+00] [ 3.58832912e-02 -7.91572291e-04 9.99355674e-01 6.68545181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:7.50, Z:6.69 [[ 9.96998716e-01 -6.86155875e-02 -3.58533464e-02 1.92312421e+02] [ 6.86000159e-02 9.97642853e-01 -1.66575167e-03 7.50156206e+00] [ 3.58831313e-02 -7.98787851e-04 9.99355674e-01 6.68617298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:7.50, Z:6.69 [[ 9.96983806e-01 -6.88318660e-02 -3.58533766e-02 1.92342915e+02] [ 6.88164575e-02 9.97627948e-01 -1.66510231e-03 7.50287576e+00] [ 3.58829426e-02 -8.07222323e-04 9.99355674e-01 6.68776691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:7.50, Z:6.69 [[ 9.96904370e-01 -6.99729406e-02 -3.58533766e-02 1.92373233e+02] [ 6.99582694e-02 9.97548529e-01 -1.66510231e-03 7.50394165e+00] [ 3.58819951e-02 -8.48292405e-04 9.99355674e-01 6.68896935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:7.51, Z:6.69 [[ 9.96846777e-01 -7.07886684e-02 -3.58534056e-02 1.92404431e+02] [ 7.07745468e-02 9.97490949e-01 -1.66447606e-03 7.50505457e+00] [ 3.58812736e-02 -8.78280936e-04 9.99355674e-01 6.69072796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:7.51, Z:6.69 [[ 9.96771671e-01 -7.18384643e-02 -3.58534648e-02 1.92435083e+02] [ 7.18250670e-02 9.97415858e-01 -1.66319953e-03 7.50581904e+00] [ 3.58802961e-02 -9.17347339e-04 9.99355674e-01 6.69123705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:7.51, Z:6.69 [[ 9.96667277e-01 -7.32725523e-02 -3.58534942e-02 1.92466760e+02] [ 7.32601046e-02 9.97311482e-01 -1.66256626e-03 7.50641605e+00] [ 3.58789219e-02 -9.69605346e-04 9.99355674e-01 6.69243014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:7.51, Z:6.69 [[ 9.96445380e-01 -7.62307502e-02 -3.58535526e-02 1.92497128e+02] [ 7.62202602e-02 9.97089621e-01 -1.66130633e-03 7.50550119e+00] [ 3.58758478e-02 -1.07736609e-03 9.99355674e-01 6.69312147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:7.51, Z:6.70 [[ 9.96302575e-01 -7.80749587e-02 -3.58535815e-02 1.92527999e+02] [ 7.80656836e-02 9.96946835e-01 -1.66068117e-03 7.50586500e+00] [ 3.58737722e-02 -1.14439343e-03 9.99355674e-01 6.69555703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:7.51, Z:6.70 [[ 9.96199764e-01 -7.93759833e-02 -3.58536428e-02 1.92559420e+02] [ 7.93675971e-02 9.96844035e-01 -1.65935773e-03 7.50640133e+00] [ 3.58722031e-02 -1.19256570e-03 9.99355674e-01 6.69587869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:7.51, Z:6.70 [[ 9.96039191e-01 -8.13660886e-02 -3.58537343e-02 1.92592070e+02] [ 8.13590607e-02 9.96683479e-01 -1.65737865e-03 7.50571882e+00] [ 3.58696790e-02 -1.26621205e-03 9.99355674e-01 6.69798403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:7.51, Z:6.70 [[ 9.96004144e-01 -8.17939203e-02 -3.58538563e-02 1.92623482e+02] [ 8.17872642e-02 9.96648436e-01 -1.65473378e-03 7.50619308e+00] [ 3.58690370e-02 -1.28426712e-03 9.99355674e-01 6.69808057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:7.51, Z:6.70 [[ 9.96024443e-01 -8.15462835e-02 -3.58540418e-02 1.92655892e+02] [ 8.15396121e-02 9.96668735e-01 -1.65070571e-03 7.50688218e+00] [ 3.58692114e-02 -1.27938142e-03 9.99355674e-01 6.69986060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:7.51, Z:6.70 [[ 9.96072555e-01 -8.09564388e-02 -3.58541605e-02 1.92688011e+02] [ 8.09494788e-02 9.96716843e-01 -1.64812264e-03 7.50787680e+00] [ 3.58698718e-02 -1.26072587e-03 9.99355674e-01 6.70136914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:7.51, Z:6.70 [[ 9.96266731e-01 -7.85307022e-02 -3.58542805e-02 1.92719825e+02] [ 7.85222672e-02 9.96911002e-01 -1.64550861e-03 7.50868644e+00] [ 3.58727496e-02 -1.17599391e-03 9.99355674e-01 6.70219022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.75, Y:7.51, Z:6.70 [[ 9.96391663e-01 -7.69292876e-02 -3.58544001e-02 1.92750914e+02] [ 7.69199109e-02 9.97035921e-01 -1.64289819e-03 7.50977576e+00] [ 3.58745118e-02 -1.12094720e-03 9.99355674e-01 6.70318036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:7.51, Z:6.70 [[ 9.96557760e-01 -7.47467676e-02 -3.58545994e-02 1.92782534e+02] [ 7.47361366e-02 9.97201998e-01 -1.63853786e-03 7.51067884e+00] [ 3.58767536e-02 -1.04673662e-03 9.99355674e-01 6.70497564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:7.51, Z:6.71 [[ 9.96601619e-01 -7.41596672e-02 -3.58546579e-02 1.92812716e+02] [ 7.41487028e-02 9.97245852e-01 -1.63725539e-03 7.51143381e+00] [ 3.58773272e-02 -1.02688500e-03 9.99355674e-01 6.70607072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:7.51, Z:6.71 [[ 9.96627389e-01 -7.38124957e-02 -3.58547531e-02 1.92844392e+02] [ 7.38013819e-02 9.97271619e-01 -1.63516986e-03 7.51209889e+00] [ 3.58776236e-02 -1.01647525e-03 9.99355674e-01 6.70754434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:7.51, Z:6.71 [[ 9.96659056e-01 -7.33836438e-02 -3.58548107e-02 1.92875696e+02] [ 7.33722982e-02 9.97303282e-01 -1.63390584e-03 7.51248822e+00] [ 3.58780223e-02 -1.00230280e-03 9.99355674e-01 6.70935953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:7.51, Z:6.71 [[ 9.96660760e-01 -7.33604678e-02 -3.58548690e-02 1.92905310e+02] [ 7.33491533e-02 9.97304987e-01 -1.63262458e-03 7.51454468e+00] [ 3.58780097e-02 -1.00275143e-03 9.99355674e-01 6.70918923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:7.51, Z:6.71 [[ 9.96734503e-01 -7.23585630e-02 -3.58408751e-02 1.92936168e+02] [ 7.23356359e-02 9.97378464e-01 -1.93768740e-03 7.51380986e+00] [ 3.58871253e-02 -6.61212600e-04 9.99355631e-01 6.71173132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:7.51, Z:6.71 [[ 9.96819718e-01 -7.11681457e-02 -3.58544861e-02 1.92966519e+02] [ 7.11551425e-02 9.97463912e-01 -1.64018500e-03 7.51467931e+00] [ 3.58802849e-02 -9.16262323e-04 9.99355675e-01 6.71221097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:7.52, Z:6.71 [[ 9.96924143e-01 -6.96900702e-02 -3.58545156e-02 1.92996698e+02] [ 6.96761349e-02 9.97568318e-01 -1.63954007e-03 7.51569226e+00] [ 3.58815885e-02 -8.63706988e-04 9.99355675e-01 6.71365745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:7.52, Z:6.72 [[ 9.97212089e-01 -6.54408369e-02 -3.58545156e-02 1.93026350e+02] [ 6.54241565e-02 9.97856198e-01 -1.63954007e-03 7.51599279e+00] [ 3.58849435e-02 -7.10782263e-04 9.99355675e-01 6.71520042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:7.52, Z:6.72 [[ 9.97391923e-01 -6.26402888e-02 -3.58545221e-02 1.93055075e+02] [ 6.26218048e-02 9.98035982e-01 -1.63939856e-03 7.51639572e+00] [ 3.58867956e-02 -6.10152000e-04 9.99355675e-01 6.71629815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:7.52, Z:6.72 [[ 9.97543887e-01 -6.01718664e-02 -3.58544351e-02 1.93084531e+02] [ 6.01517204e-02 9.98187896e-01 -1.64129796e-03 7.51709250e+00] [ 3.58882232e-02 -5.19439215e-04 9.99355675e-01 6.71737127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.11, Y:7.52, Z:6.72 [[ 9.97792154e-01 -5.59042206e-02 -3.58543772e-02 1.93113038e+02] [ 5.58812745e-02 9.98436070e-01 -1.64256293e-03 7.51709678e+00] [ 3.58901296e-02 -3.64651889e-04 9.99355675e-01 6.71915971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:7.52, Z:6.72 [[ 9.97880852e-01 -5.42982424e-02 -3.58539628e-02 1.93140467e+02] [ 5.42739368e-02 9.98524718e-01 -1.65155817e-03 7.51741475e+00] [ 3.58907448e-02 -2.97877439e-04 9.99355675e-01 6.72015564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:7.52, Z:6.72 [[ 9.97933871e-01 -5.33152566e-02 -3.58534845e-02 1.93168835e+02] [ 5.32899461e-02 9.98577698e-01 -1.66187709e-03 7.51768753e+00] [ 3.58910935e-02 -2.52186819e-04 9.99355675e-01 6.72103740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:7.52, Z:6.72 [[ 9.97976612e-01 -5.25094681e-02 -3.58530008e-02 1.93195809e+02] [ 5.24832652e-02 9.98620404e-01 -1.67224762e-03 7.51746784e+00] [ 3.58913470e-02 -2.12818534e-04 9.99355675e-01 6.72132505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:7.52, Z:6.72 [[ 9.97976186e-01 -5.25178025e-02 -3.58526543e-02 1.93224272e+02] [ 5.24913392e-02 9.98619967e-01 -1.67964480e-03 7.51542255e+00] [ 3.58913877e-02 -2.05708330e-04 9.99355675e-01 6.72111127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:7.52, Z:6.72 [[ 9.97912178e-01 -5.37206424e-02 -3.58521706e-02 1.93251887e+02] [ 5.36945864e-02 9.98555975e-01 -1.68990696e-03 7.51509618e+00] [ 3.58911821e-02 -2.38688732e-04 9.99355675e-01 6.72155193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:7.51, Z:6.72 [[ 9.97845929e-01 -5.49377799e-02 -3.58516844e-02 1.93278603e+02] [ 5.49121408e-02 9.98489743e-01 -1.70016012e-03 7.51449687e+00] [ 3.58909421e-02 -2.72194884e-04 9.99355676e-01 6.72174367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:7.51, Z:6.72 [[ 9.97751935e-01 -5.66193295e-02 -3.58514729e-02 1.93305252e+02] [ 5.65946156e-02 9.98395785e-01 -1.70460769e-03 7.51392373e+00] [ 3.58904732e-02 -3.28224709e-04 9.99355676e-01 6.72190703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:7.51, Z:6.72 [[ 9.97431102e-01 -6.20151875e-02 -3.58512632e-02 1.93333589e+02] [ 6.19937984e-02 9.98075071e-01 -1.70900760e-03 7.51191116e+00] [ 3.58882365e-02 -5.17938646e-04 9.99355676e-01 6.72334023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:7.51, Z:6.72 [[ 9.97204768e-01 -6.55543445e-02 -3.58507701e-02 1.93361145e+02] [ 6.55348713e-02 9.97848799e-01 -1.71928856e-03 7.51142350e+00] [ 3.58863547e-02 -6.34992858e-04 9.99355676e-01 6.72451133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:7.51, Z:6.73 [[ 9.96958172e-01 -6.92037634e-02 -3.58502744e-02 1.93389656e+02] [ 6.91862781e-02 9.97602259e-01 -1.72956422e-03 7.51067480e+00] [ 3.58840071e-02 -7.56043875e-04 9.99355676e-01 6.72600033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:7.51, Z:6.73 [[ 9.96400961e-01 -7.68109062e-02 -3.58498288e-02 1.93418794e+02] [ 7.67980070e-02 9.97045156e-01 -1.73875113e-03 7.50795247e+00] [ 3.58774532e-02 -1.02070211e-03 9.99355676e-01 6.72629504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:7.51, Z:6.73 [[ 9.96100019e-01 -8.06197749e-02 -3.58497341e-02 1.93448565e+02] [ 8.06092686e-02 9.96744258e-01 -1.74070207e-03 7.50742661e+00] [ 3.58733516e-02 -1.15590748e-03 9.99355676e-01 6.72693784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.48, Y:7.51, Z:6.73 [[ 9.95787610e-01 -8.43909701e-02 -3.58496739e-02 1.93479372e+02] [ 8.43828587e-02 9.96431884e-01 -1.74194133e-03 7.50697984e+00] [ 3.58687622e-02 -1.29049438e-03 9.99355676e-01 6.72852359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:7.51, Z:6.73 [[ 9.95148826e-01 -9.16166710e-02 -3.58496739e-02 1.93508566e+02] [ 9.16132363e-02 9.95793141e-01 -1.74194133e-03 7.50541187e+00] [ 3.58584502e-02 -1.55081378e-03 9.99355676e-01 6.72945806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:7.51, Z:6.73 [[ 9.94861844e-01 -9.46821795e-02 -3.58496421e-02 1.93538922e+02] [ 9.46807064e-02 9.95506166e-01 -1.74259519e-03 7.50559761e+00] [ 3.58535325e-02 -1.66062797e-03 9.99355676e-01 6.73002103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:7.51, Z:6.73 [[ 9.94537775e-01 -9.80276223e-02 -3.58496735e-02 1.93570644e+02] [ 9.80283395e-02 9.95182099e-01 -1.74194919e-03 7.50582781e+00] [ 3.58477124e-02 -1.78184968e-03 9.99355676e-01 6.73186027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:7.51, Z:6.73 [[ 9.94251042e-01 -1.00894311e-01 -3.58497360e-02 1.93602304e+02] [ 1.00896931e-01 9.94895361e-01 -1.74066163e-03 7.50575398e+00] [ 3.58423589e-02 -1.88647372e-03 9.99355676e-01 6.73238848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:7.50, Z:6.74 [[ 9.93598083e-01 -1.07133710e-01 -3.58499441e-02 1.93634552e+02] [ 1.07140530e-01 9.94242371e-01 -1.73636581e-03 7.50495674e+00] [ 3.58295567e-02 -2.11573229e-03 9.99355676e-01 6.73504104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:7.51, Z:6.74 [[ 9.93442647e-01 -1.08565553e-01 -3.58500713e-02 1.93663984e+02] [ 1.08573396e-01 9.94086924e-01 -1.73373490e-03 7.50565689e+00] [ 3.58263110e-02 -2.16999780e-03 9.99355676e-01 6.73639423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.70, Y:7.51, Z:6.74 [[ 9.93058226e-01 -1.12029841e-01 -3.58423571e-02 1.93697334e+02] [ 1.12034208e-01 9.93702548e-01 -1.89291873e-03 7.50665704e+00] [ 3.58287050e-02 -2.13579157e-03 9.99355664e-01 6.73728518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:7.51, Z:6.74 [[ 9.92827440e-01 -1.14054588e-01 -3.58500429e-02 1.93729695e+02] [ 1.14065981e-01 9.93471663e-01 -1.73402890e-03 7.50756110e+00] [ 3.58137757e-02 -2.36767885e-03 9.99355676e-01 6.73871766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:7.51, Z:6.74 [[ 9.92835847e-01 -1.13981341e-01 -3.58501705e-02 1.93762326e+02] [ 1.13992782e-01 9.93480069e-01 -1.73138688e-03 7.50907916e+00] [ 3.58137757e-02 -2.36767771e-03 9.99355676e-01 6.73989025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:7.51, Z:6.74 [[ 9.92459967e-01 -1.17209085e-01 -3.58502980e-02 1.93793257e+02] [ 1.17222715e-01 9.93104147e-01 -1.72874370e-03 7.50971617e+00] [ 3.58057040e-02 -2.48676035e-03 9.99355676e-01 6.74007115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:7.51, Z:6.74 [[ 9.92361220e-01 -1.18042187e-01 -3.58503928e-02 1.93825383e+02] [ 1.18056429e-01 9.93005387e-01 -1.72677502e-03 7.51066528e+00] [ 3.58034654e-02 -2.51878478e-03 9.99355676e-01 6.74093939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:7.51, Z:6.74 [[ 9.92272532e-01 -1.18785366e-01 -3.58505195e-02 1.93857838e+02] [ 1.18800186e-01 9.92916685e-01 -1.72414068e-03 7.51169157e+00] [ 3.58013816e-02 -2.54823093e-03 9.99355676e-01 6.74132124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:7.51, Z:6.74 [[ 9.92205918e-01 -1.19340466e-01 -3.58506460e-02 1.93888829e+02] [ 1.19355740e-01 9.92850061e-01 -1.72150490e-03 7.51290190e+00] [ 3.57997613e-02 -2.57089303e-03 9.99355676e-01 6.74155524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:7.51, Z:6.74 [[ 9.92165166e-01 -1.19678770e-01 -3.58507404e-02 1.93919827e+02] [ 1.19694335e-01 9.92809302e-01 -1.71953811e-03 7.51497762e+00] [ 3.57987407e-02 -2.58506472e-03 9.99355676e-01 6.74094466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:7.52, Z:6.74 [[ 9.92187058e-01 -1.19497111e-01 -3.58508335e-02 1.93951456e+02] [ 1.19512627e-01 9.92831195e-01 -1.71759468e-03 7.51731917e+00] [ 3.57990735e-02 -2.58045208e-03 9.99355676e-01 6.74179527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:7.52, Z:6.74 [[ 9.92284105e-01 -1.18688515e-01 -3.58509593e-02 1.93983052e+02] [ 1.18703601e-01 9.92928252e-01 -1.71496370e-03 7.51966325e+00] [ 3.58009769e-02 -2.55390676e-03 9.99355676e-01 6.74210181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:7.52, Z:6.74 [[ 9.92420549e-01 -1.17542114e-01 -3.58511658e-02 1.94015157e+02] [ 1.17556612e-01 9.93064709e-01 -1.71063715e-03 7.52246278e+00] [ 3.58035994e-02 -2.51687012e-03 9.99355676e-01 6.74332584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:7.53, Z:6.75 [[ 9.92781940e-01 -1.14449577e-01 -3.58512892e-02 1.94047196e+02] [ 1.14462161e-01 9.93426140e-01 -1.70804607e-03 7.52695540e+00] [ 3.58110930e-02 -2.40789874e-03 9.99355676e-01 6.74515616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:7.53, Z:6.75 [[ 9.93029940e-01 -1.12277396e-01 -3.58514137e-02 1.94078242e+02] [ 1.12288664e-01 9.93674166e-01 -1.70542859e-03 7.52983218e+00] [ 3.58161047e-02 -2.33216570e-03 9.99355676e-01 6.74548383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:7.53, Z:6.75 [[ 9.93284581e-01 -1.10001830e-01 -3.58516120e-02 1.94110508e+02] [ 1.10011773e-01 9.93928828e-01 -1.70124985e-03 7.53269307e+00] [ 3.58210913e-02 -2.25427415e-03 9.99355676e-01 6.74719751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:7.54, Z:6.75 [[ 9.93527881e-01 -1.07782199e-01 -3.58517300e-02 1.94142365e+02] [ 1.07790791e-01 9.94172148e-01 -1.69875943e-03 7.53637781e+00] [ 3.58258875e-02 -2.17672149e-03 9.99355676e-01 6.75010960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.17, Y:7.54, Z:6.75 [[ 9.94045276e-01 -1.02901517e-01 -3.58506120e-02 1.94174389e+02] [ 1.02906097e-01 9.94689584e-01 -1.72235534e-03 7.54191098e+00] [ 3.58374634e-02 -1.97714736e-03 9.99355676e-01 6.75283058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:7.55, Z:6.75 [[ 9.94294586e-01 -1.00463564e-01 -3.58517569e-02 1.94206127e+02] [ 1.00467433e-01 9.94938898e-01 -1.69818654e-03 7.54528202e+00] [ 3.58409133e-02 -1.91343630e-03 9.99355676e-01 6.75462408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.24, Y:7.55, Z:6.76 [[ 9.94777854e-01 -9.55597415e-02 -3.58518811e-02 1.94236582e+02] [ 9.55605280e-02 9.95422177e-01 -1.69555917e-03 7.55078264e+00] [ 3.58497847e-02 -1.73931997e-03 9.99355676e-01 6.75660569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:7.55, Z:6.76 [[ 9.94977218e-01 -9.34610311e-02 -3.58520806e-02 1.94267962e+02] [ 9.34606104e-02 9.95621541e-01 -1.69133136e-03 7.55430484e+00] [ 3.58531773e-02 -1.66792116e-03 9.99355676e-01 6.75712304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:7.56, Z:6.76 [[ 9.95151838e-01 -9.15829268e-02 -3.58522820e-02 1.94299548e+02] [ 9.15814440e-02 9.95796160e-01 -1.68704942e-03 7.55782842e+00] [ 3.58560697e-02 -1.60453343e-03 9.99355676e-01 6.75876607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:7.56, Z:6.76 [[ 9.95388832e-01 -8.89701205e-02 -3.58523423e-02 1.94331337e+02] [ 8.89669923e-02 9.96033148e-01 -1.68576825e-03 7.56307180e+00] [ 3.58601044e-02 -1.51168017e-03 9.99355676e-01 6.76023181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:7.57, Z:6.76 [[ 9.95410457e-01 -8.87278069e-02 -3.58524666e-02 1.94362649e+02] [ 8.87246170e-02 9.96054772e-01 -1.68312119e-03 7.56608150e+00] [ 3.58603601e-02 -1.50559993e-03 9.99355676e-01 6.76124478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.39, Y:7.57, Z:6.76 [[ 9.95371074e-01 -8.91684852e-02 -3.58525591e-02 1.94394452e+02] [ 8.91656515e-02 9.96015392e-01 -1.68114687e-03 7.56869879e+00] [ 3.58596060e-02 -1.52345183e-03 9.99355676e-01 6.76271994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:7.57, Z:6.76 [[ 9.95164035e-01 -9.14501383e-02 -3.58526823e-02 1.94426359e+02] [ 9.14488762e-02 9.95808358e-01 -1.67851606e-03 7.57232465e+00] [ 3.58559012e-02 -1.60828869e-03 9.99355676e-01 6.76053723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.46, Y:7.57, Z:6.76 [[ 9.95031542e-01 -9.28806088e-02 -3.58528054e-02 1.94458975e+02] [ 9.28803677e-02 9.95675865e-01 -1.67588239e-03 7.57480209e+00] [ 3.58534300e-02 -1.66246592e-03 9.99355676e-01 6.75976868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:7.58, Z:6.76 [[ 9.95010476e-01 -9.31059527e-02 -3.58529595e-02 1.94490170e+02] [ 9.31059763e-02 9.95654799e-01 -1.67258005e-03 7.57710415e+00] [ 3.58528983e-02 -1.67389012e-03 9.99355676e-01 6.75911319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:7.58, Z:6.76 [[ 9.95005825e-01 -9.31556032e-02 -3.58530512e-02 1.94522761e+02] [ 9.31557297e-02 9.95650149e-01 -1.67061038e-03 7.57997402e+00] [ 3.58527225e-02 -1.67765009e-03 9.99355676e-01 6.75964495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:7.58, Z:6.76 [[ 9.95166539e-01 -9.14226825e-02 -3.58532152e-02 1.94553378e+02] [ 9.14218137e-02 9.95810862e-01 -1.66708517e-03 7.58476595e+00] [ 3.58554305e-02 -1.61873858e-03 9.99355676e-01 6.76124152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:7.59, Z:6.76 [[ 9.95351690e-01 -8.93843081e-02 -3.58533051e-02 1.94584153e+02] [ 8.93821892e-02 9.95996010e-01 -1.66514962e-03 7.58772056e+00] [ 3.58585870e-02 -1.54723741e-03 9.99355676e-01 6.76310800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:7.59, Z:6.77 [[ 9.95556507e-01 -8.70733931e-02 -3.58533927e-02 1.94616351e+02] [ 8.70698464e-02 9.96200821e-01 -1.66326098e-03 7.59094609e+00] [ 3.58620050e-02 -1.46587910e-03 9.99355676e-01 6.76637267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:7.59, Z:6.77 [[ 9.95779189e-01 -8.44886475e-02 -3.58535114e-02 1.94647134e+02] [ 8.44835203e-02 9.96423493e-01 -1.66069830e-03 7.59394482e+00] [ 3.58655912e-02 -1.37534205e-03 9.99355676e-01 6.76841319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:7.60, Z:6.77 [[ 9.96193688e-01 -7.94522185e-02 -3.58535996e-02 1.94678927e+02] [ 7.94439019e-02 9.96837958e-01 -1.65879176e-03 7.59857613e+00] [ 3.58720237e-02 -1.19587197e-03 9.99355676e-01 6.77165678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.71, Y:7.60, Z:6.77 [[ 9.96373974e-01 -7.71583777e-02 -3.58537210e-02 1.94710364e+02] [ 7.71486722e-02 9.97018224e-01 -1.65616313e-03 7.60139219e+00] [ 3.58746001e-02 -1.11590913e-03 9.99355676e-01 6.77254046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:7.60, Z:6.78 [[ 9.96508696e-01 -7.53984299e-02 -3.58538113e-02 1.94741249e+02] [ 7.53876569e-02 9.97152929e-01 -1.65420626e-03 7.60391376e+00] [ 3.58764575e-02 -1.05450390e-03 9.99355676e-01 6.77516523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.77, Y:7.61, Z:6.78 [[ 9.96591269e-01 -7.42990122e-02 -3.58538704e-02 1.94772871e+02] [ 7.42875745e-02 9.97235491e-01 -1.65292449e-03 7.60637821e+00] [ 3.58775627e-02 -1.01620695e-03 9.99355676e-01 6.77772253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.80, Y:7.61, Z:6.78 [[ 9.96631632e-01 -7.37555883e-02 -3.58539301e-02 1.94803034e+02] [ 7.37438459e-02 9.97275848e-01 -1.65162789e-03 7.60827038e+00] [ 3.58780753e-02 -9.97942103e-04 9.99355676e-01 6.78010305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.83, Y:7.61, Z:6.78 [[ 9.96617784e-01 -7.39424532e-02 -3.58539597e-02 1.94834330e+02] [ 7.39308548e-02 9.97262003e-01 -1.65098419e-03 7.60925809e+00] [ 3.58778695e-02 -1.00531369e-03 9.99355676e-01 6.78154981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.86, Y:7.61, Z:6.78 [[ 9.96582735e-01 -7.44133136e-02 -3.58540187e-02 1.94864527e+02] [ 7.44020657e-02 9.97226961e-01 -1.64970188e-03 7.61011723e+00] [ 3.58773539e-02 -1.02354865e-03 9.99355676e-01 6.78187986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:7.61, Z:6.78 [[ 9.96456936e-01 -7.60792765e-02 -3.58541150e-02 1.94895867e+02] [ 7.60691808e-02 9.97101181e-01 -1.64760778e-03 7.61054021e+00] [ 3.58755292e-02 -1.08562295e-03 9.99355676e-01 6.78419988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:7.61, Z:6.78 [[ 9.96383430e-01 -7.70359567e-02 -3.58541743e-02 1.94926745e+02] [ 7.70265261e-02 9.97027685e-01 -1.64631597e-03 7.61142789e+00] [ 3.58744299e-02 -1.12136054e-03 9.99355676e-01 6.78496669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:7.61, Z:6.79 [[ 9.96216308e-01 -7.91678088e-02 -3.58542334e-02 1.94957472e+02] [ 7.91598031e-02 9.96860582e-01 -1.64502702e-03 7.61202073e+00] [ 3.58719052e-02 -1.19941132e-03 9.99355676e-01 6.78546339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:7.61, Z:6.79 [[ 9.96113990e-01 -8.04449211e-02 -3.58543327e-02 1.94988212e+02] [ 8.04378192e-02 9.96758275e-01 -1.64286134e-03 7.61310156e+00] [ 3.58702626e-02 -1.24756716e-03 9.99355676e-01 6.78615648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:7.61, Z:6.79 [[ 9.96001286e-01 -8.18284260e-02 -3.58545279e-02 1.95019641e+02] [ 8.18223726e-02 9.96645581e-01 -1.63859023e-03 7.61390359e+00] [ 3.58683400e-02 -1.30166456e-03 9.99355676e-01 6.78685090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:7.61, Z:6.79 [[ 9.95803217e-01 -8.42045116e-02 -3.58546135e-02 1.95050696e+02] [ 8.42000629e-02 9.96447525e-01 -1.63671314e-03 7.61356802e+00] [ 3.58650596e-02 -1.38911651e-03 9.99355676e-01 6.78697874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:7.61, Z:6.79 [[ 9.95711793e-01 -8.52787645e-02 -3.58546707e-02 1.95083299e+02] [ 8.52750560e-02 9.96356106e-01 -1.63545925e-03 7.61467794e+00] [ 3.58634901e-02 -1.42906299e-03 9.99355676e-01 6.78791646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:7.62, Z:6.79 [[ 9.95550982e-01 -8.71359626e-02 -3.58547847e-02 1.95115822e+02] [ 8.71335459e-02 9.96195301e-01 -1.63295790e-03 7.61565903e+00] [ 3.58606574e-02 -1.49846168e-03 9.99355676e-01 6.78997757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:7.62, Z:6.79 [[ 9.95415539e-01 -8.86697790e-02 -3.58549035e-02 1.95148159e+02] [ 8.86684490e-02 9.96059862e-01 -1.63034494e-03 7.61653641e+00] [ 3.58581925e-02 -1.55632799e-03 9.99355676e-01 6.79140761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:7.62, Z:6.79 [[ 9.95291067e-01 -9.00561473e-02 -3.58550220e-02 1.95179587e+02] [ 9.00558086e-02 9.95935390e-01 -1.62773336e-03 7.61775623e+00] [ 3.58558728e-02 -1.60888453e-03 9.99355676e-01 6.79247553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:7.62, Z:6.79 [[ 9.95417300e-01 -8.86499299e-02 -3.58551101e-02 1.95212096e+02] [ 8.86487507e-02 9.96061622e-01 -1.62579074e-03 7.62314613e+00] [ 3.58580254e-02 -1.56017049e-03 9.99355676e-01 6.79462850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:7.63, Z:6.80 [[ 9.95573371e-01 -8.68795864e-02 -3.58552583e-02 1.95242945e+02] [ 8.68773792e-02 9.96217691e-01 -1.62251583e-03 7.62545405e+00] [ 3.58606062e-02 -1.49967732e-03 9.99355676e-01 6.79502334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:7.63, Z:6.80 [[ 9.95743531e-01 -8.49070924e-02 -3.58553465e-02 1.95274800e+02] [ 8.49036789e-02 9.96387846e-01 -1.62056408e-03 7.62765373e+00] [ 3.58634289e-02 -1.43058463e-03 9.99355676e-01 6.79634535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:7.63, Z:6.80 [[ 9.95749682e-01 -8.48348810e-02 -3.58554639e-02 1.95307437e+02] [ 8.48315142e-02 9.96393997e-01 -1.61796303e-03 7.62906855e+00] [ 3.58634287e-02 -1.43058712e-03 9.99355676e-01 6.79751785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:7.63, Z:6.80 [[ 9.95755827e-01 -8.47626692e-02 -3.58555810e-02 1.95340075e+02] [ 8.47593491e-02 9.96400142e-01 -1.61536448e-03 7.63048100e+00] [ 3.58634286e-02 -1.43058712e-03 9.99355676e-01 6.79869036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:7.63, Z:6.80 [[ 9.95761967e-01 -8.46904569e-02 -3.58556978e-02 1.95372712e+02] [ 8.46871836e-02 9.96406283e-01 -1.61276591e-03 7.63189108e+00] [ 3.58634285e-02 -1.43058711e-03 9.99355676e-01 6.79986287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:7.63, Z:6.80 [[ 9.95938171e-01 -8.25924939e-02 -3.58558145e-02 1.95404243e+02] [ 8.25879566e-02 9.96582479e-01 -1.61016733e-03 7.63407596e+00] [ 3.58662643e-02 -1.35763135e-03 9.99355676e-01 6.80018985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:7.64, Z:6.80 [[ 9.95943987e-01 -8.25222995e-02 -3.58559014e-02 1.95436880e+02] [ 8.25177864e-02 9.96588294e-01 -1.60823164e-03 7.63547945e+00] [ 3.58662866e-02 -1.35704098e-03 9.99355676e-01 6.80136253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:7.64, Z:6.80 [[ 9.96124342e-01 -8.03158849e-02 -3.58560145e-02 1.95469056e+02] [ 8.03100353e-02 9.96768639e-01 -1.60570537e-03 7.63772810e+00] [ 3.58691144e-02 -1.28011559e-03 9.99355676e-01 6.80306262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:7.64, Z:6.80 [[ 9.96130133e-01 -8.02439748e-02 -3.58561303e-02 1.95501694e+02] [ 8.02381718e-02 9.96774431e-01 -1.60311503e-03 7.63912932e+00] [ 3.58691142e-02 -1.28011915e-03 9.99355676e-01 6.80423512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:7.64, Z:6.81 [[ 9.96135919e-01 -8.01720644e-02 -3.58562458e-02 1.95534332e+02] [ 8.01663079e-02 9.96780217e-01 -1.60052826e-03 7.64052818e+00] [ 3.58691141e-02 -1.28011915e-03 9.99355676e-01 6.80540763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:7.64, Z:6.81 [[ 9.96324467e-01 -7.77938154e-02 -3.58563611e-02 1.95565540e+02] [ 7.77866139e-02 9.96968750e-01 -1.59794148e-03 7.64323679e+00] [ 3.58719814e-02 -1.19707672e-03 9.99355676e-01 6.80598699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:7.64, Z:6.81 [[ 9.96327220e-01 -7.77584630e-02 -3.58565543e-02 1.95597332e+02] [ 7.77513949e-02 9.96971505e-01 -1.59359269e-03 7.64461830e+00] [ 3.58718782e-02 -1.20015734e-03 9.99355676e-01 6.80712859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:7.65, Z:6.81 [[ 9.96495997e-01 -7.55647537e-02 -3.58566106e-02 1.95628673e+02] [ 7.55563127e-02 9.97140265e-01 -1.59232520e-03 7.64762803e+00] [ 3.58743939e-02 -1.12244760e-03 9.99355676e-01 6.80817767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:7.65, Z:6.81 [[ 9.96664488e-01 -7.33089265e-02 -3.58566666e-02 1.95659556e+02] [ 7.32990725e-02 9.97308736e-01 -1.59106398e-03 7.65061781e+00] [ 3.58768060e-02 -1.04250344e-03 9.99355676e-01 6.80945356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:7.65, Z:6.81 [[ 9.96836869e-01 -7.09263907e-02 -3.58567221e-02 1.95691228e+02] [ 7.09150418e-02 9.97481092e-01 -1.58981285e-03 7.65345760e+00] [ 3.58791620e-02 -9.57996884e-04 9.99355676e-01 6.81127629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:7.66, Z:6.81 [[ 9.97040910e-01 -6.79979124e-02 -3.58567772e-02 1.95722658e+02] [ 6.79847158e-02 9.97685098e-01 -1.58856783e-03 7.65659606e+00] [ 3.58817916e-02 -8.53845696e-04 9.99355676e-01 6.81345231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:7.66, Z:6.81 [[ 9.97040911e-01 -6.79978679e-02 -3.58568320e-02 1.95753605e+02] [ 6.79847159e-02 9.97685100e-01 -1.58732988e-03 7.65796543e+00] [ 3.58817621e-02 -8.55083706e-04 9.99355676e-01 6.81456449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:7.66, Z:6.82 [[ 9.97109486e-01 -6.69847738e-02 -3.58568320e-02 1.95784379e+02] [ 6.69709672e-02 9.97753662e-01 -1.58732988e-03 7.66015862e+00] [ 3.58826124e-02 -8.18625039e-04 9.99355676e-01 6.81742462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:7.66, Z:6.82 [[ 9.97135318e-01 -6.65991420e-02 -3.58568320e-02 1.95815142e+02] [ 6.65850863e-02 9.97779488e-01 -1.58732988e-03 7.66307314e+00] [ 3.58829263e-02 -8.04747568e-04 9.99355676e-01 6.81963596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:7.66, Z:6.82 [[ 9.97093669e-01 -6.72198080e-02 -3.58568320e-02 1.95845354e+02] [ 6.72061533e-02 9.97737848e-01 -1.58732988e-03 7.66474277e+00] [ 3.58824184e-02 -8.27083173e-04 9.99355676e-01 6.82036722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:7.67, Z:6.82 [[ 9.96982023e-01 -6.88558783e-02 -3.58568604e-02 1.95875474e+02] [ 6.88433037e-02 9.97626224e-01 -1.58668790e-03 7.66624305e+00] [ 3.58809970e-02 -8.86605424e-04 9.99355676e-01 6.82147492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:7.67, Z:6.82 [[ 9.96424951e-01 -7.64957737e-02 -3.58568604e-02 1.95906163e+02] [ 7.64881373e-02 9.97069229e-01 -1.58668790e-03 7.66713501e+00] [ 3.58731471e-02 -1.16160906e-03 9.99355676e-01 6.82047056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:7.67, Z:6.82 [[ 9.96171311e-01 -7.97307803e-02 -3.58569601e-02 1.95937239e+02] [ 7.97253170e-02 9.96815612e-01 -1.58443327e-03 7.66795667e+00] [ 3.58691057e-02 -1.28034054e-03 9.99355676e-01 6.82033182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:7.67, Z:6.82 [[ 9.95619180e-01 -8.63523027e-02 -3.58570436e-02 1.95969260e+02] [ 8.63511914e-02 9.96263503e-01 -1.58253915e-03 7.66909220e+00] [ 3.58597198e-02 -1.52069210e-03 9.99355676e-01 6.82137755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:7.67, Z:6.82 [[ 9.95625421e-01 -8.62802691e-02 -3.58571578e-02 1.96001898e+02] [ 8.62792043e-02 9.96269744e-01 -1.57994793e-03 7.67047206e+00] [ 3.58597198e-02 -1.52069072e-03 9.99355676e-01 6.82255003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:7.67, Z:6.82 [[ 9.95362690e-01 -8.92601280e-02 -3.58572719e-02 1.96033892e+02] [ 8.92610852e-02 9.96007013e-01 -1.57735532e-03 7.67250137e+00] [ 3.58548892e-02 -1.63061836e-03 9.99355676e-01 6.82423400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:7.67, Z:6.83 [[ 9.95124907e-01 -9.18731054e-02 -3.58573871e-02 1.96064650e+02] [ 9.18758485e-02 9.95769225e-01 -1.57473122e-03 7.67466544e+00] [ 3.58503580e-02 -1.72737360e-03 9.99355676e-01 6.82502159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:7.68, Z:6.83 [[ 9.95069023e-01 -9.24763762e-02 -3.58574729e-02 1.96097724e+02] [ 9.24795803e-02 9.95713339e-01 -1.57277499e-03 7.67538218e+00] [ 3.58492086e-02 -1.75106437e-03 9.99355676e-01 6.82655220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:7.68, Z:6.83 [[ 9.94698070e-01 -9.63827948e-02 -3.58623179e-02 1.96127782e+02] [ 9.63925175e-02 9.95342326e-01 -1.46181375e-03 7.67835205e+00] [ 3.58361766e-02 -2.00279579e-03 9.99355671e-01 6.82761721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:7.68, Z:6.83 [[ 9.94649634e-01 -9.68830716e-02 -3.58577149e-02 1.96158507e+02] [ 9.68893322e-02 9.95293927e-01 -1.56713859e-03 7.68021200e+00] [ 3.58407951e-02 -1.91547623e-03 9.99355677e-01 6.82905791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:7.68, Z:6.83 [[ 9.94603382e-01 -9.73567194e-02 -3.58577991e-02 1.96190877e+02] [ 9.73633561e-02 9.95247671e-01 -1.56521074e-03 7.68234251e+00] [ 3.58397748e-02 -1.93447177e-03 9.99355677e-01 6.83138519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:7.68, Z:6.83 [[ 9.94613732e-01 -9.72508882e-02 -3.58579118e-02 1.96223441e+02] [ 9.72575493e-02 9.95258020e-01 -1.56262385e-03 7.68428722e+00] [ 3.58398409e-02 -1.93324549e-03 9.99355677e-01 6.83305048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:7.69, Z:6.83 [[ 9.94600710e-01 -9.73839251e-02 -3.58580246e-02 1.96256848e+02] [ 9.73907656e-02 9.95244998e-01 -1.56003118e-03 7.68677481e+00] [ 3.58394416e-02 -1.94063235e-03 9.99355677e-01 6.83479654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:7.69, Z:6.84 [[ 9.94564739e-01 -9.77505488e-02 -3.58581951e-02 1.96288729e+02] [ 9.77577680e-02 9.95209022e-01 -1.55610185e-03 7.68892175e+00] [ 3.58385091e-02 -1.95777310e-03 9.99355677e-01 6.83587622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:7.69, Z:6.84 [[ 9.94525530e-01 -9.81486130e-02 -3.58583356e-02 1.96320188e+02] [ 9.81562067e-02 9.95169808e-01 -1.55285807e-03 7.69083876e+00] [ 3.58375439e-02 -1.97536121e-03 9.99355677e-01 6.83726771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.35, Y:7.69, Z:6.84 [[ 9.94494499e-01 -9.84625026e-02 -3.58584181e-02 1.96353064e+02] [ 9.84703682e-02 9.95138775e-01 -1.55095206e-03 7.69288671e+00] [ 3.58368128e-02 -1.98857833e-03 9.99355677e-01 6.83958507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:7.70, Z:6.84 [[ 9.94394384e-01 -9.94684459e-02 -3.58585856e-02 1.96385323e+02] [ 9.94771028e-02 9.95038649e-01 -1.54706767e-03 7.69581057e+00] [ 3.58345630e-02 -2.02871281e-03 9.99355677e-01 6.83964175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:7.70, Z:6.84 [[ 9.94361901e-01 -9.97925894e-02 -3.58587242e-02 1.96417178e+02] [ 9.98015720e-02 9.95006162e-01 -1.54384917e-03 7.69793666e+00] [ 3.58337163e-02 -2.04361225e-03 9.99355677e-01 6.84153913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:7.70, Z:6.84 [[ 9.94341920e-01 -9.99914554e-02 -3.58588325e-02 1.96449659e+02] [ 1.00000657e-01 9.94986177e-01 -1.54133051e-03 7.70030236e+00] [ 3.58331625e-02 -2.05329728e-03 9.99355677e-01 6.84335175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:7.70, Z:6.85 [[ 9.94349214e-01 -9.99188334e-02 -3.58589974e-02 1.96481620e+02] [ 9.99281267e-02 9.94993470e-01 -1.53748319e-03 7.70395808e+00] [ 3.58330918e-02 -2.05452723e-03 9.99355677e-01 6.84501776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:7.71, Z:6.85 [[ 9.94407048e-01 -9.93415721e-02 -3.58591077e-02 1.96513532e+02] [ 9.93505839e-02 9.95051308e-01 -1.53490605e-03 7.70628294e+00] [ 3.58341320e-02 -2.03630190e-03 9.99355677e-01 6.84517362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:7.71, Z:6.85 [[ 9.94524135e-01 -9.81624122e-02 -3.58592449e-02 1.96546515e+02] [ 9.81707756e-02 9.95168404e-01 -1.53169460e-03 7.70893934e+00] [ 3.58363424e-02 -1.99702264e-03 9.99355677e-01 6.84666077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:7.71, Z:6.85 [[ 9.94673663e-01 -9.66354327e-02 -3.58594097e-02 1.96579045e+02] [ 9.66429460e-02 9.95317943e-01 -1.52782611e-03 7.71187735e+00] [ 3.58391561e-02 -1.94587061e-03 9.99355677e-01 6.84709212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:7.72, Z:6.85 [[ 9.95118223e-01 -9.19446457e-02 -3.58595188e-02 1.96611177e+02] [ 9.19492134e-02 9.95762530e-01 -1.52526300e-03 7.71697135e+00] [ 3.58478049e-02 -1.77943754e-03 9.99355677e-01 6.84738359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:7.72, Z:6.85 [[ 9.95410584e-01 -8.87234859e-02 -3.58596284e-02 1.96642510e+02] [ 8.87260611e-02 9.96054902e-01 -1.52268200e-03 7.72041442e+00] [ 3.58532563e-02 -1.66598980e-03 9.99355677e-01 6.84746133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:7.72, Z:6.85 [[ 9.95706339e-01 -8.53403070e-02 -3.58597099e-02 1.96674398e+02] [ 8.53407617e-02 9.96350662e-01 -1.52075931e-03 7.72411499e+00] [ 3.58586278e-02 -1.54606527e-03 9.99355677e-01 6.84906283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:7.73, Z:6.85 [[ 9.96258928e-01 -7.86271007e-02 -3.58598171e-02 1.96706279e+02] [ 7.86233036e-02 9.96903241e-01 -1.51822700e-03 7.72997064e+00] [ 3.58681417e-02 -1.30687008e-03 9.99355677e-01 6.85115621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:7.73, Z:6.85 [[ 9.96500434e-01 -7.55046370e-02 -3.58599238e-02 1.96738170e+02] [ 7.54989114e-02 9.97144732e-01 -1.51570384e-03 7.73318693e+00] [ 3.58719767e-02 -1.19698567e-03 9.99355677e-01 6.85255432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:7.74, Z:6.85 [[ 9.96850653e-01 -7.07307069e-02 -3.58600299e-02 1.96769580e+02] [ 7.07219857e-02 9.97494918e-01 -1.51318744e-03 7.73723682e+00] [ 3.58772264e-02 -1.02767064e-03 9.99355677e-01 6.85414542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:7.74, Z:6.86 [[ 9.96982261e-01 -6.88507369e-02 -3.58601090e-02 1.96801142e+02] [ 6.88408683e-02 9.97626509e-01 -1.51131179e-03 7.73945044e+00] [ 3.58790503e-02 -9.61889996e-04 9.99355677e-01 6.85572314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:7.74, Z:6.86 [[ 9.97062667e-01 -6.76762730e-02 -3.58602784e-02 1.96832742e+02] [ 6.76657903e-02 9.97706905e-01 -1.50728121e-03 7.74159919e+00] [ 3.58800546e-02 -9.23660260e-04 9.99355677e-01 6.85837730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:7.74, Z:6.86 [[ 9.97130230e-01 -6.66733630e-02 -3.58603872e-02 1.96864346e+02] [ 6.66623256e-02 9.97774459e-01 -1.50468727e-03 7.74358497e+00] [ 3.58809010e-02 -8.90167644e-04 9.99355677e-01 6.85973323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:7.75, Z:6.86 [[ 9.97165376e-01 -6.61456000e-02 -3.58604684e-02 1.96896156e+02] [ 6.61342912e-02 9.97809600e-01 -1.50275155e-03 7.74566633e+00] [ 3.58813200e-02 -8.73114843e-04 9.99355677e-01 6.86112526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:7.75, Z:6.86 [[ 9.97168516e-01 -6.60981857e-02 -3.58605771e-02 1.96928117e+02] [ 6.60869397e-02 9.97812741e-01 -1.50015291e-03 7.74805384e+00] [ 3.58812981e-02 -8.74010537e-04 9.99355677e-01 6.86169007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:7.75, Z:6.86 [[ 9.97143613e-01 -6.64727526e-02 -3.58606857e-02 1.96959387e+02] [ 6.64618420e-02 9.97787844e-01 -1.49755178e-03 7.74944392e+00] [ 3.58809026e-02 -8.90093036e-04 9.99355677e-01 6.86237877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:7.75, Z:6.86 [[ 9.97086115e-01 -6.73296742e-02 -3.58607664e-02 1.96991969e+02] [ 6.73193868e-02 9.97730356e-01 -1.49561582e-03 7.75101719e+00] [ 3.58800746e-02 -9.22867036e-04 9.99355677e-01 6.86345902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:7.75, Z:6.86 [[ 9.97023705e-01 -6.82475611e-02 -3.58608738e-02 1.97023780e+02] [ 6.82379595e-02 9.97667957e-01 -1.49303719e-03 7.75219222e+00] [ 3.58791408e-02 -9.58479385e-04 9.99355677e-01 6.86468061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.06, Y:7.75, Z:6.87 [[ 9.96817255e-01 -7.11993634e-02 -3.58609817e-02 1.97055179e+02] [ 7.11917628e-02 9.97461534e-01 -1.49043963e-03 7.75352378e+00] [ 3.58760682e-02 -1.06731057e-03 9.99355677e-01 6.86565717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:7.75, Z:6.87 [[ 9.96707246e-01 -7.27230545e-02 -3.58611550e-02 1.97086921e+02] [ 7.27165891e-02 9.97351537e-01 -1.48625974e-03 7.75465165e+00] [ 3.58742634e-02 -1.12633502e-03 9.99355677e-01 6.86734463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:7.76, Z:6.87 [[ 9.96595974e-01 -7.42323002e-02 -3.58612622e-02 1.97117887e+02] [ 7.42269035e-02 9.97240275e-01 -1.48366794e-03 7.75603157e+00] [ 3.58724311e-02 -1.18325295e-03 9.99355677e-01 6.86845847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:7.76, Z:6.87 [[ 9.96354354e-01 -7.74077835e-02 -3.58613420e-02 1.97148709e+02] [ 7.74045095e-02 9.96998669e-01 -1.48173645e-03 7.75745123e+00] [ 3.58684082e-02 -1.29949502e-03 9.99355677e-01 6.86932475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:7.76, Z:6.87 [[ 9.96258226e-01 -7.86352693e-02 -3.58614205e-02 1.97180969e+02] [ 7.86328575e-02 9.96902545e-01 -1.47983464e-03 7.75864443e+00] [ 3.58667086e-02 -1.34558853e-03 9.99355677e-01 6.87114724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:7.76, Z:6.87 [[ 9.96078362e-01 -8.08816925e-02 -3.58615251e-02 1.97212960e+02] [ 8.08808250e-02 9.96722684e-01 -1.47729564e-03 7.75916828e+00] [ 3.58634817e-02 -1.42900752e-03 9.99355677e-01 6.87215798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:7.76, Z:6.87 [[ 9.95971430e-01 -8.21879173e-02 -3.58616304e-02 1.97244551e+02] [ 8.21879867e-02 9.96615753e-01 -1.47473587e-03 7.76025704e+00] [ 3.58614712e-02 -1.47860041e-03 9.99355677e-01 6.87295190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:7.76, Z:6.87 [[ 9.95904578e-01 -8.29940133e-02 -3.58617614e-02 1.97276687e+02] [ 8.29947191e-02 9.96548901e-01 -1.47154166e-03 7.76132403e+00] [ 3.58601281e-02 -1.51082174e-03 9.99355677e-01 6.87408990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:7.76, Z:6.88 [[ 9.95750134e-01 -8.48268624e-02 -3.58618636e-02 1.97309825e+02] [ 8.48288437e-02 9.96394455e-01 -1.46904722e-03 7.76283958e+00] [ 3.58571767e-02 -1.57931645e-03 9.99355677e-01 6.87594873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:7.76, Z:6.88 [[ 9.95659118e-01 -8.58885104e-02 -3.58620215e-02 1.97341289e+02] [ 8.58913176e-02 9.96303435e-01 -1.46518214e-03 7.76408368e+00] [ 3.58552975e-02 -1.62141433e-03 9.99355677e-01 6.87658354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:7.76, Z:6.88 [[ 9.95578361e-01 -8.68195666e-02 -3.58620995e-02 1.97373804e+02] [ 8.68230451e-02 9.96222675e-01 -1.46327076e-03 7.76490938e+00] [ 3.58536772e-02 -1.65685597e-03 9.99355677e-01 6.87723714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:7.77, Z:6.88 [[ 9.95321758e-01 -8.97134367e-02 -3.58622014e-02 1.97406011e+02] [ 8.97188781e-02 9.95966058e-01 -1.46076993e-03 7.76503138e+00] [ 3.58485860e-02 -1.76358038e-03 9.99355677e-01 6.87702197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:7.77, Z:6.88 [[ 9.95207746e-01 -9.09694297e-02 -3.58623037e-02 1.97438476e+02] [ 9.09757747e-02 9.95852038e-01 -1.45825440e-03 7.76570953e+00] [ 3.58462048e-02 -1.81133479e-03 9.99355677e-01 6.87800800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:7.77, Z:6.88 [[ 9.95081756e-01 -9.23373577e-02 -3.58624067e-02 1.97471179e+02] [ 9.23446795e-02 9.95726037e-01 -1.45571533e-03 7.76672169e+00] [ 3.58435490e-02 -1.86314669e-03 9.99355677e-01 6.87985957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:7.77, Z:6.88 [[ 9.94957699e-01 -9.36645830e-02 -3.58625673e-02 1.97503109e+02] [ 9.36729068e-02 9.95601968e-01 -1.45174848e-03 7.76792336e+00] [ 3.58408200e-02 -1.91492259e-03 9.99355677e-01 6.88048610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.54, Y:7.77, Z:6.88 [[ 9.94846005e-01 -9.48435157e-02 -3.58627001e-02 1.97535549e+02] [ 9.48527211e-02 9.95490263e-01 -1.44846028e-03 7.76911240e+00] [ 3.58383458e-02 -1.96067977e-03 9.99355677e-01 6.88139113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.57, Y:7.77, Z:6.88 [[ 9.94640156e-01 -9.69784348e-02 -3.58628289e-02 1.97568035e+02] [ 9.69891377e-02 9.95284391e-01 -1.44526597e-03 7.77087815e+00] [ 3.58338734e-02 -2.04078527e-03 9.99355677e-01 6.88260102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:7.77, Z:6.88 [[ 9.94546630e-01 -9.79328945e-02 -3.58629285e-02 1.97600885e+02] [ 9.79443046e-02 9.95190852e-01 -1.44278791e-03 7.77228992e+00] [ 3.58317548e-02 -2.07764974e-03 9.99355677e-01 6.88448869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:7.77, Z:6.89 [[ 9.94461512e-01 -9.87934216e-02 -3.58630814e-02 1.97633173e+02] [ 9.88055261e-02 9.95105722e-01 -1.43897815e-03 7.77373632e+00] [ 3.58297191e-02 -2.11246224e-03 9.99355677e-01 6.88542715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:7.78, Z:6.89 [[ 9.94372181e-01 -9.96884930e-02 -3.58632080e-02 1.97665493e+02] [ 9.97012910e-02 9.95016377e-01 -1.43581560e-03 7.77540644e+00] [ 3.58276136e-02 -2.14787305e-03 9.99355677e-01 6.88846073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:7.78, Z:6.89 [[ 9.94342564e-01 -9.99834403e-02 -3.58633083e-02 1.97698096e+02] [ 9.99965195e-02 9.94986755e-01 -1.43330698e-03 7.77706507e+00] [ 3.58268237e-02 -2.16100787e-03 9.99355677e-01 6.89033107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:7.78, Z:6.89 [[ 9.94354470e-01 -9.98649146e-02 -3.58634595e-02 1.97731275e+02] [ 9.98780534e-02 9.94998659e-01 -1.42951300e-03 7.77869762e+00] [ 3.58268523e-02 -2.16052989e-03 9.99355677e-01 6.89241644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:7.78, Z:6.90 [[ 9.94380920e-01 -9.96011386e-02 -3.58636132e-02 1.97763842e+02] [ 9.96142455e-02 9.95025110e-01 -1.42564567e-03 7.78113871e+00] [ 3.58271916e-02 -2.15489192e-03 9.99355677e-01 6.89515547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:7.78, Z:6.90 [[ 9.94391995e-01 -9.94904525e-02 -3.58637716e-02 1.97797340e+02] [ 9.95036312e-02 9.95036183e-01 -1.42165106e-03 7.78238143e+00] [ 3.58271911e-02 -2.15489707e-03 9.99355677e-01 6.89635800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.83, Y:7.78, Z:6.90 [[ 9.94454342e-01 -9.88652674e-02 -3.58639293e-02 1.97828525e+02] [ 9.88781845e-02 9.95098535e-01 -1.41766160e-03 7.78414357e+00] [ 3.58283010e-02 -2.13636048e-03 9.99355677e-01 6.89703467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.86, Y:7.79, Z:6.90 [[ 9.94519941e-01 -9.82031570e-02 -3.58640072e-02 1.97861639e+02] [ 9.82157162e-02 9.95164142e-01 -1.41568750e-03 7.78606166e+00] [ 3.58295989e-02 -2.11447970e-03 9.99355677e-01 6.89868490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:7.79, Z:6.90 [[ 9.94584874e-01 -9.75432772e-02 -3.58641607e-02 1.97895077e+02] [ 9.75555491e-02 9.95229080e-01 -1.41178802e-03 7.78787572e+00] [ 3.58307661e-02 -2.09460489e-03 9.99355677e-01 6.90029695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:7.79, Z:6.90 [[ 9.94660293e-01 -9.67711334e-02 -3.58643159e-02 1.97927399e+02] [ 9.67830471e-02 9.95304506e-01 -1.40783597e-03 7.78946679e+00] [ 3.58321531e-02 -2.07073924e-03 9.99355677e-01 6.90105123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:7.79, Z:6.90 [[ 9.94705748e-01 -9.63027363e-02 -3.58644437e-02 1.97959939e+02] [ 9.63144640e-02 9.95349964e-01 -1.40457223e-03 7.79163239e+00] [ 3.58329369e-02 -2.05712859e-03 9.99355677e-01 6.90254177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:7.79, Z:6.90 [[ 9.94698632e-01 -9.63761558e-02 -3.58645921e-02 1.97993274e+02] [ 9.63880676e-02 9.95342845e-01 -1.40077301e-03 7.79326490e+00] [ 3.58325662e-02 -2.06357172e-03 9.99355677e-01 6.90364624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:7.79, Z:6.90 [[ 9.94622486e-01 -9.71587891e-02 -3.58647423e-02 1.98024956e+02] [ 9.71713463e-02 9.95266687e-01 -1.39691660e-03 7.79481745e+00] [ 3.58307059e-02 -2.09562063e-03 9.99355677e-01 6.90499834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:7.80, Z:6.91 [[ 9.94591004e-01 -9.74805001e-02 -3.58648433e-02 1.98056497e+02] [ 9.74933591e-02 9.95235199e-01 -1.39431765e-03 7.79615653e+00] [ 3.58298732e-02 -2.10980825e-03 9.99355677e-01 6.90567982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:7.80, Z:6.91 [[ 9.94552523e-01 -9.78722837e-02 -3.58649686e-02 1.98089054e+02] [ 9.78855125e-02 9.95196710e-01 -1.39108840e-03 7.79761418e+00] [ 3.58288477e-02 -2.12715035e-03 9.99355677e-01 6.90683466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:7.80, Z:6.91 [[ 9.94471953e-01 -9.86875258e-02 -3.58651179e-02 1.98121825e+02] [ 9.87014214e-02 9.95116126e-01 -1.38722622e-03 7.79882989e+00] [ 3.58268592e-02 -2.16038056e-03 9.99355677e-01 6.90799433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:7.80, Z:6.91 [[ 9.94389304e-01 -9.95168094e-02 -3.58652676e-02 1.98154667e+02] [ 9.95313816e-02 9.95033462e-01 -1.38334689e-03 7.79998742e+00] [ 3.58248076e-02 -2.19413428e-03 9.99355677e-01 6.90921028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:7.80, Z:6.91 [[ 9.94327623e-01 -1.00131166e-01 -3.58654161e-02 1.98187043e+02] [ 1.00146275e-01 9.94971769e-01 -1.37948468e-03 7.80104607e+00] [ 3.58232059e-02 -2.22012809e-03 9.99355677e-01 6.91037892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:7.80, Z:6.91 [[ 9.94260773e-01 -1.00792705e-01 -3.58656599e-02 1.98220197e+02] [ 1.00808471e-01 9.94904903e-01 -1.37311693e-03 7.80223088e+00] [ 3.58213211e-02 -2.25032606e-03 9.99355677e-01 6.91170912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:7.80, Z:6.91 [[ 9.94290436e-01 -1.00499619e-01 -3.58658063e-02 1.98251893e+02] [ 1.00515334e-01 9.94934567e-01 -1.36928298e-03 7.80325627e+00] [ 3.58217429e-02 -2.24359851e-03 9.99355677e-01 6.91269832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:7.80, Z:6.91 [[ 9.94390215e-01 -9.95074694e-02 -3.58659271e-02 1.98283637e+02] [ 9.95226549e-02 9.95034359e-01 -1.36610998e-03 7.80488777e+00] [ 3.58237680e-02 -2.21102590e-03 9.99355677e-01 6.91458366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:7.81, Z:6.92 [[ 9.94464631e-01 -9.87609579e-02 -3.58660225e-02 1.98315430e+02] [ 9.87757500e-02 9.95108784e-01 -1.36360090e-03 7.80670319e+00] [ 3.58252646e-02 -2.18664041e-03 9.99355677e-01 6.91703500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:7.81, Z:6.92 [[ 9.94672788e-01 -9.66419485e-02 -3.58661213e-02 1.98346053e+02] [ 9.66554617e-02 9.95316969e-01 -1.36099798e-03 7.80913775e+00] [ 3.58296887e-02 -2.11290886e-03 9.99355677e-01 6.91820308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:7.81, Z:6.92 [[ 9.94800659e-01 -9.53166234e-02 -3.58662919e-02 1.98378007e+02] [ 9.53294404e-02 9.95444854e-01 -1.35648649e-03 7.81083840e+00] [ 3.58322115e-02 -2.06967989e-03 9.99355677e-01 6.92081661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:7.81, Z:6.92 [[ 9.94908184e-01 -9.41876135e-02 -3.58663911e-02 1.98409865e+02] [ 9.41997938e-02 9.95552392e-01 -1.35386060e-03 7.81220305e+00] [ 3.58343883e-02 -2.03163965e-03 9.99355677e-01 6.92211930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:7.81, Z:6.92 [[ 9.95016322e-01 -9.30382340e-02 -3.58664898e-02 1.98442247e+02] [ 9.30497643e-02 9.95660542e-01 -1.35124062e-03 7.81317876e+00] [ 3.58365657e-02 -1.99286195e-03 9.99355677e-01 6.92328282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:7.81, Z:6.92 [[ 9.95116153e-01 -9.19642728e-02 -3.58666125e-02 1.98474433e+02] [ 9.19752252e-02 9.95760383e-01 -1.34797492e-03 7.81425861e+00] [ 3.58385173e-02 -1.95744815e-03 9.99355677e-01 6.92455981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:7.82, Z:6.93 [[ 9.95261363e-01 -9.03791926e-02 -3.58667106e-02 1.98506941e+02] [ 9.03892128e-02 9.95905608e-01 -1.34535886e-03 7.81521493e+00] [ 3.58414507e-02 -1.90298005e-03 9.99355677e-01 6.92627394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:7.82, Z:6.93 [[ 9.95297362e-01 -8.99818312e-02 -3.58668564e-02 1.98539938e+02] [ 8.99917343e-02 9.95941609e-01 -1.34146226e-03 7.81605781e+00] [ 3.58420019e-02 -1.89256676e-03 9.99355677e-01 6.92754135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:7.82, Z:6.93 [[ 9.95323694e-01 -8.96900333e-02 -3.58670013e-02 1.98573100e+02] [ 8.96998871e-02 9.95967942e-01 -1.33757532e-03 7.81684463e+00] [ 3.58423507e-02 -1.88594557e-03 9.99355677e-01 6.92895185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:7.82, Z:6.93 [[ 9.95300773e-01 -8.99439739e-02 -3.58671465e-02 1.98605621e+02] [ 8.99541324e-02 9.95945016e-01 -1.33367056e-03 7.81656156e+00] [ 3.58416614e-02 -1.89899471e-03 9.99355677e-01 6.92958433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:7.82, Z:6.93 [[ 9.95275455e-01 -9.02236564e-02 -3.58672665e-02 1.98638851e+02] [ 9.02341122e-02 9.95919693e-01 -1.33043627e-03 7.81667486e+00] [ 3.58409539e-02 -1.91230038e-03 9.99355677e-01 6.93080046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:7.82, Z:6.93 [[ 9.95229874e-01 -9.07250047e-02 -3.58674084e-02 1.98672281e+02] [ 9.07359228e-02 9.95874105e-01 -1.32660012e-03 7.81674424e+00] [ 3.58397790e-02 -1.93419033e-03 9.99355677e-01 6.93135556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:7.82, Z:6.93 [[ 9.95120007e-01 -9.19222015e-02 -3.58675510e-02 1.98704015e+02] [ 9.19340337e-02 9.95764221e-01 -1.32273282e-03 7.81565785e+00] [ 3.58372125e-02 -1.98117075e-03 9.99355677e-01 6.93194491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:7.82, Z:6.93 [[ 9.95096273e-01 -9.21787228e-02 -3.58676691e-02 1.98737516e+02] [ 9.21908364e-02 9.95740483e-01 -1.31952099e-03 7.81615128e+00] [ 3.58365219e-02 -1.99362000e-03 9.99355677e-01 6.93363373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:7.82, Z:6.93 [[ 9.95075359e-01 -9.24041632e-02 -3.58678128e-02 1.98770384e+02] [ 9.24165635e-02 9.95719563e-01 -1.31560485e-03 7.81660369e+00] [ 3.58358502e-02 -2.00565403e-03 9.99355677e-01 6.93450685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:7.82, Z:6.94 [[ 9.95070274e-01 -9.24588557e-02 -3.58679553e-02 1.98802407e+02] [ 9.24714314e-02 9.95714474e-01 -1.31170915e-03 7.81694408e+00] [ 3.58355213e-02 -2.01151838e-03 9.99355677e-01 6.93544597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:7.82, Z:6.94 [[ 9.95014584e-01 -9.30562092e-02 -3.58680728e-02 1.98834647e+02] [ 9.30692874e-02 9.95658775e-01 -1.30848810e-03 7.81674509e+00] [ 3.58341243e-02 -2.03625123e-03 9.99355677e-01 6.93628401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:7.82, Z:6.94 [[ 9.95024330e-01 -9.29519057e-02 -3.58681880e-02 1.98868017e+02] [ 9.29650301e-02 9.95668519e-01 -1.30532214e-03 7.81726735e+00] [ 3.58341578e-02 -2.03565988e-03 9.99355677e-01 6.93785639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:7.82, Z:6.94 [[ 9.95064586e-01 -9.25199003e-02 -3.58683319e-02 1.98900508e+02] [ 9.25328875e-02 9.95708778e-01 -1.30135636e-03 7.81734209e+00] [ 3.58348143e-02 -2.02406668e-03 9.99355677e-01 6.93841254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:7.82, Z:6.94 [[ 9.95140808e-01 -9.16963314e-02 -3.58685675e-02 1.98933713e+02] [ 9.17090200e-02 9.95785006e-01 -1.29482883e-03 7.81790779e+00] [ 3.58361128e-02 -2.00093417e-03 9.99355677e-01 6.94001930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:7.82, Z:6.94 [[ 9.95239000e-01 -9.06243323e-02 -3.58687075e-02 1.98966369e+02] [ 9.06364667e-02 9.95883208e-01 -1.29093797e-03 7.81855103e+00] [ 3.58380339e-02 -1.96622110e-03 9.99355677e-01 6.94145572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:7.82, Z:6.94 [[ 9.95451505e-01 -8.82594250e-02 -3.58688463e-02 1.98997832e+02] [ 8.82701678e-02 9.96095739e-01 -1.28707215e-03 7.81920397e+00] [ 3.58424012e-02 -1.88493117e-03 9.99355677e-01 6.94337002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:7.82, Z:6.95 [[ 9.95621793e-01 -8.63172426e-02 -3.58689149e-02 1.99030793e+02] [ 8.63267973e-02 9.96266045e-01 -1.28515702e-03 7.82014749e+00] [ 3.58459132e-02 -1.81691821e-03 9.99355677e-01 6.94531250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:7.82, Z:6.95 [[ 9.95954046e-01 -8.23950788e-02 -3.58690513e-02 1.99063437e+02] [ 8.24022331e-02 9.96598329e-01 -1.28133673e-03 7.82109138e+00] [ 3.58526125e-02 -1.67953743e-03 9.99355677e-01 6.94731109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:7.82, Z:6.95 [[ 9.96149505e-01 -7.99972778e-02 -3.58691888e-02 1.99096417e+02] [ 8.00030198e-02 9.96793803e-01 -1.27747822e-03 7.82157830e+00] [ 3.58563798e-02 -1.59708412e-03 9.99355677e-01 6.94864763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:7.82, Z:6.95 [[ 9.96346343e-01 -7.75071338e-02 -3.58693262e-02 1.99128558e+02] [ 7.75114045e-02 9.96990652e-01 -1.27360704e-03 7.82207388e+00] [ 3.58600966e-02 -1.51132813e-03 9.99355677e-01 6.94966579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:7.82, Z:6.95 [[ 9.96542170e-01 -7.49472377e-02 -3.58694192e-02 1.99159454e+02] [ 7.49499475e-02 9.97186487e-01 -1.27098206e-03 7.82299164e+00] [ 3.58637568e-02 -1.42182387e-03 9.99355677e-01 6.94864366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:7.82, Z:6.95 [[ 9.96704155e-01 -7.27638416e-02 -3.58643473e-02 1.99192889e+02] [ 7.27599861e-02 9.97348477e-01 -1.41438992e-03 7.82297615e+00] [ 3.58721686e-02 -1.19976110e-03 9.99355666e-01 6.95198774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:7.82, Z:6.95 [[ 9.96862759e-01 -7.05548889e-02 -3.58698632e-02 1.99224349e+02] [ 7.05552616e-02 9.97507080e-01 -1.25700041e-03 7.82337549e+00] [ 3.58691300e-02 -1.27775068e-03 9.99355679e-01 6.95400039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:7.82, Z:6.95 [[ 9.96912204e-01 -6.98527424e-02 -3.58699319e-02 1.99256884e+02] [ 6.98527320e-02 9.97556525e-01 -1.25503531e-03 7.82401784e+00] [ 3.58699523e-02 -1.25445272e-03 9.99355679e-01 6.95377711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:7.82, Z:6.95 [[ 9.96916927e-01 -6.97852638e-02 -3.58700202e-02 1.99289245e+02] [ 6.97853005e-02 9.97561248e-01 -1.25250909e-03 7.82441616e+00] [ 3.58699487e-02 -1.25455262e-03 9.99355679e-01 6.95294884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:7.82, Z:6.95 [[ 9.96883605e-01 -7.02596067e-02 -3.58701110e-02 1.99321561e+02] [ 7.02600436e-02 9.97527926e-01 -1.24990256e-03 7.82314398e+00] [ 3.58692551e-02 -1.27422820e-03 9.99355679e-01 6.95007490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:7.82, Z:6.95 [[ 9.96789078e-01 -7.15887538e-02 -3.58689755e-02 1.99352652e+02] [ 7.15888796e-02 9.97433400e-01 -1.28246733e-03 7.82348829e+00] [ 3.58687244e-02 -1.28947034e-03 9.99355678e-01 6.94992928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:7.82, Z:6.95 [[ 9.96743243e-01 -7.22234815e-02 -3.58702791e-02 1.99385128e+02] [ 7.22253674e-02 9.97387561e-01 -1.24490623e-03 7.82344372e+00] [ 3.58664816e-02 -1.34989222e-03 9.99355679e-01 6.95097467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:7.82, Z:6.95 [[ 9.96735468e-01 -7.23306532e-02 -3.58703700e-02 1.99416060e+02] [ 7.23327027e-02 9.97379786e-01 -1.24228259e-03 7.82317853e+00] [ 3.58662370e-02 -1.35637368e-03 9.99355679e-01 6.95310105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:7.82, Z:6.96 [[ 9.96797709e-01 -7.14677528e-02 -3.58704375e-02 1.99447954e+02] [ 7.14693147e-02 9.97442028e-01 -1.24032919e-03 7.82402947e+00] [ 3.58673255e-02 -1.32727829e-03 9.99355679e-01 6.95532218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:7.83, Z:6.96 [[ 9.96911433e-01 -6.98634373e-02 -3.58705255e-02 1.99479592e+02] [ 6.98640538e-02 9.97555754e-01 -1.23777894e-03 7.82520212e+00] [ 3.58693246e-02 -1.27210435e-03 9.99355679e-01 6.95836520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:7.83, Z:6.96 [[ 9.96987485e-01 -6.87695720e-02 -3.58706132e-02 1.99512005e+02] [ 6.87695732e-02 9.97631806e-01 -1.23523241e-03 7.82647292e+00] [ 3.58706110e-02 -1.23529551e-03 9.99355679e-01 6.96056961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:7.83, Z:6.96 [[ 9.97058072e-01 -6.77384234e-02 -3.58707034e-02 1.99543502e+02] [ 6.77378524e-02 9.97702393e-01 -1.23260846e-03 7.82714170e+00] [ 3.58717815e-02 -1.20082220e-03 9.99355679e-01 6.96225483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:7.83, Z:6.96 [[ 9.97071892e-01 -6.75346627e-02 -3.58707704e-02 1.99575296e+02] [ 6.75340303e-02 9.97716212e-01 -1.23065421e-03 7.82786618e+00] [ 3.58719610e-02 -1.19544697e-03 9.99355679e-01 6.96455604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:7.83, Z:6.97 [[ 9.97026678e-01 -6.81988625e-02 -3.58708592e-02 1.99606859e+02] [ 6.81987526e-02 9.97670999e-01 -1.22805924e-03 7.82705371e+00] [ 3.58710682e-02 -1.22194003e-03 9.99355679e-01 6.96734900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:7.83, Z:6.97 [[ 9.96965815e-01 -6.90828464e-02 -3.58709254e-02 1.99638086e+02] [ 6.90833773e-02 9.97610136e-01 -1.22612295e-03 7.82695028e+00] [ 3.58699029e-02 -1.25568201e-03 9.99355679e-01 6.96871570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:7.83, Z:6.97 [[ 9.96774537e-01 -7.17899469e-02 -3.58709692e-02 1.99669586e+02] [ 7.17922737e-02 9.97418853e-01 -1.22484003e-03 7.82603343e+00] [ 3.58663122e-02 -1.35436909e-03 9.99355679e-01 6.96973822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:7.83, Z:6.97 [[ 9.96679172e-01 -7.31019799e-02 -3.58710129e-02 1.99701440e+02] [ 7.31052008e-02 9.97323484e-01 -1.22355886e-03 7.82634692e+00] [ 3.58644482e-02 -1.40286198e-03 9.99355679e-01 6.97065912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:7.83, Z:6.97 [[ 9.96545518e-01 -7.49019000e-02 -3.58711018e-02 1.99733127e+02] [ 7.49063784e-02 9.97189823e-01 -1.22094863e-03 7.82658369e+00] [ 3.58617490e-02 -1.47024344e-03 9.99355679e-01 6.97094239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:7.83, Z:6.97 [[ 9.96349070e-01 -7.74712155e-02 -3.58711679e-02 1.99765359e+02] [ 7.74774252e-02 9.96993361e-01 -1.21900163e-03 7.82562020e+00] [ 3.58577538e-02 -1.56465459e-03 9.99355679e-01 6.97114052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:7.83, Z:6.97 [[ 9.96306630e-01 -7.80150723e-02 -3.58712551e-02 1.99797729e+02] [ 7.80217260e-02 9.96950917e-01 -1.21643283e-03 7.82590791e+00] [ 3.58567807e-02 -1.58679714e-03 9.99355679e-01 6.97208968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:7.83, Z:6.97 [[ 9.96312226e-01 -7.79435432e-02 -3.58713422e-02 1.99830385e+02] [ 7.79502431e-02 9.96956512e-01 -1.21385834e-03 7.82695374e+00] [ 3.58567806e-02 -1.58679794e-03 9.99355679e-01 6.97326231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.86, Y:7.83, Z:6.97 [[ 9.96309071e-01 -7.79838147e-02 -3.58714291e-02 1.99862658e+02] [ 7.79906331e-02 9.96953356e-01 -1.21128465e-03 7.82728059e+00] [ 3.58566022e-02 -1.59082159e-03 9.99355679e-01 6.97452468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:7.83, Z:6.97 [[ 9.96403461e-01 -7.67683418e-02 -3.58715153e-02 1.99894822e+02] [ 7.67744662e-02 9.97047752e-01 -1.20872631e-03 7.82713222e+00] [ 3.58584056e-02 -1.54963736e-03 9.99355679e-01 6.97443930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:7.83, Z:6.98 [[ 9.96368176e-01 -7.72244232e-02 -3.58726414e-02 1.99925962e+02] [ 7.72320428e-02 9.97012452e-01 -1.17532486e-03 7.82899855e+00] [ 3.58562340e-02 -1.59946109e-03 9.99355679e-01 6.97690894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:7.83, Z:6.98 [[ 9.96555707e-01 -7.47659495e-02 -3.58716650e-02 1.99958030e+02] [ 7.47709344e-02 9.97200008e-01 -1.20440768e-03 7.83102039e+00] [ 3.58612733e-02 -1.48189856e-03 9.99355679e-01 6.97875298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.99, Y:7.83, Z:6.98 [[ 9.96885121e-01 -7.02372650e-02 -3.58717491e-02 1.99990171e+02] [ 7.02394127e-02 9.97529438e-01 -1.20189718e-03 7.83130110e+00] [ 3.58675437e-02 -1.32145718e-03 9.99355679e-01 6.97908778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:7.83, Z:6.98 [[ 9.96985373e-01 -6.87983485e-02 -3.58741434e-02 2.00020013e+02] [ 6.88021401e-02 9.97629685e-01 -1.13026904e-03 7.83233670e+00] [ 3.58668710e-02 -1.34135614e-03 9.99355677e-01 6.98119944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:7.83, Z:6.98 [[ 9.97195830e-01 -6.56786641e-02 -3.58718461e-02 2.00051882e+02] [ 6.56779699e-02 9.97840151e-01 -1.19900177e-03 7.83186522e+00] [ 3.58731172e-02 -1.16035046e-03 9.99355679e-01 6.98148314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:7.83, Z:6.98 [[ 9.97677638e-01 -5.78997837e-02 -3.58740281e-02 2.00082128e+02] [ 5.78964161e-02 9.98321952e-01 -1.13356402e-03 7.83231411e+00] [ 3.58794628e-02 -9.46046181e-04 9.99355677e-01 6.97846660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:7.83, Z:6.98 [[ 9.97781699e-01 -5.60792896e-02 -3.58719110e-02 2.00113067e+02] [ 5.60724664e-02 9.98425984e-01 -1.19701022e-03 7.83352855e+00] [ 3.58825755e-02 -8.17071630e-04 9.99355679e-01 6.97982077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:7.83, Z:6.98 [[ 9.97779678e-01 -5.61152443e-02 -3.58719110e-02 2.00143183e+02] [ 5.61084444e-02 9.98423963e-01 -1.19701022e-03 7.83456169e+00] [ 3.58825461e-02 -8.18364648e-04 9.99355679e-01 6.98090302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:7.84, Z:6.98 [[ 9.97869169e-01 -5.45007479e-02 -3.58718678e-02 2.00172699e+02] [ 5.44928591e-02 9.98513441e-01 -1.19830369e-03 7.83573302e+00] [ 3.58838506e-02 -7.59010329e-04 9.99355679e-01 6.98207997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:7.84, Z:6.98 [[ 9.97956783e-01 -5.28722247e-02 -3.58718238e-02 2.00201753e+02] [ 5.28632371e-02 9.98601041e-01 -1.19961888e-03 7.83679514e+00] [ 3.58850671e-02 -6.99132933e-04 9.99355679e-01 6.98279861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:7.84, Z:6.98 [[ 9.97943653e-01 -5.31195165e-02 -3.58717583e-02 2.00230957e+02] [ 5.31106183e-02 9.98587912e-01 -1.20157540e-03 7.83781035e+00] [ 3.58849313e-02 -7.06066719e-04 9.99355679e-01 6.98384870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:7.84, Z:6.98 [[ 9.97930457e-01 -5.33670540e-02 -3.58714582e-02 2.00260160e+02] [ 5.33579961e-02 9.98574714e-01 -1.21046754e-03 7.83883616e+00] [ 3.58849302e-02 -7.06066698e-04 9.99355679e-01 6.98490099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:7.84, Z:6.99 [[ 9.98001203e-01 -5.20274881e-02 -3.58711559e-02 2.00290085e+02] [ 5.20172459e-02 9.98645442e-01 -1.21935961e-03 7.84010230e+00] [ 3.58860066e-02 -6.48996379e-04 9.99355679e-01 6.98545936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.32, Y:7.84, Z:6.99 [[ 9.97998518e-01 -5.20798383e-02 -3.58698933e-02 2.00319194e+02] [ 5.20683005e-02 9.98642736e-01 -1.25636015e-03 7.84112564e+00] [ 3.58866394e-02 -6.13838817e-04 9.99355679e-01 6.98651718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:7.84, Z:6.99 [[ 9.98088022e-01 -5.03354486e-02 -3.58698093e-02 2.00347525e+02] [ 5.03226966e-02 9.98732217e-01 -1.25881722e-03 7.84153118e+00] [ 3.58876973e-02 -5.48655143e-04 9.99355679e-01 6.98816563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:7.84, Z:6.99 [[ 9.98075460e-01 -5.05831585e-02 -3.58708726e-02 2.00376728e+02] [ 5.05716825e-02 9.98719679e-01 -1.22775204e-03 7.84254934e+00] [ 3.58870499e-02 -5.88661194e-04 9.99355679e-01 6.98920528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:7.84, Z:6.99 [[ 9.98062814e-01 -5.08323012e-02 -3.58705640e-02 2.00405930e+02] [ 5.08206645e-02 9.98707029e-01 -1.23670044e-03 7.84359417e+00] [ 3.58870488e-02 -5.88661176e-04 9.99355679e-01 6.99025756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:7.84, Z:6.99 [[ 9.98169412e-01 -4.86944625e-02 -3.58702533e-02 2.00435199e+02] [ 4.86811245e-02 9.98813594e-01 -1.24564877e-03 7.84339042e+00] [ 3.58883528e-02 -5.02835768e-04 9.99355679e-01 6.99122762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:7.84, Z:6.99 [[ 9.98158033e-01 -4.89246534e-02 -3.58736462e-02 2.00463580e+02] [ 4.89149588e-02 9.98802287e-01 -1.14838169e-03 7.84442034e+00] [ 3.58868640e-02 -6.08491521e-04 9.99355674e-01 6.99221695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:7.85, Z:6.99 [[ 9.98151315e-01 -4.90617084e-02 -3.58734063e-02 2.00491387e+02] [ 4.90518566e-02 9.98795565e-01 -1.15521770e-03 7.84631428e+00] [ 3.58868761e-02 -6.06575116e-04 9.99355675e-01 6.99362043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:7.85, Z:6.99 [[ 9.98162617e-01 -4.88340441e-02 -3.58695762e-02 2.00519458e+02] [ 4.88201396e-02 9.98806786e-01 -1.26392143e-03 7.84726011e+00] [ 3.58884985e-02 -4.89558597e-04 9.99355680e-01 6.99485195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:7.85, Z:7.00 [[ 9.98126376e-01 -4.95693446e-02 -3.58694637e-02 2.00547196e+02] [ 4.95558002e-02 9.98770553e-01 -1.26710569e-03 7.84833946e+00] [ 3.58881737e-02 -5.12808366e-04 9.99355680e-01 6.99622327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:7.85, Z:7.00 [[ 9.98045359e-01 -5.11747073e-02 -3.58693522e-02 2.00575169e+02] [ 5.11620860e-02 9.98689555e-01 -1.27025417e-03 7.84904332e+00] [ 3.58873523e-02 -5.67379605e-04 9.99355680e-01 6.99747853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:7.85, Z:7.00 [[ 9.97785275e-01 -5.60174932e-02 -3.58689908e-02 2.00603516e+02] [ 5.60076345e-02 9.98429520e-01 -1.28037780e-03 7.84827813e+00] [ 3.58843829e-02 -7.31395209e-04 9.99355680e-01 6.99843677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:7.85, Z:7.00 [[ 9.97408077e-01 -6.23744226e-02 -3.58686290e-02 2.00633568e+02] [ 6.23683078e-02 9.98052368e-01 -1.29043609e-03 7.84664249e+00] [ 3.58792603e-02 -9.49974317e-04 9.99355681e-01 6.99899488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.66, Y:7.85, Z:7.00 [[ 9.97207833e-01 -6.54979545e-02 -3.58685832e-02 2.00663213e+02] [ 6.54938120e-02 9.97852139e-01 -1.29170617e-03 7.84638146e+00] [ 3.58761466e-02 -1.06107074e-03 9.99355681e-01 6.99939150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:7.85, Z:7.00 [[ 9.96806471e-01 -7.13463831e-02 -3.58685605e-02 2.00694160e+02] [ 7.13459975e-02 9.97450790e-01 -1.29233615e-03 7.84577576e+00] [ 3.58693276e-02 -1.27086919e-03 9.99355681e-01 7.00019723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:7.85, Z:7.00 [[ 9.96488347e-01 -7.56598958e-02 -3.58685605e-02 2.00725541e+02] [ 7.56622988e-02 9.97132662e-01 -1.29233615e-03 7.84589899e+00] [ 3.58634913e-02 -1.42609983e-03 9.99355681e-01 7.00209944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:7.85, Z:7.00 [[ 9.96380457e-01 -7.70676862e-02 -3.58686051e-02 2.00757447e+02] [ 7.70710440e-02 9.97024768e-01 -1.29109931e-03 7.84645561e+00] [ 3.58613897e-02 -1.47800472e-03 9.99355681e-01 7.00372807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:7.85, Z:7.01 [[ 9.96227645e-01 -7.90184590e-02 -3.58686941e-02 2.00788340e+02] [ 7.90231674e-02 9.96871947e-01 -1.28862111e-03 7.84611107e+00] [ 3.58583198e-02 -1.55069785e-03 9.99355681e-01 7.00582972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:7.85, Z:7.01 [[ 9.96233019e-01 -7.89506443e-02 -3.58687604e-02 2.00820991e+02] [ 7.89553752e-02 9.96877321e-01 -1.28677356e-03 7.84721860e+00] [ 3.58583454e-02 -1.55010512e-03 9.99355681e-01 7.00700251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:7.85, Z:7.01 [[ 9.96173937e-01 -7.96926131e-02 -3.58688478e-02 2.00852767e+02] [ 7.96979116e-02 9.96818235e-01 -1.28433274e-03 7.84779041e+00] [ 3.58570734e-02 -1.57925346e-03 9.99355681e-01 7.00892827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:7.85, Z:7.01 [[ 9.96138973e-01 -8.01284348e-02 -3.58689386e-02 2.00884595e+02] [ 8.01341065e-02 9.96783267e-01 -1.28179188e-03 7.84839961e+00] [ 3.58562658e-02 -1.59748249e-03 9.99355681e-01 7.01009939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:7.85, Z:7.01 [[ 9.96095900e-01 -8.06620819e-02 -3.58690296e-02 2.00916634e+02] [ 8.06681905e-02 9.96740190e-01 -1.27923961e-03 7.84927166e+00] [ 3.58552895e-02 -1.61924438e-03 9.99355681e-01 7.01135501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:7.85, Z:7.01 [[ 9.96055146e-01 -8.11637328e-02 -3.58691203e-02 2.00949011e+02] [ 8.11702575e-02 9.96699433e-01 -1.27669079e-03 7.85030390e+00] [ 3.58543529e-02 -1.63985130e-03 9.99355681e-01 7.01229582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:7.85, Z:7.01 [[ 9.96052160e-01 -8.12003362e-02 -3.58692108e-02 2.00980598e+02] [ 8.12069761e-02 9.96696445e-01 -1.27414436e-03 7.85086846e+00] [ 3.58541758e-02 -1.64371590e-03 9.99355681e-01 7.01227961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:7.85, Z:7.01 [[ 9.95987726e-01 -8.19880875e-02 -3.58664703e-02 2.01012025e+02] [ 8.19924592e-02 9.96632034e-01 -1.35144120e-03 7.85152587e+00] [ 3.58564753e-02 -1.59476126e-03 9.99355677e-01 7.01288298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:7.85, Z:7.01 [[ 9.95983000e-01 -8.20442126e-02 -3.58693543e-02 2.01043381e+02] [ 8.20515476e-02 9.96627278e-01 -1.26998903e-03 7.85226944e+00] [ 3.58525722e-02 -1.67824854e-03 9.99355681e-01 7.01369106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:7.85, Z:7.01 [[ 9.96063275e-01 -8.10637860e-02 -3.58694203e-02 2.01075111e+02] [ 8.10705539e-02 9.96707558e-01 -1.26812283e-03 7.85335486e+00] [ 3.58541211e-02 -1.64482319e-03 9.99355681e-01 7.01418415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:7.86, Z:7.02 [[ 9.96143564e-01 -8.00710884e-02 -3.58695071e-02 2.01106561e+02] [ 8.00773026e-02 9.96787853e-01 -1.26566279e-03 7.85510242e+00] [ 3.58556319e-02 -1.61155153e-03 9.99355681e-01 7.01515894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:7.86, Z:7.02 [[ 9.96258174e-01 -7.86321703e-02 -3.58696527e-02 2.01139156e+02] [ 7.86376028e-02 9.96902471e-01 -1.26152109e-03 7.85731107e+00] [ 3.58577416e-02 -1.56390280e-03 9.99355681e-01 7.01630097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:7.86, Z:7.02 [[ 9.96545170e-01 -7.49071791e-02 -3.58697386e-02 2.01171610e+02] [ 7.49102908e-02 9.97189482e-01 -1.25907385e-03 7.86029463e+00] [ 3.58632398e-02 -1.43228859e-03 9.99355681e-01 7.01787167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:7.86, Z:7.02 [[ 9.96686820e-01 -7.29982060e-02 -3.58698287e-02 2.01203004e+02] [ 7.30001759e-02 9.97331136e-01 -1.25650379e-03 7.86190361e+00] [ 3.58658195e-02 -1.36616304e-03 9.99355681e-01 7.01857151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:7.86, Z:7.02 [[ 9.96974845e-01 -6.89529532e-02 -3.58698956e-02 2.01234603e+02] [ 6.89523771e-02 9.97619164e-01 -1.25458940e-03 7.86330361e+00] [ 3.58710029e-02 -1.22252050e-03 9.99355681e-01 7.01933961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:7.86, Z:7.02 [[ 9.97115454e-01 -6.68888588e-02 -3.58699399e-02 2.01265659e+02] [ 6.68869943e-02 9.97759770e-01 -1.25332315e-03 7.86436514e+00] [ 3.58734163e-02 -1.14952459e-03 9.99355681e-01 7.02093725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:7.87, Z:7.02 [[ 9.97215554e-01 -6.53795313e-02 -3.58699852e-02 2.01295502e+02] [ 6.53767383e-02 9.97859867e-01 -1.25202417e-03 7.86577474e+00] [ 3.58750754e-02 -1.09652466e-03 9.99355681e-01 7.02184322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:7.87, Z:7.02 [[ 9.97419273e-01 -6.21943446e-02 -3.58700077e-02 2.01325489e+02] [ 6.21895170e-02 9.98063574e-01 -1.25137985e-03 7.86799904e+00] [ 3.58783768e-02 -9.82588075e-04 9.99355681e-01 7.02341791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:7.87, Z:7.02 [[ 9.97496737e-01 -6.09393252e-02 -3.58700077e-02 2.01355281e+02] [ 6.09336869e-02 9.98141032e-01 -1.25137985e-03 7.86942793e+00] [ 3.58795847e-02 -9.37444505e-04 9.99355681e-01 7.02295730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:7.87, Z:7.03 [[ 9.97475027e-01 -6.12936819e-02 -3.58699858e-02 2.01384058e+02] [ 6.12882500e-02 9.98119323e-01 -1.25200624e-03 7.87265381e+00] [ 3.58792660e-02 -9.49563702e-04 9.99355681e-01 7.02622515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:7.87, Z:7.03 [[ 9.97618193e-01 -5.89214619e-02 -3.58636645e-02 2.01414934e+02] [ 5.89080113e-02 9.98262387e-01 -1.43252298e-03 7.87131565e+00] [ 3.58857537e-02 -6.83546168e-04 9.99355665e-01 7.02545514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:7.87, Z:7.03 [[ 9.97622402e-01 -5.88463066e-02 -3.58699728e-02 2.01444982e+02] [ 5.88393025e-02 9.98266683e-01 -1.25177154e-03 7.87216226e+00] [ 3.58814609e-02 -8.61768853e-04 9.99355681e-01 7.02807677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:7.87, Z:7.03 [[ 9.97616667e-01 -5.89434614e-02 -3.58699728e-02 2.01475328e+02] [ 5.89365200e-02 9.98260948e-01 -1.25177154e-03 7.87336080e+00] [ 3.58813768e-02 -8.65263222e-04 9.99355681e-01 7.02922747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:7.87, Z:7.03 [[ 9.97590168e-01 -5.93902446e-02 -3.58699728e-02 2.01504865e+02] [ 5.93835917e-02 9.98234452e-01 -1.25177154e-03 7.87461644e+00] [ 3.58809857e-02 -8.81332843e-04 9.99355681e-01 7.03056454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.54, Y:7.88, Z:7.03 [[ 9.97554340e-01 -5.99890508e-02 -3.58699505e-02 2.01535406e+02] [ 5.99827617e-02 9.98198627e-01 -1.25241185e-03 7.87574499e+00] [ 3.58804663e-02 -9.02229813e-04 9.99355681e-01 7.03187363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:7.88, Z:7.03 [[ 9.97481052e-01 -6.11955609e-02 -3.58699505e-02 2.01565616e+02] [ 6.11900511e-02 9.98125347e-01 -1.25241185e-03 7.87664267e+00] [ 3.58793488e-02 -9.45627010e-04 9.99355681e-01 7.03350994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:7.88, Z:7.04 [[ 9.97338651e-01 -6.34741011e-02 -3.58699505e-02 2.01594341e+02] [ 6.34700632e-02 9.97982957e-01 -1.25241185e-03 7.88024658e+00] [ 3.58770950e-02 -1.02758928e-03 9.99355681e-01 7.03526875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:7.88, Z:7.04 [[ 9.97410235e-01 -6.23452658e-02 -3.58593143e-02 2.01626351e+02] [ 6.23296071e-02 9.98054408e-01 -1.55550148e-03 7.87857792e+00] [ 3.58865248e-02 -6.83623873e-04 9.99355637e-01 7.03580563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:7.88, Z:7.04 [[ 9.97258730e-01 -6.47176140e-02 -3.58699768e-02 2.01655264e+02] [ 6.47144860e-02 9.97903038e-01 -1.24944292e-03 7.88236515e+00] [ 3.58756198e-02 -1.07528925e-03 9.99355684e-01 7.03692915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:7.88, Z:7.04 [[ 9.97286695e-01 -6.42908572e-02 -3.58599181e-02 2.01687176e+02] [ 6.42770785e-02 9.97930905e-01 -1.53815594e-03 7.88291862e+00] [ 3.58846099e-02 -7.70988319e-04 9.99355643e-01 7.03829619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:7.88, Z:7.04 [[ 9.97276435e-01 -6.44481884e-02 -3.58628294e-02 2.01718955e+02] [ 6.44375243e-02 9.97920683e-01 -1.45430793e-03 7.88451649e+00] [ 3.58819867e-02 -8.60564913e-04 9.99355664e-01 7.03904421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:7.89, Z:7.04 [[ 9.97252816e-01 -6.48127217e-02 -3.58626957e-02 2.01749132e+02] [ 6.48021543e-02 9.97897066e-01 -1.45817084e-03 7.88666440e+00] [ 3.58817868e-02 -8.69814961e-04 9.99355663e-01 7.03927014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.78, Y:7.89, Z:7.04 [[ 9.97264488e-01 -6.46340518e-02 -3.58605712e-02 2.01780985e+02] [ 6.46211627e-02 9.97908711e-01 -1.51956958e-03 7.88769467e+00] [ 3.58837923e-02 -8.01939023e-04 9.99355648e-01 7.04043394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:7.89, Z:7.04 [[ 9.97310053e-01 -6.39271027e-02 -3.58606024e-02 2.01812951e+02] [ 6.39137894e-02 9.97954268e-01 -1.51866550e-03 7.88703179e+00] [ 3.58843251e-02 -7.77406618e-04 9.99355648e-01 7.04114185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:7.89, Z:7.04 [[ 9.97288282e-01 -6.42603385e-02 -3.58704694e-02 2.01841983e+02] [ 6.42575687e-02 9.97932587e-01 -1.23124994e-03 7.88953952e+00] [ 3.58754308e-02 -1.07703802e-03 9.99355689e-01 7.04284972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:7.89, Z:7.04 [[ 9.97285868e-01 -6.43020459e-02 -3.58628427e-02 2.01873845e+02] [ 6.42913648e-02 9.97930114e-01 -1.45215447e-03 7.88977860e+00] [ 3.58819872e-02 -8.57457971e-04 9.99355666e-01 7.04359249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17509989299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:201.90, Y:7.89, Z:7.04 [[ 9.97226256e-01 -6.52159124e-02 -3.58703091e-02 2.01901701e+02] [ 6.52136113e-02 9.97870562e-01 -1.23538803e-03 7.89348892e+00] [ 3.58744924e-02 -1.10727101e-03 9.99355690e-01 7.04347506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:7.89, Z:7.05 [[ 9.97394733e-01 -6.25951595e-02 -3.58551730e-02 2.01934097e+02] [ 6.25753505e-02 9.98038836e-01 -1.67549567e-03 7.89268145e+00] [ 3.58897331e-02 -5.72519464e-04 9.99355592e-01 7.04667793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:7.89, Z:7.05 [[ 9.97419870e-01 -6.21876576e-02 -3.58649954e-02 2.01965138e+02] [ 6.21780998e-02 9.98064112e-01 -1.38288000e-03 7.89406344e+00] [ 3.58815628e-02 -8.50705276e-04 9.99355687e-01 7.04752630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:7.90, Z:7.05 [[ 9.97436425e-01 -6.19179747e-02 -3.58711837e-02 2.01995528e+02] [ 6.19149030e-02 9.98080714e-01 -1.19753142e-03 7.89604088e+00] [ 3.58764854e-02 -1.02649940e-03 9.99355704e-01 7.04833992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:7.90, Z:7.05 [[ 9.97463554e-01 -6.14793960e-02 -3.58711837e-02 2.02025691e+02] [ 6.14760410e-02 9.98107841e-01 -1.19753142e-03 7.89759806e+00] [ 3.58769333e-02 -1.01072441e-03 9.99355704e-01 7.04898619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:7.90, Z:7.05 [[ 9.97481971e-01 -6.11798685e-02 -3.58711837e-02 2.02055022e+02] [ 6.11763200e-02 9.98126256e-01 -1.19753142e-03 7.89903456e+00] [ 3.58772351e-02 -9.99951008e-04 9.99355704e-01 7.04901525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:7.90, Z:7.05 [[ 9.97494019e-01 -6.09831205e-02 -3.58711622e-02 2.02085065e+02] [ 6.09794218e-02 9.98138304e-01 -1.19817582e-03 7.90111110e+00] [ 3.58774495e-02 -9.92229521e-04 9.99355704e-01 7.05066209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:7.90, Z:7.05 [[ 9.97489415e-01 -6.10583947e-02 -3.58711622e-02 2.02115398e+02] [ 6.10547446e-02 9.98133700e-01 -1.19817582e-03 7.90287309e+00] [ 3.58773745e-02 -9.94936954e-04 9.99355704e-01 7.05165816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:7.90, Z:7.05 [[ 9.97490959e-01 -6.10331602e-02 -3.58711622e-02 2.02144388e+02] [ 6.10294938e-02 9.98135244e-01 -1.19817582e-03 7.90441595e+00] [ 3.58773997e-02 -9.94029328e-04 9.99355704e-01 7.05260205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:7.91, Z:7.05 [[ 9.97491253e-01 -6.10283686e-02 -3.58711410e-02 2.02174005e+02] [ 6.10246762e-02 9.98135538e-01 -1.19881149e-03 7.90702253e+00] [ 3.58774221e-02 -9.93220791e-04 9.99355704e-01 7.05375858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:7.91, Z:7.06 [[ 9.97482062e-01 -6.11784253e-02 -3.58711202e-02 2.02203993e+02] [ 6.11748076e-02 9.98126347e-01 -1.19943236e-03 7.90900147e+00] [ 3.58772895e-02 -9.97996615e-04 9.99355704e-01 7.05578737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:7.91, Z:7.06 [[ 9.97508864e-01 -6.07398422e-02 -3.58711202e-02 2.02234463e+02] [ 6.07359411e-02 9.98153148e-01 -1.19943236e-03 7.91101157e+00] [ 3.58777249e-02 -9.82221835e-04 9.99355704e-01 7.05617604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:7.91, Z:7.06 [[ 9.97503919e-01 -6.08210072e-02 -3.58711202e-02 2.02265302e+02] [ 6.08171587e-02 9.98148203e-01 -1.19943236e-03 7.91240470e+00] [ 3.58776448e-02 -9.85141130e-04 9.99355704e-01 7.05677048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:7.91, Z:7.06 [[ 9.97498623e-01 -6.09077951e-02 -3.58711202e-02 2.02294903e+02] [ 6.09040026e-02 9.98142908e-01 -1.19943236e-03 7.91376341e+00] [ 3.58775590e-02 -9.88262671e-04 9.99355704e-01 7.05723230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:7.92, Z:7.06 [[ 9.97489583e-01 -6.10556800e-02 -3.58710989e-02 2.02325684e+02] [ 6.10519601e-02 9.98133868e-01 -1.20006982e-03 7.91520984e+00] [ 3.58774297e-02 -9.92943753e-04 9.99355704e-01 7.05793534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:7.92, Z:7.06 [[ 9.97420653e-01 -6.21715745e-02 -3.58710989e-02 2.02355827e+02] [ 6.21685754e-02 9.98064942e-01 -1.20006982e-03 7.91724468e+00] [ 3.58762964e-02 -1.03308069e-03 9.99355704e-01 7.05982268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:7.92, Z:7.06 [[ 9.97363604e-01 -6.30801453e-02 -3.58710989e-02 2.02386040e+02] [ 6.30777331e-02 9.98007895e-01 -1.20006982e-03 7.91861441e+00] [ 3.58753405e-02 -1.06576164e-03 9.99355704e-01 7.06085305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:7.92, Z:7.06 [[ 9.97192903e-01 -6.57234851e-02 -3.58711207e-02 2.02417216e+02] [ 6.57228040e-02 9.97837198e-01 -1.19941833e-03 7.92039270e+00] [ 3.58723685e-02 -1.16149918e-03 9.99355704e-01 7.06223439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:7.92, Z:7.06 [[ 9.97106715e-01 -6.70183502e-02 -3.58711633e-02 2.02448496e+02] [ 6.70185517e-02 9.97751010e-01 -1.19814051e-03 7.92192586e+00] [ 3.58707869e-02 -1.20935947e-03 9.99355704e-01 7.06330285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.48, Y:7.92, Z:7.06 [[ 9.97015276e-01 -6.83651599e-02 -3.58712061e-02 2.02479722e+02] [ 6.83662778e-02 9.97659571e-01 -1.19685920e-03 7.92321411e+00] [ 3.58690755e-02 -1.25909393e-03 9.99355704e-01 7.06353476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:7.92, Z:7.06 [[ 9.96919745e-01 -6.97443572e-02 -3.58712489e-02 2.02511080e+02] [ 6.97464126e-02 9.97564037e-01 -1.19557451e-03 7.92459878e+00] [ 3.58672525e-02 -1.30999909e-03 9.99355704e-01 7.06383721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:7.93, Z:7.06 [[ 9.96720461e-01 -7.25366983e-02 -3.58712916e-02 2.02542332e+02] [ 7.25406046e-02 9.97364745e-01 -1.19429145e-03 7.92682116e+00] [ 3.58633916e-02 -1.41175045e-03 9.99355704e-01 7.06471881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:7.93, Z:7.07 [[ 9.96571106e-01 -7.45605515e-02 -3.58713554e-02 2.02574646e+02] [ 7.45658350e-02 9.97215380e-01 -1.19237177e-03 7.92907066e+00] [ 3.58603712e-02 -1.48649431e-03 9.99355704e-01 7.06602890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:7.93, Z:7.07 [[ 9.96511852e-01 -7.53483140e-02 -3.58714401e-02 2.02605410e+02] [ 7.53541986e-02 9.97156121e-01 -1.18981906e-03 7.93048404e+00] [ 3.58590769e-02 -1.51739483e-03 9.99355704e-01 7.06692034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:7.93, Z:7.07 [[ 9.96452580e-01 -7.61281273e-02 -3.58715031e-02 2.02637423e+02] [ 7.61345844e-02 9.97096843e-01 -1.18791650e-03 7.93191684e+00] [ 3.58577964e-02 -1.54735952e-03 9.99355705e-01 7.06781068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:7.93, Z:7.07 [[ 9.96416827e-01 -7.65946202e-02 -3.58715847e-02 2.02669774e+02] [ 7.66014677e-02 9.97061086e-01 -1.18544662e-03 7.93356114e+00] [ 3.58569601e-02 -1.56661708e-03 9.99355705e-01 7.06867730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:7.94, Z:7.07 [[ 9.96299569e-01 -7.81050122e-02 -3.58716658e-02 2.02701531e+02] [ 7.81129247e-02 9.96943816e-01 -1.18298741e-03 7.93609586e+00] [ 3.58544327e-02 -1.62343088e-03 9.99355705e-01 7.06989055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:7.94, Z:7.07 [[ 9.96242542e-01 -7.88290275e-02 -3.58717489e-02 2.02733355e+02] [ 7.88374988e-02 9.96886782e-01 -1.18046342e-03 7.93807070e+00] [ 3.58531271e-02 -1.65201108e-03 9.99355705e-01 7.07079570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:7.94, Z:7.07 [[ 9.96192277e-01 -7.94616773e-02 -3.58718335e-02 2.02765551e+02] [ 7.94706503e-02 9.96836510e-01 -1.17788617e-03 7.93955967e+00] [ 3.58519502e-02 -1.67735683e-03 9.99355705e-01 7.07162127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:7.94, Z:7.07 [[ 9.96131060e-01 -8.02254169e-02 -3.58719191e-02 2.02798001e+02] [ 8.02349778e-02 9.96775284e-01 -1.17527337e-03 7.94141455e+00] [ 3.58505292e-02 -1.70745633e-03 9.99355705e-01 7.07224427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:7.94, Z:7.07 [[ 9.96057198e-01 -8.11372718e-02 -3.58720058e-02 2.02829511e+02] [ 8.11475177e-02 9.96701412e-01 -1.17262113e-03 7.94405891e+00] [ 3.58488221e-02 -1.74292651e-03 9.99355705e-01 7.07286396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:7.95, Z:7.08 [[ 9.96036573e-01 -8.13900448e-02 -3.58720703e-02 2.02861253e+02] [ 8.14005251e-02 9.96680783e-01 -1.17064574e-03 7.94705368e+00] [ 3.58482820e-02 -1.75399939e-03 9.99355705e-01 7.07623478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:7.95, Z:7.08 [[ 9.96061665e-01 -8.10823585e-02 -3.58721551e-02 2.02892836e+02] [ 8.10927334e-02 9.96705877e-01 -1.16804016e-03 7.94940978e+00] [ 3.58486953e-02 -1.74553109e-03 9.99355705e-01 7.07824833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:7.95, Z:7.08 [[ 9.96134011e-01 -8.01886087e-02 -3.58722606e-02 2.02925432e+02] [ 8.01985224e-02 9.96778230e-01 -1.16479064e-03 7.95182740e+00] [ 3.58500914e-02 -1.71661473e-03 9.99355705e-01 7.07985890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:7.96, Z:7.08 [[ 9.96109344e-01 -8.04944133e-02 -3.58723444e-02 2.02955165e+02] [ 8.05046176e-02 9.96753558e-01 -1.16220654e-03 7.95622950e+00] [ 3.58494380e-02 -1.73020457e-03 9.99355705e-01 7.07920194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:7.96, Z:7.08 [[ 9.96457672e-01 -7.60644875e-02 -3.58650526e-02 2.02988560e+02] [ 7.60637789e-02 9.97101991e-01 -1.38619393e-03 7.95855116e+00] [ 3.58665555e-02 -1.34674785e-03 9.99355681e-01 7.08242333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:7.96, Z:7.08 [[ 9.96479176e-01 -7.57787439e-02 -3.58724696e-02 2.03018931e+02] [ 7.57861191e-02 9.97123426e-01 -1.15607577e-03 7.96295866e+00] [ 3.58568858e-02 -1.56662983e-03 9.99355707e-01 7.08330333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:7.96, Z:7.09 [[ 9.96673042e-01 -7.31877907e-02 -3.58663357e-02 2.03052363e+02] [ 7.31866606e-02 9.97317352e-01 -1.34616390e-03 7.96369819e+00] [ 3.58686417e-02 -1.28325207e-03 9.99355689e-01 7.08593502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:7.97, Z:7.09 [[ 9.96779307e-01 -7.17228001e-02 -3.58727216e-02 2.03083126e+02] [ 7.17279027e-02 9.97423578e-01 -1.14635238e-03 7.96890375e+00] [ 3.58625179e-02 -1.43041476e-03 9.99355709e-01 7.08582255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:7.97, Z:7.09 [[ 9.96893286e-01 -7.01234774e-02 -3.58674444e-02 2.03116553e+02] [ 7.01216243e-02 9.97537588e-01 -1.31116168e-03 7.96975947e+00] [ 3.58710671e-02 -1.20799518e-03 9.99355696e-01 7.08737667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:7.97, Z:7.09 [[ 9.96946791e-01 -6.93558269e-02 -3.58729076e-02 2.03148710e+02] [ 6.93596590e-02 9.97591069e-01 -1.13913231e-03 7.97198178e+00] [ 3.58654977e-02 -1.35247834e-03 9.99355711e-01 7.08816128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:7.97, Z:7.09 [[ 9.96978802e-01 -6.88940951e-02 -3.58729877e-02 2.03181229e+02] [ 6.88977197e-02 9.97623081e-01 -1.13660484e-03 7.97444845e+00] [ 3.58660259e-02 -1.33839612e-03 9.99355711e-01 7.08907949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:7.98, Z:7.09 [[ 9.96991846e-01 -6.87050440e-02 -3.58730671e-02 2.03213393e+02] [ 6.87086365e-02 9.97636125e-01 -1.13409528e-03 7.97816566e+00] [ 3.58661857e-02 -1.33410578e-03 9.99355711e-01 7.09150956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:7.98, Z:7.09 [[ 9.97005768e-01 -6.85026688e-02 -3.58731478e-02 2.03245020e+02] [ 6.85062226e-02 9.97650047e-01 -1.13153441e-03 7.98029358e+00] [ 3.58663608e-02 -1.32938751e-03 9.99355711e-01 7.09315803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:7.98, Z:7.09 [[ 9.97054566e-01 -6.77886459e-02 -3.58732759e-02 2.03276113e+02] [ 6.77918848e-02 9.97698847e-01 -1.12745894e-03 7.98239665e+00] [ 3.58671549e-02 -1.30777891e-03 9.99355711e-01 7.09472770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:7.98, Z:7.10 [[ 9.97091776e-01 -6.72390735e-02 -3.58733365e-02 2.03307887e+02] [ 6.72420265e-02 9.97736059e-01 -1.12552945e-03 7.98440617e+00] [ 3.58678009e-02 -1.28993969e-03 9.99355711e-01 7.09619089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:7.99, Z:7.10 [[ 9.97218560e-01 -6.53317842e-02 -3.58734155e-02 2.03339221e+02] [ 6.53335957e-02 9.97862846e-01 -1.12300430e-03 7.98870655e+00] [ 3.58701164e-02 -1.22385849e-03 9.99355711e-01 7.09698258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:7.99, Z:7.10 [[ 9.97329821e-01 -6.36136336e-02 -3.58682852e-02 2.03372391e+02] [ 6.36084409e-02 9.97974103e-01 -1.28704166e-03 7.98919820e+00] [ 3.58774931e-02 -9.97920673e-04 9.99355697e-01 7.09918022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:7.99, Z:7.10 [[ 9.97394506e-01 -6.25881814e-02 -3.58736629e-02 2.03404692e+02] [ 6.25885490e-02 9.98038793e-01 -1.11385825e-03 7.99107888e+00] [ 3.58730216e-02 -1.13432441e-03 9.99355712e-01 7.10074847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:7.99, Z:7.10 [[ 9.97531292e-01 -6.03688372e-02 -3.58737416e-02 2.03436642e+02] [ 6.03678624e-02 9.98175579e-01 -1.11132049e-03 7.99367142e+00] [ 3.58753819e-02 -1.05704413e-03 9.99355712e-01 7.10282719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:8.00, Z:7.10 [[ 9.97590737e-01 -5.93783610e-02 -3.58738219e-02 2.03467744e+02] [ 5.93768399e-02 9.98235023e-01 -1.10872171e-03 7.99538855e+00] [ 3.58763395e-02 -1.02402367e-03 9.99355712e-01 7.10375678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:8.00, Z:7.10 [[ 9.97664726e-01 -5.81218938e-02 -3.58739482e-02 2.03498946e+02] [ 5.81197086e-02 9.98309010e-01 -1.10461928e-03 7.99682359e+00] [ 3.58774883e-02 -9.82943724e-04 9.99355712e-01 7.10459624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:8.00, Z:7.11 [[ 9.97707122e-01 -5.73895066e-02 -3.58739877e-02 2.03530803e+02] [ 5.73868946e-02 9.98351405e-01 -1.10333450e-03 7.99726371e+00] [ 3.58781658e-02 -9.57892066e-04 9.99355712e-01 7.10543417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:8.00, Z:7.11 [[ 9.97736142e-01 -5.68827090e-02 -3.58740676e-02 2.03562465e+02] [ 5.68798633e-02 9.98380423e-01 -1.10073211e-03 7.99798744e+00] [ 3.58785794e-02 -9.42271855e-04 9.99355712e-01 7.10639266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:8.00, Z:7.11 [[ 9.97779503e-01 -5.61169308e-02 -3.58741271e-02 2.03594356e+02] [ 5.61136605e-02 9.98423783e-01 -1.09878845e-03 7.99893741e+00] [ 3.58792423e-02 -9.16679989e-04 9.99355712e-01 7.10805035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:8.00, Z:7.11 [[ 9.97854844e-01 -5.47608518e-02 -3.58742061e-02 2.03625192e+02] [ 5.47567988e-02 9.98499119e-01 -1.09620176e-03 8.00017079e+00] [ 3.58803922e-02 -8.70506449e-04 9.99355712e-01 7.10913138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:8.00, Z:7.11 [[ 9.97957052e-01 -5.28654925e-02 -3.58742454e-02 2.03655999e+02] [ 5.28602619e-02 9.98601319e-01 -1.09491697e-03 8.00150122e+00] [ 3.58819520e-02 -8.03641895e-04 9.99355712e-01 7.11046535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:8.00, Z:7.11 [[ 9.98189419e-01 -4.82795990e-02 -3.58742850e-02 2.03686487e+02] [ 4.82714550e-02 9.98833655e-01 -1.09361548e-03 8.00383498e+00] [ 3.58852426e-02 -6.40068536e-04 9.99355712e-01 7.11144374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:8.01, Z:7.11 [[ 9.98269542e-01 -4.65935251e-02 -3.58743047e-02 2.03715927e+02] [ 4.65843162e-02 9.98913764e-01 -1.09297081e-03 8.00697845e+00] [ 3.58862621e-02 -5.80100483e-04 9.99355712e-01 7.11194892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:8.01, Z:7.11 [[ 9.98262723e-01 -4.67450895e-02 -3.58668594e-02 2.03745153e+02] [ 4.67272569e-02 9.98906792e-01 -1.33573868e-03 8.00799431e+00] [ 3.58900887e-02 -3.42541819e-04 9.99355685e-01 7.11308975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:8.01, Z:7.11 [[ 9.98387316e-01 -4.40041068e-02 -3.58664963e-02 2.03775150e+02] [ 4.39840838e-02 9.99031323e-01 -1.34748761e-03 8.00800305e+00] [ 3.58910483e-02 -2.32240447e-04 9.99355682e-01 7.11403853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:8.01, Z:7.12 [[ 9.98470986e-01 -4.20565627e-02 -3.58738966e-02 2.03804197e+02] [ 4.20438899e-02 9.99115150e-01 -1.10790138e-03 8.00916587e+00] [ 3.58887481e-02 -4.02070771e-04 9.99355710e-01 7.11508920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:8.01, Z:7.12 [[ 9.98590998e-01 -3.91037425e-02 -3.58736174e-02 2.03832053e+02] [ 3.90888428e-02 9.99235115e-01 -1.11686881e-03 8.01020658e+00] [ 3.58898519e-02 -2.86963049e-04 9.99355711e-01 7.11555091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:8.01, Z:7.12 [[ 9.98636650e-01 -3.79200790e-02 -3.58735184e-02 2.03859265e+02] [ 3.79043019e-02 9.99280746e-01 -1.12004053e-03 8.01133040e+00] [ 3.58901882e-02 -2.41247144e-04 9.99355711e-01 7.11502530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:8.01, Z:7.12 [[ 9.98628713e-01 -3.81349279e-02 -3.58667232e-02 2.03887633e+02] [ 3.81115748e-02 9.99272599e-01 -1.33482039e-03 8.01237517e+00] [ 3.58915369e-02 -3.39473342e-05 9.99355691e-01 7.11612482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:8.01, Z:7.12 [[ 9.98602353e-01 -3.88194266e-02 -3.58663128e-02 2.03916436e+02] [ 3.87960531e-02 9.99246241e-01 -1.34767675e-03 8.01124995e+00] [ 3.58915943e-02 -4.56782033e-05 9.99355688e-01 7.11863643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:8.01, Z:7.12 [[ 9.98535411e-01 -4.04990294e-02 -3.58728405e-02 2.03944720e+02] [ 4.04840985e-02 9.99179529e-01 -1.14279232e-03 8.01141299e+00] [ 3.58896899e-02 -3.11161006e-04 9.99355709e-01 7.11951616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:8.01, Z:7.12 [[ 9.98448571e-01 -4.25865571e-02 -3.58725081e-02 2.03972359e+02] [ 4.25726014e-02 9.99092710e-01 -1.15313352e-03 8.01223154e+00] [ 3.58890693e-02 -3.75841470e-04 9.99355709e-01 7.11806000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:8.01, Z:7.12 [[ 9.98382817e-01 -4.41079683e-02 -3.58641586e-02 2.04002389e+02] [ 4.40857552e-02 9.99026755e-01 -1.41032058e-03 8.01114176e+00] [ 3.58914603e-02 -1.73058681e-04 9.99355679e-01 7.12088782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:8.01, Z:7.12 [[ 9.98372035e-01 -4.43448350e-02 -3.58722026e-02 2.04031589e+02] [ 4.43316938e-02 9.99016191e-01 -1.16203609e-03 8.01200380e+00] [ 3.58884415e-02 -4.30131167e-04 9.99355710e-01 7.12184571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:8.01, Z:7.12 [[ 9.98302051e-01 -4.58935813e-02 -3.58719141e-02 2.04059731e+02] [ 4.58811220e-02 9.98946221e-01 -1.17087257e-03 8.01172771e+00] [ 3.58878486e-02 -4.76959178e-04 9.99355710e-01 7.12263539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:8.01, Z:7.12 [[ 9.98135584e-01 -4.93818683e-02 -3.58718118e-02 2.04086977e+02] [ 4.93715477e-02 9.98779792e-01 -1.17400030e-03 8.01192536e+00] [ 3.58860150e-02 -5.99235390e-04 9.99355710e-01 7.12233824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:8.01, Z:7.13 [[ 9.98040667e-01 -5.12711150e-02 -3.58622247e-02 2.04118196e+02] [ 5.12515957e-02 9.98684700e-01 -1.46397168e-03 8.01123131e+00] [ 3.58901146e-02 -3.76892963e-04 9.99355671e-01 7.12567060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:8.01, Z:7.13 [[ 9.97869424e-01 -5.44962931e-02 -3.58715236e-02 2.04149089e+02] [ 5.44889955e-02 9.98513672e-01 -1.18174869e-03 8.01063940e+00] [ 3.58826077e-02 -7.75372406e-04 9.99355711e-01 7.12702988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:8.01, Z:7.13 [[ 9.97775119e-01 -5.61964930e-02 -3.58715236e-02 2.04179429e+02] [ 5.61902932e-02 9.98419378e-01 -1.18174869e-03 8.01074095e+00] [ 3.58812344e-02 -8.36511991e-04 9.99355711e-01 7.12762926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:8.01, Z:7.13 [[ 9.97673879e-01 -5.79660575e-02 -3.58715447e-02 2.04210972e+02] [ 5.79610233e-02 9.98318148e-01 -1.18110906e-03 8.01072580e+00] [ 3.58796783e-02 -9.00789776e-04 9.99355711e-01 7.12917719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:8.01, Z:7.13 [[ 9.97546334e-01 -6.01210452e-02 -3.58715866e-02 2.04242394e+02] [ 6.01174485e-02 9.98190613e-01 -1.17983482e-03 8.01070575e+00] [ 3.58776139e-02 -9.79568361e-04 9.99355711e-01 7.13063466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:8.01, Z:7.13 [[ 9.97276557e-01 -6.44414043e-02 -3.58716286e-02 2.04274635e+02] [ 6.44406443e-02 9.97920846e-01 -1.17855752e-03 8.00997044e+00] [ 3.58729938e-02 -1.13624307e-03 9.99355711e-01 7.13246245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:8.01, Z:7.13 [[ 9.97157545e-01 -6.62574504e-02 -3.58717133e-02 2.04306187e+02] [ 6.62579566e-02 9.97801834e-01 -1.17597347e-03 8.01016292e+00] [ 3.58707783e-02 -1.20415560e-03 9.99355711e-01 7.13376890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:8.01, Z:7.14 [[ 9.97007174e-01 -6.84829284e-02 -3.58717764e-02 2.04338080e+02] [ 6.84849419e-02 9.97651459e-01 -1.17404508e-03 8.01053535e+00] [ 3.58679321e-02 -1.28614515e-03 9.99355711e-01 7.13514235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:8.01, Z:7.14 [[ 9.96741923e-01 -7.22409126e-02 -3.58718606e-02 2.04370490e+02] [ 7.22454476e-02 9.97386196e-01 -1.17146674e-03 8.00974905e+00] [ 3.58627264e-02 -1.42392861e-03 9.99355711e-01 7.13546960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:8.01, Z:7.14 [[ 9.96604313e-01 -7.41150890e-02 -3.58719450e-02 2.04401987e+02] [ 7.41209286e-02 9.97248576e-01 -1.16887527e-03 8.00996784e+00] [ 3.58598774e-02 -1.49395574e-03 9.99355711e-01 7.13647013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:8.01, Z:7.14 [[ 9.96267331e-01 -7.85149640e-02 -3.58720785e-02 2.04434181e+02] [ 7.85237960e-02 9.96911559e-01 -1.16476398e-03 8.00894646e+00] [ 3.58527411e-02 -1.65639548e-03 9.99355711e-01 7.13681065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:8.01, Z:7.14 [[ 9.96060918e-01 -8.10915251e-02 -3.58721614e-02 2.04466411e+02] [ 8.11021152e-02 9.96705120e-01 -1.16220667e-03 8.00861146e+00] [ 3.58482120e-02 -1.75167953e-03 9.99355711e-01 7.13758873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:8.01, Z:7.14 [[ 9.95876933e-01 -8.33205629e-02 -3.58722443e-02 2.04499149e+02] [ 8.33326870e-02 9.96521108e-01 -1.15964130e-03 8.00824523e+00] [ 3.58440706e-02 -1.83447049e-03 9.99355711e-01 7.13811078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:8.01, Z:7.14 [[ 9.95717227e-01 -8.52078466e-02 -3.58723690e-02 2.04530638e+02] [ 8.52213306e-02 9.96361375e-01 -1.15576979e-03 8.00803746e+00] [ 3.58403236e-02 -1.90627113e-03 9.99355711e-01 7.13803542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:8.01, Z:7.14 [[ 9.95451909e-01 -8.82533824e-02 -3.58725167e-02 2.04563238e+02] [ 8.82690021e-02 9.96096008e-01 -1.15116868e-03 8.00705901e+00] [ 3.58340652e-02 -2.02049819e-03 9.99355711e-01 7.13729080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:8.01, Z:7.14 [[ 9.95377089e-01 -8.90932493e-02 -3.58725980e-02 2.04596622e+02] [ 8.91095037e-02 9.96021173e-01 -1.14862889e-03 8.00770775e+00] [ 3.58322022e-02 -2.05327052e-03 9.99355711e-01 7.13820211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:8.01, Z:7.14 [[ 9.95372079e-01 -8.91491539e-02 -3.58727195e-02 2.04629085e+02] [ 8.91655811e-02 9.96016159e-01 -1.14482325e-03 8.00865951e+00] [ 3.58318683e-02 -2.05908678e-03 9.99355711e-01 7.13917486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:8.01, Z:7.14 [[ 9.95449357e-01 -8.82820506e-02 -3.58727996e-02 2.04661807e+02] [ 8.82980072e-02 9.96093448e-01 -1.14230802e-03 8.01007054e+00] [ 3.58335059e-02 -2.03038693e-03 9.99355711e-01 7.14065499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:8.01, Z:7.14 [[ 9.95732648e-01 -8.50272171e-02 -3.58729220e-02 2.04693326e+02] [ 8.50412065e-02 9.96376785e-01 -1.13844867e-03 8.01202918e+00] [ 3.58397458e-02 -1.91708607e-03 9.99355711e-01 7.14253042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:8.01, Z:7.14 [[ 9.95915691e-01 -8.28556597e-02 -3.58730530e-02 2.04725085e+02] [ 8.28683932e-02 9.96559854e-01 -1.13430673e-03 8.01365908e+00] [ 3.58436282e-02 -1.84306839e-03 9.99355711e-01 7.14458083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:8.02, Z:7.15 [[ 9.96317778e-01 -7.78717055e-02 -3.58731350e-02 2.04756479e+02] [ 7.78813092e-02 9.96961996e-01 -1.13170939e-03 8.01684902e+00] [ 3.58522804e-02 -1.66630453e-03 9.99355711e-01 7.14714383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:8.02, Z:7.15 [[ 9.96323242e-01 -7.78017374e-02 -3.58731961e-02 2.04789139e+02] [ 7.78113656e-02 9.96967459e-01 -1.12976765e-03 8.01781656e+00] [ 3.58523071e-02 -1.66572861e-03 9.99355711e-01 7.14831660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:8.02, Z:7.15 [[ 9.96723731e-01 -7.24907778e-02 -3.58732752e-02 2.04821442e+02] [ 7.24970630e-02 9.97367989e-01 -1.12724928e-03 8.02120337e+00] [ 3.58605716e-02 -1.47715099e-03 9.99355711e-01 7.15156297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:8.02, Z:7.15 [[ 9.96893296e-01 -7.01203183e-02 -3.58733552e-02 2.04853405e+02] [ 7.01251631e-02 9.97537566e-01 -1.12469776e-03 8.02332592e+00] [ 3.58638836e-02 -1.39442123e-03 9.99355711e-01 7.15231750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:8.03, Z:7.15 [[ 9.97074315e-01 -6.74974596e-02 -3.58734355e-02 2.04885267e+02] [ 6.75007017e-02 9.97718596e-01 -1.12213123e-03 8.02508125e+00] [ 3.58673347e-02 -1.30263384e-03 9.99355711e-01 7.15226024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:8.03, Z:7.15 [[ 9.97290132e-01 -6.42299242e-02 -3.58735155e-02 2.04916834e+02] [ 6.42311472e-02 9.97934420e-01 -1.11956820e-03 8.02675306e+00] [ 3.58713257e-02 -1.18766274e-03 9.99355711e-01 7.15141341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11509989299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:204.95, Y:8.03, Z:7.15 [[ 9.97510814e-01 -6.07063198e-02 -3.58736510e-02 2.04945057e+02] [ 6.07054233e-02 9.98155102e-01 -1.11520856e-03 8.03257687e+00] [ 3.58751680e-02 -1.06529257e-03 9.99355711e-01 7.14982187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:8.04, Z:7.15 [[ 9.97672987e-01 -5.79881920e-02 -3.58605688e-02 2.04975695e+02] [ 5.79705710e-02 9.98317117e-01 -1.53181792e-03 8.03522433e+00] [ 3.58890470e-02 -5.50604287e-04 9.99355629e-01 7.15178925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17509989299998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:205.01, Y:8.04, Z:7.15 [[ 9.97833953e-01 -5.51497248e-02 -3.58595862e-02 2.05006265e+02] [ 5.51291526e-02 9.98478009e-01 -1.56296042e-03 8.03700255e+00] [ 3.58912051e-02 -4.17333630e-04 9.99355616e-01 7.15329946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:8.04, Z:7.16 [[ 9.97979357e-01 -5.24514069e-02 -3.58615735e-02 2.05037023e+02] [ 5.24313843e-02 9.98623404e-01 -1.49918876e-03 8.03837613e+00] [ 3.58908411e-02 -3.84112502e-04 9.99355642e-01 7.15577603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:8.04, Z:7.16 [[ 9.98261876e-01 -4.67678769e-02 -3.58607447e-02 2.05068699e+02] [ 4.67432229e-02 9.98905773e-01 -1.52603650e-03 8.03649866e+00] [ 3.58928744e-02 -1.52862723e-04 9.99355631e-01 7.15830726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:205.10, Y:8.04, Z:7.16 [[ 9.98232195e-01 -4.73872511e-02 -3.58738616e-02 2.05095789e+02] [ 4.73783976e-02 9.98876410e-01 -1.09732734e-03 8.04005690e+00] [ 3.58855534e-02 -6.04258596e-04 9.99355723e-01 7.15737273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:8.04, Z:7.16 [[ 9.98253957e-01 -4.69337703e-02 -3.58644479e-02 2.05124131e+02] [ 4.69136322e-02 9.98897964e-01 -1.40330251e-03 8.04143763e+00] [ 3.58907863e-02 -2.81679239e-04 9.99355678e-01 7.15897442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.325099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:205.15, Y:8.04, Z:7.16 [[ 9.98251500e-01 -4.69869734e-02 -3.58631808e-02 2.05153177e+02] [ 4.69653863e-02 9.98895473e-01 -1.44459384e-03 8.04177935e+00] [ 3.58914461e-02 -2.42260179e-04 9.99355665e-01 7.15993861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:8.04, Z:7.16 [[ 9.98300668e-01 -4.59302875e-02 -3.58634276e-02 2.05184437e+02] [ 4.59083068e-02 9.98944625e-01 -1.43657202e-03 8.03947386e+00] [ 3.58915604e-02 -2.12298427e-04 9.99355668e-01 7.16247272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:8.04, Z:7.16 [[ 9.98235923e-01 -4.73086381e-02 -3.58738708e-02 2.05213527e+02] [ 4.72998434e-02 9.98880137e-01 -1.09427869e-03 8.03977635e+00] [ 3.58854658e-02 -6.04480173e-04 9.99355726e-01 7.16373019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:8.04, Z:7.17 [[ 9.98071014e-01 -5.06688828e-02 -3.58735990e-02 2.05242804e+02] [ 5.06619392e-02 9.98715250e-01 -1.10311960e-03 8.03945454e+00] [ 3.58834042e-02 -7.16434394e-04 9.99355726e-01 7.16618739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:8.04, Z:7.17 [[ 9.97968127e-01 -5.26564847e-02 -3.58735593e-02 2.05273495e+02] [ 5.26507779e-02 9.98612375e-01 -1.10441012e-03 8.03951438e+00] [ 3.58819346e-02 -7.86604698e-04 9.99355726e-01 7.16792491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:8.04, Z:7.17 [[ 9.97850081e-01 -5.48480036e-02 -3.58735593e-02 2.05303642e+02] [ 5.48437116e-02 9.98494340e-01 -1.10441012e-03 8.03931593e+00] [ 3.58801206e-02 -8.65403408e-04 9.99355726e-01 7.16966161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.34, Y:8.04, Z:7.17 [[ 9.97694445e-01 -5.76097265e-02 -3.58735790e-02 2.05335182e+02] [ 5.76072407e-02 9.98338714e-01 -1.10376898e-03 8.03905685e+00] [ 3.58775705e-02 -9.65353716e-04 9.99355726e-01 7.17177452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:8.04, Z:7.18 [[ 9.97404861e-01 -6.24229622e-02 -3.58736187e-02 2.05365475e+02] [ 6.24236315e-02 9.98049134e-01 -1.10247770e-03 8.03723457e+00] [ 3.58724540e-02 -1.13974494e-03 9.99355726e-01 7.17509101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:8.03, Z:7.18 [[ 9.97095181e-01 -6.71884107e-02 -3.58736384e-02 2.05397503e+02] [ 6.71921817e-02 9.97739443e-01 -1.10183602e-03 8.03481842e+00] [ 3.58665746e-02 -1.31179265e-03 9.99355726e-01 7.17564875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:8.03, Z:7.17 [[ 9.97007639e-01 -6.84751378e-02 -3.58737188e-02 2.05428593e+02] [ 6.84798346e-02 9.97651895e-01 -1.09921072e-03 8.03409657e+00] [ 3.58647522e-02 -1.36070484e-03 9.99355726e-01 7.17389745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:8.03, Z:7.17 [[ 9.96954554e-01 -6.92436951e-02 -3.58737787e-02 2.05461098e+02] [ 6.92489590e-02 9.97598806e-01 -1.09725171e-03 8.03402756e+00] [ 3.58636166e-02 -1.39031174e-03 9.99355726e-01 7.17284999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:8.03, Z:7.17 [[ 9.97164418e-01 -6.61527826e-02 -3.58738575e-02 2.05492527e+02] [ 6.61561419e-02 9.97808682e-01 -1.09467106e-03 8.03390282e+00] [ 3.58676620e-02 -1.28170898e-03 9.99355726e-01 7.17067052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:8.03, Z:7.17 [[ 9.97341093e-01 -6.34334749e-02 -3.58739160e-02 2.05524391e+02] [ 6.34351465e-02 9.97985365e-01 -1.09274942e-03 8.03464196e+00] [ 3.58709601e-02 -1.18582321e-03 9.99355726e-01 7.17032360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:8.04, Z:7.18 [[ 9.97875019e-01 -5.43921240e-02 -3.58739819e-02 2.05554837e+02] [ 5.43880344e-02 9.98519280e-01 -1.09058393e-03 8.03616978e+00] [ 3.58801817e-02 -8.62848901e-04 9.99355726e-01 7.17768924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:8.04, Z:7.18 [[ 9.98151095e-01 -4.90657616e-02 -3.58739819e-02 2.05584340e+02] [ 4.90582337e-02 9.98795325e-01 -1.09058393e-03 8.03751583e+00] [ 3.58842757e-02 -6.71346643e-04 9.99355726e-01 7.17973585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:8.04, Z:7.18 [[ 9.98377471e-01 -4.42208589e-02 -3.58739622e-02 2.05613476e+02] [ 4.42101813e-02 9.99021656e-01 -1.09122871e-03 8.03875958e+00] [ 3.58871202e-02 -4.96536214e-04 9.99355726e-01 7.18141314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:8.04, Z:7.18 [[ 9.98723263e-01 -3.55655243e-02 -3.58739241e-02 2.05641872e+02] [ 3.55492185e-02 9.99367330e-01 -1.09248088e-03 8.03981360e+00] [ 3.58900824e-02 -1.84203898e-04 9.99355726e-01 7.18156392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:8.04, Z:7.18 [[ 9.98909003e-01 -2.98979314e-02 -3.58736352e-02 2.05669751e+02] [ 2.98776335e-02 9.99552957e-01 -1.10188616e-03 8.04030360e+00] [ 3.58905423e-02 2.88646821e-05 9.99355727e-01 7.18305523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:8.04, Z:7.18 [[ 9.98900327e-01 -3.01867995e-02 -3.58733139e-02 2.05698099e+02] [ 3.01663157e-02 9.99544274e-01 -1.11224827e-03 8.04124223e+00] [ 3.58905408e-02 2.88594439e-05 9.99355727e-01 7.18407748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:8.04, Z:7.19 [[ 9.98932567e-01 -2.91007745e-02 -3.58729895e-02 2.05726192e+02] [ 2.90792182e-02 9.99576480e-01 -1.12261552e-03 8.04085119e+00] [ 3.58904656e-02 7.82587084e-05 9.99355727e-01 7.18538631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:8.04, Z:7.19 [[ 9.98915217e-01 -2.96907472e-02 -3.58726631e-02 2.05754148e+02] [ 2.96692001e-02 9.99559130e-01 -1.13295155e-03 8.03749225e+00] [ 3.58904861e-02 6.74093253e-05 9.99355727e-01 7.18691348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:8.03, Z:7.19 [[ 9.98706971e-01 -3.60216737e-02 -3.58723340e-02 2.05781295e+02] [ 3.60038375e-02 9.99350998e-01 -1.14327849e-03 8.03161277e+00] [ 3.58902355e-02 -1.49741480e-04 9.99355727e-01 7.18741050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:8.03, Z:7.19 [[ 9.98444901e-01 -4.26727649e-02 -3.58721909e-02 2.05808961e+02] [ 4.26590580e-02 9.99089029e-01 -1.14775097e-03 8.02841952e+00] [ 3.58884900e-02 -3.84307765e-04 9.99355727e-01 7.18835352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:8.03, Z:7.19 [[ 9.98274928e-01 -4.64798610e-02 -3.58718556e-02 2.05835605e+02] [ 4.64682374e-02 9.98919097e-01 -1.15813484e-03 8.02710969e+00] [ 3.58869115e-02 -5.10764931e-04 9.99355727e-01 7.18890046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:8.03, Z:7.19 [[ 9.98089082e-01 -5.03130707e-02 -3.58717098e-02 2.05863567e+02] [ 5.03037592e-02 9.98733288e-01 -1.16263407e-03 8.02545951e+00] [ 3.58847663e-02 -6.44069483e-04 9.99355727e-01 7.19003515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:8.03, Z:7.19 [[ 9.98076421e-01 -5.05638531e-02 -3.58713735e-02 2.05892768e+02] [ 5.05543340e-02 9.98720623e-01 -1.17291835e-03 8.02645134e+00] [ 3.58847878e-02 -6.42791248e-04 9.99355727e-01 7.19108780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:8.02, Z:7.19 [[ 9.97879169e-01 -5.43178513e-02 -3.58710768e-02 2.05920651e+02] [ 5.43104319e-02 9.98523400e-01 -1.18192401e-03 8.02426460e+00] [ 3.58823091e-02 -7.68756327e-04 9.99355727e-01 7.19130882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:8.02, Z:7.19 [[ 9.97660914e-01 -5.81891296e-02 -3.58709715e-02 2.05950617e+02] [ 5.81840953e-02 9.98305167e-01 -1.18511107e-03 8.02179196e+00] [ 3.58791368e-02 -9.04781033e-04 9.99355727e-01 7.19222583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:8.02, Z:7.19 [[ 9.97660912e-01 -5.81891764e-02 -3.58709284e-02 2.05981580e+02] [ 5.81840953e-02 9.98305166e-01 -1.18641416e-03 8.02281666e+00] [ 3.58791696e-02 -9.03478486e-04 9.99355727e-01 7.19333883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:8.02, Z:7.19 [[ 9.97152676e-01 -6.63311189e-02 -3.58709284e-02 2.06010061e+02] [ 6.63312970e-02 9.97796949e-01 -1.18641416e-03 8.01781101e+00] [ 3.58705991e-02 -1.19632915e-03 9.99355727e-01 7.19409948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:8.02, Z:7.20 [[ 9.96959477e-01 -6.91733092e-02 -3.58727471e-02 2.06040060e+02] [ 6.91772914e-02 9.97603740e-01 -1.13165661e-03 8.01630195e+00] [ 3.58650671e-02 -1.35336369e-03 9.99355725e-01 7.19513188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:8.02, Z:7.20 [[ 9.96723134e-01 -7.25002468e-02 -3.58707118e-02 2.06071716e+02] [ 7.25041799e-02 9.97367395e-01 -1.19286366e-03 8.01540102e+00] [ 3.58627613e-02 -1.41182174e-03 9.99355727e-01 7.19673341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:8.01, Z:7.20 [[ 9.96309029e-01 -7.79846665e-02 -3.58707545e-02 2.06102695e+02] [ 7.79921915e-02 9.96953258e-01 -1.19157588e-03 8.01186489e+00] [ 3.58543902e-02 -1.61046095e-03 9.99355727e-01 7.19796942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:8.01, Z:7.20 [[ 9.95950558e-01 -8.24364319e-02 -3.58708922e-02 2.06134295e+02] [ 8.24469854e-02 9.96594744e-01 -1.18741675e-03 8.00809555e+00] [ 3.58466291e-02 -1.77483855e-03 9.99355727e-01 7.19840057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:8.00, Z:7.19 [[ 9.95389994e-01 -8.89496201e-02 -3.58709554e-02 2.06167300e+02] [ 8.89644559e-02 9.96034096e-01 -1.18550570e-03 7.99635425e+00] [ 3.58341449e-02 -2.01119952e-03 9.99355727e-01 7.19334633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:8.00, Z:7.19 [[ 9.95528644e-01 -8.73841350e-02 -3.58710404e-02 2.06199196e+02] [ 8.73980505e-02 9.96172767e-01 -1.18292633e-03 7.99827562e+00] [ 3.58371226e-02 -1.95742196e-03 9.99355727e-01 7.19414484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:8.00, Z:7.20 [[ 9.95534999e-01 -8.73116693e-02 -3.58711263e-02 2.06231850e+02] [ 8.73256316e-02 9.96179121e-01 -1.18031692e-03 7.99929176e+00] [ 3.58371225e-02 -1.95742195e-03 9.99355727e-01 7.19531741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:8.00, Z:7.20 [[ 9.95541349e-01 -8.72392031e-02 -3.58712120e-02 2.06264505e+02] [ 8.72532123e-02 9.96185470e-01 -1.17770751e-03 8.00030553e+00] [ 3.58371224e-02 -1.95742195e-03 9.99355727e-01 7.19648998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:8.00, Z:7.20 [[ 9.95690313e-01 -8.55222241e-02 -3.58712974e-02 2.06295836e+02] [ 8.55352162e-02 9.96334455e-01 -1.17509809e-03 8.00258290e+00] [ 3.58403066e-02 -1.89822539e-03 9.99355727e-01 7.19749387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:8.00, Z:7.20 [[ 9.95696473e-01 -8.54504182e-02 -3.58714401e-02 2.06328491e+02] [ 8.54635210e-02 9.96340612e-01 -1.17072687e-03 8.00358844e+00] [ 3.58402117e-02 -1.90001096e-03 9.99355727e-01 7.19866591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:8.00, Z:7.20 [[ 9.95702624e-01 -8.53786760e-02 -3.58715242e-02 2.06361146e+02] [ 8.53918252e-02 9.96346763e-01 -1.16814393e-03 8.00459249e+00] [ 3.58402116e-02 -1.90001095e-03 9.99355727e-01 7.19983847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:8.01, Z:7.20 [[ 9.95873807e-01 -8.33581928e-02 -3.58716081e-02 2.06392573e+02] [ 8.33701277e-02 9.96517969e-01 -1.16556097e-03 8.00657106e+00] [ 3.58438612e-02 -1.82986891e-03 9.99355727e-01 7.20079088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:8.01, Z:7.20 [[ 9.95879633e-01 -8.32885289e-02 -3.58716706e-02 2.06425228e+02] [ 8.33004879e-02 9.96523795e-01 -1.16363684e-03 8.00756880e+00] [ 3.58438909e-02 -1.82928543e-03 9.99355727e-01 7.20196361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:8.01, Z:7.20 [[ 9.96047103e-01 -8.12612225e-02 -3.58717518e-02 2.06457062e+02] [ 8.12719604e-02 9.96691286e-01 -1.16112839e-03 8.00951744e+00] [ 3.58474171e-02 -1.75882901e-03 9.99355727e-01 7.20385954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:8.01, Z:7.21 [[ 9.96052853e-01 -8.11906781e-02 -3.58718337e-02 2.06489717e+02] [ 8.12014615e-02 9.96697035e-01 -1.15859077e-03 8.01051126e+00] [ 3.58474171e-02 -1.75882769e-03 9.99355727e-01 7.20503211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:8.01, Z:7.21 [[ 9.96058598e-01 -8.11201333e-02 -3.58719155e-02 2.06522372e+02] [ 8.11309623e-02 9.96702779e-01 -1.15605181e-03 8.01150277e+00] [ 3.58474170e-02 -1.75882768e-03 9.99355727e-01 7.20620468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:8.01, Z:7.21 [[ 9.96220561e-01 -7.91062235e-02 -3.58719972e-02 2.06554855e+02] [ 7.91158414e-02 9.96864762e-01 -1.15351285e-03 8.01350206e+00] [ 3.58507800e-02 -1.68889002e-03 9.99355727e-01 7.20847377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:8.02, Z:7.21 [[ 9.96400512e-01 -7.68063329e-02 -3.58720809e-02 2.06585997e+02] [ 7.68145574e-02 9.97044733e-01 -1.15090337e-03 8.01570703e+00] [ 3.58544660e-02 -1.60873731e-03 9.99355727e-01 7.21025899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:8.02, Z:7.21 [[ 9.96767455e-01 -7.18875881e-02 -3.58722192e-02 2.06617403e+02] [ 7.18927884e-02 9.97411707e-01 -1.14657627e-03 8.01930030e+00] [ 3.58617960e-02 -1.43608395e-03 9.99355727e-01 7.21216996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:8.02, Z:7.21 [[ 9.96934530e-01 -6.95321631e-02 -3.58722806e-02 2.06648783e+02] [ 6.95359103e-02 9.97578792e-01 -1.14465130e-03 8.02165146e+00] [ 3.58650165e-02 -1.35326928e-03 9.99355727e-01 7.21365896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:8.02, Z:7.21 [[ 9.97096464e-01 -6.71700657e-02 -3.58723215e-02 2.06679653e+02] [ 6.71723326e-02 9.97740733e-01 -1.14336833e-03 8.02406294e+00] [ 3.58680765e-02 -1.26957899e-03 9.99355727e-01 7.21470230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:8.03, Z:7.22 [[ 9.97269816e-01 -6.45452378e-02 -3.58723623e-02 2.06710566e+02] [ 6.45458548e-02 9.97914089e-01 -1.14208939e-03 8.02603717e+00] [ 3.58712521e-02 -1.17644101e-03 9.99355727e-01 7.21575031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:8.03, Z:7.22 [[ 9.97413131e-01 -6.22914049e-02 -3.58723623e-02 2.06739925e+02] [ 6.22905660e-02 9.98057404e-01 -1.14208939e-03 8.02798175e+00] [ 3.58738191e-02 -1.09537479e-03 9.99355727e-01 7.21653223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.77, Y:8.03, Z:7.22 [[ 9.97691067e-01 -5.76689684e-02 -3.58723418e-02 2.06769331e+02] [ 5.76651209e-02 9.98335328e-01 -1.14273238e-03 8.03055709e+00] [ 3.58785263e-02 -9.28489038e-04 9.99355727e-01 7.21753096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:8.03, Z:7.22 [[ 9.97809656e-01 -5.55793809e-02 -3.58722998e-02 2.06798251e+02] [ 5.55741368e-02 9.98453908e-01 -1.14404956e-03 8.03221381e+00] [ 3.58804235e-02 -8.52028391e-04 9.99355727e-01 7.21827948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:8.03, Z:7.22 [[ 9.98049769e-01 -5.10866143e-02 -3.58722371e-02 2.06826633e+02] [ 5.10783994e-02 9.98693989e-01 -1.14600967e-03 8.03499083e+00] [ 3.58839334e-02 -6.88521767e-04 9.99355727e-01 7.21857659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.85, Y:8.04, Z:7.22 [[ 9.98178867e-01 -4.84989867e-02 -3.58719525e-02 2.06854609e+02] [ 4.84887840e-02 9.98823059e-01 -1.15485017e-03 8.03688839e+00] [ 3.58857424e-02 -5.86640319e-04 9.99355727e-01 7.21932079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:8.04, Z:7.22 [[ 9.98448704e-01 -4.25841783e-02 -3.58716181e-02 2.06882432e+02] [ 4.25697893e-02 9.99092816e-01 -1.16514603e-03 8.03954740e+00] [ 3.58886928e-02 -3.63708676e-04 9.99355727e-01 7.22009627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:8.04, Z:7.22 [[ 9.98582004e-01 -3.93348874e-02 -3.58712783e-02 2.06910762e+02] [ 3.93180300e-02 9.99226056e-01 -1.17551541e-03 8.04121287e+00] [ 3.58897547e-02 -2.36539465e-04 9.99355727e-01 7.22119879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:8.04, Z:7.22 [[ 9.98716390e-01 -3.57609876e-02 -3.58709340e-02 2.06937745e+02] [ 3.57414513e-02 9.99360367e-01 -1.18593042e-03 8.04314580e+00] [ 3.58903998e-02 -9.76710965e-05 9.99355727e-01 7.22194443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:8.04, Z:7.22 [[ 9.98706600e-01 -3.60335078e-02 -3.58707844e-02 2.06966108e+02] [ 3.60139854e-02 9.99350577e-01 -1.19043760e-03 8.04416566e+00] [ 3.58903847e-02 -1.02952015e-04 9.99355727e-01 7.22296509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:8.05, Z:7.22 [[ 9.98935117e-01 -2.90162472e-02 -3.58704569e-02 2.06994269e+02] [ 2.89918495e-02 9.99578927e-01 -1.20022613e-03 8.04676352e+00] [ 3.58901789e-02 1.58997145e-04 9.99355727e-01 7.22442972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:8.05, Z:7.23 [[ 9.98978105e-01 -2.74969277e-02 -3.58701119e-02 2.07021377e+02] [ 2.74711838e-02 9.99621863e-01 -1.21044899e-03 8.05012993e+00] [ 3.58898317e-02 2.23817598e-04 9.99355727e-01 7.22535247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:8.05, Z:7.23 [[ 9.99123396e-01 -2.15917801e-02 -3.58641156e-02 2.07051561e+02] [ 2.15559067e-02 9.99766683e-01 -1.38667018e-03 8.04943877e+00] [ 3.58856885e-02 6.12371088e-04 9.99355714e-01 7.22803445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:8.05, Z:7.23 [[ 9.99124920e-01 -2.15107468e-02 -3.58703571e-02 2.07079795e+02] [ 2.14814176e-02 9.99768524e-01 -1.20288511e-03 8.05000334e+00] [ 3.58879289e-02 4.31286365e-04 9.99355728e-01 7.22902498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:8.05, Z:7.23 [[ 9.99093302e-01 -2.29336292e-02 -3.58695325e-02 2.07107474e+02] [ 2.29043512e-02 9.99736908e-01 -1.22699080e-03 8.04921393e+00] [ 3.58882349e-02 4.04309922e-04 9.99355728e-01 7.23056774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:8.05, Z:7.23 [[ 9.98967382e-01 -2.78849758e-02 -3.58691711e-02 2.07135521e+02] [ 2.78585119e-02 9.99611110e-01 -1.23746724e-03 8.04754882e+00] [ 3.58897287e-02 2.36927676e-04 9.99355728e-01 7.23079528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:8.05, Z:7.23 [[ 9.98850844e-01 -3.17870922e-02 -3.58688066e-02 2.07162774e+02] [ 3.17627669e-02 9.99494657e-01 -1.24794356e-03 8.04701449e+00] [ 3.58903490e-02 1.07216937e-04 9.99355728e-01 7.23142545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:8.05, Z:7.23 [[ 9.98721727e-01 -3.56140283e-02 -3.58685577e-02 2.07190338e+02] [ 3.55919145e-02 9.99365619e-01 -1.25505657e-03 8.04630292e+00] [ 3.58905010e-02 -2.31783737e-05 9.99355728e-01 7.23235978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:8.05, Z:7.23 [[ 9.98531189e-01 -4.06079309e-02 -3.58672529e-02 2.07218369e+02] [ 4.05877068e-02 9.99175144e-01 -1.29209961e-03 8.04523349e+00] [ 3.58901371e-02 -1.65567791e-04 9.99355728e-01 7.23415100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:8.04, Z:7.24 [[ 9.98336125e-01 -4.51493555e-02 -3.58680560e-02 2.07245985e+02] [ 4.51328758e-02 9.98980186e-01 -1.26940902e-03 8.04375387e+00] [ 3.58887902e-02 -3.51531638e-04 9.99355728e-01 7.23519474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:8.04, Z:7.24 [[ 9.97950201e-01 -5.29991183e-02 -3.58676825e-02 2.07274154e+02] [ 5.29873281e-02 9.98594365e-01 -1.27987577e-03 8.03961931e+00] [ 3.58850979e-02 -6.23280377e-04 9.99355728e-01 7.23564529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:8.04, Z:7.24 [[ 9.97784482e-01 -5.60327054e-02 -3.58673060e-02 2.07301752e+02] [ 5.60224975e-02 9.98428673e-01 -1.29033975e-03 8.03838363e+00] [ 3.58832480e-02 -7.21895087e-04 9.99355728e-01 7.23620356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:8.04, Z:7.24 [[ 9.97582751e-01 -5.95165380e-02 -3.58669287e-02 2.07329732e+02] [ 5.95082057e-02 9.98226969e-01 -1.30074567e-03 8.03633182e+00] [ 3.58807514e-02 -8.36775129e-04 9.99355728e-01 7.23682622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:8.04, Z:7.24 [[ 9.97547297e-01 -6.01080747e-02 -3.58665483e-02 2.07358375e+02] [ 6.00997505e-02 9.98191515e-01 -1.31115147e-03 8.03612435e+00] [ 3.58804949e-02 -8.47634992e-04 9.99355728e-01 7.23745068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:8.04, Z:7.24 [[ 9.97550944e-01 -6.00477226e-02 -3.58662132e-02 2.07387411e+02] [ 6.00390324e-02 9.98195157e-01 -1.32025354e-03 8.03609377e+00] [ 3.58807585e-02 -8.36352570e-04 9.99355728e-01 7.23819083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:8.04, Z:7.24 [[ 9.97510270e-01 -6.07196990e-02 -3.58661419e-02 2.07416019e+02] [ 6.07113732e-02 9.98154488e-01 -1.32218745e-03 8.03810418e+00] [ 3.58802333e-02 -8.58587166e-04 9.99355728e-01 7.23861275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:8.04, Z:7.24 [[ 9.97727223e-01 -5.70504077e-02 -3.58558057e-02 2.07445675e+02] [ 5.70297229e-02 9.98371199e-01 -1.60020937e-03 8.03569057e+00] [ 3.58886963e-02 -4.48274217e-04 9.99355693e-01 7.23904068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:8.04, Z:7.24 [[ 9.97827648e-01 -5.52596460e-02 -3.58658067e-02 2.07473818e+02] [ 5.52474892e-02 9.98471804e-01 -1.33068958e-03 8.03609112e+00] [ 3.58845302e-02 -6.53696913e-04 9.99355729e-01 7.23975663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:8.04, Z:7.24 [[ 9.98083715e-01 -5.04238999e-02 -3.58654161e-02 2.07501587e+02] [ 5.04082466e-02 9.98727796e-01 -1.34113580e-03 8.03695468e+00] [ 3.58874132e-02 -4.69346939e-04 9.99355729e-01 7.24100864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:8.04, Z:7.24 [[ 9.98193045e-01 -4.82113056e-02 -3.58652393e-02 2.07529514e+02] [ 4.81940553e-02 9.98837085e-01 -1.34584676e-03 8.03836026e+00] [ 3.58884161e-02 -3.85076449e-04 9.99355729e-01 7.24274033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:8.04, Z:7.24 [[ 9.98178906e-01 -4.85034446e-02 -3.58648425e-02 2.07557874e+02] [ 4.84860058e-02 9.98822941e-01 -1.35633923e-03 8.03948977e+00] [ 3.58884146e-02 -3.85073749e-04 9.99355729e-01 7.24376261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:8.04, Z:7.25 [[ 9.98275491e-01 -4.64735023e-02 -3.58644427e-02 2.07585507e+02] [ 4.64543771e-02 9.98919478e-01 -1.36682890e-03 8.04082176e+00] [ 3.58892117e-02 -3.01588553e-04 9.99355729e-01 7.24562044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:8.04, Z:7.25 [[ 9.98458835e-01 -4.23524044e-02 -3.58640421e-02 2.07612912e+02] [ 4.23302464e-02 9.99102724e-01 -1.37726022e-03 8.04195250e+00] [ 3.58901925e-02 -1.42996104e-04 9.99355729e-01 7.24643406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:8.04, Z:7.25 [[ 9.98520870e-01 -4.08638611e-02 -3.58638682e-02 2.07641221e+02] [ 4.08405810e-02 9.99164720e-01 -1.38177463e-03 8.04281590e+00] [ 3.58903765e-02 -8.49704063e-05 9.99355729e-01 7.24527137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:8.04, Z:7.24 [[ 9.98603756e-01 -3.87859675e-02 -3.58634659e-02 2.07669489e+02] [ 3.87609755e-02 9.99247541e-01 -1.39213913e-03 8.04343461e+00] [ 3.58904756e-02 9.24403792e-08 9.99355729e-01 7.24400928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:8.04, Z:7.24 [[ 9.98687531e-01 -3.65655794e-02 -3.58632741e-02 2.07697271e+02] [ 3.65389793e-02 9.99331252e-01 -1.39706110e-03 8.04393063e+00] [ 3.58903750e-02 8.48200639e-05 9.99355729e-01 7.24386167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:8.04, Z:7.25 [[ 9.98812985e-01 -3.29614107e-02 -3.58631513e-02 2.07726343e+02] [ 3.29323749e-02 9.99456601e-01 -1.40020642e-03 8.04440472e+00] [ 3.58898161e-02 2.17485614e-04 9.99355729e-01 7.24672467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:8.05, Z:7.25 [[ 9.98860170e-01 -3.14995306e-02 -3.58627929e-02 2.07752910e+02] [ 3.14692255e-02 9.99503728e-01 -1.40932659e-03 8.04507837e+00] [ 3.58893883e-02 2.79145886e-04 9.99355729e-01 7.24799514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:8.05, Z:7.25 [[ 9.98913473e-01 -2.97614959e-02 -3.58626149e-02 2.07780493e+02] [ 2.97299089e-02 9.99556969e-01 -1.41384276e-03 8.04506428e+00] [ 3.58888047e-02 3.46114312e-04 9.99355729e-01 7.24899432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:8.05, Z:7.25 [[ 9.98925207e-01 -2.93652268e-02 -3.58624345e-02 2.07808329e+02] [ 2.93332208e-02 9.99568682e-01 -1.41840281e-03 8.04550771e+00] [ 3.58886181e-02 3.64917615e-04 9.99355729e-01 7.24983096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:8.05, Z:7.25 [[ 9.98919976e-01 -2.95431352e-02 -3.58620324e-02 2.07836687e+02] [ 2.95108814e-02 9.99563438e-01 -1.42849729e-03 8.04582109e+00] [ 3.58885787e-02 3.68634296e-04 9.99355729e-01 7.25146177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:8.04, Z:7.25 [[ 9.98886820e-01 -3.06441545e-02 -3.58616198e-02 2.07865024e+02] [ 3.06122408e-02 9.99530300e-01 -1.43878136e-03 8.04454526e+00] [ 3.58888659e-02 3.39375197e-04 9.99355730e-01 7.25287424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:8.04, Z:7.25 [[ 9.98850104e-01 -3.18188666e-02 -3.58612579e-02 2.07892558e+02] [ 3.17873879e-02 9.99493605e-01 -1.44774570e-03 8.04454017e+00] [ 3.58891636e-02 3.06145225e-04 9.99355730e-01 7.25452749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:8.04, Z:7.26 [[ 9.98742001e-01 -3.50484658e-02 -3.58611295e-02 2.07920693e+02] [ 3.50189541e-02 9.99385595e-01 -1.45091929e-03 8.04274937e+00] [ 3.58899488e-02 1.93274785e-04 9.99355730e-01 7.25684096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:8.04, Z:7.26 [[ 9.98655013e-01 -3.74453418e-02 -3.58610019e-02 2.07948956e+02] [ 3.74172617e-02 9.99298671e-01 -1.45406703e-03 8.04217742e+00] [ 3.58902996e-02 1.10290833e-04 9.99355730e-01 7.25758141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:8.04, Z:7.26 [[ 9.98462194e-01 -4.22760561e-02 -3.58605823e-02 2.07975633e+02] [ 4.22507211e-02 9.99105966e-01 -1.46434307e-03 8.03972288e+00] [ 3.58904284e-02 -5.30442691e-05 9.99355730e-01 7.25691037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:8.04, Z:7.26 [[ 9.98328226e-01 -4.53297346e-02 -3.58603999e-02 2.08003671e+02] [ 4.53062088e-02 9.98972067e-01 -1.46879591e-03 8.03915942e+00] [ 3.58901179e-02 -1.58358355e-04 9.99355730e-01 7.25904335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:8.04, Z:7.26 [[ 9.98011757e-01 -5.18323809e-02 -3.58599781e-02 2.08031246e+02] [ 5.18126824e-02 9.98655726e-01 -1.47902352e-03 8.03649137e+00] [ 3.58884337e-02 -3.81918797e-04 9.99355730e-01 7.26185362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:8.04, Z:7.26 [[ 9.97818965e-01 -5.54201180e-02 -3.58597731e-02 2.08059536e+02] [ 5.54025569e-02 9.98462996e-01 -1.48397603e-03 8.03576600e+00] [ 3.58868987e-02 -5.05983699e-04 9.99355730e-01 7.26371934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:8.03, Z:7.26 [[ 9.97640732e-01 -5.85412345e-02 -3.58593468e-02 2.08087386e+02] [ 5.85253205e-02 9.98284806e-01 -1.49420718e-03 8.03493864e+00] [ 3.58853138e-02 -6.07997824e-04 9.99355730e-01 7.26480969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:8.03, Z:7.26 [[ 9.97332360e-01 -6.35790962e-02 -3.58589161e-02 2.08115803e+02] [ 6.35660664e-02 9.97976499e-01 -1.50447384e-03 8.03271304e+00] [ 3.58820086e-02 -7.78949793e-04 9.99355730e-01 7.26471025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:8.03, Z:7.27 [[ 9.97314049e-01 -6.38659244e-02 -3.58584818e-02 2.08144168e+02] [ 6.38527104e-02 9.97958184e-01 -1.51475443e-03 8.03397878e+00] [ 3.58820066e-02 -7.78975377e-04 9.99355730e-01 7.26573253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:8.03, Z:7.27 [[ 9.97165478e-01 -6.61453740e-02 -3.58580435e-02 2.08170908e+02] [ 6.61332620e-02 9.97809634e-01 -1.52506051e-03 8.03224453e+00] [ 3.58803769e-02 -8.50671690e-04 9.99355730e-01 7.26556344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:8.03, Z:7.27 [[ 9.97127504e-01 -6.67154768e-02 -3.58578531e-02 2.08198976e+02] [ 6.67035726e-02 9.97771664e-01 -1.52952326e-03 8.03209169e+00] [ 3.58799927e-02 -8.66717202e-04 9.99355730e-01 7.26671034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:8.03, Z:7.27 [[ 9.97132837e-01 -6.66359650e-02 -3.58574025e-02 2.08227943e+02] [ 6.66236324e-02 9.97776989e-01 -1.54001624e-03 8.03217240e+00] [ 3.58803115e-02 -8.53349643e-04 9.99355730e-01 7.26787196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:8.03, Z:7.27 [[ 9.97141964e-01 -6.64994638e-02 -3.58570044e-02 2.08255630e+02] [ 6.64867118e-02 9.97786108e-01 -1.54922860e-03 8.03270162e+00] [ 3.58806438e-02 -8.39213470e-04 9.99355730e-01 7.26878375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:8.03, Z:7.27 [[ 9.97273341e-01 -6.44995453e-02 -3.58565449e-02 2.08283205e+02] [ 6.44851219e-02 9.97917450e-01 -1.55979238e-03 8.03267228e+00] [ 3.58824778e-02 -7.56674308e-04 9.99355730e-01 7.26902906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:8.03, Z:7.27 [[ 9.97293175e-01 -6.41922305e-02 -3.58564026e-02 2.08311170e+02] [ 6.41774912e-02 9.97937276e-01 -1.56305790e-03 8.03365101e+00] [ 3.58827769e-02 -7.42346988e-04 9.99355730e-01 7.26982604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:8.03, Z:7.27 [[ 9.97313555e-01 -6.38750568e-02 -3.58559501e-02 2.08339117e+02] [ 6.38597422e-02 9.97957643e-01 -1.57336856e-03 8.03445160e+00] [ 3.58832185e-02 -7.20609939e-04 9.99355730e-01 7.27083900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:8.03, Z:7.27 [[ 9.97257049e-01 -6.47515405e-02 -3.58554885e-02 2.08366556e+02] [ 6.47364163e-02 9.97901141e-01 -1.58381987e-03 8.03460976e+00] [ 3.58827876e-02 -7.41680300e-04 9.99355730e-01 7.27141672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:8.03, Z:7.27 [[ 9.97111487e-01 -6.69559566e-02 -3.58550235e-02 2.08394459e+02] [ 6.69418805e-02 9.97755603e-01 -1.59427759e-03 8.03424181e+00] [ 3.58812969e-02 -8.10530195e-04 9.99355730e-01 7.27105869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:8.03, Z:7.27 [[ 9.96995356e-01 -6.86637529e-02 -3.58545566e-02 2.08422570e+02] [ 6.86504051e-02 9.97639487e-01 -1.60470881e-03 8.03482635e+00] [ 3.58801068e-02 -8.61542611e-04 9.99355730e-01 7.27175573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:8.03, Z:7.27 [[ 9.96572542e-01 -7.45496619e-02 -3.58540890e-02 2.08449704e+02] [ 7.45397447e-02 9.97216736e-01 -1.61509016e-03 8.03497963e+00] [ 3.58747020e-02 -1.06300014e-03 9.99355730e-01 7.27194935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:8.04, Z:7.27 [[ 9.96432379e-01 -7.64003448e-02 -3.58538860e-02 2.08478004e+02] [ 7.63914625e-02 9.97076588e-01 -1.61958290e-03 8.03648633e+00] [ 3.58728070e-02 -1.12512595e-03 9.99355730e-01 7.27354705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:8.04, Z:7.27 [[ 9.96424579e-01 -7.65022007e-02 -3.58534791e-02 2.08506112e+02] [ 7.64930622e-02 9.97068784e-01 -1.62854125e-03 8.03844346e+00] [ 3.58729718e-02 -1.11982388e-03 9.99355730e-01 7.27456117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:8.04, Z:7.28 [[ 9.96405797e-01 -7.67464900e-02 -3.58533663e-02 2.08535320e+02] [ 7.67374203e-02 9.97050003e-01 -1.63102201e-03 8.03981656e+00] [ 3.58727742e-02 -1.12613505e-03 9.99355730e-01 7.27561191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:8.04, Z:7.28 [[ 9.96386948e-01 -7.69910011e-02 -3.58529641e-02 2.08564528e+02] [ 7.69817734e-02 9.97031152e-01 -1.63981448e-03 8.04119992e+00] [ 3.58727731e-02 -1.12613502e-03 9.99355730e-01 7.27666415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:8.04, Z:7.28 [[ 9.96404409e-01 -7.67648849e-02 -3.58525598e-02 2.08594464e+02] [ 7.67551950e-02 9.97048606e-01 -1.64860685e-03 8.04316357e+00] [ 3.58732999e-02 -1.10919109e-03 9.99355730e-01 7.27823822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:8.04, Z:7.28 [[ 9.96401648e-01 -7.68007414e-02 -3.58525004e-02 2.08624567e+02] [ 7.67910282e-02 9.97045844e-01 -1.64989784e-03 8.04457808e+00] [ 3.58732999e-02 -1.10918945e-03 9.99355730e-01 7.27932082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:8.05, Z:7.28 [[ 9.96458597e-01 -7.60583117e-02 -3.58524410e-02 2.08654541e+02] [ 7.60480722e-02 9.97102785e-01 -1.65118718e-03 8.04655685e+00] [ 3.58741553e-02 -1.08116936e-03 9.99355730e-01 7.28048160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:8.05, Z:7.28 [[ 9.96620504e-01 -7.39065527e-02 -3.58523809e-02 2.08684406e+02] [ 7.38948754e-02 9.97264667e-01 -1.65249196e-03 8.04959518e+00] [ 3.58764427e-02 -1.00239985e-03 9.99355730e-01 7.28308032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:8.05, Z:7.28 [[ 9.96742887e-01 -7.22373114e-02 -3.58523208e-02 2.08712982e+02] [ 7.22245085e-02 9.97387029e-01 -1.65379438e-03 8.05159166e+00] [ 3.58781054e-02 -9.41008470e-04 9.99355730e-01 7.28438908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:8.05, Z:7.29 [[ 9.96975376e-01 -6.89544572e-02 -3.58522313e-02 2.08741302e+02] [ 6.89394633e-02 9.97619471e-01 -1.65573286e-03 8.05361020e+00] [ 3.58810542e-02 -8.20908700e-04 9.99355730e-01 7.28514872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:8.06, Z:7.29 [[ 9.97087194e-01 -6.73184649e-02 -3.58518107e-02 2.08770304e+02] [ 6.73020886e-02 9.97731255e-01 -1.66479158e-03 8.05550284e+00] [ 3.58825433e-02 -7.52959376e-04 9.99355731e-01 7.28609217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:8.06, Z:7.29 [[ 9.97207135e-01 -6.55180048e-02 -3.58513853e-02 2.08798399e+02] [ 6.55001382e-02 9.97851156e-01 -1.67390249e-03 8.05777816e+00] [ 3.58840170e-02 -6.79043181e-04 9.99355731e-01 7.28692864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:8.06, Z:7.29 [[ 9.97373106e-01 -6.29410603e-02 -3.58512346e-02 2.08826560e+02] [ 6.29214139e-02 9.98017075e-01 -1.67712275e-03 8.06099423e+00] [ 3.58857042e-02 -5.83093245e-04 9.99355731e-01 7.28771911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:8.06, Z:7.29 [[ 9.97451586e-01 -6.16851452e-02 -3.58507395e-02 2.08853680e+02] [ 6.16643100e-02 9.98095519e-01 -1.68764047e-03 8.06284766e+00] [ 3.58865648e-02 -5.27371458e-04 9.99355731e-01 7.28780032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:8.06, Z:7.29 [[ 9.97570517e-01 -5.97310913e-02 -3.58505247e-02 2.08881529e+02] [ 5.97088312e-02 9.98214402e-01 -1.69219263e-03 8.06438190e+00] [ 3.58875865e-02 -4.52511452e-04 9.99355731e-01 7.28839651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:8.07, Z:7.29 [[ 9.97598715e-01 -5.92585876e-02 -3.58500294e-02 2.08909331e+02] [ 5.92356479e-02 9.98242575e-01 -1.70261987e-03 8.06582967e+00] [ 3.58879206e-02 -4.25068328e-04 9.99355731e-01 7.28890888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:8.07, Z:7.29 [[ 9.97634508e-01 -5.86532174e-02 -3.58495348e-02 2.08937118e+02] [ 5.86295150e-02 9.98278341e-01 -1.71297130e-03 8.06740980e+00] [ 3.58882854e-02 -3.92921566e-04 9.99355731e-01 7.28953991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:8.07, Z:7.29 [[ 9.97652937e-01 -5.83392130e-02 -3.58490409e-02 2.08965004e+02] [ 5.83149388e-02 9.98296749e-01 -1.72324660e-03 8.06924605e+00] [ 3.58885138e-02 -3.71332592e-04 9.99355731e-01 7.29071505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:8.07, Z:7.29 [[ 9.97674412e-01 -5.79711160e-02 -3.58485414e-02 2.08992940e+02] [ 5.79462331e-02 9.98318200e-01 -1.73357568e-03 8.07119234e+00] [ 3.58887487e-02 -3.47743836e-04 9.99355731e-01 7.29205333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:8.07, Z:7.29 [[ 9.97674869e-01 -5.79635513e-02 -3.58480417e-02 2.09020662e+02] [ 5.79382944e-02 9.98318643e-01 -1.74384813e-03 8.07318048e+00] [ 3.58888480e-02 -3.37180941e-04 9.99355731e-01 7.29378139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:8.07, Z:7.29 [[ 9.97680603e-01 -5.78650890e-02 -3.58475332e-02 2.09048829e+02] [ 5.78393953e-02 9.98324360e-01 -1.75423931e-03 8.07484985e+00] [ 3.58889748e-02 -3.23229114e-04 9.99355731e-01 7.29499807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:8.08, Z:7.30 [[ 9.97642445e-01 -5.85196002e-02 -3.58470210e-02 2.09076516e+02] [ 5.84939550e-02 9.98286203e-01 -1.76464473e-03 8.07647852e+00] [ 3.58888528e-02 -3.36349547e-04 9.99355731e-01 7.29581833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:8.08, Z:7.30 [[ 9.97593803e-01 -5.93433360e-02 -3.58465086e-02 2.09104534e+02] [ 5.93178505e-02 9.98237568e-01 -1.77499267e-03 8.07750339e+00] [ 3.58886655e-02 -3.55616148e-04 9.99355731e-01 7.29686081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:8.08, Z:7.30 [[ 9.97486739e-01 -6.11168585e-02 -3.58459890e-02 2.09132248e+02] [ 6.10921428e-02 9.98130534e-01 -1.78542404e-03 8.07804378e+00] [ 3.58880957e-02 -4.08971469e-04 9.99355731e-01 7.29804956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:8.08, Z:7.30 [[ 9.97411732e-01 -6.23292912e-02 -3.58454629e-02 2.09158881e+02] [ 6.23049807e-02 9.98055542e-01 -1.79592551e-03 8.07933006e+00] [ 3.58877016e-02 -4.42073702e-04 9.99355731e-01 7.29894226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:8.08, Z:7.30 [[ 9.97212867e-01 -6.54340605e-02 -3.58452344e-02 2.09186585e+02] [ 6.54115909e-02 9.97856744e-01 -1.80047505e-03 8.07978771e+00] [ 3.58862212e-02 -5.49236915e-04 9.99355731e-01 7.30029634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:8.08, Z:7.30 [[ 9.97056998e-01 -6.77679881e-02 -3.58447125e-02 2.09214563e+02] [ 6.77466544e-02 9.97700913e-01 -1.81080563e-03 8.08064014e+00] [ 3.58850170e-02 -6.22882917e-04 9.99355731e-01 7.30142335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:8.08, Z:7.30 [[ 9.96728247e-01 -7.24430535e-02 -3.58441899e-02 2.09242003e+02] [ 7.24243700e-02 9.97372245e-01 -1.82109104e-03 8.07979817e+00] [ 3.58819255e-02 -7.80859994e-04 9.99355731e-01 7.30192275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:8.08, Z:7.30 [[ 9.96529537e-01 -7.51271485e-02 -3.58440279e-02 2.09271255e+02] [ 7.51100850e-02 9.97173579e-01 -1.82427438e-03 8.08004007e+00] [ 3.58797701e-02 -8.74304686e-04 9.99355731e-01 7.30240540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:8.08, Z:7.30 [[ 9.96329067e-01 -7.77407759e-02 -3.58435683e-02 2.09300756e+02] [ 7.77250787e-02 9.96973145e-01 -1.83326082e-03 8.08057718e+00] [ 3.58775941e-02 -9.59413123e-04 9.99355731e-01 7.30295157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:8.08, Z:7.30 [[ 9.96153797e-01 -7.99553330e-02 -3.58435025e-02 2.09330744e+02] [ 7.99410214e-02 9.96797907e-01 -1.83454632e-03 8.08118852e+00] [ 3.58754100e-02 -1.03787592e-03 9.99355731e-01 7.30408961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:8.08, Z:7.31 [[ 9.96150874e-01 -7.99917808e-02 -3.58434354e-02 2.09360839e+02] [ 7.99774456e-02 9.96794983e-01 -1.83585680e-03 8.08275829e+00] [ 3.58754100e-02 -1.03787605e-03 9.99355731e-01 7.30517222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:8.08, Z:7.31 [[ 9.95792815e-01 -8.43322149e-02 -3.58433682e-02 2.09390616e+02] [ 8.43206398e-02 9.96436980e-01 -1.83716741e-03 8.08326205e+00] [ 3.58705899e-02 -1.19289763e-03 9.99355731e-01 7.30568777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:8.08, Z:7.31 [[ 9.95627055e-01 -8.62671692e-02 -3.58433012e-02 2.09419738e+02] [ 8.62567989e-02 9.96271241e-01 -1.83847298e-03 8.08453624e+00] [ 3.58682500e-02 -1.26129499e-03 9.99355731e-01 7.30615612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:8.09, Z:7.31 [[ 9.95486257e-01 -8.78770081e-02 -3.58433095e-02 2.09450468e+02] [ 8.78676853e-02 9.96130459e-01 -1.83831229e-03 8.08560476e+00] [ 3.58661577e-02 -1.31945402e-03 9.99355731e-01 7.30680436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:8.09, Z:7.31 [[ 9.95335326e-01 -8.95703450e-02 -3.58433095e-02 2.09480838e+02] [ 8.95621181e-02 9.95979542e-01 -1.83831229e-03 8.08685825e+00] [ 3.58638612e-02 -1.38046556e-03 9.99355731e-01 7.30767202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:8.09, Z:7.31 [[ 9.94989077e-01 -9.33380667e-02 -3.58433095e-02 2.09510310e+02] [ 9.33322788e-02 9.95633319e-01 -1.83831229e-03 8.08857684e+00] [ 3.58583777e-02 -1.51623711e-03 9.99355731e-01 7.30860976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:8.09, Z:7.31 [[ 9.94840900e-01 -9.49043728e-02 -3.58433167e-02 2.09541646e+02] [ 9.48996043e-02 9.95485151e-01 -1.83817215e-03 8.09037931e+00] [ 3.58559401e-02 -1.57282773e-03 9.99355731e-01 7.30925609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:8.09, Z:7.31 [[ 9.94636830e-01 -9.70197296e-02 -3.58433808e-02 2.09572532e+02] [ 9.70163761e-02 9.95281090e-01 -1.83692033e-03 8.09231389e+00] [ 3.58524566e-02 -1.65032630e-03 9.99355731e-01 7.31033628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:8.09, Z:7.31 [[ 9.94361236e-01 -9.98047077e-02 -3.58434451e-02 2.09603454e+02] [ 9.98032036e-02 9.95005503e-01 -1.83566451e-03 8.09486326e+00] [ 3.58476331e-02 -1.75197702e-03 9.99355731e-01 7.31097033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:8.10, Z:7.31 [[ 9.94241121e-01 -1.00994236e-01 -3.58435090e-02 2.09634734e+02] [ 1.00993548e-01 9.94885389e-01 -1.83441601e-03 8.09679273e+00] [ 3.58454489e-02 -1.79611131e-03 9.99355731e-01 7.31177452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:8.10, Z:7.31 [[ 9.94118543e-01 -1.02193740e-01 -3.58435744e-02 2.09665476e+02] [ 1.02193875e-01 9.94762812e-01 -1.83313756e-03 8.09872032e+00] [ 3.58431900e-02 -1.84063773e-03 9.99355731e-01 7.31221351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:8.10, Z:7.31 [[ 9.94010558e-01 -1.03238788e-01 -3.58436069e-02 2.09697440e+02] [ 1.03239623e-01 9.94654826e-01 -1.83250249e-03 8.10054472e+00] [ 3.58412019e-02 -1.87895362e-03 9.99355731e-01 7.31384047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:8.10, Z:7.31 [[ 9.93932298e-01 -1.03989484e-01 -3.58437400e-02 2.09729084e+02] [ 1.03990899e-01 9.94576565e-01 -1.82989397e-03 8.10225168e+00] [ 3.58396336e-02 -1.90863203e-03 9.99355731e-01 7.31490598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:8.11, Z:7.32 [[ 9.93760533e-01 -1.05618278e-01 -3.58438730e-02 2.09761088e+02] [ 1.05620843e-01 9.94404796e-01 -1.82728572e-03 8.10547036e+00] [ 3.58363140e-02 -1.96997566e-03 9.99355731e-01 7.31577859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:8.11, Z:7.32 [[ 9.93722814e-01 -1.05972523e-01 -3.58440077e-02 2.09792431e+02] [ 1.05975413e-01 9.94367076e-01 -1.82463928e-03 8.10815755e+00] [ 3.58354628e-02 -1.98539782e-03 9.99355731e-01 7.31649158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:8.11, Z:7.32 [[ 9.93703462e-01 -1.06153803e-01 -3.58441080e-02 2.09823811e+02] [ 1.06156881e-01 9.94347723e-01 -1.82266651e-03 8.11224499e+00] [ 3.58349902e-02 -1.99390871e-03 9.99355731e-01 7.31765474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:8.12, Z:7.32 [[ 9.93704507e-01 -1.06143986e-01 -3.58442049e-02 2.09856289e+02] [ 1.06147126e-01 9.94348768e-01 -1.82076025e-03 8.11525500e+00] [ 3.58349037e-02 -1.99546167e-03 9.99355731e-01 7.31938273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:8.12, Z:7.32 [[ 9.93730436e-01 -1.05900917e-01 -3.58443336e-02 2.09888729e+02] [ 1.05903991e-01 9.94374697e-01 -1.81822247e-03 8.11838966e+00] [ 3.58352498e-02 -1.98923497e-03 9.99355731e-01 7.32099807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:8.12, Z:7.32 [[ 9.93842328e-01 -1.04845610e-01 -3.58444642e-02 2.09919448e+02] [ 1.04848093e-01 9.94486592e-01 -1.81564365e-03 8.12279330e+00] [ 3.58372013e-02 -1.95376020e-03 9.99355731e-01 7.32259519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:8.13, Z:7.32 [[ 9.93938159e-01 -1.03933127e-01 -3.58446775e-02 2.09951158e+02] [ 1.03935170e-01 9.94582424e-01 -1.81142255e-03 8.12609134e+00] [ 3.58387531e-02 -1.92508068e-03 9.99355731e-01 7.32409781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:8.13, Z:7.33 [[ 9.94078354e-01 -1.02583507e-01 -3.58448030e-02 2.09983263e+02] [ 1.02584765e-01 9.94722622e-01 -1.80893590e-03 8.12971440e+00] [ 3.58412034e-02 -1.87890667e-03 9.99355731e-01 7.32581816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:8.13, Z:7.33 [[ 9.94209724e-01 -1.01302346e-01 -3.58449345e-02 2.10015379e+02] [ 1.01302868e-01 9.94853992e-01 -1.80632729e-03 8.13354130e+00] [ 3.58434614e-02 -1.83532650e-03 9.99355731e-01 7.32738824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:8.14, Z:7.33 [[ 9.94358524e-01 -9.98311375e-02 -3.58450662e-02 2.10047464e+02] [ 9.98307996e-02 9.95002793e-01 -1.80370887e-03 8.13733790e+00] [ 3.58460073e-02 -1.78490833e-03 9.99355731e-01 7.32908457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:8.14, Z:7.33 [[ 9.94618686e-01 -9.72048911e-02 -3.58451975e-02 2.10079712e+02] [ 9.72029457e-02 9.95262952e-01 -1.80109661e-03 8.14363600e+00] [ 3.58504725e-02 -1.69285444e-03 9.99355731e-01 7.33063736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:8.15, Z:7.33 [[ 9.94740830e-01 -9.59468315e-02 -3.58453291e-02 2.10110375e+02] [ 9.59441656e-02 9.95385093e-01 -1.79847452e-03 8.14772525e+00] [ 3.58524641e-02 -1.65013415e-03 9.99355731e-01 7.33161760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:8.15, Z:7.33 [[ 9.94833505e-01 -9.49810683e-02 -3.58454270e-02 2.10141518e+02] [ 9.49778472e-02 9.95477765e-01 -1.79652082e-03 8.15171295e+00] [ 3.58539610e-02 -1.61728238e-03 9.99355731e-01 7.33274772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:8.16, Z:7.33 [[ 9.94934090e-01 -9.39215421e-02 -3.58455211e-02 2.10173321e+02] [ 9.39177024e-02 9.95578347e-01 -1.79464016e-03 8.15530001e+00] [ 3.58555800e-02 -1.58098031e-03 9.99355731e-01 7.33403213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:8.16, Z:7.33 [[ 9.95040016e-01 -9.27925454e-02 -3.58456490e-02 2.10205223e+02] [ 9.27880667e-02 9.95684269e-01 -1.79208233e-03 8.16115067e+00] [ 3.58572407e-02 -1.54285484e-03 9.99355731e-01 7.33472366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:8.16, Z:7.34 [[ 9.95071809e-01 -9.24509290e-02 -3.58457803e-02 2.10236615e+02] [ 9.24463237e-02 9.95716061e-01 -1.78945286e-03 8.16464066e+00] [ 3.58576557e-02 -1.53317651e-03 9.99355731e-01 7.33508387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:8.17, Z:7.34 [[ 9.95084492e-01 -9.23142878e-02 -3.58458780e-02 2.10268189e+02] [ 9.23096644e-02 9.95728744e-01 -1.78749370e-03 8.16810351e+00] [ 3.58577822e-02 -1.53021370e-03 9.99355731e-01 7.33587541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:8.17, Z:7.34 [[ 9.95083826e-01 -9.23214184e-02 -3.58460031e-02 2.10299784e+02] [ 9.23168900e-02 9.95728078e-01 -1.78498035e-03 8.17168721e+00] [ 3.58576637e-02 -1.53298645e-03 9.99355731e-01 7.33717016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:8.18, Z:7.34 [[ 9.95108264e-01 -9.20575784e-02 -3.58461319e-02 2.10331761e+02] [ 9.20529723e-02 9.95752516e-01 -1.78238964e-03 8.17652287e+00] [ 3.58579586e-02 -1.52607233e-03 9.99355731e-01 7.33764731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:8.18, Z:7.34 [[ 9.95121960e-01 -9.19093615e-02 -3.58462602e-02 2.10363557e+02] [ 9.19047524e-02 9.95766212e-01 -1.77980634e-03 8.17988019e+00] [ 3.58580756e-02 -1.52331730e-03 9.99355731e-01 7.33831765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:8.18, Z:7.34 [[ 9.95155636e-01 -9.15439555e-02 -3.58463900e-02 2.10396060e+02] [ 9.15392040e-02 9.95799887e-01 -1.77718811e-03 8.18342932e+00] [ 3.58585220e-02 -1.51277124e-03 9.99355731e-01 7.33964067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:8.19, Z:7.34 [[ 9.95262273e-01 -9.03771777e-02 -3.58465208e-02 2.10428084e+02] [ 9.03717659e-02 9.95906519e-01 -1.77454522e-03 8.18908460e+00] [ 3.58601622e-02 -1.47337548e-03 9.99355731e-01 7.34110608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:8.19, Z:7.34 [[ 9.95348875e-01 -8.94183140e-02 -3.58466512e-02 2.10459281e+02] [ 8.94123764e-02 9.95993116e-01 -1.77190717e-03 8.19226386e+00] [ 3.58614588e-02 -1.44146847e-03 9.99355731e-01 7.34185502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:8.20, Z:7.34 [[ 9.95399745e-01 -8.88501563e-02 -3.58468681e-02 2.10491791e+02] [ 8.88440092e-02 9.96043984e-01 -1.76750830e-03 8.19535413e+00] [ 3.58621007e-02 -1.42540217e-03 9.99355731e-01 7.34295968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:8.20, Z:7.34 [[ 9.95613966e-01 -8.64165706e-02 -3.58469940e-02 2.10522813e+02] [ 8.64089404e-02 9.96258189e-01 -1.76495306e-03 8.19965883e+00] [ 3.58653825e-02 -1.34028885e-03 9.99355731e-01 7.34450389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:8.20, Z:7.35 [[ 9.95758369e-01 -8.47364007e-02 -3.58470876e-02 2.10553424e+02] [ 8.47277519e-02 9.96402579e-01 -1.76304924e-03 8.20279954e+00] [ 3.58675250e-02 -1.28167211e-03 9.99355731e-01 7.34566929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:8.21, Z:7.35 [[ 9.96128021e-01 -8.02741414e-02 -3.58472941e-02 2.10585508e+02] [ 8.02627576e-02 9.96772189e-01 -1.75884114e-03 8.20843283e+00] [ 3.58727752e-02 -1.12517174e-03 9.99355731e-01 7.34705084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:8.21, Z:7.35 [[ 9.96359158e-01 -7.73523821e-02 -3.58474220e-02 2.10617622e+02] [ 7.73392031e-02 9.97003292e-01 -1.75622900e-03 8.21214050e+00] [ 3.58758463e-02 -1.02257621e-03 9.99355731e-01 7.34871534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:8.22, Z:7.35 [[ 9.96832403e-01 -7.09937598e-02 -3.58475521e-02 2.10648248e+02] [ 7.09765669e-02 9.97476442e-01 -1.75356961e-03 8.21760780e+00] [ 3.58815812e-02 -7.96321171e-04 9.99355731e-01 7.35010135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:8.22, Z:7.35 [[ 9.97052967e-01 -6.78257074e-02 -3.58476491e-02 2.10679126e+02] [ 6.78065393e-02 9.97696951e-01 -1.75158530e-03 8.22044145e+00] [ 3.58838927e-02 -6.84281708e-04 9.99355731e-01 7.35113040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:8.22, Z:7.35 [[ 9.97272359e-01 -6.45196353e-02 -3.58477124e-02 2.10710558e+02] [ 6.44983788e-02 9.97916277e-01 -1.75028892e-03 8.22301054e+00] [ 3.58859437e-02 -5.66604574e-04 9.99355731e-01 7.35201264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:8.23, Z:7.35 [[ 9.97455413e-01 -6.16249618e-02 -3.58477752e-02 2.10740938e+02] [ 6.16018829e-02 9.98099268e-01 -1.74900033e-03 8.22566498e+00] [ 3.58874203e-02 -4.63740604e-04 9.99355731e-01 7.35301888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:8.22, Z:7.35 [[ 9.97798698e-01 -5.57915328e-02 -3.58477752e-02 2.10772881e+02] [ 5.57646894e-02 9.98442407e-01 -1.74900033e-03 8.22491229e+00] [ 3.58895184e-02 -2.53889800e-04 9.99355731e-01 7.34998872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:8.23, Z:7.36 [[ 9.97707440e-01 -5.73907259e-02 -3.58631930e-02 2.10799610e+02] [ 5.73762940e-02 9.98351596e-01 -1.43231685e-03 8.23090561e+00] [ 3.58862777e-02 -6.28663930e-04 9.99355682e-01 7.35545743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:8.23, Z:7.36 [[ 9.97786549e-01 -5.60085728e-02 -3.58474935e-02 2.10830272e+02] [ 5.59817137e-02 9.98430255e-01 -1.75333649e-03 8.23399254e+00] [ 3.58894239e-02 -2.57348549e-04 9.99355734e-01 7.35656680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:8.24, Z:7.36 [[ 9.97781130e-01 -5.61050166e-02 -3.58474935e-02 2.10860214e+02] [ 5.60782197e-02 9.98424839e-01 -1.75333649e-03 8.23546975e+00] [ 3.58893989e-02 -2.60817546e-04 9.99355734e-01 7.35723449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:8.24, Z:7.36 [[ 9.97720272e-01 -5.71770558e-02 -3.58474935e-02 2.10889473e+02] [ 5.71509506e-02 9.98364009e-01 -1.75333667e-03 8.23665449e+00] [ 3.58890980e-02 -2.99378788e-04 9.99355734e-01 7.35822698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:8.24, Z:7.36 [[ 9.97618626e-01 -5.89240077e-02 -3.58474308e-02 2.10919233e+02] [ 5.88989837e-02 9.98262406e-01 -1.75461759e-03 8.23737090e+00] [ 3.58885316e-02 -3.60938056e-04 9.99355734e-01 7.35898725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:8.24, Z:7.36 [[ 9.97312931e-01 -6.38896247e-02 -3.58473685e-02 2.10949898e+02] [ 6.38677601e-02 9.97956826e-01 -1.75589036e-03 8.23693705e+00] [ 3.58863092e-02 -5.38318971e-04 9.99355734e-01 7.35992407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:8.24, Z:7.36 [[ 9.97125977e-01 -6.67439352e-02 -3.58473685e-02 2.10979915e+02] [ 6.67239137e-02 9.97769931e-01 -1.75589036e-03 8.23764124e+00] [ 3.58846214e-02 -6.41032833e-04 9.99355734e-01 7.36091184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:8.24, Z:7.36 [[ 9.96681558e-01 -7.30810256e-02 -3.58473999e-02 2.11010084e+02] [ 7.30651210e-02 9.97325627e-01 -1.75524739e-03 8.23712616e+00] [ 3.58798059e-02 -8.69771912e-04 9.99355734e-01 7.36201755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:8.24, Z:7.36 [[ 9.96437045e-01 -7.63425124e-02 -3.58473999e-02 2.11041324e+02] [ 7.63287158e-02 9.97081163e-01 -1.75524739e-03 8.23766412e+00] [ 3.58767672e-02 -9.87192479e-04 9.99355734e-01 7.36281157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:8.24, Z:7.36 [[ 9.96212057e-01 -7.92243433e-02 -3.58474606e-02 2.11073412e+02] [ 7.92124544e-02 9.96856214e-01 -1.75400751e-03 8.23781206e+00] [ 3.58737239e-02 -1.09220191e-03 9.99355734e-01 7.36349270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:8.24, Z:7.36 [[ 9.95694228e-01 -8.54865750e-02 -3.58475868e-02 2.11104374e+02] [ 8.54788294e-02 9.96338448e-01 -1.75142382e-03 8.23655957e+00] [ 3.58660522e-02 -1.32032717e-03 9.99355734e-01 7.36344816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:8.23, Z:7.36 [[ 9.95740415e-01 -8.49468586e-02 -3.58476808e-02 2.11139813e+02] [ 8.49388331e-02 9.96384632e-01 -1.74949835e-03 8.23315702e+00] [ 3.58666926e-02 -1.30281397e-03 9.99355734e-01 7.36096382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:8.24, Z:7.37 [[ 9.94885304e-01 -9.44293198e-02 -3.58655087e-02 2.11167456e+02] [ 9.44406772e-02 9.95529533e-01 -1.38112555e-03 8.23718114e+00] [ 3.58355919e-02 -2.01310142e-03 9.99355671e-01 7.36548650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:8.24, Z:7.37 [[ 9.94654677e-01 -9.68349662e-02 -3.58477658e-02 2.11199415e+02] [ 9.68347780e-02 9.95298939e-01 -1.74555397e-03 8.23820922e+00] [ 3.58482740e-02 -1.73508702e-03 9.99355738e-01 7.36646981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:8.24, Z:7.37 [[ 9.94429392e-01 -9.91217065e-02 -3.58478919e-02 2.11232440e+02] [ 9.91230929e-02 9.95073653e-01 -1.74296066e-03 8.23916518e+00] [ 3.58440580e-02 -1.82010261e-03 9.99355738e-01 7.36756589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:8.24, Z:7.37 [[ 9.94228143e-01 -1.01120297e-01 -3.58480832e-02 2.11264305e+02] [ 1.01123120e-01 9.94872399e-01 -1.73901808e-03 8.24029662e+00] [ 3.58401185e-02 -1.89608929e-03 9.99355738e-01 7.36873894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:8.24, Z:7.37 [[ 9.93845878e-01 -1.04810611e-01 -3.58483856e-02 2.11296585e+02] [ 1.04816051e-01 9.94490117e-01 -1.73276187e-03 8.24139591e+00] [ 3.58324770e-02 -2.03538796e-03 9.99355738e-01 7.36981315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:8.24, Z:7.37 [[ 9.93857070e-01 -1.04704380e-01 -3.58485411e-02 2.11330068e+02] [ 1.04709867e-01 9.94501308e-01 -1.72953853e-03 8.24292039e+00] [ 3.58325113e-02 -2.03478188e-03 9.99355738e-01 7.37101589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:8.24, Z:7.37 [[ 9.93868251e-01 -1.04598127e-01 -3.58487255e-02 2.11363551e+02] [ 1.04603683e-01 9.94512489e-01 -1.72570844e-03 8.24444098e+00] [ 3.58325111e-02 -2.03478187e-03 9.99355738e-01 7.37221844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:8.25, Z:7.37 [[ 9.93612560e-01 -1.06999705e-01 -3.58489094e-02 2.11396065e+02] [ 1.07006956e-01 9.94256781e-01 -1.72187833e-03 8.24587009e+00] [ 3.58272618e-02 -2.12520273e-03 9.99355738e-01 7.37364655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:8.25, Z:7.38 [[ 9.93524522e-01 -1.07814040e-01 -3.58490981e-02 2.11428905e+02] [ 1.07821960e-01 9.94168735e-01 -1.71794068e-03 8.24752475e+00] [ 3.58252706e-02 -2.15850383e-03 9.99355738e-01 7.37510340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:8.25, Z:7.38 [[ 9.93464997e-01 -1.08361104e-01 -3.58492886e-02 2.11460896e+02] [ 1.08369522e-01 9.94109204e-01 -1.71395677e-03 8.24906059e+00] [ 3.58238340e-02 -2.18221422e-03 9.99355738e-01 7.37613999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:8.25, Z:7.38 [[ 9.93456609e-01 -1.08437922e-01 -3.58494461e-02 2.11493665e+02] [ 1.08446508e-01 9.94100814e-01 -1.71065592e-03 8.25031031e+00] [ 3.58234635e-02 -2.18828481e-03 9.99355738e-01 7.37700389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:8.25, Z:7.38 [[ 9.93455278e-01 -1.08450058e-01 -3.58496343e-02 2.11525830e+02] [ 1.08458795e-01 9.94099480e-01 -1.70670333e-03 8.25157217e+00] [ 3.58231949e-02 -2.19267470e-03 9.99355738e-01 7.37704927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:8.25, Z:7.37 [[ 9.93848309e-01 -1.04787028e-01 -3.58499365e-02 2.11561847e+02] [ 1.04793619e-01 9.94492537e-01 -1.70033159e-03 8.24912865e+00] [ 3.58306670e-02 -2.06697290e-03 9.99355738e-01 7.37432056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:8.25, Z:7.38 [[ 9.93455685e-01 -1.08439589e-01 -3.58699989e-02 2.11588850e+02] [ 1.08463892e-01 9.94099574e-01 -1.27344653e-03 8.25487975e+00] [ 3.57964427e-02 -2.62548700e-03 9.99355653e-01 7.37848071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:8.26, Z:7.38 [[ 9.93485464e-01 -1.08172969e-01 -3.58502685e-02 2.11620659e+02] [ 1.08182067e-01 9.94129659e-01 -1.69164942e-03 8.25682228e+00] [ 3.58228060e-02 -2.19772702e-03 9.99355741e-01 7.37897436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:8.26, Z:7.38 [[ 9.93516410e-01 -1.07888323e-01 -3.58504213e-02 2.11652316e+02] [ 1.07897353e-01 9.94160606e-01 -1.68840636e-03 8.25978096e+00] [ 3.58232359e-02 -2.19070613e-03 9.99355741e-01 7.37930478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:8.26, Z:7.38 [[ 9.93570301e-01 -1.07390853e-01 -3.58505424e-02 2.11684181e+02] [ 1.07399652e-01 9.94214500e-01 -1.68582984e-03 8.26196834e+00] [ 3.58241718e-02 -2.17534534e-03 9.99355741e-01 7.38036660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:8.26, Z:7.38 [[ 9.93657463e-01 -1.06581305e-01 -3.58506931e-02 2.11717509e+02] [ 1.06589696e-01 9.94301667e-01 -1.68261953e-03 8.26417413e+00] [ 3.58257397e-02 -2.14936702e-03 9.99355741e-01 7.38180731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:8.27, Z:7.38 [[ 9.93920616e-01 -1.04098629e-01 -3.58508727e-02 2.11750515e+02] [ 1.04105548e-01 9.94564838e-01 -1.67878355e-03 8.26755376e+00] [ 3.58307765e-02 -2.06369716e-03 9.99355741e-01 7.38408675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:8.27, Z:7.38 [[ 9.94121503e-01 -1.02162321e-01 -3.58510553e-02 2.11782104e+02] [ 1.02168126e-01 9.94765736e-01 -1.67487468e-03 8.27001254e+00] [ 3.58345105e-02 -1.99780620e-03 9.99355741e-01 7.38487788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:8.27, Z:7.39 [[ 9.94381007e-01 -9.96047392e-02 -3.58512062e-02 2.11813355e+02] [ 9.96090027e-02 9.95025252e-01 -1.67163912e-03 8.27244709e+00] [ 3.58393587e-02 -1.90885670e-03 9.99355741e-01 7.38563196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:8.28, Z:7.39 [[ 9.94653163e-01 -9.68492088e-02 -3.58512934e-02 2.11846551e+02] [ 9.68517545e-02 9.95297418e-01 -1.66976815e-03 8.27524192e+00] [ 3.58444154e-02 -1.81142049e-03 9.99355741e-01 7.38806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:8.28, Z:7.39 [[ 9.95298789e-01 -8.99721765e-02 -3.58514774e-02 2.11878146e+02] [ 8.99704118e-02 9.95943046e-01 -1.66580641e-03 8.28028093e+00] [ 3.58559059e-02 -1.56759709e-03 9.99355741e-01 7.38959741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:8.28, Z:7.39 [[ 9.95624110e-01 -8.62976298e-02 -3.58517794e-02 2.11910378e+02] [ 8.62937215e-02 9.96268358e-01 -1.65928193e-03 8.28355268e+00] [ 3.58611855e-02 -1.44176237e-03 9.99355741e-01 7.39005092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:8.29, Z:7.39 [[ 9.95959137e-01 -8.23409740e-02 -3.58519294e-02 2.11941950e+02] [ 8.23346226e-02 9.96603365e-01 -1.65603425e-03 8.28660332e+00] [ 3.58665130e-02 -1.30251264e-03 9.99355741e-01 7.39112849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:8.29, Z:7.39 [[ 9.96259633e-01 -7.86217170e-02 -3.58520415e-02 2.11974217e+02] [ 7.86130477e-02 9.96903834e-01 -1.65360428e-03 8.28948530e+00] [ 3.58710468e-02 -1.17101905e-03 9.99355741e-01 7.39239012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:8.29, Z:7.39 [[ 9.96771392e-01 -7.18429946e-02 -3.58521535e-02 2.12005719e+02] [ 7.18300308e-02 9.97415520e-01 -1.65117310e-03 8.29298430e+00] [ 3.58781195e-02 -9.29419181e-04 9.99355741e-01 7.39363409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:8.30, Z:7.40 [[ 9.96972743e-01 -6.89924619e-02 -3.58523330e-02 2.12037670e+02] [ 6.89777967e-02 9.97616835e-01 -1.64726582e-03 8.29527703e+00] [ 3.58805399e-02 -8.30735817e-04 9.99355741e-01 7.39524980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:8.30, Z:7.40 [[ 9.97254579e-01 -6.47912550e-02 -3.58524536e-02 2.12068747e+02] [ 6.47739706e-02 9.97898606e-01 -1.64463728e-03 8.29826238e+00] [ 3.58836715e-02 -6.82183715e-04 9.99355741e-01 7.39534755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:8.30, Z:7.40 [[ 9.97351397e-01 -6.32833743e-02 -3.58525432e-02 2.12099989e+02] [ 6.32651865e-02 9.97995400e-01 -1.64268026e-03 8.30055131e+00] [ 3.58846276e-02 -6.29888382e-04 9.99355741e-01 7.39607939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:8.30, Z:7.40 [[ 9.97412071e-01 -6.23197485e-02 -3.58526024e-02 2.12131004e+02] [ 6.23009850e-02 9.98056057e-01 -1.64138782e-03 8.30257644e+00] [ 3.58851979e-02 -5.96512416e-04 9.99355741e-01 7.39651667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:8.30, Z:7.40 [[ 9.97461272e-01 -6.15272093e-02 -3.58526611e-02 2.12161588e+02] [ 6.15079802e-02 9.98105244e-01 -1.64010543e-03 8.30389370e+00] [ 3.58856401e-02 -5.69283120e-04 9.99355741e-01 7.39619142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:8.31, Z:7.40 [[ 9.97465421e-01 -6.14598470e-02 -3.58527595e-02 2.12192390e+02] [ 6.14406518e-02 9.98109395e-01 -1.63795052e-03 8.30507691e+00] [ 3.58856443e-02 -5.69017906e-04 9.99355741e-01 7.39622458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:8.31, Z:7.40 [[ 9.97448231e-01 -6.17382020e-02 -3.58527595e-02 2.12222504e+02] [ 6.17191865e-02 9.98092210e-01 -1.63795052e-03 8.30615300e+00] [ 3.58854841e-02 -5.79032298e-04 9.99355741e-01 7.39717568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:8.31, Z:7.40 [[ 9.97437036e-01 -6.19188030e-02 -3.58527595e-02 2.12252925e+02] [ 6.18999041e-02 9.98081018e-01 -1.63795052e-03 8.30745390e+00] [ 3.58853786e-02 -5.85529860e-04 9.99355741e-01 7.39839420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:8.31, Z:7.40 [[ 9.97418361e-01 -6.22189145e-02 -3.58527595e-02 2.12282752e+02] [ 6.22002094e-02 9.98062348e-01 -1.63795052e-03 8.30885625e+00] [ 3.58852008e-02 -5.96327223e-04 9.99355741e-01 7.39934096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:8.31, Z:7.40 [[ 9.97383992e-01 -6.27674367e-02 -3.58527663e-02 2.12312717e+02] [ 6.27490911e-02 9.98027990e-01 -1.63780129e-03 8.31077728e+00] [ 3.58848649e-02 -6.16211711e-04 9.99355741e-01 7.40198273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:8.31, Z:7.40 [[ 9.97342222e-01 -6.34276827e-02 -3.58527663e-02 2.12343406e+02] [ 6.34097634e-02 9.97986232e-01 -1.63780129e-03 8.31250017e+00] [ 3.58844491e-02 -6.39967050e-04 9.99355741e-01 7.40394624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:8.31, Z:7.41 [[ 9.97291074e-01 -6.42268856e-02 -3.58527663e-02 2.12373374e+02] [ 6.42094824e-02 9.97935098e-01 -1.63780129e-03 8.31366838e+00] [ 3.58839248e-02 -6.68722960e-04 9.99355741e-01 7.40586334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:8.31, Z:7.41 [[ 9.97151985e-01 -6.63513016e-02 -3.58527956e-02 2.12404421e+02] [ 6.63352934e-02 9.97796046e-01 -1.63716113e-03 8.31401471e+00] [ 3.58824054e-02 -7.45807244e-04 9.99355741e-01 7.40817387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:8.31, Z:7.41 [[ 9.97053091e-01 -6.78211354e-02 -3.58528539e-02 2.12434916e+02] [ 6.78061226e-02 9.97697175e-01 -1.63588168e-03 8.31479212e+00] [ 3.58812384e-02 -7.99982124e-04 9.99355741e-01 7.40927868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:8.32, Z:7.41 [[ 9.96949830e-01 -6.93224930e-02 -3.58528829e-02 2.12467293e+02] [ 6.93084730e-02 9.97593936e-01 -1.63524698e-03 8.31558926e+00] [ 3.58799780e-02 -8.54649371e-04 9.99355741e-01 7.41086517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:8.32, Z:7.41 [[ 9.96831811e-01 -7.09993226e-02 -3.58530010e-02 2.12498778e+02] [ 7.09864793e-02 9.97475942e-01 -1.63265329e-03 8.31645681e+00] [ 3.58784232e-02 -9.17597575e-04 9.99355741e-01 7.41221285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:8.32, Z:7.41 [[ 9.96570392e-01 -7.45788768e-02 -3.58530891e-02 2.12530763e+02] [ 7.45684166e-02 9.97214567e-01 -1.63071531e-03 8.31686268e+00] [ 3.58748397e-02 -1.04838549e-03 9.99355741e-01 7.41304029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:8.32, Z:7.41 [[ 9.96447116e-01 -7.62082234e-02 -3.58532057e-02 2.12561751e+02] [ 7.61989086e-02 9.97091307e-01 -1.62814915e-03 8.31730662e+00] [ 3.58729981e-02 -1.10961062e-03 9.99355741e-01 7.41372607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:8.32, Z:7.41 [[ 9.96336190e-01 -7.76449491e-02 -3.58532925e-02 2.12594032e+02] [ 7.76366320e-02 9.96980395e-01 -1.62623565e-03 8.31767680e+00] [ 3.58712987e-02 -1.16325144e-03 9.99355741e-01 7.41496413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:8.32, Z:7.42 [[ 9.96247195e-01 -7.87785454e-02 -3.58534103e-02 2.12625640e+02] [ 7.87710548e-02 9.96891411e-01 -1.62363365e-03 8.31782649e+00] [ 3.58698643e-02 -1.20667048e-03 9.99355741e-01 7.41532968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:8.32, Z:7.42 [[ 9.96058019e-01 -8.11353307e-02 -3.58535929e-02 2.12658343e+02] [ 8.11295096e-02 9.96702252e-01 -1.61959089e-03 8.31795922e+00] [ 3.58667629e-02 -1.29557792e-03 9.99355741e-01 7.41667574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:8.32, Z:7.42 [[ 9.95995046e-01 -8.19046861e-02 -3.58537383e-02 2.12690776e+02] [ 8.18994785e-02 9.96639284e-01 -1.61636696e-03 8.31920452e+00] [ 3.58656321e-02 -1.32650898e-03 9.99355741e-01 7.41819540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:8.32, Z:7.42 [[ 9.95997249e-01 -8.18778427e-02 -3.58538550e-02 2.12721556e+02] [ 8.18727110e-02 9.96641488e-01 -1.61377321e-03 8.32034229e+00] [ 3.58655717e-02 -1.32813863e-03 9.99355741e-01 7.41938607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:8.32, Z:7.42 [[ 9.96044405e-01 -8.13021418e-02 -3.58539419e-02 2.12754135e+02] [ 8.12967072e-02 9.96688641e-01 -1.61184131e-03 8.32165529e+00] [ 3.58662627e-02 -1.30934190e-03 9.99355741e-01 7.42085421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:8.32, Z:7.42 [[ 9.96133973e-01 -8.01972190e-02 -3.58540554e-02 2.12785337e+02] [ 8.01911608e-02 9.96778204e-01 -1.60931073e-03 8.32264248e+00] [ 3.58676032e-02 -1.27208924e-03 9.99355741e-01 7.42182859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:8.32, Z:7.42 [[ 9.96226883e-01 -7.90346623e-02 -3.58541400e-02 2.12817170e+02] [ 7.90279200e-02 9.96871107e-01 -1.60742458e-03 8.32380651e+00] [ 3.58689985e-02 -1.23211853e-03 9.99355741e-01 7.42364704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:8.33, Z:7.42 [[ 9.96521294e-01 -7.52315336e-02 -3.58542564e-02 2.12848304e+02] [ 7.52224259e-02 9.97165488e-01 -1.60482501e-03 8.32562899e+00] [ 3.58733605e-02 -1.09780185e-03 9.99355741e-01 7.42455611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:8.33, Z:7.43 [[ 9.96676774e-01 -7.31428326e-02 -3.58543430e-02 2.12880153e+02] [ 7.31324445e-02 9.97320950e-01 -1.60288592e-03 8.32774803e+00] [ 3.58755271e-02 -1.02455658e-03 9.99355741e-01 7.42627325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:8.33, Z:7.43 [[ 9.96818712e-01 -7.11822518e-02 -3.58544541e-02 2.12911861e+02] [ 7.11706860e-02 9.97462868e-01 -1.60039887e-03 8.32977047e+00] [ 3.58774066e-02 -9.56478554e-04 9.99355741e-01 7.42869446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:8.33, Z:7.43 [[ 9.96964152e-01 -6.91153401e-02 -3.58545696e-02 2.12944116e+02] [ 6.91025320e-02 9.97608283e-01 -1.59780645e-03 8.33154462e+00] [ 3.58792485e-02 -8.84685787e-04 9.99355741e-01 7.43019965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:8.33, Z:7.43 [[ 9.97151436e-01 -6.63585358e-02 -3.58546844e-02 2.12974411e+02] [ 6.63440394e-02 9.97795532e-01 -1.59522690e-03 8.33315756e+00] [ 3.58815008e-02 -7.88061802e-04 9.99355741e-01 7.43094294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:8.33, Z:7.43 [[ 9.97205514e-01 -6.55408381e-02 -3.58547127e-02 2.13005374e+02] [ 6.55258365e-02 9.97849599e-01 -1.59458904e-03 8.33416840e+00] [ 3.58821214e-02 -7.59277058e-04 9.99355741e-01 7.43224153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.04, Y:8.34, Z:7.43 [[ 9.97231185e-01 -6.51490559e-02 -3.58547697e-02 2.13035928e+02] [ 6.51338473e-02 9.97875264e-01 -1.59330657e-03 8.33518155e+00] [ 3.58823902e-02 -7.46464099e-04 9.99355741e-01 7.43297248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:8.34, Z:7.44 [[ 9.97250045e-01 -6.48597024e-02 -3.58547980e-02 2.13067236e+02] [ 6.48443298e-02 9.97894121e-01 -1.59267037e-03 8.33601798e+00] [ 3.58825922e-02 -7.36689741e-04 9.99355741e-01 7.43513186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:8.34, Z:7.44 [[ 9.97229082e-01 -6.51811892e-02 -3.58548539e-02 2.13098585e+02] [ 6.51660696e-02 9.97873164e-01 -1.59140910e-03 8.33740370e+00] [ 3.58823265e-02 -7.49520472e-04 9.99355741e-01 7.43791197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:8.34, Z:7.44 [[ 9.97230405e-01 -6.51609116e-02 -3.58549116e-02 2.13128905e+02] [ 6.51458256e-02 9.97874488e-01 -1.59010942e-03 8.33860557e+00] [ 3.58823145e-02 -7.50092351e-04 9.99355741e-01 7.43879581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:8.34, Z:7.44 [[ 9.97160026e-01 -6.62291986e-02 -3.58549402e-02 2.13160031e+02] [ 6.62148258e-02 9.97804124e-01 -1.58946449e-03 8.33954903e+00] [ 3.58814761e-02 -7.89178165e-04 9.99355741e-01 7.44236614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:8.34, Z:7.44 [[ 9.97121520e-01 -6.68063817e-02 -3.58549982e-02 2.13190673e+02] [ 6.67924288e-02 9.97765628e-01 -1.58815533e-03 8.34059324e+00] [ 3.58809837e-02 -8.11258554e-04 9.99355741e-01 7.44367167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.22, Y:8.34, Z:7.45 [[ 9.97076726e-01 -6.74716206e-02 -3.58550270e-02 2.13221647e+02] [ 6.74581207e-02 9.97720844e-01 -1.58750510e-03 8.34158486e+00] [ 3.58804193e-02 -8.35848347e-04 9.99355741e-01 7.44513102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:8.34, Z:7.45 [[ 9.96970656e-01 -6.90211909e-02 -3.58550842e-02 2.13252520e+02] [ 6.90087387e-02 9.97614794e-01 -1.58621024e-03 8.34245383e+00] [ 3.58790446e-02 -8.92909070e-04 9.99355741e-01 7.44699929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:8.34, Z:7.45 [[ 9.96795061e-01 -7.15130838e-02 -3.58536683e-02 2.13283572e+02] [ 7.15010932e-02 9.97439209e-01 -1.61816517e-03 8.34437575e+00] [ 3.58775745e-02 -9.50597431e-04 9.99355740e-01 7.44835033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:8.35, Z:7.45 [[ 9.96559185e-01 -7.47275327e-02 -3.58550917e-02 2.13315763e+02] [ 7.47187763e-02 9.97203384e-01 -1.58598696e-03 8.34584468e+00] [ 3.58733357e-02 -1.09851870e-03 9.99355741e-01 7.45084954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:8.35, Z:7.45 [[ 9.96567399e-01 -7.46185348e-02 -3.58537864e-02 2.13348416e+02] [ 7.46086478e-02 9.97211582e-01 -1.61548070e-03 8.34724921e+00] [ 3.58743559e-02 -1.06506712e-03 9.99355741e-01 7.45203278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:8.35, Z:7.45 [[ 9.96247031e-01 -7.87803736e-02 -3.58539634e-02 2.13378351e+02] [ 7.87733212e-02 9.96891251e-01 -1.61147830e-03 8.35001469e+00] [ 3.58694553e-02 -1.21890531e-03 9.99355741e-01 7.45272156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:8.35, Z:7.45 [[ 9.96077388e-01 -8.09005373e-02 -3.58460627e-02 2.13410377e+02] [ 8.08884630e-02 9.96721553e-01 -1.78932698e-03 8.35023387e+00] [ 3.58733008e-02 -1.11722477e-03 9.99355722e-01 7.45386559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:8.35, Z:7.46 [[ 9.95768472e-01 -8.46141861e-02 -3.58551345e-02 2.13442705e+02] [ 8.46118950e-02 9.96412725e-01 -1.58399608e-03 8.35161074e+00] [ 3.58605408e-02 -1.45647752e-03 9.99355743e-01 7.45566864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:8.35, Z:7.46 [[ 9.95485301e-01 -8.78829696e-02 -3.58552487e-02 2.13474822e+02] [ 8.78828867e-02 9.96129559e-01 -1.58140857e-03 8.35295066e+00] [ 3.58554519e-02 -1.57679377e-03 9.99355743e-01 7.45664912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.51, Y:8.35, Z:7.46 [[ 9.94857791e-01 -9.47225850e-02 -3.58553624e-02 2.13505767e+02] [ 9.47270227e-02 9.95502033e-01 -1.57882433e-03 8.35461438e+00] [ 3.58436365e-02 -1.82576605e-03 9.99355743e-01 7.45675760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.54, Y:8.36, Z:7.46 [[ 9.94544349e-01 -9.79587874e-02 -3.58554472e-02 2.13538272e+02] [ 9.79653904e-02 9.95188573e-01 -1.57689660e-03 8.35638854e+00] [ 3.58374022e-02 -1.94429928e-03 9.99355743e-01 7.45767968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:8.36, Z:7.46 [[ 9.94220613e-01 -1.01191663e-01 -3.58555555e-02 2.13570071e+02] [ 1.01200449e-01 9.94864810e-01 -1.57443132e-03 8.35825983e+00] [ 3.58307497e-02 -2.06326624e-03 9.99355743e-01 7.45947220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:8.36, Z:7.46 [[ 9.94000655e-01 -1.03329900e-01 -3.58556690e-02 2.13601544e+02] [ 1.03340165e-01 9.94644831e-01 -1.57184102e-03 8.35977649e+00] [ 3.58260740e-02 -2.14291974e-03 9.99355743e-01 7.45946226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:8.36, Z:7.46 [[ 9.93674253e-01 -1.06422945e-01 -3.58557535e-02 2.13633433e+02] [ 1.06435284e-01 9.94318393e-01 -1.56991064e-03 8.36232266e+00] [ 3.58191097e-02 -2.25633752e-03 9.99355743e-01 7.46002669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:8.36, Z:7.46 [[ 9.93589956e-01 -1.07207071e-01 -3.58558639e-02 2.13665971e+02] [ 1.07220009e-01 9.94234084e-01 -1.56738646e-03 8.36442422e+00] [ 3.58171569e-02 -2.28712661e-03 9.99355743e-01 7.46122021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:8.37, Z:7.46 [[ 9.93571988e-01 -1.07373415e-01 -3.58560339e-02 2.13698567e+02] [ 1.07386601e-01 9.94216110e-01 -1.56348831e-03 8.36657157e+00] [ 3.58165236e-02 -2.29701940e-03 9.99355743e-01 7.46231634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:8.37, Z:7.46 [[ 9.93634830e-01 -1.06790248e-01 -3.58562033e-02 2.13730343e+02] [ 1.06803196e-01 9.94278957e-01 -1.55959344e-03 8.36994869e+00] [ 3.58176178e-02 -2.27989075e-03 9.99355743e-01 7.46369557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:8.37, Z:7.46 [[ 9.93685286e-01 -1.06319692e-01 -3.58563155e-02 2.13761127e+02] [ 1.06332427e-01 9.94329418e-01 -1.55700912e-03 8.37253898e+00] [ 3.58185300e-02 -2.26551201e-03 9.99355743e-01 7.46371747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:8.38, Z:7.47 [[ 9.93776308e-01 -1.05465485e-01 -3.58563989e-02 2.13794201e+02] [ 1.05477736e-01 9.94420449e-01 -1.55508501e-03 8.37518054e+00] [ 3.58203441e-02 -2.23664515e-03 9.99355743e-01 7.46588167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:8.38, Z:7.47 [[ 9.93958300e-01 -1.03736231e-01 -3.58565648e-02 2.13827451e+02] [ 1.03747499e-01 9.94602458e-01 -1.55125205e-03 8.37937121e+00] [ 3.58239485e-02 -2.17814906e-03 9.99355743e-01 7.46699839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:8.38, Z:7.47 [[ 9.94043923e-01 -1.02912453e-01 -3.58567305e-02 2.13860215e+02] [ 1.02923326e-01 9.94688089e-01 -1.54741066e-03 8.38231730e+00] [ 3.58255106e-02 -2.15229980e-03 9.99355743e-01 7.46865585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:8.39, Z:7.47 [[ 9.94130487e-01 -1.02072805e-01 -3.58568981e-02 2.13891701e+02] [ 1.02083273e-01 9.94774659e-01 -1.54351780e-03 8.38551001e+00] [ 3.58270848e-02 -2.12593141e-03 9.99355743e-01 7.46853908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:8.39, Z:7.47 [[ 9.94234835e-01 -1.01051266e-01 -3.58571464e-02 2.13924880e+02] [ 1.01061280e-01 9.94879014e-01 -1.53772757e-03 8.38900830e+00] [ 3.58289118e-02 -2.09490680e-03 9.99355743e-01 7.47219625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.96, Y:8.39, Z:7.47 [[ 9.94446022e-01 -9.89513132e-02 -3.58573130e-02 2.13956730e+02] [ 9.89601071e-02 9.95090219e-01 -1.53383467e-03 8.39468330e+00] [ 3.58330364e-02 -2.02312774e-03 9.99355743e-01 7.47351737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:8.40, Z:7.48 [[ 9.94591878e-01 -9.74743030e-02 -3.58574505e-02 2.13989392e+02] [ 9.74822559e-02 9.95236086e-01 -1.53061188e-03 8.39822159e+00] [ 3.58358240e-02 -1.97313103e-03 9.99355743e-01 7.47593094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:8.40, Z:7.48 [[ 9.94761678e-01 -9.57258304e-02 -3.58576203e-02 2.14021227e+02] [ 9.57327942e-02 9.95405898e-01 -1.52662312e-03 8.40177269e+00] [ 3.58390240e-02 -1.91412401e-03 9.99355743e-01 7.47688898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:8.41, Z:7.48 [[ 9.95182539e-01 -9.12465660e-02 -3.58577606e-02 2.14053364e+02] [ 9.12507482e-02 9.95826782e-01 -1.52332191e-03 8.40816097e+00] [ 3.58471162e-02 -1.75606412e-03 9.99355743e-01 7.47810635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:8.41, Z:7.48 [[ 9.95442665e-01 -8.83635240e-02 -3.58578979e-02 2.14085917e+02] [ 8.83659565e-02 9.96086917e-01 -1.52008400e-03 8.41216772e+00] [ 3.58519029e-02 -1.65546097e-03 9.99355743e-01 7.47985092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:8.42, Z:7.48 [[ 9.95727698e-01 -8.50914249e-02 -3.58580628e-02 2.14117999e+02] [ 8.50918802e-02 9.96371955e-01 -1.51618399e-03 8.41597947e+00] [ 3.58569824e-02 -1.54152358e-03 9.99355743e-01 7.48070406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:8.42, Z:7.48 [[ 9.96027125e-01 -8.15116871e-02 -3.58581991e-02 2.14151321e+02] [ 8.15099426e-02 9.96671380e-01 -1.51295361e-03 8.41994072e+00] [ 3.58621641e-02 -1.41585691e-03 9.99355743e-01 7.48219895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:8.43, Z:7.48 [[ 9.96610696e-01 -7.40357942e-02 -3.58583587e-02 2.14184331e+02] [ 7.40293521e-02 9.97254921e-01 -1.50915927e-03 8.42589245e+00] [ 3.58716565e-02 -1.15052680e-03 9.99355743e-01 7.48435537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.22, Y:8.43, Z:7.49 [[ 9.96889688e-01 -7.01791761e-02 -3.58585212e-02 2.14216841e+02] [ 7.01703805e-02 9.97533885e-01 -1.50528900e-03 8.42935035e+00] [ 3.58757299e-02 -1.01559899e-03 9.99355743e-01 7.48536109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.25, Y:8.43, Z:7.49 [[ 9.97139747e-01 -6.65318227e-02 -3.58586286e-02 2.14249087e+02] [ 6.65207626e-02 9.97783909e-01 -1.50272596e-03 8.43267027e+00] [ 3.58791418e-02 -8.86915538e-04 9.99355743e-01 7.48661116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:8.44, Z:7.49 [[ 9.97382893e-01 -6.27814967e-02 -3.58587363e-02 2.14279758e+02] [ 6.27681068e-02 9.98027011e-01 -1.50015210e-03 8.43605017e+00] [ 3.58821692e-02 -7.54558951e-04 9.99355743e-01 7.48759204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:8.44, Z:7.49 [[ 9.97719183e-01 -5.71889060e-02 -3.58589151e-02 2.14311447e+02] [ 5.71720592e-02 9.98363219e-01 -1.49586547e-03 8.44150724e+00] [ 3.58857689e-02 -5.57674345e-04 9.99355743e-01 7.48885536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:8.44, Z:7.49 [[ 9.97825722e-01 -5.52988218e-02 -3.58590217e-02 2.14342242e+02] [ 5.52808470e-02 9.98469728e-01 -1.49330696e-03 8.44429772e+00] [ 3.58867257e-02 -4.92256995e-04 9.99355743e-01 7.48952752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:8.45, Z:7.49 [[ 9.97897614e-01 -5.39859044e-02 -3.58590744e-02 2.14373235e+02] [ 5.39671279e-02 9.98541598e-01 -1.49203885e-03 8.44679143e+00] [ 3.58873266e-02 -4.46309246e-04 9.99355743e-01 7.49003282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:8.45, Z:7.49 [[ 9.97936104e-01 -5.32696475e-02 -3.58591270e-02 2.14404246e+02] [ 5.32504542e-02 9.98580075e-01 -1.49077468e-03 8.44930808e+00] [ 3.58876228e-02 -4.21816924e-04 9.99355743e-01 7.49103907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.44, Y:8.45, Z:7.49 [[ 9.97907879e-01 -5.37957728e-02 -3.58591793e-02 2.14435522e+02] [ 5.37769642e-02 9.98551861e-01 -1.48951507e-03 8.45031051e+00] [ 3.58873799e-02 -4.41998981e-04 9.99355743e-01 7.49186389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:8.45, Z:7.49 [[ 9.97847049e-01 -5.49124917e-02 -3.58592320e-02 2.14466932e+02] [ 5.48944495e-02 9.98491054e-01 -1.48824471e-03 8.45093385e+00] [ 3.58868456e-02 -4.83432210e-04 9.99355743e-01 7.49306931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:8.45, Z:7.49 [[ 9.97665022e-01 -5.81258674e-02 -3.58592854e-02 2.14497296e+02] [ 5.81099455e-02 9.98309082e-01 -1.48695869e-03 8.44988798e+00] [ 3.58850810e-02 -6.00294442e-04 9.99355743e-01 7.49351493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.53, Y:8.45, Z:7.50 [[ 9.97550185e-01 -6.00644478e-02 -3.58593118e-02 2.14529199e+02] [ 6.00498005e-02 9.98194276e-01 -1.48632042e-03 8.45000639e+00] [ 3.58838348e-02 -6.70665306e-04 9.99355743e-01 7.49554737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.56, Y:8.45, Z:7.50 [[ 9.97428041e-01 -6.20596829e-02 -3.58594187e-02 2.14561104e+02] [ 6.20464167e-02 9.98072162e-01 -1.48373835e-03 8.45050696e+00] [ 3.58823678e-02 -7.45026198e-04 9.99355743e-01 7.49755133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:8.45, Z:7.50 [[ 9.97306248e-01 -6.39870503e-02 -3.58595266e-02 2.14593223e+02] [ 6.39751227e-02 9.97950395e-01 -1.48112533e-03 8.45101014e+00] [ 3.58808015e-02 -8.16982066e-04 9.99355743e-01 7.49950202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:8.45, Z:7.50 [[ 9.97181317e-01 -6.59052975e-02 -3.58596338e-02 2.14624289e+02] [ 6.58947025e-02 9.97825487e-01 -1.47852427e-03 8.45178030e+00] [ 3.58790992e-02 -8.88603121e-04 9.99355743e-01 7.49975019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.65, Y:8.45, Z:7.50 [[ 9.97017664e-01 -6.83363681e-02 -3.58597136e-02 2.14654887e+02] [ 6.83274134e-02 9.97661859e-01 -1.47658571e-03 8.45230697e+00] [ 3.58767731e-02 -9.78019442e-04 9.99355743e-01 7.49884071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:8.45, Z:7.50 [[ 9.96898031e-01 -7.00644467e-02 -3.58509216e-02 2.14688393e+02] [ 7.00489433e-02 9.97542124e-01 -1.68986766e-03 8.45231980e+00] [ 3.58812042e-02 -8.26693435e-04 9.99355720e-01 7.50376800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:8.45, Z:7.51 [[ 9.96805668e-01 -7.13619200e-02 -3.58599462e-02 2.14720236e+02] [ 7.13551682e-02 9.97449888e-01 -1.46969254e-03 8.45249748e+00] [ 3.58733794e-02 -1.09379463e-03 9.99355745e-01 7.50566498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:8.45, Z:7.51 [[ 9.96663617e-01 -7.33191041e-02 -3.58600530e-02 2.14751036e+02] [ 7.33137110e-02 9.97307850e-01 -1.46708312e-03 8.45107944e+00] [ 3.58710776e-02 -1.16684519e-03 9.99355745e-01 7.50753613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:8.45, Z:7.51 [[ 9.96601141e-01 -7.41633992e-02 -3.58602202e-02 2.14783430e+02] [ 7.41586992e-02 9.97245380e-01 -1.46298316e-03 8.45074716e+00] [ 3.58699388e-02 -1.20133660e-03 9.99355745e-01 7.50838746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:8.45, Z:7.51 [[ 9.96557715e-01 -7.47446155e-02 -3.58603247e-02 2.14816091e+02] [ 7.47403834e-02 9.97201957e-01 -1.46041864e-03 8.45059461e+00] [ 3.58691444e-02 -1.22482295e-03 9.99355745e-01 7.50916624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:8.45, Z:7.51 [[ 9.96535724e-01 -7.50371876e-02 -3.58604283e-02 2.14848692e+02] [ 7.50332363e-02 9.97179968e-01 -1.45786938e-03 8.44986439e+00] [ 3.58686952e-02 -1.23790507e-03 9.99355745e-01 7.51054599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:8.45, Z:7.51 [[ 9.96517770e-01 -7.52751987e-02 -3.58605322e-02 2.14881272e+02] [ 7.52714932e-02 9.97162015e-01 -1.45530942e-03 8.45041179e+00] [ 3.58683093e-02 -1.24903411e-03 9.99355745e-01 7.51226567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:8.45, Z:7.51 [[ 9.96514915e-01 -7.53129451e-02 -3.58606371e-02 2.14913801e+02] [ 7.53093571e-02 9.97159160e-01 -1.45272124e-03 8.45101682e+00] [ 3.58681714e-02 -1.25298314e-03 9.99355745e-01 7.51327585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:8.45, Z:7.51 [[ 9.96508820e-01 -7.53934939e-02 -3.58607415e-02 2.14945767e+02] [ 7.53900509e-02 9.97153066e-01 -1.45013770e-03 8.45158115e+00] [ 3.58679793e-02 -1.25846812e-03 9.99355745e-01 7.51405533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:8.45, Z:7.51 [[ 9.96525398e-01 -7.51740068e-02 -3.58608452e-02 2.14977036e+02] [ 7.51705141e-02 9.97169644e-01 -1.44757072e-03 8.45089432e+00] [ 3.58681659e-02 -1.25313718e-03 9.99355745e-01 7.51312443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:8.45, Z:7.51 [[ 9.96554640e-01 -7.47853217e-02 -3.58609222e-02 2.15009157e+02] [ 7.47816464e-02 9.97198885e-01 -1.44565840e-03 8.45114591e+00] [ 3.58685857e-02 -1.24106122e-03 9.99355745e-01 7.51327486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:8.45, Z:7.51 [[ 9.96596041e-01 -7.42315223e-02 -3.58610239e-02 2.15040288e+02] [ 7.42275799e-02 9.97240284e-01 -1.44313308e-03 8.45163121e+00] [ 3.58691836e-02 -1.22365630e-03 9.99355745e-01 7.51335215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:8.45, Z:7.51 [[ 9.96670742e-01 -7.32216712e-02 -3.58610994e-02 2.15072019e+02] [ 7.32171434e-02 9.97314982e-01 -1.44125314e-03 8.45234925e+00] [ 3.58703427e-02 -1.18919242e-03 9.99355745e-01 7.51430900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:8.45, Z:7.52 [[ 9.96882548e-01 -7.02791624e-02 -3.58611987e-02 2.15103796e+02] [ 7.02728219e-02 9.97526772e-01 -1.43877772e-03 8.45323853e+00] [ 3.58736219e-02 -1.08577523e-03 9.99355745e-01 7.51547797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:8.45, Z:7.52 [[ 9.97025228e-01 -6.82250762e-02 -3.58613002e-02 2.15136375e+02] [ 6.82174994e-02 9.97669439e-01 -1.43624426e-03 8.45443212e+00] [ 3.58757111e-02 -1.01439646e-03 9.99355745e-01 7.51597718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:8.46, Z:7.52 [[ 9.97193071e-01 -6.57262454e-02 -3.58614013e-02 2.15168840e+02] [ 6.57171450e-02 9.97837262e-01 -1.43371629e-03 8.45544262e+00] [ 3.58780752e-02 -9.27016953e-04 9.99355745e-01 7.51693746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:8.46, Z:7.52 [[ 9.97558999e-01 -5.99165685e-02 -3.58615032e-02 2.15199951e+02] [ 5.99038077e-02 9.98203128e-01 -1.43116349e-03 8.45661922e+00] [ 3.58828150e-02 -7.20570566e-04 9.99355745e-01 7.51797875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:8.46, Z:7.52 [[ 9.97738754e-01 -5.68447475e-02 -3.58615789e-02 2.15230781e+02] [ 5.68300717e-02 9.98382842e-01 -1.42926325e-03 8.45810757e+00] [ 3.58848312e-02 -6.11984769e-04 9.99355745e-01 7.51983959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:8.46, Z:7.52 [[ 9.98035812e-01 -5.13659670e-02 -3.58616282e-02 2.15261932e+02] [ 5.13477996e-02 9.98679811e-01 -1.42802400e-03 8.45980089e+00] [ 3.58876359e-02 -4.16196605e-04 9.99355745e-01 7.52284891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:8.46, Z:7.52 [[ 9.98155939e-01 -4.89761285e-02 -3.58616786e-02 2.15291862e+02] [ 4.89564648e-02 9.98799894e-01 -1.42675699e-03 8.46081023e+00] [ 3.58885179e-02 -3.31535049e-04 9.99355745e-01 7.52465207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.32, Y:8.46, Z:7.53 [[ 9.98324981e-01 -4.54001582e-02 -3.58616534e-02 2.15321616e+02] [ 4.53781650e-02 9.98968861e-01 -1.42739196e-03 8.46042986e+00] [ 3.58894788e-02 -2.02334974e-04 9.99355745e-01 7.52588206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:8.46, Z:7.53 [[ 9.98313903e-01 -4.56431157e-02 -3.58616283e-02 2.15350804e+02] [ 4.56212565e-02 9.98957788e-01 -1.42802182e-03 8.46163198e+00] [ 3.58894322e-02 -2.10438503e-04 9.99355745e-01 7.52693142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.38, Y:8.46, Z:7.53 [[ 9.98349862e-01 -4.48499939e-02 -3.58612784e-02 2.15378685e+02] [ 4.48273095e-02 9.98993718e-01 -1.43675407e-03 8.46115739e+00] [ 3.58896303e-02 -1.73181404e-04 9.99355745e-01 7.52805087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:8.46, Z:7.53 [[ 9.98320115e-01 -4.55074693e-02 -3.58610911e-02 2.15407031e+02] [ 4.54850416e-02 9.98963980e-01 -1.44141371e-03 8.46128210e+00] [ 3.58895334e-02 -1.92150921e-04 9.99355745e-01 7.52920652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.44, Y:8.46, Z:7.53 [[ 9.98251280e-01 -4.69935356e-02 -3.58606928e-02 2.15435807e+02] [ 4.69717128e-02 9.98895166e-01 -1.45125662e-03 8.46130210e+00] [ 3.58892724e-02 -2.35719389e-04 9.99355745e-01 7.53003668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.46, Y:8.46, Z:7.53 [[ 9.98208450e-01 -4.78949501e-02 -3.58603445e-02 2.15464009e+02] [ 4.78734014e-02 9.98852345e-01 -1.45981249e-03 8.46123239e+00] [ 3.58891068e-02 -2.59559505e-04 9.99355745e-01 7.53145264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:8.46, Z:7.53 [[ 9.98014248e-01 -5.17885494e-02 -3.58539709e-02 2.15493992e+02] [ 5.17639267e-02 9.98658043e-01 -1.61530314e-03 8.46152086e+00] [ 3.58895106e-02 -2.43846774e-04 9.99355734e-01 7.53116604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.52, Y:8.46, Z:7.53 [[ 9.97847842e-01 -5.48976468e-02 -3.58598917e-02 2.15523667e+02] [ 5.48802155e-02 9.98491862e-01 -1.47097281e-03 8.46144863e+00] [ 3.58865630e-02 -5.00191538e-04 9.99355745e-01 7.53193587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.55, Y:8.46, Z:7.53 [[ 9.97657905e-01 -5.82475445e-02 -3.58598414e-02 2.15554169e+02] [ 5.82322315e-02 9.98301978e-01 -1.47219886e-03 8.46136297e+00] [ 3.58847026e-02 -6.19447756e-04 9.99355745e-01 7.53295971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.58, Y:8.46, Z:7.53 [[ 9.97453951e-01 -6.16416097e-02 -3.58598414e-02 2.15584792e+02] [ 6.16284882e-02 9.98098072e-01 -1.47219886e-03 8.46132451e+00] [ 3.58823873e-02 -7.41537243e-04 9.99355745e-01 7.53348420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:8.46, Z:7.53 [[ 9.97032906e-01 -6.81135165e-02 -3.58599219e-02 2.15616461e+02] [ 6.81046459e-02 9.97677100e-01 -1.47023654e-03 8.46043348e+00] [ 3.58767658e-02 -9.76353074e-04 9.99355745e-01 7.53363381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:8.46, Z:7.53 [[ 9.96820621e-01 -7.11527364e-02 -3.58599732e-02 2.15647333e+02] [ 7.11458747e-02 9.97464840e-01 -1.46898413e-03 8.46086892e+00] [ 3.58735846e-02 -1.08697548e-03 9.99355745e-01 7.53437699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:8.46, Z:7.54 [[ 9.96408028e-01 -7.67144005e-02 -3.58600499e-02 2.15679708e+02] [ 7.67112015e-02 9.97052275e-01 -1.46710925e-03 8.46052432e+00] [ 3.58668927e-02 -1.28902807e-03 9.99355745e-01 7.53592088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:8.46, Z:7.54 [[ 9.96231346e-01 -7.89756573e-02 -3.58601546e-02 2.15711037e+02] [ 7.89740126e-02 9.96875599e-01 -1.46454582e-03 8.46076462e+00] [ 3.58637765e-02 -1.37299384e-03 9.99355745e-01 7.53702230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:8.46, Z:7.54 [[ 9.95910333e-01 -8.29255816e-02 -3.58602326e-02 2.15743320e+02] [ 8.29265605e-02 9.96554588e-01 -1.46263354e-03 8.45985631e+00] [ 3.58579690e-02 -1.51711388e-03 9.99355745e-01 7.53824784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:8.46, Z:7.54 [[ 9.95769508e-01 -8.45997789e-02 -3.58603371e-02 2.15775443e+02] [ 8.46019331e-02 9.96413760e-01 -1.46006688e-03 8.45999556e+00] [ 3.58552546e-02 -1.57996376e-03 9.99355745e-01 7.53903327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.81, Y:8.46, Z:7.54 [[ 9.95577372e-01 -8.68315745e-02 -3.58604671e-02 2.15808039e+02] [ 8.68352878e-02 9.96221617e-01 -1.45686578e-03 8.45930196e+00] [ 3.58514745e-02 -1.66353138e-03 9.99355745e-01 7.54003143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.84, Y:8.46, Z:7.54 [[ 9.95528833e-01 -8.73862771e-02 -3.58605723e-02 2.15840902e+02] [ 8.73904426e-02 9.96173075e-01 -1.45427183e-03 8.46002869e+00] [ 3.58504200e-02 -1.68610174e-03 9.99355745e-01 7.54119809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:8.46, Z:7.54 [[ 9.95488311e-01 -8.78466261e-02 -3.58607318e-02 2.15873121e+02] [ 8.78512313e-02 9.96132550e-01 -1.45032739e-03 8.46091370e+00] [ 3.58494486e-02 -1.70662548e-03 9.99355745e-01 7.54239951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.91, Y:8.46, Z:7.54 [[ 9.95472286e-01 -8.80279368e-02 -3.58609903e-02 2.15906604e+02] [ 8.80328900e-02 9.96116522e-01 -1.44390888e-03 8.46167663e+00] [ 3.58488292e-02 -1.71957533e-03 9.99355745e-01 7.54415363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:8.46, Z:7.55 [[ 9.95487854e-01 -8.78516444e-02 -3.58611446e-02 2.15939957e+02] [ 8.78566216e-02 9.96132090e-01 -1.44006658e-03 8.46237788e+00] [ 3.58489491e-02 -1.71707022e-03 9.99355745e-01 7.54542269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.97, Y:8.46, Z:7.55 [[ 9.95520353e-01 -8.74825310e-02 -3.58612994e-02 2.15971640e+02] [ 8.74874083e-02 9.96164590e-01 -1.43619995e-03 8.46304819e+00] [ 3.58493990e-02 -1.70764586e-03 9.99355745e-01 7.54655905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.00, Y:8.46, Z:7.55 [[ 9.95603311e-01 -8.65332622e-02 -3.58614271e-02 2.16004913e+02] [ 8.65376401e-02 9.96247551e-01 -1.43300445e-03 8.46407946e+00] [ 3.58508615e-02 -1.67665930e-03 9.99355745e-01 7.54802135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:8.47, Z:7.55 [[ 9.95817944e-01 -8.40271976e-02 -3.58615821e-02 2.16037678e+02] [ 8.40300938e-02 9.96462192e-01 -1.42911600e-03 8.46582935e+00] [ 3.58547953e-02 -1.59031275e-03 9.99355745e-01 7.54908260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:8.47, Z:7.55 [[ 9.95989173e-01 -8.19725742e-02 -3.58617361e-02 2.16069509e+02] [ 8.19742805e-02 9.96633426e-01 -1.42524032e-03 8.46743215e+00] [ 3.58578355e-02 -1.52021609e-03 9.99355745e-01 7.54959223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:8.47, Z:7.55 [[ 9.96317815e-01 -7.78764321e-02 -3.58618632e-02 2.16101514e+02] [ 7.78756045e-02 9.96962070e-01 -1.42203472e-03 8.47008877e+00] [ 3.58636603e-02 -1.37596575e-03 9.99355745e-01 7.55042112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:8.47, Z:7.55 [[ 9.96490626e-01 -7.56330140e-02 -3.58619640e-02 2.16134092e+02] [ 7.56308274e-02 9.97134877e-01 -1.41948747e-03 8.47206660e+00] [ 3.58665752e-02 -1.29776405e-03 9.99355745e-01 7.55134583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:8.47, Z:7.55 [[ 9.96669639e-01 -7.32362084e-02 -3.58620660e-02 2.16165685e+02] [ 7.32325651e-02 9.97313884e-01 -1.41690767e-03 8.47411689e+00] [ 3.58695052e-02 -1.21408222e-03 9.99355745e-01 7.55186723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:8.48, Z:7.55 [[ 9.96998504e-01 -6.86140699e-02 -3.58621418e-02 2.16198238e+02] [ 6.86075085e-02 9.97642725e-01 -1.41498506e-03 8.47730568e+00] [ 3.58746928e-02 -1.04967421e-03 9.99355745e-01 7.55267402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:8.48, Z:7.55 [[ 9.97157308e-01 -6.62661482e-02 -3.58622417e-02 2.16230194e+02] [ 6.62581609e-02 9.97801514e-01 -1.41244916e-03 8.47945859e+00] [ 3.58769966e-02 -9.67732175e-04 9.99355745e-01 7.55404255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:8.48, Z:7.56 [[ 9.97305672e-01 -6.39944457e-02 -3.58623440e-02 2.16262358e+02] [ 6.39850844e-02 9.97949859e-01 -1.40984762e-03 8.48175630e+00] [ 3.58790435e-02 -8.88606078e-04 9.99355745e-01 7.55502844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.29, Y:8.48, Z:7.56 [[ 9.97447540e-01 -6.17437517e-02 -3.58624452e-02 2.16292835e+02] [ 6.17330295e-02 9.98091706e-01 -1.40726670e-03 8.48410270e+00] [ 3.58808991e-02 -8.10222684e-04 9.99355745e-01 7.55623239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.32, Y:8.49, Z:7.56 [[ 9.97677024e-01 -5.79175253e-02 -3.58624703e-02 2.16324095e+02] [ 5.79043554e-02 9.98321144e-01 -1.40662870e-03 8.48712797e+00] [ 3.58837308e-02 -6.73232086e-04 9.99355745e-01 7.55837335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.35, Y:8.49, Z:7.56 [[ 9.97770218e-01 -5.62891862e-02 -3.58625199e-02 2.16354300e+02] [ 5.62750105e-02 9.98414317e-01 -1.40536271e-03 8.48887366e+00] [ 3.58847600e-02 -6.15934627e-04 9.99355745e-01 7.55996221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.38, Y:8.49, Z:7.56 [[ 9.97856135e-01 -5.47449776e-02 -3.58625199e-02 2.16384810e+02] [ 5.47298052e-02 9.98500212e-01 -1.40536271e-03 8.49051351e+00] [ 3.58856702e-02 -5.60398924e-04 9.99355745e-01 7.56153425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.41, Y:8.49, Z:7.56 [[ 9.97931064e-01 -5.33616943e-02 -3.58625199e-02 2.16414186e+02] [ 5.33456291e-02 9.98575119e-01 -1.40536271e-03 8.49211680e+00] [ 3.58864126e-02 -5.10653579e-04 9.99355745e-01 7.56239921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.44, Y:8.49, Z:7.56 [[ 9.97987520e-01 -5.22952378e-02 -3.58624949e-02 2.16444603e+02] [ 5.22784614e-02 9.98631557e-01 -1.40600028e-03 8.49333086e+00] [ 3.58869462e-02 -4.71665318e-04 9.99355745e-01 7.56419088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:8.49, Z:7.56 [[ 9.98047015e-01 -5.11472112e-02 -3.58624949e-02 2.16473893e+02] [ 5.11296940e-02 9.98691032e-01 -1.40600028e-03 8.49482472e+00] [ 3.58874650e-02 -4.30384002e-04 9.99355745e-01 7.56499113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:216.50, Y:8.50, Z:7.56 [[ 9.98007894e-01 -5.19049799e-02 -3.58624694e-02 2.16500977e+02] [ 5.18879283e-02 9.98651923e-01 -1.40665111e-03 8.49778188e+00] [ 3.58871362e-02 -4.56980330e-04 9.99355745e-01 7.56412460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:8.50, Z:7.57 [[ 9.98021108e-01 -5.16583709e-02 -3.58508125e-02 2.16530768e+02] [ 5.16306061e-02 9.98664803e-01 -1.70043808e-03 8.49680017e+00] [ 3.58907864e-02 -1.53926080e-04 9.99355706e-01 7.56633017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:8.50, Z:7.57 [[ 9.97975646e-01 -5.25217036e-02 -3.58619540e-02 2.16560860e+02] [ 5.25046109e-02 9.98619674e-01 -1.41887132e-03 8.49736557e+00] [ 3.58869744e-02 -4.66918921e-04 9.99355746e-01 7.56688426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:8.50, Z:7.57 [[ 9.97911770e-01 -5.37217271e-02 -3.58619036e-02 2.16590361e+02] [ 5.37053631e-02 9.98555816e-01 -1.42014460e-03 8.49807785e+00] [ 3.58864050e-02 -5.08797540e-04 9.99355746e-01 7.56765432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:8.50, Z:7.57 [[ 9.97790359e-01 -5.59314408e-02 -3.58618524e-02 2.16620250e+02] [ 5.59164567e-02 9.98434439e-01 -1.42143538e-03 8.49833025e+00] [ 3.58852114e-02 -5.86973197e-04 9.99355746e-01 7.56775896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.65, Y:8.50, Z:7.57 [[ 9.97725448e-01 -5.70776619e-02 -3.58618270e-02 2.16649527e+02] [ 5.70633947e-02 9.98369544e-01 -1.42207582e-03 8.49954987e+00] [ 3.58845247e-02 -6.27556355e-04 9.99355746e-01 7.56868465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.68, Y:8.50, Z:7.57 [[ 9.97694036e-01 -5.76241235e-02 -3.58618330e-02 2.16679491e+02] [ 5.76102145e-02 9.98338140e-01 -1.42192606e-03 8.50076608e+00] [ 3.58841729e-02 -6.47360737e-04 9.99355746e-01 7.57033106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.71, Y:8.50, Z:7.57 [[ 9.97700046e-01 -5.75199749e-02 -3.58618330e-02 2.16709710e+02] [ 5.75059986e-02 9.98344148e-01 -1.42192606e-03 8.50190628e+00] [ 3.58842402e-02 -6.43614817e-04 9.99355746e-01 7.57191745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.74, Y:8.50, Z:7.57 [[ 9.97730995e-01 -5.69806119e-02 -3.58618330e-02 2.16738858e+02] [ 5.69662874e-02 9.98375090e-01 -1.42192606e-03 8.50248444e+00] [ 3.58845829e-02 -6.24215777e-04 9.99355746e-01 7.57343600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.77, Y:8.50, Z:7.57 [[ 9.97762013e-01 -5.64348738e-02 -3.58618375e-02 2.16769323e+02] [ 5.64202012e-02 9.98406099e-01 -1.42181076e-03 8.50316608e+00] [ 3.58849170e-02 -6.04703325e-04 9.99355746e-01 7.57495081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:8.50, Z:7.58 [[ 9.97779931e-01 -5.61171844e-02 -3.58618375e-02 2.16798748e+02] [ 5.61023067e-02 9.98424013e-01 -1.42181076e-03 8.50382357e+00] [ 3.58851078e-02 -5.93277568e-04 9.99355746e-01 7.57640514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:8.50, Z:7.58 [[ 9.97804509e-01 -5.56784652e-02 -3.58618127e-02 2.16828732e+02] [ 5.56632818e-02 9.98448584e-01 -1.42243643e-03 8.50434498e+00] [ 3.58853752e-02 -5.76872704e-04 9.99355746e-01 7.57826476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.86, Y:8.50, Z:7.58 [[ 9.97813890e-01 -5.55100991e-02 -3.58618127e-02 2.16858146e+02] [ 5.54948071e-02 9.98457963e-01 -1.42243643e-03 8.50438544e+00] [ 3.58854721e-02 -5.70817550e-04 9.99355746e-01 7.57878560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.89, Y:8.50, Z:7.58 [[ 9.97815612e-01 -5.54791389e-02 -3.58618136e-02 2.16888178e+02] [ 5.54638277e-02 9.98459684e-01 -1.42241330e-03 8.50477401e+00] [ 3.58854894e-02 -5.69727259e-04 9.99355746e-01 7.57944008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:8.50, Z:7.58 [[ 9.97750245e-01 -5.66425546e-02 -3.58618136e-02 2.16918447e+02] [ 5.66279944e-02 9.98394334e-01 -1.42241330e-03 8.50448723e+00] [ 3.58848007e-02 -6.11569365e-04 9.99355746e-01 7.58025664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:8.50, Z:7.58 [[ 9.97708882e-01 -5.73665236e-02 -3.58618136e-02 2.16947905e+02] [ 5.73524308e-02 9.98352981e-01 -1.42241330e-03 8.50457093e+00] [ 3.58843475e-02 -6.37607804e-04 9.99355746e-01 7.58055978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:8.50, Z:7.58 [[ 9.97655719e-01 -5.82837607e-02 -3.58618204e-02 2.16978597e+02] [ 5.82702662e-02 9.98299831e-01 -1.42224181e-03 8.50431530e+00] [ 3.58837429e-02 -6.70770146e-04 9.99355746e-01 7.58099458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.01, Y:8.50, Z:7.58 [[ 9.97567295e-01 -5.97781025e-02 -3.58618204e-02 2.17007946e+02] [ 5.97655728e-02 9.98211427e-01 -1.42224181e-03 8.50426510e+00] [ 3.58826979e-02 -7.24520324e-04 9.99355746e-01 7.58147000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.04, Y:8.50, Z:7.58 [[ 9.97408782e-01 -6.23670894e-02 -3.58617954e-02 2.17038283e+02] [ 6.23562090e-02 9.98052944e-01 -1.42287278e-03 8.50332046e+00] [ 3.58807109e-02 -8.17019798e-04 9.99355746e-01 7.58214882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.07, Y:8.50, Z:7.58 [[ 9.97323525e-01 -6.37159233e-02 -3.58617954e-02 2.17070063e+02] [ 6.37059141e-02 9.97967701e-01 -1.42287278e-03 8.50379772e+00] [ 3.58795732e-02 -8.65543956e-04 9.99355746e-01 7.58323651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:8.50, Z:7.58 [[ 9.97242512e-01 -6.49715372e-02 -3.58618460e-02 2.17100768e+02] [ 6.49623849e-02 9.97886701e-01 -1.42159596e-03 8.50435548e+00] [ 3.58784225e-02 -9.11995120e-04 9.99355746e-01 7.58327646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:8.51, Z:7.58 [[ 9.97196234e-01 -6.56779393e-02 -3.58619333e-02 2.17131855e+02] [ 6.56693225e-02 9.97840431e-01 -1.41939199e-03 8.50505806e+00] [ 3.58777097e-02 -9.39616515e-04 9.99355746e-01 7.58460404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:8.51, Z:7.59 [[ 9.97137433e-01 -6.65646966e-02 -3.58619834e-02 2.17162855e+02] [ 6.65566983e-02 9.97781637e-01 -1.41812365e-03 8.50629173e+00] [ 3.58768255e-02 -9.72791036e-04 9.99355746e-01 7.58527902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.19, Y:8.51, Z:7.59 [[ 9.97129955e-01 -6.66765876e-02 -3.58620333e-02 2.17193792e+02] [ 6.66687069e-02 9.97774161e-01 -1.41686107e-03 8.50784096e+00] [ 3.58766816e-02 -9.78080767e-04 9.99355746e-01 7.58657904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.22, Y:8.51, Z:7.59 [[ 9.97134143e-01 -6.66139019e-02 -3.58620839e-02 2.17224472e+02] [ 6.66060268e-02 9.97778349e-01 -1.41557834e-03 8.50944002e+00] [ 3.58767081e-02 -9.77109425e-04 9.99355746e-01 7.58707042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:8.51, Z:7.59 [[ 9.97165283e-01 -6.61461121e-02 -3.58621091e-02 2.17255957e+02] [ 6.61379577e-02 9.97809485e-01 -1.41493975e-03 8.51170879e+00] [ 3.58771454e-02 -9.60917858e-04 9.99355746e-01 7.58956758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:8.51, Z:7.59 [[ 9.97186069e-01 -6.58319760e-02 -3.58621589e-02 2.17287040e+02] [ 6.58236641e-02 9.97830270e-01 -1.41367717e-03 8.51388887e+00] [ 3.58774128e-02 -9.50879517e-04 9.99355746e-01 7.59156821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:8.52, Z:7.59 [[ 9.97188391e-01 -6.57967695e-02 -3.58622087e-02 2.17318842e+02] [ 6.57884802e-02 9.97832592e-01 -1.41241289e-03 8.51511155e+00] [ 3.58774128e-02 -9.50878465e-04 9.99355746e-01 7.59271075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:8.52, Z:7.59 [[ 9.97212938e-01 -6.54236617e-02 -3.58622585e-02 2.17348842e+02] [ 6.54151769e-02 9.97857136e-01 -1.41114756e-03 8.51713173e+00] [ 3.58777330e-02 -9.38721377e-04 9.99355746e-01 7.59362853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.38, Y:8.52, Z:7.59 [[ 9.97252597e-01 -6.48163112e-02 -3.58622832e-02 2.17379772e+02] [ 6.48074567e-02 9.97896790e-01 -1.41051980e-03 8.51914357e+00] [ 3.58782820e-02 -9.17498827e-04 9.99355746e-01 7.59486399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.41, Y:8.52, Z:7.60 [[ 9.97333200e-01 -6.35639989e-02 -3.58623307e-02 2.17410465e+02] [ 6.35543789e-02 9.97977382e-01 -1.40930988e-03 8.52230650e+00] [ 3.58793763e-02 -8.73656627e-04 9.99355746e-01 7.59676860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:8.52, Z:7.60 [[ 9.97380598e-01 -6.28158783e-02 -3.58623556e-02 2.17441707e+02] [ 6.28057978e-02 9.98024773e-01 -1.40867560e-03 8.52458856e+00] [ 3.58800065e-02 -8.47378150e-04 9.99355746e-01 7.59785646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:8.53, Z:7.60 [[ 9.97429106e-01 -6.20408387e-02 -3.58624058e-02 2.17473324e+02] [ 6.20303037e-02 9.98073274e-01 -1.40739688e-03 8.52680272e+00] [ 3.58806249e-02 -8.20777308e-04 9.99355746e-01 7.59873144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:8.53, Z:7.60 [[ 9.97439067e-01 -6.18804608e-02 -3.58624557e-02 2.17504203e+02] [ 6.18698679e-02 9.98083234e-01 -1.40612350e-03 8.52884550e+00] [ 3.58807274e-02 -8.16282891e-04 9.99355746e-01 7.59980340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:8.53, Z:7.60 [[ 9.97429083e-01 -6.20411615e-02 -3.58625057e-02 2.17535620e+02] [ 6.20307183e-02 9.98073252e-01 -1.40484825e-03 8.53111868e+00] [ 3.58805661e-02 -8.23340486e-04 9.99355746e-01 7.60106973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.57, Y:8.53, Z:7.60 [[ 9.97414206e-01 -6.22798453e-02 -3.58625567e-02 2.17566732e+02] [ 6.22696030e-02 9.98058378e-01 -1.40354608e-03 8.53263117e+00] [ 3.58803378e-02 -8.33230372e-04 9.99355746e-01 7.60179327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.60, Y:8.53, Z:7.60 [[ 9.97361851e-01 -6.31126686e-02 -3.58626326e-02 2.17598125e+02] [ 6.31030341e-02 9.98006033e-01 -1.40160201e-03 8.53451398e+00] [ 3.58795826e-02 -8.65136557e-04 9.99355746e-01 7.60317058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:8.54, Z:7.60 [[ 9.97284318e-01 -6.43261797e-02 -3.58626827e-02 2.17630409e+02] [ 6.43173751e-02 9.97928512e-01 -1.40031938e-03 8.53682203e+00] [ 3.58784708e-02 -9.10077054e-04 9.99355746e-01 7.60427871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.66, Y:8.54, Z:7.61 [[ 9.97234160e-01 -6.50990838e-02 -3.58627837e-02 2.17661579e+02] [ 6.50908717e-02 9.97878362e-01 -1.39772747e-03 8.53877175e+00] [ 3.58776867e-02 -9.40478269e-04 9.99355746e-01 7.60530482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:8.54, Z:7.61 [[ 9.97224787e-01 -6.52424751e-02 -3.58628338e-02 2.17692671e+02] [ 6.52344018e-02 9.97868991e-01 -1.39644066e-03 8.54048382e+00] [ 3.58775171e-02 -9.46925274e-04 9.99355746e-01 7.60606235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:8.54, Z:7.61 [[ 9.97200980e-01 -6.56052764e-02 -3.58629914e-02 2.17724221e+02] [ 6.55975833e-02 9.97845188e-01 -1.39238221e-03 8.54238195e+00] [ 3.58770610e-02 -9.64040662e-04 9.99355746e-01 7.60694284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:8.54, Z:7.61 [[ 9.97195269e-01 -6.56919844e-02 -3.58630654e-02 2.17755605e+02] [ 6.56844159e-02 9.97839478e-01 -1.39047337e-03 8.54487637e+00] [ 3.58769254e-02 -9.69071034e-04 9.99355746e-01 7.60801379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:8.55, Z:7.61 [[ 9.97213739e-01 -6.54109702e-02 -3.58631138e-02 2.17786617e+02] [ 6.54032651e-02 9.97857947e-01 -1.38922419e-03 8.54692479e+00] [ 3.58771636e-02 -9.60211286e-04 9.99355746e-01 7.60936995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:8.55, Z:7.61 [[ 9.97250911e-01 -6.48417471e-02 -3.58631861e-02 2.17819062e+02] [ 6.48337414e-02 9.97895115e-01 -1.38735508e-03 8.54938944e+00] [ 3.58776568e-02 -9.41603414e-04 9.99355746e-01 7.61204655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:8.55, Z:7.61 [[ 9.97312162e-01 -6.38926957e-02 -3.58632855e-02 2.17850090e+02] [ 6.38841695e-02 9.97956359e-01 -1.38478198e-03 8.55328534e+00] [ 3.58784713e-02 -9.10036300e-04 9.99355746e-01 7.61483287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.88, Y:8.56, Z:7.62 [[ 9.97365629e-01 -6.30525334e-02 -3.58633594e-02 2.17881535e+02] [ 6.30435334e-02 9.98009820e-01 -1.38286432e-03 8.55559147e+00] [ 3.58791780e-02 -8.81731551e-04 9.99355746e-01 7.61632068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:8.56, Z:7.62 [[ 9.97434147e-01 -6.19591752e-02 -3.58634076e-02 2.17912325e+02] [ 6.19495140e-02 9.98078328e-01 -1.38161232e-03 8.55900461e+00] [ 3.58800935e-02 -8.43653371e-04 9.99355746e-01 7.61786478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.94, Y:8.56, Z:7.62 [[ 9.97465652e-01 -6.14498657e-02 -3.58634569e-02 2.17943745e+02] [ 6.14399216e-02 9.98109829e-01 -1.38033303e-03 8.56121328e+00] [ 3.58804901e-02 -8.26613195e-04 9.99355746e-01 7.61877015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:8.56, Z:7.62 [[ 9.97480839e-01 -6.12027476e-02 -3.58636115e-02 2.17974879e+02] [ 6.11927887e-02 9.98125016e-01 -1.37630343e-03 8.56429501e+00] [ 3.58806014e-02 -8.21758098e-04 9.99355746e-01 7.62020354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:8.57, Z:7.62 [[ 9.97488659e-01 -6.10751501e-02 -3.58636598e-02 2.18005950e+02] [ 6.10651541e-02 9.98132835e-01 -1.37504354e-03 8.56622947e+00] [ 3.58806774e-02 -8.18429576e-04 9.99355746e-01 7.62175810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:8.57, Z:7.62 [[ 9.97486135e-01 -6.11163254e-02 -3.58637092e-02 2.18037678e+02] [ 6.11064022e-02 9.98130312e-01 -1.37375560e-03 8.56818589e+00] [ 3.58806141e-02 -8.21200068e-04 9.99355746e-01 7.62277957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:8.57, Z:7.62 [[ 9.97465401e-01 -6.14537352e-02 -3.58638083e-02 2.18068674e+02] [ 6.14441232e-02 9.98109583e-01 -1.37116142e-03 8.56992206e+00] [ 3.58802738e-02 -8.35934179e-04 9.99355746e-01 7.62348013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.10, Y:8.57, Z:7.62 [[ 9.97360941e-01 -6.31263381e-02 -3.58638823e-02 2.18101123e+02] [ 6.31178760e-02 9.98005140e-01 -1.36922530e-03 8.57084085e+00] [ 3.58787730e-02 -8.98040235e-04 9.99355746e-01 7.62301964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.13, Y:8.57, Z:7.62 [[ 9.97270582e-01 -6.45380569e-02 -3.58639808e-02 2.18132054e+02] [ 6.45305995e-02 9.97914793e-01 -1.36664072e-03 8.57128863e+00] [ 3.58773973e-02 -9.51413592e-04 9.99355746e-01 7.62315582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:8.57, Z:7.62 [[ 9.97156352e-01 -6.62795541e-02 -3.58640541e-02 2.18164520e+02] [ 6.62732910e-02 9.97800576e-01 -1.36471356e-03 8.57167808e+00] [ 3.58756264e-02 -1.01599610e-03 9.99355746e-01 7.62374393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.20, Y:8.57, Z:7.62 [[ 9.97064188e-01 -6.76518139e-02 -3.58641510e-02 2.18197149e+02] [ 6.76465291e-02 9.97708420e-01 -1.36216136e-03 8.57199778e+00] [ 3.58741181e-02 -1.06792303e-03 9.99355746e-01 7.62451046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:8.57, Z:7.63 [[ 9.96867546e-01 -7.04900768e-02 -3.58642475e-02 2.18229564e+02] [ 7.04867176e-02 9.97511791e-01 -1.35961607e-03 8.57212693e+00] [ 3.58708492e-02 -1.17259595e-03 9.99355746e-01 7.62524186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.26, Y:8.57, Z:7.63 [[ 9.96819578e-01 -7.11651368e-02 -3.58643451e-02 2.18260897e+02] [ 7.11623065e-02 9.97463826e-01 -1.35703718e-03 8.57307866e+00] [ 3.58699606e-02 -1.19946829e-03 9.99355746e-01 7.62616441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:8.57, Z:7.63 [[ 9.96797247e-01 -7.14772159e-02 -3.58644178e-02 2.18292849e+02] [ 7.14746564e-02 9.97441496e-01 -1.35511344e-03 8.57458018e+00] [ 3.58695182e-02 -1.21262360e-03 9.99355746e-01 7.62716718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:8.58, Z:7.63 [[ 9.96807225e-01 -7.13378755e-02 -3.58645122e-02 2.18325078e+02] [ 7.13353159e-02 9.97451474e-01 -1.35261115e-03 8.57585022e+00] [ 3.58696029e-02 -1.21011373e-03 9.99355746e-01 7.62838573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:8.58, Z:7.63 [[ 9.96825740e-01 -7.10786417e-02 -3.58646103e-02 2.18356559e+02] [ 7.10760083e-02 9.97469989e-01 -1.35000362e-03 8.57737686e+00] [ 3.58698289e-02 -1.20339498e-03 9.99355746e-01 7.62923182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.39, Y:8.58, Z:7.63 [[ 9.96858744e-01 -7.06142215e-02 -3.58646833e-02 2.18388282e+02] [ 7.06113577e-02 9.97502992e-01 -1.34806130e-03 8.57860579e+00] [ 3.58703212e-02 -1.18862729e-03 9.99355746e-01 7.63054030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.42, Y:8.58, Z:7.63 [[ 9.96917265e-01 -6.97831244e-02 -3.58647771e-02 2.18420496e+02] [ 6.97798134e-02 9.97561510e-01 -1.34556028e-03 8.57951706e+00] [ 3.58712187e-02 -1.16122518e-03 9.99355746e-01 7.63154016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:8.58, Z:7.63 [[ 9.96956599e-01 -6.92188616e-02 -3.58648723e-02 2.18452508e+02] [ 6.92152773e-02 9.97600843e-01 -1.34301839e-03 8.58043203e+00] [ 3.58717891e-02 -1.14346604e-03 9.99355746e-01 7.63278276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:8.58, Z:7.63 [[ 9.96988910e-01 -6.87518471e-02 -3.58649688e-02 2.18484397e+02] [ 6.87480539e-02 9.97633153e-01 -1.34043701e-03 8.58167177e+00] [ 3.58722394e-02 -1.12924598e-03 9.99355746e-01 7.63419015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:8.58, Z:7.64 [[ 9.97125576e-01 -6.67404116e-02 -3.58650644e-02 2.18515256e+02] [ 6.67354107e-02 9.97769811e-01 -1.33787430e-03 8.58315382e+00] [ 3.58743688e-02 -1.05944112e-03 9.99355746e-01 7.63510962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:8.58, Z:7.64 [[ 9.97190082e-01 -6.57695436e-02 -3.58651356e-02 2.18547753e+02] [ 6.57639841e-02 9.97834312e-01 -1.33596356e-03 8.58476528e+00] [ 3.58753286e-02 -1.02642460e-03 9.99355746e-01 7.63613873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:8.59, Z:7.64 [[ 9.97268958e-01 -6.45624504e-02 -3.58652320e-02 2.18579156e+02] [ 6.45562044e-02 9.97913182e-01 -1.33336899e-03 8.58621156e+00] [ 3.58764734e-02 -9.85595749e-04 9.99355746e-01 7.63715254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:8.59, Z:7.64 [[ 9.97357142e-01 -6.31855269e-02 -3.58653038e-02 2.18611341e+02] [ 6.31784609e-02 9.98001357e-01 -1.33143545e-03 8.58773069e+00] [ 3.58777493e-02 -9.37998043e-04 9.99355746e-01 7.63841727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.64, Y:8.59, Z:7.64 [[ 9.97500547e-01 -6.08796498e-02 -3.58653984e-02 2.18642716e+02] [ 6.08711863e-02 9.98144745e-01 -1.32888316e-03 8.58917451e+00] [ 3.58797609e-02 -8.57607669e-04 9.99355746e-01 7.63939785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:8.59, Z:7.64 [[ 9.97551207e-01 -6.00438006e-02 -3.58654688e-02 2.18674525e+02] [ 6.00348657e-02 9.98195399e-01 -1.32698093e-03 8.59000457e+00] [ 3.58804229e-02 -8.29447175e-04 9.99355746e-01 7.64008508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:8.59, Z:7.64 [[ 9.97597694e-01 -5.92663927e-02 -3.58655161e-02 2.18705944e+02] [ 5.92570017e-02 9.98241880e-01 -1.32570169e-03 8.59055337e+00] [ 3.58810297e-02 -8.02765993e-04 9.99355746e-01 7.64049551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.74, Y:8.59, Z:7.64 [[ 9.97647133e-01 -5.84282358e-02 -3.58655634e-02 2.18736774e+02] [ 5.84183497e-02 9.98291311e-01 -1.32441938e-03 8.59042045e+00] [ 3.58816638e-02 -7.73903828e-04 9.99355746e-01 7.63995116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.77, Y:8.59, Z:7.64 [[ 9.97649361e-01 -5.83901640e-02 -3.58655869e-02 2.18767996e+02] [ 5.83802762e-02 9.98293539e-01 -1.32378306e-03 8.59084117e+00] [ 3.58816796e-02 -7.73171546e-04 9.99355746e-01 7.64065795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.80, Y:8.59, Z:7.64 [[ 9.97659877e-01 -5.82101892e-02 -3.58656328e-02 2.18799274e+02] [ 5.82002299e-02 9.98304054e-01 -1.32253710e-03 8.59138204e+00] [ 3.58817918e-02 -7.67945874e-04 9.99355746e-01 7.64188498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.83, Y:8.59, Z:7.64 [[ 9.97678697e-01 -5.78867055e-02 -3.58656806e-02 2.18829644e+02] [ 5.78765839e-02 9.98322871e-01 -1.32123952e-03 8.59209866e+00] [ 3.58820115e-02 -7.57610554e-04 9.99355746e-01 7.64280241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.86, Y:8.59, Z:7.64 [[ 9.97704069e-01 -5.74477282e-02 -3.58657043e-02 2.18859815e+02] [ 5.74373463e-02 9.98348239e-01 -1.32059704e-03 8.59304326e+00] [ 3.58823280e-02 -7.42465840e-04 9.99355746e-01 7.64400117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.89, Y:8.59, Z:7.64 [[ 9.97815000e-01 -5.54876237e-02 -3.58657043e-02 2.18890174e+02] [ 5.54759764e-02 9.98459149e-01 -1.32059704e-03 8.59291194e+00] [ 3.58837174e-02 -6.71973431e-04 9.99355746e-01 7.64478069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:8.59, Z:7.65 [[ 9.97866527e-01 -5.45530926e-02 -3.58657814e-02 2.18920358e+02] [ 5.45409174e-02 9.98510666e-01 -1.31849919e-03 8.59392651e+00] [ 3.58842935e-02 -6.40466411e-04 9.99355746e-01 7.64600131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:8.59, Z:7.65 [[ 9.97943495e-01 -5.31265074e-02 -3.58657814e-02 2.18950506e+02] [ 5.31134113e-02 9.98587616e-01 -1.31849919e-03 8.59490110e+00] [ 3.58851724e-02 -5.89166308e-04 9.99355746e-01 7.64720820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:8.60, Z:7.65 [[ 9.98009640e-01 -5.18691157e-02 -3.58657814e-02 2.18981124e+02] [ 5.18552081e-02 9.98653743e-01 -1.31849919e-03 8.59582916e+00] [ 3.58858863e-02 -5.43952654e-04 9.99355746e-01 7.64848447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:8.60, Z:7.65 [[ 9.98076784e-01 -5.05606478e-02 -3.58657814e-02 2.19010661e+02] [ 5.05458957e-02 9.98720869e-01 -1.31849919e-03 8.59658961e+00] [ 3.58865685e-02 -4.96904613e-04 9.99355746e-01 7.64942470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:8.60, Z:7.65 [[ 9.98187651e-01 -4.83224756e-02 -3.58657580e-02 2.19040754e+02] [ 4.83062565e-02 9.98831700e-01 -1.31913623e-03 8.59724749e+00] [ 3.58876000e-02 -4.15795012e-04 9.99355746e-01 7.65102287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:8.60, Z:7.65 [[ 9.98238281e-01 -4.72650622e-02 -3.58657111e-02 2.19069499e+02] [ 4.72481150e-02 9.98882311e-01 -1.32041071e-03 8.59813983e+00] [ 3.58880337e-02 -3.76502722e-04 9.99355746e-01 7.65203305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.10, Y:8.60, Z:7.65 [[ 9.98298015e-01 -4.59863789e-02 -3.58653814e-02 2.19096941e+02] [ 4.59682873e-02 9.98942015e-01 -1.32930534e-03 8.59893811e+00] [ 3.58885663e-02 -3.21627279e-04 9.99355746e-01 7.65267658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:8.60, Z:7.65 [[ 9.98452124e-01 -4.25092708e-02 -3.58652644e-02 2.19125852e+02] [ 4.24888233e-02 9.99096054e-01 -1.33245376e-03 8.59988295e+00] [ 3.58894858e-02 -1.93481591e-04 9.99355746e-01 7.65331417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:8.60, Z:7.65 [[ 9.98523408e-01 -4.08008773e-02 -3.58649258e-02 2.19152733e+02] [ 4.07790029e-02 9.99167290e-01 -1.34150746e-03 8.60105282e+00] [ 3.58897954e-02 -1.23009315e-04 9.99355746e-01 7.65443031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:8.60, Z:7.66 [[ 9.98590563e-01 -3.91230741e-02 -3.58646501e-02 2.19180691e+02] [ 3.90998546e-02 9.99234398e-01 -1.34883727e-03 8.60237323e+00] [ 3.58899627e-02 -5.53664324e-05 9.99355746e-01 7.65554167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.21, Y:8.60, Z:7.66 [[ 9.98647839e-01 -3.76330787e-02 -3.58642633e-02 2.19208112e+02] [ 3.76085321e-02 9.99291625e-01 -1.35904458e-03 8.60338584e+00] [ 3.58900030e-02 8.40463446e-06 9.99355746e-01 7.65657905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:8.60, Z:7.66 [[ 9.98751252e-01 -3.47810350e-02 -3.58638652e-02 2.19235368e+02] [ 3.47542756e-02 9.99394949e-01 -1.36946933e-03 8.60344097e+00] [ 3.58897974e-02 1.21336550e-04 9.99355746e-01 7.65743250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.26, Y:8.60, Z:7.66 [[ 9.98741371e-01 -3.50638016e-02 -3.58636922e-02 2.19263712e+02] [ 3.50370623e-02 9.99385069e-01 -1.37398609e-03 8.60459121e+00] [ 3.58898157e-02 1.15698336e-04 9.99355746e-01 7.65845282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:8.60, Z:7.66 [[ 9.98773372e-01 -3.41405159e-02 -3.58633003e-02 2.19290474e+02] [ 3.41128169e-02 9.99417030e-01 -1.38414049e-03 8.60490484e+00] [ 3.58896483e-02 1.59044466e-04 9.99355746e-01 7.65938115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.32, Y:8.61, Z:7.66 [[ 9.98786877e-01 -3.37433064e-02 -3.58631300e-02 2.19318057e+02] [ 3.37151935e-02 9.99430517e-01 -1.38853822e-03 8.60530228e+00] [ 3.58895604e-02 1.77721387e-04 9.99355746e-01 7.66024267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:8.61, Z:7.66 [[ 9.98791940e-01 -3.35935247e-02 -3.58627393e-02 2.19346208e+02] [ 3.35649556e-02 9.99435560e-01 -1.39855709e-03 8.60546937e+00] [ 3.58894794e-02 1.93136298e-04 9.99355746e-01 7.66104685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:8.61, Z:7.66 [[ 9.98782782e-01 -3.38651164e-02 -3.58623455e-02 2.19372880e+02] [ 3.38363623e-02 9.99426394e-01 -1.40858432e-03 8.60583292e+00] [ 3.58894765e-02 1.93418450e-04 9.99355747e-01 7.66185912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:8.60, Z:7.66 [[ 9.98717274e-01 -3.57450930e-02 -3.58621743e-02 2.19400484e+02] [ 3.57173944e-02 9.99360931e-01 -1.41292786e-03 8.60420143e+00] [ 3.58897612e-02 1.30212029e-04 9.99355747e-01 7.66226440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.43, Y:8.60, Z:7.66 [[ 9.98673929e-01 -3.69366668e-02 -3.58617784e-02 2.19428387e+02] [ 3.69093778e-02 9.99317604e-01 -1.42290655e-03 8.60378631e+00] [ 3.58898639e-02 9.73837425e-05 9.99355747e-01 7.66325939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:8.60, Z:7.66 [[ 9.98605947e-01 -3.87314380e-02 -3.58613775e-02 2.19455200e+02] [ 3.87049456e-02 9.99249655e-01 -1.43294086e-03 8.60391222e+00] [ 3.58899689e-02 4.29306049e-05 9.99355747e-01 7.66425885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.48, Y:8.60, Z:7.66 [[ 9.98527669e-01 -4.06998321e-02 -3.58611003e-02 2.19483306e+02] [ 4.06743607e-02 9.99171418e-01 -1.43984424e-03 8.60366687e+00] [ 3.58899879e-02 -2.09030142e-05 9.99355747e-01 7.66491119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.51, Y:8.60, Z:7.67 [[ 9.98348538e-01 -4.48799256e-02 -3.58606831e-02 2.19510515e+02] [ 4.48567790e-02 9.98992376e-01 -1.45016004e-03 8.60155348e+00] [ 3.58896321e-02 -1.60829581e-04 9.99355747e-01 7.66521744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.54, Y:8.60, Z:7.67 [[ 9.98218572e-01 -4.76834132e-02 -3.58605017e-02 2.19538027e+02] [ 4.76619141e-02 9.98862466e-01 -1.45463294e-03 8.60126585e+00] [ 3.58890710e-02 -2.57138537e-04 9.99355747e-01 7.66622212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.57, Y:8.60, Z:7.67 [[ 9.97910008e-01 -5.37556494e-02 -3.58600860e-02 2.19565594e+02] [ 5.37377025e-02 9.98554011e-01 -1.46480888e-03 8.59969888e+00] [ 3.58869745e-02 -4.65291193e-04 9.99355747e-01 7.66722057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.60, Y:8.60, Z:7.67 [[ 9.97736927e-01 -5.68780100e-02 -3.58596652e-02 2.19595498e+02] [ 5.68617108e-02 9.98380974e-01 -1.47504012e-03 8.59963709e+00] [ 3.58855048e-02 -5.67339913e-04 9.99355747e-01 7.66820393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.62, Y:8.60, Z:7.67 [[ 9.97568850e-01 -5.97534824e-02 -3.58596122e-02 2.19624569e+02] [ 5.97389933e-02 9.98212940e-01 -1.47632619e-03 8.59917230e+00] [ 3.58837446e-02 -6.69480114e-04 9.99355747e-01 7.66884027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.66, Y:8.60, Z:7.67 [[ 9.97400463e-01 -6.25012555e-02 -3.58595859e-02 2.19655380e+02] [ 6.24885178e-02 9.98044590e-01 -1.47696512e-03 8.59880307e+00] [ 3.58817779e-02 -7.67686680e-04 9.99355747e-01 7.66961830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.69, Y:8.60, Z:7.67 [[ 9.97230630e-01 -6.51548944e-02 -3.58595859e-02 2.19685904e+02] [ 6.51438706e-02 9.97874789e-01 -1.47696512e-03 8.59863825e+00] [ 3.58796083e-02 -8.63157370e-04 9.99355747e-01 7.67074216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:8.60, Z:7.67 [[ 9.96865553e-01 -7.05206317e-02 -3.58595859e-02 2.19716522e+02] [ 7.05130747e-02 9.97509762e-01 -1.47696512e-03 8.59770318e+00] [ 3.58744435e-02 -1.05623401e-03 9.99355747e-01 7.67218690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:8.60, Z:7.67 [[ 9.96669704e-01 -7.32365256e-02 -3.58596123e-02 2.19747989e+02] [ 7.32307468e-02 9.97313932e-01 -1.47632483e-03 8.59811422e+00] [ 3.58714118e-02 -1.15461795e-03 9.99355747e-01 7.67384935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:8.60, Z:7.68 [[ 9.96473770e-01 -7.58558492e-02 -3.58596641e-02 2.19780132e+02] [ 7.58518090e-02 9.97118011e-01 -1.47506625e-03 8.59864375e+00] [ 3.58682093e-02 -1.25015556e-03 9.99355747e-01 7.67540788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:8.60, Z:7.68 [[ 9.96285552e-01 -7.82890577e-02 -3.58597678e-02 2.19812494e+02] [ 7.82866816e-02 9.96929801e-01 -1.47253971e-03 8.59906727e+00] [ 3.58649549e-02 -1.34027219e-03 9.99355747e-01 7.67649172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:8.60, Z:7.68 [[ 9.95945670e-01 -8.25002515e-02 -3.58598721e-02 2.19844762e+02] [ 8.25006905e-02 9.96589923e-01 -1.46999473e-03 8.59879271e+00] [ 3.58588622e-02 -1.49442933e-03 9.99355747e-01 7.67699956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:8.60, Z:7.68 [[ 9.95806089e-01 -8.41682493e-02 -3.58599774e-02 2.19876937e+02] [ 8.41698598e-02 9.96450341e-01 -1.46742322e-03 8.59953253e+00] [ 3.58561971e-02 -1.55706029e-03 9.99355747e-01 7.67790825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:8.60, Z:7.68 [[ 9.95694333e-01 -8.54801105e-02 -3.58600819e-02 2.19909481e+02] [ 8.54826618e-02 9.96338581e-01 -1.46486463e-03 8.60068915e+00] [ 3.58539999e-02 -1.60685784e-03 9.99355747e-01 7.67796781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.94, Y:8.60, Z:7.68 [[ 9.95432071e-01 -8.84818555e-02 -3.58601890e-02 2.19940448e+02] [ 8.84864436e-02 9.96076308e-01 -1.46223695e-03 8.60129481e+00] [ 3.58488661e-02 -1.71758304e-03 9.99355747e-01 7.67959378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:8.60, Z:7.68 [[ 9.95330635e-01 -8.96156722e-02 -3.58602685e-02 2.19971230e+02] [ 8.96210643e-02 9.95974865e-01 -1.46028598e-03 8.60256636e+00] [ 3.58467906e-02 -1.76036806e-03 9.99355747e-01 7.68034653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.00, Y:8.60, Z:7.68 [[ 9.95242195e-01 -9.05925421e-02 -3.58603456e-02 2.20003305e+02] [ 9.05986346e-02 9.95886419e-01 -1.45839012e-03 8.60383018e+00] [ 3.58449504e-02 -1.79744696e-03 9.99355747e-01 7.68146854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:8.61, Z:7.68 [[ 9.95150252e-01 -9.15969669e-02 -3.58604517e-02 2.20034074e+02] [ 9.16038035e-02 9.95794469e-01 -1.45577704e-03 8.60517010e+00] [ 3.58429842e-02 -1.83623688e-03 9.99355747e-01 7.68120675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:8.61, Z:7.68 [[ 9.95063253e-01 -9.25372642e-02 -3.58605305e-02 2.20065998e+02] [ 9.25447795e-02 9.95707462e-01 -1.45383227e-03 8.60663880e+00] [ 3.58411315e-02 -1.87204982e-03 9.99355747e-01 7.68208986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.10, Y:8.61, Z:7.68 [[ 9.94939351e-01 -9.38600215e-02 -3.58606333e-02 2.20098038e+02] [ 9.38684844e-02 9.95583548e-01 -1.45129305e-03 8.60871270e+00] [ 3.58384749e-02 -1.92223473e-03 9.99355747e-01 7.68249458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:8.61, Z:7.68 [[ 9.94885750e-01 -9.44264405e-02 -3.58607361e-02 2.20129709e+02] [ 9.44353617e-02 9.95529941e-01 -1.44874695e-03 8.61047254e+00] [ 3.58372365e-02 -1.94518389e-03 9.99355747e-01 7.68342585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:8.61, Z:7.68 [[ 9.94843333e-01 -9.48722407e-02 -3.58608389e-02 2.20160448e+02] [ 9.48815422e-02 9.95487519e-01 -1.44619739e-03 8.61243634e+00] [ 3.58362216e-02 -1.96379187e-03 9.99355747e-01 7.68419594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:8.61, Z:7.69 [[ 9.94827076e-01 -9.50424970e-02 -3.58610082e-02 2.20193365e+02] [ 9.50520599e-02 9.95471259e-01 -1.44198945e-03 8.61435886e+00] [ 3.58356532e-02 -1.97413254e-03 9.99355747e-01 7.68557731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.23, Y:8.62, Z:7.69 [[ 9.94835209e-01 -9.49572793e-02 -3.58611629e-02 2.20225395e+02] [ 9.49669257e-02 9.95479389e-01 -1.43813181e-03 8.61637472e+00] [ 3.58356096e-02 -1.97492023e-03 9.99355747e-01 7.68649166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:8.62, Z:7.69 [[ 9.94917832e-01 -9.40875523e-02 -3.58614028e-02 2.20256633e+02] [ 9.40968515e-02 9.95562018e-01 -1.43212417e-03 8.61917846e+00] [ 3.58369956e-02 -1.94959922e-03 9.99355747e-01 7.68815294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.29, Y:8.62, Z:7.69 [[ 9.94992144e-01 -9.32983531e-02 -3.58615625e-02 2.20288521e+02] [ 9.33072854e-02 9.95636335e-01 -1.42811320e-03 8.62107784e+00] [ 3.58383153e-02 -1.92518363e-03 9.99355747e-01 7.69019274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:8.62, Z:7.69 [[ 9.95083275e-01 -9.23212692e-02 -3.58616625e-02 2.20321036e+02] [ 9.23296594e-02 9.95727474e-01 -1.42559668e-03 8.62299667e+00] [ 3.58400555e-02 -1.89250768e-03 9.99355747e-01 7.69181524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.35, Y:8.62, Z:7.69 [[ 9.95174930e-01 -9.13279162e-02 -3.58618152e-02 2.20353764e+02] [ 9.13358018e-02 9.95819135e-01 -1.42174540e-03 8.62492030e+00] [ 3.58417269e-02 -1.86058226e-03 9.99355747e-01 7.69329694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29509989299999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:220.38, Y:8.63, Z:7.69 [[ 9.95311096e-01 -8.98317446e-02 -3.58619676e-02 2.20384616e+02] [ 8.98388002e-02 9.95955310e-01 -1.41789250e-03 8.62775569e+00] [ 3.58442888e-02 -1.81055200e-03 9.99355747e-01 7.69206977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.42, Y:8.63, Z:7.69 [[ 9.95331469e-01 -8.96056773e-02 -3.58620825e-02 2.20416549e+02] [ 8.96126912e-02 9.95975684e-01 -1.41497912e-03 8.62950852e+00] [ 3.58445523e-02 -1.80532448e-03 9.99355747e-01 7.69485511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.45, Y:8.63, Z:7.70 [[ 9.95304089e-01 -8.99092475e-02 -3.58621952e-02 2.20448251e+02] [ 8.99165608e-02 9.95948301e-01 -1.41211762e-03 8.63242616e+00] [ 3.58438548e-02 -1.81911881e-03 9.99355747e-01 7.69629552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.48, Y:8.63, Z:7.70 [[ 9.95263545e-01 -9.03569156e-02 -3.58622963e-02 2.20479933e+02] [ 9.03646111e-02 9.95907752e-01 -1.40954458e-03 8.63416699e+00] [ 3.58429010e-02 -1.83781412e-03 9.99355747e-01 7.69729918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.51, Y:8.64, Z:7.70 [[ 9.95165151e-01 -9.14341769e-02 -3.58624221e-02 2.20511759e+02] [ 9.14426850e-02 9.95809348e-01 -1.40633589e-03 8.63574027e+00] [ 3.58407224e-02 -1.87981970e-03 9.99355747e-01 7.69845161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.54, Y:8.64, Z:7.70 [[ 9.95084810e-01 -9.23043921e-02 -3.58625219e-02 2.20543403e+02] [ 9.23135552e-02 9.95728998e-01 -1.40378755e-03 8.63707071e+00] [ 3.58389287e-02 -1.91370923e-03 9.99355747e-01 7.69911972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:8.64, Z:7.70 [[ 9.94859140e-01 -9.47056660e-02 -3.58626461e-02 2.20576231e+02] [ 9.47164980e-02 9.95503302e-01 -1.40060661e-03 8.63862540e+00] [ 3.58340280e-02 -2.00337796e-03 9.99355747e-01 7.70132970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:8.64, Z:7.70 [[ 9.94760883e-01 -9.57321542e-02 -3.58628007e-02 2.20607791e+02] [ 9.57437935e-02 9.95405031e-01 -1.39663803e-03 8.63988587e+00] [ 3.58317154e-02 -2.04431970e-03 9.99355747e-01 7.70192629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.64, Y:8.64, Z:7.70 [[ 9.94686931e-01 -9.64974566e-02 -3.58629284e-02 2.20639623e+02] [ 9.65097096e-02 9.95331068e-01 -1.39335021e-03 8.64121028e+00] [ 3.58299416e-02 -2.07517357e-03 9.99355747e-01 7.70270028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:8.64, Z:7.70 [[ 9.94636533e-01 -9.70155094e-02 -3.58630544e-02 2.20672292e+02] [ 9.70282147e-02 9.95280661e-01 -1.39009878e-03 8.64279264e+00] [ 3.58286657e-02 -2.09708512e-03 9.99355747e-01 7.70400608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.70, Y:8.65, Z:7.70 [[ 9.94605739e-01 -9.73306478e-02 -3.58632055e-02 2.20704487e+02] [ 9.73436976e-02 9.95249860e-01 -1.38619069e-03 8.64554034e+00] [ 3.58277691e-02 -2.11234382e-03 9.99355747e-01 7.70495581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.74, Y:8.65, Z:7.71 [[ 9.94638621e-01 -9.69940014e-02 -3.58633061e-02 2.20736543e+02] [ 9.70069269e-02 9.95282745e-01 -1.38358325e-03 8.64725758e+00] [ 3.58283290e-02 -2.10282377e-03 9.99355747e-01 7.70562234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:8.65, Z:7.71 [[ 9.94686909e-01 -9.64975025e-02 -3.58634311e-02 2.20769216e+02] [ 9.65102232e-02 9.95331036e-01 -1.38033629e-03 8.64865366e+00] [ 3.58291850e-02 -2.08818530e-03 9.99355747e-01 7.70696172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:8.65, Z:7.71 [[ 9.94732618e-01 -9.60251105e-02 -3.58635822e-02 2.20801943e+02] [ 9.60376668e-02 9.95376749e-01 -1.37639873e-03 8.64995195e+00] [ 3.58299447e-02 -2.07510605e-03 9.99355747e-01 7.70786883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:8.65, Z:7.71 [[ 9.94904472e-01 -9.42278328e-02 -3.58637333e-02 2.20834815e+02] [ 9.42393673e-02 9.95548622e-01 -1.37244890e-03 8.65194131e+00] [ 3.58334132e-02 -2.01431999e-03 9.99355747e-01 7.70871250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.87, Y:8.65, Z:7.71 [[ 9.95021120e-01 -9.29879136e-02 -3.58638832e-02 2.20868159e+02] [ 9.29987864e-02 9.95665282e-01 -1.36852275e-03 8.65397148e+00] [ 3.58356794e-02 -1.97358857e-03 9.99355747e-01 7.71061557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:8.66, Z:7.71 [[ 9.95141967e-01 -9.16855271e-02 -3.58640351e-02 2.20899897e+02] [ 9.16957004e-02 9.95786140e-01 -1.36452810e-03 8.65624242e+00] [ 3.58380166e-02 -1.93067864e-03 9.99355747e-01 7.71181949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:8.66, Z:7.71 [[ 9.95309046e-01 -8.98535800e-02 -3.58641604e-02 2.20933151e+02] [ 8.98626861e-02 9.95953234e-01 -1.36122912e-03 8.65884773e+00] [ 3.58413378e-02 -1.86800613e-03 9.99355747e-01 7.71327638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.97, Y:8.66, Z:7.71 [[ 9.95729957e-01 -8.50623504e-02 -3.58643103e-02 2.20965169e+02] [ 8.50684984e-02 9.96374181e-01 -1.35726813e-03 8.66336231e+00] [ 3.58497252e-02 -1.69945048e-03 9.99355747e-01 7.71395430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.00, Y:8.67, Z:7.71 [[ 9.95984774e-01 -8.20247864e-02 -3.58645416e-02 2.20997599e+02] [ 8.20291900e-02 9.96629011e-01 -1.35112684e-03 8.66593639e+00] [ 3.58544686e-02 -1.59623754e-03 9.99355747e-01 7.71483252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.03, Y:8.67, Z:7.72 [[ 9.96254984e-01 -7.86748567e-02 -3.58646604e-02 2.21029499e+02] [ 7.86772073e-02 9.96899233e-01 -1.34796676e-03 8.66853398e+00] [ 3.58595035e-02 -1.47881272e-03 9.99355747e-01 7.71664363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.06, Y:8.67, Z:7.72 [[ 9.96539243e-01 -7.49883799e-02 -3.58647567e-02 2.21061558e+02] [ 7.49884392e-02 9.97183496e-01 -1.34539949e-03 8.67121803e+00] [ 3.58646328e-02 -1.34869873e-03 9.99355747e-01 7.71780939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.09, Y:8.68, Z:7.72 [[ 9.97099355e-01 -6.71311347e-02 -3.58648522e-02 2.21093005e+02] [ 6.71262075e-02 9.97743589e-01 -1.34284965e-03 8.67587043e+00] [ 3.58740733e-02 -1.06851699e-03 9.99355747e-01 7.71929327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.13, Y:8.68, Z:7.72 [[ 9.97364940e-01 -6.30625452e-02 -3.58649233e-02 2.21125069e+02] [ 6.30550579e-02 9.98009149e-01 -1.34094844e-03 8.67864157e+00] [ 3.58780852e-02 -9.24049857e-04 9.99355747e-01 7.72108377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.16, Y:8.68, Z:7.72 [[ 9.97845207e-01 -5.49421786e-02 -3.58650182e-02 2.21156009e+02] [ 5.49295393e-02 9.98489336e-01 -1.33840336e-03 8.68304118e+00] [ 3.58843730e-02 -6.34529547e-04 9.99355747e-01 7.72206536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:8.69, Z:7.72 [[ 9.98045592e-01 -5.11731580e-02 -3.58650886e-02 2.21185999e+02] [ 5.11581540e-02 9.98689670e-01 -1.33651390e-03 8.68599690e+00] [ 3.58864872e-02 -5.00889919e-04 9.99355747e-01 7.72364815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:8.69, Z:7.72 [[ 9.98173920e-01 -4.86057694e-02 -3.58650886e-02 2.21215154e+02] [ 4.85891087e-02 9.98817958e-01 -1.33651390e-03 8.68963795e+00] [ 3.58876569e-02 -4.08579370e-04 9.99355747e-01 7.72383417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.24, Y:8.69, Z:7.72 [[ 9.98171444e-01 -4.86569593e-02 -3.58645818e-02 2.21244258e+02] [ 4.86398456e-02 9.98815470e-01 -1.35004231e-03 8.69075839e+00] [ 3.58877881e-02 -3.96874042e-04 9.99355747e-01 7.72488500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:8.69, Z:7.73 [[ 9.98348747e-01 -4.48722288e-02 -3.58645124e-02 2.21274296e+02] [ 4.48526070e-02 9.98992701e-01 -1.35189322e-03 8.69198844e+00] [ 3.58890485e-02 -2.58955981e-04 9.99355747e-01 7.72540983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.30, Y:8.69, Z:7.73 [[ 9.98443534e-01 -4.27110390e-02 -3.58646867e-02 2.21301940e+02] [ 4.26901900e-02 9.99087450e-01 -1.34725340e-03 8.69431771e+00] [ 3.58895009e-02 -1.85913841e-04 9.99355747e-01 7.72576855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.33, Y:8.70, Z:7.73 [[ 9.98524811e-01 -4.07668289e-02 -3.58645664e-02 2.21329416e+02] [ 4.07446114e-02 9.99168681e-01 -1.35044856e-03 8.69630980e+00] [ 3.58898050e-02 -1.12831421e-04 9.99355747e-01 7.72625907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:8.70, Z:7.73 [[ 9.98660660e-01 -3.72913859e-02 -3.58641815e-02 2.21357646e+02] [ 3.72665633e-02 9.99304434e-01 -1.36059201e-03 8.69834678e+00] [ 3.58899740e-02 2.22349261e-05 9.99355747e-01 7.72572412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.39, Y:8.70, Z:7.73 [[ 9.98691605e-01 -3.64536096e-02 -3.58637908e-02 2.21385341e+02] [ 3.64278799e-02 9.99335344e-01 -1.37081561e-03 8.69976675e+00] [ 3.58899249e-02 6.25801839e-05 9.99355747e-01 7.72624981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.41, Y:8.70, Z:7.73 [[ 9.98716420e-01 -3.57677044e-02 -3.58633921e-02 2.21412985e+02] [ 3.57411608e-02 9.99360126e-01 -1.38116843e-03 8.70111264e+00] [ 3.58898452e-02 9.75963262e-05 9.99355747e-01 7.72585282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.44, Y:8.70, Z:7.73 [[ 9.98701021e-01 -3.61952702e-02 -3.58632681e-02 2.21440521e+02] [ 3.61688868e-02 9.99344733e-01 -1.38438096e-03 8.70186323e+00] [ 3.58898761e-02 8.54481916e-05 9.99355747e-01 7.72715146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.47, Y:8.70, Z:7.73 [[ 9.98672109e-01 -3.69847537e-02 -3.58628755e-02 2.21468277e+02] [ 3.69585167e-02 9.99315828e-01 -1.39447568e-03 8.70243242e+00] [ 3.58899135e-02 6.71852796e-05 9.99355747e-01 7.72863911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.50, Y:8.70, Z:7.73 [[ 9.98634568e-01 -3.79852818e-02 -3.58624757e-02 2.21496642e+02] [ 3.79593231e-02 9.99278298e-01 -1.40468501e-03 8.70310859e+00] [ 3.58899510e-02 4.14517095e-05 9.99355747e-01 7.73010924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.52, Y:8.70, Z:7.73 [[ 9.98588509e-01 -3.91777667e-02 -3.58621195e-02 2.21524085e+02] [ 3.91522523e-02 9.99232257e-01 -1.41371938e-03 8.70379714e+00] [ 3.58899730e-02 7.64117876e-06 9.99355747e-01 7.73174860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.55, Y:8.70, Z:7.73 [[ 9.98470465e-01 -4.20793156e-02 -3.58617110e-02 2.21552035e+02] [ 4.20553024e-02 9.99114270e-01 -1.42400723e-03 8.70326425e+00] [ 3.58898684e-02 -8.63459402e-05 9.99355747e-01 7.73312449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:8.70, Z:7.73 [[ 9.98375910e-01 -4.42661826e-02 -3.58615110e-02 2.21580334e+02] [ 4.42433993e-02 9.99019759e-01 -1.42902612e-03 8.70330901e+00] [ 3.58896156e-02 -1.59929899e-04 9.99355747e-01 7.73454613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.61, Y:8.70, Z:7.74 [[ 9.98120532e-01 -4.96928992e-02 -3.58611028e-02 2.21608287e+02] [ 4.96732509e-02 9.98764485e-01 -1.43919867e-03 8.70228302e+00] [ 3.58883138e-02 -3.44843811e-04 9.99355747e-01 7.73603832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:8.70, Z:7.74 [[ 9.97895915e-01 -5.40162477e-02 -3.58606850e-02 2.21637819e+02] [ 5.39990178e-02 9.98539937e-01 -1.44953386e-03 8.70445321e+00] [ 3.58866245e-02 -4.89957852e-04 9.99355748e-01 7.73845115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.67, Y:8.71, Z:7.74 [[ 9.97662351e-01 -5.81776407e-02 -3.58496273e-02 2.21667662e+02] [ 5.81533659e-02 9.98306179e-01 -1.72036563e-03 8.70542680e+00] [ 3.58889912e-02 -3.68432472e-04 9.99355715e-01 7.73844241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:8.70, Z:7.74 [[ 9.97569900e-01 -5.97456486e-02 -3.58434508e-02 2.21699942e+02] [ 5.97169840e-02 9.98213596e-01 -1.87071740e-03 8.70172287e+00] [ 3.58911871e-02 -2.74291412e-04 9.99355666e-01 7.74005186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.73, Y:8.70, Z:7.74 [[ 9.97159309e-01 -6.62372246e-02 -3.58600283e-02 2.21730730e+02] [ 6.62273295e-02 9.97803485e-01 -1.46501298e-03 8.69948835e+00] [ 3.58782996e-02 -9.14062582e-04 9.99355749e-01 7.74144580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:8.70, Z:7.74 [[ 9.96960977e-01 -6.91582702e-02 -3.58600541e-02 2.21763164e+02] [ 6.91502851e-02 9.97605179e-01 -1.46438097e-03 8.69930644e+00] [ 3.58754497e-02 -1.01980228e-03 9.99355749e-01 7.74337989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:8.70, Z:7.74 [[ 9.96780104e-01 -7.17180138e-02 -3.58601600e-02 2.21794920e+02] [ 7.17117762e-02 9.97424325e-01 -1.46178318e-03 8.69939072e+00] [ 3.58726321e-02 -1.11451938e-03 9.99355749e-01 7.74465226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.82, Y:8.70, Z:7.74 [[ 9.96418884e-01 -7.65731581e-02 -3.58602656e-02 2.21822743e+02] [ 7.65701523e-02 9.97063129e-01 -1.45918897e-03 8.70166032e+00] [ 3.58666833e-02 -1.29186254e-03 9.99355749e-01 7.74419138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:8.70, Z:7.75 [[ 9.96450355e-01 -7.61722395e-02 -3.58396360e-02 2.21857064e+02] [ 7.61509410e-02 9.97094373e-01 -1.96093442e-03 8.69903839e+00] [ 3.58848682e-02 -7.75248205e-04 9.99355630e-01 7.74665552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.88, Y:8.70, Z:7.75 [[ 9.96319735e-01 -7.78526339e-02 -3.58601857e-02 2.21883822e+02] [ 7.78506289e-02 9.96963973e-01 -1.45434988e-03 8.70248643e+00] [ 3.58645382e-02 -1.34274052e-03 9.99355758e-01 7.74588761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:8.70, Z:7.75 [[ 9.96436755e-01 -7.63510818e-02 -3.58372109e-02 2.21918733e+02] [ 7.63280189e-02 9.97080729e-01 -2.01323854e-03 8.69968714e+00] [ 3.58863053e-02 -7.29318427e-04 9.99355613e-01 7.74851528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:8.70, Z:7.75 [[ 9.96516162e-01 -7.52968481e-02 -3.58597892e-02 2.21950717e+02] [ 7.52930558e-02 9.97160383e-01 -1.45809174e-03 8.70008863e+00] [ 3.58677509e-02 -1.24698113e-03 9.99355767e-01 7.75034013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:8.70, Z:7.75 [[ 9.96748442e-01 -7.21568556e-02 -3.58598928e-02 2.21982005e+02] [ 7.21511254e-02 9.97392649e-01 -1.45553905e-03 8.70094566e+00] [ 3.58714206e-02 -1.13652534e-03 9.99355767e-01 7.75119354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.01, Y:8.70, Z:7.75 [[ 9.96911930e-01 -6.98617721e-02 -3.58599698e-02 2.22014487e+02] [ 6.98546270e-02 9.97556123e-01 -1.45363967e-03 8.70236966e+00] [ 3.58738863e-02 -1.05583408e-03 9.99355767e-01 7.75269597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:8.70, Z:7.75 [[ 9.97233514e-01 -6.51104752e-02 -3.58600701e-02 2.22046123e+02] [ 6.51003496e-02 9.97877667e-01 -1.45116107e-03 8.70398208e+00] [ 3.58784489e-02 -8.87356649e-04 9.99355767e-01 7.75494205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.08, Y:8.71, Z:7.75 [[ 9.97373444e-01 -6.29305968e-02 -3.58601768e-02 2.22076255e+02] [ 6.29191581e-02 9.98017576e-01 -1.44851974e-03 8.70523256e+00] [ 3.58802429e-02 -8.11577010e-04 9.99355767e-01 7.75493220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:8.71, Z:7.76 [[ 9.97493012e-01 -6.10060416e-02 -3.58602032e-02 2.22107800e+02] [ 6.09933836e-02 9.98137120e-01 -1.44786699e-03 8.70619214e+00] [ 3.58817285e-02 -7.42997924e-04 9.99355767e-01 7.75551294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:8.71, Z:7.75 [[ 9.97621966e-01 -5.88596176e-02 -3.58602552e-02 2.22138096e+02] [ 5.88456200e-02 9.98266047e-01 -1.44657605e-03 8.70670438e+00] [ 3.58832201e-02 -6.67082909e-04 9.99355767e-01 7.75408763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:8.71, Z:7.75 [[ 9.97660932e-01 -5.81954116e-02 -3.58602811e-02 2.22168139e+02] [ 5.81810083e-02 9.98305003e-01 -1.44593488e-03 8.70743871e+00] [ 3.58836448e-02 -6.43834570e-04 9.99355767e-01 7.75495649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:8.71, Z:7.75 [[ 9.97692762e-01 -5.76471489e-02 -3.58602811e-02 2.22197541e+02] [ 5.76323917e-02 9.98336825e-01 -1.44593488e-03 8.70834206e+00] [ 3.58839932e-02 -6.24115000e-04 9.99355767e-01 7.75471139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:8.71, Z:7.76 [[ 9.97798449e-01 -5.57879465e-02 -3.58602910e-02 2.22226958e+02] [ 5.57719979e-02 9.98442484e-01 -1.44568921e-03 8.70992591e+00] [ 3.58850901e-02 -5.57493628e-04 9.99355767e-01 7.75609300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.26, Y:8.71, Z:7.76 [[ 9.97798448e-01 -5.57879915e-02 -3.58602404e-02 2.22257910e+02] [ 5.57719979e-02 9.98442482e-01 -1.44694373e-03 8.71117543e+00] [ 3.58851095e-02 -5.56239045e-04 9.99355767e-01 7.75720588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.29, Y:8.71, Z:7.76 [[ 9.97998283e-01 -5.20909785e-02 -3.58602404e-02 2.22287569e+02] [ 5.20725991e-02 9.98642254e-01 -1.44694373e-03 8.71342552e+00] [ 3.58869240e-02 -4.23288563e-04 9.99355767e-01 7.76065353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.32, Y:8.72, Z:7.76 [[ 9.98096514e-01 -5.01736585e-02 -3.58601881e-02 2.22316388e+02] [ 5.01539954e-02 9.98740446e-01 -1.44823911e-03 8.71502499e+00] [ 3.58876837e-02 -3.53049304e-04 9.99355767e-01 7.76255805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.35, Y:8.72, Z:7.77 [[ 9.98261595e-01 -4.67743497e-02 -3.58601101e-02 2.22345297e+02] [ 4.67524246e-02 9.98905455e-01 -1.45016639e-03 8.71719914e+00] [ 3.58886902e-02 -2.28901682e-04 9.99355767e-01 7.76539261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:8.72, Z:7.77 [[ 9.98311053e-01 -4.57066698e-02 -3.58600329e-02 2.22373545e+02] [ 4.56839876e-02 9.98954886e-01 -1.45207379e-03 8.71835266e+00] [ 3.58889245e-02 -1.88607978e-04 9.99355767e-01 7.76809060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.40, Y:8.72, Z:7.77 [[ 9.98363253e-01 -4.45522110e-02 -3.58596651e-02 2.22401243e+02] [ 4.45284601e-02 9.99007048e-01 -1.46109925e-03 8.71941481e+00] [ 3.58891534e-02 -1.38067867e-04 9.99355767e-01 7.76975458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.43, Y:8.72, Z:7.77 [[ 9.98392825e-01 -4.38846387e-02 -3.58595347e-02 2.22429600e+02] [ 4.38603426e-02 9.99036599e-01 -1.46429397e-03 8.72080515e+00] [ 3.58892476e-02 -1.10870886e-04 9.99355767e-01 7.77159402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.46, Y:8.72, Z:7.77 [[ 9.98424814e-01 -4.31510217e-02 -3.58591669e-02 2.22457403e+02] [ 4.31259310e-02 9.99068558e-01 -1.47324558e-03 8.72208744e+00] [ 3.58893382e-02 -7.55350178e-05 9.99355767e-01 7.77339315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.49, Y:8.72, Z:7.78 [[ 9.98455383e-01 -4.24381839e-02 -3.58587425e-02 2.22485001e+02] [ 4.24122652e-02 9.99099094e-01 -1.48350449e-03 8.72295517e+00] [ 3.58893944e-02 -3.96374564e-05 9.99355767e-01 7.77515076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:8.73, Z:7.77 [[ 9.98385754e-01 -4.40461915e-02 -3.58583083e-02 2.22509972e+02] [ 4.40209352e-02 9.99029492e-01 -1.49392762e-03 8.72813890e+00] [ 3.58893093e-02 -8.70002068e-05 9.99355767e-01 7.77450755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.54, Y:8.72, Z:7.78 [[ 9.98540147e-01 -4.04144509e-02 -3.58363920e-02 2.22543572e+02] [ 4.03680713e-02 9.99182841e-01 -2.01711301e-03 8.72389987e+00] [ 3.58886285e-02 5.67522298e-04 9.99355635e-01 7.77830290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:8.72, Z:7.78 [[ 9.98541437e-01 -4.03630307e-02 -3.58583854e-02 2.22571909e+02] [ 4.03356557e-02 9.99185080e-01 -1.48680598e-03 8.72374314e+00] [ 3.58891757e-02 3.82658893e-05 9.99355775e-01 7.77936594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.60, Y:8.72, Z:7.78 [[ 9.98554953e-01 -4.00276610e-02 -3.58579516e-02 2.22598503e+02] [ 3.99996967e-02 9.99198570e-01 -1.49719491e-03 8.72353566e+00] [ 3.58891432e-02 6.07242011e-05 9.99355775e-01 7.77981273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:8.72, Z:7.78 [[ 9.98571329e-01 -3.96171903e-02 -3.58577631e-02 2.22626219e+02] [ 3.95887999e-02 9.99214928e-01 -1.50169619e-03 8.72125268e+00] [ 3.58891051e-02 7.99849538e-05 9.99355775e-01 7.78039778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.65, Y:8.72, Z:7.78 [[ 9.98571708e-01 -3.96080200e-02 -3.58573479e-02 2.22654589e+02] [ 3.95792700e-02 9.99215290e-01 -1.51154527e-03 8.72094688e+00] [ 3.58890796e-02 9.01786874e-05 9.99355775e-01 7.78152673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:8.72, Z:7.78 [[ 9.98587799e-01 -3.92006310e-02 -3.58569111e-02 2.22681830e+02] [ 3.91712489e-02 9.99231353e-01 -1.52183691e-03 8.72039013e+00] [ 3.58890068e-02 1.15127780e-04 9.99355775e-01 7.78229970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.71, Y:8.72, Z:7.78 [[ 9.98605472e-01 -3.87479996e-02 -3.58567215e-02 2.22709868e+02] [ 3.87181658e-02 9.99249005e-01 -1.52629160e-03 8.71752406e+00] [ 3.58889340e-02 1.35856653e-04 9.99355775e-01 7.78260781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:8.72, Z:7.78 [[ 9.98614269e-01 -3.85210211e-02 -3.58562710e-02 2.22737361e+02] [ 3.84906637e-02 9.99257778e-01 -1.53680161e-03 8.71640640e+00] [ 3.58888569e-02 1.54540348e-04 9.99355776e-01 7.78290482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:8.72, Z:7.78 [[ 9.98608272e-01 -3.86763492e-02 -3.58560756e-02 2.22765009e+02] [ 3.86459286e-02 9.99251778e-01 -1.54134865e-03 8.71524624e+00] [ 3.58888610e-02 1.53512174e-04 9.99355776e-01 7.78340184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.79, Y:8.71, Z:7.78 [[ 9.98604263e-01 -3.87801499e-02 -3.58556249e-02 2.22792147e+02] [ 3.87494222e-02 9.99247754e-01 -1.55176306e-03 8.71396830e+00] [ 3.58888302e-02 1.60212460e-04 9.99355776e-01 7.78403209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:8.71, Z:7.78 [[ 9.98559678e-01 -3.99118784e-02 -3.58554291e-02 2.22820430e+02] [ 3.98817182e-02 9.99203196e-01 -1.55627259e-03 8.71283323e+00] [ 3.58889731e-02 1.24054934e-04 9.99355776e-01 7.78476236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:8.71, Z:7.79 [[ 9.98378166e-01 -4.42205627e-02 -3.58549793e-02 2.22848363e+02] [ 4.41928099e-02 9.99021792e-01 -1.56656884e-03 8.70935665e+00] [ 3.58891802e-02 -2.05041582e-05 9.99355776e-01 7.78564182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.88, Y:8.71, Z:7.79 [[ 9.98239820e-01 -4.72410348e-02 -3.58545282e-02 2.22875384e+02] [ 4.72148610e-02 9.98883512e-01 -1.57682654e-03 8.70787590e+00] [ 3.58889879e-02 -1.18815519e-04 9.99355776e-01 7.78615998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:8.71, Z:7.79 [[ 9.98044796e-01 -5.11962038e-02 -3.58543320e-02 2.22903009e+02] [ 5.11724211e-02 9.98688582e-01 -1.58127491e-03 8.70652056e+00] [ 3.58882672e-02 -2.56569777e-04 9.99355776e-01 7.78654168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.93, Y:8.71, Z:7.79 [[ 9.97800873e-01 -5.57486907e-02 -3.58538838e-02 2.22930752e+02] [ 5.57274824e-02 9.98444748e-01 -1.59137207e-03 8.70506181e+00] [ 3.58868389e-02 -4.10174238e-04 9.99355776e-01 7.78704021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:8.70, Z:7.79 [[ 9.97221952e-01 -6.52909708e-02 -3.58534258e-02 2.22958898e+02] [ 6.52755542e-02 9.97865991e-01 -1.60162572e-03 8.69994829e+00] [ 3.58814859e-02 -7.43175905e-04 9.99355776e-01 7.78686316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.99, Y:8.70, Z:7.79 [[ 9.96895320e-01 -7.01019694e-02 -3.58529611e-02 2.22989631e+02] [ 7.00892891e-02 9.97539419e-01 -1.61196129e-03 8.69826435e+00] [ 3.58777436e-02 -9.05951888e-04 9.99355776e-01 7.78751599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:8.70, Z:7.79 [[ 9.96565520e-01 -7.46440254e-02 -3.58529611e-02 2.23018822e+02] [ 7.46342804e-02 9.97209670e-01 -1.61196129e-03 8.69648557e+00] [ 3.58732428e-02 -1.06943491e-03 9.99355776e-01 7.78785940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:8.70, Z:7.79 [[ 9.96233806e-01 -7.89479050e-02 -3.58529323e-02 2.23049751e+02] [ 7.89409194e-02 9.96877992e-01 -1.61260103e-03 8.69535665e+00] [ 3.58683106e-02 -1.22373578e-03 9.99355776e-01 7.78860922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:8.70, Z:7.79 [[ 9.96236590e-01 -7.89127321e-02 -3.58529891e-02 2.23081545e+02] [ 7.89057691e-02 9.96880777e-01 -1.61133812e-03 8.69675529e+00] [ 3.58683107e-02 -1.22373368e-03 9.99355776e-01 7.78975176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:8.69, Z:7.79 [[ 9.95678900e-01 -8.56626347e-02 -3.58530459e-02 2.23112523e+02] [ 8.56600832e-02 9.96323119e-01 -1.61007312e-03 8.69418043e+00] [ 3.58591416e-02 -1.46805906e-03 9.99355776e-01 7.79017324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:8.69, Z:7.79 [[ 9.95420465e-01 -8.86152123e-02 -3.58530740e-02 2.23144776e+02] [ 8.86145940e-02 9.96064688e-01 -1.60944552e-03 8.69416875e+00] [ 3.58546024e-02 -1.57503059e-03 9.99355776e-01 7.79111572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.17, Y:8.70, Z:7.79 [[ 9.94939100e-01 -9.38655186e-02 -3.58531886e-02 2.23173843e+02] [ 9.38683909e-02 9.95583318e-01 -1.60688849e-03 8.69753252e+00] [ 3.58456679e-02 -1.76672494e-03 9.99355776e-01 7.79313280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:8.69, Z:7.79 [[ 9.95059819e-01 -9.25822260e-02 -3.58397502e-02 2.23207439e+02] [ 9.25735324e-02 9.95704027e-01 -1.90550716e-03 8.69453672e+00] [ 3.58621997e-02 -1.42171866e-03 9.99355733e-01 7.79366663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.24, Y:8.69, Z:7.80 [[ 9.94891363e-01 -9.43700916e-02 -3.58533468e-02 2.23238717e+02] [ 9.43734996e-02 9.95535574e-01 -1.60107091e-03 8.69432675e+00] [ 3.58443754e-02 -1.79071418e-03 9.99355780e-01 7.79594938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:8.70, Z:7.80 [[ 9.94861776e-01 -9.46814533e-02 -3.58534329e-02 2.23271039e+02] [ 9.46851323e-02 9.95505986e-01 -1.59913904e-03 8.69524389e+00] [ 3.58437159e-02 -1.80386474e-03 9.99355780e-01 7.79823635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:8.70, Z:7.80 [[ 9.94885709e-01 -9.44295930e-02 -3.58535508e-02 2.23303398e+02] [ 9.44332040e-02 9.95529920e-01 -1.59649190e-03 8.69631826e+00] [ 3.58440386e-02 -1.79743870e-03 9.99355780e-01 7.80063366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.33, Y:8.70, Z:7.80 [[ 9.95018374e-01 -9.30212385e-02 -3.58536680e-02 2.23334137e+02] [ 9.30240325e-02 9.95662588e-01 -1.59385447e-03 8.69703023e+00] [ 3.58464182e-02 -1.74933831e-03 9.99355780e-01 7.80296125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:8.70, Z:7.80 [[ 9.95135106e-01 -9.17639839e-02 -3.58537553e-02 2.23366719e+02] [ 9.17660346e-02 9.95779323e-01 -1.59188835e-03 8.69835404e+00] [ 3.58485063e-02 -1.70601297e-03 9.99355780e-01 7.80406658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:8.70, Z:7.80 [[ 9.95308431e-01 -8.98644962e-02 -3.58538702e-02 2.23398149e+02] [ 8.98654105e-02 9.95952651e-01 -1.58929818e-03 8.69973393e+00] [ 3.58515785e-02 -1.64018088e-03 9.99355780e-01 7.80451514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.43, Y:8.70, Z:7.80 [[ 9.95702441e-01 -8.53881883e-02 -3.58539555e-02 2.23429835e+02] [ 8.53862752e-02 9.96346659e-01 -1.58737054e-03 8.70218742e+00] [ 3.58585115e-02 -1.48088699e-03 9.99355780e-01 7.80450834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.46, Y:8.70, Z:7.80 [[ 9.95944604e-01 -8.25156423e-02 -3.58540709e-02 2.23461840e+02] [ 8.25119648e-02 9.96588814e-01 -1.58475875e-03 8.70426404e+00] [ 3.58625334e-02 -1.38005791e-03 9.99355780e-01 7.80479480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.49, Y:8.71, Z:7.81 [[ 9.96180231e-01 -7.96205018e-02 -3.58541865e-02 2.23492793e+02] [ 7.96150459e-02 9.96824429e-01 -1.58213995e-03 8.70658163e+00] [ 3.58662997e-02 -1.27843616e-03 9.99355780e-01 7.80535284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:8.71, Z:7.81 [[ 9.96677039e-01 -7.31392775e-02 -3.58542438e-02 2.23523638e+02] [ 7.31296784e-02 9.97321188e-01 -1.58083988e-03 8.71041693e+00] [ 3.58738185e-02 -1.04642251e-03 9.99355780e-01 7.80536205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.55, Y:8.71, Z:7.81 [[ 9.96926506e-01 -6.96563850e-02 -3.58542726e-02 2.23554211e+02] [ 6.96445587e-02 9.97570618e-01 -1.58018685e-03 8.71292300e+00] [ 3.58772390e-02 -9.21724839e-04 9.99355780e-01 7.80559036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.58, Y:8.72, Z:7.81 [[ 9.97149534e-01 -6.63873193e-02 -3.58543010e-02 2.23583327e+02] [ 6.63734044e-02 9.97793604e-01 -1.57954138e-03 8.71539794e+00] [ 3.58800538e-02 -8.04733075e-04 9.99355780e-01 7.80651920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.61, Y:8.72, Z:7.81 [[ 9.97372357e-01 -6.29512152e-02 -3.58542441e-02 2.23612187e+02] [ 6.29350348e-02 9.98016374e-01 -1.58083243e-03 8.71796894e+00] [ 3.58826380e-02 -6.79809534e-04 9.99355780e-01 7.80739482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:8.72, Z:7.81 [[ 9.97746818e-01 -5.67077324e-02 -3.58541595e-02 2.23640285e+02] [ 5.66874528e-02 9.98390719e-01 -1.58274910e-03 8.72238255e+00] [ 3.58862142e-02 -4.53298095e-04 9.99355780e-01 7.80918993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.67, Y:8.73, Z:7.81 [[ 9.97889949e-01 -5.41309345e-02 -3.58537626e-02 2.23667667e+02] [ 5.41086709e-02 9.98533784e-01 -1.59168921e-03 8.72500527e+00] [ 3.58873529e-02 -3.51668782e-04 9.99355780e-01 7.81079881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.70, Y:8.73, Z:7.81 [[ 9.98011462e-01 -5.18426626e-02 -3.58533057e-02 2.23695651e+02] [ 5.18185554e-02 9.98655231e-01 -1.60191492e-03 8.72732482e+00] [ 3.58881389e-02 -2.59137061e-04 9.99355780e-01 7.81282852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:8.73, Z:7.81 [[ 9.98099372e-01 -5.01220228e-02 -3.58528444e-02 2.23724461e+02] [ 5.00964373e-02 9.98743084e-01 -1.61217471e-03 8.72965988e+00] [ 3.58885858e-02 -1.86989209e-04 9.99355780e-01 7.81459819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:8.73, Z:7.82 [[ 9.98218321e-01 -4.76947188e-02 -3.58524414e-02 2.23751814e+02] [ 4.76672479e-02 9.98861955e-01 -1.62108823e-03 8.73247070e+00] [ 3.58889570e-02 -9.07872344e-05 9.99355780e-01 7.81643016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:8.73, Z:7.82 [[ 9.98204653e-01 -4.79800226e-02 -3.58522985e-02 2.23780068e+02] [ 4.79526223e-02 9.98848291e-01 -1.62424105e-03 8.73446470e+00] [ 3.58889382e-02 -9.78867533e-05 9.99355780e-01 7.81880369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71509989299997 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:223.81, Y:8.74, Z:7.82 [[ 9.98186675e-01 -4.83529400e-02 -3.58518440e-02 2.23808108e+02] [ 4.83254221e-02 9.98830307e-01 -1.63421213e-03 8.73616557e+00] [ 3.58889274e-02 -1.01306724e-04 9.99355780e-01 7.81705857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:8.74, Z:7.82 [[ 9.98072709e-01 -5.06540820e-02 -3.58473407e-02 2.23836676e+02] [ 5.06245111e-02 9.98716254e-01 -1.73268391e-03 8.73804929e+00] [ 3.58890893e-02 -8.54095737e-05 9.99355775e-01 7.82299493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:8.74, Z:7.82 [[ 9.97937215e-01 -5.32540059e-02 -3.58514415e-02 2.23864750e+02] [ 5.32293255e-02 9.98580963e-01 -1.64321596e-03 8.73931151e+00] [ 3.58880748e-02 -2.68521689e-04 9.99355779e-01 7.82456432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:8.74, Z:7.83 [[ 9.97483803e-01 -6.11618329e-02 -3.58509698e-02 2.23892964e+02] [ 6.11418879e-02 9.98127715e-01 -1.65344472e-03 8.73959258e+00] [ 3.58849742e-02 -5.42711647e-04 9.99355780e-01 7.82593812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:8.74, Z:7.83 [[ 9.97166343e-01 -6.61364190e-02 -3.58504934e-02 2.23922825e+02] [ 6.61193172e-02 9.97810337e-01 -1.66370898e-03 8.73993237e+00] [ 3.58820247e-02 -7.11415551e-04 9.99355780e-01 7.82738006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:8.74, Z:7.83 [[ 9.96386017e-01 -7.70042316e-02 -3.58504325e-02 2.23952439e+02] [ 7.69941048e-02 9.97030158e-01 -1.66502168e-03 8.73935320e+00] [ 3.58721761e-02 -1.10126764e-03 9.99355780e-01 7.82776614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:8.74, Z:7.83 [[ 9.95955843e-01 -8.23814627e-02 -3.58504361e-02 2.23982322e+02] [ 8.23748159e-02 9.96600029e-01 -1.66494254e-03 8.73970071e+00] [ 3.58657061e-02 -1.29496383e-03 9.99355780e-01 7.82853060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:8.74, Z:7.83 [[ 9.95505538e-01 -8.76553897e-02 -3.58504657e-02 2.24014722e+02] [ 8.76521777e-02 9.96149751e-01 -1.66430675e-03 8.74035214e+00] [ 3.58583179e-02 -1.48554480e-03 9.99355780e-01 7.82978132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:8.74, Z:7.83 [[ 9.95101382e-01 -9.21302074e-02 -3.58505857e-02 2.24046299e+02] [ 9.21299849e-02 9.95745602e-01 -1.66171711e-03 8.74110914e+00] [ 3.58511574e-02 -1.64933693e-03 9.99355780e-01 7.82976949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:8.74, Z:7.83 [[ 9.94713360e-01 -9.62292101e-02 -3.58506752e-02 2.24078774e+02] [ 9.62317112e-02 9.95357575e-01 -1.65978457e-03 8.74208904e+00] [ 3.58439609e-02 -1.79896194e-03 9.99355780e-01 7.83121984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:8.74, Z:7.83 [[ 9.94390504e-01 -9.95100255e-02 -3.58507936e-02 2.24111003e+02] [ 9.95147439e-02 9.95034708e-01 -1.65722181e-03 8.74331893e+00] [ 3.58376941e-02 -1.91975692e-03 9.99355780e-01 7.83208981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:8.75, Z:7.83 [[ 9.93917664e-01 -1.04126793e-01 -3.58509111e-02 2.24142998e+02] [ 1.04134594e-01 9.94561837e-01 -1.65467668e-03 8.74560278e+00] [ 3.58282442e-02 -2.08870770e-03 9.99355780e-01 7.83342707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:8.75, Z:7.83 [[ 9.93815554e-01 -1.05096849e-01 -3.58510313e-02 2.24174491e+02] [ 1.05105373e-01 9.94459718e-01 -1.65206873e-03 8.74764183e+00] [ 3.58260337e-02 -2.12628440e-03 9.99355780e-01 7.83390720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:8.75, Z:7.84 [[ 9.93764185e-01 -1.05581430e-01 -3.58511811e-02 2.24206635e+02] [ 1.05590385e-01 9.94408343e-01 -1.64881073e-03 8.74977538e+00] [ 3.58247974e-02 -2.14701096e-03 9.99355780e-01 7.83586374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:8.75, Z:7.84 [[ 9.93757320e-01 -1.05645980e-01 -3.58512998e-02 2.24239622e+02] [ 1.05655070e-01 9.94401476e-01 -1.64622678e-03 8.75203739e+00] [ 3.58245026e-02 -2.15192167e-03 9.99355780e-01 7.83764323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.27, Y:8.75, Z:7.84 [[ 9.93796499e-01 -1.05276728e-01 -3.58514808e-02 2.24270912e+02] [ 1.05285721e-01 9.94440657e-01 -1.64227446e-03 8.75496169e+00] [ 3.58250634e-02 -2.14256239e-03 9.99355780e-01 7.83807922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.30, Y:8.76, Z:7.84 [[ 9.93827846e-01 -1.04980366e-01 -3.58515703e-02 2.24303306e+02] [ 1.04989237e-01 9.94472005e-01 -1.64031749e-03 8.75725197e+00] [ 3.58255842e-02 -2.13383581e-03 9.99355780e-01 7.83919982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:8.76, Z:7.84 [[ 9.93857704e-01 -1.04697282e-01 -3.58516869e-02 2.24334928e+02] [ 1.04706061e-01 9.94501865e-01 -1.63776512e-03 8.75974953e+00] [ 3.58260391e-02 -2.12618344e-03 9.99355780e-01 7.84005523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:8.76, Z:7.84 [[ 9.93937788e-01 -1.03934222e-01 -3.58518028e-02 2.24366948e+02] [ 1.03942598e-01 9.94581954e-01 -1.63522442e-03 8.76329906e+00] [ 3.58275119e-02 -2.10121819e-03 9.99355780e-01 7.84165806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:8.77, Z:7.84 [[ 9.93979288e-01 -1.03536538e-01 -3.58519205e-02 2.24397776e+02] [ 1.03544749e-01 9.94623456e-01 -1.63264071e-03 8.76594460e+00] [ 3.58281990e-02 -2.08946706e-03 9.99355780e-01 7.84234479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:8.77, Z:7.84 [[ 9.94052591e-01 -1.02830343e-01 -3.58520079e-02 2.24430156e+02] [ 1.02838165e-01 9.94696764e-01 -1.63071843e-03 8.76844090e+00] [ 3.58295636e-02 -2.06593484e-03 9.99355780e-01 7.84324284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:8.77, Z:7.84 [[ 9.94113489e-01 -1.02239893e-01 -3.58521230e-02 2.24461594e+02] [ 1.02247424e-01 9.94757666e-01 -1.62818430e-03 8.77068565e+00] [ 3.58306396e-02 -2.04718723e-03 9.99355780e-01 7.84343461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:8.77, Z:7.84 [[ 9.94155264e-01 -1.01832858e-01 -3.58522087e-02 2.24492714e+02] [ 1.01840193e-01 9.94799442e-01 -1.62629397e-03 8.77295308e+00] [ 3.58313674e-02 -2.03440715e-03 9.99355780e-01 7.84409848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:8.78, Z:7.85 [[ 9.94319977e-01 -1.00211759e-01 -3.58522931e-02 2.24524799e+02] [ 1.00218110e-01 9.94964166e-01 -1.62443263e-03 8.77645876e+00] [ 3.58345341e-02 -1.97784325e-03 9.99355780e-01 7.84572421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.56, Y:8.78, Z:7.85 [[ 9.94429951e-01 -9.91144697e-02 -3.58524116e-02 2.24556037e+02] [ 9.91202047e-02 9.95074145e-01 -1.62181368e-03 8.77913423e+00] [ 3.58365530e-02 -1.94091828e-03 9.99355780e-01 7.84534983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:8.78, Z:7.85 [[ 9.94557407e-01 -9.78272049e-02 -3.58524996e-02 2.24588512e+02] [ 9.78321762e-02 9.95201608e-01 -1.61986478e-03 8.78196932e+00] [ 3.58389321e-02 -1.89647954e-03 9.99355780e-01 7.84620492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.62, Y:8.79, Z:7.85 [[ 9.94948097e-01 -9.37703302e-02 -3.58526129e-02 2.24620982e+02] [ 9.37727645e-02 9.95592313e-01 -1.61735329e-03 8.78677090e+00] [ 3.58462455e-02 -1.75281604e-03 9.99355780e-01 7.84807739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:8.79, Z:7.85 [[ 9.95186913e-01 -9.12008121e-02 -3.58527586e-02 2.24653086e+02] [ 9.12016992e-02 9.95831133e-01 -1.61411612e-03 8.79011964e+00] [ 3.58505019e-02 -1.66348528e-03 9.99355780e-01 7.84906078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.69, Y:8.79, Z:7.85 [[ 9.95489070e-01 -8.78412269e-02 -3.58529037e-02 2.24685280e+02] [ 8.78400557e-02 9.96133289e-01 -1.61088795e-03 8.79334926e+00] [ 3.58557732e-02 -1.54569971e-03 9.99355780e-01 7.85020483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:8.80, Z:7.85 [[ 9.95822077e-01 -8.39818521e-02 -3.58530177e-02 2.24717049e+02] [ 8.39782750e-02 9.96466288e-01 -1.60834612e-03 8.79666168e+00] [ 3.58613953e-02 -1.40924801e-03 9.99355780e-01 7.85161784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:8.80, Z:7.85 [[ 9.96156890e-01 -7.99124792e-02 -3.58531314e-02 2.24748864e+02] [ 7.99063614e-02 9.96801081e-01 -1.60580771e-03 8.80017265e+00] [ 3.58667642e-02 -1.26525686e-03 9.99355780e-01 7.85377874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:8.81, Z:7.86 [[ 9.96890145e-01 -7.01753807e-02 -3.58532468e-02 2.24779921e+02] [ 7.01630616e-02 9.97534247e-01 -1.60322717e-03 8.80620674e+00] [ 3.58773486e-02 -9.17332199e-04 9.99355780e-01 7.85534978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:8.81, Z:7.86 [[ 9.97227229e-01 -6.52103762e-02 -3.58533326e-02 2.24811466e+02] [ 6.51949189e-02 9.97871263e-01 -1.60130664e-03 8.81009491e+00] [ 3.58814321e-02 -7.40588527e-04 9.99355780e-01 7.85680198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:8.81, Z:7.86 [[ 9.97547563e-01 -6.01114814e-02 -3.58534453e-02 2.24843047e+02] [ 6.00928228e-02 9.98191513e-01 -1.59877819e-03 8.81379739e+00] [ 3.58847098e-02 -5.59677450e-04 9.99355780e-01 7.85817074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.87, Y:8.82, Z:7.86 [[ 9.98045424e-01 -5.11845570e-02 -3.58535013e-02 2.24873273e+02] [ 5.11601832e-02 9.98689183e-01 -1.59752150e-03 8.81936522e+00] [ 3.58882724e-02 -2.39872669e-04 9.99355780e-01 7.85989005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:8.82, Z:7.86 [[ 9.98224471e-01 -4.75650301e-02 -3.58535013e-02 2.24902006e+02] [ 4.75383219e-02 9.98868137e-01 -1.59752150e-03 8.82218919e+00] [ 3.58889062e-02 -1.09730230e-04 9.99355780e-01 7.86032323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:8.82, Z:7.86 [[ 9.98368703e-01 -4.44349657e-02 -3.58534150e-02 2.24930187e+02] [ 4.44061700e-02 9.99012279e-01 -1.59945738e-03 8.82456800e+00] [ 3.58890736e-02 4.73535302e-06 9.99355780e-01 7.86086294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:8.83, Z:7.86 [[ 9.98588671e-01 -3.91820153e-02 -3.58529624e-02 2.24957558e+02] [ 3.91494723e-02 9.99232069e-01 -1.60953825e-03 8.82780459e+00] [ 3.58884948e-02 2.03642108e-04 9.99355780e-01 7.86197682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:8.83, Z:7.86 [[ 9.98669694e-01 -3.70599542e-02 -3.58525086e-02 2.24985312e+02] [ 3.70256834e-02 9.99313002e-01 -1.61958350e-03 8.82989575e+00] [ 3.58878997e-02 2.89965323e-04 9.99355780e-01 7.86268843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:8.83, Z:7.86 [[ 9.98739430e-01 -3.51309175e-02 -3.58520554e-02 2.25012130e+02] [ 3.50950464e-02 9.99382651e-01 -1.62955463e-03 8.83212443e+00] [ 3.58871699e-02 3.69270918e-04 9.99355780e-01 7.86360606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:8.83, Z:7.86 [[ 9.98729714e-01 -3.54062383e-02 -3.58518583e-02 2.25040468e+02] [ 3.53703892e-02 9.99372936e-01 -1.63387978e-03 8.83348735e+00] [ 3.58872264e-02 3.63710104e-04 9.99355780e-01 7.86462640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.07, Y:8.84, Z:7.87 [[ 9.98782807e-01 -3.38759655e-02 -3.58514051e-02 2.25067872e+02] [ 3.38387761e-02 9.99425953e-01 -1.64376372e-03 8.83563953e+00] [ 3.58865088e-02 4.28595269e-04 9.99355780e-01 7.86637847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:8.84, Z:7.87 [[ 9.98851164e-01 -3.17971981e-02 -3.58509329e-02 2.25095209e+02] [ 3.17583030e-02 9.99494209e-01 -1.65400013e-03 8.83837169e+00] [ 3.58853924e-02 5.13535167e-04 9.99355780e-01 7.86703357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:8.84, Z:7.87 [[ 9.98849637e-01 -3.18453616e-02 -3.58507277e-02 2.25122835e+02] [ 3.18063384e-02 9.99492675e-01 -1.65843560e-03 8.84047597e+00] [ 3.58853532e-02 5.16247422e-04 9.99355780e-01 7.86816378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:8.84, Z:7.87 [[ 9.98836123e-01 -3.22669968e-02 -3.58502588e-02 2.25150247e+02] [ 3.22278834e-02 9.99479154e-01 -1.66850962e-03 8.84200070e+00] [ 3.58854242e-02 5.11189721e-04 9.99355780e-01 7.86838775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:8.84, Z:7.87 [[ 9.98751601e-01 -3.47852308e-02 -3.58500552e-02 2.25178536e+02] [ 3.47475822e-02 9.99394720e-01 -1.67287433e-03 8.84287327e+00] [ 3.58865472e-02 4.25083180e-04 9.99355780e-01 7.86953976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:8.84, Z:7.87 [[ 9.98685673e-01 -3.66296803e-02 -3.58495832e-02 2.25207417e+02] [ 3.65928587e-02 9.99328840e-01 -1.68292727e-03 8.84371699e+00] [ 3.58871675e-02 3.68876624e-04 9.99355780e-01 7.87158691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:8.85, Z:7.87 [[ 9.98543557e-01 -4.03187648e-02 -3.58491556e-02 2.25234509e+02] [ 4.02839941e-02 9.99186838e-01 -1.69198739e-03 8.84699987e+00] [ 3.58882233e-02 2.45375937e-04 9.99355780e-01 7.87231721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:8.85, Z:7.87 [[ 9.98502773e-01 -4.13258282e-02 -3.58383720e-02 2.25264220e+02] [ 4.12835550e-02 9.99145628e-01 -1.91907165e-03 8.84602027e+00] [ 3.58870599e-02 4.36662960e-04 9.99355757e-01 7.87401468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:8.85, Z:7.88 [[ 9.98394185e-01 -4.38625889e-02 -3.58486481e-02 2.25292351e+02] [ 4.38297154e-02 9.99037565e-01 -1.70274220e-03 8.84704777e+00] [ 3.58888328e-02 1.28771863e-04 9.99355780e-01 7.87587348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:8.85, Z:7.88 [[ 9.98165181e-01 -4.87973314e-02 -3.58481674e-02 2.25321367e+02] [ 4.87672775e-02 9.98808700e-01 -1.71280214e-03 8.84731706e+00] [ 3.58890417e-02 -3.85580653e-05 9.99355780e-01 7.87816642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:8.85, Z:7.88 [[ 9.98033186e-01 -5.14266445e-02 -3.58477391e-02 2.25349680e+02] [ 5.13979655e-02 9.98676767e-01 -1.72172058e-03 8.84795178e+00] [ 3.58888465e-02 -1.24166579e-04 9.99355780e-01 7.87915117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:8.85, Z:7.88 [[ 9.97886516e-01 -5.41984388e-02 -3.58473112e-02 2.25378246e+02] [ 5.41712290e-02 9.98530161e-01 -1.73058476e-03 8.84832236e+00] [ 3.58884164e-02 -2.14965705e-04 9.99355780e-01 7.87967819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:8.85, Z:7.88 [[ 9.97605452e-01 -5.91469557e-02 -3.58468836e-02 2.25408298e+02] [ 5.91226220e-02 9.98249212e-01 -1.73939540e-03 8.84715190e+00] [ 3.58870033e-02 -3.84131414e-04 9.99355780e-01 7.88004443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:8.85, Z:7.88 [[ 9.97464447e-01 -6.14791170e-02 -3.58468213e-02 2.25439254e+02] [ 6.14562423e-02 9.98108261e-01 -1.74067926e-03 8.84743848e+00] [ 3.58860239e-02 -4.66745261e-04 9.99355780e-01 7.88061890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:8.85, Z:7.88 [[ 9.97331780e-01 -6.35950108e-02 -3.58468213e-02 2.25469932e+02] [ 6.35735019e-02 9.97975641e-01 -1.74067926e-03 8.84795663e+00] [ 3.58849530e-02 -5.42873220e-04 9.99355780e-01 7.88127517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:8.85, Z:7.88 [[ 9.97235212e-01 -6.50917100e-02 -3.58469179e-02 2.25501436e+02] [ 6.50712390e-02 9.97879106e-01 -1.73868700e-03 8.84854372e+00] [ 3.58840645e-02 -5.98723465e-04 9.99355780e-01 7.88190858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:8.85, Z:7.88 [[ 9.97084971e-01 -6.73539462e-02 -3.58469797e-02 2.25532935e+02] [ 6.73349819e-02 9.97728912e-01 -1.73741231e-03 8.84816001e+00] [ 3.58825896e-02 -6.81408030e-04 9.99355780e-01 7.88206657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45509989299998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:225.56, Y:8.85, Z:7.88 [[ 9.97143539e-01 -6.64811404e-02 -3.58471774e-02 2.25562945e+02] [ 6.64617593e-02 9.97787467e-01 -1.73332454e-03 8.84813771e+00] [ 3.58830977e-02 -6.54093106e-04 9.99355780e-01 7.87909374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:8.85, Z:7.88 [[ 9.96984984e-01 -6.88208011e-02 -3.58418618e-02 2.25592850e+02] [ 6.87989825e-02 9.97628840e-01 -1.84319228e-03 8.84973582e+00] [ 3.58837250e-02 -6.28248596e-04 9.99355774e-01 7.88312352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:8.85, Z:7.88 [[ 9.96947320e-01 -6.93614936e-02 -3.58472423e-02 2.25624251e+02] [ 6.93440268e-02 9.97591302e-01 -1.73182398e-03 8.85051618e+00] [ 3.58810191e-02 -7.59254862e-04 9.99355780e-01 7.88380224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:8.85, Z:7.88 [[ 9.96873321e-01 -7.04169890e-02 -3.58473045e-02 2.25655907e+02] [ 7.04002503e-02 9.97517323e-01 -1.73053595e-03 8.85117212e+00] [ 3.58801664e-02 -7.98534089e-04 9.99355780e-01 7.88379389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:8.85, Z:7.88 [[ 9.96844083e-01 -7.08295897e-02 -3.58474999e-02 2.25687629e+02] [ 7.08132634e-02 9.97488096e-01 -1.72647926e-03 8.85241985e+00] [ 3.58797402e-02 -8.17447818e-04 9.99355781e-01 7.88445186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:8.85, Z:7.89 [[ 9.96816204e-01 -7.12208420e-02 -3.58475609e-02 2.25719312e+02] [ 7.12048140e-02 9.97460224e-01 -1.72521143e-03 8.85423035e+00] [ 3.58793872e-02 -8.32800198e-04 9.99355781e-01 7.88507889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:8.86, Z:7.89 [[ 9.96811849e-01 -7.12817357e-02 -3.58476215e-02 2.25750557e+02] [ 7.12657923e-02 9.97455871e-01 -1.72395275e-03 8.85595076e+00] [ 3.58793068e-02 -8.36252618e-04 9.99355781e-01 7.88557670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:8.86, Z:7.89 [[ 9.96772603e-01 -7.18283473e-02 -3.58478247e-02 2.25781529e+02] [ 7.18129093e-02 9.97416637e-01 -1.71971600e-03 8.85769356e+00] [ 3.58787411e-02 -8.60170795e-04 9.99355781e-01 7.88652053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.81, Y:8.86, Z:7.89 [[ 9.96688204e-01 -7.29900886e-02 -3.58478848e-02 2.25813250e+02] [ 7.29754464e-02 9.97332257e-01 -1.71846131e-03 8.85953181e+00] [ 3.58776826e-02 -9.03245281e-04 9.99355781e-01 7.88788199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:8.86, Z:7.89 [[ 9.96616682e-01 -7.39601852e-02 -3.58480069e-02 2.25845249e+02] [ 7.39462616e-02 9.97260751e-01 -1.71591160e-03 8.86123633e+00] [ 3.58767194e-02 -9.40719972e-04 9.99355781e-01 7.88936622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:8.86, Z:7.89 [[ 9.96552812e-01 -7.48158074e-02 -3.58481307e-02 2.25876101e+02] [ 7.48025298e-02 9.97196894e-01 -1.71332075e-03 8.86260784e+00] [ 3.58758281e-02 -9.74116260e-04 9.99355781e-01 7.89033724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:8.86, Z:7.89 [[ 9.96464131e-01 -7.59877603e-02 -3.58482230e-02 2.25908708e+02] [ 7.59753097e-02 9.97108231e-01 -1.71138834e-03 8.86430121e+00] [ 3.58746027e-02 -1.01824275e-03 9.99355781e-01 7.89186294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:8.87, Z:7.89 [[ 9.96246046e-01 -7.87953781e-02 -3.58483442e-02 2.25941290e+02] [ 7.87848339e-02 9.96890179e-01 -1.70884551e-03 8.86628521e+00] [ 3.58715114e-02 -1.12187526e-03 9.99355781e-01 7.89354203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.97, Y:8.87, Z:7.89 [[ 9.96132774e-01 -8.02146151e-02 -3.58484687e-02 2.25972319e+02] [ 8.02050827e-02 9.96776923e-01 -1.70622937e-03 8.86765704e+00] [ 3.58697908e-02 -1.17559840e-03 9.99355781e-01 7.89446876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.00, Y:8.87, Z:7.90 [[ 9.96011745e-01 -8.17036408e-02 -3.58485613e-02 2.26003802e+02] [ 8.16951414e-02 9.96655908e-01 -1.70428069e-03 8.86899474e+00] [ 3.58679264e-02 -1.23116971e-03 9.99355781e-01 7.89520163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:8.87, Z:7.90 [[ 9.95880343e-01 -8.32899149e-02 -3.58487537e-02 2.26035688e+02] [ 8.32825873e-02 9.96524520e-01 -1.70022497e-03 8.87023096e+00] [ 3.58657737e-02 -1.29235634e-03 9.99355781e-01 7.89610188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:8.87, Z:7.90 [[ 9.95546657e-01 -8.71878011e-02 -3.58488725e-02 2.26067776e+02] [ 8.71830854e-02 9.96190859e-01 -1.69771736e-03 8.87135974e+00] [ 3.58603393e-02 -1.43525847e-03 9.99355781e-01 7.89701552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:8.87, Z:7.90 [[ 9.95523831e-01 -8.74479877e-02 -3.58489943e-02 2.26096669e+02] [ 8.74435330e-02 9.96168036e-01 -1.69514095e-03 8.87251682e+00] [ 3.58598589e-02 -1.44720950e-03 9.99355781e-01 7.89775640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:8.87, Z:7.90 [[ 9.95257387e-01 -9.04339424e-02 -3.58390260e-02 2.26131254e+02] [ 9.04238572e-02 9.95901549e-01 -1.90550660e-03 8.87448068e+00] [ 3.58644640e-02 -1.34423346e-03 9.99355759e-01 7.89920523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.16, Y:8.88, Z:7.90 [[ 9.95012315e-01 -9.30877638e-02 -3.58491574e-02 2.26164180e+02] [ 9.30871191e-02 9.95656532e-01 -1.69070213e-03 8.87672660e+00] [ 3.58508314e-02 -1.65482534e-03 9.99355782e-01 7.90147152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:8.88, Z:7.90 [[ 9.94940468e-01 -9.38524926e-02 -3.58493380e-02 2.26197499e+02] [ 9.38524811e-02 9.95584686e-01 -1.68686313e-03 8.87884436e+00] [ 3.58493682e-02 -1.68622093e-03 9.99355782e-01 7.90320080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:8.88, Z:7.90 [[ 9.94874496e-01 -9.45491930e-02 -3.58495190e-02 2.26228952e+02] [ 9.45497712e-02 9.95518713e-01 -1.68300835e-03 8.88091256e+00] [ 3.58479941e-02 -1.71518173e-03 9.99355782e-01 7.90451913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:8.88, Z:7.91 [[ 9.94849046e-01 -9.48165414e-02 -3.58496685e-02 2.26262256e+02] [ 9.48174073e-02 9.95493263e-01 -1.67981823e-03 8.88315517e+00] [ 3.58473780e-02 -1.72800705e-03 9.99355782e-01 7.90588197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:8.89, Z:7.91 [[ 9.94983746e-01 -9.33923631e-02 -3.58498470e-02 2.26294171e+02] [ 9.33924442e-02 9.95627964e-01 -1.67599999e-03 8.88607905e+00] [ 3.58496357e-02 -1.68051209e-03 9.99355782e-01 7.90654702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:8.89, Z:7.91 [[ 9.94956116e-01 -9.36870980e-02 -3.58476732e-02 2.26325970e+02] [ 9.36856977e-02 9.95600333e-01 -1.72251376e-03 8.88855789e+00] [ 3.58513327e-02 -1.64458868e-03 9.99355781e-01 7.90878261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:8.89, Z:7.91 [[ 9.95078755e-01 -9.23744456e-02 -3.58501351e-02 2.26359100e+02] [ 9.23740958e-02 9.95722973e-01 -1.66965443e-03 8.89184334e+00] [ 3.58510365e-02 -1.65018617e-03 9.99355783e-01 7.91004079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:8.89, Z:7.91 [[ 9.95189397e-01 -9.11746617e-02 -3.58503155e-02 2.26389845e+02] [ 9.11736747e-02 9.95833614e-01 -1.66577301e-03 8.89399372e+00] [ 3.58528255e-02 -1.61084536e-03 9.99355783e-01 7.91110643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:8.90, Z:7.91 [[ 9.95261394e-01 -9.03852811e-02 -3.58505149e-02 2.26422443e+02] [ 9.03839378e-02 9.95905610e-01 -1.66146928e-03 8.89633633e+00] [ 3.58539013e-02 -1.58671448e-03 9.99355783e-01 7.91208948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:8.90, Z:7.91 [[ 9.95336739e-01 -8.95516843e-02 -3.58506929e-02 2.26455302e+02] [ 8.95499399e-02 9.95980954e-01 -1.65761920e-03 8.89859990e+00] [ 3.58550499e-02 -1.56053811e-03 9.99355783e-01 7.91346225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:8.90, Z:7.91 [[ 9.95511991e-01 -8.75819107e-02 -3.58508709e-02 2.26488458e+02] [ 8.75790301e-02 9.96156202e-01 -1.65376222e-03 8.90182505e+00] [ 3.58579070e-02 -1.49344438e-03 9.99355783e-01 7.91456066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:8.90, Z:7.92 [[ 9.95621542e-01 -8.63275554e-02 -3.58510517e-02 2.26519559e+02] [ 8.63240045e-02 9.96265750e-01 -1.64983153e-03 8.90424762e+00] [ 3.58596009e-02 -1.45219854e-03 9.99355783e-01 7.91535630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:8.91, Z:7.92 [[ 9.95739183e-01 -8.49598386e-02 -3.58511411e-02 2.26552787e+02] [ 8.49554727e-02 9.96383386e-01 -1.64788644e-03 8.90689200e+00] [ 3.58614856e-02 -1.40488554e-03 9.99355783e-01 7.91669578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:8.91, Z:7.92 [[ 9.95697193e-01 -8.54504690e-02 -3.58513184e-02 2.26581281e+02] [ 8.54465596e-02 9.96341399e-01 -1.64402044e-03 8.91243354e+00] [ 3.58606351e-02 -1.42642527e-03 9.99355783e-01 7.91632024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:8.92, Z:7.92 [[ 9.95901535e-01 -8.30402198e-02 -3.58392758e-02 2.26611555e+02] [ 8.30253685e-02 9.96545613e-01 -1.90502925e-03 8.91791070e+00] [ 3.58736671e-02 -1.07834753e-03 9.99355751e-01 7.91609161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:8.92, Z:7.92 [[ 9.96334667e-01 -7.76752206e-02 -3.58300292e-02 2.26646781e+02] [ 7.76497120e-02 9.96978481e-01 -2.10503508e-03 8.91686869e+00] [ 3.58852771e-02 -6.84872018e-04 9.99355681e-01 7.92044454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:8.92, Z:7.92 [[ 9.96379388e-01 -7.70895279e-02 -3.58513666e-02 2.26675681e+02] [ 7.70804221e-02 9.97023533e-01 -1.63814174e-03 8.92183765e+00] [ 3.58709398e-02 -1.13122781e-03 9.99355790e-01 7.92041722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:8.92, Z:7.92 [[ 9.96565445e-01 -7.46504324e-02 -3.58416804e-02 2.26707893e+02] [ 7.46321328e-02 9.97209417e-01 -1.85006815e-03 8.92484217e+00] [ 3.58797696e-02 -8.31227053e-04 9.99355768e-01 7.92241737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:8.93, Z:7.92 [[ 9.97057086e-01 -6.77686182e-02 -3.58410687e-02 2.26741181e+02] [ 6.77453906e-02 9.97700902e-01 -1.86349844e-03 8.92571866e+00] [ 3.58849533e-02 -5.70052878e-04 9.99355765e-01 7.92443367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:8.93, Z:7.92 [[ 9.97090231e-01 -6.72733727e-02 -3.58519951e-02 2.26771492e+02] [ 6.72585035e-02 9.97734265e-01 -1.62200950e-03 8.92983916e+00] [ 3.58798821e-02 -7.94061714e-04 9.99355794e-01 7.92461881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:8.93, Z:7.93 [[ 9.97328143e-01 -6.36536437e-02 -3.58439483e-02 2.26804060e+02] [ 6.36300570e-02 9.97971932e-01 -1.79955521e-03 8.92986326e+00] [ 3.58858026e-02 -4.86005421e-04 9.99355779e-01 7.92618194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:8.93, Z:7.93 [[ 9.97360841e-01 -6.31345757e-02 -3.58521770e-02 2.26833636e+02] [ 6.31172088e-02 9.98004811e-01 -1.61713659e-03 8.93376309e+00] [ 3.58827424e-02 -6.50020633e-04 9.99355796e-01 7.92692582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:8.94, Z:7.93 [[ 9.97488476e-01 -6.10890028e-02 -3.58451471e-02 2.26865629e+02] [ 6.10647146e-02 9.98132234e-01 -1.77301044e-03 8.93560171e+00] [ 3.58865082e-02 -4.20316200e-04 9.99355783e-01 7.92836943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:8.94, Z:7.93 [[ 9.97728914e-01 -5.70264030e-02 -3.58469359e-02 2.26897177e+02] [ 5.70009179e-02 9.98372621e-01 -1.73335502e-03 8.93715881e+00] [ 3.58874464e-02 -3.13889828e-04 9.99355789e-01 7.92961873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:8.94, Z:7.93 [[ 9.97723374e-01 -5.71198388e-02 -3.58523815e-02 2.26925425e+02] [ 5.70987644e-02 9.98367233e-01 -1.61226555e-03 8.94189935e+00] [ 3.58859353e-02 -4.38531657e-04 9.99355796e-01 7.92844168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.96, Y:8.94, Z:7.93 [[ 9.97967231e-01 -5.26966000e-02 -3.58395569e-02 2.26957525e+02] [ 5.26624797e-02 9.98610569e-01 -1.89602354e-03 8.94099094e+00] [ 3.58896743e-02 4.76942703e-06 9.99355758e-01 7.93158250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:8.94, Z:7.93 [[ 9.97967310e-01 -5.26864534e-02 -3.58522827e-02 2.26988483e+02] [ 5.26624836e-02 9.98611066e-01 -1.61323973e-03 8.94224273e+00] [ 3.58874822e-02 -2.78109737e-04 9.99355798e-01 7.93259416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83509989299998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:227.02, Y:8.95, Z:7.93 [[ 9.97986761e-01 -5.23167098e-02 -3.58522827e-02 2.27015422e+02] [ 5.22925015e-02 9.98630508e-01 -1.61323973e-03 8.94771656e+00] [ 3.58875827e-02 -2.64813655e-04 9.99355798e-01 7.93018338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.05, Y:8.95, Z:7.93 [[ 9.98331042e-01 -4.52887319e-02 -3.58338050e-02 2.27046737e+02] [ 4.52453815e-02 9.98973861e-01 -2.02017368e-03 8.94733260e+00] [ 3.58885256e-02 3.95487923e-04 9.99355721e-01 7.93493631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.07, Y:8.95, Z:7.94 [[ 9.98435838e-01 -4.29012274e-02 -3.58519586e-02 2.27074924e+02] [ 4.28707779e-02 9.99079315e-01 -1.61798307e-03 8.94856470e+00] [ 3.58883637e-02 7.84509259e-05 9.99355802e-01 7.93612806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:8.95, Z:7.94 [[ 9.98533081e-01 -4.05752465e-02 -3.58515666e-02 2.27102270e+02] [ 4.05429879e-02 9.99176471e-01 -1.62662306e-03 8.95001689e+00] [ 3.58880424e-02 1.70707306e-04 9.99355802e-01 7.93743837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:8.95, Z:7.94 [[ 9.98621539e-01 -3.83366775e-02 -3.58513719e-02 2.27130333e+02] [ 3.83028230e-02 9.99264847e-01 -1.63090309e-03 8.95130933e+00] [ 3.58875390e-02 2.55446206e-04 9.99355802e-01 7.93901864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:8.95, Z:7.94 [[ 9.98719754e-01 -3.56870385e-02 -3.58509224e-02 2.27157874e+02] [ 3.56511248e-02 9.99362950e-01 -1.64072466e-03 8.95247093e+00] [ 3.58866362e-02 3.60498422e-04 9.99355802e-01 7.94054122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:8.95, Z:7.94 [[ 9.98722730e-01 -3.56041160e-02 -3.58504734e-02 2.27185660e+02] [ 3.55677988e-02 9.99365903e-01 -1.65047768e-03 8.95335706e+00] [ 3.58865045e-02 3.73247151e-04 9.99355802e-01 7.94169267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:8.95, Z:7.94 [[ 9.98701649e-01 -3.61910348e-02 -3.58500251e-02 2.27213094e+02] [ 3.61547482e-02 9.99344824e-01 -1.66015749e-03 8.95413154e+00] [ 3.58866199e-02 3.61853392e-04 9.99355802e-01 7.94332019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:8.95, Z:7.94 [[ 9.98657669e-01 -3.73853886e-02 -3.58495747e-02 2.27240589e+02] [ 3.73495241e-02 9.99300868e-01 -1.66982700e-03 8.95459614e+00] [ 3.58869383e-02 3.28620984e-04 9.99355802e-01 7.94455972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:8.95, Z:7.95 [[ 9.98596921e-01 -3.89747262e-02 -3.58491248e-02 2.27267834e+02] [ 3.89395406e-02 9.99240157e-01 -1.67943231e-03 8.95486919e+00] [ 3.58873405e-02 2.81127484e-04 9.99355802e-01 7.94525075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:8.95, Z:7.95 [[ 9.98366335e-01 -4.44917507e-02 -3.58489291e-02 2.27296164e+02] [ 4.44599701e-02 9.99009748e-01 -1.68359814e-03 8.95333479e+00] [ 3.58883359e-02 8.70053819e-05 9.99355802e-01 7.94538429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:8.95, Z:7.95 [[ 9.98195110e-01 -4.81807658e-02 -3.58487916e-02 2.27323562e+02] [ 4.81512581e-02 9.98838632e-01 -1.68652146e-03 8.95280912e+00] [ 3.58884158e-02 -4.26869405e-05 9.99355802e-01 7.94832630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:8.95, Z:7.95 [[ 9.97987770e-01 -5.23001828e-02 -3.58483037e-02 2.27352248e+02] [ 5.22729611e-02 9.98631393e-01 -1.69682992e-03 8.95231814e+00] [ 3.58879859e-02 -1.80481470e-04 9.99355802e-01 7.94882420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:8.95, Z:7.95 [[ 9.97765316e-01 -5.63850987e-02 -3.58482130e-02 2.27381785e+02] [ 5.63604433e-02 9.98409042e-01 -1.69874348e-03 8.95138505e+00] [ 3.58869638e-02 -3.25473849e-04 9.99355802e-01 7.94972371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:8.95, Z:7.95 [[ 9.97254966e-01 -6.47876777e-02 -3.58481517e-02 2.27412816e+02] [ 6.47683991e-02 9.97898875e-01 -1.70003486e-03 8.94795763e+00] [ 3.58829716e-02 -6.26459191e-04 9.99355802e-01 7.94925354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:8.95, Z:7.95 [[ 9.97000375e-01 -6.85941652e-02 -3.58481821e-02 2.27444793e+02] [ 6.85773678e-02 9.97644354e-01 -1.69939357e-03 8.94735237e+00] [ 3.58803050e-02 -7.64077943e-04 9.99355802e-01 7.95050717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:8.95, Z:7.95 [[ 9.96757764e-01 -7.20337351e-02 -3.58483023e-02 2.27477464e+02] [ 7.20192510e-02 9.97401799e-01 -1.69685551e-03 8.94720156e+00] [ 3.58773920e-02 -8.90413979e-04 9.99355802e-01 7.95164161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:8.95, Z:7.95 [[ 9.96540705e-01 -7.49767494e-02 -3.58484220e-02 2.27509297e+02] [ 7.49642582e-02 9.97184782e-01 -1.69432295e-03 8.94738914e+00] [ 3.58745357e-02 -9.98888569e-04 9.99355802e-01 7.95283510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:8.95, Z:7.95 [[ 9.96298065e-01 -7.81348077e-02 -3.58485418e-02 2.27539151e+02] [ 7.81244491e-02 9.96942179e-01 -1.69178487e-03 8.94616065e+00] [ 3.58711106e-02 -1.11512558e-03 9.99355802e-01 7.95148248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:8.95, Z:7.95 [[ 9.96204824e-01 -7.93188141e-02 -3.58395702e-02 2.27567824e+02] [ 7.93024109e-02 9.96848829e-01 -1.88123506e-03 8.94644455e+00] [ 3.58758509e-02 -9.68068884e-04 9.99355786e-01 7.94955569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:8.95, Z:7.96 [[ 9.95948809e-01 -8.24738302e-02 -3.58334734e-02 2.27602006e+02] [ 8.24548013e-02 9.96592776e-01 -2.01103337e-03 8.94761641e+00] [ 3.58772384e-02 -9.51755643e-04 9.99355751e-01 7.95635066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:8.95, Z:7.96 [[ 9.95690291e-01 -8.55317220e-02 -3.58492668e-02 2.27634332e+02] [ 8.55268379e-02 9.96334463e-01 -1.67256745e-03 8.94784394e+00] [ 3.58609176e-02 -1.40071526e-03 9.99355809e-01 7.95894129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:8.95, Z:7.96 [[ 9.95573892e-01 -8.68760483e-02 -3.58493868e-02 2.27665957e+02] [ 8.68721265e-02 9.96218071e-01 -1.66999209e-03 8.94869613e+00] [ 3.58588893e-02 -1.45171194e-03 9.99355809e-01 7.96086083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:8.95, Z:7.96 [[ 9.95458856e-01 -8.81843528e-02 -3.58494778e-02 2.27698560e+02] [ 8.81813479e-02 9.96103041e-01 -1.66803546e-03 8.94983330e+00] [ 3.58568685e-02 -1.50079461e-03 9.99355809e-01 7.96312131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:8.95, Z:7.97 [[ 9.95259147e-01 -9.04103756e-02 -3.58495982e-02 2.27730099e+02] [ 9.04089045e-02 9.95903337e-01 -1.66544478e-03 8.95122543e+00] [ 3.58533079e-02 -1.58357374e-03 9.99355809e-01 7.96576701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:8.95, Z:7.97 [[ 9.95187666e-01 -9.11937552e-02 -3.58498058e-02 2.27763329e+02] [ 9.11929522e-02 9.95831857e-01 -1.66096465e-03 8.95256063e+00] [ 3.58518482e-02 -1.61627809e-03 9.99355809e-01 7.96734801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:8.95, Z:7.97 [[ 9.95263813e-01 -9.03588488e-02 -3.58499818e-02 2.27795421e+02] [ 9.03576423e-02 9.95908003e-01 -1.65715671e-03 8.95291372e+00] [ 3.58530225e-02 -1.59001172e-03 9.99355809e-01 7.96613239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.83, Y:8.96, Z:7.97 [[ 9.95072566e-01 -9.24412495e-02 -3.58497307e-02 2.27827641e+02] [ 9.24411952e-02 9.95716758e-01 -1.66260367e-03 8.95513429e+00] [ 3.58498708e-02 -1.65958066e-03 9.99355809e-01 7.96966524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:8.96, Z:7.97 [[ 9.95036868e-01 -9.28244781e-02 -3.58503464e-02 2.27860209e+02] [ 9.28251530e-02 9.95681059e-01 -1.64922128e-03 8.95630613e+00] [ 3.58485989e-02 -1.68677791e-03 9.99355809e-01 7.97067349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:8.96, Z:7.97 [[ 9.94946257e-01 -9.37906475e-02 -3.58505280e-02 2.27891718e+02] [ 9.37920902e-02 9.95590446e-01 -1.64526351e-03 8.95690934e+00] [ 3.58467535e-02 -1.72554719e-03 9.99355809e-01 7.96959497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:8.96, Z:7.97 [[ 9.94929478e-01 -9.39684386e-02 -3.58506176e-02 2.27924229e+02] [ 9.39700667e-02 9.95573667e-01 -1.64330765e-03 8.95797597e+00] [ 3.58463499e-02 -1.73390971e-03 9.99355809e-01 7.97011752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:8.96, Z:7.97 [[ 9.94899887e-01 -9.42811767e-02 -3.58507363e-02 2.27955865e+02] [ 9.42831005e-02 9.95544075e-01 -1.64071441e-03 8.95926335e+00] [ 3.58456766e-02 -1.74777199e-03 9.99355809e-01 7.97032076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:8.96, Z:7.97 [[ 9.94922099e-01 -9.40464542e-02 -3.58508246e-02 2.27989337e+02] [ 9.40482954e-02 9.95566287e-01 -1.63878349e-03 8.96071394e+00] [ 3.58459941e-02 -1.74124703e-03 9.99355809e-01 7.97152206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:8.96, Z:7.97 [[ 9.95045900e-01 -9.27273564e-02 -3.58510014e-02 2.28020198e+02] [ 9.27284830e-02 9.95690090e-01 -1.63490689e-03 8.96238965e+00] [ 3.58480874e-02 -1.69760158e-03 9.99355809e-01 7.97160382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:8.96, Z:7.97 [[ 9.95355795e-01 -8.93394726e-02 -3.58510889e-02 2.28053715e+02] [ 8.93384753e-02 9.95999985e-01 -1.63298466e-03 8.96293181e+00] [ 3.58535740e-02 -1.57748088e-03 9.99355809e-01 7.96845976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:8.97, Z:7.97 [[ 9.95647068e-01 -8.60316128e-02 -3.58535674e-02 2.28083927e+02] [ 8.60304382e-02 9.96291259e-01 -1.57837240e-03 8.96775592e+00] [ 3.58563857e-02 -1.51299627e-03 9.99355808e-01 7.97401919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:8.97, Z:7.98 [[ 9.95968187e-01 -8.22317157e-02 -3.58512847e-02 2.28116664e+02] [ 8.22262766e-02 9.96612355e-01 -1.62862272e-03 8.97034378e+00] [ 3.58637578e-02 -1.32586123e-03 9.99355809e-01 7.97566588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:8.97, Z:7.98 [[ 9.96319596e-01 -7.78584309e-02 -3.58514583e-02 2.28148657e+02] [ 7.78503015e-02 9.96963736e-01 -1.62479234e-03 8.97311717e+00] [ 3.58691076e-02 -1.17223439e-03 9.99355809e-01 7.97734376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:8.98, Z:7.98 [[ 9.96679647e-01 -7.31050354e-02 -3.58515735e-02 2.28180575e+02] [ 7.30939250e-02 9.97323742e-01 -1.62224795e-03 8.97595204e+00] [ 3.58742199e-02 -1.00367071e-03 9.99355809e-01 7.97965654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:8.98, Z:7.98 [[ 9.97351713e-01 -6.32788744e-02 -3.58516916e-02 2.28211070e+02] [ 6.32615107e-02 9.97995670e-01 -1.61963298e-03 8.98093752e+00] [ 3.58823215e-02 -6.52688445e-04 9.99355809e-01 7.98313509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:8.98, Z:7.99 [[ 9.97672037e-01 -5.80099622e-02 -3.58517796e-02 2.28241442e+02] [ 5.79892674e-02 9.98315896e-01 -1.61768247e-03 8.98371870e+00] [ 3.58852432e-02 -4.65101868e-04 9.99355809e-01 7.98511270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:8.99, Z:7.99 [[ 9.97954905e-01 -5.29212166e-02 -3.58518084e-02 2.28272288e+02] [ 5.28972614e-02 9.98598651e-01 -1.61704493e-03 8.98614717e+00] [ 3.58871434e-02 -2.82724557e-04 9.99355809e-01 7.98684788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:8.99, Z:7.99 [[ 9.98356241e-01 -4.47153749e-02 -3.58518084e-02 2.28301948e+02] [ 4.46861284e-02 9.98999767e-01 -1.61704493e-03 8.98899741e+00] [ 3.58882550e-02 1.23083885e-05 9.99355809e-01 7.98812522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:8.99, Z:7.99 [[ 9.98485545e-01 -4.17285188e-02 -3.58517509e-02 2.28330063e+02] [ 4.16973016e-02 9.99128979e-01 -1.61831720e-03 8.99066923e+00] [ 3.58880533e-02 1.20945057e-04 9.99355809e-01 7.98946773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:8.99, Z:7.99 [[ 9.98569020e-01 -3.96808977e-02 -3.58516085e-02 2.28358264e+02] [ 3.96482480e-02 9.99212383e-01 -1.62146573e-03 8.99198539e+00] [ 3.58877124e-02 1.97691978e-04 9.99355809e-01 7.99071577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:8.99, Z:7.99 [[ 9.98619694e-01 -3.83849142e-02 -3.58511497e-02 2.28386423e+02] [ 3.83510677e-02 9.99262995e-01 -1.63154857e-03 8.99295693e+00] [ 3.58873541e-02 2.54366664e-04 9.99355809e-01 7.99156448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:8.99, Z:7.99 [[ 9.98645915e-01 -3.76970064e-02 -3.58506900e-02 2.28414485e+02] [ 3.76623563e-02 9.99289173e-01 -1.64158838e-03 8.99213302e+00] [ 3.58870893e-02 2.89144075e-04 9.99355809e-01 7.99096714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:8.99, Z:7.99 [[ 9.98634344e-01 -3.80027578e-02 -3.58502200e-02 2.28442269e+02] [ 3.79679384e-02 9.99277593e-01 -1.65178915e-03 8.99178160e+00] [ 3.58870940e-02 2.88374432e-04 9.99355809e-01 7.99067863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:8.99, Z:7.99 [[ 9.98619010e-01 -3.84037036e-02 -3.58500743e-02 2.28470539e+02] [ 3.83690293e-02 9.99262267e-01 -1.65494439e-03 8.99135365e+00] [ 3.58871825e-02 2.77126380e-04 9.99355809e-01 7.99092063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:8.99, Z:7.99 [[ 9.98600147e-01 -3.88915274e-02 -3.58496127e-02 2.28498080e+02] [ 3.88568105e-02 9.99243402e-01 -1.66488494e-03 8.99123449e+00] [ 3.58872388e-02 2.69552742e-04 9.99355809e-01 7.99176012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:8.99, Z:7.99 [[ 9.98610922e-01 -3.86143202e-02 -3.58491364e-02 2.28525112e+02] [ 3.85790589e-02 9.99254147e-01 -1.67507664e-03 8.98991045e+00] [ 3.58870802e-02 2.89723879e-04 9.99355809e-01 7.99218427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:8.99, Z:7.99 [[ 9.98625567e-01 -3.82339017e-02 -3.58489297e-02 2.28553030e+02] [ 3.81982369e-02 9.99268770e-01 -1.67949034e-03 8.98972098e+00] [ 3.58869293e-02 3.07816083e-04 9.99355809e-01 7.99307871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:8.99, Z:7.99 [[ 9.98647648e-01 -3.76531871e-02 -3.58484767e-02 2.28581380e+02] [ 3.76168032e-02 9.99290810e-01 -1.68910326e-03 8.98925734e+00] [ 3.58866535e-02 3.38313901e-04 9.99355809e-01 7.99462419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:8.99, Z:8.00 [[ 9.98668265e-01 -3.71027972e-02 -3.58479996e-02 2.28608818e+02] [ 3.70656976e-02 9.99311386e-01 -1.69916922e-03 8.98875037e+00] [ 3.58863581e-02 3.68175269e-04 9.99355809e-01 7.99608759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:8.99, Z:8.00 [[ 9.98689256e-01 -3.65338896e-02 -3.58475090e-02 2.28635768e+02] [ 3.64960544e-02 9.99332335e-01 -1.70945816e-03 8.98827322e+00] [ 3.58860280e-02 3.98924866e-04 9.99355809e-01 7.99669988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:8.98, Z:8.00 [[ 9.98689669e-01 -3.65228173e-02 -3.58472961e-02 2.28664182e+02] [ 3.64848151e-02 9.99332738e-01 -1.71391124e-03 8.98497880e+00] [ 3.58859734e-02 4.03783477e-04 9.99355809e-01 7.99938537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:8.98, Z:8.00 [[ 9.98666340e-01 -3.71556607e-02 -3.58468713e-02 2.28692158e+02] [ 3.71177488e-02 9.99309414e-01 -1.72274949e-03 8.98383890e+00] [ 3.58861259e-02 3.89896764e-04 9.99355809e-01 8.00022578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:8.98, Z:8.00 [[ 9.98621468e-01 -3.83432036e-02 -3.58463854e-02 2.28720419e+02] [ 3.83056956e-02 9.99264565e-01 -1.73280154e-03 8.98269946e+00] [ 3.58864639e-02 3.57292085e-04 9.99355810e-01 8.00020458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:8.98, Z:8.00 [[ 9.98575324e-01 -3.95271242e-02 -3.58458986e-02 2.28748365e+02] [ 3.94900193e-02 9.99218445e-01 -1.74281325e-03 8.98169165e+00] [ 3.58867715e-02 3.24775080e-04 9.99355810e-01 8.00036379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:8.98, Z:8.00 [[ 9.98519206e-01 -4.09206797e-02 -3.58454116e-02 2.28776145e+02] [ 4.08841149e-02 9.99162358e-01 -1.75277417e-03 8.97759874e+00] [ 3.58871106e-02 2.84670743e-04 9.99355810e-01 8.00218999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:8.98, Z:8.00 [[ 9.98499445e-01 -4.14005017e-02 -3.58449019e-02 2.28802904e+02] [ 4.13638740e-02 9.99142593e-01 -1.76313591e-03 8.97600019e+00] [ 3.58871629e-02 2.77806228e-04 9.99355810e-01 8.00366454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:8.97, Z:8.00 [[ 9.98481776e-01 -4.18246621e-02 -3.58446804e-02 2.28830924e+02] [ 4.17881464e-02 9.99124930e-01 -1.76762751e-03 8.97434448e+00] [ 3.58872442e-02 2.67061102e-04 9.99355810e-01 8.00484212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:8.97, Z:8.01 [[ 9.98487308e-01 -4.16928169e-02 -3.58441691e-02 2.28859161e+02] [ 4.16558462e-02 9.99130437e-01 -1.77793478e-03 8.96986612e+00] [ 3.58871275e-02 2.82126113e-04 9.99355810e-01 8.00563407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:8.97, Z:8.01 [[ 9.98475288e-01 -4.19801227e-02 -3.58436553e-02 2.28887503e+02] [ 4.19429674e-02 9.99118406e-01 -1.78823413e-03 8.97134041e+00] [ 3.58871261e-02 2.82118326e-04 9.99355810e-01 8.00665630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:8.97, Z:8.01 [[ 9.98477331e-01 -4.19319548e-02 -3.58431381e-02 2.28915873e+02] [ 4.18943984e-02 9.99120425e-01 -1.79854111e-03 8.97028398e+00] [ 3.58870278e-02 2.94175815e-04 9.99355810e-01 8.00729750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.94, Y:8.97, Z:8.01 [[ 9.98480065e-01 -4.18672611e-02 -3.58426104e-02 2.28943797e+02] [ 4.18292877e-02 9.99123135e-01 -1.80899788e-03 8.96931878e+00] [ 3.58869190e-02 3.06977455e-04 9.99355810e-01 8.00773838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:8.97, Z:8.01 [[ 9.98476818e-01 -4.19450772e-02 -3.58420840e-02 2.28972170e+02] [ 4.19067818e-02 9.99119868e-01 -1.81936787e-03 8.96825599e+00] [ 3.58868518e-02 3.14570253e-04 9.99355810e-01 8.00861807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:8.97, Z:8.01 [[ 9.98468990e-01 -4.21314468e-02 -3.58415569e-02 2.28999361e+02] [ 4.20929008e-02 9.99112026e-01 -1.82969234e-03 8.96711294e+00] [ 3.58868181e-02 3.18215965e-04 9.99355810e-01 8.00895955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:8.97, Z:8.01 [[ 9.98445474e-01 -4.26853074e-02 -3.58413279e-02 2.29027422e+02] [ 4.26469575e-02 9.99088521e-01 -1.83416705e-03 8.96571290e+00] [ 3.58869513e-02 3.02792205e-04 9.99355810e-01 8.00956072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:8.96, Z:8.01 [[ 9.98395329e-01 -4.38429510e-02 -3.58407911e-02 2.29055284e+02] [ 4.38049723e-02 9.99038399e-01 -1.84459691e-03 8.96176994e+00] [ 3.58871992e-02 2.71632081e-04 9.99355810e-01 8.00936653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:8.96, Z:8.01 [[ 9.98339357e-01 -4.50999399e-02 -3.58402546e-02 2.29082862e+02] [ 4.50623987e-02 9.98982452e-01 -1.85496376e-03 8.96060780e+00] [ 3.58874442e-02 2.36835482e-04 9.99355810e-01 8.00986246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:8.96, Z:8.01 [[ 9.98276257e-01 -4.64761222e-02 -3.58397137e-02 2.29109829e+02] [ 4.64390945e-02 9.98919382e-01 -1.86535530e-03 8.95922047e+00] [ 3.58876792e-02 1.97776055e-04 9.99355810e-01 8.01041538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:8.96, Z:8.01 [[ 9.98192167e-01 -4.82487165e-02 -3.58393406e-02 2.29138179e+02] [ 4.82125745e-02 9.98835342e-01 -1.87249749e-03 8.95806864e+00] [ 3.58879456e-02 1.41205451e-04 9.99355810e-01 8.01174284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:8.96, Z:8.01 [[ 9.97978527e-01 -5.24827571e-02 -3.58387929e-02 2.29165723e+02] [ 5.24489695e-02 9.98621830e-01 -1.88292146e-03 8.95510920e+00] [ 3.58882219e-02 -5.92568251e-07 9.99355810e-01 8.01391110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:8.95, Z:8.02 [[ 9.97834093e-01 -5.51608567e-02 -3.58385552e-02 2.29193917e+02] [ 5.51286336e-02 9.98477477e-01 -1.88743460e-03 8.95417984e+00] [ 3.58881027e-02 -9.23839857e-05 9.99355810e-01 8.01504632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:8.95, Z:8.02 [[ 9.97521863e-01 -6.05456007e-02 -3.58380095e-02 2.29221918e+02] [ 6.05164803e-02 9.98165394e-01 -1.89774010e-03 8.94990081e+00] [ 3.58871607e-02 -2.75752957e-04 9.99355810e-01 8.01598589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.25, Y:8.95, Z:8.02 [[ 9.97366137e-01 -6.30592261e-02 -3.58374605e-02 2.29249255e+02] [ 6.30313571e-02 9.98009723e-01 -1.90805181e-03 8.94853215e+00] [ 3.58864543e-02 -3.55857504e-04 9.99355810e-01 8.01674221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:8.94, Z:8.02 [[ 9.97055891e-01 -6.77882238e-02 -3.58372221e-02 2.29277683e+02] [ 6.77632465e-02 9.97699596e-01 -1.91251993e-03 8.94456004e+00] [ 3.58844283e-02 -5.21557249e-04 9.99355810e-01 8.01743508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:8.94, Z:8.02 [[ 9.96921239e-01 -6.97407727e-02 -3.58366697e-02 2.29306850e+02] [ 6.97166861e-02 9.97564979e-01 -1.92281469e-03 8.94346935e+00] [ 3.58835052e-02 -5.81519050e-04 9.99355810e-01 8.01856196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:8.94, Z:8.02 [[ 9.96851552e-01 -7.07301386e-02 -3.58361738e-02 2.29334705e+02] [ 7.07063603e-02 9.97495302e-01 -1.93201309e-03 8.94277949e+00] [ 3.58830666e-02 -6.07915176e-04 9.99355810e-01 8.02002804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:8.94, Z:8.02 [[ 9.96816437e-01 -7.12233904e-02 -3.58359981e-02 2.29362982e+02] [ 7.11998137e-02 9.97460195e-01 -1.93526769e-03 8.94273113e+00] [ 3.58828179e-02 -6.22409741e-04 9.99355811e-01 8.02084814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:8.94, Z:8.02 [[ 9.96835105e-01 -7.09617262e-02 -3.58358243e-02 2.29391400e+02] [ 7.09378651e-02 9.97478853e-01 -1.93847944e-03 8.94285800e+00] [ 3.58830348e-02 -6.09772511e-04 9.99355811e-01 8.02189124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:8.94, Z:8.02 [[ 9.97048801e-01 -6.78934236e-02 -3.58353334e-02 2.29419415e+02] [ 6.78672567e-02 9.97692459e-01 -1.94751323e-03 8.94184692e+00] [ 3.58848652e-02 -4.90280038e-04 9.99355811e-01 8.02273376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:8.94, Z:8.02 [[ 9.97201524e-01 -6.56122113e-02 -3.58351593e-02 2.29447150e+02] [ 6.55844571e-02 9.97845115e-01 -1.95071044e-03 8.94233501e+00] [ 3.58859291e-02 -4.04978040e-04 9.99355811e-01 8.02386485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:8.94, Z:8.02 [[ 9.97372486e-01 -6.29603591e-02 -3.58345949e-02 2.29475482e+02] [ 6.29305231e-02 9.98015984e-01 -1.96102393e-03 8.94298381e+00] [ 3.58869653e-02 -2.99218495e-04 9.99355811e-01 8.02471247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:8.94, Z:8.03 [[ 9.97754243e-01 -5.65896922e-02 -3.58340304e-02 2.29502286e+02] [ 5.65553788e-02 9.98397518e-01 -1.97128604e-03 8.94276705e+00] [ 3.58881615e-02 -5.97481525e-05 9.99355811e-01 8.02503119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:8.94, Z:8.03 [[ 9.97925202e-01 -5.34905698e-02 -3.58336410e-02 2.29529990e+02] [ 5.34540054e-02 9.98568353e-01 -1.97833844e-03 8.94362977e+00] [ 3.58881624e-02 5.87821431e-05 9.99355811e-01 8.02599237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:8.94, Z:8.03 [[ 9.98222992e-01 -4.76114275e-02 -3.58330802e-02 2.29557445e+02] [ 4.75707124e-02 9.98865894e-01 -1.98844581e-03 8.94401798e+00] [ 3.58871144e-02 2.80307172e-04 9.99355811e-01 8.02754791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:8.94, Z:8.03 [[ 9.98372550e-01 -4.43663918e-02 -3.58311938e-02 2.29585096e+02] [ 4.43223718e-02 9.99015234e-01 -2.02231526e-03 8.94385708e+00] [ 3.58856313e-02 4.30900547e-04 9.99355810e-01 8.02743064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:8.94, Z:8.03 [[ 9.98388870e-01 -4.39966430e-02 -3.58323713e-02 2.29613742e+02] [ 4.39531415e-02 9.99031589e-01 -2.00123215e-03 8.94204727e+00] [ 3.58857184e-02 4.23062619e-04 9.99355811e-01 8.02672671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:8.94, Z:8.03 [[ 9.98111299e-01 -4.98960020e-02 -3.58360742e-02 2.29640255e+02] [ 4.98586764e-02 9.98754408e-01 -1.93502498e-03 8.94159513e+00] [ 3.58879871e-02 1.44631066e-04 9.99355808e-01 8.02633501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:8.94, Z:8.03 [[ 9.97913510e-01 -5.37096447e-02 -3.58315704e-02 2.29668138e+02] [ 5.36719011e-02 9.98556591e-01 -2.01511021e-03 8.94160160e+00] [ 3.58880817e-02 8.77571986e-05 9.99355811e-01 8.02740130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:8.94, Z:8.03 [[ 9.97898524e-01 -5.39877290e-02 -3.58310067e-02 2.29696491e+02] [ 5.39498064e-02 9.98541595e-01 -2.02508520e-03 8.94327637e+00] [ 3.58880803e-02 8.77536551e-05 9.99355812e-01 8.02842350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:8.94, Z:8.03 [[ 9.97630520e-01 -5.87326533e-02 -3.58304399e-02 2.29722990e+02] [ 5.86974309e-02 9.98273745e-01 -2.03506356e-03 8.94315687e+00] [ 3.58881122e-02 -7.29132527e-05 9.99355812e-01 8.02916776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:8.94, Z:8.03 [[ 9.97310931e-01 -6.39305543e-02 -3.58300395e-02 2.29750702e+02] [ 6.38984318e-02 9.97954318e-01 -2.04208979e-03 8.94321246e+00] [ 3.58872946e-02 -2.52884864e-04 9.99355812e-01 8.03043940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:8.94, Z:8.03 [[ 9.96951079e-01 -6.93166302e-02 -3.58294723e-02 2.29778291e+02] [ 6.92876276e-02 9.97594614e-01 -2.05199374e-03 8.94316220e+00] [ 3.58855259e-02 -4.36801757e-04 9.99355812e-01 8.03188794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:8.94, Z:8.03 [[ 9.96556321e-01 -7.47782669e-02 -3.58288976e-02 2.29805679e+02] [ 7.47524321e-02 9.97199991e-01 -2.06197897e-03 8.94293766e+00] [ 3.58827676e-02 -6.23419056e-04 9.99355812e-01 8.03323915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:8.94, Z:8.03 [[ 9.96190007e-01 -7.95096769e-02 -3.58285003e-02 2.29832188e+02] [ 7.94866515e-02 9.96833784e-01 -2.06885933e-03 8.94260525e+00] [ 3.58795539e-02 -7.86910532e-04 9.99355812e-01 8.03434987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:8.94, Z:8.04 [[ 9.95733528e-01 -8.50378885e-02 -3.58231602e-02 2.29860739e+02] [ 8.50151256e-02 9.96377317e-01 -2.16095631e-03 8.94240181e+00] [ 3.58771474e-02 -8.93773810e-04 9.99355808e-01 8.03533661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:8.94, Z:8.04 [[ 9.95328375e-01 -8.96537542e-02 -3.58277949e-02 2.29888683e+02] [ 8.96368455e-02 9.95972341e-01 -2.08117145e-03 8.94232316e+00] [ 3.58700776e-02 -1.14004152e-03 9.99355811e-01 8.03626148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:8.94, Z:8.04 [[ 9.94567590e-01 -9.77327481e-02 -3.58276183e-02 2.29917940e+02] [ 9.77209597e-02 9.95211671e-01 -2.08420671e-03 8.94198280e+00] [ 3.58597591e-02 -1.42822480e-03 9.99355811e-01 8.03810140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.95, Y:8.94, Z:8.04 [[ 9.94216055e-01 -1.01246494e-01 -3.58271229e-02 2.29946601e+02] [ 1.01236677e-01 9.94860169e-01 -2.09268844e-03 8.94322022e+00] [ 3.58548549e-02 -1.54643441e-03 9.99355811e-01 8.03949021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:8.94, Z:8.04 [[ 9.93946008e-01 -1.03864276e-01 -3.58266018e-02 2.29975940e+02] [ 1.03855836e-01 9.94590141e-01 -2.10157146e-03 8.94464702e+00] [ 3.58510632e-02 -1.63195311e-03 9.99355812e-01 8.04067976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:8.95, Z:8.04 [[ 9.93707208e-01 -1.06124665e-01 -3.58265244e-02 2.30006507e+02] [ 1.06117641e-01 9.94351358e-01 -2.10289110e-03 8.94635661e+00] [ 3.58473218e-02 -1.71216823e-03 9.99355812e-01 8.04154991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:8.95, Z:8.04 [[ 9.93545426e-01 -1.07628745e-01 -3.58265244e-02 2.30036895e+02] [ 1.07622697e-01 9.94189586e-01 -2.10289110e-03 8.94795906e+00] [ 3.58446889e-02 -1.76642936e-03 9.99355812e-01 8.04231784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:8.95, Z:8.04 [[ 9.93335665e-01 -1.09547772e-01 -3.58265625e-02 2.30067127e+02] [ 1.09542992e-01 9.93979836e-01 -2.10224166e-03 8.94954257e+00] [ 3.58411766e-02 -1.83631721e-03 9.99355812e-01 8.04348949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:8.95, Z:8.04 [[ 9.93311533e-01 -1.09766372e-01 -3.58265625e-02 2.30097231e+02] [ 1.09761733e-01 9.93955704e-01 -2.10224166e-03 8.95153639e+00] [ 3.58407716e-02 -1.84420471e-03 9.99355812e-01 8.04456916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:8.95, Z:8.05 [[ 9.93328936e-01 -1.09608767e-01 -3.58265625e-02 2.30127876e+02] [ 1.09604026e-01 9.93973107e-01 -2.10224166e-03 8.95436032e+00] [ 3.58410637e-02 -1.83851801e-03 9.99355812e-01 8.04593480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:8.96, Z:8.05 [[ 9.93481801e-01 -1.08214457e-01 -3.58265625e-02 2.30156987e+02] [ 1.08208812e-01 9.94125965e-01 -2.10224166e-03 8.95891379e+00] [ 3.58436089e-02 -1.78821091e-03 9.99355812e-01 8.04695911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:8.96, Z:8.05 [[ 9.93596948e-01 -1.07152052e-01 -3.58265712e-02 2.30186969e+02] [ 1.07145724e-01 9.94241105e-01 -2.10209304e-03 8.96238097e+00] [ 3.58454933e-02 -1.75003067e-03 9.99355812e-01 8.04790185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:8.97, Z:8.05 [[ 9.93759406e-01 -1.05634752e-01 -3.58265712e-02 2.30216111e+02] [ 1.05627440e-01 9.94403552e-01 -2.10209304e-03 8.96603958e+00] [ 3.58481237e-02 -1.69529425e-03 9.99355812e-01 8.04826798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:8.97, Z:8.05 [[ 9.94132232e-01 -1.02066474e-01 -3.58265338e-02 2.30246030e+02] [ 1.02056826e-01 9.94776348e-01 -2.10273051e-03 8.97173678e+00] [ 3.58540067e-02 -1.56595017e-03 9.99355812e-01 8.04795327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.28, Y:8.98, Z:8.05 [[ 9.94340326e-01 -1.00018877e-01 -3.58265338e-02 2.30276173e+02] [ 1.00007903e-01 9.94984421e-01 -2.10273051e-03 8.97542106e+00] [ 3.58571557e-02 -1.49210677e-03 9.99355812e-01 8.04841333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:8.98, Z:8.05 [[ 9.94587635e-01 -9.75289453e-02 -3.58265338e-02 2.30306642e+02] [ 9.75163587e-02 9.95231701e-01 -2.10273051e-03 8.97934329e+00] [ 3.58607792e-02 -1.40232335e-03 9.99355812e-01 8.04908157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:8.98, Z:8.05 [[ 9.94788079e-01 -9.54627507e-02 -3.58265338e-02 2.30338005e+02] [ 9.54488262e-02 9.95432117e-01 -2.10273051e-03 8.98430927e+00] [ 3.58636148e-02 -1.32782935e-03 9.99355812e-01 8.05000814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:8.99, Z:8.05 [[ 9.95279794e-01 -9.01919338e-02 -3.58266099e-02 2.30367615e+02] [ 9.01746447e-02 9.95923751e-01 -2.10143310e-03 8.99211087e+00] [ 3.58701040e-02 -1.13913791e-03 9.99355812e-01 8.05082524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:9.00, Z:8.05 [[ 9.95516302e-01 -8.75428258e-02 -3.58266099e-02 2.30398208e+02] [ 8.75238229e-02 9.96160210e-01 -2.10143310e-03 8.99654810e+00] [ 3.58730086e-02 -1.04367095e-03 9.99355812e-01 8.05180972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:9.00, Z:8.05 [[ 9.95777974e-01 -8.45143659e-02 -3.58266478e-02 2.30427459e+02] [ 8.44934277e-02 9.96421822e-01 -2.10078697e-03 9.00068348e+00] [ 3.58760003e-02 -9.35198882e-04 9.99355812e-01 8.05226547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:9.00, Z:8.05 [[ 9.96007803e-01 -8.17612810e-02 -3.58266520e-02 2.30457365e+02] [ 8.17385657e-02 9.96651591e-01 -2.10071433e-03 9.00492653e+00] [ 3.58784468e-02 -8.36091284e-04 9.99355812e-01 8.05333729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:9.01, Z:8.05 [[ 9.96232912e-01 -7.89711377e-02 -3.58265769e-02 2.30486903e+02] [ 7.89465732e-02 9.96876632e-01 -2.10199450e-03 9.00909842e+00] [ 3.58806742e-02 -7.34309370e-04 9.99355812e-01 8.05427535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:9.02, Z:8.06 [[ 9.96603813e-01 -7.41437922e-02 -3.58265011e-02 2.30515412e+02] [ 7.41160630e-02 9.97247404e-01 -2.10328523e-03 9.01581452e+00] [ 3.58838308e-02 -5.59177130e-04 9.99355812e-01 8.05507608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:9.02, Z:8.06 [[ 9.96749953e-01 -7.21526344e-02 -3.58263617e-02 2.30544758e+02] [ 7.21235342e-02 9.97393484e-01 -2.10565809e-03 9.02025523e+00] [ 3.58849085e-02 -4.85109216e-04 9.99355812e-01 8.05653313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:9.02, Z:8.06 [[ 9.96870851e-01 -7.04626364e-02 -3.58262862e-02 2.30574655e+02] [ 7.04323991e-02 9.97514330e-01 -2.10694054e-03 9.02458939e+00] [ 3.58856945e-02 -4.22983679e-04 9.99355812e-01 8.05770729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:9.03, Z:8.06 [[ 9.96959094e-01 -6.92029458e-02 -3.58262105e-02 2.30604343e+02] [ 6.91718491e-02 9.97602531e-01 -2.10822827e-03 9.02836469e+00] [ 3.58862139e-02 -3.76347880e-04 9.99355812e-01 8.05855420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:9.03, Z:8.06 [[ 9.97001385e-01 -6.85910088e-02 -3.58261335e-02 2.30633240e+02] [ 6.85594703e-02 9.97644801e-01 -2.10953503e-03 9.03213566e+00] [ 3.58864510e-02 -3.53011389e-04 9.99355812e-01 8.05909948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:9.04, Z:8.06 [[ 9.97028744e-01 -6.81922336e-02 -3.58260189e-02 2.30661410e+02] [ 6.81603678e-02 9.97672144e-01 -2.11148012e-03 9.03674138e+00] [ 3.58866076e-02 -3.36708250e-04 9.99355812e-01 8.06094203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:9.04, Z:8.06 [[ 9.97012278e-01 -6.84328214e-02 -3.58255073e-02 2.30690593e+02] [ 6.84008003e-02 9.97655670e-01 -2.12012520e-03 9.03851688e+00] [ 3.58866066e-02 -3.36702515e-04 9.99355812e-01 8.06199421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:9.04, Z:8.06 [[ 9.96985964e-01 -6.88153903e-02 -3.58249939e-02 2.30718691e+02] [ 6.87833056e-02 9.97629353e-01 -2.12876443e-03 9.04151782e+00] [ 3.58865573e-02 -3.41813251e-04 9.99355812e-01 8.06367701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:9.04, Z:8.07 [[ 9.96955295e-01 -6.92585512e-02 -3.58244714e-02 2.30747749e+02] [ 6.92264379e-02 9.97598682e-01 -2.13752260e-03 9.04469414e+00] [ 3.58864871e-02 -3.48986067e-04 9.99355812e-01 8.06521652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.78, Y:9.05, Z:8.07 [[ 9.96847742e-01 -7.07897728e-02 -3.58243958e-02 2.30776818e+02] [ 7.07586023e-02 9.97491176e-01 -2.13878888e-03 9.04938004e+00] [ 3.58859230e-02 -4.02837309e-04 9.99355812e-01 8.06727138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:9.05, Z:8.07 [[ 9.96749291e-01 -7.21627951e-02 -3.58243186e-02 2.30805749e+02] [ 7.21324644e-02 9.97392765e-01 -2.14008076e-03 9.05227267e+00] [ 3.58853504e-02 -4.50972406e-04 9.99355812e-01 8.06881422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.84, Y:9.06, Z:8.07 [[ 9.96612337e-01 -7.40302051e-02 -3.58242802e-02 2.30835711e+02] [ 7.40010571e-02 9.97255865e-01 -2.14072255e-03 9.05514444e+00] [ 3.58844517e-02 -5.17564107e-04 9.99355812e-01 8.06979535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.87, Y:9.06, Z:8.07 [[ 9.96296370e-01 -7.81675763e-02 -3.58242044e-02 2.30866341e+02] [ 7.81410549e-02 9.96940012e-01 -2.14199053e-03 9.05784943e+00] [ 3.58820170e-02 -6.65283740e-04 9.99355812e-01 8.07066292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.90, Y:9.06, Z:8.07 [[ 9.96098774e-01 -8.06465083e-02 -3.58242044e-02 2.30896976e+02] [ 8.06215886e-02 9.96742480e-01 -2.14199053e-03 9.05974961e+00] [ 3.58802504e-02 -7.54570136e-04 9.99355812e-01 8.07175740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.93, Y:9.06, Z:8.07 [[ 9.95897067e-01 -8.31002862e-02 -3.58242044e-02 2.30927582e+02] [ 8.30769524e-02 9.96540833e-01 -2.14199053e-03 9.06162276e+00] [ 3.58782825e-02 -8.42963644e-04 9.99355812e-01 8.07274923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.96, Y:9.06, Z:8.07 [[ 9.95686984e-01 -8.55806784e-02 -3.58242434e-02 2.30958988e+02] [ 8.55589717e-02 9.96330807e-01 -2.14133905e-03 9.06369264e+00] [ 3.58760545e-02 -9.32982000e-04 9.99355812e-01 8.07367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:9.07, Z:8.07 [[ 9.95259977e-01 -9.04112664e-02 -3.58243185e-02 2.30989870e+02] [ 9.03927294e-02 9.95903898e-01 -2.14008171e-03 9.06641935e+00] [ 3.58710659e-02 -1.10832025e-03 9.99355812e-01 8.07372047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:9.07, Z:8.07 [[ 9.95057739e-01 -9.26105206e-02 -3.58243947e-02 2.31022323e+02] [ 9.25934525e-02 9.95701701e-01 -2.13880448e-03 9.06853818e+00] [ 3.58684866e-02 -1.18887044e-03 9.99355812e-01 8.07422216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:9.07, Z:8.07 [[ 9.94837703e-01 -9.49449617e-02 -3.58245475e-02 2.31053478e+02] [ 9.49294967e-02 9.95481706e-01 -2.13624252e-03 9.07038915e+00] [ 3.58655071e-02 -1.27559166e-03 9.99355812e-01 8.07482351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:9.07, Z:8.08 [[ 9.94639144e-01 -9.70029260e-02 -3.58246612e-02 2.31085862e+02] [ 9.69888621e-02 9.95283178e-01 -2.13433473e-03 9.07226473e+00] [ 3.58627193e-02 -1.35170025e-03 9.99355812e-01 8.07559588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.12, Y:9.07, Z:8.08 [[ 9.94458214e-01 -9.88404978e-02 -3.58248128e-02 2.31116860e+02] [ 9.88277155e-02 9.95102275e-01 -2.13178560e-03 9.07389774e+00] [ 3.58600595e-02 -1.42051271e-03 9.99355812e-01 8.07613924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:9.08, Z:8.08 [[ 9.94062412e-01 -1.02744808e-01 -3.58249257e-02 2.31149194e+02] [ 1.02734623e-01 9.94706520e-01 -2.12988730e-03 9.07619534e+00] [ 3.58541220e-02 -1.56321933e-03 9.99355812e-01 8.07683634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:9.08, Z:8.08 [[ 9.93900252e-01 -1.04301742e-01 -3.58250822e-02 2.31180024e+02] [ 1.04292661e-01 9.94544376e-01 -2.12725197e-03 9.07859278e+00] [ 3.58515101e-02 -1.62201687e-03 9.99355812e-01 8.07739785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:9.08, Z:8.08 [[ 9.93757975e-01 -1.05648628e-01 -3.58253433e-02 2.31211065e+02] [ 1.05640578e-01 9.94402113e-01 -2.12284578e-03 9.08109811e+00] [ 3.58490728e-02 -1.67501507e-03 9.99355812e-01 8.07799159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:9.08, Z:8.08 [[ 9.93632755e-01 -1.06819831e-01 -3.58255874e-02 2.31243214e+02] [ 1.06812689e-01 9.94276903e-01 -2.11871825e-03 9.08366767e+00] [ 3.58468752e-02 -1.72139947e-03 9.99355812e-01 8.07893362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:9.09, Z:8.08 [[ 9.93512407e-01 -1.07933374e-01 -3.58257374e-02 2.31275594e+02] [ 1.07927045e-01 9.94156565e-01 -2.11617913e-03 9.08643538e+00] [ 3.58447983e-02 -1.76411575e-03 9.99355812e-01 8.07989368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:9.09, Z:8.08 [[ 9.93302486e-01 -1.09848431e-01 -3.58258900e-02 2.31306166e+02] [ 1.09843437e-01 9.93946655e-01 -2.11359127e-03 9.09054795e+00] [ 3.58411982e-02 -1.83580344e-03 9.99355812e-01 8.08018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.34, Y:9.09, Z:8.08 [[ 9.93222723e-01 -1.10567265e-01 -3.58260036e-02 2.31337783e+02] [ 1.10562807e-01 9.93866896e-01 -2.11166513e-03 9.09369989e+00] [ 3.58397600e-02 -1.86366972e-03 9.99355812e-01 8.08160963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:9.10, Z:8.08 [[ 9.93158430e-01 -1.11143237e-01 -3.58261531e-02 2.31369143e+02] [ 1.11139244e-01 9.93802606e-01 -2.10912520e-03 9.09665658e+00] [ 3.58385393e-02 -1.88699609e-03 9.99355812e-01 8.08213076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:9.10, Z:8.08 [[ 9.92988865e-01 -1.12648097e-01 -3.58262645e-02 2.31401563e+02] [ 1.12645148e-01 9.93633046e-01 -2.10723115e-03 9.10127089e+00] [ 3.58355359e-02 -1.94319779e-03 9.99355812e-01 8.08366366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.43, Y:9.10, Z:8.09 [[ 9.92903492e-01 -1.13398077e-01 -3.58264149e-02 2.31434420e+02] [ 1.13395707e-01 9.93547676e-01 -2.10467041e-03 9.10477134e+00] [ 3.58339169e-02 -1.97282705e-03 9.99355812e-01 8.08582814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:9.11, Z:8.09 [[ 9.92832380e-01 -1.14018933e-01 -3.58266465e-02 2.31467161e+02] [ 1.14017108e-01 9.93476565e-01 -2.10072082e-03 9.10834256e+00] [ 3.58324557e-02 -1.99918697e-03 9.99355812e-01 8.08741141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:9.11, Z:8.09 [[ 9.92742205e-01 -1.14801351e-01 -3.58268762e-02 2.31498983e+02] [ 1.14800174e-01 9.93386392e-01 -2.09679659e-03 9.11175847e+00] [ 3.58306463e-02 -2.03135317e-03 9.99355812e-01 8.08928953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:9.12, Z:8.09 [[ 9.92569768e-01 -1.16282742e-01 -3.58270664e-02 2.31530702e+02] [ 1.16282644e-01 9.93213957e-01 -2.09354215e-03 9.11649038e+00] [ 3.58273852e-02 -2.08807935e-03 9.99355812e-01 8.09090649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:9.12, Z:8.09 [[ 9.92501043e-01 -1.16867820e-01 -3.58272543e-02 2.31563524e+02] [ 1.16868218e-01 9.93145231e-01 -2.09032073e-03 9.11985631e+00] [ 3.58259580e-02 -2.11242185e-03 9.99355812e-01 8.09241555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:9.12, Z:8.09 [[ 9.92453635e-01 -1.17269661e-01 -3.58274786e-02 2.31596815e+02] [ 1.17270458e-01 9.93097823e-01 -2.08646993e-03 9.12354916e+00] [ 3.58248706e-02 -2.13078015e-03 9.99355812e-01 8.09401798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:9.13, Z:8.09 [[ 9.92402744e-01 -1.17699482e-01 -3.58277086e-02 2.31629116e+02] [ 1.17700701e-01 9.93046932e-01 -2.08251251e-03 9.12870234e+00] [ 3.58237067e-02 -2.15025527e-03 9.99355812e-01 8.09497308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:9.13, Z:8.10 [[ 9.92419940e-01 -1.17554354e-01 -3.58278616e-02 2.31660954e+02] [ 1.17555573e-01 9.93064128e-01 -2.07987613e-03 9.13218534e+00] [ 3.58238627e-02 -2.14765426e-03 9.99355812e-01 8.09582148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.69, Y:9.14, Z:8.10 [[ 9.92520496e-01 -1.16702195e-01 -3.58282400e-02 2.31692968e+02] [ 1.16703096e-01 9.93164684e-01 -2.07333777e-03 9.13731960e+00] [ 3.58253057e-02 -2.12343631e-03 9.99355812e-01 8.09614305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:9.14, Z:8.10 [[ 9.92401643e-01 -1.17708913e-01 -3.58272259e-02 2.31725148e+02] [ 1.17709836e-01 9.93045831e-01 -2.09090389e-03 9.14120860e+00] [ 3.58241954e-02 -2.14220042e-03 9.99355812e-01 8.09668041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:9.14, Z:8.10 [[ 9.92398722e-01 -1.17733049e-01 -3.58288481e-02 2.31757712e+02] [ 1.17735001e-01 9.93042907e-01 -2.06272727e-03 9.14465791e+00] [ 3.58224346e-02 -2.17126155e-03 9.99355812e-01 8.09786653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:9.15, Z:8.10 [[ 9.92405492e-01 -1.17675898e-01 -3.58290763e-02 2.31789271e+02] [ 1.17677955e-01 9.93049677e-01 -2.05875512e-03 9.14828018e+00] [ 3.58223185e-02 -2.17317254e-03 9.99355812e-01 8.09845404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:9.15, Z:8.10 [[ 9.92409750e-01 -1.17639927e-01 -3.58292651e-02 2.31822022e+02] [ 1.17642080e-01 9.93053934e-01 -2.05546397e-03 9.15227393e+00] [ 3.58221973e-02 -2.17516678e-03 9.99355812e-01 8.10044546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:9.16, Z:8.10 [[ 9.92486979e-01 -1.16986509e-01 -3.58294922e-02 2.31853876e+02] [ 1.16988379e-01 9.93131165e-01 -2.05149908e-03 9.15829233e+00] [ 3.58233830e-02 -2.15554810e-03 9.99355812e-01 8.10175615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.89, Y:9.16, Z:8.10 [[ 9.92512815e-01 -1.16767001e-01 -3.58298648e-02 2.31885918e+02] [ 1.16768965e-01 9.93157000e-01 -2.04496952e-03 9.16250792e+00] [ 3.58234660e-02 -2.15415777e-03 9.99355812e-01 8.10301930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.92, Y:9.17, Z:8.10 [[ 9.92591888e-01 -1.16092853e-01 -3.58300497e-02 2.31918910e+02] [ 1.16094496e-01 9.93236074e-01 -2.04172558e-03 9.16644911e+00] [ 3.58247276e-02 -2.13307130e-03 9.99355812e-01 8.10448255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:9.17, Z:8.11 [[ 9.92650421e-01 -1.15591232e-01 -3.58302664e-02 2.31950684e+02] [ 1.15592686e-01 9.93294608e-01 -2.03791616e-03 9.17018759e+00] [ 3.58255756e-02 -2.11877841e-03 9.99355812e-01 8.10588647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:9.18, Z:8.11 [[ 9.92730047e-01 -1.14905325e-01 -3.58304455e-02 2.31983272e+02] [ 1.14906448e-01 9.93374234e-01 -2.03476204e-03 9.17520602e+00] [ 3.58268463e-02 -2.09717979e-03 9.99355812e-01 8.10774854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:9.18, Z:8.11 [[ 9.92771253e-01 -1.14548691e-01 -3.58306616e-02 2.32016567e+02] [ 1.14549719e-01 9.93415440e-01 -2.03094965e-03 9.17851562e+00] [ 3.58273751e-02 -2.08812377e-03 9.99355812e-01 8.10931166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:9.18, Z:8.11 [[ 9.92777596e-01 -1.14493642e-01 -3.58308768e-02 2.32048531e+02] [ 1.14494771e-01 9.93421783e-01 -2.02714531e-03 9.18184472e+00] [ 3.58272688e-02 -2.08994357e-03 9.99355812e-01 8.11092898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:9.19, Z:8.11 [[ 9.92748055e-01 -1.14749442e-01 -3.58310545e-02 2.32080985e+02] [ 1.14750851e-01 9.93392242e-01 -2.02399960e-03 9.18581529e+00] [ 3.58265444e-02 -2.10232232e-03 9.99355812e-01 8.11302469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:9.19, Z:8.11 [[ 9.92765569e-01 -1.14597753e-01 -3.58312661e-02 2.32114360e+02] [ 1.14599198e-01 9.93409756e-01 -2.02024746e-03 9.18850241e+00] [ 3.58266451e-02 -2.10060222e-03 9.99355812e-01 8.11427147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:9.19, Z:8.12 [[ 9.92799488e-01 -1.14303464e-01 -3.58314818e-02 2.32146717e+02] [ 1.14304856e-01 9.93443674e-01 -2.01641356e-03 9.19117743e+00] [ 3.58270420e-02 -2.09381802e-03 9.99355812e-01 8.11505110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.18, Y:9.19, Z:8.12 [[ 9.92832000e-01 -1.14020665e-01 -3.58316599e-02 2.32179156e+02] [ 1.14021987e-01 9.93476187e-01 -2.01324395e-03 9.19410469e+00] [ 3.58274522e-02 -2.08678404e-03 9.99355812e-01 8.11549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:9.20, Z:8.12 [[ 9.92907636e-01 -1.13360062e-01 -3.58318685e-02 2.32209804e+02] [ 1.13361090e-01 9.93551823e-01 -2.00952492e-03 9.19662456e+00] [ 3.58286181e-02 -2.06666701e-03 9.99355812e-01 8.11591328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:9.20, Z:8.12 [[ 9.93084549e-01 -1.11799586e-01 -3.58319716e-02 2.32242181e+02] [ 1.11799667e-01 9.93728737e-01 -2.00768430e-03 9.19975831e+00] [ 3.58317182e-02 -2.01220224e-03 9.99355812e-01 8.11505552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:9.20, Z:8.12 [[ 9.93146746e-01 -1.11245681e-01 -3.58321081e-02 2.32273808e+02] [ 1.11245491e-01 9.93790934e-01 -2.00524500e-03 9.20242727e+00] [ 3.58326990e-02 -1.99465792e-03 9.99355812e-01 8.11606641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:9.21, Z:8.12 [[ 9.93229938e-01 -1.10500412e-01 -3.58322481e-02 2.32305882e+02] [ 1.10499828e-01 9.93874125e-01 -2.00273958e-03 9.20556537e+00] [ 3.58340478e-02 -1.97027636e-03 9.99355812e-01 8.11721055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:9.21, Z:8.12 [[ 9.93393368e-01 -1.09021355e-01 -3.58323943e-02 2.32337504e+02] [ 1.09019907e-01 9.94037554e-01 -2.00012097e-03 9.21023734e+00] [ 3.58368015e-02 -1.91953738e-03 9.99355812e-01 8.11863216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:9.21, Z:8.12 [[ 9.93492595e-01 -1.08113321e-01 -3.58325762e-02 2.32368740e+02] [ 1.08111401e-01 9.94136780e-01 -1.99685698e-03 9.21332930e+00] [ 3.58383688e-02 -1.89004740e-03 9.99355812e-01 8.12038660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:9.22, Z:8.12 [[ 9.93615625e-01 -1.06976676e-01 -3.58326797e-02 2.32401836e+02] [ 1.06974086e-01 9.94259808e-01 -1.99499761e-03 9.21632776e+00] [ 3.58404115e-02 -1.85090736e-03 9.99355812e-01 8.12231908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.43, Y:9.22, Z:8.12 [[ 9.93758995e-01 -1.05636475e-01 -3.58328879e-02 2.32434315e+02] [ 1.05633151e-01 9.94403174e-01 -1.99125082e-03 9.21928896e+00] [ 3.58426862e-02 -1.80631745e-03 9.99355812e-01 8.12456213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:9.22, Z:8.13 [[ 9.93913749e-01 -1.04170287e-01 -3.58331042e-02 2.32465980e+02] [ 1.04166152e-01 9.94557923e-01 -1.98735141e-03 9.22237946e+00] [ 3.58451207e-02 -1.75734070e-03 9.99355812e-01 8.12593907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:9.23, Z:8.13 [[ 9.94111313e-01 -1.02267592e-01 -3.58334588e-02 2.32499268e+02] [ 1.02262455e-01 9.94755481e-01 -1.98093722e-03 9.22657884e+00] [ 3.58481152e-02 -1.69514537e-03 9.99355812e-01 8.12809796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:9.23, Z:8.13 [[ 9.94176950e-01 -1.01627455e-01 -3.58336732e-02 2.32532698e+02] [ 1.01622043e-01 9.94821115e-01 -1.97705016e-03 9.22885766e+00] [ 3.58490174e-02 -1.67595340e-03 9.99355812e-01 8.12954887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.56, Y:9.23, Z:8.13 [[ 9.94181793e-01 -1.01579991e-01 -3.58338896e-02 2.32564585e+02] [ 1.01574689e-01 9.94825959e-01 -1.97312135e-03 9.23083541e+00] [ 3.58489132e-02 -1.67817488e-03 9.99355812e-01 8.13055569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:9.23, Z:8.13 [[ 9.94155768e-01 -1.01834314e-01 -3.58340683e-02 2.32597152e+02] [ 1.01829295e-01 9.94799937e-01 -1.96987079e-03 9.23305184e+00] [ 3.58483293e-02 -1.69059949e-03 9.99355812e-01 8.13201782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:9.23, Z:8.13 [[ 9.94092163e-01 -1.02453289e-01 -3.58342779e-02 2.32630122e+02] [ 1.02448808e-01 9.94736335e-01 -1.96604903e-03 9.23435581e+00] [ 3.58470865e-02 -1.71674512e-03 9.99355812e-01 8.13339404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:9.24, Z:8.14 [[ 9.94020699e-01 -1.03144268e-01 -3.58344861e-02 2.32662853e+02] [ 1.03140372e-01 9.94664875e-01 -1.96224787e-03 9.23550986e+00] [ 3.58456992e-02 -1.74546722e-03 9.99355812e-01 8.13540598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.70, Y:9.24, Z:8.14 [[ 9.93964496e-01 -1.03684399e-01 -3.58347002e-02 2.32695365e+02] [ 1.03680993e-01 9.94608675e-01 -1.95832991e-03 9.23662922e+00] [ 3.58445520e-02 -1.76886691e-03 9.99355812e-01 8.13711744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.73, Y:9.24, Z:8.14 [[ 9.93975762e-01 -1.03576268e-01 -3.58349127e-02 2.32728843e+02] [ 1.03572932e-01 9.94619941e-01 -1.95443360e-03 9.23836646e+00] [ 3.58445517e-02 -1.76886735e-03 9.99355812e-01 8.13831992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:9.24, Z:8.14 [[ 9.93885100e-01 -1.04442574e-01 -3.58351248e-02 2.32760100e+02] [ 1.04439940e-01 9.94529283e-01 -1.95053773e-03 9.23977595e+00] [ 3.58428001e-02 -1.80400790e-03 9.99355812e-01 8.13980441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.79, Y:9.24, Z:8.14 [[ 9.93822582e-01 -1.05035762e-01 -3.58352296e-02 2.32792074e+02] [ 1.05033582e-01 9.94466767e-01 -1.94860948e-03 9.24177730e+00] [ 3.58416186e-02 -1.82733041e-03 9.99355812e-01 8.14114530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.83, Y:9.24, Z:8.14 [[ 9.93798941e-01 -1.05259168e-01 -3.58353661e-02 2.32825128e+02] [ 1.05257223e-01 9.94443125e-01 -1.94609687e-03 9.24373503e+00] [ 3.58410780e-02 -1.83790211e-03 9.99355812e-01 8.14279349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:9.25, Z:8.14 [[ 9.93795972e-01 -1.05287124e-01 -3.58355711e-02 2.32858548e+02] [ 1.05285333e-01 9.94440157e-01 -1.94231446e-03 9.24584706e+00] [ 3.58408316e-02 -1.84269576e-03 9.99355812e-01 8.14458739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.89, Y:9.25, Z:8.15 [[ 9.93801588e-01 -1.05234025e-01 -3.58357796e-02 2.32890572e+02] [ 1.05232338e-01 9.94445774e-01 -1.93845911e-03 9.24806341e+00] [ 3.58407315e-02 -1.84463915e-03 9.99355812e-01 8.14675758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.92, Y:9.25, Z:8.15 [[ 9.93899037e-01 -1.04309595e-01 -3.58359199e-02 2.32923049e+02] [ 1.04307403e-01 9.94543221e-01 -1.93586226e-03 9.24962735e+00] [ 3.58423002e-02 -1.81390010e-03 9.99355812e-01 8.14807191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:9.25, Z:8.15 [[ 9.94045707e-01 -1.02902412e-01 -3.58360961e-02 2.32955707e+02] [ 1.02899425e-01 9.94689888e-01 -1.93259479e-03 9.25135795e+00] [ 3.58446711e-02 -1.76642613e-03 9.99355812e-01 8.14968978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:9.25, Z:8.15 [[ 9.94218510e-01 -1.01219138e-01 -3.58363075e-02 2.32988040e+02] [ 1.01215202e-01 9.94862686e-01 -1.92866785e-03 9.25312185e+00] [ 3.58474232e-02 -1.70966183e-03 9.99355812e-01 8.15120590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:9.26, Z:8.15 [[ 9.94420100e-01 -9.92190078e-02 -3.58364824e-02 2.33020518e+02] [ 9.92138930e-02 9.95064267e-01 -1.92541257e-03 9.25541605e+00] [ 3.58506406e-02 -1.64080797e-03 9.99355812e-01 8.15288932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:9.26, Z:8.16 [[ 9.94775963e-01 -9.55851251e-02 -3.58366879e-02 2.33052316e+02] [ 9.55777945e-02 9.95420109e-01 -1.92157970e-03 9.25842538e+00] [ 3.58562342e-02 -1.51365029e-03 9.99355812e-01 8.15546423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:9.26, Z:8.16 [[ 9.94937346e-01 -9.38903583e-02 -3.58368275e-02 2.33084718e+02] [ 9.38820242e-02 9.95581480e-01 -1.91897279e-03 9.26045766e+00] [ 3.58586548e-02 -1.45517621e-03 9.99355812e-01 8.15684179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:9.26, Z:8.16 [[ 9.95056907e-01 -9.26145826e-02 -3.58370014e-02 2.33118188e+02] [ 9.26055396e-02 9.95701031e-01 -1.91571922e-03 9.26238088e+00] [ 3.58603628e-02 -1.41245521e-03 9.99355812e-01 8.15794961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:9.26, Z:8.16 [[ 9.95132147e-01 -9.18025291e-02 -3.58372069e-02 2.33150828e+02] [ 9.17930990e-02 9.95776266e-01 -1.91186738e-03 9.26411523e+00] [ 3.58613543e-02 -1.38704759e-03 9.99355812e-01 8.15901639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.18, Y:9.27, Z:8.16 [[ 9.95174492e-01 -9.13422676e-02 -3.58374136e-02 2.33182215e+02] [ 9.13326792e-02 9.95818609e-01 -1.90798573e-03 9.26554267e+00] [ 3.58618430e-02 -1.37434827e-03 9.99355812e-01 8.15936731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:9.27, Z:8.16 [[ 9.95253011e-01 -9.04826829e-02 -3.58375157e-02 2.33214906e+02] [ 9.04726072e-02 9.95897120e-01 -1.90606524e-03 9.26613116e+00] [ 3.58629446e-02 -1.34529631e-03 9.99355812e-01 8.15995586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:9.27, Z:8.16 [[ 9.95278144e-01 -9.02057456e-02 -3.58376887e-02 2.33246553e+02] [ 9.01956078e-02 9.95922252e-01 -1.90280696e-03 9.26720005e+00] [ 3.58631957e-02 -1.33857993e-03 9.99355812e-01 8.16080794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:9.27, Z:8.16 [[ 9.95260183e-01 -9.04036222e-02 -3.58378609e-02 2.33278266e+02] [ 9.03937293e-02 9.95904295e-01 -1.89955743e-03 9.26786433e+00] [ 3.58628065e-02 -1.34896402e-03 9.99355812e-01 8.16248602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:9.27, Z:8.16 [[ 9.95252292e-01 -9.04904023e-02 -3.58379971e-02 2.33310560e+02] [ 9.04806581e-02 9.95896406e-01 -1.89698506e-03 9.26895815e+00] [ 3.58625915e-02 -1.35466684e-03 9.99355812e-01 8.16285686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:9.27, Z:8.16 [[ 9.95203494e-01 -9.10254584e-02 -3.58381323e-02 2.33342426e+02] [ 9.10161523e-02 9.95847614e-01 -1.89442804e-03 9.27001530e+00] [ 3.58617597e-02 -1.37650750e-03 9.99355812e-01 8.16332444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:9.27, Z:8.16 [[ 9.95209889e-01 -9.09554601e-02 -3.58382661e-02 2.33374266e+02] [ 9.09461999e-02 9.95854010e-01 -1.89189278e-03 9.27061601e+00] [ 3.58617590e-02 -1.37652370e-03 9.99355812e-01 8.16338954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:9.27, Z:8.16 [[ 9.95300290e-01 -8.99607816e-02 -3.58383991e-02 2.33406722e+02] [ 8.99509684e-02 9.95944403e-01 -1.88936983e-03 9.27236694e+00] [ 3.58630222e-02 -1.34320836e-03 9.99355812e-01 8.16471952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:9.27, Z:8.17 [[ 9.95509026e-01 -8.76206502e-02 -3.58385311e-02 2.33437781e+02] [ 8.76094129e-02 9.96153116e-01 -1.88686295e-03 9.27447653e+00] [ 3.58659926e-02 -1.26140357e-03 9.99355812e-01 8.16715016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:9.28, Z:8.17 [[ 9.95582329e-01 -8.67837432e-02 -3.58386293e-02 2.33471081e+02] [ 8.67720316e-02 9.96226411e-01 -1.88499588e-03 9.27625147e+00] [ 3.58669760e-02 -1.23312208e-03 9.99355812e-01 8.16901084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:9.28, Z:8.17 [[ 9.95651296e-01 -8.59888089e-02 -3.58388251e-02 2.33503927e+02] [ 8.59767171e-02 9.96295370e-01 -1.88126628e-03 9.27782120e+00] [ 3.58678233e-02 -1.20821932e-03 9.99355812e-01 8.17075135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.54, Y:9.28, Z:8.17 [[ 9.95589350e-01 -8.67030005e-02 -3.58390248e-02 2.33535883e+02] [ 8.66915078e-02 9.96233435e-01 -1.87745392e-03 9.27903920e+00] [ 3.58668157e-02 -1.23776597e-03 9.99355812e-01 8.17136017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:9.28, Z:8.17 [[ 9.95482381e-01 -8.79226004e-02 -3.58391598e-02 2.33568194e+02] [ 8.79119896e-02 9.96126481e-01 -1.87487221e-03 9.28027937e+00] [ 3.58651798e-02 -1.28428960e-03 9.99355812e-01 8.17204110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:9.28, Z:8.17 [[ 9.95351837e-01 -8.93882886e-02 -3.58392949e-02 2.33601006e+02] [ 8.93787192e-02 9.95995953e-01 -1.87228666e-03 9.28105289e+00] [ 3.58631532e-02 -1.33968631e-03 9.99355812e-01 8.17300884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:9.28, Z:8.17 [[ 9.95156306e-01 -9.15393774e-02 -3.58395008e-02 2.33633240e+02] [ 9.15313421e-02 9.95800443e-01 -1.86833735e-03 9.28185655e+00] [ 3.58600172e-02 -1.42114992e-03 9.99355812e-01 8.17380164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:9.28, Z:8.17 [[ 9.94940009e-01 -9.38610497e-02 -3.58396713e-02 2.33665530e+02] [ 9.38546352e-02 9.95584165e-01 -1.86506083e-03 9.28256581e+00] [ 3.58564658e-02 -1.50809564e-03 9.99355812e-01 8.17472367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:9.28, Z:8.18 [[ 9.94564420e-01 -9.77605306e-02 -3.58398395e-02 2.33697929e+02] [ 9.77567577e-02 9.95208596e-01 -1.86182320e-03 9.28235769e+00] [ 3.58501292e-02 -1.65188340e-03 9.99355812e-01 8.17610255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:9.28, Z:8.18 [[ 9.94410474e-01 -9.93141785e-02 -3.58399759e-02 2.33729620e+02] [ 9.93115065e-02 9.95054656e-01 -1.85919415e-03 9.28303542e+00] [ 3.58473792e-02 -1.71051986e-03 9.99355812e-01 8.17719006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:9.28, Z:8.18 [[ 9.94310155e-01 -1.00313509e-01 -3.58401460e-02 2.33761425e+02] [ 1.00311602e-01 9.94954340e-01 -1.85590842e-03 9.28396202e+00] [ 3.58454815e-02 -1.74983389e-03 9.99355812e-01 8.17829557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:9.28, Z:8.18 [[ 9.94160200e-01 -1.01788788e-01 -3.58404807e-02 2.33793228e+02] [ 1.01788071e-01 9.94804387e-01 -1.84942205e-03 9.28481824e+00] [ 3.58425179e-02 -1.80951161e-03 9.99355812e-01 8.18112172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.83, Y:9.29, Z:8.18 [[ 9.94133869e-01 -1.02045578e-01 -3.58406139e-02 2.33825185e+02] [ 1.02045120e-01 9.94778057e-01 -1.84683777e-03 9.28616081e+00] [ 3.58419179e-02 -1.82135577e-03 9.99355812e-01 8.18383104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:9.29, Z:8.19 [[ 9.94143831e-01 -1.01948437e-01 -3.58407496e-02 2.33856146e+02] [ 1.01948011e-01 9.94788019e-01 -1.84420045e-03 9.28731241e+00] [ 3.58419616e-02 -1.82049262e-03 9.99355812e-01 8.18566326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.89, Y:9.29, Z:8.19 [[ 9.94218457e-01 -1.01218044e-01 -3.58408505e-02 2.33887090e+02] [ 1.01217215e-01 9.94862645e-01 -1.84223694e-03 9.28801775e+00] [ 3.58431910e-02 -1.79612511e-03 9.99355812e-01 8.18792993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:9.29, Z:8.19 [[ 9.94267111e-01 -1.00738959e-01 -3.58409494e-02 2.33919859e+02] [ 1.00737889e-01 9.94911298e-01 -1.84031102e-03 9.28907586e+00] [ 3.58439565e-02 -1.78078087e-03 9.99355812e-01 8.18951722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:9.29, Z:8.19 [[ 9.94293787e-01 -1.00475253e-01 -3.58411500e-02 2.33951964e+02] [ 1.00474153e-01 9.94937974e-01 -1.83639660e-03 9.29025830e+00] [ 3.58442336e-02 -1.77519145e-03 9.99355812e-01 8.19006832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:9.29, Z:8.19 [[ 9.94327790e-01 -1.00138130e-01 -3.58413159e-02 2.33984684e+02] [ 1.00136929e-01 9.94971977e-01 -1.83315163e-03 9.29115113e+00] [ 3.58446734e-02 -1.76628569e-03 9.99355812e-01 8.19099611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:9.29, Z:8.19 [[ 9.94322778e-01 -1.00187817e-01 -3.58415090e-02 2.34017558e+02] [ 1.00186784e-01 9.94966965e-01 -1.82936860e-03 9.29241329e+00] [ 3.58443979e-02 -1.77186265e-03 9.99355812e-01 8.19197944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:9.29, Z:8.19 [[ 9.94275989e-01 -1.00651036e-01 -3.58417022e-02 2.34049675e+02] [ 1.00650439e-01 9.94920176e-01 -1.82557691e-03 9.29278021e+00] [ 3.58433788e-02 -1.79235577e-03 9.99355812e-01 8.19273508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.08, Y:9.29, Z:8.19 [[ 9.94241713e-01 -1.00989007e-01 -3.58418340e-02 2.34081802e+02] [ 1.00988723e-01 9.94885900e-01 -1.82298432e-03 9.29331749e+00] [ 3.58426367e-02 -1.80713398e-03 9.99355812e-01 8.19297992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:9.29, Z:8.19 [[ 9.94173957e-01 -1.01653807e-01 -3.58419647e-02 2.34114555e+02] [ 1.01654045e-01 9.94818145e-01 -1.82041058e-03 9.29325960e+00] [ 3.58412885e-02 -1.83367592e-03 9.99355812e-01 8.19348345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:9.29, Z:8.19 [[ 9.94124638e-01 -1.02134940e-01 -3.58421306e-02 2.34145893e+02] [ 1.02135607e-01 9.94768825e-01 -1.81713967e-03 9.29360571e+00] [ 3.58402276e-02 -1.85429446e-03 9.99355812e-01 8.19392947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:9.29, Z:8.20 [[ 9.94464220e-01 -9.87737347e-02 -3.58422295e-02 2.34177362e+02] [ 9.87722950e-02 9.95108406e-01 -1.81518615e-03 9.29491619e+00] [ 3.58461966e-02 -1.73508159e-03 9.99355812e-01 8.19568070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.21, Y:9.30, Z:8.20 [[ 9.95510325e-01 -8.76043447e-02 -3.58423259e-02 2.34209801e+02] [ 8.75957425e-02 9.96154455e-01 -1.81328000e-03 9.29714593e+00] [ 3.58633439e-02 -1.33449620e-03 9.99355812e-01 8.20088674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:9.30, Z:8.20 [[ 9.95618210e-01 -8.63695205e-02 -3.58425243e-02 2.34241187e+02] [ 8.63602607e-02 9.96262331e-01 -1.80935071e-03 9.29844255e+00] [ 3.58648295e-02 -1.29394723e-03 9.99355812e-01 8.20132612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.27, Y:9.30, Z:8.20 [[ 9.95627293e-01 -8.62647130e-02 -3.58426222e-02 2.34274666e+02] [ 8.62554552e-02 9.96271414e-01 -1.80740958e-03 9.30003984e+00] [ 3.58648955e-02 -1.29211538e-03 9.99355812e-01 8.20252912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:9.30, Z:8.20 [[ 9.95688360e-01 -8.55568962e-02 -3.58428120e-02 2.34307354e+02] [ 8.55473161e-02 9.96332476e-01 -1.80363654e-03 9.30148020e+00] [ 3.58656712e-02 -1.27039646e-03 9.99355812e-01 8.20458048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:9.30, Z:8.21 [[ 9.95697612e-01 -8.54490707e-02 -3.58430069e-02 2.34340835e+02] [ 8.54395604e-02 9.96341730e-01 -1.79975547e-03 9.30307384e+00] [ 3.58656709e-02 -1.27039853e-03 9.99355812e-01 8.20578288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:9.30, Z:8.21 [[ 9.95727022e-01 -8.51056000e-02 -3.58432013e-02 2.34373419e+02] [ 8.50960069e-02 9.96371138e-01 -1.79587645e-03 9.30451503e+00] [ 3.58659704e-02 -1.26191059e-03 9.99355812e-01 8.20687479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:9.31, Z:8.21 [[ 9.95733141e-01 -8.50339161e-02 -3.58433303e-02 2.34406052e+02] [ 8.50243694e-02 9.96377258e-01 -1.79329771e-03 9.30608947e+00] [ 3.58659703e-02 -1.26191059e-03 9.99355812e-01 8.20804720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:9.31, Z:8.21 [[ 9.95739778e-01 -8.49561131e-02 -3.58434591e-02 2.34436846e+02] [ 8.49466087e-02 9.96383895e-01 -1.79071896e-03 9.30726391e+00] [ 3.58659779e-02 -1.26169020e-03 9.99355812e-01 8.20890879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:9.31, Z:8.21 [[ 9.95745839e-01 -8.48849517e-02 -3.58436839e-02 2.34469478e+02] [ 8.48755635e-02 9.96389958e-01 -1.78620855e-03 9.30882939e+00] [ 3.58659089e-02 -1.26364314e-03 9.99355812e-01 8.21008052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:9.31, Z:8.21 [[ 9.95751892e-01 -8.48138599e-02 -3.58438112e-02 2.34502111e+02] [ 8.48045177e-02 9.96396012e-01 -1.78365112e-03 9.31039349e+00] [ 3.58659088e-02 -1.26364314e-03 9.99355812e-01 8.21125291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:9.31, Z:8.21 [[ 9.95689857e-01 -8.55390052e-02 -3.58439382e-02 2.34531800e+02] [ 8.55302240e-02 9.96333984e-01 -1.78109369e-03 9.31272256e+00] [ 3.58648868e-02 -1.29232315e-03 9.99355812e-01 8.21342856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:9.31, Z:8.21 [[ 9.95667367e-01 -8.58045691e-02 -3.58339316e-02 2.34565121e+02] [ 8.57887295e-02 9.96311379e-01 -1.98220457e-03 9.31230278e+00] [ 3.58718360e-02 -1.10053106e-03 9.99355793e-01 8.21303564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.60, Y:9.31, Z:8.21 [[ 9.95510089e-01 -8.76062735e-02 -3.58441486e-02 2.34596167e+02] [ 8.75990122e-02 9.96154234e-01 -1.77601791e-03 9.31167470e+00] [ 3.58618907e-02 -1.37186826e-03 9.99355814e-01 8.21293728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:9.31, Z:8.21 [[ 9.95388120e-01 -8.89813551e-02 -3.58442430e-02 2.34626991e+02] [ 8.89750522e-02 9.96032275e-01 -1.77410928e-03 9.31318948e+00] [ 3.58598856e-02 -1.42331610e-03 9.99355814e-01 8.21340474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:9.31, Z:8.22 [[ 9.95258598e-01 -9.04215834e-02 -3.58365779e-02 2.34659707e+02] [ 9.04106578e-02 9.95902703e-01 -1.92861156e-03 9.31320443e+00] [ 3.58641329e-02 -1.32054134e-03 9.99355803e-01 8.21548764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.69, Y:9.31, Z:8.22 [[ 9.95217636e-01 -9.08681823e-02 -3.58445363e-02 2.34691658e+02] [ 9.08633490e-02 9.95861802e-01 -1.76719810e-03 9.31387335e+00] [ 3.58567866e-02 -1.49820790e-03 9.99355816e-01 8.21806050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:9.31, Z:8.22 [[ 9.94991268e-01 -9.33152516e-02 -3.58418693e-02 2.34722535e+02] [ 9.33100556e-02 9.95635433e-01 -1.82134544e-03 9.31489048e+00] [ 3.58553944e-02 -1.53218401e-03 9.99355814e-01 8.21905926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:9.32, Z:8.22 [[ 9.95001552e-01 -9.32044051e-02 -3.58448057e-02 2.34756018e+02] [ 9.32012855e-02 9.95645729e-01 -1.76159770e-03 9.31642186e+00] [ 3.58529163e-02 -1.58798952e-03 9.99355816e-01 8.22024353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.79, Y:9.32, Z:8.22 [[ 9.94688335e-01 -9.64896440e-02 -3.58449978e-02 2.34786947e+02] [ 9.64887925e-02 9.95332519e-01 -1.75767907e-03 9.31692011e+00] [ 3.58472898e-02 -1.71029769e-03 9.99355816e-01 8.22173700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.82, Y:9.32, Z:8.22 [[ 9.94556531e-01 -9.78388224e-02 -3.58450928e-02 2.34819593e+02] [ 9.78389145e-02 9.95200716e-01 -1.75573966e-03 9.31800431e+00] [ 3.58448415e-02 -1.76086262e-03 9.99355816e-01 8.22427902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:9.32, Z:8.23 [[ 9.94428084e-01 -9.91357667e-02 -3.58452874e-02 2.34851523e+02] [ 9.91368421e-02 9.95072268e-01 -1.75175791e-03 9.31906078e+00] [ 3.58423133e-02 -1.81159133e-03 9.99355816e-01 8.22554273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:9.32, Z:8.23 [[ 9.94196181e-01 -1.01434941e-01 -3.58455887e-02 2.34882934e+02] [ 1.01437729e-01 9.94840359e-01 -1.74557053e-03 9.31911567e+00] [ 3.58377002e-02 -1.90065554e-03 9.99355816e-01 8.22576760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:9.32, Z:8.23 [[ 9.94104213e-01 -1.02332305e-01 -3.58456834e-02 2.34916153e+02] [ 1.02335743e-01 9.94748388e-01 -1.74362305e-03 9.31995002e+00] [ 3.58358648e-02 -1.93495164e-03 9.99355816e-01 8.22703732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:9.32, Z:8.23 [[ 9.93931992e-01 -1.03991677e-01 -3.58458682e-02 2.34949490e+02] [ 1.03996328e-01 9.94576159e-01 -1.73981555e-03 9.32002348e+00] [ 3.58323723e-02 -1.99858035e-03 9.99355816e-01 8.22832549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:9.32, Z:8.23 [[ 9.93867677e-01 -1.04604503e-01 -3.58460545e-02 2.34982572e+02] [ 1.04609689e-01 9.94511840e-01 -1.73596962e-03 9.32091542e+00] [ 3.58309158e-02 -2.02452053e-03 9.99355816e-01 8.22924827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:9.32, Z:8.23 [[ 9.93840130e-01 -1.04865832e-01 -3.58462430e-02 2.35014643e+02] [ 1.04871329e-01 9.94484291e-01 -1.73206879e-03 9.32202707e+00] [ 3.58301603e-02 -2.03784366e-03 9.99355816e-01 8.22950839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:9.32, Z:8.23 [[ 9.93859156e-01 -1.04685304e-01 -3.58463987e-02 2.35046418e+02] [ 1.04690799e-01 9.94503317e-01 -1.72883947e-03 9.32256542e+00] [ 3.58303465e-02 -2.03456519e-03 9.99355816e-01 8.22948569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:9.32, Z:8.23 [[ 9.93899430e-01 -1.04302197e-01 -3.58465512e-02 2.35079516e+02] [ 1.04307557e-01 9.94543592e-01 -1.72567116e-03 9.32387545e+00] [ 3.58309491e-02 -2.02392262e-03 9.99355816e-01 8.23066963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:9.33, Z:8.23 [[ 9.93956895e-01 -1.03753090e-01 -3.58467318e-02 2.35112313e+02] [ 1.03758230e-01 9.94601058e-01 -1.72191281e-03 9.32540978e+00] [ 3.58318511e-02 -2.00788633e-03 9.99355816e-01 8.23194980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:9.33, Z:8.23 [[ 9.93991983e-01 -1.03416327e-01 -3.58469125e-02 2.35143217e+02] [ 1.03421384e-01 9.94636147e-01 -1.71814243e-03 9.32670587e+00] [ 3.58323189e-02 -1.99951752e-03 9.99355816e-01 8.23229800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:9.33, Z:8.23 [[ 9.94012654e-01 -1.03217419e-01 -3.58470018e-02 2.35176344e+02] [ 1.03222415e-01 9.94656819e-01 -1.71627739e-03 9.32836069e+00] [ 3.58326145e-02 -1.99421264e-03 9.99355816e-01 8.23467957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:9.33, Z:8.24 [[ 9.94079265e-01 -1.02573845e-01 -3.58471901e-02 2.35207293e+02] [ 1.02578565e-01 9.94723432e-01 -1.71233445e-03 9.32976079e+00] [ 3.58336807e-02 -1.97495717e-03 9.99355816e-01 8.23527152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:9.33, Z:8.24 [[ 9.94130980e-01 -1.02071328e-01 -3.58474332e-02 2.35239803e+02] [ 1.02075906e-01 9.94775148e-01 -1.70722956e-03 9.33130484e+00] [ 3.58343949e-02 -1.96194944e-03 9.99355816e-01 8.23519749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:9.33, Z:8.24 [[ 9.94153866e-01 -1.01848075e-01 -3.58477275e-02 2.35273087e+02] [ 1.01852732e-01 9.94798034e-01 -1.70102827e-03 9.33269377e+00] [ 3.58344953e-02 -1.96010514e-03 9.99355816e-01 8.23614472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:9.33, Z:8.24 [[ 9.94124328e-01 -1.02135931e-01 -3.58479093e-02 2.35306358e+02] [ 1.02140912e-01 9.94768493e-01 -1.69718898e-03 9.33448786e+00] [ 3.58337146e-02 -1.97432128e-03 9.99355816e-01 8.23720545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:9.34, Z:8.24 [[ 9.94122828e-01 -1.02150468e-01 -3.58480910e-02 2.35339681e+02] [ 1.02155597e-01 9.94766991e-01 -1.69334123e-03 9.33631997e+00] [ 3.58334733e-02 -1.97869397e-03 9.99355816e-01 8.23871688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:9.34, Z:8.24 [[ 9.94050692e-01 -1.02850000e-01 -3.58482775e-02 2.35371250e+02] [ 1.02855724e-01 9.94694851e-01 -1.68938370e-03 9.33870471e+00] [ 3.58318502e-02 -2.00786751e-03 9.99355816e-01 8.23910442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:9.34, Z:8.24 [[ 9.94048043e-01 -1.02875545e-01 -3.58484317e-02 2.35404322e+02] [ 1.02881404e-01 9.94692201e-01 -1.68610599e-03 9.34029005e+00] [ 3.58316145e-02 -2.01206661e-03 9.99355816e-01 8.23997479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:9.34, Z:8.24 [[ 9.93995650e-01 -1.03380487e-01 -3.58486124e-02 2.35437343e+02] [ 1.03386811e-01 9.94639803e-01 -1.68225496e-03 9.34198044e+00] [ 3.58303691e-02 -2.03411961e-03 9.99355816e-01 8.24097400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:9.34, Z:8.24 [[ 9.93924235e-01 -1.04064784e-01 -3.58487932e-02 2.35468217e+02] [ 1.04071691e-01 9.94568382e-01 -1.67839454e-03 9.34385142e+00] [ 3.58287380e-02 -2.06264752e-03 9.99355816e-01 8.24133468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:9.35, Z:8.24 [[ 9.93811159e-01 -1.05139133e-01 -3.58488826e-02 2.35501239e+02] [ 1.05146804e-01 9.94455298e-01 -1.67648286e-03 9.34618672e+00] [ 3.58263751e-02 -2.10328806e-03 9.99355816e-01 8.24269408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:9.35, Z:8.24 [[ 9.93700284e-01 -1.06181876e-01 -3.58490630e-02 2.35533607e+02] [ 1.06190363e-01 9.94344412e-01 -1.67261594e-03 9.34767503e+00] [ 3.58239169e-02 -2.14474606e-03 9.99355816e-01 8.24394831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:9.35, Z:8.25 [[ 9.93583739e-01 -1.07266900e-01 -3.58492121e-02 2.35565768e+02] [ 1.07276205e-01 9.94227856e-01 -1.66941414e-03 9.34924507e+00] [ 3.58213581e-02 -2.18706467e-03 9.99355816e-01 8.24609882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.60, Y:9.35, Z:8.25 [[ 9.93407354e-01 -1.08888267e-01 -3.58493312e-02 2.35597899e+02] [ 1.08898716e-01 9.94051453e-01 -1.66685176e-03 9.35047710e+00] [ 3.58175804e-02 -2.24808333e-03 9.99355816e-01 8.24839769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.63, Y:9.35, Z:8.25 [[ 9.93334972e-01 -1.09546563e-01 -3.58494512e-02 2.35629423e+02] [ 1.09557531e-01 9.93979063e-01 -1.66426685e-03 9.35192893e+00] [ 3.58159186e-02 -2.27440291e-03 9.99355816e-01 8.24942047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:9.35, Z:8.25 [[ 9.93287468e-01 -1.09976439e-01 -3.58495406e-02 2.35662538e+02] [ 1.09987755e-01 9.93931552e-01 -1.66233945e-03 9.35322117e+00] [ 3.58148077e-02 -2.29182953e-03 9.99355816e-01 8.25127085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.69, Y:9.35, Z:8.25 [[ 9.93185614e-01 -1.10892441e-01 -3.58497147e-02 2.35694343e+02] [ 1.10904486e-01 9.93829686e-01 -1.65857577e-03 9.35423177e+00] [ 3.58124342e-02 -2.32862060e-03 9.99355816e-01 8.25322161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:9.36, Z:8.26 [[ 9.93147116e-01 -1.11236664e-01 -3.58498294e-02 2.35727336e+02] [ 1.11249021e-01 9.93791182e-01 -1.65609232e-03 9.35571800e+00] [ 3.58114625e-02 -2.34351513e-03 9.99355816e-01 8.25506402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:9.36, Z:8.26 [[ 9.93100471e-01 -1.11652282e-01 -3.58500009e-02 2.35760681e+02] [ 1.11665043e-01 9.93744528e-01 -1.65237332e-03 9.35738276e+00] [ 3.58102334e-02 -2.36221917e-03 9.99355816e-01 8.25758265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:9.36, Z:8.26 [[ 9.92983643e-01 -1.12686507e-01 -3.58501825e-02 2.35792929e+02] [ 1.12700081e-01 9.93627684e-01 -1.64842283e-03 9.35812036e+00] [ 3.58074888e-02 -2.40346156e-03 9.99355816e-01 8.25811534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:9.36, Z:8.26 [[ 9.92899787e-01 -1.13422955e-01 -3.58503326e-02 2.35825815e+02] [ 1.13437124e-01 9.93543815e-01 -1.64515268e-03 9.35910751e+00] [ 3.58054743e-02 -2.43328688e-03 9.99355816e-01 8.25929709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:9.36, Z:8.26 [[ 9.92817283e-01 -1.14142817e-01 -3.58505125e-02 2.35856678e+02] [ 1.14157594e-01 9.93461298e-01 -1.64122205e-03 9.36009913e+00] [ 3.58034304e-02 -2.46317465e-03 9.99355816e-01 8.25988559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:9.36, Z:8.26 [[ 9.92703137e-01 -1.15131302e-01 -3.58506016e-02 2.35888622e+02] [ 1.15146791e-01 9.93347134e-01 -1.63927326e-03 9.36103996e+00] [ 3.58008240e-02 -2.50077002e-03 9.99355816e-01 8.26064914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:9.36, Z:8.26 [[ 9.92430271e-01 -1.17460135e-01 -3.58507207e-02 2.35920659e+02] [ 1.17477228e-01 9.93074228e-01 -1.63666562e-03 9.36132503e+00] [ 3.57946697e-02 -2.58736679e-03 9.99355816e-01 8.26047195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.95, Y:9.36, Z:8.26 [[ 9.92284491e-01 -1.18685322e-01 -3.58508395e-02 2.35952824e+02] [ 1.18703304e-01 9.92928424e-01 -1.63405769e-03 9.36189737e+00] [ 3.57912563e-02 -2.63416300e-03 9.99355816e-01 8.26067869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:9.36, Z:8.26 [[ 9.92102775e-01 -1.20194802e-01 -3.58509874e-02 2.35985338e+02] [ 1.20213880e-01 9.92746676e-01 -1.63080697e-03 9.36234742e+00] [ 3.57869631e-02 -2.69185818e-03 9.99355816e-01 8.26109821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:9.36, Z:8.26 [[ 9.92089750e-01 -1.20302227e-01 -3.58511045e-02 2.36018192e+02] [ 1.20321467e-01 9.92733647e-01 -1.62822904e-03 9.36329940e+00] [ 3.57864773e-02 -2.69830816e-03 9.99355816e-01 8.26210536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:9.36, Z:8.26 [[ 9.92109507e-01 -1.20139135e-01 -3.58512796e-02 2.36051466e+02] [ 1.20158408e-01 9.92753403e-01 -1.62436349e-03 9.36445929e+00] [ 3.57866295e-02 -2.69628624e-03 9.99355816e-01 8.26316561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:9.37, Z:8.26 [[ 9.92150973e-01 -1.19796159e-01 -3.58514532e-02 2.36082810e+02] [ 1.19815348e-01 9.92794871e-01 -1.62052382e-03 9.36547469e+00] [ 3.57872714e-02 -2.68775004e-03 9.99355816e-01 8.26386454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:9.37, Z:8.27 [[ 9.92279827e-01 -1.18724104e-01 -3.58515390e-02 2.36114942e+02] [ 1.18742666e-01 9.92923743e-01 -1.61862254e-03 9.36618687e+00] [ 3.57900138e-02 -2.65098083e-03 9.99355816e-01 8.26689009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:9.37, Z:8.27 [[ 9.92441096e-01 -1.17368352e-01 -3.58516525e-02 2.36148281e+02] [ 1.17386124e-01 9.93085035e-01 -1.61610568e-03 9.36755092e+00] [ 3.57934192e-02 -2.60459684e-03 9.99355816e-01 8.26909841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.18, Y:9.37, Z:8.27 [[ 9.92610923e-01 -1.15923257e-01 -3.58518287e-02 2.36181215e+02] [ 1.15940233e-01 9.93254883e-01 -1.61218631e-03 9.36880860e+00] [ 3.57968938e-02 -2.55639563e-03 9.99355816e-01 8.27051154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:9.37, Z:8.27 [[ 9.92768068e-01 -1.14569620e-01 -3.58520033e-02 2.36213932e+02] [ 1.14585857e-01 9.93412047e-01 -1.60829353e-03 9.37022245e+00] [ 3.58000736e-02 -2.51147007e-03 9.99355816e-01 8.27198116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:9.37, Z:8.27 [[ 9.92959397e-01 -1.12899323e-01 -3.58521788e-02 2.36246084e+02] [ 1.12914618e-01 9.93603399e-01 -1.60437365e-03 9.37163420e+00] [ 3.58039794e-02 -2.45515716e-03 9.99355816e-01 8.27304820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:9.37, Z:8.27 [[ 9.93134811e-01 -1.11345626e-01 -3.58524668e-02 2.36279508e+02] [ 1.11360145e-01 9.93778831e-01 -1.59791190e-03 9.37287860e+00] [ 3.58073430e-02 -2.40559397e-03 9.99355816e-01 8.27431245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:9.37, Z:8.28 [[ 9.93317570e-01 -1.09703203e-01 -3.58526371e-02 2.36311075e+02] [ 1.09716796e-01 9.93961611e-01 -1.59408095e-03 9.37334082e+00] [ 3.58110207e-02 -2.35020784e-03 9.99355816e-01 8.27563680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:9.37, Z:8.28 [[ 9.93356815e-01 -1.09347249e-01 -3.58527213e-02 2.36344468e+02] [ 1.09360678e-01 9.94000859e-01 -1.59218472e-03 9.37418202e+00] [ 3.58117368e-02 -2.33927038e-03 9.99355816e-01 8.27682657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:9.37, Z:8.28 [[ 9.93412564e-01 -1.08839140e-01 -3.58541415e-02 2.36376098e+02] [ 1.08853389e-01 9.94056591e-01 -1.56020930e-03 9.37473234e+00] [ 3.58108575e-02 -2.35291330e-03 9.99355816e-01 8.27813175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:9.38, Z:8.28 [[ 9.93437822e-01 -1.08608748e-01 -3.58529348e-02 2.36407847e+02] [ 1.08621869e-01 9.94081873e-01 -1.58746292e-03 9.37535723e+00] [ 3.58131650e-02 -2.31736708e-03 9.99355816e-01 8.27839315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:9.38, Z:8.28 [[ 9.93447737e-01 -1.08517972e-01 -3.58530791e-02 2.36440646e+02] [ 1.08531151e-01 9.94091786e-01 -1.58419706e-03 9.37646138e+00] [ 3.58131653e-02 -2.31735895e-03 9.99355816e-01 8.27957513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:9.38, Z:8.28 [[ 9.93436822e-01 -1.08617795e-01 -3.58532529e-02 2.36472974e+02] [ 1.08631181e-01 9.94080867e-01 -1.58025513e-03 9.37745144e+00] [ 3.58126765e-02 -2.32489755e-03 9.99355816e-01 8.28031002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:9.38, Z:8.28 [[ 9.93292675e-01 -1.09928146e-01 -3.58533681e-02 2.36504742e+02] [ 1.09942475e-01 9.93936700e-01 -1.57763611e-03 9.37804970e+00] [ 3.58094050e-02 -2.37475365e-03 9.99355816e-01 8.28048776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.54, Y:9.38, Z:8.28 [[ 9.93235414e-01 -1.10444275e-01 -3.58535117e-02 2.36537991e+02] [ 1.10459056e-01 9.93879428e-01 -1.57436745e-03 9.37872405e+00] [ 3.58079475e-02 -2.39662754e-03 9.99355816e-01 8.28194816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:9.38, Z:8.28 [[ 9.93241437e-01 -1.10390038e-01 -3.58536826e-02 2.36570996e+02] [ 1.10404924e-01 9.93885449e-01 -1.57046370e-03 9.37947453e+00] [ 3.58078170e-02 -2.39857348e-03 9.99355816e-01 8.28289927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:9.38, Z:8.28 [[ 9.93292665e-01 -1.09928079e-01 -3.58538519e-02 2.36602094e+02] [ 1.09942805e-01 9.93936681e-01 -1.56659094e-03 9.38011834e+00] [ 3.58086708e-02 -2.38578974e-03 9.99355816e-01 8.28397222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:9.38, Z:8.29 [[ 9.93379014e-01 -1.09144992e-01 -3.58539355e-02 2.36634849e+02] [ 1.09159279e-01 9.94023040e-01 -1.56467401e-03 9.38130566e+00] [ 3.58104143e-02 -2.35947542e-03 9.99355816e-01 8.28587298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.67, Y:9.38, Z:8.29 [[ 9.93476162e-01 -1.08257091e-01 -3.58541044e-02 2.36667173e+02] [ 1.08270942e-01 9.94120197e-01 -1.56079544e-03 9.38244666e+00] [ 3.58122565e-02 -2.33134458e-03 9.99355816e-01 8.28696131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:9.38, Z:8.29 [[ 9.93567578e-01 -1.07414805e-01 -3.58542438e-02 2.36699388e+02] [ 1.07428226e-01 9.94211622e-01 -1.55758481e-03 9.38389040e+00] [ 3.58140136e-02 -2.30419202e-03 9.99355816e-01 8.28836564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.73, Y:9.39, Z:8.29 [[ 9.93824112e-01 -1.05014747e-01 -3.58543813e-02 2.36732563e+02] [ 1.05026726e-01 9.94468185e-01 -1.55441320e-03 9.38533232e+00] [ 3.58192778e-02 -2.22085496e-03 9.99355816e-01 8.29038535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:9.39, Z:8.29 [[ 9.93911423e-01 -1.04185097e-01 -3.58545488e-02 2.36765230e+02] [ 1.04196678e-01 9.94555503e-01 -1.55054154e-03 9.38630689e+00] [ 3.58208821e-02 -2.19482390e-03 9.99355816e-01 8.29195939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:9.39, Z:8.29 [[ 9.94118570e-01 -1.02189571e-01 -3.58547174e-02 2.36798227e+02] [ 1.02199998e-01 9.94762669e-01 -1.54663273e-03 9.38630508e+00] [ 3.58249841e-02 -2.12681575e-03 9.99355816e-01 8.29285853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:9.39, Z:8.29 [[ 9.94129624e-01 -1.02081915e-01 -3.58548844e-02 2.36831717e+02] [ 1.02092413e-01 9.94773723e-01 -1.54275036e-03 9.38765671e+00] [ 3.58249838e-02 -2.12681781e-03 9.99355816e-01 8.29406098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:9.39, Z:8.29 [[ 9.94237007e-01 -1.01030638e-01 -3.58550510e-02 2.36863503e+02] [ 1.01040594e-01 9.94881114e-01 -1.53887007e-03 9.38831898e+00] [ 3.58269861e-02 -2.09281408e-03 9.99355816e-01 8.29480634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:9.39, Z:8.30 [[ 9.94313233e-01 -1.00277616e-01 -3.58551886e-02 2.36895648e+02] [ 1.00287199e-01 9.94957346e-01 -1.53565764e-03 9.38915187e+00] [ 3.58283753e-02 -2.06889173e-03 9.99355816e-01 8.29629054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:9.39, Z:8.30 [[ 9.94408571e-01 -9.93276968e-02 -3.58552977e-02 2.36927116e+02] [ 9.93367564e-02 9.95052691e-01 -1.53310607e-03 9.38994164e+00] [ 3.58301903e-02 -2.03721516e-03 9.99355816e-01 8.29710181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:9.39, Z:8.30 [[ 9.94576200e-01 -9.76349000e-02 -3.58553789e-02 2.36959019e+02] [ 9.76429316e-02 9.95220334e-01 -1.53120437e-03 9.39059641e+00] [ 3.58335011e-02 -1.97812488e-03 9.99355816e-01 8.29897486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:9.39, Z:8.30 [[ 9.94705719e-01 -9.63063642e-02 -3.58554898e-02 2.36990733e+02] [ 9.63136289e-02 9.95349862e-01 -1.52860332e-03 9.39169610e+00] [ 3.58359710e-02 -1.93286187e-03 9.99355816e-01 8.29984223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:9.39, Z:8.30 [[ 9.94846336e-01 -9.48427193e-02 -3.58556279e-02 2.37023654e+02] [ 9.48491529e-02 9.95490488e-01 -1.52535668e-03 9.39273084e+00] [ 3.58386055e-02 -1.88338043e-03 9.99355816e-01 8.30103000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:9.39, Z:8.30 [[ 9.94940447e-01 -9.38502502e-02 -3.58557931e-02 2.37056121e+02] [ 9.38561813e-02 9.95584603e-01 -1.52146230e-03 9.39380889e+00] [ 3.58402652e-02 -1.85152344e-03 9.99355816e-01 8.30157453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.09, Y:9.39, Z:8.30 [[ 9.95105392e-01 -9.20847582e-02 -3.58560490e-02 2.37088326e+02] [ 9.20897639e-02 9.95749556e-01 -1.51540834e-03 9.39461385e+00] [ 3.58431909e-02 -1.79398408e-03 9.99355816e-01 8.30254981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:9.40, Z:8.30 [[ 9.95171026e-01 -9.13726696e-02 -3.58561590e-02 2.37119819e+02] [ 9.13773081e-02 9.95815193e-01 -1.51280002e-03 9.39548659e+00] [ 3.58443365e-02 -1.77094454e-03 9.99355816e-01 8.30270072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:9.40, Z:8.30 [[ 9.95241425e-01 -9.06026228e-02 -3.58562408e-02 2.37152379e+02] [ 9.06068326e-02 9.95885595e-01 -1.51085898e-03 9.39645780e+00] [ 3.58456015e-02 -1.74515096e-03 9.99355816e-01 8.30384163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:9.40, Z:8.31 [[ 9.95072972e-01 -9.24343195e-02 -3.58563502e-02 2.37180246e+02] [ 9.24398084e-02 9.95717132e-01 -1.50825787e-03 9.40087348e+00] [ 3.58421970e-02 -1.81372750e-03 9.99355816e-01 8.30514107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:9.40, Z:8.31 [[ 9.95368244e-01 -8.92049490e-02 -3.58404368e-02 2.37214380e+02] [ 8.91948183e-02 9.96012416e-01 -1.88466270e-03 9.39848285e+00] [ 3.58656413e-02 -1.32084785e-03 9.99355748e-01 8.30612473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:9.40, Z:8.31 [[ 9.95456073e-01 -8.82129256e-02 -3.58564623e-02 2.37246871e+02] [ 8.82158993e-02 9.96100245e-01 -1.50221240e-03 9.39924001e+00] [ 3.58491454e-02 -1.66772361e-03 9.99355821e-01 8.30754787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:9.40, Z:8.31 [[ 9.95562790e-01 -8.70008573e-02 -3.58550181e-02 2.37279036e+02] [ 8.70018096e-02 9.96206968e-01 -1.53663346e-03 9.40058106e+00] [ 3.58527073e-02 -1.58963637e-03 9.99355821e-01 8.30804537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:9.41, Z:8.31 [[ 9.95342327e-01 -8.94875393e-02 -3.58557068e-02 2.37306427e+02] [ 8.94906925e-02 9.95986498e-01 -1.52017102e-03 9.40560695e+00] [ 3.58478363e-02 -1.69566147e-03 9.99355821e-01 8.30949730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:9.40, Z:8.31 [[ 9.95777545e-01 -8.45156046e-02 -3.58356400e-02 2.37341600e+02] [ 8.44977097e-02 9.96421633e-01 -2.01628484e-03 9.40189027e+00] [ 3.58778144e-02 -1.02025834e-03 9.99355663e-01 8.31173887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.37, Y:9.40, Z:8.31 [[ 9.95826066e-01 -8.39319804e-02 -3.58590239e-02 2.37373421e+02] [ 8.39347757e-02 9.96470224e-01 -1.43009743e-03 9.40290517e+00] [ 3.58524806e-02 -1.58569083e-03 9.99355835e-01 8.31295705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:9.40, Z:8.31 [[ 9.95829300e-01 -8.38935585e-02 -3.58591280e-02 2.37404754e+02] [ 8.38964228e-02 9.96473458e-01 -1.42748445e-03 9.40429665e+00] [ 3.58524260e-02 -1.58692173e-03 9.99355835e-01 8.31419624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:9.41, Z:8.32 [[ 9.95811409e-01 -8.41056199e-02 -3.58592052e-02 2.37436525e+02] [ 8.41086913e-02 9.96455566e-01 -1.42554056e-03 9.40549056e+00] [ 3.58520006e-02 -1.59650127e-03 9.99355835e-01 8.31541240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:9.41, Z:8.32 [[ 9.95952879e-01 -8.24134283e-02 -3.58593069e-02 2.37464549e+02] [ 8.24154971e-02 9.96597040e-01 -1.42297962e-03 9.40603129e+00] [ 3.58545517e-02 -1.53814196e-03 9.99355835e-01 8.31573117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:9.41, Z:8.32 [[ 9.95743856e-01 -8.49064109e-02 -3.58479256e-02 2.37497397e+02] [ 8.48998818e-02 9.96388025e-01 -1.70708218e-03 9.40780947e+00] [ 3.58633861e-02 -1.34366806e-03 9.99355799e-01 8.31720224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:9.41, Z:8.32 [[ 9.95640232e-01 -8.61083919e-02 -3.58590852e-02 2.37528577e+02] [ 8.61127202e-02 9.96284379e-01 -1.42661415e-03 9.40948566e+00] [ 3.58486899e-02 -1.66752893e-03 9.99355838e-01 8.31915766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.56, Y:9.41, Z:8.32 [[ 9.95590225e-01 -8.66846304e-02 -3.58591584e-02 2.37560384e+02] [ 8.66893978e-02 9.96234369e-01 -1.42477212e-03 9.41122369e+00] [ 3.58476319e-02 -1.69011965e-03 9.99355838e-01 8.32113933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:9.41, Z:8.32 [[ 9.95489558e-01 -8.78330997e-02 -3.58592595e-02 2.37589900e+02] [ 8.78387017e-02 9.96133696e-01 -1.42222294e-03 9.41458237e+00] [ 3.58455349e-02 -1.73402271e-03 9.99355838e-01 8.32197503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:9.41, Z:8.32 [[ 9.95502678e-01 -8.76891815e-02 -3.58472668e-02 2.37623751e+02] [ 8.76838750e-02 9.96146861e-01 -1.72315907e-03 9.41457977e+00] [ 3.58602447e-02 -1.42781779e-03 9.99355795e-01 8.32361153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:9.42, Z:8.32 [[ 9.95449853e-01 -8.82818836e-02 -3.58594333e-02 2.37655820e+02] [ 8.82880411e-02 9.96093982e-01 -1.41483981e-03 9.41597443e+00] [ 3.58442704e-02 -1.75755703e-03 9.99355842e-01 8.32402860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:9.42, Z:8.32 [[ 9.95431848e-01 -8.84846290e-02 -3.58595363e-02 2.37686815e+02] [ 8.84910118e-02 9.96075974e-01 -1.41222287e-03 9.41699244e+00] [ 3.58437826e-02 -1.76747503e-03 9.99355842e-01 8.32471882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.72, Y:9.42, Z:8.33 [[ 9.95423384e-01 -8.85797595e-02 -3.58596130e-02 2.37718693e+02] [ 8.85862739e-02 9.96067509e-01 -1.41027380e-03 9.41885119e+00] [ 3.58435171e-02 -1.77284997e-03 9.99355842e-01 8.32514315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.75, Y:9.42, Z:8.32 [[ 9.95509181e-01 -8.76102192e-02 -3.58597159e-02 2.37749588e+02] [ 8.76162005e-02 9.96153311e-01 -1.40765095e-03 9.42155897e+00] [ 3.58450994e-02 -1.74056262e-03 9.99355842e-01 8.32451775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.78, Y:9.42, Z:8.33 [[ 9.95561639e-01 -8.70148684e-02 -3.58529802e-02 2.37782652e+02] [ 8.70143065e-02 9.96205811e-01 -1.57900304e-03 9.42276456e+00] [ 3.58543439e-02 -1.54772736e-03 9.99355828e-01 8.32643303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.81, Y:9.43, Z:8.33 [[ 9.95657842e-01 -8.59041577e-02 -3.58599623e-02 2.37812995e+02] [ 8.59093027e-02 9.96301978e-01 -1.40020245e-03 9.42624332e+00] [ 3.58476346e-02 -1.68658181e-03 9.99355844e-01 8.32652165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:9.43, Z:8.33 [[ 9.95940340e-01 -8.25688181e-02 -3.58500874e-02 2.37846420e+02] [ 8.25627274e-02 9.96584499e-01 -1.65281049e-03 9.42774031e+00] [ 3.58641120e-02 -1.31378035e-03 9.99355812e-01 8.32788449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:9.43, Z:8.33 [[ 9.96078698e-01 -8.08781553e-02 -3.58601702e-02 2.37878433e+02] [ 8.08802959e-02 9.96722848e-01 -1.39334377e-03 9.42967579e+00] [ 3.58553420e-02 -1.51250112e-03 9.99355846e-01 8.32969522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.91, Y:9.43, Z:8.33 [[ 9.96207198e-01 -7.92796328e-02 -3.58602699e-02 2.37910791e+02] [ 7.92808321e-02 9.96851351e-01 -1.39077332e-03 9.43158105e+00] [ 3.58576184e-02 -1.45753364e-03 9.99355846e-01 8.33158478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:9.43, Z:8.33 [[ 9.96304738e-01 -7.80442361e-02 -3.58603705e-02 2.37941504e+02] [ 7.80447300e-02 9.96948892e-01 -1.38817470e-03 9.43327779e+00] [ 3.58592956e-02 -1.41566790e-03 9.99355846e-01 8.33315597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:9.44, Z:8.34 [[ 9.96474034e-01 -7.58520188e-02 -3.58604452e-02 2.37973386e+02] [ 7.58511649e-02 9.97118187e-01 -1.38623979e-03 9.43527488e+00] [ 3.58622512e-02 -1.33870459e-03 9.99355846e-01 8.33619573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:9.44, Z:8.34 [[ 9.96516867e-01 -7.52871467e-02 -3.58605432e-02 2.38005968e+02] [ 7.52860189e-02 9.97161020e-01 -1.38370164e-03 9.43690199e+00] [ 3.58629108e-02 -1.32091551e-03 9.99355846e-01 8.33813588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:9.44, Z:8.34 [[ 9.96535929e-01 -7.50343712e-02 -3.58606411e-02 2.38037053e+02] [ 7.50331714e-02 9.97180082e-01 -1.38116005e-03 9.43842068e+00] [ 3.58631515e-02 -1.31436202e-03 9.99355846e-01 8.33967318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:9.44, Z:8.34 [[ 9.96524196e-01 -7.51900021e-02 -3.58607138e-02 2.38069077e+02] [ 7.51889708e-02 9.97168349e-01 -1.37927004e-03 9.43972763e+00] [ 3.58628761e-02 -1.32185419e-03 9.99355846e-01 8.34102530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:9.44, Z:8.34 [[ 9.96505872e-01 -7.54324101e-02 -3.58608107e-02 2.38101013e+02] [ 7.54316262e-02 9.97150026e-01 -1.37674447e-03 9.44041876e+00] [ 3.58624595e-02 -1.33310532e-03 9.99355846e-01 8.34185784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:9.44, Z:8.34 [[ 9.96437560e-01 -7.63294494e-02 -3.58609099e-02 2.38133213e+02] [ 7.63293383e-02 9.97081714e-01 -1.37415736e-03 9.44142095e+00] [ 3.58611461e-02 -1.36797751e-03 9.99355846e-01 8.34259511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:9.44, Z:8.34 [[ 9.96370066e-01 -7.72054344e-02 -3.58610086e-02 2.38165455e+02] [ 7.72059825e-02 9.97014220e-01 -1.37157626e-03 9.44210667e+00] [ 3.58598286e-02 -1.40208687e-03 9.99355846e-01 8.34357421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:9.44, Z:8.34 [[ 9.96181096e-01 -7.96065586e-02 -3.58611077e-02 2.38196942e+02] [ 7.96087524e-02 9.96825247e-01 -1.36898090e-03 9.44292826e+00] [ 3.58562373e-02 -1.49110515e-03 9.99355846e-01 8.34367318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.23, Y:9.44, Z:8.34 [[ 9.96088840e-01 -8.07526964e-02 -3.58611814e-02 2.38229218e+02] [ 8.07557009e-02 9.96732987e-01 -1.36704595e-03 9.44385273e+00] [ 3.58544151e-02 -1.53429563e-03 9.99355846e-01 8.34428625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:9.44, Z:8.35 [[ 9.95967694e-01 -8.22333306e-02 -3.58612799e-02 2.38260301e+02] [ 8.22373856e-02 9.96611836e-01 -1.36445881e-03 9.44498558e+00] [ 3.58519799e-02 -1.59018100e-03 9.99355846e-01 8.34509234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:9.45, Z:8.35 [[ 9.95802118e-01 -8.42146346e-02 -3.58613532e-02 2.38292688e+02] [ 8.42200404e-02 9.96446250e-01 -1.36252835e-03 9.44545023e+00] [ 3.58486557e-02 -1.66343600e-03 9.99355846e-01 8.34629827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:9.45, Z:8.35 [[ 9.95705130e-01 -8.53536733e-02 -3.58614533e-02 2.38323540e+02] [ 8.53599108e-02 9.96349254e-01 -1.35988950e-03 9.44630735e+00] [ 3.58466038e-02 -1.70708150e-03 9.99355846e-01 8.34748790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:9.45, Z:8.35 [[ 9.95630279e-01 -8.62223733e-02 -3.58615277e-02 2.38355889e+02] [ 8.62292434e-02 9.96274397e-01 -1.35792402e-03 9.44714739e+00] [ 3.58450053e-02 -1.74032213e-03 9.99355846e-01 8.34905322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:9.45, Z:8.35 [[ 9.95511622e-01 -8.75816990e-02 -3.58616252e-02 2.38388178e+02] [ 8.75895412e-02 9.96155728e-01 -1.35534533e-03 9.44770887e+00] [ 3.58424668e-02 -1.79184126e-03 9.99355846e-01 8.34999276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:9.45, Z:8.35 [[ 9.95447785e-01 -8.83042751e-02 -3.58617224e-02 2.38420464e+02] [ 8.83126774e-02 9.96091884e-01 -1.35276772e-03 9.44874631e+00] [ 3.58410258e-02 -1.82043509e-03 9.99355846e-01 8.35139147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:9.45, Z:8.35 [[ 9.95417879e-01 -8.86407149e-02 -3.58618223e-02 2.38451601e+02] [ 8.86494304e-02 9.96061974e-01 -1.35011394e-03 9.44964935e+00] [ 3.58402726e-02 -1.83520256e-03 9.99355846e-01 8.35230509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:9.45, Z:8.35 [[ 9.95370705e-01 -8.91688505e-02 -3.58618965e-02 2.38483399e+02] [ 8.91779786e-02 9.96014794e-01 -1.34813996e-03 9.45083494e+00] [ 3.58391916e-02 -1.85619242e-03 9.99355846e-01 8.35341419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:9.45, Z:8.35 [[ 9.95247711e-01 -9.05312751e-02 -3.58619940e-02 2.38514525e+02] [ 9.05413783e-02 9.95891785e-01 -1.34554122e-03 9.45212037e+00] [ 3.58364788e-02 -1.90784755e-03 9.99355846e-01 8.35430141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:9.46, Z:8.36 [[ 9.94836502e-01 -9.49433884e-02 -3.58620665e-02 2.38541513e+02] [ 9.49564168e-02 9.95480524e-01 -1.34360541e-03 9.45757240e+00] [ 3.58275552e-02 -2.06866563e-03 9.99355846e-01 8.35515030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:9.45, Z:8.36 [[ 9.94888347e-01 -9.44046488e-02 -3.58460484e-02 2.38576131e+02] [ 9.44020727e-02 9.95532582e-01 -1.76816614e-03 9.45447523e+00] [ 3.58528322e-02 -1.62481337e-03 9.99355760e-01 8.35665914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:9.46, Z:8.36 [[ 9.94729779e-01 -9.60550655e-02 -3.58621048e-02 2.38608754e+02] [ 9.60690201e-02 9.95373776e-01 -1.33784998e-03 9.45528206e+00] [ 3.58247059e-02 -2.11443805e-03 9.99355852e-01 8.35800100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:9.46, Z:8.36 [[ 9.94564778e-01 -9.77486696e-02 -3.58622494e-02 2.38641076e+02] [ 9.77638604e-02 9.95208746e-01 -1.33396192e-03 9.45648760e+00] [ 3.58208173e-02 -2.17932041e-03 9.99355852e-01 8.35901632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:9.46, Z:8.36 [[ 9.94253915e-01 -1.00861503e-01 -3.58623690e-02 2.38673168e+02] [ 1.00878825e-01 9.94897830e-01 -1.33073868e-03 9.45811002e+00] [ 3.58136134e-02 -2.29466150e-03 9.99355852e-01 8.35945908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.71, Y:9.46, Z:8.36 [[ 9.94181767e-01 -1.01570162e-01 -3.58624632e-02 2.38705174e+02] [ 1.01588035e-01 9.94825667e-01 -1.32819618e-03 9.45966857e+00] [ 3.58118040e-02 -2.32272873e-03 9.99355852e-01 8.36004131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.74, Y:9.46, Z:8.36 [[ 9.94124966e-01 -1.02124581e-01 -3.58625564e-02 2.38735928e+02] [ 1.02142903e-01 9.94768853e-01 -1.32567518e-03 9.46128347e+00] [ 3.58103381e-02 -2.34521882e-03 9.99355852e-01 8.36049828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.77, Y:9.46, Z:8.36 [[ 9.94102339e-01 -1.02344570e-01 -3.58626259e-02 2.38768854e+02] [ 1.02363102e-01 9.94746220e-01 -1.32379362e-03 9.46284621e+00] [ 3.58096946e-02 -2.35502329e-03 9.99355852e-01 8.36149505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.80, Y:9.47, Z:8.36 [[ 9.94115727e-01 -1.02214394e-01 -3.58627679e-02 2.38800920e+02] [ 1.02232981e-01 9.94759607e-01 -1.31993536e-03 9.46585189e+00] [ 3.58097492e-02 -2.35418914e-03 9.99355852e-01 8.36285948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:9.47, Z:8.36 [[ 9.94126910e-01 -1.02105540e-01 -3.58628638e-02 2.38834419e+02] [ 1.02124150e-01 9.94770789e-01 -1.31732433e-03 9.46699461e+00] [ 3.58098354e-02 -2.35287692e-03 9.99355852e-01 8.36406232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:9.47, Z:8.37 [[ 9.94169344e-01 -1.01691493e-01 -3.58630075e-02 2.38867013e+02] [ 1.01709976e-01 9.94813227e-01 -1.31339827e-03 9.46906487e+00] [ 3.58105557e-02 -2.34188532e-03 9.99355852e-01 8.36529208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:9.47, Z:8.37 [[ 9.94219910e-01 -1.01195872e-01 -3.58631507e-02 2.38898666e+02] [ 1.01214175e-01 9.94863798e-01 -1.30947766e-03 9.47120550e+00] [ 3.58114640e-02 -2.32795045e-03 9.99355852e-01 8.36639696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.93, Y:9.47, Z:8.37 [[ 9.94280039e-01 -1.00603330e-01 -3.58632690e-02 2.38931645e+02] [ 1.00621366e-01 9.94923934e-01 -1.30623071e-03 9.47322995e+00] [ 3.58126358e-02 -2.30985198e-03 9.99355852e-01 8.36793572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.96, Y:9.48, Z:8.37 [[ 9.94417933e-01 -9.92309946e-02 -3.58634125e-02 2.38963054e+02] [ 9.92482834e-02 9.95061848e-01 -1.30227707e-03 9.47603400e+00] [ 3.58155398e-02 -2.26437446e-03 9.99355852e-01 8.36758030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.00, Y:9.48, Z:8.37 [[ 9.94420460e-01 -9.92056464e-02 -3.58634836e-02 2.38995341e+02] [ 9.92229891e-02 9.95064374e-01 -1.30031695e-03 9.47819112e+00] [ 3.58154736e-02 -2.26542027e-03 9.99355852e-01 8.36834528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:9.48, Z:8.37 [[ 9.94389307e-01 -9.95173852e-02 -3.58635754e-02 2.39027716e+02] [ 9.95350210e-02 9.95033213e-01 -1.29778123e-03 9.47983777e+00] [ 3.58146004e-02 -2.27918195e-03 9.99355852e-01 8.36939677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.06, Y:9.48, Z:8.37 [[ 9.94369017e-01 -9.97198848e-02 -3.58636682e-02 2.39060870e+02] [ 9.97377441e-02 9.95012917e-01 -1.29520945e-03 9.48126473e+00] [ 3.58139713e-02 -2.28904522e-03 9.99355852e-01 8.37018961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:9.48, Z:8.37 [[ 9.94287434e-01 -1.00530025e-01 -3.58638072e-02 2.39092033e+02] [ 1.00548547e-01 9.94931315e-01 -1.29135108e-03 9.48269022e+00] [ 3.58118444e-02 -2.32207956e-03 9.99355852e-01 8.37051890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.13, Y:9.48, Z:8.37 [[ 9.94235136e-01 -1.01045915e-01 -3.58638759e-02 2.39125210e+02] [ 1.01064840e-01 9.94879005e-01 -1.28944041e-03 9.48428240e+00] [ 3.58105098e-02 -2.34256992e-03 9.99355852e-01 8.37219730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:9.49, Z:8.37 [[ 9.93881162e-01 -1.04470133e-01 -3.58640121e-02 2.39151848e+02] [ 1.04491413e-01 9.94524958e-01 -1.28563968e-03 9.48995102e+00] [ 3.58019661e-02 -2.46970822e-03 9.99355852e-01 8.36910253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.19, Y:9.49, Z:8.38 [[ 9.94151125e-01 -1.01874898e-01 -3.58475397e-02 2.39186807e+02] [ 1.01878172e-01 9.94795361e-01 -1.74004996e-03 9.48761919e+00] [ 3.58382336e-02 -1.92220918e-03 9.99355756e-01 8.37509073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.22, Y:9.49, Z:8.38 [[ 9.94013562e-01 -1.03202795e-01 -3.58639259e-02 2.39220065e+02] [ 1.03223397e-01 9.94657372e-01 -1.28161633e-03 9.48907551e+00] [ 3.58045847e-02 -2.42805225e-03 9.99355861e-01 8.37714198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:9.49, Z:8.38 [[ 9.93950305e-01 -1.03810208e-01 -3.58640663e-02 2.39253088e+02] [ 1.03831345e-01 9.94594098e-01 -1.27767536e-03 9.49014969e+00] [ 3.58028244e-02 -2.45386843e-03 9.99355861e-01 8.37810435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.28, Y:9.49, Z:8.38 [[ 9.93872758e-01 -1.04549989e-01 -3.58642069e-02 2.39284870e+02] [ 1.04571748e-01 9.94516529e-01 -1.27371607e-03 9.49095529e+00] [ 3.58007136e-02 -2.48447110e-03 9.99355861e-01 8.37826579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:9.49, Z:8.38 [[ 9.93764981e-01 -1.05569465e-01 -3.58643229e-02 2.39316666e+02] [ 1.05592002e-01 9.94408726e-01 -1.27044008e-03 9.49221027e+00] [ 3.57979154e-02 -2.52446678e-03 9.99355861e-01 8.37944506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.35, Y:9.49, Z:8.38 [[ 9.93580006e-01 -1.07296392e-01 -3.58644128e-02 2.39348199e+02] [ 1.07320139e-01 9.94223707e-01 -1.26789744e-03 9.49406016e+00] [ 3.57932903e-02 -2.58921622e-03 9.99355861e-01 8.38003446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.38, Y:9.50, Z:8.38 [[ 9.93514596e-01 -1.07900357e-01 -3.58644798e-02 2.39380275e+02] [ 1.07924563e-01 9.94158280e-01 -1.26599960e-03 9.49543047e+00] [ 3.57915714e-02 -2.61286923e-03 9.99355861e-01 8.38093652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:9.50, Z:8.38 [[ 9.93330570e-01 -1.09581533e-01 -3.58645682e-02 2.39411125e+02] [ 1.09606918e-01 9.93974208e-01 -1.26349063e-03 9.49794924e+00] [ 3.57869110e-02 -2.67594094e-03 9.99355861e-01 8.38200370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:9.50, Z:8.38 [[ 9.93376822e-01 -1.09162786e-01 -3.58604963e-02 2.39443095e+02] [ 1.09183746e-01 9.94020627e-01 -1.37919367e-03 9.49856149e+00] [ 3.57966297e-02 -2.54532431e-03 9.99355854e-01 8.38325564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.48, Y:9.50, Z:8.38 [[ 9.93340586e-01 -1.09491448e-01 -3.58622683e-02 2.39475090e+02] [ 1.09514436e-01 9.93984317e-01 -1.32861449e-03 9.49944034e+00] [ 3.57920042e-02 -2.60766941e-03 9.99355859e-01 8.38474375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.51, Y:9.50, Z:8.39 [[ 9.93377211e-01 -1.09157787e-01 -3.58649568e-02 2.39506213e+02] [ 1.09183326e-01 9.94020842e-01 -1.25157488e-03 9.50056276e+00] [ 3.57871337e-02 -2.67256931e-03 9.99355862e-01 8.38759341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.54, Y:9.50, Z:8.39 [[ 9.93430786e-01 -1.08669103e-01 -3.58650290e-02 2.39539422e+02] [ 1.08694400e-01 9.94074427e-01 -1.24950224e-03 9.50171496e+00] [ 3.57882905e-02 -2.65703382e-03 9.99355862e-01 8.38916490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.57, Y:9.50, Z:8.39 [[ 9.93522191e-01 -1.07830173e-01 -3.58651653e-02 2.39571443e+02] [ 1.07855067e-01 9.94165848e-01 -1.24557761e-03 9.50285948e+00] [ 3.57902334e-02 -2.63073082e-03 9.99355862e-01 8.39036086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:9.50, Z:8.39 [[ 9.93639738e-01 -1.06741534e-01 -3.58652555e-02 2.39604902e+02] [ 1.06765816e-01 9.94283418e-01 -1.24297614e-03 9.50429926e+00] [ 3.57929060e-02 -2.59411278e-03 9.99355862e-01 8.39188425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.64, Y:9.51, Z:8.39 [[ 9.93885111e-01 -1.04432081e-01 -3.58653905e-02 2.39636060e+02] [ 1.04455008e-01 9.94528841e-01 -1.23906993e-03 9.50558133e+00] [ 3.57985639e-02 -2.51482648e-03 9.99355862e-01 8.39278675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:9.51, Z:8.39 [[ 9.93984370e-01 -1.03483051e-01 -3.58654572e-02 2.39668958e+02] [ 1.03505433e-01 9.94628119e-01 -1.23713372e-03 9.50612162e+00] [ 3.58008146e-02 -2.48257808e-03 9.99355862e-01 8.39443261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:9.51, Z:8.40 [[ 9.94004519e-01 -1.03289280e-01 -3.58655928e-02 2.39700885e+02] [ 1.03311677e-01 9.94648268e-01 -1.23319090e-03 9.50689514e+00] [ 3.58010252e-02 -2.47953723e-03 9.99355862e-01 8.39530480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.73, Y:9.51, Z:8.40 [[ 9.93986572e-01 -1.03461811e-01 -3.58657050e-02 2.39733362e+02] [ 1.03484437e-01 9.94630312e-01 -1.22991796e-03 9.50732449e+00] [ 3.58003670e-02 -2.48902038e-03 9.99355862e-01 8.39616495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:9.51, Z:8.40 [[ 9.93880622e-01 -1.04474650e-01 -3.58658147e-02 2.39766131e+02] [ 1.04498048e-01 9.94524335e-01 -1.22671068e-03 9.50643359e+00] [ 3.57975857e-02 -2.52870366e-03 9.99355862e-01 8.39700113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.80, Y:9.51, Z:8.40 [[ 9.93707337e-01 -1.06110140e-01 -3.58659486e-02 2.39798180e+02] [ 1.06134739e-01 9.94351005e-01 -1.22278384e-03 9.50649266e+00] [ 3.57930918e-02 -2.59153381e-03 9.99355862e-01 8.39751636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:9.51, Z:8.40 [[ 9.93517116e-01 -1.07876628e-01 -3.58660593e-02 2.39829256e+02] [ 1.07902487e-01 9.94160735e-01 -1.21952763e-03 9.50640512e+00] [ 3.57881864e-02 -2.65841543e-03 9.99355862e-01 8.39766479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.86, Y:9.51, Z:8.40 [[ 9.93369882e-01 -1.09224075e-01 -3.58661233e-02 2.39861542e+02] [ 1.09250875e-01 9.94013463e-01 -1.21764337e-03 9.50661092e+00] [ 3.57844054e-02 -2.70883510e-03 9.99355862e-01 8.39784078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:9.51, Z:8.40 [[ 9.93082539e-01 -1.11806468e-01 -3.58662079e-02 2.39894242e+02] [ 1.11835031e-01 9.93726043e-01 -1.21514660e-03 9.50585329e+00] [ 3.57770461e-02 -2.80435762e-03 9.99355862e-01 8.39828421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:9.51, Z:8.40 [[ 9.92983531e-01 -1.12682364e-01 -3.58662943e-02 2.39925830e+02] [ 1.12711586e-01 9.93627006e-01 -1.21259105e-03 9.50615643e+00] [ 3.57743563e-02 -2.83846397e-03 9.99355862e-01 8.39899100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:9.51, Z:8.40 [[ 9.92946388e-01 -1.13009165e-01 -3.58664017e-02 2.39959282e+02] [ 1.13038713e-01 9.93589848e-01 -1.20940509e-03 9.50644824e+00] [ 3.57731665e-02 -2.85341747e-03 9.99355862e-01 8.40015504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:9.51, Z:8.40 [[ 9.92952977e-01 -1.12951221e-01 -3.58665287e-02 2.39991686e+02] [ 1.12980867e-01 9.93596432e-01 -1.20562759e-03 9.50766824e+00] [ 3.57730321e-02 -2.85510002e-03 9.99355862e-01 8.40289256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:9.51, Z:8.40 [[ 9.93038788e-01 -1.12195071e-01 -3.58640781e-02 2.40023524e+02] [ 1.12221602e-01 9.93682382e-01 -1.27875155e-03 9.50639955e+00] [ 3.57809722e-02 -2.75487442e-03 9.99355859e-01 8.40405094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:9.51, Z:8.40 [[ 9.92964960e-01 -1.12845696e-01 -3.58669475e-02 2.40052201e+02] [ 1.12875747e-01 9.93608396e-01 -1.19244977e-03 9.50983817e+00] [ 3.57722630e-02 -2.86444765e-03 9.99355863e-01 8.40459038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:9.51, Z:8.41 [[ 9.93351209e-01 -1.09396372e-01 -3.58581796e-02 2.40086199e+02] [ 1.09414733e-01 9.93995119e-01 -1.45582093e-03 9.50830254e+00] [ 3.58021170e-02 -2.47727166e-03 9.99355828e-01 8.40761350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:9.51, Z:8.41 [[ 9.93747601e-01 -1.05731936e-01 -3.58672907e-02 2.40119526e+02] [ 1.05757876e-01 9.94391212e-01 -1.17858876e-03 9.51002163e+00] [ 3.57907332e-02 -2.62202871e-03 9.99355867e-01 8.40968601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:9.51, Z:8.41 [[ 9.93896010e-01 -1.04327605e-01 -3.58674182e-02 2.40152811e+02] [ 1.04352775e-01 9.94539652e-01 -1.17469640e-03 9.51124724e+00] [ 3.57941229e-02 -2.57533854e-03 9.99355867e-01 8.41137872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.19, Y:9.51, Z:8.41 [[ 9.93954833e-01 -1.03765646e-01 -3.58675484e-02 2.40185379e+02] [ 1.03790595e-01 9.94598483e-01 -1.17070827e-03 9.51223145e+00] [ 3.57952885e-02 -2.55908306e-03 9.99355867e-01 8.41298848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:9.51, Z:8.41 [[ 9.93993622e-01 -1.03393371e-01 -3.58676776e-02 2.40218734e+02] [ 1.03418221e-01 9.94637276e-01 -1.16673526e-03 9.51304324e+00] [ 3.57959618e-02 -2.54964401e-03 9.99355867e-01 8.41396821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.25, Y:9.51, Z:8.41 [[ 9.94060363e-01 -1.02749675e-01 -3.58678056e-02 2.40252102e+02] [ 1.02774250e-01 9.94704027e-01 -1.16278621e-03 9.51216590e+00] [ 3.57973266e-02 -2.53040716e-03 9.99355867e-01 8.41424281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.28, Y:9.51, Z:8.41 [[ 9.94080842e-01 -1.02551306e-01 -3.58679336e-02 2.40284263e+02] [ 1.02575896e-01 9.94724506e-01 -1.15882652e-03 9.51222082e+00] [ 3.57975517e-02 -2.52721816e-03 9.99355867e-01 8.41470912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.32, Y:9.51, Z:8.42 [[ 9.94100737e-01 -1.02358198e-01 -3.58681413e-02 2.40316903e+02] [ 1.02382894e-01 9.94744397e-01 -1.15236190e-03 9.51254246e+00] [ 3.57975862e-02 -2.52672028e-03 9.99355867e-01 8.41657879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.35, Y:9.51, Z:8.42 [[ 9.94127812e-01 -1.02094859e-01 -3.58682678e-02 2.40349123e+02] [ 1.02119527e-01 9.94771473e-01 -1.14840942e-03 9.51361893e+00] [ 3.57979763e-02 -2.52118480e-03 9.99355867e-01 8.41717353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.38, Y:9.51, Z:8.42 [[ 9.94301181e-01 -1.00392333e-01 -3.58683719e-02 2.40381649e+02] [ 1.00416015e-01 9.94944879e-01 -1.14514809e-03 9.51447170e+00] [ 3.58020171e-02 -2.46313689e-03 9.99355867e-01 8.41757810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:9.52, Z:8.42 [[ 9.94412168e-01 -9.92869276e-02 -3.58684515e-02 2.40413833e+02] [ 9.93099844e-02 9.95055889e-01 -1.14264912e-03 9.51533441e+00] [ 3.58045640e-02 -2.42583117e-03 9.99355867e-01 8.41881780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:9.52, Z:8.42 [[ 9.94522965e-01 -9.81708756e-02 -3.58685325e-02 2.40444465e+02] [ 9.81933015e-02 9.95166708e-01 -1.14010247e-03 9.51706398e+00] [ 3.58070942e-02 -2.38819154e-03 9.99355867e-01 8.42095980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.48, Y:9.52, Z:8.42 [[ 9.94760784e-01 -9.57334200e-02 -3.58621649e-02 2.40478095e+02] [ 9.57470798e-02 9.95404792e-01 -1.34026707e-03 9.51664387e+00] [ 3.58256792e-02 -2.10045244e-03 9.99355847e-01 8.42190404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.51, Y:9.52, Z:8.42 [[ 9.94894487e-01 -9.43313106e-02 -3.58686929e-02 2.40509915e+02] [ 9.43514788e-02 9.95538303e-01 -1.13376733e-03 9.51734769e+00] [ 3.58156074e-02 -2.25628535e-03 9.99355868e-01 8.42331548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.54, Y:9.52, Z:8.43 [[ 9.95015094e-01 -9.30504870e-02 -3.58687722e-02 2.40542904e+02] [ 9.30699167e-02 9.95658933e-01 -1.13125135e-03 9.51820109e+00] [ 3.58183270e-02 -2.21269148e-03 9.99355868e-01 8.42561583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:9.52, Z:8.43 [[ 9.95285119e-01 -9.01163391e-02 -3.58688953e-02 2.40575549e+02] [ 9.01340111e-02 9.95929008e-01 -1.12733721e-03 9.51898815e+00] [ 3.58244648e-02 -2.11098545e-03 9.99355868e-01 8.42711587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:9.52, Z:8.43 [[ 9.95401917e-01 -8.88168874e-02 -3.58689762e-02 2.40606506e+02] [ 8.88338114e-02 9.96045827e-01 -1.12475554e-03 9.51963114e+00] [ 3.58270414e-02 -2.06679405e-03 9.99355868e-01 8.42774542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:9.52, Z:8.43 [[ 9.95598359e-01 -8.65870334e-02 -3.58691108e-02 2.40638785e+02] [ 8.66026699e-02 9.96242301e-01 -1.12044571e-03 9.51918152e+00] [ 3.58313416e-02 -1.99084686e-03 9.99355868e-01 8.42837904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:9.52, Z:8.43 [[ 9.95680600e-01 -8.56361140e-02 -3.58691924e-02 2.40670753e+02] [ 8.56512294e-02 9.96324554e-01 -1.11782835e-03 9.51937240e+00] [ 3.58330836e-02 -1.95924043e-03 9.99355868e-01 8.42948812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:9.52, Z:8.43 [[ 9.95755581e-01 -8.47597620e-02 -3.58692736e-02 2.40703434e+02] [ 8.47744044e-02 9.96399547e-01 -1.11521685e-03 9.51981719e+00] [ 3.58346535e-02 -1.93031290e-03 9.99355868e-01 8.43063751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:9.52, Z:8.43 [[ 9.95806667e-01 -8.41574120e-02 -3.58693830e-02 2.40735495e+02] [ 8.41717917e-02 9.96450638e-01 -1.11168847e-03 9.52041410e+00] [ 3.58356264e-02 -1.91216344e-03 9.99355868e-01 8.43212537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.77, Y:9.52, Z:8.43 [[ 9.95831563e-01 -8.38622675e-02 -3.58694631e-02 2.40767646e+02] [ 8.38765494e-02 9.96475536e-01 -1.10909717e-03 9.52103055e+00] [ 3.58360539e-02 -1.90413282e-03 9.99355868e-01 8.43383579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.80, Y:9.52, Z:8.44 [[ 9.95820557e-01 -8.39928235e-02 -3.58695429e-02 2.40799528e+02] [ 8.40072828e-02 9.96464526e-01 -1.10650834e-03 9.52155644e+00] [ 3.58356659e-02 -1.91141908e-03 9.99355868e-01 8.43547465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.83, Y:9.52, Z:8.43 [[ 9.95771163e-01 -8.45763602e-02 -3.58696231e-02 2.40830153e+02] [ 8.45912904e-02 9.96415122e-01 -1.10390295e-03 9.52397110e+00] [ 3.58343990e-02 -1.93502298e-03 9.99355868e-01 8.43470967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.86, Y:9.52, Z:8.44 [[ 9.95924909e-01 -8.27488147e-02 -3.58637556e-02 2.40863854e+02] [ 8.27556984e-02 9.96569023e-01 -1.29501299e-03 9.52271932e+00] [ 3.58478687e-02 -1.67819444e-03 9.99355850e-01 8.43823171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:9.52, Z:8.44 [[ 9.95931315e-01 -8.26690301e-02 -3.58698779e-02 2.40896517e+02] [ 8.26830693e-02 9.96575292e-01 -1.09436883e-03 9.52356040e+00] [ 3.58375044e-02 -1.87591541e-03 9.99355870e-01 8.43934391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:9.52, Z:8.44 [[ 9.95966063e-01 -8.22492981e-02 -3.58699575e-02 2.40927266e+02] [ 8.22631599e-02 9.96610044e-01 -1.09175253e-03 9.52444707e+00] [ 3.58381558e-02 -1.86342758e-03 9.99355870e-01 8.44038580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:9.53, Z:8.44 [[ 9.95993858e-01 -8.19120053e-02 -3.58700167e-02 2.40959648e+02] [ 8.19257191e-02 9.96637842e-01 -1.08980373e-03 9.52590641e+00] [ 3.58386841e-02 -1.85323909e-03 9.99355870e-01 8.44188611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:9.53, Z:8.44 [[ 9.96033191e-01 -8.14322895e-02 -3.58700947e-02 2.40991899e+02] [ 8.14457855e-02 9.96677180e-01 -1.08723013e-03 9.52696952e+00] [ 3.58394405e-02 -1.83855074e-03 9.99355870e-01 8.44293435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.02, Y:9.53, Z:8.44 [[ 9.96064081e-01 -8.10535435e-02 -3.58701723e-02 2.41023507e+02] [ 8.10668868e-02 9.96708073e-01 -1.08466276e-03 9.52788351e+00] [ 3.58400061e-02 -1.82748959e-03 9.99355870e-01 8.44326255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:9.53, Z:8.44 [[ 9.96028184e-01 -8.14934580e-02 -3.58702301e-02 2.41053176e+02] [ 8.15071544e-02 9.96672168e-01 -1.08275016e-03 9.53097683e+00] [ 3.58390970e-02 -1.84523071e-03 9.99355870e-01 8.44374566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.09, Y:9.53, Z:8.45 [[ 9.96132441e-01 -8.02116682e-02 -3.58643145e-02 2.41086655e+02] [ 8.02175032e-02 9.96776564e-01 -1.27853341e-03 9.53088384e+00] [ 3.58512615e-02 -1.60335716e-03 9.99355851e-01 8.44559690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.12, Y:9.53, Z:8.45 [[ 9.96151953e-01 -7.99662490e-02 -3.58703864e-02 2.41117681e+02] [ 7.99791942e-02 9.96795952e-01 -1.07617178e-03 9.53216298e+00] [ 3.58415134e-02 -1.79685399e-03 9.99355871e-01 8.44665261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:9.53, Z:8.45 [[ 9.96145240e-01 -8.00497769e-02 -3.58705138e-02 2.41149656e+02] [ 8.00629292e-02 9.96789235e-01 -1.07191031e-03 9.53410508e+00] [ 3.58411481e-02 -1.80412006e-03 9.99355871e-01 8.44878448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:9.54, Z:8.45 [[ 9.96099150e-01 -8.06212379e-02 -3.58705908e-02 2.41180457e+02] [ 8.06348525e-02 9.96743135e-01 -1.06932497e-03 9.53543972e+00] [ 3.58399755e-02 -1.82726611e-03 9.99355871e-01 8.45023721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:9.54, Z:8.45 [[ 9.96059824e-01 -8.11056283e-02 -3.58706482e-02 2.41212201e+02] [ 8.11196253e-02 9.96703801e-01 -1.06739664e-03 9.53658846e+00] [ 3.58389833e-02 -1.84662263e-03 9.99355871e-01 8.45188472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.24, Y:9.54, Z:8.45 [[ 9.95835168e-01 -8.38189084e-02 -3.58707251e-02 2.41244559e+02] [ 8.38347529e-02 9.96479102e-01 -1.06480526e-03 9.53719150e+00] [ 3.58336788e-02 -1.94684286e-03 9.99355871e-01 8.45407842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.28, Y:9.54, Z:8.46 [[ 9.95645003e-01 -8.60483174e-02 -3.58708036e-02 2.41276108e+02] [ 8.60656988e-02 9.96288898e-01 -1.06215455e-03 9.53772987e+00] [ 3.58290800e-02 -2.02971691e-03 9.99355871e-01 8.45546284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:9.54, Z:8.46 [[ 9.95281349e-01 -9.01571796e-02 -3.58708620e-02 2.41308067e+02] [ 9.01772895e-02 9.95925164e-01 -1.06017923e-03 9.53779425e+00] [ 3.58202769e-02 -2.17956050e-03 9.99355871e-01 8.45553688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:9.54, Z:8.46 [[ 9.95161223e-01 -9.14735847e-02 -3.58709390e-02 2.41339180e+02] [ 9.14946400e-02 9.95805007e-01 -1.05756649e-03 9.53804229e+00] [ 3.58172001e-02 -2.22954949e-03 9.99355871e-01 8.45520895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:9.54, Z:8.46 [[ 9.95025456e-01 -9.29387387e-02 -3.58710609e-02 2.41371798e+02] [ 9.29608909e-02 9.95669204e-01 -1.05341666e-03 9.53812855e+00] [ 3.58136139e-02 -2.28642939e-03 9.99355871e-01 8.45585823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:9.54, Z:8.46 [[ 9.94898317e-01 -9.42899764e-02 -3.58711371e-02 2.41404169e+02] [ 9.43130962e-02 9.95542031e-01 -1.05081476e-03 9.53849783e+00] [ 3.58103060e-02 -2.33766417e-03 9.99355871e-01 8.45663308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.44, Y:9.54, Z:8.46 [[ 9.94800117e-01 -9.53204288e-02 -3.58712130e-02 2.41435954e+02] [ 9.53443085e-02 9.95443803e-01 -1.04821976e-03 9.53888134e+00] [ 3.58076934e-02 -2.37734685e-03 9.99355871e-01 8.45760070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.47, Y:9.54, Z:8.46 [[ 9.94654359e-01 -9.68295273e-02 -3.58712881e-02 2.41467725e+02] [ 9.68544761e-02 9.95298004e-01 -1.04564147e-03 9.53945475e+00] [ 3.58038704e-02 -2.43424297e-03 9.99355871e-01 8.45884446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.50, Y:9.54, Z:8.46 [[ 9.94510431e-01 -9.82967367e-02 -3.58713632e-02 2.41498583e+02] [ 9.83227276e-02 9.95154035e-01 -1.04305962e-03 9.53973828e+00] [ 3.58000612e-02 -2.48963660e-03 9.99355871e-01 8.45978114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.53, Y:9.54, Z:8.46 [[ 9.94236051e-01 -1.01034235e-01 -3.58714191e-02 2.41530391e+02] [ 1.01062067e-01 9.94879578e-01 -1.04113389e-03 9.53991873e+00] [ 3.57929324e-02 -2.59010690e-03 9.99355871e-01 8.46126194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.56, Y:9.54, Z:8.46 [[ 9.94104628e-01 -1.02319230e-01 -3.58714936e-02 2.41562734e+02] [ 1.02347986e-01 9.94748114e-01 -1.03855939e-03 9.54013623e+00] [ 3.57893652e-02 -2.63893842e-03 9.99355871e-01 8.46288249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:9.54, Z:8.46 [[ 9.93986046e-01 -1.03464826e-01 -3.58715692e-02 2.41594132e+02] [ 1.03494418e-01 9.94629495e-01 -1.03594409e-03 9.54055544e+00] [ 3.57861045e-02 -2.68279318e-03 9.99355871e-01 8.46379463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.63, Y:9.54, Z:8.47 [[ 9.93905823e-01 -1.04232633e-01 -3.58716253e-02 2.41626176e+02] [ 1.04262791e-01 9.94549245e-01 -1.03399707e-03 9.54069578e+00] [ 3.57838741e-02 -2.71238005e-03 9.99355871e-01 8.46522513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.66, Y:9.54, Z:8.47 [[ 9.93663384e-01 -1.06519005e-01 -3.58717175e-02 2.41657912e+02] [ 1.06550759e-01 9.94306730e-01 -1.03078621e-03 9.54117267e+00] [ 3.57772885e-02 -2.79790419e-03 9.99355871e-01 8.46762739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.69, Y:9.54, Z:8.47 [[ 9.93696234e-01 -1.06212510e-01 -3.58705556e-02 2.41689968e+02] [ 1.06242614e-01 9.94339660e-01 -1.07121774e-03 9.54067602e+00] [ 3.57812928e-02 -2.74651657e-03 9.99355870e-01 8.46906995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:9.54, Z:8.47 [[ 9.93826076e-01 -1.04990186e-01 -3.58718875e-02 2.41722098e+02] [ 1.05021172e-01 9.94469458e-01 -1.02458883e-03 9.54055213e+00] [ 3.57810683e-02 -2.74904456e-03 9.99355872e-01 8.47116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.75, Y:9.54, Z:8.47 [[ 9.94062911e-01 -1.02723565e-01 -3.58719624e-02 2.41751492e+02] [ 1.02753178e-01 9.94706359e-01 -1.02195744e-03 9.54075193e+00] [ 3.57870482e-02 -2.67006817e-03 9.99355872e-01 8.47011320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:9.54, Z:8.47 [[ 9.94028398e-01 -1.03059449e-01 -3.58649436e-02 2.41784204e+02] [ 1.03080565e-01 9.94672206e-01 -1.26476922e-03 9.54180879e+00] [ 3.58042089e-02 -2.43976212e-03 9.99355846e-01 8.47311216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:9.54, Z:8.47 [[ 9.94167074e-01 -1.01710581e-01 -3.58718057e-02 2.41816453e+02] [ 1.01739446e-01 9.94810553e-01 -1.02454583e-03 9.54250202e+00] [ 3.57898580e-02 -2.63100790e-03 9.99355874e-01 8.47478148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:9.54, Z:8.47 [[ 9.94372563e-01 -9.96815696e-02 -3.58718781e-02 2.41846846e+02] [ 9.97092122e-02 9.95016095e-01 -1.02200476e-03 9.54327278e+00] [ 3.57949711e-02 -2.56050321e-03 9.99355874e-01 8.47498284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.88, Y:9.54, Z:8.48 [[ 9.94369926e-01 -9.97085765e-02 -3.58699103e-02 2.41879448e+02] [ 9.97337484e-02 9.95013562e-01 -1.09132776e-03 9.54389086e+00] [ 3.57998620e-02 -2.49225711e-03 9.99355872e-01 8.47849559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:9.54, Z:8.48 [[ 9.94434366e-01 -9.90630299e-02 -3.58721142e-02 2.41911149e+02] [ 9.90905842e-02 9.95077901e-01 -1.01331102e-03 9.54355856e+00] [ 3.57959298e-02 -2.54691746e-03 9.99355875e-01 8.47973659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:9.54, Z:8.48 [[ 9.94514561e-01 -9.82546437e-02 -3.58721865e-02 2.41942832e+02] [ 9.82817669e-02 9.95158114e-01 -1.01074781e-03 9.54381516e+00] [ 3.57978081e-02 -2.52037846e-03 9.99355875e-01 8.48020002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.98, Y:9.54, Z:8.48 [[ 9.94638524e-01 -9.69916981e-02 -3.58722403e-02 2.41975218e+02] [ 9.70180728e-02 9.95282109e-01 -1.00883510e-03 9.54414785e+00] [ 3.58008476e-02 -2.47682937e-03 9.99355875e-01 8.48128644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:9.54, Z:8.48 [[ 9.94777032e-01 -9.55606342e-02 -3.58723106e-02 2.42006954e+02] [ 9.55861728e-02 9.95420650e-01 -1.00632919e-03 9.54459078e+00] [ 3.58042042e-02 -2.42782371e-03 9.99355875e-01 8.48285301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:9.55, Z:8.48 [[ 9.95141948e-01 -9.16824682e-02 -3.58723824e-02 2.42038699e+02] [ 9.17055901e-02 9.95785658e-01 -1.00376167e-03 9.54550515e+00] [ 3.58132313e-02 -2.29081266e-03 9.99355875e-01 8.48357067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.07, Y:9.55, Z:8.49 [[ 9.95383337e-01 -8.90234748e-02 -3.58724535e-02 2.42070490e+02] [ 8.90449682e-02 9.96027104e-01 -1.00121579e-03 9.54678156e+00] [ 3.58190676e-02 -2.19766796e-03 9.99355875e-01 8.48527416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:9.55, Z:8.49 [[ 9.95637973e-01 -8.61289118e-02 -3.58725265e-02 2.42101295e+02] [ 8.61486276e-02 9.96281796e-01 -9.98592001e-04 9.54806446e+00] [ 3.58251528e-02 -2.09613281e-03 9.99355875e-01 8.48564355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:9.55, Z:8.49 [[ 9.96104861e-01 -8.05497544e-02 -3.58725808e-02 2.42133717e+02] [ 8.05659331e-02 9.96748783e-01 -9.96638484e-04 9.54998156e+00] [ 3.58362302e-02 -1.89735150e-03 9.99355875e-01 8.48698042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.17, Y:9.55, Z:8.49 [[ 9.96331918e-01 -7.76908057e-02 -3.58726524e-02 2.42165515e+02] [ 7.77052292e-02 9.96975882e-01 -9.94055458e-04 9.55157642e+00] [ 3.58413982e-02 -1.79708349e-03 9.99355875e-01 8.48839492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.20, Y:9.55, Z:8.49 [[ 9.96487155e-01 -7.56736283e-02 -3.58727233e-02 2.42196429e+02] [ 7.56868404e-02 9.97131144e-01 -9.91488703e-04 9.55278624e+00] [ 3.58448392e-02 -1.72708733e-03 9.99355875e-01 8.48977827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.23, Y:9.55, Z:8.49 [[ 9.96679134e-01 -7.31016199e-02 -3.58727761e-02 2.42227582e+02] [ 7.31132386e-02 9.97323155e-01 -9.89574959e-04 9.55381201e+00] [ 3.58490897e-02 -1.63648612e-03 9.99355875e-01 8.49262552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.26, Y:9.55, Z:8.49 [[ 9.96871622e-01 -7.04280473e-02 -3.58728114e-02 2.42259193e+02] [ 7.04379846e-02 9.97515671e-01 -9.88293593e-04 9.55399382e+00] [ 3.58532951e-02 -1.54160670e-03 9.99355875e-01 8.49372985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:9.56, Z:8.50 [[ 9.97011050e-01 -6.84257924e-02 -3.58730671e-02 2.42290637e+02] [ 6.84347699e-02 9.97655113e-01 -9.79002147e-04 9.55587493e+00] [ 3.58559378e-02 -1.47888913e-03 9.99355875e-01 8.49689567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:9.55, Z:8.50 [[ 9.97159315e-01 -6.62301745e-02 -3.58728975e-02 2.42320769e+02] [ 6.62375119e-02 9.97803398e-01 -9.85178317e-04 9.55472700e+00] [ 3.58593476e-02 -1.39375174e-03 9.99355875e-01 8.49642477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:9.56, Z:8.50 [[ 9.97177655e-01 -6.59534557e-02 -3.58729157e-02 2.42350986e+02] [ 6.59606381e-02 9.97821740e-01 -9.84516418e-04 9.55550238e+00] [ 3.58597074e-02 -1.38446263e-03 9.99355875e-01 8.49715870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:9.56, Z:8.50 [[ 9.97175409e-01 -6.59874111e-02 -3.58729157e-02 2.42381106e+02] [ 6.59946155e-02 9.97819493e-01 -9.84516418e-04 9.55636007e+00] [ 3.58596602e-02 -1.38568371e-03 9.99355875e-01 8.49824075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.41, Y:9.56, Z:8.50 [[ 9.96880266e-01 -7.03055643e-02 -3.58728821e-02 2.42405865e+02] [ 7.03155142e-02 9.97524314e-01 -9.85738733e-04 9.56212036e+00] [ 3.58533750e-02 -1.53975666e-03 9.99355875e-01 8.50030126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.44, Y:9.56, Z:8.50 [[ 9.96903829e-01 -6.99786467e-02 -3.58572964e-02 2.42436762e+02] [ 6.99681522e-02 9.97548023e-01 -1.54897043e-03 9.56308447e+00] [ 3.58777700e-02 -9.64694221e-04 9.99355720e-01 8.50158162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.47, Y:9.56, Z:8.50 [[ 9.97147543e-01 -6.64157113e-02 -3.58570863e-02 2.42471718e+02] [ 6.64026405e-02 9.97791695e-01 -1.55660386e-03 9.55773942e+00] [ 3.58812859e-02 -8.28841496e-04 9.99355716e-01 8.50135165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.50, Y:9.56, Z:8.50 [[ 9.97072858e-01 -6.75192177e-02 -3.58729762e-02 2.42501094e+02] [ 6.75280067e-02 9.97716909e-01 -9.67930314e-04 9.55746930e+00] [ 3.58564289e-02 -1.45733353e-03 9.99355889e-01 8.50203818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:9.56, Z:8.50 [[ 9.96671730e-01 -7.32024078e-02 -3.58729794e-02 2.42526933e+02] [ 7.32148726e-02 9.97315720e-01 -9.67813725e-04 9.56284393e+00] [ 3.58475325e-02 -1.66184303e-03 9.99355889e-01 8.50481093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:9.56, Z:8.50 [[ 9.96643752e-01 -7.35894722e-02 -3.58583482e-02 2.42560598e+02] [ 7.35830154e-02 9.97287965e-01 -1.50153142e-03 9.55727386e+00] [ 3.58715960e-02 -1.14207348e-03 9.99355755e-01 8.50312107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:9.56, Z:8.51 [[ 9.96506954e-01 -7.54124386e-02 -3.58727647e-02 2.42591463e+02] [ 7.54263672e-02 9.97150906e-01 -9.66806704e-04 9.55714553e+00] [ 3.58434691e-02 -1.74232272e-03 9.99355898e-01 8.50553878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:9.56, Z:8.51 [[ 9.96394451e-01 -7.68845856e-02 -3.58727987e-02 2.42623099e+02] [ 7.68995109e-02 9.97038381e-01 -9.65543750e-04 9.55742323e+00] [ 3.58407926e-02 -1.79653824e-03 9.99355898e-01 8.50719335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.65, Y:9.56, Z:8.51 [[ 9.96199969e-01 -7.93647423e-02 -3.58728336e-02 2.42654326e+02] [ 7.93813172e-02 9.96843858e-01 -9.64245909e-04 9.55784087e+00] [ 3.58361410e-02 -1.88705104e-03 9.99355898e-01 8.50769982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:9.56, Z:8.51 [[ 9.96141004e-01 -8.01013890e-02 -3.58729421e-02 2.42686204e+02] [ 8.01185855e-02 9.96784877e-01 -9.60192171e-04 9.55883079e+00] [ 3.58345189e-02 -1.91760259e-03 9.99355898e-01 8.50951274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:9.56, Z:8.51 [[ 9.96098137e-01 -8.06326717e-02 -3.58730099e-02 2.42718048e+02] [ 8.06503029e-02 9.96741998e-01 -9.57652084e-04 9.55998343e+00] [ 3.58333536e-02 -1.93925366e-03 9.99355898e-01 8.51189111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:9.56, Z:8.51 [[ 9.96077807e-01 -8.08833958e-02 -3.58730781e-02 2.42749627e+02] [ 8.09012809e-02 9.96721662e-01 -9.55091225e-04 9.56122656e+00] [ 3.58327250e-02 -1.95083280e-03 9.99355898e-01 8.51447854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:9.56, Z:8.52 [[ 9.96075305e-01 -8.09141842e-02 -3.58731297e-02 2.42781737e+02] [ 8.09321589e-02 9.96719157e-01 -9.53150304e-04 9.56267179e+00] [ 3.58325589e-02 -1.95388035e-03 9.99355898e-01 8.51717914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:9.56, Z:8.52 [[ 9.96048179e-01 -8.12473934e-02 -3.58731986e-02 2.42813480e+02] [ 8.12656770e-02 9.96692022e-01 -9.50547974e-04 9.56362355e+00] [ 3.58317604e-02 -1.96846819e-03 9.99355898e-01 8.51941061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:9.57, Z:8.52 [[ 9.95724706e-01 -8.51200210e-02 -3.58732679e-02 2.42840635e+02] [ 8.51409022e-02 9.96368470e-01 -9.47925253e-04 9.56982806e+00] [ 3.58236805e-02 -2.11040980e-03 9.99355898e-01 8.52122195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:9.57, Z:8.52 [[ 9.95749693e-01 -8.48327116e-02 -3.58602827e-02 2.42872357e+02] [ 8.48358534e-02 9.96393905e-01 -1.43673616e-03 9.57070785e+00] [ 3.58528493e-02 -1.61160809e-03 9.99355780e-01 8.52250773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:9.57, Z:8.52 [[ 9.95923066e-01 -8.27725567e-02 -3.58601470e-02 2.42906822e+02] [ 8.27741814e-02 9.96567286e-01 -1.44186817e-03 9.56625253e+00] [ 3.58563965e-02 -1.53230455e-03 9.99355778e-01 8.52324048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.94, Y:9.57, Z:8.52 [[ 9.95726887e-01 -8.50944590e-02 -3.58733825e-02 2.42938330e+02] [ 8.51158472e-02 9.96370625e-01 -9.33328486e-04 9.56688976e+00] [ 3.58226056e-02 -2.12405308e-03 9.99355907e-01 8.52425473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.97, Y:9.57, Z:8.53 [[ 9.95614528e-01 -8.63991279e-02 -3.58734310e-02 2.42970774e+02] [ 8.64214267e-02 9.96258234e-01 -9.31461319e-04 9.56775996e+00] [ 3.58196785e-02 -2.17285667e-03 9.99355907e-01 8.52706332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:9.57, Z:8.53 [[ 9.95423899e-01 -8.85683539e-02 -3.58734998e-02 2.43002069e+02] [ 8.85921506e-02 9.96067552e-01 -9.28803771e-04 9.56870320e+00] [ 3.58146918e-02 -2.25355703e-03 9.99355907e-01 8.52669014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.03, Y:9.57, Z:8.53 [[ 9.95328331e-01 -8.96359206e-02 -3.58736087e-02 2.43034204e+02] [ 8.96605594e-02 9.95971952e-01 -9.24578296e-04 9.56945232e+00] [ 3.58119835e-02 -2.29618885e-03 9.99355907e-01 8.52844632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.07, Y:9.57, Z:8.53 [[ 9.95238330e-01 -9.06297191e-02 -3.58736761e-02 2.43065586e+02] [ 9.06550946e-02 9.95881923e-01 -9.21956958e-04 9.57043994e+00] [ 3.58095022e-02 -2.33456459e-03 9.99355907e-01 8.52878073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.10, Y:9.57, Z:8.53 [[ 9.95095647e-01 -9.21831322e-02 -3.58737261e-02 2.43097634e+02] [ 9.22095823e-02 9.95739196e-01 -9.20004427e-04 9.57165691e+00] [ 3.58056841e-02 -2.39240890e-03 9.99355907e-01 8.52904631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.13, Y:9.57, Z:8.53 [[ 9.95042394e-01 -9.27561550e-02 -3.58737920e-02 2.43129570e+02] [ 9.27830681e-02 9.95685925e-01 -9.17430844e-04 9.57282141e+00] [ 3.58041271e-02 -2.41559790e-03 9.99355907e-01 8.53011069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.16, Y:9.57, Z:8.53 [[ 9.95041240e-01 -9.27685086e-02 -3.58738576e-02 2.43161728e+02] [ 9.27955220e-02 9.95684766e-01 -9.14856175e-04 9.57398003e+00] [ 3.58039234e-02 -2.41861372e-03 9.99355907e-01 8.53096435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.19, Y:9.58, Z:8.53 [[ 9.95022357e-01 -9.29708099e-02 -3.58739227e-02 2.43193821e+02] [ 9.29980460e-02 9.95665873e-01 -9.12298741e-04 9.57589923e+00] [ 3.58032577e-02 -2.42844707e-03 9.99355907e-01 8.53243903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.23, Y:9.58, Z:8.53 [[ 9.95064886e-01 -9.25144830e-02 -3.58739875e-02 2.43225454e+02] [ 9.25415158e-02 9.95708411e-01 -9.09741578e-04 9.57752928e+00] [ 3.58041954e-02 -2.41458128e-03 9.99355907e-01 8.53468114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.26, Y:9.58, Z:8.54 [[ 9.95109635e-01 -9.20318769e-02 -3.58740534e-02 2.43256078e+02] [ 9.20586910e-02 9.95753169e-01 -9.07136972e-04 9.57904614e+00] [ 3.58051879e-02 -2.39981765e-03 9.99355907e-01 8.53571680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.29, Y:9.58, Z:8.54 [[ 9.95176106e-01 -9.13102893e-02 -3.58740862e-02 2.43288415e+02] [ 9.13366834e-02 9.95819657e-01 -9.05838345e-04 9.58138043e+00] [ 3.58068325e-02 -2.37515137e-03 9.99355907e-01 8.53973220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:9.59, Z:8.54 [[ 9.94797209e-01 -9.53496609e-02 -3.58741506e-02 2.43314363e+02] [ 9.53787593e-02 9.95440644e-01 -9.03277410e-04 9.58793762e+00] [ 3.57967148e-02 -2.52305413e-03 9.99355907e-01 8.54055828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.35, Y:9.58, Z:8.54 [[ 9.95139841e-01 -9.17094711e-02 -3.58618072e-02 2.43350006e+02] [ 9.17188705e-02 9.95783976e-01 -1.38641967e-03 9.58487416e+00] [ 3.58377607e-02 -1.90952299e-03 9.99355797e-01 8.54262141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.38, Y:9.59, Z:8.54 [[ 9.95147554e-01 -9.16209617e-02 -3.58740257e-02 2.43382678e+02] [ 9.16478003e-02 9.95791079e-01 -8.99032857e-04 9.58540161e+00] [ 3.58054051e-02 -2.39310520e-03 9.99355916e-01 8.54364747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.41, Y:9.59, Z:8.54 [[ 9.95129675e-01 -9.18149199e-02 -3.58740898e-02 2.43414168e+02] [ 9.18419760e-02 9.95773191e-01 -8.96469506e-04 9.58690288e+00] [ 3.58047662e-02 -2.40264389e-03 9.99355916e-01 8.54459572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:9.59, Z:8.54 [[ 9.95059127e-01 -9.25763215e-02 -3.58741967e-02 2.43445291e+02] [ 9.26040243e-02 9.95702616e-01 -8.92169564e-04 9.58904592e+00] [ 3.58026253e-02 -2.43433352e-03 9.99355916e-01 8.54475484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.48, Y:9.59, Z:8.55 [[ 9.95009758e-01 -9.31054247e-02 -3.58742438e-02 2.43477267e+02] [ 9.31335377e-02 9.95653229e-01 -8.90273760e-04 9.59035303e+00] [ 3.58011960e-02 -2.45526416e-03 9.99355916e-01 8.54595377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:9.59, Z:8.55 [[ 9.94988571e-01 -9.33315452e-02 -3.58743064e-02 2.43509188e+02] [ 9.33598952e-02 9.95632031e-01 -8.87744884e-04 9.59137599e+00] [ 3.58004631e-02 -2.46592547e-03 9.99355916e-01 8.54702766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.54, Y:9.59, Z:8.55 [[ 9.94912434e-01 -9.41396701e-02 -3.58743692e-02 2.43540506e+02] [ 9.41686340e-02 9.95555867e-01 -8.85200205e-04 9.59315717e+00] [ 3.57982712e-02 -2.49754365e-03 9.99355916e-01 8.54779000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.57, Y:9.59, Z:8.55 [[ 9.94896460e-01 -9.43083282e-02 -3.58744159e-02 2.43572740e+02] [ 9.43374694e-02 9.95539885e-01 -8.83300271e-04 9.59425779e+00] [ 3.57977145e-02 -2.50550930e-03 9.99355916e-01 8.54957926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:9.60, Z:8.55 [[ 9.94886776e-01 -9.44104079e-02 -3.58744770e-02 2.43605099e+02] [ 9.44397042e-02 9.95530194e-01 -8.80814857e-04 9.59593898e+00] [ 3.57972831e-02 -2.51166394e-03 9.99355916e-01 8.55142023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:9.60, Z:8.55 [[ 9.94890512e-01 -9.43710019e-02 -3.58745376e-02 2.43636830e+02] [ 9.44003616e-02 9.95533927e-01 -8.78338517e-04 9.59750997e+00] [ 3.57972090e-02 -2.51271866e-03 9.99355916e-01 8.55355711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.67, Y:9.60, Z:8.56 [[ 9.94862732e-01 -9.46633876e-02 -3.58745995e-02 2.43669652e+02] [ 9.46930274e-02 9.95506134e-01 -8.75801745e-04 9.59867887e+00] [ 3.57962903e-02 -2.52577192e-03 9.99355916e-01 8.55588772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.70, Y:9.60, Z:8.56 [[ 9.94833336e-01 -9.49717880e-02 -3.58746954e-02 2.43701198e+02] [ 9.50017688e-02 9.95476722e-01 -8.71857925e-04 9.59953762e+00] [ 3.57952260e-02 -2.54080619e-03 9.99355916e-01 8.55699291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:9.60, Z:8.56 [[ 9.94832919e-01 -9.49761262e-02 -3.58747745e-02 2.43734419e+02] [ 9.50062270e-02 9.95476299e-01 -8.68591479e-04 9.60013554e+00] [ 3.57949832e-02 -2.54422357e-03 9.99355916e-01 8.55780662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:9.60, Z:8.56 [[ 9.94712325e-01 -9.62308887e-02 -3.58748684e-02 2.43766477e+02] [ 9.62619408e-02 9.95355661e-01 -8.64692931e-04 9.60062498e+00] [ 3.57914635e-02 -2.59326375e-03 9.99355916e-01 8.55835772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:9.60, Z:8.56 [[ 9.94671312e-01 -9.66538702e-02 -3.58749324e-02 2.43797961e+02] [ 9.66852915e-02 9.95314629e-01 -8.62029198e-04 9.60118335e+00] [ 3.57901635e-02 -2.61114259e-03 9.99355916e-01 8.55847764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:9.60, Z:8.56 [[ 9.94590158e-01 -9.74854038e-02 -3.58749798e-02 2.43829722e+02] [ 9.75174339e-02 9.95233445e-01 -8.60051950e-04 9.60180208e+00] [ 3.57878223e-02 -2.64303677e-03 9.99355916e-01 8.55915790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.86, Y:9.60, Z:8.56 [[ 9.94374100e-01 -9.96650892e-02 -3.58750422e-02 2.43860508e+02] [ 9.96986228e-02 9.95017311e-01 -8.57442547e-04 9.60242931e+00] [ 3.57817451e-02 -2.72407364e-03 9.99355916e-01 8.55891833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:9.60, Z:8.56 [[ 9.94306332e-01 -1.00338907e-01 -3.58750884e-02 2.43892308e+02] [ 1.00372946e-01 9.94949516e-01 -8.55503156e-04 9.60314545e+00] [ 3.57797421e-02 -2.75025610e-03 9.99355916e-01 8.56020711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:9.60, Z:8.56 [[ 9.94310885e-01 -1.00293759e-01 -3.58751501e-02 2.43924431e+02] [ 1.00327862e-01 9.94954066e-01 -8.52907872e-04 9.60382512e+00] [ 3.57796678e-02 -2.75122154e-03 9.99355916e-01 8.56179663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:9.60, Z:8.56 [[ 9.94328215e-01 -1.00121772e-01 -3.58752125e-02 2.43956956e+02] [ 1.00155858e-01 9.94971397e-01 -8.50275113e-04 9.60471206e+00] [ 3.57799414e-02 -2.74766016e-03 9.99355916e-01 8.56334034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.99, Y:9.61, Z:8.57 [[ 9.94405885e-01 -9.93473641e-02 -3.58753061e-02 2.43987727e+02] [ 9.93810915e-02 9.95049085e-01 -8.46308563e-04 9.60612694e+00] [ 3.57817691e-02 -2.72375287e-03 9.99355916e-01 8.56530105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:9.61, Z:8.57 [[ 9.94496448e-01 -9.84366524e-02 -3.58753524e-02 2.44020695e+02] [ 9.84698614e-02 9.95139675e-01 -8.44340422e-04 9.60754796e+00] [ 3.57841006e-02 -2.69294743e-03 9.99355916e-01 8.56757751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:9.61, Z:8.57 [[ 9.94616044e-01 -9.72207635e-02 -3.58754448e-02 2.44051752e+02] [ 9.72533275e-02 9.95259305e-01 -8.40396053e-04 9.60865934e+00] [ 3.57870742e-02 -2.65313499e-03 9.99355916e-01 8.56882918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:9.61, Z:8.57 [[ 9.94824903e-01 -9.50597590e-02 -3.58755444e-02 2.44083675e+02] [ 9.50910787e-02 9.95468225e-01 -8.36125456e-04 9.60989804e+00] [ 3.57924464e-02 -2.57964579e-03 9.99355916e-01 8.57098057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.11, Y:9.61, Z:8.57 [[ 9.95020497e-01 -9.29900588e-02 -3.58756055e-02 2.44113305e+02] [ 9.30201345e-02 9.95663879e-01 -8.33495222e-04 9.61058841e+00] [ 3.57975513e-02 -2.50780882e-03 9.99355916e-01 8.57084253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:9.61, Z:8.57 [[ 9.95003339e-01 -9.31749622e-02 -3.58717523e-02 2.44147753e+02] [ 9.31992643e-02 9.95646976e-01 -9.97729719e-04 9.61151377e+00] [ 3.58085651e-02 -2.35047652e-03 9.99355904e-01 8.57270261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:9.61, Z:8.57 [[ 9.95072190e-01 -9.24353025e-02 -3.58755042e-02 2.44180403e+02] [ 9.24648967e-02 9.95715593e-01 -8.36917903e-04 9.61243653e+00] [ 3.57991597e-02 -2.48443106e-03 9.99355916e-01 8.57390503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:9.61, Z:8.58 [[ 9.95173954e-01 -9.13331435e-02 -3.58755936e-02 2.44213619e+02] [ 9.13621632e-02 9.95817383e-01 -8.33069246e-04 9.61437708e+00] [ 3.58016266e-02 -2.44862302e-03 9.99355916e-01 8.57554622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:9.62, Z:8.58 [[ 9.95139123e-01 -9.17118435e-02 -3.58756819e-02 2.44246164e+02] [ 9.17412451e-02 9.95782535e-01 -8.29247748e-04 9.61560289e+00] [ 3.58004293e-02 -2.46606285e-03 9.99355916e-01 8.57729865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:9.62, Z:8.58 [[ 9.95096197e-01 -9.21764076e-02 -3.58757415e-02 2.44278880e+02] [ 9.22062024e-02 9.95739591e-01 -8.26659851e-04 9.61653754e+00] [ 3.57990947e-02 -2.48535981e-03 9.99355916e-01 8.57823475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.31, Y:9.62, Z:8.58 [[ 9.95048818e-01 -9.26864337e-02 -3.58758314e-02 2.44310954e+02] [ 9.27166988e-02 9.95692190e-01 -8.22742840e-04 9.61710359e+00] [ 3.57975422e-02 -2.50761936e-03 9.99355916e-01 8.57855048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.34, Y:9.62, Z:8.58 [[ 9.95000221e-01 -9.32066550e-02 -3.58759055e-02 2.44344146e+02] [ 9.32373730e-02 9.95643571e-01 -8.19496111e-04 9.61781292e+00] [ 3.57959972e-02 -2.52957637e-03 9.99355916e-01 8.58039861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.38, Y:9.62, Z:8.58 [[ 9.94950472e-01 -9.37361771e-02 -3.58759956e-02 2.44376490e+02] [ 9.37673797e-02 9.95593799e-01 -8.15531657e-04 9.61838252e+00] [ 3.57943636e-02 -2.55258450e-03 9.99355916e-01 8.58037504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:9.62, Z:8.58 [[ 9.94909062e-01 -9.41746541e-02 -3.58760699e-02 2.44407659e+02] [ 9.42062579e-02 9.95552370e-01 -8.12251412e-04 9.61917035e+00] [ 3.57929999e-02 -2.57163400e-03 9.99355917e-01 8.58120877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.44, Y:9.62, Z:8.58 [[ 9.94862851e-01 -9.46615644e-02 -3.58761123e-02 2.44440610e+02] [ 9.46935503e-02 9.95506140e-01 -8.10374160e-04 9.62067869e+00] [ 3.57916014e-02 -2.59102530e-03 9.99355917e-01 8.58316318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:9.62, Z:8.58 [[ 9.94853303e-01 -9.47618243e-02 -3.58762008e-02 2.44473120e+02] [ 9.47940162e-02 9.95496582e-01 -8.06439038e-04 9.62164360e+00] [ 3.57910549e-02 -2.59856062e-03 9.99355917e-01 8.58344911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:9.62, Z:8.59 [[ 9.94848188e-01 -9.48154821e-02 -3.58762738e-02 2.44506105e+02] [ 9.48478257e-02 9.95491459e-01 -8.03178761e-04 9.62245294e+00] [ 3.57906779e-02 -2.60374562e-03 9.99355917e-01 8.58588997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.54, Y:9.62, Z:8.59 [[ 9.94860094e-01 -9.46904440e-02 -3.58763627e-02 2.44538770e+02] [ 9.47228499e-02 9.95503362e-01 -7.99187922e-04 9.62325530e+00] [ 3.57907151e-02 -2.60323115e-03 9.99355917e-01 8.58689563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.57, Y:9.62, Z:8.59 [[ 9.94876698e-01 -9.45157941e-02 -3.58764506e-02 2.44570989e+02] [ 9.45482295e-02 9.95519965e-01 -7.95219541e-04 9.62446952e+00] [ 3.57908837e-02 -2.60090949e-03 9.99355917e-01 8.58736239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:9.63, Z:8.59 [[ 9.94880008e-01 -9.44809230e-02 -3.58765231e-02 2.44603560e+02] [ 9.45134536e-02 9.95523269e-01 -7.91934668e-04 9.62511067e+00] [ 3.57907363e-02 -2.60293414e-03 9.99355917e-01 8.58888801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.63, Y:9.63, Z:8.59 [[ 9.94931758e-01 -9.39343692e-02 -3.58766088e-02 2.44634328e+02] [ 9.39666863e-02 9.95575030e-01 -7.88035931e-04 9.62570273e+00] [ 3.57918795e-02 -2.58716407e-03 9.99355917e-01 8.58978403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:9.63, Z:8.59 [[ 9.94944988e-01 -9.37940965e-02 -3.58767006e-02 2.44666941e+02] [ 9.38264737e-02 9.95588257e-01 -7.83832619e-04 9.62648372e+00] [ 3.57919407e-02 -2.58631397e-03 9.99355917e-01 8.59134828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.70, Y:9.63, Z:8.59 [[ 9.95007961e-01 -9.31236471e-02 -3.58767867e-02 2.44699180e+02] [ 9.31557329e-02 9.95651245e-01 -7.79871948e-04 9.62730635e+00] [ 3.57933919e-02 -2.56614956e-03 9.99355917e-01 8.59168651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.73, Y:9.63, Z:8.59 [[ 9.95183981e-01 -9.12233027e-02 -3.58769213e-02 2.44731743e+02] [ 9.12543839e-02 9.95827314e-01 -7.73630614e-04 9.62871723e+00] [ 3.57977913e-02 -2.50402155e-03 9.99355917e-01 8.59259878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:9.63, Z:8.59 [[ 9.95287744e-01 -9.00841150e-02 -3.58770056e-02 2.44763404e+02] [ 9.01146008e-02 9.95931105e-01 -7.69699216e-04 9.62966220e+00] [ 3.58003635e-02 -2.46696984e-03 9.99355917e-01 8.59337876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.80, Y:9.63, Z:8.59 [[ 9.95370340e-01 -8.91667921e-02 -3.58771376e-02 2.44795571e+02] [ 8.91969074e-02 9.96013719e-01 -7.63498951e-04 9.63059860e+00] [ 3.58022000e-02 -2.44016551e-03 9.99355917e-01 8.59401210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.83, Y:9.63, Z:8.60 [[ 9.95495853e-01 -8.77543900e-02 -3.58772057e-02 2.44828530e+02] [ 8.77837077e-02 9.96139269e-01 -7.60283209e-04 9.63182448e+00] [ 3.58054117e-02 -2.39257536e-03 9.99355917e-01 8.59540864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:9.63, Z:8.60 [[ 9.95540774e-01 -8.72432635e-02 -3.58772889e-02 2.44861874e+02] [ 8.72723925e-02 9.96184199e-01 -7.56336953e-04 9.63289223e+00] [ 3.58063736e-02 -2.37813256e-03 9.99355917e-01 8.59654515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:9.63, Z:8.60 [[ 9.95594425e-01 -8.66288354e-02 -3.58773711e-02 2.44893085e+02] [ 8.66577079e-02 9.96237861e-01 -7.52418111e-04 9.63382607e+00] [ 3.58075765e-02 -2.35994747e-03 9.99355917e-01 8.59726751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.93, Y:9.63, Z:8.60 [[ 9.95600519e-01 -8.65587377e-02 -3.58774621e-02 2.44925751e+02] [ 8.65877215e-02 9.96243950e-01 -7.48055975e-04 9.63444414e+00] [ 3.58074553e-02 -2.36178277e-03 9.99355917e-01 8.59843930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.96, Y:9.64, Z:8.60 [[ 9.95639483e-01 -8.61093675e-02 -3.58775145e-02 2.44958115e+02] [ 8.61381513e-02 9.96282923e-01 -7.45533928e-04 9.63541239e+00] [ 3.58083524e-02 -2.34813976e-03 9.99355917e-01 8.59993287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:9.64, Z:8.60 [[ 9.95669504e-01 -8.57615218e-02 -3.58775673e-02 2.44990403e+02] [ 8.57901724e-02 9.96312950e-01 -7.42982112e-04 9.63633020e+00] [ 3.58090042e-02 -2.33817805e-03 9.99355917e-01 8.60095785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:9.64, Z:8.60 [[ 9.95706222e-01 -8.53341362e-02 -3.58776215e-02 2.45021294e+02] [ 8.53626047e-02 9.96349676e-01 -7.40357948e-04 9.63715193e+00] [ 3.58098343e-02 -2.32542820e-03 9.99355917e-01 8.60117273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.05, Y:9.64, Z:8.60 [[ 9.95738196e-01 -8.49602199e-02 -3.58776617e-02 2.45053398e+02] [ 8.49885170e-02 9.96381657e-01 -7.38402275e-04 9.63788441e+00] [ 3.58105788e-02 -2.31393391e-03 9.99355917e-01 8.60177541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:9.64, Z:8.60 [[ 9.95745595e-01 -8.48734390e-02 -3.58777123e-02 2.45086022e+02] [ 8.49017685e-02 9.96389055e-01 -7.35935210e-04 9.63822604e+00] [ 3.58106212e-02 -2.31327698e-03 9.99355917e-01 8.60376859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:9.64, Z:8.60 [[ 9.95683531e-01 -8.55984380e-02 -3.58777663e-02 2.45117624e+02] [ 8.56273308e-02 9.96326966e-01 -7.33293728e-04 9.63802039e+00] [ 3.58087548e-02 -2.34198888e-03 9.99355917e-01 8.60432179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.15, Y:9.64, Z:8.60 [[ 9.95665067e-01 -8.58129266e-02 -3.58778064e-02 2.45150199e+02] [ 8.58420286e-02 9.96308492e-01 -7.31325452e-04 9.63816147e+00] [ 3.58081204e-02 -2.35166848e-03 9.99355917e-01 8.60495710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:9.64, Z:8.61 [[ 9.95647239e-01 -8.60194971e-02 -3.58778581e-02 2.45182430e+02] [ 8.60488239e-02 9.96290655e-01 -7.28782640e-04 9.63856381e+00] [ 3.58074642e-02 -2.36163707e-03 9.99355917e-01 8.60589764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.21, Y:9.64, Z:8.61 [[ 9.95649598e-01 -8.59921717e-02 -3.58779109e-02 2.45213684e+02] [ 8.60215745e-02 9.96293010e-01 -7.26170514e-04 9.63923046e+00] [ 3.58073569e-02 -2.36326301e-03 9.99355917e-01 8.60652315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.25, Y:9.64, Z:8.61 [[ 9.95669153e-01 -8.57654210e-02 -3.58780002e-02 2.45245514e+02] [ 8.57948365e-02 9.96312564e-01 -7.21731479e-04 9.63981415e+00] [ 3.58076020e-02 -2.35954139e-03 9.99355917e-01 8.60722199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.28, Y:9.64, Z:8.61 [[ 9.95692864e-01 -8.54896841e-02 -3.58780518e-02 2.45276294e+02] [ 8.55190137e-02 9.96336279e-01 -7.19160032e-04 9.64021178e+00] [ 3.58080854e-02 -2.35219309e-03 9.99355917e-01 8.60767520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.31, Y:9.64, Z:8.61 [[ 9.95710179e-01 -8.52877589e-02 -3.58780901e-02 2.45308452e+02] [ 8.53170268e-02 9.96353597e-01 -7.17244412e-04 9.64070862e+00] [ 3.58084363e-02 -2.34684441e-03 9.99355917e-01 8.60950041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.34, Y:9.64, Z:8.61 [[ 9.95780328e-01 -8.44647703e-02 -3.58781426e-02 2.45339572e+02] [ 8.44936009e-02 9.96423766e-01 -7.14607745e-04 9.64132158e+00] [ 3.58101931e-02 -2.31988113e-03 9.99355917e-01 8.61054354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.37, Y:9.64, Z:8.61 [[ 9.95801807e-01 -8.42111504e-02 -3.58781817e-02 2.45371546e+02] [ 8.42398877e-02 9.96445249e-01 -7.12641130e-04 9.64173348e+00] [ 3.58106560e-02 -2.31272467e-03 9.99355917e-01 8.61143570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:9.64, Z:8.61 [[ 9.95839689e-01 -8.37619648e-02 -3.58782328e-02 2.45402707e+02] [ 8.37905045e-02 9.96483139e-01 -7.10059073e-04 9.64230579e+00] [ 3.58115300e-02 -2.29915022e-03 9.99355917e-01 8.61239996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:9.64, Z:8.61 [[ 9.95798056e-01 -8.42554554e-02 -3.58782707e-02 2.45434069e+02] [ 8.42843831e-02 9.96441489e-01 -7.08134585e-04 9.64307520e+00] [ 3.58102617e-02 -2.31881887e-03 9.99355917e-01 8.61412111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:9.64, Z:8.62 [[ 9.95828670e-01 -8.38928324e-02 -3.58783080e-02 2.45466483e+02] [ 8.39215937e-02 9.96472111e-01 -7.06240333e-04 9.64391353e+00] [ 3.58109818e-02 -2.30767042e-03 9.99355917e-01 8.61592247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:9.64, Z:8.62 [[ 9.95899040e-01 -8.30532732e-02 -3.58783583e-02 2.45498554e+02] [ 8.30815840e-02 9.96542500e-01 -7.03676953e-04 9.64444567e+00] [ 3.58127516e-02 -2.28003964e-03 9.99355917e-01 8.61713740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:9.65, Z:8.62 [[ 9.96066640e-01 -8.10184461e-02 -3.58784096e-02 2.45530050e+02] [ 8.10455366e-02 9.96710153e-01 -7.01050190e-04 9.64556346e+00] [ 3.58171732e-02 -2.20949225e-03 9.99355917e-01 8.61761463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:9.65, Z:8.62 [[ 9.96177405e-01 -7.96449348e-02 -3.58784478e-02 2.45561996e+02] [ 7.96712081e-02 9.96820952e-01 -6.99092810e-04 9.64662955e+00] [ 3.58200677e-02 -2.16205882e-03 9.99355917e-01 8.61902762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:9.65, Z:8.62 [[ 9.96299210e-01 -7.81064494e-02 -3.58784973e-02 2.45593163e+02] [ 7.81318205e-02 9.96942793e-01 -6.96539864e-04 9.64792521e+00] [ 3.58232136e-02 -2.10929020e-03 9.99355917e-01 8.62015285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:9.65, Z:8.62 [[ 9.96369880e-01 -7.71996917e-02 -3.58785341e-02 2.45625464e+02] [ 7.72245453e-02 9.97013484e-01 -6.94638719e-04 9.64908553e+00] [ 3.58250082e-02 -2.07858639e-03 9.99355917e-01 8.62243394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:9.65, Z:8.62 [[ 9.96471901e-01 -7.58714504e-02 -3.58785837e-02 2.45656662e+02] [ 7.58955381e-02 9.97115534e-01 -6.92071546e-04 9.64966852e+00] [ 3.58276016e-02 -2.03339457e-03 9.99355917e-01 8.62428870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:9.65, Z:8.63 [[ 9.96542636e-01 -7.49366309e-02 -3.58786205e-02 2.45689294e+02] [ 7.49601836e-02 9.97186289e-01 -6.90157490e-04 9.64991038e+00] [ 3.58293865e-02 -2.00169661e-03 9.99355917e-01 8.62577539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:9.65, Z:8.63 [[ 9.96595011e-01 -7.42368131e-02 -3.58786709e-02 2.45720791e+02] [ 7.42600082e-02 9.97238677e-01 -6.87528161e-04 9.65030390e+00] [ 3.58306382e-02 -1.97916326e-03 9.99355917e-01 8.62669008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:9.65, Z:8.63 [[ 9.96686931e-01 -7.29923096e-02 -3.58787552e-02 2.45753257e+02] [ 7.30148598e-02 9.97330619e-01 -6.83099355e-04 9.65084392e+00] [ 3.58328421e-02 -1.93884608e-03 9.99355917e-01 8.62783055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:9.65, Z:8.63 [[ 9.96735581e-01 -7.23249061e-02 -3.58788040e-02 2.45785880e+02] [ 7.23471176e-02 9.97379282e-01 -6.80527574e-04 9.65141880e+00] [ 3.58339948e-02 -1.91742200e-03 9.99355917e-01 8.62878876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:9.65, Z:8.63 [[ 9.96789733e-01 -7.15746842e-02 -3.58788526e-02 2.45818095e+02] [ 7.15965037e-02 9.97433447e-01 -6.77952267e-04 9.65209608e+00] [ 3.58352919e-02 -1.89302455e-03 9.99355917e-01 8.62985948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:9.65, Z:8.63 [[ 9.96843346e-01 -7.08240638e-02 -3.58789010e-02 2.45849967e+02] [ 7.08454908e-02 9.97487073e-01 -6.75382916e-04 9.65275694e+00] [ 3.58365733e-02 -1.86860738e-03 9.99355917e-01 8.63083546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:9.65, Z:8.63 [[ 9.96905433e-01 -6.99446832e-02 -3.58789496e-02 2.45882487e+02] [ 6.99656353e-02 9.97549175e-01 -6.72792315e-04 9.65292243e+00] [ 3.58380748e-02 -1.83958319e-03 9.99355917e-01 8.63130629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:9.65, Z:8.63 [[ 9.96918155e-01 -6.97630968e-02 -3.58789976e-02 2.45914082e+02] [ 6.97840240e-02 9.97561898e-01 -6.70220800e-04 9.65280585e+00] [ 3.58382776e-02 -1.83562555e-03 9.99355917e-01 8.63170493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:9.65, Z:8.63 [[ 9.96946227e-01 -6.93607657e-02 -3.58790332e-02 2.45945218e+02] [ 6.93815017e-02 9.97589976e-01 -6.68307518e-04 9.65272891e+00] [ 3.58389182e-02 -1.82307455e-03 9.99355917e-01 8.63203906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:9.65, Z:8.63 [[ 9.96960844e-01 -6.91502998e-02 -3.58791125e-02 2.45976250e+02] [ 6.91710536e-02 9.97604593e-01 -6.64026984e-04 9.65248626e+00] [ 3.58390851e-02 -1.81978711e-03 9.99355917e-01 8.63301455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:9.65, Z:8.64 [[ 9.96989787e-01 -6.87317418e-02 -3.58791353e-02 2.46007782e+02] [ 6.87522696e-02 9.97633543e-01 -6.62791523e-04 9.65278137e+00] [ 3.58397837e-02 -1.80597560e-03 9.99355917e-01 8.63538651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.04, Y:9.65, Z:8.64 [[ 9.97114716e-01 -6.68949158e-02 -3.58791594e-02 2.46038835e+02] [ 6.69143046e-02 9.97758507e-01 -6.61484988e-04 9.65252034e+00] [ 3.58429865e-02 -1.74125258e-03 9.99355917e-01 8.63709848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.07, Y:9.65, Z:8.64 [[ 9.97200509e-01 -6.56035724e-02 -3.58791833e-02 2.46069787e+02] [ 6.56221741e-02 9.97844324e-01 -6.60185676e-04 9.65250190e+00] [ 3.58451499e-02 -1.69613252e-03 9.99355917e-01 8.63828429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.10, Y:9.65, Z:8.64 [[ 9.97287188e-01 -6.42724445e-02 -3.58792073e-02 2.46101495e+02] [ 6.42902339e-02 9.97931026e-01 -6.58875632e-04 9.65283219e+00] [ 3.58473217e-02 -1.64959440e-03 9.99355917e-01 8.63982905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.13, Y:9.65, Z:8.64 [[ 9.97476687e-01 -6.12612430e-02 -3.58792313e-02 2.46132577e+02] [ 6.12771354e-02 9.98120574e-01 -6.57567275e-04 9.65258260e+00] [ 3.58520824e-02 -1.54266849e-03 9.99355917e-01 8.64066653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.16, Y:9.65, Z:8.64 [[ 9.97559493e-01 -5.98977265e-02 -3.58792552e-02 2.46163111e+02] [ 5.99127856e-02 9.98203400e-01 -6.56262550e-04 9.65290060e+00] [ 3.58541031e-02 -1.49496519e-03 9.99355917e-01 8.64171949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.19, Y:9.65, Z:8.64 [[ 9.97726970e-01 -5.70400971e-02 -3.58792552e-02 2.46192473e+02] [ 5.70533118e-02 9.98370918e-01 -6.56262550e-04 9.65255873e+00] [ 3.58582382e-02 -1.39225949e-03 9.99355917e-01 8.64231054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:9.65, Z:8.64 [[ 9.97786243e-01 -5.59936849e-02 -3.58792575e-02 2.46222680e+02] [ 5.60062288e-02 9.98430204e-01 -6.56136736e-04 9.65250959e+00] [ 3.58596739e-02 -1.35477769e-03 9.99355917e-01 8.64379525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:9.65, Z:8.64 [[ 9.97829450e-01 -5.52183599e-02 -3.58792575e-02 2.46252142e+02] [ 5.52304034e-02 9.98473421e-01 -6.56136736e-04 9.65254608e+00] [ 3.58607158e-02 -1.32691331e-03 9.99355917e-01 8.64429544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:9.65, Z:8.65 [[ 9.97849569e-01 -5.48535938e-02 -3.58792457e-02 2.46281285e+02] [ 5.48653788e-02 9.98493545e-01 -6.56778360e-04 9.65264962e+00] [ 3.58612219e-02 -1.31316240e-03 9.99355917e-01 8.64623943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.31, Y:9.65, Z:8.65 [[ 9.97857831e-01 -5.47031049e-02 -3.58792218e-02 2.46310959e+02] [ 5.47147460e-02 9.98501809e-01 -6.58081614e-04 9.65257996e+00] [ 3.58614670e-02 -1.30645062e-03 9.99355917e-01 8.64734698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:9.65, Z:8.65 [[ 9.97851479e-01 -5.48188720e-02 -3.58791981e-02 2.46340900e+02] [ 5.48305414e-02 9.98495457e-01 -6.59376026e-04 9.65236403e+00] [ 3.58613625e-02 -1.30931651e-03 9.99355917e-01 8.64818218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.37, Y:9.65, Z:8.65 [[ 9.97813781e-01 -5.55008479e-02 -3.58791743e-02 2.46369743e+02] [ 5.55129110e-02 9.98457751e-01 -6.60666749e-04 9.65095851e+00] [ 3.58605072e-02 -1.33253502e-03 9.99355917e-01 8.64856577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:9.65, Z:8.65 [[ 9.97749942e-01 -5.66369252e-02 -3.58791388e-02 2.46399132e+02] [ 5.66496526e-02 9.98393899e-01 -6.62586367e-04 9.64934912e+00] [ 3.58590402e-02 -1.37144524e-03 9.99355917e-01 8.64925240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:9.65, Z:8.65 [[ 9.97722891e-01 -5.71114805e-02 -3.58791154e-02 2.46429150e+02] [ 5.71244687e-02 9.98366844e-01 -6.63850512e-04 9.64759127e+00] [ 3.58584327e-02 -1.38723656e-03 9.99355917e-01 8.64974694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:9.65, Z:8.65 [[ 9.97725527e-01 -5.70654404e-02 -3.58790918e-02 2.46458906e+02] [ 5.70783531e-02 9.98369480e-01 -6.65126799e-04 9.64717410e+00] [ 3.58585460e-02 -1.38430549e-03 9.99355917e-01 8.65083493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:9.65, Z:8.65 [[ 9.97715562e-01 -5.72394118e-02 -3.58790678e-02 2.46488410e+02] [ 5.72523905e-02 9.98359514e-01 -6.66416972e-04 9.64594103e+00] [ 3.58583540e-02 -1.38926782e-03 9.99355917e-01 8.65184196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:9.65, Z:8.65 [[ 9.97712566e-01 -5.72916147e-02 -3.58790437e-02 2.46517263e+02] [ 5.73045805e-02 9.98356519e-01 -6.67714267e-04 9.64535728e+00] [ 3.58583316e-02 -1.38984663e-03 9.99355917e-01 8.65237174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:9.65, Z:8.65 [[ 9.97710512e-01 -5.73274054e-02 -3.58790077e-02 2.46547391e+02] [ 5.73403251e-02 9.98354465e-01 -6.69643576e-04 9.64594934e+00] [ 3.58583565e-02 -1.38920353e-03 9.99355917e-01 8.65345438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:9.65, Z:8.65 [[ 9.97693139e-01 -5.76289721e-02 -3.58789836e-02 2.46576982e+02] [ 5.76420402e-02 9.98337090e-01 -6.70928996e-04 9.64540589e+00] [ 3.58579851e-02 -1.39875656e-03 9.99355917e-01 8.65443158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:9.64, Z:8.66 [[ 9.97642736e-01 -5.84950597e-02 -3.58789596e-02 2.46606034e+02] [ 5.85086408e-02 9.98286676e-01 -6.72211039e-04 9.64288648e+00] [ 3.58568083e-02 -1.42860270e-03 9.99355917e-01 8.65505262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:9.64, Z:8.66 [[ 9.97589864e-01 -5.93899425e-02 -3.58789238e-02 2.46635836e+02] [ 5.94040327e-02 9.98233793e-01 -6.74119450e-04 9.64221615e+00] [ 3.58555901e-02 -1.45885803e-03 9.99355917e-01 8.65558841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:9.64, Z:8.66 [[ 9.97488880e-01 -6.10625816e-02 -3.58789001e-02 2.46665203e+02] [ 6.10777064e-02 9.98132786e-01 -6.75373983e-04 9.64032744e+00] [ 3.58531466e-02 -1.51772289e-03 9.99355917e-01 8.65584755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.69, Y:9.64, Z:8.66 [[ 9.97417168e-01 -6.22229847e-02 -3.58788755e-02 2.46694341e+02] [ 6.22388117e-02 9.98061056e-01 -6.76680422e-04 9.63992693e+00] [ 3.58514135e-02 -1.55812591e-03 9.99355917e-01 8.65638817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:9.64, Z:8.66 [[ 9.97345798e-01 -6.33566571e-02 -3.58788633e-02 2.46723977e+02] [ 6.33731928e-02 9.97989669e-01 -6.77328573e-04 9.63955403e+00] [ 3.58496482e-02 -1.59822731e-03 9.99355917e-01 8.65724500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.75, Y:9.64, Z:8.66 [[ 9.97262150e-01 -6.46599881e-02 -3.58788392e-02 2.46754576e+02] [ 6.46773195e-02 9.97906000e-01 -6.78599672e-04 9.63929142e+00] [ 3.58475872e-02 -1.64380538e-03 9.99355917e-01 8.65801152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:9.64, Z:8.66 [[ 9.97176382e-01 -6.59694720e-02 -3.58788392e-02 2.46784179e+02] [ 6.59876489e-02 9.97820209e-01 -6.78599672e-04 9.63873260e+00] [ 3.58453977e-02 -1.69087668e-03 9.99355917e-01 8.65839690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:9.64, Z:8.66 [[ 9.97010701e-01 -6.84278440e-02 -3.58788420e-02 2.46815001e+02] [ 6.84476135e-02 9.97654481e-01 -6.78452970e-04 9.63702453e+00] [ 3.58411126e-02 -1.77939624e-03 9.99355917e-01 8.65972504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.84, Y:9.64, Z:8.66 [[ 9.96926122e-01 -6.96492340e-02 -3.58788420e-02 2.46844195e+02] [ 6.96697921e-02 9.97569877e-01 -6.78452970e-04 9.63655373e+00] [ 3.58389057e-02 -1.82330397e-03 9.99355917e-01 8.66058697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.88, Y:9.64, Z:8.66 [[ 9.96926121e-01 -6.96492573e-02 -3.58788297e-02 2.46875169e+02] [ 6.96697921e-02 9.97569877e-01 -6.79104092e-04 9.63714032e+00] [ 3.58389388e-02 -1.82265400e-03 9.99355917e-01 8.66169959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.91, Y:9.64, Z:8.66 [[ 9.96768650e-01 -7.18677075e-02 -3.58788297e-02 2.46905630e+02] [ 7.18896749e-02 9.97412359e-01 -6.79104092e-04 9.63592660e+00] [ 3.58347938e-02 -1.90240773e-03 9.99355917e-01 8.66300078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.94, Y:9.64, Z:8.66 [[ 9.96648420e-01 -7.35162307e-02 -3.58788297e-02 2.46936312e+02] [ 7.35392628e-02 9.97292091e-01 -6.79104092e-04 9.63520716e+00] [ 3.58315983e-02 -1.96167466e-03 9.99355917e-01 8.66379147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:9.64, Z:8.66 [[ 9.96643636e-01 -7.35810654e-02 -3.58788297e-02 2.46967734e+02] [ 7.36041393e-02 9.97287305e-01 -6.79104092e-04 9.63530921e+00] [ 3.58314706e-02 -1.96400561e-03 9.99355917e-01 8.66480369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.00, Y:9.64, Z:8.67 [[ 9.96630149e-01 -7.37634943e-02 -3.58788541e-02 2.46999160e+02] [ 7.37867325e-02 9.97273813e-01 -6.77811389e-04 9.63554240e+00] [ 3.58310394e-02 -1.97185614e-03 9.99355917e-01 8.66559865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:9.64, Z:8.67 [[ 9.96632799e-01 -7.37276802e-02 -3.58788784e-02 2.47030979e+02] [ 7.37509415e-02 9.97276462e-01 -6.76522777e-04 9.63611266e+00] [ 3.58310393e-02 -1.97185627e-03 9.99355917e-01 8.66674106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:9.64, Z:8.67 [[ 9.96678775e-01 -7.31035083e-02 -3.58789026e-02 2.47062045e+02] [ 7.31264126e-02 9.97322451e-01 -6.75234296e-04 9.63609873e+00] [ 3.58321971e-02 -1.95070375e-03 9.99355917e-01 8.66681427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:9.64, Z:8.67 [[ 9.96708068e-01 -7.27030178e-02 -3.58789270e-02 2.47091967e+02] [ 7.27257101e-02 9.97351752e-01 -6.73936234e-04 9.63676772e+00] [ 3.58329079e-02 -1.93760277e-03 9.99355917e-01 8.66714142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:9.64, Z:8.67 [[ 9.96743977e-01 -7.22090442e-02 -3.58789391e-02 2.47123128e+02] [ 7.22314407e-02 9.97387671e-01 -6.73291481e-04 9.63756034e+00] [ 3.58338293e-02 -1.92048824e-03 9.99355917e-01 8.66898168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:9.64, Z:8.67 [[ 9.96800154e-01 -7.14293537e-02 -3.58789639e-02 2.47153891e+02] [ 7.14512940e-02 9.97443864e-01 -6.71970259e-04 9.63924769e+00] [ 3.58352507e-02 -1.89377834e-03 9.99355917e-01 8.66930843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.18, Y:9.64, Z:8.67 [[ 9.96800296e-01 -7.14273487e-02 -3.58790047e-02 2.47184449e+02] [ 7.14493662e-02 9.97444003e-01 -6.69783135e-04 9.64046478e+00] [ 3.58351389e-02 -1.89589212e-03 9.99355917e-01 8.66984667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:9.64, Z:8.67 [[ 9.96796409e-01 -7.14815764e-02 -3.58790167e-02 2.47214983e+02] [ 7.15036522e-02 9.97440113e-01 -6.69137768e-04 9.64159229e+00] [ 3.58350015e-02 -1.89848661e-03 9.99355917e-01 8.67128681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:9.64, Z:8.67 [[ 9.96792609e-01 -7.15345447e-02 -3.58790167e-02 2.47245375e+02] [ 7.15566547e-02 9.97436312e-01 -6.69137768e-04 9.64245283e+00] [ 3.58349006e-02 -1.90039083e-03 9.99355917e-01 8.67216465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:9.64, Z:8.67 [[ 9.96762819e-01 -7.19484424e-02 -3.58790287e-02 2.47275991e+02] [ 7.19708427e-02 9.97406512e-01 -6.68494234e-04 9.64362130e+00] [ 3.58340740e-02 -1.91591374e-03 9.99355917e-01 8.67332467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.31, Y:9.64, Z:8.67 [[ 9.96760904e-01 -7.19749598e-02 -3.58790287e-02 2.47306843e+02] [ 7.19973773e-02 9.97404597e-01 -6.68494235e-04 9.64487879e+00] [ 3.58340230e-02 -1.91686705e-03 9.99355917e-01 8.67438945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:9.65, Z:8.68 [[ 9.96758482e-01 -7.20084985e-02 -3.58790287e-02 2.47338560e+02] [ 7.20309376e-02 9.97402174e-01 -6.68494235e-04 9.64765853e+00] [ 3.58339585e-02 -1.91807278e-03 9.99355917e-01 8.67521700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:9.65, Z:8.68 [[ 9.96767338e-01 -7.18857885e-02 -3.58790528e-02 2.47370154e+02] [ 7.19081948e-02 9.97411032e-01 -6.67200976e-04 9.64965531e+00] [ 3.58341253e-02 -1.91495377e-03 9.99355917e-01 8.67632082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:9.65, Z:8.68 [[ 9.96799987e-01 -7.14316329e-02 -3.58790773e-02 2.47400139e+02] [ 7.14537933e-02 9.97443689e-01 -6.65880460e-04 9.65163633e+00] [ 3.58349241e-02 -1.89994654e-03 9.99355917e-01 8.67718484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.43, Y:9.66, Z:8.68 [[ 9.96883628e-01 -7.02546992e-02 -3.58790894e-02 2.47431498e+02] [ 7.02761231e-02 9.97527355e-01 -6.65226105e-04 9.65513256e+00] [ 3.58371084e-02 -1.85829029e-03 9.99355917e-01 8.67835546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.46, Y:9.66, Z:8.68 [[ 9.96916601e-01 -6.97852375e-02 -3.58791137e-02 2.47462202e+02] [ 6.98064054e-02 9.97560337e-01 -6.63912402e-04 9.65726955e+00] [ 3.58379120e-02 -1.84272666e-03 9.99355917e-01 8.67907931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45509989299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.49, Y:9.66, Z:8.68 [[ 9.96941080e-01 -6.94346532e-02 -3.58791258e-02 2.47493578e+02] [ 6.94556181e-02 9.97584822e-01 -6.63260836e-04 9.65961693e+00] [ 3.58385246e-02 -1.83077488e-03 9.99355917e-01 8.68036028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.53, Y:9.66, Z:8.68 [[ 9.96945327e-01 -6.93736358e-02 -3.58791498e-02 2.47525249e+02] [ 6.93946081e-02 9.97589069e-01 -6.61957365e-04 9.66157789e+00] [ 3.58385700e-02 -1.82988424e-03 9.99355917e-01 8.68159727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.56, Y:9.67, Z:8.68 [[ 9.96918302e-01 -6.97609066e-02 -3.58791738e-02 2.47555939e+02] [ 6.97821758e-02 9.97562034e-01 -6.60653894e-04 9.66519286e+00] [ 3.58377894e-02 -1.84510886e-03 9.99355917e-01 8.68238536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.59, Y:9.67, Z:8.68 [[ 9.96861880e-01 -7.05625733e-02 -3.58791857e-02 2.47586815e+02] [ 7.05843833e-02 9.97505594e-01 -6.60007362e-04 9.66757670e+00] [ 3.58362603e-02 -1.87457402e-03 9.99355917e-01 8.68359423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.62, Y:9.67, Z:8.68 [[ 9.96764637e-01 -7.19231573e-02 -3.58792093e-02 2.47618278e+02] [ 7.19458919e-02 9.97408319e-01 -6.58725228e-04 9.67160716e+00] [ 3.58335994e-02 -1.92476770e-03 9.99355917e-01 8.68439145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.65, Y:9.67, Z:8.68 [[ 9.96720639e-01 -7.25303221e-02 -3.58792328e-02 2.47648709e+02] [ 7.25534951e-02 9.97364306e-01 -6.57438368e-04 9.67378736e+00] [ 3.58323504e-02 -1.94788135e-03 9.99355917e-01 8.68497396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.635099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.68, Y:9.68, Z:8.69 [[ 9.96731537e-01 -7.23804107e-02 -3.58792445e-02 2.47678637e+02] [ 7.24035098e-02 9.97375205e-01 -6.56799475e-04 9.67613492e+00] [ 3.58326083e-02 -1.94313048e-03 9.99355917e-01 8.68647320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.665099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:247.71, Y:9.68, Z:8.69 [[ 9.96583121e-01 -7.43974368e-02 -3.58762244e-02 2.47710300e+02] [ 7.44159706e-02 9.97226950e-01 -8.20284693e-04 9.68031233e+00] [ 3.58377650e-02 -1.85228218e-03 9.99355904e-01 8.68778069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.695099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:247.74, Y:9.68, Z:8.69 [[ 9.96552294e-01 -7.48078294e-02 -3.58791614e-02 2.47742792e+02] [ 7.48323506e-02 9.97195910e-01 -6.60852415e-04 9.68282276e+00] [ 3.58279900e-02 -2.02634800e-03 9.99355917e-01 8.68997823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.77, Y:9.69, Z:8.69 [[ 9.96566584e-01 -7.46171942e-02 -3.58792086e-02 2.47774339e+02] [ 7.46416846e-02 9.97210201e-01 -6.58280884e-04 9.68514618e+00] [ 3.58282319e-02 -2.02206384e-03 9.99355917e-01 8.69168850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.81, Y:9.69, Z:8.69 [[ 9.96605480e-01 -7.40958671e-02 -3.58792437e-02 2.47806568e+02] [ 7.41200896e-02 9.97249107e-01 -6.56362596e-04 9.68762850e+00] [ 3.58291775e-02 -2.00523820e-03 9.99355917e-01 8.69279595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.84, Y:9.69, Z:8.69 [[ 9.96725615e-01 -7.24618815e-02 -3.58792899e-02 2.47838029e+02] [ 7.24851397e-02 9.97369278e-01 -6.53829961e-04 9.69175746e+00] [ 3.58322792e-02 -1.94902627e-03 9.99355917e-01 8.69438810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.87, Y:9.69, Z:8.70 [[ 9.96809138e-01 -7.13036896e-02 -3.58793241e-02 2.47869726e+02] [ 7.13262676e-02 9.97452825e-01 -6.51945782e-04 9.69421311e+00] [ 3.58344193e-02 -1.90927276e-03 9.99355917e-01 8.69627192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.845099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.90, Y:9.70, Z:8.70 [[ 9.96900216e-01 -7.00187901e-02 -3.58793710e-02 2.47900883e+02] [ 7.00406313e-02 9.97543928e-01 -6.49357341e-04 9.69658521e+00] [ 3.58367158e-02 -1.86566932e-03 9.99355917e-01 8.69761863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.93, Y:9.70, Z:8.70 [[ 9.97101431e-01 -6.70925113e-02 -3.58794058e-02 2.47932401e+02] [ 6.71125323e-02 9.97745202e-01 -6.47426714e-04 9.70022918e+00] [ 3.58419425e-02 -1.76240768e-03 9.99355917e-01 8.69841708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:9.70, Z:8.70 [[ 9.97194539e-01 -6.56941167e-02 -3.58794389e-02 2.47963822e+02] [ 6.57133010e-02 9.97838336e-01 -6.45586790e-04 9.70243446e+00] [ 3.58442909e-02 -1.71398074e-03 9.99355917e-01 8.69910251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.00, Y:9.70, Z:8.70 [[ 9.97305048e-01 -6.39945732e-02 -3.58794621e-02 2.47995417e+02] [ 6.40127066e-02 9.97948876e-01 -6.44296519e-04 9.70456692e+00] [ 3.58471003e-02 -1.65418131e-03 9.99355917e-01 8.69974767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:9.71, Z:8.70 [[ 9.97483870e-01 -6.11440212e-02 -3.58794856e-02 2.48025533e+02] [ 6.11603615e-02 9.98127746e-01 -6.42984500e-04 9.70884462e+00] [ 3.58516247e-02 -1.55303564e-03 9.99355917e-01 8.70037254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.05, Y:9.71, Z:8.70 [[ 9.97672273e-01 -5.79887567e-02 -3.58795244e-02 2.48053949e+02] [ 5.80031385e-02 9.98316195e-01 -6.40809510e-04 9.71112929e+00] [ 3.58562700e-02 -1.44180714e-03 9.99355917e-01 8.70151406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:9.71, Z:8.70 [[ 9.97692141e-01 -5.76482333e-02 -3.58758075e-02 2.48085504e+02] [ 5.76549047e-02 9.98336211e-01 -8.49415380e-04 9.71385919e+00] [ 3.58650850e-02 -1.22096121e-03 9.99355895e-01 8.70246999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:9.72, Z:8.70 [[ 9.97784682e-01 -5.60212671e-02 -3.58796046e-02 2.48115975e+02] [ 5.60345924e-02 9.98428626e-01 -6.34868503e-04 9.71599902e+00] [ 3.58587905e-02 -1.37703695e-03 9.99355918e-01 8.70346946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.15, Y:9.72, Z:8.70 [[ 9.97877768e-01 -5.43379580e-02 -3.58796046e-02 2.48146584e+02] [ 5.43501970e-02 9.98521734e-01 -6.34868503e-04 9.71798268e+00] [ 3.58610625e-02 -1.31654241e-03 9.99355918e-01 8.70475704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:9.72, Z:8.71 [[ 9.98058258e-01 -5.09152989e-02 -3.58796046e-02 2.48174594e+02] [ 5.09253292e-02 9.98702262e-01 -6.34868503e-04 9.72147440e+00] [ 3.58653668e-02 -1.19354492e-03 9.99355918e-01 8.70567681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:9.72, Z:8.71 [[ 9.98049877e-01 -5.10805445e-02 -3.58778615e-02 2.48204343e+02] [ 5.10871731e-02 9.98693929e-01 -7.32565493e-04 9.72357284e+00] [ 3.58684223e-02 -1.10176162e-03 9.99355914e-01 8.70840920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:9.73, Z:8.71 [[ 9.98085475e-01 -5.03790374e-02 -3.58794737e-02 2.48234443e+02] [ 5.03884460e-02 9.98729489e-01 -6.42547497e-04 9.72654654e+00] [ 3.58662593e-02 -1.16659360e-03 9.99355918e-01 8.71129940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.26, Y:9.73, Z:8.71 [[ 9.98177442e-01 -4.85227520e-02 -3.58794737e-02 2.48261685e+02] [ 4.85309627e-02 9.98821472e-01 -6.42547497e-04 9.72791885e+00] [ 3.58683669e-02 -1.09988898e-03 9.99355918e-01 8.71225576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:9.73, Z:8.71 [[ 9.98153073e-01 -4.90260098e-02 -3.58732839e-02 2.48290141e+02] [ 4.90224733e-02 9.98797196e-01 -9.78686408e-04 9.72921937e+00] [ 3.58781165e-02 -7.81718256e-04 9.99355867e-01 8.71343161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:248.32, Y:9.73, Z:8.71 [[ 9.98085434e-01 -5.03841551e-02 -3.58734476e-02 2.48318404e+02] [ 5.03818113e-02 9.98729559e-01 -9.69884480e-04 9.73034977e+00] [ 3.58767393e-02 -8.39341694e-04 9.99355870e-01 8.71493198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.35, Y:9.73, Z:8.72 [[ 9.97893881e-01 -5.40450489e-02 -3.58738890e-02 2.48349191e+02] [ 5.40459150e-02 9.98538003e-01 -9.46297652e-04 9.73099769e+00] [ 3.58725842e-02 -9.94532521e-04 9.99355877e-01 8.71698883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:9.73, Z:8.72 [[ 9.97823910e-01 -5.53184962e-02 -3.58790871e-02 2.48380030e+02] [ 5.53302289e-02 9.98467887e-01 -6.66589882e-04 9.73109061e+00] [ 3.58609910e-02 -1.32005878e-03 9.99355916e-01 8.71847200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:9.73, Z:8.72 [[ 9.97735898e-01 -5.68838194e-02 -3.58790871e-02 2.48410088e+02] [ 5.68965624e-02 9.98379856e-01 -6.66589882e-04 9.73130061e+00] [ 3.58588760e-02 -1.37631606e-03 9.99355916e-01 8.71935272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:9.73, Z:8.72 [[ 9.97548235e-01 -6.00850037e-02 -3.58791245e-02 2.48440579e+02] [ 6.00998855e-02 9.98192147e-01 -6.64570125e-04 9.73060253e+00] [ 3.58541910e-02 -1.49339052e-03 9.99355916e-01 8.71927625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:9.73, Z:8.72 [[ 9.97442499e-01 -6.18154364e-02 -3.58791362e-02 2.48471879e+02] [ 6.18314579e-02 9.98086384e-01 -6.63936077e-04 9.73049792e+00] [ 3.58515188e-02 -1.55622124e-03 9.99355916e-01 8.71978425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:9.73, Z:8.72 [[ 9.97270333e-01 -6.45334673e-02 -3.58791599e-02 2.48503375e+02] [ 6.45512895e-02 9.97914171e-01 -6.62655152e-04 9.72907939e+00] [ 3.58470855e-02 -1.65519971e-03 9.99355916e-01 8.71924387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.53, Y:9.73, Z:8.72 [[ 9.97186269e-01 -6.58196674e-02 -3.58791952e-02 2.48534537e+02] [ 6.58383889e-02 9.97830081e-01 -6.60736866e-04 9.72860598e+00] [ 3.58448297e-02 -1.70335068e-03 9.99355916e-01 8.71957191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.57, Y:9.73, Z:8.72 [[ 9.97118808e-01 -6.68338504e-02 -3.58792301e-02 2.48566369e+02] [ 6.68532948e-02 9.97762598e-01 -6.58839235e-04 9.72798181e+00] [ 3.58429866e-02 -1.74170375e-03 9.99355916e-01 8.72102214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:9.73, Z:8.72 [[ 9.97015472e-01 -6.83580749e-02 -3.58792775e-02 2.48598225e+02] [ 6.83785965e-02 9.97659229e-01 -6.56247231e-04 9.72658815e+00] [ 3.58401521e-02 -1.79908599e-03 9.99355916e-01 8.72270777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:9.73, Z:8.72 [[ 9.97020400e-01 -6.82861388e-02 -3.58793247e-02 2.48630895e+02] [ 6.83067070e-02 9.97664155e-01 -6.53655507e-04 9.72712382e+00] [ 3.58401518e-02 -1.79909064e-03 9.99355916e-01 8.72388016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.66, Y:9.73, Z:8.73 [[ 9.96929389e-01 -6.96021903e-02 -3.58793716e-02 2.48662934e+02] [ 6.96237011e-02 9.97573113e-01 -6.51068441e-04 9.72591171e+00] [ 3.58376122e-02 -1.84898538e-03 9.99355916e-01 8.72545854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:9.72, Z:8.73 [[ 9.96856395e-01 -7.06398928e-02 -3.58794181e-02 2.48694080e+02] [ 7.06621659e-02 9.97500094e-01 -6.48497697e-04 9.72460716e+00] [ 3.58355327e-02 -1.88885832e-03 9.99355916e-01 8.72656065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.73, Y:9.72, Z:8.73 [[ 9.96821642e-01 -7.11285848e-02 -3.58794894e-02 2.48726345e+02] [ 7.11513161e-02 9.97465325e-01 -6.44526247e-04 9.72434538e+00] [ 3.58343908e-02 -1.91039518e-03 9.99355916e-01 8.72811109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.76, Y:9.72, Z:8.73 [[ 9.96742522e-01 -7.22288328e-02 -3.58795365e-02 2.48757303e+02] [ 7.22523689e-02 9.97386176e-01 -6.41896855e-04 9.72276549e+00] [ 3.58321171e-02 -1.95257561e-03 9.99355916e-01 8.72828484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.79, Y:9.72, Z:8.73 [[ 9.96722406e-01 -7.25058677e-02 -3.58795714e-02 2.48789406e+02] [ 7.25296528e-02 9.97366051e-01 -6.39941077e-04 9.72191605e+00] [ 3.58314659e-02 -1.96448924e-03 9.99355916e-01 8.72878850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:9.72, Z:8.73 [[ 9.96703826e-01 -7.27608100e-02 -3.58796171e-02 2.48821951e+02] [ 7.27848524e-02 9.97347462e-01 -6.37363267e-04 9.72013945e+00] [ 3.58308201e-02 -1.97623023e-03 9.99355916e-01 8.72875328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.85, Y:9.72, Z:8.73 [[ 9.96709160e-01 -7.26876889e-02 -3.58796637e-02 2.48854621e+02] [ 7.27117784e-02 9.97352793e-01 -6.34732736e-04 9.72065939e+00] [ 3.58308201e-02 -1.97623022e-03 9.99355916e-01 8.72992567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:9.72, Z:8.73 [[ 9.96741863e-01 -7.22378354e-02 -3.58797100e-02 2.48885376e+02] [ 7.22617288e-02 9.97385504e-01 -6.32102202e-04 9.72027467e+00] [ 3.58315643e-02 -1.96268715e-03 9.99355916e-01 8.73030812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:9.72, Z:8.73 [[ 9.96747101e-01 -7.21655054e-02 -3.58797444e-02 2.48918045e+02] [ 7.21894225e-02 9.97390741e-01 -6.30142864e-04 9.72078987e+00] [ 3.58315995e-02 -1.96204496e-03 9.99355916e-01 8.73148074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:9.72, Z:8.73 [[ 9.96818830e-01 -7.11678365e-02 -3.58797900e-02 2.48949703e+02] [ 7.11912027e-02 9.97462490e-01 -6.27540056e-04 9.72051427e+00] [ 3.58334053e-02 -1.92878166e-03 9.99355916e-01 8.73245994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:9.72, Z:8.73 [[ 9.96968904e-01 -6.90336175e-02 -3.58798656e-02 2.48982324e+02] [ 6.90557619e-02 9.97612607e-01 -6.23186425e-04 9.72066119e+00] [ 3.58372270e-02 -1.85641397e-03 9.99355916e-01 8.73416270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.01, Y:9.72, Z:8.74 [[ 9.97069166e-01 -6.75700458e-02 -3.58799097e-02 2.49014068e+02] [ 6.75913370e-02 9.97712898e-01 -6.20633105e-04 9.72124256e+00] [ 3.58397849e-02 -1.80635694e-03 9.99355916e-01 8.73557280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.05, Y:9.72, Z:8.74 [[ 9.97294154e-01 -6.41638403e-02 -3.58799540e-02 2.49046039e+02] [ 6.41830247e-02 9.97937953e-01 -6.18065034e-04 9.72183393e+00] [ 3.58456252e-02 -1.68649133e-03 9.99355916e-01 8.73704337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.08, Y:9.72, Z:8.74 [[ 9.97395747e-01 -6.25647673e-02 -3.58799982e-02 2.49075913e+02] [ 6.25830120e-02 9.98039572e-01 -6.15487197e-04 9.72228510e+00] [ 3.58481659e-02 -1.63159404e-03 9.99355916e-01 8.73841666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:9.72, Z:8.74 [[ 9.97490895e-01 -6.10290086e-02 -3.58800091e-02 2.49107411e+02] [ 6.10462848e-02 9.98134747e-01 -6.14850556e-04 9.72276730e+00] [ 3.58506075e-02 -1.57703342e-03 9.99355916e-01 8.73969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:9.72, Z:8.74 [[ 9.97590064e-01 -5.93859265e-02 -3.58800306e-02 2.49138864e+02] [ 5.94021873e-02 9.98233942e-01 -6.13591380e-04 9.72311756e+00] [ 3.58531031e-02 -1.51923964e-03 9.99355916e-01 8.74098238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.17, Y:9.72, Z:8.74 [[ 9.97604835e-01 -5.91372498e-02 -3.58800521e-02 2.49169799e+02] [ 5.91533953e-02 9.98248717e-01 -6.12333245e-04 9.72351148e+00] [ 3.58534277e-02 -1.51156030e-03 9.99355916e-01 8.74188363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.20, Y:9.72, Z:8.74 [[ 9.97590110e-01 -5.93851389e-02 -3.58800521e-02 2.49199408e+02] [ 5.94014444e-02 9.98233987e-01 -6.12333245e-04 9.72336908e+00] [ 3.58530510e-02 -1.52046933e-03 9.99355916e-01 8.74200735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.23, Y:9.72, Z:8.74 [[ 9.97539281e-01 -6.02329220e-02 -3.58800545e-02 2.49230125e+02] [ 6.02497798e-02 9.98183144e-01 -6.12191052e-04 9.72332212e+00] [ 3.58517397e-02 -1.55108076e-03 9.99355916e-01 8.74261274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.26, Y:9.72, Z:8.74 [[ 9.97453943e-01 -6.16299786e-02 -3.58800545e-02 2.49260574e+02] [ 6.16477381e-02 9.98097782e-01 -6.12191052e-04 9.72314926e+00] [ 3.58495322e-02 -1.60129183e-03 9.99355916e-01 8.74319748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.29, Y:9.72, Z:8.74 [[ 9.97240540e-01 -6.49917420e-02 -3.58800545e-02 2.49291063e+02] [ 6.50116717e-02 9.97884316e-01 -6.12191052e-04 9.72208314e+00] [ 3.58439310e-02 -1.72212059e-03 9.99355916e-01 8.74323856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.32, Y:9.72, Z:8.74 [[ 9.96971712e-01 -6.89929443e-02 -3.58800545e-02 2.49322609e+02] [ 6.90154571e-02 9.97615403e-01 -6.12191052e-04 9.72113781e+00] [ 3.58367319e-02 -1.86594120e-03 9.99355916e-01 8.74234826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.35, Y:9.72, Z:8.74 [[ 9.96868243e-01 -7.04721620e-02 -3.58800762e-02 2.49354317e+02] [ 7.04956755e-02 9.97511898e-01 -6.10920358e-04 9.72130244e+00] [ 3.58338558e-02 -1.92038310e-03 9.99355916e-01 8.74343576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.39, Y:9.72, Z:8.74 [[ 9.96790913e-01 -7.15576333e-02 -3.58800981e-02 2.49386337e+02] [ 7.15818939e-02 9.97434540e-01 -6.09632378e-04 9.72181908e+00] [ 3.58316729e-02 -1.96068936e-03 9.99355916e-01 8.74437920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.42, Y:9.72, Z:8.75 [[ 9.96750354e-01 -7.21203710e-02 -3.58801420e-02 2.49418499e+02] [ 7.21450883e-02 9.97393963e-01 -6.07032325e-04 9.72239216e+00] [ 3.58304165e-02 -1.98351633e-03 9.99355916e-01 8.74588899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.45, Y:9.72, Z:8.75 [[ 9.96769149e-01 -7.18601092e-02 -3.58801860e-02 2.49450005e+02] [ 7.18847519e-02 9.97412762e-01 -6.04425880e-04 9.72297267e+00] [ 3.58307895e-02 -1.97676520e-03 9.99355916e-01 8.74727806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.48, Y:9.72, Z:8.75 [[ 9.96852883e-01 -7.06890282e-02 -3.58802185e-02 2.49482074e+02] [ 7.07129845e-02 9.97496522e-01 -6.02485393e-04 9.72353737e+00] [ 3.58329823e-02 -1.93660803e-03 9.99355916e-01 8.74893762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.51, Y:9.73, Z:8.75 [[ 9.97140237e-01 -6.65128144e-02 -3.58802608e-02 2.49513915e+02] [ 6.65341651e-02 9.97783967e-01 -5.99957410e-04 9.72507761e+00] [ 3.58406538e-02 -1.78902152e-03 9.99355916e-01 8.75104153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:9.73, Z:8.75 [[ 9.97319770e-01 -6.37642561e-02 -3.58803051e-02 2.49545400e+02] [ 6.37839280e-02 9.97963553e-01 -5.97295893e-04 9.72626401e+00] [ 3.58453229e-02 -1.69289180e-03 9.99355916e-01 8.75238459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.58, Y:9.73, Z:8.75 [[ 9.97506978e-01 -6.07653662e-02 -3.58803380e-02 2.49576243e+02] [ 6.07831735e-02 9.98150816e-01 -5.95316424e-04 9.72790236e+00] [ 3.58501632e-02 -1.58708852e-03 9.99355916e-01 8.75368009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:9.73, Z:8.76 [[ 9.97856222e-01 -5.47317082e-02 -3.58803589e-02 2.49606192e+02] [ 5.47456668e-02 9.98500155e-01 -5.94053728e-04 9.73095650e+00] [ 3.58590575e-02 -1.37151396e-03 9.99355916e-01 8.75548931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.64, Y:9.73, Z:8.76 [[ 9.98014465e-01 -5.17660571e-02 -3.58803932e-02 2.49635670e+02] [ 5.17781767e-02 9.98658435e-01 -5.91973406e-04 9.73260945e+00] [ 3.58629014e-02 -1.26702332e-03 9.99355916e-01 8.75688463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:9.73, Z:8.76 [[ 9.98123849e-01 -4.96123001e-02 -3.58803721e-02 2.49664477e+02] [ 4.96229842e-02 9.98767845e-01 -5.93249611e-04 9.73410976e+00] [ 3.58655944e-02 -1.18835455e-03 9.99355916e-01 8.75862086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.69, Y:9.74, Z:8.76 [[ 9.98274351e-01 -4.64857085e-02 -3.58803406e-02 2.49693264e+02] [ 4.64943072e-02 9.98918378e-01 -5.95148607e-04 9.73535145e+00] [ 3.58691975e-02 -1.07410999e-03 9.99355916e-01 8.75929315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.72, Y:9.74, Z:8.76 [[ 9.98299095e-01 -4.59513691e-02 -3.58801890e-02 2.49720661e+02] [ 4.59592997e-02 9.98943130e-01 -6.04152464e-04 9.73646780e+00] [ 3.58700299e-02 -1.04590350e-03 9.99355916e-01 8.76020066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:9.74, Z:8.76 [[ 9.98298281e-01 -4.59691839e-02 -3.58800129e-02 2.49748536e+02] [ 4.59767568e-02 9.98942321e-01 -6.14434068e-04 9.73743241e+00] [ 3.58703084e-02 -1.03625815e-03 9.99355916e-01 8.76069819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:9.74, Z:8.76 [[ 9.98264287e-01 -4.67017159e-02 -3.58798317e-02 2.49776604e+02] [ 4.67093877e-02 9.98908325e-01 -6.24841087e-04 9.73841171e+00] [ 3.58698437e-02 -1.05216843e-03 9.99355916e-01 8.76105395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.80, Y:9.74, Z:8.76 [[ 9.98157594e-01 -4.89292174e-02 -3.58796482e-02 2.49804845e+02] [ 4.89379542e-02 9.98801619e-01 -6.35205020e-04 9.73890798e+00] [ 3.58677308e-02 -1.12184186e-03 9.99355916e-01 8.76015904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:9.74, Z:8.76 [[ 9.98069310e-01 -5.06982218e-02 -3.58795622e-02 2.49833419e+02] [ 5.07079269e-02 9.98713320e-01 -6.40024447e-04 9.73932037e+00] [ 3.58658448e-02 -1.18058946e-03 9.99355916e-01 8.76036274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.86, Y:9.74, Z:8.76 [[ 9.97972726e-01 -5.25652628e-02 -3.58793980e-02 2.49861818e+02] [ 5.25758467e-02 9.98616723e-01 -6.49102649e-04 9.73982903e+00] [ 3.58638871e-02 -1.23860299e-03 9.99355916e-01 8.76055282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.89, Y:9.74, Z:8.76 [[ 9.97888342e-01 -5.41435947e-02 -3.58793547e-02 2.49891407e+02] [ 5.41551115e-02 9.98532323e-01 -6.51487259e-04 9.74024119e+00] [ 3.58619692e-02 -1.29293891e-03 9.99355916e-01 8.76061586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.92, Y:9.74, Z:8.76 [[ 9.97722390e-01 -5.71201051e-02 -3.58793314e-02 2.49921343e+02] [ 5.71334968e-02 9.98366334e-01 -6.52770396e-04 9.74089058e+00] [ 3.58580028e-02 -1.39862802e-03 9.99355916e-01 8.76070514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.95, Y:9.74, Z:8.76 [[ 9.97641747e-01 -5.85116877e-02 -3.58793329e-02 2.49951842e+02] [ 5.85259805e-02 9.98285672e-01 -6.52687909e-04 9.74184877e+00] [ 3.58560138e-02 -1.44872443e-03 9.99355916e-01 8.76205597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:9.74, Z:8.76 [[ 9.97534622e-01 -6.03104558e-02 -3.58793329e-02 2.49981051e+02] [ 6.03259097e-02 9.98178520e-01 -6.52687909e-04 9.74308993e+00] [ 3.58533433e-02 -1.51337461e-03 9.99355916e-01 8.76372279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.01, Y:9.74, Z:8.77 [[ 9.97492463e-01 -6.10037700e-02 -3.58793353e-02 2.50011482e+02] [ 6.10196761e-02 9.98136350e-01 -6.52555557e-04 9.74400731e+00] [ 3.58522771e-02 -1.53842617e-03 9.99355916e-01 8.76500948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:9.74, Z:8.77 [[ 9.97481026e-01 -6.11904928e-02 -3.58793353e-02 2.50041464e+02] [ 6.12065195e-02 9.98124910e-01 -6.52555557e-04 9.74483722e+00] [ 3.58519885e-02 -1.54513745e-03 9.99355916e-01 8.76659279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:9.75, Z:8.77 [[ 9.97458744e-01 -6.15526333e-02 -3.58793466e-02 2.50072716e+02] [ 6.15689162e-02 9.98102622e-01 -6.51931095e-04 9.74593397e+00] [ 3.58513980e-02 -1.55877811e-03 9.99355916e-01 8.76737414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:9.75, Z:8.77 [[ 9.97498078e-01 -6.09112778e-02 -3.58803690e-02 2.50104041e+02] [ 6.09291639e-02 9.98141915e-01 -5.95745341e-04 9.74713693e+00] [ 3.58499878e-02 -1.59190605e-03 9.99355915e-01 8.76986022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:9.75, Z:8.77 [[ 9.97514796e-01 -6.06374939e-02 -3.58793274e-02 2.50134370e+02] [ 6.06531484e-02 9.98158689e-01 -6.52981461e-04 9.74807887e+00] [ 3.58528575e-02 -1.52483550e-03 9.99355916e-01 8.77072254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:9.75, Z:8.77 [[ 9.97524107e-01 -6.04844842e-02 -3.58787255e-02 2.50164998e+02] [ 6.04988518e-02 9.98168031e-01 -6.86072094e-04 9.74899880e+00] [ 3.58544935e-02 -1.48624824e-03 9.99355916e-01 8.77166149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.20, Y:9.75, Z:8.77 [[ 9.97469517e-01 -6.13780637e-02 -3.58789130e-02 2.50195106e+02] [ 6.13933797e-02 9.98113419e-01 -6.75723803e-04 9.74969865e+00] [ 3.58526991e-02 -1.52871383e-03 9.99355916e-01 8.77256840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.23, Y:9.75, Z:8.77 [[ 9.97447515e-01 -6.17336232e-02 -3.58805601e-02 2.50225917e+02] [ 6.17523930e-02 9.98091328e-01 -5.85914865e-04 9.75046555e+00] [ 3.58482466e-02 -1.63129113e-03 9.99355914e-01 8.77349721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.26, Y:9.75, Z:8.78 [[ 9.97417404e-01 -6.22189688e-02 -3.58792613e-02 2.50256301e+02] [ 6.22355047e-02 9.98061276e-01 -6.56864704e-04 9.75105999e+00] [ 3.58505708e-02 -1.57779565e-03 9.99355916e-01 8.77513974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.29, Y:9.75, Z:8.77 [[ 9.97314806e-01 -6.38429996e-02 -3.58782614e-02 2.50286565e+02] [ 6.38586280e-02 9.97958701e-01 -7.11345056e-04 9.75122666e+00] [ 3.58504376e-02 -1.58170159e-03 9.99355915e-01 8.77460611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.32, Y:9.75, Z:8.77 [[ 9.97257405e-01 -6.47328838e-02 -3.58792827e-02 2.50317709e+02] [ 6.47510936e-02 9.97901231e-01 -6.55442923e-04 9.75161581e+00] [ 3.58464091e-02 -1.66957749e-03 9.99355916e-01 8.77482198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.35, Y:9.75, Z:8.78 [[ 9.97205563e-01 -6.55266470e-02 -3.58793058e-02 2.50349400e+02] [ 6.55454148e-02 9.97849373e-01 -6.54175808e-04 9.75212502e+00] [ 3.58450088e-02 -1.69937623e-03 9.99355916e-01 8.77521580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:9.75, Z:8.78 [[ 9.97209095e-01 -6.54728522e-02 -3.58793288e-02 2.50379713e+02] [ 6.54916306e-02 9.97852905e-01 -6.52913149e-04 9.75276974e+00] [ 3.58450406e-02 -1.69870482e-03 9.99355916e-01 8.77560011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.41, Y:9.75, Z:8.78 [[ 9.97116822e-01 -6.68644122e-02 -3.58774711e-02 2.50411111e+02] [ 6.68804404e-02 9.97760711e-01 -7.54549824e-04 9.75345813e+00] [ 3.58475836e-02 -1.64712674e-03 9.99355911e-01 8.77541846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:9.75, Z:8.78 [[ 9.97069398e-01 -6.75669103e-02 -3.58793618e-02 2.50442648e+02] [ 6.75871370e-02 9.97713163e-01 -6.50231079e-04 9.75488515e+00] [ 3.58412457e-02 -1.77665783e-03 9.99355917e-01 8.77539876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.47, Y:9.76, Z:8.78 [[ 9.97068941e-01 -6.75736376e-02 -3.58793841e-02 2.50473891e+02] [ 6.75939127e-02 9.97712705e-01 -6.49000960e-04 9.75593507e+00] [ 3.58411727e-02 -1.77812925e-03 9.99355917e-01 8.77643836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:9.76, Z:8.78 [[ 9.97106724e-01 -6.70137997e-02 -3.58794061e-02 2.50505612e+02] [ 6.70337573e-02 9.97750498e-01 -6.47777856e-04 9.75715907e+00] [ 3.58421054e-02 -1.75922775e-03 9.99355917e-01 8.77799175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.54, Y:9.76, Z:8.78 [[ 9.97165431e-01 -6.61344673e-02 -3.58794511e-02 2.50537725e+02] [ 6.61539469e-02 9.97809220e-01 -6.45278122e-04 9.75914191e+00] [ 3.58435222e-02 -1.73011827e-03 9.99355917e-01 8.78022365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:9.76, Z:8.78 [[ 9.97258861e-01 -6.47103270e-02 -3.58794978e-02 2.50568348e+02] [ 6.47289808e-02 9.97902674e-01 -6.42670616e-04 9.76095704e+00] [ 3.58458342e-02 -1.68153436e-03 9.99355917e-01 8.78217340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.60, Y:9.76, Z:8.78 [[ 9.97311974e-01 -6.38865064e-02 -3.58795324e-02 2.50599805e+02] [ 6.39046980e-02 9.97955800e-01 -6.40730167e-04 9.76213678e+00] [ 3.58471215e-02 -1.65386282e-03 9.99355917e-01 8.78408524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.63, Y:9.76, Z:8.79 [[ 9.97455642e-01 -6.16027625e-02 -3.58795558e-02 2.50629044e+02] [ 6.16195269e-02 9.98099507e-01 -6.39420673e-04 9.76335600e+00] [ 3.58507570e-02 -1.57308750e-03 9.99355917e-01 8.78555366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:9.76, Z:8.79 [[ 9.97440012e-01 -6.18571319e-02 -3.58764203e-02 2.50661177e+02] [ 6.18677608e-02 9.98084023e-01 -8.14878200e-04 9.76464843e+00] [ 3.58580879e-02 -1.40680167e-03 9.99355902e-01 8.78719950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:9.76, Z:8.79 [[ 9.97696955e-01 -5.75624891e-02 -3.58796080e-02 2.50693904e+02] [ 5.75768145e-02 9.98340877e-01 -6.34717728e-04 9.76209736e+00] [ 3.58566153e-02 -1.43257759e-03 9.99355918e-01 8.78598458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.72, Y:9.77, Z:8.79 [[ 9.97569589e-01 -5.97256908e-02 -3.58853416e-02 2.50722166e+02] [ 5.97532040e-02 9.98213134e-01 -3.06251753e-04 9.76736321e+00] [ 3.58395104e-02 -1.83875670e-03 9.99355867e-01 8.79043912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.75, Y:9.77, Z:8.79 [[ 9.97574678e-01 -5.96440915e-02 -3.58795692e-02 2.50752953e+02] [ 5.96598088e-02 9.98218566e-01 -6.33365172e-04 9.76846366e+00] [ 3.58534286e-02 -1.50873918e-03 9.99355920e-01 8.79148571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.78, Y:9.77, Z:8.79 [[ 9.97575735e-01 -5.96263858e-02 -3.58796074e-02 2.50783935e+02] [ 5.96421697e-02 9.98219622e-01 -6.31192823e-04 9.76900957e+00] [ 3.58533639e-02 -1.51027499e-03 9.99355920e-01 8.79259764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:9.77, Z:8.79 [[ 9.97807693e-01 -5.56099051e-02 -3.58796185e-02 2.50816790e+02] [ 5.56231196e-02 9.98451637e-01 -6.30558398e-04 9.76547866e+00] [ 3.58591291e-02 -1.36656029e-03 9.99355920e-01 8.78673084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.84, Y:9.77, Z:8.79 [[ 9.97572671e-01 -5.96733819e-02 -3.58866859e-02 2.50843386e+02] [ 5.97038290e-02 9.98216110e-01 -2.23563489e-04 9.77046453e+00] [ 3.58360088e-02 -1.91955173e-03 9.99355840e-01 8.79010672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.88, Y:9.77, Z:8.79 [[ 9.97767160e-01 -5.63325999e-02 -3.58794103e-02 2.50876102e+02] [ 5.63461248e-02 9.98411093e-01 -6.34897911e-04 9.76709899e+00] [ 3.58581667e-02 -1.38818544e-03 9.99355925e-01 8.78786387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.91, Y:9.77, Z:8.79 [[ 9.97740422e-01 -5.67997393e-02 -3.58864992e-02 2.50905557e+02] [ 5.68280270e-02 9.98383955e-01 -2.32086798e-04 9.76854527e+00] [ 3.58416875e-02 -1.80779656e-03 9.99355845e-01 8.78921985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.94, Y:9.77, Z:8.79 [[ 9.97765788e-01 -5.63532660e-02 -3.58851141e-02 2.50936982e+02] [ 5.63785004e-02 9.98409420e-01 -3.09116811e-04 9.76954318e+00] [ 3.58454557e-02 -1.71472274e-03 9.99355874e-01 8.79044617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.97, Y:9.77, Z:8.79 [[ 9.97783559e-01 -5.60371572e-02 -3.58860116e-02 2.50967534e+02] [ 5.60640070e-02 9.98427143e-01 -2.58438737e-04 9.77091504e+00] [ 3.58440502e-02 -1.75404768e-03 9.99355856e-01 8.79161954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:9.78, Z:8.80 [[ 9.97727580e-01 -5.70254639e-02 -3.58855562e-02 2.50994256e+02] [ 5.70520354e-02 9.98371166e-01 -2.83949730e-04 9.77672638e+00] [ 3.58432970e-02 -1.76403955e-03 9.99355866e-01 8.79587513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.02, Y:9.78, Z:8.80 [[ 9.97795972e-01 -5.58203241e-02 -3.58788080e-02 2.51024077e+02] [ 5.58328254e-02 9.98439917e-01 -6.54187352e-04 9.77847450e+00] [ 3.58593511e-02 -1.35046972e-03 9.99355934e-01 8.79709193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:9.78, Z:8.80 [[ 9.97897424e-01 -5.39762837e-02 -3.58788655e-02 2.51054173e+02] [ 5.39877086e-02 9.98541388e-01 -6.51022352e-04 9.78087071e+00] [ 3.58616719e-02 -1.28736420e-03 9.99355934e-01 8.79958839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:9.78, Z:8.80 [[ 9.97937715e-01 -5.32261554e-02 -3.58788655e-02 2.51084290e+02] [ 5.32370962e-02 9.98581688e-01 -6.51022352e-04 9.78224041e+00] [ 3.58626295e-02 -1.26040685e-03 9.99355934e-01 8.80150854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:9.78, Z:8.80 [[ 9.97952136e-01 -5.29550896e-02 -3.58788655e-02 2.51113579e+02] [ 5.29658555e-02 9.98596112e-01 -6.51022352e-04 9.78344953e+00] [ 3.58629705e-02 -1.25066566e-03 9.99355934e-01 8.80233105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:9.78, Z:8.80 [[ 9.97944118e-01 -5.31059877e-02 -3.58788541e-02 2.51143950e+02] [ 5.31168285e-02 9.98588092e-01 -6.51645830e-04 9.78440442e+00] [ 3.58628028e-02 -1.25546482e-03 9.99355934e-01 8.80331799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:9.79, Z:8.80 [[ 9.97916100e-01 -5.36298978e-02 -3.58788541e-02 2.51174648e+02] [ 5.36410768e-02 9.98560068e-01 -6.51645830e-04 9.78518479e+00] [ 3.58621387e-02 -1.27429250e-03 9.99355934e-01 8.80391594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:9.79, Z:8.80 [[ 9.97769132e-01 -5.62980215e-02 -3.58788541e-02 2.51204589e+02] [ 5.63109223e-02 9.98413069e-01 -6.51645830e-04 9.78635115e+00] [ 3.58586032e-02 -1.37017928e-03 9.99355934e-01 8.80429479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.24, Y:9.79, Z:8.81 [[ 9.97673974e-01 -5.79598965e-02 -3.58788559e-02 2.51235305e+02] [ 5.79738732e-02 9.98317888e-01 -6.51551545e-04 9.78699535e+00] [ 3.58562675e-02 -1.43000022e-03 9.99355934e-01 8.80532716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:9.79, Z:8.81 [[ 9.97550439e-01 -6.00485551e-02 -3.58788559e-02 2.51266598e+02] [ 6.00638800e-02 9.98194323e-01 -6.51551545e-04 9.78800037e+00] [ 3.58531949e-02 -1.50506776e-03 9.99355934e-01 8.80644688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.30, Y:9.79, Z:8.81 [[ 9.97420335e-01 -6.21721898e-02 -3.58788789e-02 2.51297980e+02] [ 6.21889312e-02 9.98064183e-01 -6.50277576e-04 9.78905726e+00] [ 3.58498532e-02 -1.58266906e-03 9.99355934e-01 8.80746662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:9.79, Z:8.81 [[ 9.97296157e-01 -6.41332889e-02 -3.58789019e-02 2.51329507e+02] [ 6.41513418e-02 9.97939970e-01 -6.49009822e-04 9.78979684e+00] [ 3.58466134e-02 -1.65442470e-03 9.99355934e-01 8.80793663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.36, Y:9.79, Z:8.81 [[ 9.97293281e-01 -6.41779909e-02 -3.58789252e-02 2.51360467e+02] [ 6.41961191e-02 9.97937092e-01 -6.47716436e-04 9.79054771e+00] [ 3.58464794e-02 -1.65732451e-03 9.99355934e-01 8.80824288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:9.79, Z:8.81 [[ 9.97332678e-01 -6.35628007e-02 -3.58789600e-02 2.51392382e+02] [ 6.35806011e-02 9.97976498e-01 -6.45785023e-04 9.79131538e+00] [ 3.58474067e-02 -1.63714334e-03 9.99355934e-01 8.80994200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.42, Y:9.79, Z:8.81 [[ 9.97459009e-01 -6.15485421e-02 -3.58790058e-02 2.51423588e+02] [ 6.15651341e-02 9.98102861e-01 -6.43227226e-04 9.79262876e+00] [ 3.58505281e-02 -1.56730301e-03 9.99355934e-01 8.81136302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:9.79, Z:8.81 [[ 9.97534180e-01 -6.03179404e-02 -3.58790399e-02 2.51455318e+02] [ 6.03338065e-02 9.98178051e-01 -6.41320123e-04 9.79387932e+00] [ 3.58523532e-02 -1.52498031e-03 9.99355934e-01 8.81400392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.49, Y:9.80, Z:8.82 [[ 9.97600490e-01 -5.92111044e-02 -3.58790628e-02 2.51486033e+02] [ 5.92263022e-02 9.98244377e-01 -6.40036913e-04 9.79509544e+00] [ 3.58539700e-02 -1.48648308e-03 9.99355934e-01 8.81581663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:9.80, Z:8.82 [[ 9.97714581e-01 -5.72564956e-02 -3.58790742e-02 2.51517453e+02] [ 5.72704547e-02 9.98358496e-01 -6.39400289e-04 9.79662600e+00] [ 3.58567883e-02 -1.41687190e-03 9.99355934e-01 8.81776786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:9.80, Z:8.82 [[ 9.97752619e-01 -5.65897706e-02 -3.58790968e-02 2.51548464e+02] [ 5.66033451e-02 9.98396542e-01 -6.38128036e-04 9.79734767e+00] [ 3.58576777e-02 -1.39418298e-03 9.99355934e-01 8.81877162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.58, Y:9.80, Z:8.82 [[ 9.97777763e-01 -5.61446779e-02 -3.58791193e-02 2.51580204e+02] [ 5.61580107e-02 9.98421691e-01 -6.36858032e-04 9.79818404e+00] [ 3.58582472e-02 -1.37945718e-03 9.99355934e-01 8.81977702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:9.80, Z:8.82 [[ 9.97800418e-01 -5.57405853e-02 -3.58791421e-02 2.51611354e+02] [ 5.57537035e-02 9.98444350e-01 -6.35573607e-04 9.79880825e+00] [ 3.58587540e-02 -1.36621944e-03 9.99355934e-01 8.82073260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.64, Y:9.80, Z:8.82 [[ 9.97804903e-01 -5.56602295e-02 -3.58791649e-02 2.51642195e+02] [ 5.56733423e-02 9.98448835e-01 -6.34280894e-04 9.79951651e+00] [ 3.58588147e-02 -1.36462444e-03 9.99355934e-01 8.82130518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.67, Y:9.80, Z:8.82 [[ 9.97824388e-01 -5.53098059e-02 -3.58791875e-02 2.51672898e+02] [ 5.53227385e-02 9.98468324e-01 -6.33000507e-04 9.80066360e+00] [ 3.58592434e-02 -1.35331157e-03 9.99355934e-01 8.82216744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.70, Y:9.80, Z:8.82 [[ 9.97824721e-01 -5.53037996e-02 -3.58791875e-02 2.51703156e+02] [ 5.53167282e-02 9.98468657e-01 -6.33000507e-04 9.80136047e+00] [ 3.58592515e-02 -1.35309571e-03 9.99355934e-01 8.82252128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.73, Y:9.80, Z:8.82 [[ 9.97812553e-01 -5.55229023e-02 -3.58791875e-02 2.51733431e+02] [ 5.55359724e-02 9.98456486e-01 -6.33000507e-04 9.80159850e+00] [ 3.58589535e-02 -1.36096972e-03 9.99355934e-01 8.82333056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:9.80, Z:8.82 [[ 9.97771373e-01 -5.62580708e-02 -3.58791875e-02 2.51764223e+02] [ 5.62716153e-02 9.98415297e-01 -6.33000507e-04 9.80151990e+00] [ 3.58579411e-02 -1.38739005e-03 9.99355934e-01 8.82289095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:9.80, Z:8.82 [[ 9.97725203e-01 -5.70710230e-02 -3.58791987e-02 2.51794568e+02] [ 5.70851149e-02 9.98369115e-01 -6.32368489e-04 9.80171627e+00] [ 3.58567737e-02 -1.41723820e-03 9.99355934e-01 8.82304251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.83, Y:9.80, Z:8.83 [[ 9.97717059e-01 -5.72132099e-02 -3.58792369e-02 2.51825809e+02] [ 5.72274717e-02 9.98360966e-01 -6.30192126e-04 9.80197064e+00] [ 3.58564849e-02 -1.42452458e-03 9.99355934e-01 8.82581428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.86, Y:9.80, Z:8.83 [[ 9.97726133e-01 -5.70547382e-02 -3.58792595e-02 2.51857262e+02] [ 5.70689441e-02 9.98370042e-01 -6.28900089e-04 9.80228646e+00] [ 3.58566596e-02 -1.42012140e-03 9.99355934e-01 8.82715967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.89, Y:9.80, Z:8.83 [[ 9.97766149e-01 -5.63505948e-02 -3.58792821e-02 2.51887168e+02] [ 5.63643926e-02 9.98410067e-01 -6.27609694e-04 9.80255606e+00] [ 3.58576026e-02 -1.39610624e-03 9.99355934e-01 8.82783542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.92, Y:9.80, Z:8.83 [[ 9.97768139e-01 -5.63153427e-02 -3.58792933e-02 2.51918988e+02] [ 5.63291408e-02 9.98412057e-01 -6.26969327e-04 9.80308243e+00] [ 3.58576270e-02 -1.39547975e-03 9.99355934e-01 8.82897792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.95, Y:9.80, Z:8.83 [[ 9.97806920e-01 -5.56239640e-02 -3.58793154e-02 2.51949735e+02] [ 5.56373614e-02 9.98450846e-01 -6.25701685e-04 9.80333923e+00] [ 3.58585369e-02 -1.37190097e-03 9.99355934e-01 8.82991472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.98, Y:9.80, Z:8.83 [[ 9.97895713e-01 -5.40075850e-02 -3.58793264e-02 2.51980197e+02] [ 5.40199619e-02 9.98539660e-01 -6.25072787e-04 9.80325611e+00] [ 3.58606890e-02 -1.31444239e-03 9.99355934e-01 8.83292024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.01, Y:9.80, Z:8.83 [[ 9.97950061e-01 -5.29938717e-02 -3.58793264e-02 2.52009776e+02] [ 5.30055944e-02 9.98594020e-01 -6.25072787e-04 9.80336574e+00] [ 3.58620058e-02 -1.27801359e-03 9.99355934e-01 8.83347060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.04, Y:9.80, Z:8.84 [[ 9.97977175e-01 -5.24807948e-02 -3.58793153e-02 2.52039923e+02] [ 5.24921636e-02 9.98621140e-01 -6.25709465e-04 9.80383277e+00] [ 3.58626804e-02 -1.25893912e-03 9.99355934e-01 8.83574911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:9.80, Z:8.84 [[ 9.97982787e-01 -5.23742212e-02 -3.58789384e-02 2.52069999e+02] [ 5.23847502e-02 9.98626767e-01 -6.47181810e-04 9.80353524e+00] [ 3.58635639e-02 -1.23363292e-03 9.99355934e-01 8.83788513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.10, Y:9.80, Z:8.84 [[ 9.97979704e-01 -5.24327411e-02 -3.58792178e-02 2.52099260e+02] [ 5.24438780e-02 9.98623673e-01 -6.31303647e-04 9.80333388e+00] [ 3.58629373e-02 -1.25161709e-03 9.99355934e-01 8.83826563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.13, Y:9.81, Z:8.84 [[ 9.97762617e-01 -5.64131484e-02 -3.58792065e-02 2.52125319e+02] [ 5.64268309e-02 9.98406537e-01 -6.31943856e-04 9.80835505e+00] [ 3.58576843e-02 -1.39401996e-03 9.99355934e-01 8.84029764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:9.80, Z:8.84 [[ 9.97973741e-01 -5.25522307e-02 -3.58702519e-02 2.52158599e+02] [ 5.25455414e-02 9.98617890e-01 -1.12982818e-03 9.80300062e+00] [ 3.58800502e-02 -7.57282950e-04 9.99355817e-01 8.84061256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.19, Y:9.81, Z:8.84 [[ 9.97776050e-01 -5.61751590e-02 -3.58790273e-02 2.52185840e+02] [ 5.61887042e-02 9.98419967e-01 -6.31484197e-04 9.80575398e+00] [ 3.58578110e-02 -1.38591624e-03 9.99355941e-01 8.83992767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:9.80, Z:8.84 [[ 9.97935186e-01 -5.32800956e-02 -3.58691542e-02 2.52218792e+02] [ 5.32721486e-02 9.98579336e-01 -1.17792028e-03 9.80102019e+00] [ 3.58809559e-02 -7.35338824e-04 9.99355801e-01 8.84366896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.25, Y:9.80, Z:8.84 [[ 9.97929959e-01 -5.33714416e-02 -3.58787761e-02 2.52248760e+02] [ 5.33831622e-02 9.98573902e-01 -6.31899789e-04 9.80026759e+00] [ 3.58613349e-02 -1.28473080e-03 9.99355950e-01 8.84415163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:9.80, Z:8.85 [[ 9.97677199e-01 -5.79044109e-02 -3.58787647e-02 2.52274786e+02] [ 5.79190336e-02 9.98321083e-01 -6.32546429e-04 9.80441998e+00] [ 3.58551545e-02 -1.44698623e-03 9.99355950e-01 8.84714088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.30, Y:9.80, Z:8.85 [[ 9.97609531e-01 -5.90653345e-02 -3.58679552e-02 2.52304455e+02] [ 5.90602678e-02 9.98253696e-01 -1.20169438e-03 9.80458892e+00] [ 3.58762973e-02 -9.19549270e-04 9.99355815e-01 8.84571914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.34, Y:9.80, Z:8.85 [[ 9.97770939e-01 -5.62739423e-02 -3.58663634e-02 2.52338365e+02] [ 5.62641850e-02 9.98415093e-01 -1.28211069e-03 9.79725529e+00] [ 3.58816680e-02 -7.38738923e-04 9.99355773e-01 8.84939698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.36, Y:9.80, Z:8.85 [[ 9.97562159e-01 -5.98542156e-02 -3.58777481e-02 2.52364337e+02] [ 5.98679198e-02 9.98206067e-01 -6.93184180e-04 9.80169794e+00] [ 3.58548758e-02 -1.45643184e-03 9.99355946e-01 8.84798676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.40, Y:9.80, Z:8.85 [[ 9.97723939e-01 -5.71017927e-02 -3.58654118e-02 2.52397747e+02] [ 5.70915130e-02 9.98368088e-01 -1.31152679e-03 9.79567854e+00] [ 3.58817731e-02 -7.39068950e-04 9.99355769e-01 8.85149587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.42, Y:9.80, Z:8.85 [[ 9.97329828e-01 -6.36084175e-02 -3.58773503e-02 2.52421120e+02] [ 6.36243051e-02 9.97973676e-01 -6.99858653e-04 9.80073202e+00] [ 3.58491681e-02 -1.58468157e-03 9.99355956e-01 8.85325608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:9.80, Z:8.86 [[ 9.97376037e-01 -6.28874108e-02 -3.58638422e-02 2.52452342e+02] [ 6.28772194e-02 9.98020270e-01 -1.41308912e-03 9.79971818e+00] [ 3.58817070e-02 -8.45637444e-04 9.99355686e-01 8.85598077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.48, Y:9.80, Z:8.86 [[ 9.97370435e-01 -6.29771724e-02 -3.58621119e-02 2.52483753e+02] [ 6.29636995e-02 9.98014681e-01 -1.50605323e-03 9.79869686e+00] [ 3.58857612e-02 -7.55918273e-04 9.99355613e-01 8.85683771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.52, Y:9.79, Z:8.86 [[ 9.97761769e-01 -5.64393904e-02 -3.58615005e-02 2.52521084e+02] [ 5.64205203e-02 9.98405908e-01 -1.53877324e-03 9.78728897e+00] [ 3.58911814e-02 -4.87995406e-04 9.99355585e-01 8.85754791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:9.79, Z:8.86 [[ 9.97523531e-01 -6.04946703e-02 -3.58775624e-02 2.52544488e+02] [ 6.05106217e-02 9.98167347e-01 -6.42059800e-04 9.79283887e+00] [ 3.58506525e-02 -1.53050385e-03 9.99355987e-01 8.85636552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.58, Y:9.78, Z:8.86 [[ 9.97915124e-01 -5.36600344e-02 -3.58609260e-02 2.52581152e+02] [ 5.36398200e-02 9.98559182e-01 -1.52623971e-03 9.78381192e+00] [ 3.58911550e-02 -4.00515926e-04 9.99355625e-01 8.86032239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.61, Y:9.78, Z:8.86 [[ 9.97902963e-01 -5.38749458e-02 -3.58771060e-02 2.52610380e+02] [ 5.38872630e-02 9.98546831e-01 -6.24269225e-04 9.78397253e+00] [ 3.58586030e-02 -1.31035894e-03 9.99356014e-01 8.86107144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:9.79, Z:8.86 [[ 9.97728183e-01 -5.70203674e-02 -3.58768754e-02 2.52632765e+02] [ 5.70342597e-02 9.98372019e-01 -6.36927915e-04 9.79077833e+00] [ 3.58547864e-02 -1.41073010e-03 9.99356015e-01 8.86341178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.66, Y:9.79, Z:8.87 [[ 9.97889322e-01 -5.41379980e-02 -3.58605429e-02 2.52664091e+02] [ 5.41168387e-02 9.98533390e-01 -1.56113534e-03 9.78943868e+00] [ 3.58924662e-02 -3.82818931e-04 9.99355585e-01 8.86605201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.70, Y:9.78, Z:8.86 [[ 9.98368068e-01 -4.44429272e-02 -3.58612112e-02 2.52701396e+02] [ 4.44169337e-02 9.99011922e-01 -1.52158361e-03 9.77842490e+00] [ 3.58934012e-02 -7.37445524e-05 9.99355622e-01 8.86406582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.73, Y:9.78, Z:8.86 [[ 9.98356299e-01 -4.46943265e-02 -3.58764209e-02 2.52729780e+02] [ 4.47024103e-02 9.99000181e-01 -5.77186007e-04 9.77848028e+00] [ 3.58663479e-02 -1.02752520e-03 9.99356067e-01 8.86477584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:9.78, Z:8.87 [[ 9.98418691e-01 -4.32783123e-02 -3.58762529e-02 2.52757381e+02] [ 4.32851145e-02 9.99062588e-01 -5.87443621e-04 9.77753529e+00] [ 3.58680456e-02 -9.66393024e-04 9.99356067e-01 8.86541039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:9.78, Z:8.87 [[ 9.98468088e-01 -4.21234379e-02 -3.58760825e-02 2.52785687e+02] [ 4.21291280e-02 9.99111995e-01 -5.97673272e-04 9.77677631e+00] [ 3.58694004e-02 -9.14670384e-04 9.99356067e-01 8.86656484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.81, Y:9.78, Z:8.87 [[ 9.98307675e-01 -4.57679599e-02 -3.58759082e-02 2.52808754e+02] [ 4.57756313e-02 9.98951561e-01 -6.07956275e-04 9.78275513e+00] [ 3.58661195e-02 -1.03531493e-03 9.99356067e-01 8.86951568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:9.77, Z:8.87 [[ 9.98570489e-01 -3.96353868e-02 -3.58610446e-02 2.52845489e+02] [ 3.96089198e-02 9.99214209e-01 -1.44845902e-03 9.77396308e+00] [ 3.58902756e-02 2.59711866e-05 9.99355736e-01 8.86959426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:9.77, Z:8.87 [[ 9.98576319e-01 -3.94752861e-02 -3.58752834e-02 2.52872646e+02] [ 3.94789947e-02 9.99220217e-01 -6.05284161e-04 9.77234979e+00] [ 3.58712022e-02 -8.11897692e-04 9.99356092e-01 8.87014702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.89, Y:9.78, Z:8.87 [[ 9.98295691e-01 -4.60291776e-02 -3.58751627e-02 2.52894937e+02] [ 4.60368588e-02 9.98939554e-01 -6.12353524e-04 9.77882282e+00] [ 3.58653052e-02 -1.04026992e-03 9.99356092e-01 8.87025072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.93, Y:9.77, Z:8.87 [[ 9.98554605e-01 -4.00332292e-02 -3.58614329e-02 2.52933380e+02] [ 4.00085245e-02 9.99198349e-01 -1.40652941e-03 9.76795380e+00] [ 3.58889925e-02 -3.02665958e-05 9.99355782e-01 8.87328691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:9.77, Z:8.88 [[ 9.98284178e-01 -4.62784282e-02 -3.58748845e-02 2.52956812e+02] [ 4.62870092e-02 9.98928007e-01 -5.91755439e-04 9.77342053e+00] [ 3.58638124e-02 -1.06980102e-03 9.99356114e-01 8.87612092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.98, Y:9.77, Z:8.88 [[ 9.98198474e-01 -4.81009875e-02 -3.58622640e-02 2.52984686e+02] [ 4.80838964e-02 9.98842402e-01 -1.33939894e-03 9.77319406e+00] [ 3.58851764e-02 -3.87411412e-04 9.99355845e-01 8.87728252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.01, Y:9.77, Z:8.88 [[ 9.98181534e-01 -4.84533246e-02 -3.58594656e-02 2.53013618e+02] [ 4.84305509e-02 9.98825420e-01 -1.50394733e-03 9.77052347e+00] [ 3.58902170e-02 -2.35481218e-04 9.99355711e-01 8.87932471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:9.76, Z:8.88 [[ 9.98305092e-01 -4.58359802e-02 -3.58609308e-02 2.53050135e+02] [ 4.58145922e-02 9.98948953e-01 -1.41836276e-03 9.75855091e+00] [ 3.58882514e-02 -2.26995158e-04 9.99355783e-01 8.88043955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:9.76, Z:8.88 [[ 9.97999325e-01 -5.20611595e-02 -3.58745369e-02 2.53074204e+02] [ 5.20736907e-02 9.98643073e-01 -5.85599529e-04 9.76355571e+00] [ 3.58563448e-02 -1.28369161e-03 9.99356130e-01 8.88233373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.10, Y:9.76, Z:8.88 [[ 9.97854074e-01 -5.47829482e-02 -3.58619075e-02 2.53102313e+02] [ 5.47703638e-02 9.98498086e-01 -1.33395908e-03 9.75920472e+00] [ 3.58811242e-02 -6.33073218e-04 9.99355865e-01 8.88158322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.13, Y:9.76, Z:8.88 [[ 9.97806646e-01 -5.56393815e-02 -3.58630248e-02 2.53132457e+02] [ 5.56297722e-02 9.98450662e-01 -1.26651050e-03 9.75619837e+00] [ 3.58779288e-02 -7.31319307e-04 9.99355912e-01 8.88257371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.16, Y:9.76, Z:8.88 [[ 9.97702481e-01 -5.74755991e-02 -3.58652359e-02 2.53159724e+02] [ 5.74720103e-02 9.98346476e-01 -1.13186238e-03 9.75575922e+00] [ 3.58709864e-02 -9.31985309e-04 9.99355994e-01 8.88277887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.20, Y:9.75, Z:8.88 [[ 9.97831474e-01 -5.51932251e-02 -3.58616527e-02 2.53195628e+02] [ 5.51807162e-02 9.98475485e-01 -1.33922539e-03 9.74724117e+00] [ 3.58808972e-02 -6.42550431e-04 9.99355867e-01 8.88280938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.22, Y:9.75, Z:8.88 [[ 9.97370457e-01 -6.29700378e-02 -3.58740197e-02 2.53219641e+02] [ 6.29891492e-02 9.98014033e-01 -5.98338754e-04 9.75091485e+00] [ 3.58404524e-02 -1.66290858e-03 9.99356141e-01 8.88192756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:9.75, Z:8.88 [[ 9.97287095e-01 -6.42837441e-02 -3.58615543e-02 2.53249621e+02] [ 6.42777296e-02 9.97931173e-01 -1.32180334e-03 9.74921281e+00] [ 3.58723334e-02 -9.86881875e-04 9.99355893e-01 8.88252826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:9.75, Z:8.88 [[ 9.97281404e-01 -6.43707219e-02 -3.58637854e-02 2.53279883e+02] [ 6.43694000e-02 9.97925427e-01 -1.19269421e-03 9.74707925e+00] [ 3.58661580e-02 -1.11907859e-03 9.99355976e-01 8.88395431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:9.75, Z:8.88 [[ 9.97189218e-01 -6.57816659e-02 -3.58669253e-02 2.53310039e+02] [ 6.57878622e-02 9.97833122e-01 -1.00868085e-03 9.74591316e+00] [ 3.58555587e-02 -1.35376267e-03 9.99356066e-01 8.88423318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:9.75, Z:8.89 [[ 9.97190861e-01 -6.57569595e-02 -3.58665428e-02 2.53340838e+02] [ 6.57623218e-02 9.97834782e-01 -1.03146316e-03 9.74538033e+00] [ 3.58567099e-02 -1.33010150e-03 9.99356056e-01 8.88606990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:9.75, Z:8.89 [[ 9.97223102e-01 -6.52660851e-02 -3.58667270e-02 2.53371680e+02] [ 6.52715321e-02 9.97867018e-01 -1.02027718e-03 9.74532199e+00] [ 3.58568134e-02 -1.32363224e-03 9.99356061e-01 8.88838424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.40, Y:9.75, Z:8.89 [[ 9.97187362e-01 -6.58099402e-02 -3.58666514e-02 2.53401106e+02] [ 6.58155730e-02 9.97831278e-01 -1.02488243e-03 9.74707356e+00] [ 3.58563141e-02 -1.33858441e-03 9.99356059e-01 8.88916566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.44, Y:9.74, Z:8.89 [[ 9.97613946e-01 -5.89932688e-02 -3.58637621e-02 2.53436027e+02] [ 5.89881880e-02 9.98257959e-01 -1.20068565e-03 9.74101985e+00] [ 3.58721183e-02 -9.17717598e-04 9.99355967e-01 8.89030233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:9.75, Z:8.89 [[ 9.97403454e-01 -6.24453481e-02 -3.58737892e-02 2.53460849e+02] [ 6.24651590e-02 9.98046983e-01 -5.69385423e-04 9.74817168e+00] [ 3.58392825e-02 -1.67295496e-03 9.99356166e-01 8.89184742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:9.75, Z:8.89 [[ 9.97529996e-01 -6.03962332e-02 -3.58636685e-02 2.53489871e+02] [ 6.03923947e-02 9.98174003e-01 -1.19130742e-03 9.74922195e+00] [ 3.58701320e-02 -9.77527931e-04 9.99355982e-01 8.89263141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:9.75, Z:8.89 [[ 9.97703851e-01 -5.74526293e-02 -3.58639266e-02 2.53518244e+02] [ 5.74474679e-02 9.98347839e-01 -1.17523143e-03 9.75214175e+00] [ 3.58721937e-02 -8.87758846e-04 9.99355991e-01 8.89316544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:9.75, Z:8.90 [[ 9.97922016e-01 -5.35309979e-02 -3.58619844e-02 2.53551029e+02] [ 5.35188303e-02 9.98565994e-01 -1.29984808e-03 9.75016000e+00] [ 3.58801403e-02 -6.22144440e-04 9.99355907e-01 8.89575661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:9.75, Z:8.90 [[ 9.98198981e-01 -4.80874056e-02 -3.58663635e-02 2.53583623e+02] [ 4.80819218e-02 9.98842879e-01 -1.01591834e-03 9.74563792e+00] [ 3.58737146e-02 -7.10435037e-04 9.99356079e-01 8.89556641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:9.75, Z:8.90 [[ 9.98283733e-01 -4.62890825e-02 -3.58735265e-02 2.53610171e+02] [ 4.62994306e-02 9.98927459e-01 -5.42662645e-04 9.74648182e+00] [ 3.58601700e-02 -1.11919256e-03 9.99356191e-01 8.89532780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:9.75, Z:8.90 [[ 9.98296906e-01 -4.60041889e-02 -3.58734115e-02 2.53636763e+02] [ 4.60140840e-02 9.98940640e-01 -5.50162402e-04 9.74756357e+00] [ 3.58607184e-02 -1.10145675e-03 9.99356191e-01 8.89521661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:9.75, Z:8.90 [[ 9.98098553e-01 -5.01237054e-02 -3.58732972e-02 2.53662162e+02] [ 5.01359930e-02 9.98742245e-01 -5.57517520e-04 9.75322176e+00] [ 3.58561222e-02 -1.24208595e-03 9.99356191e-01 8.89797100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:9.75, Z:8.90 [[ 9.98256026e-01 -4.68885527e-02 -3.58660073e-02 2.53695450e+02] [ 4.68825064e-02 9.98899900e-01 -1.01003797e-03 9.75001711e+00] [ 3.58739103e-02 -6.73211825e-04 9.99356097e-01 8.89618551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.72, Y:9.75, Z:8.90 [[ 9.98215390e-01 -4.77405690e-02 -3.58730166e-02 2.53723082e+02] [ 4.77510132e-02 9.98859109e-01 -5.66050158e-04 9.75056287e+00] [ 3.58591130e-02 -1.14793291e-03 9.99356196e-01 8.89811265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.75, Y:9.76, Z:8.90 [[ 9.97973453e-01 -5.25559282e-02 -3.58728474e-02 2.53748556e+02] [ 5.25691000e-02 9.98617122e-01 -5.76579754e-04 9.75705976e+00] [ 3.58535423e-02 -1.31039201e-03 9.99356196e-01 8.89975056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:9.75, Z:8.90 [[ 9.98159982e-01 -4.88919778e-02 -3.58639763e-02 2.53782689e+02] [ 4.88835443e-02 9.98803865e-01 -1.11250254e-03 9.75235198e+00] [ 3.58754706e-02 -6.42702763e-04 9.99356061e-01 8.89924206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.81, Y:9.76, Z:8.90 [[ 9.97907235e-01 -5.37987590e-02 -3.58725967e-02 2.53808244e+02] [ 5.38127748e-02 9.98550877e-01 -5.75386952e-04 9.75882879e+00] [ 3.58515680e-02 -1.35622117e-03 9.99356206e-01 8.90077456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.84, Y:9.76, Z:8.90 [[ 9.97894802e-01 -5.40340080e-02 -3.58648868e-02 2.53835924e+02] [ 5.40306175e-02 9.98538712e-01 -1.06444845e-03 9.76034665e+00] [ 3.58699943e-02 -8.75594412e-04 9.99356081e-01 8.90381270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.86, Y:9.76, Z:8.91 [[ 9.97865968e-01 -5.45642392e-02 -3.58643784e-02 2.53864385e+02] [ 5.45600130e-02 9.98509890e-01 -1.09725302e-03 9.76157970e+00] [ 3.58708073e-02 -8.61849505e-04 9.99356064e-01 8.90525229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:9.76, Z:8.90 [[ 9.97756146e-01 -5.65369533e-02 -3.58642660e-02 2.53891678e+02] [ 5.65337433e-02 9.98400078e-01 -1.10440806e-03 9.76375685e+00] [ 3.58693259e-02 -9.25611281e-04 9.99356060e-01 8.90471411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:9.77, Z:8.91 [[ 9.97719299e-01 -5.71837581e-02 -3.58638726e-02 2.53919894e+02] [ 5.71800640e-02 9.98363243e-01 -1.12951421e-03 9.76510303e+00] [ 3.58697620e-02 -9.23760403e-04 9.99356046e-01 8.90563234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.96, Y:9.76, Z:8.91 [[ 9.98008690e-01 -5.18897939e-02 -3.58622844e-02 2.53955140e+02] [ 5.18790647e-02 9.98652617e-01 -1.23029109e-03 9.75870754e+00] [ 3.58778037e-02 -6.32660572e-04 9.99355984e-01 8.90676967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.98, Y:9.77, Z:8.91 [[ 9.97591090e-01 -5.93731139e-02 -3.58726986e-02 2.53978937e+02] [ 5.93918671e-02 9.98234597e-01 -5.43559997e-04 9.76754099e+00] [ 3.58416416e-02 -1.58829594e-03 9.99356220e-01 8.90803174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.02, Y:9.76, Z:8.91 [[ 9.97941040e-01 -5.31756408e-02 -3.58612869e-02 2.54015334e+02] [ 5.31645224e-02 9.98584966e-01 -1.26422309e-03 9.76146332e+00] [ 3.58777678e-02 -6.44928084e-04 9.99355978e-01 8.90914541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:9.77, Z:8.91 [[ 9.97600370e-01 -5.92172772e-02 -3.58722039e-02 2.54041630e+02] [ 5.92360176e-02 9.98243859e-01 -5.41092146e-04 9.76945683e+00] [ 3.58412492e-02 -1.58513278e-03 9.99356239e-01 8.91229923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.08, Y:9.76, Z:8.91 [[ 9.97853974e-01 -5.47836056e-02 -3.58636695e-02 2.54075355e+02] [ 5.47797258e-02 9.98497867e-01 -1.09153011e-03 9.76478926e+00] [ 3.58695955e-02 -8.75414324e-04 9.99356096e-01 8.91175324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:9.77, Z:8.91 [[ 9.97801585e-01 -5.57243002e-02 -3.58719773e-02 2.54103380e+02] [ 5.57408484e-02 9.98445125e-01 -5.39391752e-04 9.76582965e+00] [ 3.58462581e-02 -1.46132850e-03 9.99356248e-01 8.91271105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.13, Y:9.77, Z:8.92 [[ 9.97541818e-01 -6.01957918e-02 -3.58718245e-02 2.54131442e+02] [ 6.02148659e-02 9.98185287e-01 -5.49370807e-04 9.77199850e+00] [ 3.58397972e-02 -1.61199674e-03 9.99356248e-01 8.91547370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:9.77, Z:8.92 [[ 9.97546598e-01 -6.01195864e-02 -3.58666951e-02 2.54161240e+02] [ 6.01267855e-02 9.98190361e-01 -8.78845450e-04 9.77272157e+00] [ 3.58546252e-02 -1.27985980e-03 9.99356197e-01 8.91736787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.19, Y:9.77, Z:8.92 [[ 9.97481478e-01 -6.11902259e-02 -3.58672068e-02 2.54190698e+02] [ 6.11992882e-02 9.98125208e-01 -8.46189849e-04 9.77465934e+00] [ 3.58517418e-02 -1.35098883e-03 9.99356206e-01 8.91521054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:9.78, Z:8.92 [[ 9.97470274e-01 -6.13720926e-02 -3.58680745e-02 2.54220724e+02] [ 6.13832568e-02 9.98113957e-01 -7.90903603e-04 9.77755004e+00] [ 3.58489652e-02 -1.41279639e-03 9.99356221e-01 8.91804743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.25, Y:9.78, Z:8.92 [[ 9.97345385e-01 -6.33699463e-02 -3.58668821e-02 2.54248965e+02] [ 6.33796630e-02 9.97989111e-01 -8.67151458e-04 9.78149860e+00] [ 3.58497092e-02 -1.40838140e-03 9.99356200e-01 8.91935886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:9.78, Z:8.92 [[ 9.97581134e-01 -5.95463058e-02 -3.58624873e-02 2.54284222e+02] [ 5.95436186e-02 9.98225049e-01 -1.14390950e-03 9.77769993e+00] [ 3.58669487e-02 -9.94239730e-04 9.99356079e-01 8.91929942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:9.78, Z:8.92 [[ 9.97339656e-01 -6.34573801e-02 -3.58716010e-02 2.54311812e+02] [ 6.34784949e-02 9.97983054e-01 -5.51125166e-04 9.78308893e+00] [ 3.58342229e-02 -1.72741626e-03 9.99356255e-01 8.92178756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:9.78, Z:8.92 [[ 9.97299488e-01 -6.40889263e-02 -3.58655954e-02 2.54342551e+02] [ 6.40967729e-02 9.97943252e-01 -9.32167037e-04 9.78420314e+00] [ 3.58515705e-02 -1.36921922e-03 9.99356188e-01 8.92195969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:9.79, Z:8.92 [[ 9.97179734e-01 -6.59260453e-02 -3.58655046e-02 2.54370457e+02] [ 6.59348747e-02 9.97823488e-01 -9.37825510e-04 9.78758309e+00] [ 3.58492700e-02 -1.42960696e-03 9.99356186e-01 8.92277528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.41, Y:9.78, Z:8.92 [[ 9.97368937e-01 -6.30004824e-02 -3.58628361e-02 2.54405979e+02] [ 6.30013857e-02 9.98012827e-01 -1.10600481e-03 9.78387115e+00] [ 3.58612493e-02 -1.15631353e-03 9.99356110e-01 8.92467344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:9.79, Z:8.93 [[ 9.97012975e-01 -6.83986384e-02 -3.58713668e-02 2.54432209e+02] [ 6.84228471e-02 9.97656257e-01 -5.53737215e-04 9.79101858e+00] [ 3.58251684e-02 -1.90233786e-03 9.99356262e-01 8.92706487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.47, Y:9.79, Z:8.93 [[ 9.97347193e-01 -6.33434469e-02 -3.58634233e-02 2.54466292e+02] [ 6.33463626e-02 9.97991044e-01 -1.05611204e-03 9.78671892e+00] [ 3.58582731e-02 -1.21850704e-03 9.99356142e-01 8.92671199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:9.80, Z:8.93 [[ 9.96898592e-01 -7.00460980e-02 -3.58711870e-02 2.54488750e+02] [ 7.00714750e-02 9.97541821e-01 -5.50786867e-04 9.79636887e+00] [ 3.58215896e-02 -1.96446833e-03 9.99356270e-01 8.92807373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:9.80, Z:8.93 [[ 9.96933592e-01 -6.95530044e-02 -3.58579544e-02 2.54519473e+02] [ 6.95480142e-02 9.97577640e-01 -1.38798708e-03 9.79794847e+00] [ 3.58676322e-02 -1.11011858e-03 9.99355933e-01 8.92882609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:9.80, Z:8.93 [[ 9.97076611e-01 -6.74716746e-02 -3.58581164e-02 2.54550948e+02] [ 6.74657228e-02 9.97720642e-01 -1.37732580e-03 9.79943686e+00] [ 3.58693133e-02 -1.04589440e-03 9.99355942e-01 8.92994791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:9.80, Z:8.93 [[ 9.97111741e-01 -6.69507456e-02 -3.58576810e-02 2.54582767e+02] [ 6.69433963e-02 9.97755783e-01 -1.40687232e-03 9.79965237e+00] [ 3.58713997e-02 -9.97626039e-04 9.99355916e-01 8.93109945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:9.80, Z:8.93 [[ 9.97213878e-01 -6.54116992e-02 -3.58579434e-02 2.54614631e+02] [ 6.54040193e-02 9.97857899e-01 -1.38839825e-03 9.80054684e+00] [ 3.58719496e-02 -9.60723623e-04 9.99355933e-01 8.93283218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:9.79, Z:8.94 [[ 9.97839830e-01 -5.50441647e-02 -3.58582360e-02 2.54651552e+02] [ 5.50305365e-02 9.98483735e-01 -1.36766297e-03 9.79422849e+00] [ 3.58791473e-02 -6.08589376e-04 9.99355951e-01 8.93500282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:9.81, Z:8.94 [[ 9.97451963e-01 -6.16677995e-02 -3.58700958e-02 2.54673733e+02] [ 6.16904104e-02 9.98095219e-01 -4.77134570e-04 9.80522599e+00] [ 3.58311949e-02 -1.73692212e-03 9.99356347e-01 8.93799509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.71, Y:9.81, Z:8.94 [[ 9.97558217e-01 -5.99322737e-02 -3.58570357e-02 2.54705098e+02] [ 5.99200137e-02 9.98202175e-01 -1.41740666e-03 9.80661313e+00] [ 3.58775194e-02 -7.34608404e-04 9.99355925e-01 8.93812135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:9.81, Z:8.94 [[ 9.97675280e-01 -5.79501822e-02 -3.58582171e-02 2.54736829e+02] [ 5.79398091e-02 9.98319193e-01 -1.32923162e-03 9.80772706e+00] [ 3.58749756e-02 -7.51476725e-04 9.99356003e-01 8.93895161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:9.81, Z:8.94 [[ 9.97761660e-01 -5.64438556e-02 -3.58575070e-02 2.54767556e+02] [ 5.64305986e-02 9.98405567e-01 -1.38246800e-03 9.80944801e+00] [ 3.58783664e-02 -6.44087020e-04 9.99355957e-01 8.93864013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.80, Y:9.81, Z:8.94 [[ 9.97782044e-01 -5.60819897e-02 -3.58580921e-02 2.54797241e+02] [ 5.60701022e-02 9.98425938e-01 -1.33782830e-03 9.81073675e+00] [ 3.58766773e-02 -6.75705835e-04 9.99355996e-01 8.93856450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.83, Y:9.81, Z:8.94 [[ 9.97833244e-01 -5.51633793e-02 -3.58583249e-02 2.54827933e+02] [ 5.51515694e-02 9.98477123e-01 -1.31915996e-03 9.81131153e+00] [ 3.58764863e-02 -6.61341232e-04 9.99356013e-01 8.93912852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.86, Y:9.81, Z:8.94 [[ 9.97871871e-01 -5.44601590e-02 -3.58583352e-02 2.54857639e+02] [ 5.44479254e-02 9.98515741e-01 -1.31832059e-03 9.81273172e+00] [ 3.58769081e-02 -6.36896926e-04 9.99356014e-01 8.93898566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.89, Y:9.81, Z:8.94 [[ 9.97939702e-01 -5.32017939e-02 -3.58597238e-02 2.54887899e+02] [ 5.31930749e-02 9.98583528e-01 -1.19782731e-03 9.81330713e+00] [ 3.58726561e-02 -7.12129546e-04 9.99356115e-01 8.94171925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.92, Y:9.81, Z:8.94 [[ 9.97988094e-01 -5.22864373e-02 -3.58593468e-02 2.54917993e+02] [ 5.22759126e-02 9.98631920e-01 -1.23167270e-03 9.81427073e+00] [ 3.58746882e-02 -6.45385388e-04 9.99356088e-01 8.94306257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:9.82, Z:8.94 [[ 9.98059912e-01 -5.08970764e-02 -3.58594437e-02 2.54946980e+02] [ 5.08859717e-02 9.98703721e-01 -1.22286147e-03 9.81536711e+00] [ 3.58751999e-02 -6.04253621e-04 9.99356095e-01 8.94344040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:9.82, Z:8.95 [[ 9.98122433e-01 -4.96553929e-02 -3.58601656e-02 2.54976551e+02] [ 4.96460460e-02 9.98766211e-01 -1.15159754e-03 9.81546016e+00] [ 3.58731047e-02 -6.30880089e-04 9.99356154e-01 8.94580262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.00, Y:9.82, Z:8.95 [[ 9.98127125e-01 -4.95609199e-02 -3.58602644e-02 2.55004893e+02] [ 4.95518652e-02 9.98770899e-01 -1.14176138e-03 9.81618581e+00] [ 3.58727753e-02 -6.37319981e-04 9.99356162e-01 8.94566239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.03, Y:9.82, Z:8.95 [[ 9.98140627e-01 -4.92879190e-02 -3.58606985e-02 2.55033650e+02] [ 4.92802513e-02 9.98784387e-01 -1.09822081e-03 9.81652135e+00] [ 3.58712347e-02 -6.71045427e-04 9.99356195e-01 8.94782392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:9.82, Z:8.95 [[ 9.98108110e-01 -4.99422566e-02 -3.58604488e-02 2.55062606e+02] [ 4.99341146e-02 9.98751882e-01 -1.12318987e-03 9.81751906e+00] [ 3.58717854e-02 -6.69594845e-04 9.99356176e-01 8.94911567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.09, Y:9.82, Z:8.95 [[ 9.98055946e-01 -5.09740352e-02 -3.58605233e-02 2.55091008e+02] [ 5.09668237e-02 9.98699724e-01 -1.11580769e-03 9.81808804e+00] [ 3.58707719e-02 -7.14058467e-04 9.99356182e-01 8.94971265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.12, Y:9.82, Z:8.95 [[ 9.98021284e-01 -5.16476822e-02 -3.58613161e-02 2.55120876e+02] [ 5.16438731e-02 9.98665030e-01 -1.03313423e-03 9.81874533e+00] [ 3.58668013e-02 -8.20927305e-04 9.99356242e-01 8.95222766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:9.82, Z:8.95 [[ 9.97955483e-01 -5.29042345e-02 -3.58607955e-02 2.55149711e+02] [ 5.28992750e-02 9.98599261e-01 -1.08776056e-03 9.81887214e+00] [ 3.58681110e-02 -8.11473467e-04 9.99356203e-01 8.95268810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:9.82, Z:8.95 [[ 9.97820663e-01 -5.53884268e-02 -3.58615061e-02 2.55179353e+02] [ 5.53878771e-02 9.98464403e-01 -1.00955786e-03 9.81926737e+00] [ 3.58623551e-02 -9.78935000e-04 9.99356259e-01 8.95454534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:9.82, Z:8.96 [[ 9.97765315e-01 -5.63765606e-02 -3.58616604e-02 2.55210401e+02] [ 5.63772978e-02 9.98409043e-01 -9.91465070e-04 9.81976972e+00] [ 3.58605014e-02 -1.03253405e-03 9.99356272e-01 8.95592050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:9.82, Z:8.96 [[ 9.97710572e-01 -5.73371615e-02 -3.58617442e-02 2.55240854e+02] [ 5.73388755e-02 9.98354291e-01 -9.81518258e-04 9.81968999e+00] [ 3.58590037e-02 -1.07700094e-03 9.99356279e-01 8.95657691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:9.82, Z:8.96 [[ 9.97623913e-01 -5.88249836e-02 -3.58629311e-02 2.55271031e+02] [ 5.88332193e-02 9.98267484e-01 -8.26534024e-04 9.82117752e+00] [ 3.58494188e-02 -1.28536158e-03 9.99356376e-01 8.95840704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.30, Y:9.82, Z:8.96 [[ 9.97496689e-01 -6.09447027e-02 -3.58622305e-02 2.55302199e+02] [ 6.09510453e-02 9.98140335e-01 -9.17404986e-04 9.82274629e+00] [ 3.58514498e-02 -1.27073200e-03 9.99356322e-01 8.95869122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.33, Y:9.82, Z:8.96 [[ 9.97445333e-01 -6.17790265e-02 -3.58630557e-02 2.55332952e+02] [ 6.17896847e-02 9.98088861e-01 -8.12133760e-04 9.82335281e+00] [ 3.58446893e-02 -1.40590788e-03 9.99356384e-01 8.95894706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:9.82, Z:8.96 [[ 9.97408730e-01 -6.23669482e-02 -3.58634782e-02 2.55364859e+02] [ 6.23800287e-02 9.98052184e-01 -7.55187674e-04 9.82415954e+00] [ 3.58407215e-02 -1.48393402e-03 9.99356413e-01 8.96101551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.40, Y:9.82, Z:8.96 [[ 9.97564300e-01 -5.98270933e-02 -3.58634528e-02 2.55398081e+02] [ 5.98384103e-02 9.98207789e-01 -7.58674032e-04 9.81964066e+00] [ 3.58445672e-02 -1.38918587e-03 9.99356411e-01 8.95952303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:9.83, Z:8.96 [[ 9.97331545e-01 -6.35873311e-02 -3.58669887e-02 2.55425331e+02] [ 6.36193856e-02 9.97974204e-01 -2.48025881e-04 9.82541800e+00] [ 3.58101008e-02 -2.03447175e-03 9.99356542e-01 8.96276995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.46, Y:9.83, Z:8.97 [[ 9.97331803e-01 -6.35848561e-02 -3.58642004e-02 2.55456388e+02] [ 6.36013810e-02 9.97975150e-01 -6.81076496e-04 9.82690454e+00] [ 3.58348869e-02 -1.60175342e-03 9.99356441e-01 8.96537255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.49, Y:9.83, Z:8.97 [[ 9.97397901e-01 -6.25395467e-02 -3.58640924e-02 2.55488365e+02] [ 6.25547483e-02 9.98041289e-01 -6.99172107e-04 9.82721678e+00] [ 3.58375709e-02 -1.54611648e-03 9.99356432e-01 8.96714531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:9.83, Z:8.97 [[ 9.97433412e-01 -6.19706522e-02 -3.58640128e-02 2.55519341e+02] [ 6.19849868e-02 9.98076827e-01 -7.13111875e-04 9.82748648e+00] [ 3.58392322e-02 -1.51174875e-03 9.99356425e-01 8.96596981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:9.83, Z:8.97 [[ 9.97497010e-01 -6.09382405e-02 -3.58642749e-02 2.55550987e+02] [ 6.09535556e-02 9.98140380e-01 -6.67213833e-04 9.82911911e+00] [ 3.58382399e-02 -1.52051127e-03 9.99356447e-01 8.96635741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.58, Y:9.83, Z:8.97 [[ 9.97529687e-01 -6.04010325e-02 -3.58641658e-02 2.55582006e+02] [ 6.04152464e-02 9.98173093e-01 -6.88251792e-04 9.82934240e+00] [ 3.58402165e-02 -1.48019082e-03 9.99356437e-01 8.96741037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.61, Y:9.83, Z:8.97 [[ 9.97599085e-01 -5.92439011e-02 -3.58640001e-02 2.55613220e+02] [ 5.92562072e-02 9.98242547e-01 -7.20630421e-04 9.82811578e+00] [ 3.58436638e-02 -1.40626438e-03 9.99356420e-01 8.96752491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.64, Y:9.83, Z:8.97 [[ 9.97589753e-01 -5.94004611e-02 -3.58646034e-02 2.55644566e+02] [ 5.94173189e-02 9.98233052e-01 -5.96550840e-04 9.82812096e+00] [ 3.58366679e-02 -1.53586557e-03 9.99356480e-01 8.96947815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:9.83, Z:8.97 [[ 9.97580944e-01 -5.95481576e-02 -3.58647128e-02 2.55675713e+02] [ 5.95659976e-02 9.98224206e-01 -5.71822110e-04 9.82918506e+00] [ 3.58350755e-02 -1.56587856e-03 9.99356491e-01 8.97097521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:9.83, Z:8.97 [[ 9.97589137e-01 -5.94108959e-02 -3.58644619e-02 2.55706994e+02] [ 5.94265430e-02 9.98232482e-01 -6.30492621e-04 9.82977672e+00] [ 3.58385290e-02 -1.50232840e-03 9.99356464e-01 8.97151764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.74, Y:9.83, Z:8.97 [[ 9.97657609e-01 -5.82497045e-02 -3.58645614e-02 2.55738177e+02] [ 5.82655832e-02 9.98300936e-01 -6.03159573e-04 9.82992792e+00] [ 3.58387591e-02 -1.48792285e-03 9.99356478e-01 8.97350285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.77, Y:9.83, Z:8.97 [[ 9.97686889e-01 -5.77460191e-02 -3.58645791e-02 2.55768308e+02] [ 5.77617563e-02 9.98330217e-01 -5.98050785e-04 9.83112211e+00] [ 3.58392281e-02 -1.47493365e-03 9.99356480e-01 8.97399183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.80, Y:9.83, Z:8.97 [[ 9.98067826e-01 -5.07381676e-02 -3.58643687e-02 2.55802030e+02] [ 5.07471700e-02 9.98711314e-01 -6.59830639e-04 9.82796558e+00] [ 3.58516294e-02 -1.16145948e-03 9.99356449e-01 8.97436590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:9.83, Z:8.97 [[ 9.98139080e-01 -4.93154029e-02 -3.58659822e-02 2.55831805e+02] [ 4.93434350e-02 9.98781865e-01 -1.03701930e-04 9.82907190e+00] [ 3.58274068e-02 -1.66624181e-03 9.99356603e-01 8.97499848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:9.83, Z:8.98 [[ 9.98209754e-01 -4.78635492e-02 -3.58659785e-02 2.55860989e+02] [ 4.78906005e-02 9.98852581e-01 -1.04978156e-04 9.83004076e+00] [ 3.58298498e-02 -1.61285303e-03 9.99356603e-01 8.97584451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.89, Y:9.83, Z:8.98 [[ 9.98309742e-01 -4.57306416e-02 -3.58659747e-02 2.55889480e+02] [ 4.57562734e-02 9.98952628e-01 -1.06257989e-04 9.83179238e+00] [ 3.58332689e-02 -1.53501496e-03 9.99356603e-01 8.97663636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:9.83, Z:8.98 [[ 9.98343470e-01 -4.49883205e-02 -3.58659456e-02 2.55916810e+02] [ 4.50131499e-02 9.98986388e-01 -1.15305743e-04 9.83241035e+00] [ 3.58347789e-02 -1.49932445e-03 9.99356603e-01 8.97728320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.94, Y:9.83, Z:8.98 [[ 9.98368781e-01 -4.44231133e-02 -3.58659294e-02 2.55944375e+02] [ 4.44474053e-02 9.99011719e-01 -1.20140791e-04 9.83291083e+00] [ 3.58358208e-02 -1.47420269e-03 9.99356603e-01 8.97796465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.97, Y:9.83, Z:8.98 [[ 9.98399965e-01 -4.37166540e-02 -3.58659186e-02 2.55972662e+02] [ 4.37403775e-02 9.99042924e-01 -1.23304616e-04 9.83330436e+00] [ 3.58369826e-02 -1.44568149e-03 9.99356603e-01 8.98024547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:9.83, Z:8.98 [[ 9.98379411e-01 -4.41835888e-02 -3.58658860e-02 2.56001062e+02] [ 4.42072964e-02 9.99022371e-01 -1.32131751e-04 9.83347177e+00] [ 3.58366606e-02 -1.45361624e-03 9.99356603e-01 8.98210791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:9.83, Z:8.98 [[ 9.98372757e-01 -4.43337180e-02 -3.58658505e-02 2.56028578e+02] [ 4.43571988e-02 9.99015725e-01 -1.41152605e-04 9.83323851e+00] [ 3.58368065e-02 -1.44998575e-03 9.99356603e-01 8.98346990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:9.83, Z:8.98 [[ 9.98325174e-01 -4.53926100e-02 -3.58658377e-02 2.56056739e+02] [ 4.54166583e-02 9.98968121e-01 -1.44343859e-04 9.83308919e+00] [ 3.58353806e-02 -1.48480439e-03 9.99356603e-01 8.98469374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.09, Y:9.83, Z:8.98 [[ 9.98300948e-01 -4.59223470e-02 -3.58657936e-02 2.56085044e+02] [ 4.59463696e-02 9.98943896e-01 -1.54573121e-04 9.83191998e+00] [ 3.58350140e-02 -1.49359252e-03 9.99356603e-01 8.98484421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:9.83, Z:8.98 [[ 9.98355364e-01 -4.47237655e-02 -3.58657462e-02 2.56111442e+02] [ 4.47466463e-02 9.98998354e-01 -1.64886589e-04 9.83118979e+00] [ 3.58371958e-02 -1.44025645e-03 9.99356604e-01 8.98344865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:9.83, Z:8.99 [[ 9.98213198e-01 -4.77923357e-02 -3.58650674e-02 2.56141265e+02] [ 4.78115634e-02 9.98856321e-01 -3.21843057e-04 9.83362410e+00] [ 3.58394309e-02 -1.39349696e-03 9.99356590e-01 8.98721432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:9.83, Z:8.99 [[ 9.98337106e-01 -4.51297842e-02 -3.58653703e-02 2.56170722e+02] [ 4.51500364e-02 9.98980187e-01 -2.45462802e-04 9.83003118e+00] [ 3.58398720e-02 -1.37426815e-03 9.99356601e-01 8.98568536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.20, Y:9.83, Z:8.98 [[ 9.98318217e-01 -4.55453990e-02 -3.58657799e-02 2.56199358e+02] [ 4.55696233e-02 9.98961155e-01 -1.42177370e-04 9.82939705e+00] [ 3.58349964e-02 -1.49245182e-03 9.99356606e-01 8.98257582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:9.83, Z:8.98 [[ 9.98276786e-01 -4.64445886e-02 -3.58658413e-02 2.56222831e+02] [ 4.64699326e-02 9.98919681e-01 -1.27103105e-04 9.83279195e+00] [ 3.58329980e-02 -1.53979915e-03 9.99356606e-01 8.98283815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.26, Y:9.83, Z:8.99 [[ 9.98458119e-01 -4.23689652e-02 -3.58644111e-02 2.56260897e+02] [ 4.23670942e-02 9.99101781e-01 -8.12488700e-04 9.82556126e+00] [ 3.58666213e-02 -7.08234943e-04 9.99356335e-01 8.98670481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.29, Y:9.83, Z:8.99 [[ 9.98259487e-01 -4.68151923e-02 -3.58654961e-02 2.56286397e+02] [ 4.68435179e-02 9.98902239e-01 -5.05841086e-05 9.83101640e+00] [ 3.58284924e-02 -1.62956994e-03 9.99356625e-01 8.98551683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.32, Y:9.83, Z:8.99 [[ 9.98472673e-01 -4.20244823e-02 -3.58645259e-02 2.56320572e+02] [ 4.20313350e-02 9.99116134e-01 -5.63199279e-04 9.82538345e+00] [ 3.58564946e-02 -9.45094814e-04 9.99356502e-01 8.98832392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:9.83, Z:8.99 [[ 9.98488616e-01 -4.16432895e-02 -3.58653177e-02 2.56348397e+02] [ 4.16681042e-02 9.99131506e-01 -5.56214877e-05 9.82543652e+00] [ 3.58364852e-02 -1.43890237e-03 9.99356631e-01 8.98932634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:9.83, Z:8.99 [[ 9.98543381e-01 -4.03087733e-02 -3.58652988e-02 2.56377465e+02] [ 4.03323604e-02 9.99186317e-01 -6.58925453e-05 9.82667762e+00] [ 3.58387719e-02 -1.38073559e-03 9.99356631e-01 8.99120822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:9.83, Z:8.99 [[ 9.98569998e-01 -3.96439342e-02 -3.58652799e-02 2.56405666e+02] [ 3.96667688e-02 9.99212961e-01 -7.49380702e-05 9.82733473e+00] [ 3.58400234e-02 -1.34782886e-03 9.99356631e-01 8.99238051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.43, Y:9.83, Z:8.99 [[ 9.98605032e-01 -3.87514191e-02 -3.58652730e-02 2.56434789e+02] [ 3.87735643e-02 9.99248020e-01 -7.81363019e-05 9.82745203e+00] [ 3.58413309e-02 -1.31259716e-03 9.99356631e-01 8.99441314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.46, Y:9.83, Z:9.00 [[ 9.98620447e-01 -3.83521305e-02 -3.58652511e-02 2.56462461e+02] [ 3.83736962e-02 9.99263455e-01 -8.71241037e-05 9.82760585e+00] [ 3.58421762e-02 -1.28927834e-03 9.99356631e-01 8.99583778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.49, Y:9.83, Z:9.00 [[ 9.98609352e-01 -3.86399739e-02 -3.58652232e-02 2.56490825e+02] [ 3.86613556e-02 9.99252366e-01 -9.74207026e-05 9.82775331e+00] [ 3.58421734e-02 -1.28931292e-03 9.99356631e-01 8.99685931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.52, Y:9.83, Z:9.00 [[ 9.98627652e-01 -3.81641265e-02 -3.58651921e-02 2.56518530e+02] [ 3.81848313e-02 9.99270688e-01 -1.07751971e-04 9.82779291e+00] [ 3.58431475e-02 -1.26190221e-03 9.99356631e-01 8.99842721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:9.83, Z:9.00 [[ 9.98634898e-01 -3.79740789e-02 -3.58651582e-02 2.56546131e+02] [ 3.79942920e-02 9.99277949e-01 -1.18048551e-04 9.82773427e+00] [ 3.58437446e-02 -1.24478389e-03 9.99356631e-01 9.00025782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:9.83, Z:9.00 [[ 9.98634395e-01 -3.79873349e-02 -3.58651212e-02 2.56573798e+02] [ 3.80071853e-02 9.99277458e-01 -1.28396631e-04 9.82749999e+00] [ 3.58440846e-02 -1.23491102e-03 9.99356631e-01 9.00202951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:9.83, Z:9.00 [[ 9.98387151e-01 -4.40089804e-02 -3.58651094e-02 2.56598808e+02] [ 4.40325935e-02 9.99030086e-01 -1.31600557e-04 9.83386205e+00] [ 3.58361150e-02 -1.44784548e-03 9.99356631e-01 9.00389897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:9.83, Z:9.00 [[ 9.98535421e-01 -4.05079326e-02 -3.58625307e-02 2.56633662e+02] [ 4.05076179e-02 9.99178959e-01 -7.35660167e-04 9.82559002e+00] [ 3.58628861e-02 -7.18122956e-04 9.99356462e-01 9.00106098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.66, Y:9.82, Z:9.00 [[ 9.98475321e-01 -4.19612923e-02 -3.58647988e-02 2.56660129e+02] [ 4.19834626e-02 9.99118297e-01 -1.35052217e-04 9.82484846e+00] [ 3.58388436e-02 -1.37088213e-03 9.99356642e-01 9.00100632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:9.82, Z:9.00 [[ 9.98412692e-01 -4.34259667e-02 -3.58647709e-02 2.56686727e+02] [ 4.34488277e-02 9.99055644e-01 -1.42093213e-04 9.82443996e+00] [ 3.58370723e-02 -1.41641458e-03 9.99356642e-01 9.00094016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:9.82, Z:9.00 [[ 9.98291803e-01 -4.61215258e-02 -3.58647529e-02 2.56715969e+02] [ 4.61459648e-02 9.98934697e-01 -1.46495212e-04 9.82289026e+00] [ 3.58333027e-02 -1.50876866e-03 9.99356642e-01 9.00038269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.74, Y:9.82, Z:9.00 [[ 9.98149239e-01 -4.91102668e-02 -3.58647151e-02 2.56744344e+02] [ 4.91363168e-02 9.98792070e-01 -1.55243752e-04 9.82455404e+00] [ 3.58290170e-02 -1.60730357e-03 9.99356642e-01 9.00151934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.77, Y:9.82, Z:9.00 [[ 9.98167980e-01 -4.87279788e-02 -3.58645624e-02 2.56772975e+02] [ 4.87525720e-02 9.98810868e-01 -1.89002618e-04 9.82234044e+00] [ 3.58311244e-02 -1.55983330e-03 9.99356642e-01 9.00122894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.80, Y:9.82, Z:9.00 [[ 9.98027587e-01 -5.15233996e-02 -3.58646677e-02 2.56801944e+02] [ 5.15506074e-02 9.98670370e-01 -1.66299444e-04 9.82423666e+00] [ 3.58255492e-02 -1.68287397e-03 9.99356642e-01 9.00340307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:9.82, Z:9.00 [[ 9.98102627e-01 -5.00487720e-02 -3.58645655e-02 2.56831291e+02] [ 5.00742751e-02 9.98745479e-01 -1.87350749e-04 9.82248513e+00] [ 3.58289493e-02 -1.60889684e-03 9.99356642e-01 9.00341645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:9.82, Z:9.00 [[ 9.98103380e-01 -5.00337177e-02 -3.58646194e-02 2.56859612e+02] [ 5.00596044e-02 9.98746216e-01 -1.76381972e-04 9.82303757e+00] [ 3.58284780e-02 -1.61932122e-03 9.99356642e-01 9.00434252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:9.83, Z:9.01 [[ 9.98064914e-01 -5.07952401e-02 -3.58646098e-02 2.56888442e+02] [ 5.08215481e-02 9.98707734e-01 -1.78313148e-04 9.82521213e+00] [ 3.58273207e-02 -1.64472690e-03 9.99356642e-01 9.00665495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:9.83, Z:9.01 [[ 9.98173306e-01 -4.86189389e-02 -3.58643255e-02 2.56917724e+02] [ 4.86418174e-02 9.98816259e-01 -2.34857497e-04 9.82596636e+00] [ 3.58332900e-02 -1.51007749e-03 9.99356641e-01 9.00972819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:9.83, Z:9.01 [[ 9.98171037e-01 -4.86654330e-02 -3.58644204e-02 2.56946287e+02] [ 4.86890114e-02 9.98813963e-01 -2.16174648e-04 9.82802332e+00] [ 3.58324041e-02 -1.53042390e-03 9.99356641e-01 9.01063238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:9.83, Z:9.01 [[ 9.98310354e-01 -4.57194401e-02 -3.58631975e-02 2.56974532e+02] [ 4.57328825e-02 9.98953605e-01 -4.45843372e-04 9.82920935e+00] [ 3.58460541e-02 -1.19503734e-03 9.99356609e-01 9.01191451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.01, Y:9.83, Z:9.02 [[ 9.98402017e-01 -4.36719553e-02 -3.58632609e-02 2.57005184e+02] [ 4.36845037e-02 9.99045282e-01 -4.33992213e-04 9.82849306e+00] [ 3.58479749e-02 -1.13337005e-03 9.99356612e-01 9.01527795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.03, Y:9.83, Z:9.02 [[ 9.98493330e-01 -4.15313586e-02 -3.58638515e-02 2.57034401e+02] [ 4.15464363e-02 9.99136521e-01 -3.25051713e-04 9.82746151e+00] [ 3.58463837e-02 -1.16545326e-03 9.99356632e-01 9.01561165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:9.83, Z:9.02 [[ 9.98489621e-01 -4.16198247e-02 -3.58645603e-02 2.57062472e+02] [ 4.16396512e-02 9.99132675e-01 -1.94263227e-04 9.82758805e+00] [ 3.58415392e-02 -1.29941796e-03 9.99356641e-01 9.01672895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.09, Y:9.83, Z:9.02 [[ 9.98443922e-01 -4.27021380e-02 -3.58645009e-02 2.57089184e+02] [ 4.27222882e-02 9.99086965e-01 -2.04671073e-04 9.82760002e+00] [ 3.58404952e-02 -1.32786095e-03 9.99356641e-01 9.01627434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.12, Y:9.83, Z:9.02 [[ 9.98247779e-01 -4.70649680e-02 -3.58644746e-02 2.57115856e+02] [ 4.70877667e-02 9.98890734e-01 -2.09173194e-04 9.83143773e+00] [ 3.58345361e-02 -1.47997134e-03 9.99356641e-01 9.01628798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:9.83, Z:9.02 [[ 9.98192045e-01 -4.82341850e-02 -3.58623060e-02 2.57144315e+02] [ 4.82451751e-02 9.98835367e-01 -5.59357897e-04 9.83119675e+00] [ 3.58475197e-02 -1.17183663e-03 9.99356584e-01 9.01646800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:9.83, Z:9.02 [[ 9.98055588e-01 -5.09798609e-02 -3.58622030e-02 2.57172750e+02] [ 5.09920407e-02 9.98698894e-01 -5.75525433e-04 9.83002875e+00] [ 3.58448827e-02 -1.25428054e-03 9.99356579e-01 9.01625793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:9.83, Z:9.02 [[ 9.97987199e-01 -5.23014013e-02 -3.58624362e-02 2.57202801e+02] [ 5.23157993e-02 9.98630446e-01 -5.37435321e-04 9.83009217e+00] [ 3.58414293e-02 -1.33981844e-03 9.99356591e-01 9.01751195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.23, Y:9.83, Z:9.02 [[ 9.97906748e-01 -5.38146905e-02 -3.58622679e-02 2.57232917e+02] [ 5.38290744e-02 9.98550005e-01 -5.65019200e-04 9.83031838e+00] [ 3.58406741e-02 -1.36659621e-03 9.99356582e-01 9.01853012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:9.83, Z:9.02 [[ 9.98061609e-01 -5.08619485e-02 -3.58620535e-02 2.57265166e+02] [ 5.08731828e-02 9.98704941e-01 -5.99760923e-04 9.82638430e+00] [ 3.58461151e-02 -1.22581845e-03 9.99356570e-01 9.01960112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.29, Y:9.83, Z:9.02 [[ 9.98066664e-01 -5.07610405e-02 -3.58643446e-02 2.57294314e+02] [ 5.07861457e-02 9.98709529e-01 -2.11234562e-04 9.82677159e+00] [ 3.58287852e-02 -1.61058566e-03 9.99356645e-01 9.02113804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:9.83, Z:9.02 [[ 9.98160240e-01 -4.88864445e-02 -3.58643369e-02 2.57323659e+02] [ 4.89102959e-02 9.98803153e-01 -2.12528304e-04 9.82774898e+00] [ 3.58318025e-02 -1.54199803e-03 9.99356645e-01 9.02383910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.35, Y:9.83, Z:9.02 [[ 9.98185903e-01 -4.83596274e-02 -3.58643289e-02 2.57352021e+02] [ 4.83830914e-02 9.98828830e-01 -2.13868907e-04 9.82857533e+00] [ 3.58326683e-02 -1.52174618e-03 9.99356645e-01 9.02431113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:9.83, Z:9.03 [[ 9.98297786e-01 -4.59921868e-02 -3.58643170e-02 2.57380235e+02] [ 4.60140546e-02 9.98940769e-01 -2.15858156e-04 9.82955800e+00] [ 3.58362561e-02 -1.43477192e-03 9.99356645e-01 9.02645880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:9.83, Z:9.03 [[ 9.98345555e-01 -4.49433556e-02 -3.58643055e-02 2.57408544e+02] [ 4.49644803e-02 9.98988563e-01 -2.17743604e-04 9.83034627e+00] [ 3.58378171e-02 -1.39523650e-03 9.99356645e-01 9.02869410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:9.83, Z:9.03 [[ 9.98451358e-01 -4.25281344e-02 -3.58642399e-02 2.57436207e+02] [ 4.25473335e-02 9.99094426e-01 -2.28056638e-04 9.83252279e+00] [ 3.58414610e-02 -1.29822432e-03 9.99356645e-01 9.03166793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:9.83, Z:9.03 [[ 9.98498947e-01 -4.13963342e-02 -3.58635686e-02 2.57464266e+02] [ 4.14111453e-02 9.99142136e-01 -3.30051921e-04 9.83225963e+00] [ 3.58464655e-02 -1.15559495e-03 9.99356641e-01 9.03117009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:9.83, Z:9.03 [[ 9.98542934e-01 -4.03208509e-02 -3.58641664e-02 2.57492524e+02] [ 4.03381577e-02 9.99186056e-01 -2.41179954e-04 9.83294229e+00] [ 3.58446996e-02 -1.20586586e-03 9.99356645e-01 9.03238006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:9.83, Z:9.03 [[ 9.98504045e-01 -4.12727380e-02 -3.58640943e-02 2.57519391e+02] [ 4.12902888e-02 9.99147161e-01 -2.51464721e-04 9.83469856e+00] [ 3.58438866e-02 -1.22975027e-03 9.99356645e-01 9.03439583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.55, Y:9.83, Z:9.04 [[ 9.98494008e-01 -4.15158342e-02 -3.58629578e-02 2.57547770e+02] [ 4.15279658e-02 9.99137259e-01 -4.06876191e-04 9.83498947e+00] [ 3.58489092e-02 -1.08305225e-03 9.99356634e-01 9.03546872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.58, Y:9.83, Z:9.03 [[ 9.98507702e-01 -4.11852403e-02 -3.58628671e-02 2.57576243e+02] [ 4.11967303e-02 9.99150967e-01 -4.18821706e-04 9.83362661e+00] [ 3.58496676e-02 -1.05923617e-03 9.99356633e-01 9.03421600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:9.83, Z:9.04 [[ 9.98496203e-01 -4.14621214e-02 -3.58639751e-02 2.57604610e+02] [ 4.14789981e-02 9.99139339e-01 -2.73657771e-04 9.83383923e+00] [ 3.58444548e-02 -1.21435551e-03 9.99356643e-01 9.03518351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:9.84, Z:9.04 [[ 9.98343275e-01 -4.49942837e-02 -3.58638949e-02 2.57630743e+02] [ 4.50130718e-02 9.98986358e-01 -2.83796116e-04 9.83629111e+00] [ 3.58403110e-02 -1.33101813e-03 9.99356643e-01 9.03804945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:9.84, Z:9.04 [[ 9.98361384e-01 -4.45925431e-02 -3.58615582e-02 2.57659049e+02] [ 4.46010502e-02 9.99004719e-01 -5.63131839e-04 9.83516184e+00] [ 3.58509774e-02 -1.03725408e-03 9.99356609e-01 9.03888571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.69, Y:9.83, Z:9.04 [[ 9.98325569e-01 -4.53865292e-02 -3.58625257e-02 2.57688265e+02] [ 4.53996279e-02 9.98968804e-01 -4.49421580e-04 9.83445659e+00] [ 3.58459421e-02 -1.17947627e-03 9.99356632e-01 9.03799849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:9.84, Z:9.04 [[ 9.98236030e-01 -4.73140634e-02 -3.58637486e-02 2.57715804e+02] [ 4.73335396e-02 9.98879093e-01 -3.06273716e-04 9.83500542e+00] [ 3.58380397e-02 -1.39182470e-03 9.99356642e-01 9.04025453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:9.84, Z:9.04 [[ 9.98187261e-01 -4.83320749e-02 -3.58636566e-02 2.57743571e+02] [ 4.83518332e-02 9.98830316e-01 -3.16690454e-04 9.83581890e+00] [ 3.58370137e-02 -1.41795716e-03 9.99356642e-01 9.04129033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:9.84, Z:9.04 [[ 9.98135712e-01 -4.93852267e-02 -3.58636279e-02 2.57772679e+02] [ 4.94055479e-02 9.98778749e-01 -3.19910463e-04 9.83653685e+00] [ 3.58356282e-02 -1.45254813e-03 9.99356642e-01 9.04277463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.80, Y:9.84, Z:9.04 [[ 9.98087636e-01 -5.03475638e-02 -3.58635478e-02 2.57802046e+02] [ 5.03681916e-02 9.98730663e-01 -3.28647096e-04 9.83711228e+00] [ 3.58345715e-02 -1.47836344e-03 9.99356642e-01 9.04479077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.83, Y:9.84, Z:9.05 [[ 9.98029748e-01 -5.14823254e-02 -3.58635360e-02 2.57832016e+02] [ 5.15036383e-02 9.98672752e-01 -3.29929796e-04 9.83762384e+00] [ 3.58329218e-02 -1.51782284e-03 9.99356642e-01 9.04619991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:9.84, Z:9.05 [[ 9.97861328e-01 -5.46495987e-02 -3.58635242e-02 2.57861193e+02] [ 5.46729066e-02 9.98504263e-01 -3.31204204e-04 9.83817506e+00] [ 3.58279820e-02 -1.63026724e-03 9.99356642e-01 9.04788822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:9.84, Z:9.05 [[ 9.97747790e-01 -5.66847122e-02 -3.58635122e-02 2.57890356e+02] [ 5.67092848e-02 9.98390678e-01 -3.32502862e-04 9.83858334e+00] [ 3.58246441e-02 -1.70204013e-03 9.99356642e-01 9.04900710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.92, Y:9.84, Z:9.05 [[ 9.97609093e-01 -5.90754379e-02 -3.58635062e-02 2.57920606e+02] [ 5.91015278e-02 9.98251921e-01 -3.33148886e-04 9.83853886e+00] [ 3.58204949e-02 -1.78723565e-03 9.99356642e-01 9.04967717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.95, Y:9.84, Z:9.05 [[ 9.97590334e-01 -5.93913711e-02 -3.58635062e-02 2.57952112e+02] [ 5.94176646e-02 9.98233154e-01 -3.33148886e-04 9.83846184e+00] [ 3.58199271e-02 -1.79857967e-03 9.99356642e-01 9.05109925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.98, Y:9.84, Z:9.05 [[ 9.97581423e-01 -5.95408432e-02 -3.58635183e-02 2.57983081e+02] [ 5.95672798e-02 9.98224238e-01 -3.31843482e-04 9.83839048e+00] [ 3.58195914e-02 -1.80525133e-03 9.99356642e-01 9.05262165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:9.84, Z:9.05 [[ 9.97601487e-01 -5.92037147e-02 -3.58635303e-02 2.58014690e+02] [ 5.92299809e-02 9.98244309e-01 -3.30534573e-04 9.83863338e+00] [ 3.58201339e-02 -1.79445444e-03 9.99356642e-01 9.05397971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:9.84, Z:9.06 [[ 9.97633293e-01 -5.86653067e-02 -3.58635422e-02 2.58045634e+02] [ 5.86912725e-02 9.98276127e-01 -3.29237755e-04 9.83889217e+00] [ 3.58210329e-02 -1.77641839e-03 9.99356642e-01 9.05552991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.08, Y:9.84, Z:9.06 [[ 9.97646877e-01 -5.84338402e-02 -3.58635540e-02 2.58075501e+02] [ 5.84597032e-02 9.98289715e-01 -3.27948604e-04 9.83961287e+00] [ 3.58213804e-02 -1.76939582e-03 9.99356642e-01 9.05786928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.11, Y:9.84, Z:9.06 [[ 9.97693223e-01 -5.76371266e-02 -3.58635599e-02 2.58107291e+02] [ 5.76624992e-02 9.98336080e-01 -3.27307645e-04 9.83994502e+00] [ 3.58227509e-02 -1.74142987e-03 9.99356642e-01 9.05932051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:9.84, Z:9.06 [[ 9.97726877e-01 -5.70515796e-02 -3.58635715e-02 2.58138069e+02] [ 5.70766209e-02 9.98369748e-01 -3.26024320e-04 9.84039473e+00] [ 3.58237051e-02 -1.72168825e-03 9.99356642e-01 9.06003344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.17, Y:9.84, Z:9.06 [[ 9.97778128e-01 -5.61481287e-02 -3.58635715e-02 2.58168071e+02] [ 5.61725879e-02 9.98421020e-01 -3.26024320e-04 9.84083241e+00] [ 3.58252493e-02 -1.68924969e-03 9.99356642e-01 9.06131327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.20, Y:9.84, Z:9.06 [[ 9.97779390e-01 -5.61256933e-02 -3.58635715e-02 2.58197551e+02] [ 5.61501380e-02 9.98422283e-01 -3.26024320e-04 9.84113401e+00] [ 3.58252873e-02 -1.68844414e-03 9.99356642e-01 9.06132301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.23, Y:9.84, Z:9.06 [[ 9.97791392e-01 -5.59119261e-02 -3.58635657e-02 2.58227751e+02] [ 5.59362102e-02 9.98434291e-01 -3.26662179e-04 9.84144516e+00] [ 3.58256781e-02 -1.68013124e-03 9.99356642e-01 9.06316879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.26, Y:9.84, Z:9.06 [[ 9.97783057e-01 -5.60604631e-02 -3.58635657e-02 2.58258071e+02] [ 5.60848430e-02 9.98425953e-01 -3.26662179e-04 9.84183644e+00] [ 3.58254276e-02 -1.68546446e-03 9.99356642e-01 9.06447488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.29, Y:9.84, Z:9.06 [[ 9.97771939e-01 -5.62580028e-02 -3.58635657e-02 2.58287810e+02] [ 5.62825099e-02 9.98414830e-01 -3.26662179e-04 9.84203717e+00] [ 3.58250932e-02 -1.69255714e-03 9.99356642e-01 9.06424874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:9.84, Z:9.07 [[ 9.97771938e-01 -5.62580254e-02 -3.58635600e-02 2.58318786e+02] [ 5.62825099e-02 9.98414830e-01 -3.27292922e-04 9.84232017e+00] [ 3.58251230e-02 -1.69192748e-03 9.99356642e-01 9.06536067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:9.84, Z:9.07 [[ 9.97756549e-01 -5.65303016e-02 -3.58635600e-02 2.58349610e+02] [ 5.65549615e-02 9.98399434e-01 -3.27292922e-04 9.84251868e+00] [ 3.58246599e-02 -1.70170360e-03 9.99356642e-01 9.06683026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:9.84, Z:9.07 [[ 9.97751907e-01 -5.66121632e-02 -3.58635600e-02 2.58380398e+02] [ 5.66368758e-02 9.98394790e-01 -3.27292922e-04 9.84325276e+00] [ 3.58245202e-02 -1.70464286e-03 9.99356642e-01 9.06839310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:9.84, Z:9.07 [[ 9.97755836e-01 -5.65428841e-02 -3.58635600e-02 2.58411027e+02] [ 5.65675522e-02 9.98398720e-01 -3.27292922e-04 9.84414543e+00] [ 3.58246385e-02 -1.70215538e-03 9.99356642e-01 9.07034858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:9.84, Z:9.07 [[ 9.97768619e-01 -5.63168573e-02 -3.58635600e-02 2.58441313e+02] [ 5.63413797e-02 9.98411509e-01 -3.27292922e-04 9.84493871e+00] [ 3.58250231e-02 -1.69403984e-03 9.99356642e-01 9.07077110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:9.85, Z:9.07 [[ 9.97796294e-01 -5.58243617e-02 -3.58635801e-02 2.58471578e+02] [ 5.58486463e-02 9.98439193e-01 -3.25075447e-04 9.84548970e+00] [ 3.58257511e-02 -1.67857332e-03 9.99356642e-01 9.07300775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:9.85, Z:9.08 [[ 9.97881565e-01 -5.42787822e-02 -3.58635801e-02 2.58502363e+02] [ 5.43020710e-02 9.98524501e-01 -3.25075447e-04 9.84706732e+00] [ 3.58283081e-02 -1.62307988e-03 9.99356642e-01 9.07512327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.53, Y:9.85, Z:9.08 [[ 9.97928377e-01 -5.34112132e-02 -3.58635801e-02 2.58532604e+02] [ 5.34339430e-02 9.98571333e-01 -3.25075447e-04 9.84807350e+00] [ 3.58297057e-02 -1.59193048e-03 9.99356642e-01 9.07710237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.56, Y:9.85, Z:9.08 [[ 9.97999880e-01 -5.20580734e-02 -3.58635801e-02 2.58562248e+02] [ 5.20799314e-02 9.98642867e-01 -3.25075447e-04 9.84889959e+00] [ 3.58318312e-02 -1.54334753e-03 9.99356642e-01 9.07827620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:9.85, Z:9.08 [[ 9.98086677e-01 -5.03665563e-02 -3.58635742e-02 2.58591964e+02] [ 5.03873013e-02 9.98729700e-01 -3.25721199e-04 9.84982529e+00] [ 3.58344222e-02 -1.48197073e-03 9.99356642e-01 9.07913626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:9.85, Z:9.08 [[ 9.98262729e-01 -4.67474964e-02 -3.58635684e-02 2.58622833e+02] [ 4.67658872e-02 9.98905824e-01 -3.26354229e-04 9.85093694e+00] [ 3.58395836e-02 -1.35140433e-03 9.99356642e-01 9.08183725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.65, Y:9.85, Z:9.08 [[ 9.98348333e-01 -4.48821770e-02 -3.58635684e-02 2.58651588e+02] [ 4.48993662e-02 9.98991462e-01 -3.26354229e-04 9.85153611e+00] [ 3.58420462e-02 -1.28443629e-03 9.99356642e-01 9.08252161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:9.85, Z:9.08 [[ 9.98426906e-01 -4.30989528e-02 -3.58635507e-02 2.58680010e+02] [ 4.31149235e-02 9.99070065e-01 -3.28296818e-04 9.85210282e+00] [ 3.58443492e-02 -1.21847387e-03 9.99356642e-01 9.08396887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:9.85, Z:9.09 [[ 9.98495638e-01 -4.14761778e-02 -3.58634660e-02 2.58707404e+02] [ 4.14907801e-02 9.99138830e-01 -3.37300555e-04 9.85301868e+00] [ 3.58465714e-02 -1.15121005e-03 9.99356642e-01 9.08519475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:9.85, Z:9.09 [[ 9.98623881e-01 -3.82643821e-02 -3.58633663e-02 2.58735735e+02] [ 3.82765464e-02 9.99267124e-01 -3.47588871e-04 9.85470400e+00] [ 3.58503831e-02 -1.02561526e-03 9.99356642e-01 9.08669180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:9.86, Z:9.09 [[ 9.98685575e-01 -3.66189699e-02 -3.58632699e-02 2.58763429e+02] [ 3.66297271e-02 9.99328843e-01 -3.57267172e-04 9.85556060e+00] [ 3.58522827e-02 -9.56864217e-04 9.99356642e-01 9.08750029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.79, Y:9.86, Z:9.09 [[ 9.98788178e-01 -3.37046636e-02 -3.58632378e-02 2.58791005e+02] [ 3.37134292e-02 9.99431476e-01 -3.60458195e-04 9.85611126e+00] [ 3.58549978e-02 -8.49051343e-04 9.99356642e-01 9.08932908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:9.86, Z:9.09 [[ 9.98834134e-01 -3.23142086e-02 -3.58631327e-02 2.58818500e+02] [ 3.23217137e-02 9.99477448e-01 -3.70628793e-04 9.85631561e+00] [ 3.58563689e-02 -7.88961216e-04 9.99356642e-01 9.09044806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.85, Y:9.86, Z:9.09 [[ 9.98878882e-01 -3.09002202e-02 -3.58630241e-02 2.58845965e+02] [ 3.09064475e-02 9.99522209e-01 -3.80857265e-04 9.85652558e+00] [ 3.58576576e-02 -7.27968391e-04 9.99356642e-01 9.09155654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:9.86, Z:9.09 [[ 9.98976709e-01 -2.75569695e-02 -3.58629123e-02 2.58873852e+02] [ 2.75606757e-02 9.99620056e-01 -3.91108495e-04 9.85697517e+00] [ 3.58600641e-02 -5.97697817e-04 9.99356642e-01 9.09282476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:9.86, Z:9.09 [[ 9.99021439e-01 -2.58848319e-02 -3.58627980e-02 2.58900345e+02] [ 2.58870947e-02 9.99664792e-01 -4.01320458e-04 9.85780221e+00] [ 3.58611646e-02 -5.27455908e-04 9.99356642e-01 9.09324549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:9.86, Z:9.10 [[ 9.99049860e-01 -2.47636789e-02 -3.58627480e-02 2.58927793e+02] [ 2.47650613e-02 9.99693217e-01 -4.05735858e-04 9.85876307e+00] [ 3.58617934e-02 -4.82792801e-04 9.99356642e-01 9.09575553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:9.86, Z:9.10 [[ 9.99102329e-01 -2.25479192e-02 -3.58626281e-02 2.58955763e+02] [ 2.25475036e-02 9.99745686e-01 -4.16076809e-04 9.85972622e+00] [ 3.58628894e-02 -3.92909427e-04 9.99356642e-01 9.09653060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:9.86, Z:9.10 [[ 9.99112014e-01 -2.21146778e-02 -3.58625906e-02 2.58983841e+02] [ 2.21138683e-02 9.99755371e-01 -4.19277815e-04 9.86029074e+00] [ 3.58630898e-02 -3.74155105e-04 9.99356642e-01 9.09777359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:9.86, Z:9.10 [[ 9.99114275e-01 -2.20124617e-02 -3.58624699e-02 2.59011829e+02] [ 2.20112246e-02 9.99757631e-01 -4.29358868e-04 9.86058794e+00] [ 3.58632293e-02 -3.60398304e-04 9.99356642e-01 9.09898416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:9.86, Z:9.10 [[ 9.99117740e-01 -2.18548428e-02 -3.58623468e-02 2.59040086e+02] [ 2.18531436e-02 9.99761095e-01 -4.39406864e-04 9.86046641e+00] [ 3.58633823e-02 -3.44685822e-04 9.99356643e-01 9.10023414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.07, Y:9.86, Z:9.10 [[ 9.99087318e-01 -2.32040150e-02 -3.58623085e-02 2.59068049e+02] [ 2.32030730e-02 9.99730675e-01 -4.42515926e-04 9.85980097e+00] [ 3.58629180e-02 -3.90003711e-04 9.99356643e-01 9.10182237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:9.86, Z:9.10 [[ 9.99050364e-01 -2.47440572e-02 -3.58622702e-02 2.59095962e+02] [ 2.47439963e-02 9.99693721e-01 -4.45597985e-04 9.85934108e+00] [ 3.58623122e-02 -4.42201052e-04 9.99356643e-01 9.10360700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:9.86, Z:9.10 [[ 9.98996873e-01 -2.68170473e-02 -3.58621409e-02 2.59124224e+02] [ 2.68179563e-02 9.99640230e-01 -4.55768302e-04 9.85869987e+00] [ 3.58614612e-02 -5.06438220e-04 9.99356643e-01 9.10493350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:9.86, Z:9.10 [[ 9.98863721e-01 -3.13876384e-02 -3.58620055e-02 2.59152300e+02] [ 3.13911170e-02 9.99507069e-01 -4.66189855e-04 9.85670748e+00] [ 3.58589605e-02 -6.60088278e-04 9.99356643e-01 9.10472620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:9.86, Z:9.11 [[ 9.98772132e-01 -3.41781761e-02 -3.58619632e-02 2.59180583e+02] [ 3.41833361e-02 9.99415469e-01 -4.69419937e-04 9.85560421e+00] [ 3.58570446e-02 -7.57037990e-04 9.99356643e-01 9.10606061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:9.85, Z:9.11 [[ 9.98659226e-01 -3.73319351e-02 -3.58619205e-02 2.59208190e+02] [ 3.73390106e-02 9.99302544e-01 -4.72654794e-04 9.85433882e+00] [ 3.58545536e-02 -8.67027561e-04 9.99356643e-01 9.10683282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.24, Y:9.85, Z:9.11 [[ 9.98408652e-01 -4.35212111e-02 -3.58617816e-02 2.59235591e+02] [ 4.35319037e-02 9.99051921e-01 -4.82970900e-04 9.85073578e+00] [ 3.58488013e-02 -1.07892930e-03 9.99356643e-01 9.10698653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:9.85, Z:9.11 [[ 9.98252713e-01 -4.69623406e-02 -3.58616847e-02 2.59263089e+02] [ 4.69749959e-02 9.98895945e-01 -4.90063911e-04 9.84952920e+00] [ 3.58451060e-02 -1.19539486e-03 9.99356643e-01 9.10800563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:9.85, Z:9.11 [[ 9.98090206e-01 -5.02980144e-02 -3.58615425e-02 2.59291464e+02] [ 5.03124533e-02 9.98733401e-01 -5.00259124e-04 9.84830239e+00] [ 3.58412823e-02 -1.30497845e-03 9.99356643e-01 9.10924174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.32, Y:9.85, Z:9.11 [[ 9.97926489e-01 -5.34479287e-02 -3.58614163e-02 2.59320698e+02] [ 5.34640787e-02 9.98569644e-01 -5.09146780e-04 9.84713710e+00] [ 3.58373345e-02 -1.40920652e-03 9.99356643e-01 9.11071202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:9.84, Z:9.11 [[ 9.97597684e-01 -5.92690544e-02 -3.58613981e-02 2.59351244e+02] [ 5.92889107e-02 9.98240735e-01 -5.10421775e-04 9.84460443e+00] [ 3.58285606e-02 -1.61698765e-03 9.99356643e-01 9.11200372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.38, Y:9.84, Z:9.11 [[ 9.97443859e-01 -6.18037888e-02 -3.58613981e-02 2.59381952e+02] [ 6.18252790e-02 9.98086857e-01 -5.10421775e-04 9.84352266e+00] [ 3.58243362e-02 -1.70802388e-03 9.99356643e-01 9.11255621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:9.84, Z:9.11 [[ 9.97167762e-01 -6.61091100e-02 -3.58614073e-02 2.59413708e+02] [ 6.61333989e-02 9.97810660e-01 -5.09777064e-04 9.84078108e+00] [ 3.58165954e-02 -1.86330350e-03 9.99356643e-01 9.11254934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:9.84, Z:9.11 [[ 9.97047420e-01 -6.78999272e-02 -3.58614256e-02 2.59444783e+02] [ 6.79254171e-02 9.97690272e-01 -5.08483761e-04 9.83962641e+00] [ 3.58131215e-02 -1.92891987e-03 9.99356643e-01 9.11273977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.48, Y:9.84, Z:9.11 [[ 9.96946134e-01 -6.93711960e-02 -3.58614530e-02 2.59476572e+02] [ 6.93977040e-02 9.97588944e-01 -5.06546957e-04 9.83901289e+00] [ 3.58101288e-02 -1.98370247e-03 9.99356643e-01 9.11379805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:9.84, Z:9.12 [[ 9.96820441e-01 -7.11544948e-02 -3.58614889e-02 2.59508896e+02] [ 7.11822442e-02 9.97463199e-01 -5.03994159e-04 9.83805618e+00] [ 3.58063769e-02 -2.05030958e-03 9.99356643e-01 9.11529573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:9.84, Z:9.12 [[ 9.96791825e-01 -7.15542312e-02 -3.58615252e-02 2.59539824e+02] [ 7.15823314e-02 9.97434569e-01 -5.01398763e-04 9.83812436e+00] [ 3.58054021e-02 -2.06726139e-03 9.99356643e-01 9.11645049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:9.84, Z:9.12 [[ 9.96784035e-01 -7.16626559e-02 -3.58615521e-02 2.59572070e+02] [ 7.16908955e-02 9.97426772e-01 -4.99461953e-04 9.83826155e+00] [ 3.58050650e-02 -2.07309109e-03 9.99356643e-01 9.11830649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:9.84, Z:9.12 [[ 9.96817638e-01 -7.11937000e-02 -3.58615885e-02 2.59603150e+02] [ 7.12217314e-02 9.97460384e-01 -4.96835297e-04 9.83842615e+00] [ 3.58058854e-02 -2.05887024e-03 9.99356643e-01 9.11951766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:9.84, Z:9.12 [[ 9.96822779e-01 -7.11216637e-02 -3.58616155e-02 2.59635821e+02] [ 7.11497188e-02 9.97465525e-01 -4.94878005e-04 9.83881771e+00] [ 3.58059217e-02 -2.05823819e-03 9.99356643e-01 9.12068957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:9.84, Z:9.12 [[ 9.96876388e-01 -7.03662469e-02 -3.58616511e-02 2.59667061e+02] [ 7.03939078e-02 9.97519150e-01 -4.92287276e-04 9.83806436e+00] [ 3.58073241e-02 -2.03369220e-03 9.99356643e-01 9.12175495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:9.84, Z:9.12 [[ 9.96872480e-01 -7.04215572e-02 -3.58617095e-02 2.59698732e+02] [ 7.04494078e-02 9.97515234e-01 -4.87994030e-04 9.83796340e+00] [ 3.58069669e-02 -2.03996838e-03 9.99356643e-01 9.12328662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:9.84, Z:9.12 [[ 9.96894485e-01 -7.01093577e-02 -3.58617448e-02 2.59730190e+02] [ 7.01371005e-02 9.97537243e-01 -4.85386707e-04 9.83784940e+00] [ 3.58074562e-02 -2.03135947e-03 9.99356643e-01 9.12318573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:9.84, Z:9.12 [[ 9.96944275e-01 -6.93977382e-02 -3.58617710e-02 2.59761715e+02] [ 6.94250918e-02 9.97587050e-01 -4.83443726e-04 9.83709389e+00] [ 3.58087882e-02 -2.00774029e-03 9.99356643e-01 9.12258867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:9.84, Z:9.12 [[ 9.96890304e-01 -7.01692359e-02 -3.58608392e-02 2.59793453e+02] [ 7.01945998e-02 9.97533164e-01 -5.52803469e-04 9.83705266e+00] [ 3.58111661e-02 -1.96615283e-03 9.99356640e-01 9.12416263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:9.84, Z:9.13 [[ 9.96885447e-01 -7.02376997e-02 -3.58618239e-02 2.59825937e+02] [ 7.02657506e-02 9.97528192e-01 -4.79100631e-04 9.83714336e+00] [ 3.58068313e-02 -2.04224953e-03 9.99356643e-01 9.12529037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:9.84, Z:9.13 [[ 9.96876986e-01 -7.03576671e-02 -3.58618578e-02 2.59858264e+02] [ 7.03858869e-02 9.97519724e-01 -4.76547808e-04 9.83756221e+00] [ 3.58064393e-02 -2.04910912e-03 9.99356643e-01 9.12647748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:9.84, Z:9.13 [[ 9.96848985e-01 -7.07532695e-02 -3.58618914e-02 2.59890574e+02] [ 7.07818353e-02 9.97491708e-01 -4.74009563e-04 9.83801370e+00] [ 3.58054770e-02 -2.06585454e-03 9.99356643e-01 9.12774232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:9.84, Z:9.13 [[ 9.96843515e-01 -7.08302830e-02 -3.58619247e-02 2.59922554e+02] [ 7.08589895e-02 9.97486231e-01 -4.71471586e-04 9.83861665e+00] [ 3.58051706e-02 -2.07115635e-03 9.99356643e-01 9.12867540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:9.84, Z:9.13 [[ 9.96863103e-01 -7.05540426e-02 -3.58619580e-02 2.59953801e+02] [ 7.05826623e-02 9.97505823e-01 -4.68925674e-04 9.83942101e+00] [ 3.58055966e-02 -2.06377777e-03 9.99356643e-01 9.12890850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:9.84, Z:9.13 [[ 9.96913915e-01 -6.98323840e-02 -3.58620136e-02 2.59984866e+02] [ 6.98606923e-02 9.97556649e-01 -4.64634034e-04 9.84112441e+00] [ 3.58068366e-02 -2.04214497e-03 9.99356643e-01 9.13020334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:9.84, Z:9.13 [[ 9.96944505e-01 -6.93942970e-02 -3.58620374e-02 2.60017405e+02] [ 6.94223890e-02 9.97587248e-01 -4.62789453e-04 9.84223836e+00] [ 3.58076262e-02 -2.02825291e-03 9.99356643e-01 9.13243829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:9.84, Z:9.13 [[ 9.96991168e-01 -6.87206094e-02 -3.58620697e-02 2.60048663e+02] [ 6.87483572e-02 9.97633927e-01 -4.60275240e-04 9.84327122e+00] [ 3.58088478e-02 -2.00656803e-03 9.99356643e-01 9.13390188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:9.85, Z:9.14 [[ 9.97186113e-01 -6.58313493e-02 -3.58620937e-02 2.60080894e+02] [ 6.58573017e-02 9.97828946e-01 -4.58401218e-04 9.84501031e+00] [ 3.58144123e-02 -1.90466939e-03 9.99356643e-01 9.13626768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:9.85, Z:9.14 [[ 9.97301398e-01 -6.40611343e-02 -3.58621248e-02 2.60111984e+02] [ 6.40860333e-02 9.97944273e-01 -4.55953516e-04 9.84605169e+00] [ 3.58176109e-02 -1.84353824e-03 9.99356643e-01 9.13849627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:9.85, Z:9.14 [[ 9.97540240e-01 -6.02277095e-02 -3.58621411e-02 2.60142953e+02] [ 6.02501838e-02 9.98183204e-01 -4.54664415e-04 9.84826499e+00] [ 3.58243703e-02 -1.70715454e-03 9.99356643e-01 9.14019812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:9.85, Z:9.14 [[ 9.97542390e-01 -6.01920732e-02 -3.58621573e-02 2.60174776e+02] [ 6.02145705e-02 9.98185354e-01 -4.53383560e-04 9.84863755e+00] [ 3.58243703e-02 -1.70715508e-03 9.99356643e-01 9.14133986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:9.85, Z:9.14 [[ 9.97737608e-01 -5.68644897e-02 -3.58621734e-02 2.60204973e+02] [ 5.68848882e-02 9.98380641e-01 -4.52103243e-04 9.85132029e+00] [ 3.58298084e-02 -1.58893532e-03 9.99356643e-01 9.14275406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:9.85, Z:9.14 [[ 9.97807121e-01 -5.56313983e-02 -3.58621814e-02 2.60235474e+02] [ 5.56510249e-02 9.98450179e-01 -4.51468108e-04 9.85238465e+00] [ 3.58317173e-02 -1.54528906e-03 9.99356643e-01 9.14471007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:9.85, Z:9.15 [[ 9.97807121e-01 -5.56313983e-02 -3.58621814e-02 2.60266451e+02] [ 5.56510249e-02 9.98450179e-01 -4.51468108e-04 9.85277462e+00] [ 3.58317173e-02 -1.54528906e-03 9.99356643e-01 9.14582186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:9.85, Z:9.15 [[ 9.97891013e-01 -5.41057311e-02 -3.58621814e-02 2.60297423e+02] [ 5.41243744e-02 9.98534100e-01 -4.51468108e-04 9.85335514e+00] [ 3.58340381e-02 -1.49050217e-03 9.99356643e-01 9.14668807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:9.85, Z:9.15 [[ 9.97888756e-01 -5.41473419e-02 -3.58621814e-02 2.60328132e+02] [ 5.41660121e-02 9.98531842e-01 -4.51468108e-04 9.85365268e+00] [ 3.58339759e-02 -1.49199640e-03 9.99356643e-01 9.14774793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:9.85, Z:9.15 [[ 9.97880871e-01 -5.42924577e-02 -3.58621814e-02 2.60357163e+02] [ 5.43112214e-02 9.98523954e-01 -4.51468108e-04 9.85366994e+00] [ 3.58337585e-02 -1.49720749e-03 9.99356643e-01 9.14833272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:9.85, Z:9.15 [[ 9.97847758e-01 -5.48976972e-02 -3.58621735e-02 2.60387928e+02] [ 5.49168284e-02 9.98490830e-01 -4.52095974e-04 9.85363405e+00] [ 3.58328704e-02 -1.51831387e-03 9.99356643e-01 9.14941396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.42, Y:9.85, Z:9.15 [[ 9.97746313e-01 -5.67115539e-02 -3.58621735e-02 2.60418536e+02] [ 5.67318541e-02 9.98389349e-01 -4.52095974e-04 9.85314072e+00] [ 3.58300512e-02 -1.58345051e-03 9.99356643e-01 9.15079905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.45, Y:9.85, Z:9.15 [[ 9.97694251e-01 -5.76201841e-02 -3.58621735e-02 2.60448385e+02] [ 5.76410700e-02 9.98337269e-01 -4.52095974e-04 9.85295952e+00] [ 3.58285942e-02 -1.61608050e-03 9.99356643e-01 9.15151098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.48, Y:9.85, Z:9.15 [[ 9.97611894e-01 -5.90289304e-02 -3.58621655e-02 2.60479121e+02] [ 5.90507012e-02 9.98254882e-01 -4.52735879e-04 9.85179026e+00] [ 3.58263063e-02 -1.66603132e-03 9.99356643e-01 9.15207752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.51, Y:9.85, Z:9.15 [[ 9.97580727e-01 -5.95533213e-02 -3.58621655e-02 2.60509180e+02] [ 5.95754301e-02 9.98223704e-01 -4.52735879e-04 9.85179502e+00] [ 3.58254256e-02 -1.68486334e-03 9.99356643e-01 9.15206751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:9.85, Z:9.15 [[ 9.97578733e-01 -5.95867071e-02 -3.58621737e-02 2.60540083e+02] [ 5.96088609e-02 9.98221709e-01 -4.52081834e-04 9.85224679e+00] [ 3.58253384e-02 -1.68671610e-03 9.99356643e-01 9.15271766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.57, Y:9.85, Z:9.15 [[ 9.97605009e-01 -5.91451602e-02 -3.58621737e-02 2.60570149e+02] [ 5.91670294e-02 9.98247994e-01 -4.52081834e-04 9.85285014e+00] [ 3.58260814e-02 -1.67085918e-03 9.99356643e-01 9.15197734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.60, Y:9.86, Z:9.15 [[ 9.97511931e-01 -6.06947320e-02 -3.58621817e-02 2.60597823e+02] [ 6.07176228e-02 9.98154881e-01 -4.51444710e-04 9.85673733e+00] [ 3.58234120e-02 -1.72714494e-03 9.99356643e-01 9.15066027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.63, Y:9.85, Z:9.15 [[ 9.97668754e-01 -5.80637977e-02 -3.58560004e-02 2.60629316e+02] [ 5.80679471e-02 9.98312203e-01 -9.26522912e-04 9.85402800e+00] [ 3.58492802e-02 -1.15772137e-03 9.99356537e-01 9.15423564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.66, Y:9.86, Z:9.16 [[ 9.97786877e-01 -5.59934476e-02 -3.58619859e-02 2.60660118e+02] [ 5.60132461e-02 9.98429923e-01 -4.53173310e-04 9.85512895e+00] [ 3.58310546e-02 -1.55657586e-03 9.99356649e-01 9.15628065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.69, Y:9.86, Z:9.16 [[ 9.97849920e-01 -5.48584958e-02 -3.58619859e-02 2.60690732e+02] [ 5.48775629e-02 9.98492988e-01 -4.53173310e-04 9.85628014e+00] [ 3.58328019e-02 -1.51581944e-03 9.99356649e-01 9.15795406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.72, Y:9.86, Z:9.16 [[ 9.97864906e-01 -5.45852380e-02 -3.58619859e-02 2.60720062e+02] [ 5.46041290e-02 9.98507979e-01 -4.53173310e-04 9.85923283e+00] [ 3.58332157e-02 -1.50600676e-03 9.99356649e-01 9.15909693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.75, Y:9.86, Z:9.16 [[ 9.97945283e-01 -5.30978992e-02 -3.58584184e-02 2.60750436e+02] [ 5.31057718e-02 9.98588623e-01 -7.33542775e-04 9.85976602e+00] [ 3.58467583e-02 -1.17225343e-03 9.99356611e-01 9.16078005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:9.86, Z:9.16 [[ 9.98128450e-01 -4.95355504e-02 -3.58584197e-02 2.60780474e+02] [ 4.95411301e-02 9.98771815e-01 -7.33443327e-04 9.85848424e+00] [ 3.58507105e-02 -1.04439599e-03 9.99356611e-01 9.16231823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:9.86, Z:9.16 [[ 9.98220696e-01 -4.76378166e-02 -3.58619639e-02 2.60808775e+02] [ 4.76522390e-02 9.98863884e-01 -4.52940271e-04 9.85861220e+00] [ 3.58427976e-02 -1.25676852e-03 9.99356650e-01 9.16177478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.84, Y:9.86, Z:9.16 [[ 9.98208830e-01 -4.78858428e-02 -3.58619396e-02 2.60837988e+02] [ 4.79003563e-02 9.98852016e-01 -4.54854752e-04 9.85902087e+00] [ 3.58425518e-02 -1.26375966e-03 9.99356650e-01 9.16282393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.87, Y:9.86, Z:9.16 [[ 9.98244049e-01 -4.71460316e-02 -3.58618243e-02 2.60865995e+02] [ 4.71597486e-02 9.98887252e-01 -4.63768601e-04 9.85906161e+00] [ 3.58437840e-02 -1.22828037e-03 9.99356650e-01 9.16328578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.89, Y:9.86, Z:9.16 [[ 9.98265222e-01 -4.66956005e-02 -3.58617833e-02 2.60893330e+02] [ 4.67089141e-02 9.98908434e-01 -4.66922253e-04 9.85852831e+00] [ 3.58444410e-02 -1.20895271e-03 9.99356650e-01 9.16386008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.92, Y:9.86, Z:9.16 [[ 9.98248093e-01 -4.70603839e-02 -3.58617429e-02 2.60920814e+02] [ 4.70738221e-02 9.98891303e-01 -4.70000227e-04 9.85864815e+00] [ 3.58441015e-02 -1.21897248e-03 9.99356650e-01 9.16441675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.95, Y:9.86, Z:9.16 [[ 9.98238749e-01 -4.72582745e-02 -3.58616100e-02 2.60948772e+02] [ 4.72714838e-02 9.98881963e-01 -4.79930954e-04 9.85819614e+00] [ 3.58441962e-02 -1.21614584e-03 9.99356650e-01 9.16435947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:9.86, Z:9.16 [[ 9.98230797e-01 -4.74260511e-02 -3.58614674e-02 2.60976825e+02] [ 4.74389941e-02 9.98874017e-01 -4.90364167e-04 9.85806344e+00] [ 3.58443440e-02 -1.21173533e-03 9.99356650e-01 9.16397192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:9.86, Z:9.16 [[ 9.98204980e-01 -4.79664163e-02 -3.58614231e-02 2.61004359e+02] [ 4.79795921e-02 9.98848194e-01 -4.93582615e-04 9.85826916e+00] [ 3.58437931e-02 -1.22791983e-03 9.99356650e-01 9.16419898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:9.86, Z:9.16 [[ 9.98176822e-01 -4.85489583e-02 -3.58612778e-02 2.61032683e+02] [ 4.85621383e-02 9.98820036e-01 -5.03923176e-04 9.85845615e+00] [ 3.58434277e-02 -1.23849590e-03 9.99356650e-01 9.16454713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.06, Y:9.86, Z:9.16 [[ 9.98139089e-01 -4.93187281e-02 -3.58611486e-02 2.61060898e+02] [ 4.93320800e-02 9.98782300e-01 -5.12957291e-04 9.85859541e+00] [ 3.58427788e-02 -1.25710233e-03 9.99356650e-01 9.16438642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.09, Y:9.86, Z:9.17 [[ 9.98122398e-01 -4.96554285e-02 -3.58610792e-02 2.61089228e+02] [ 4.96688250e-02 9.98765608e-01 -5.17761045e-04 9.85910695e+00] [ 3.58425222e-02 -1.26438877e-03 9.99356651e-01 9.16514439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.12, Y:9.86, Z:9.17 [[ 9.98137654e-01 -4.93479160e-02 -3.58609480e-02 2.61117760e+02] [ 4.93607937e-02 9.98780874e-01 -5.26696896e-04 9.86021348e+00] [ 3.58432204e-02 -1.24440885e-03 9.99356651e-01 9.16559136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:9.86, Z:9.17 [[ 9.98153599e-01 -4.90244232e-02 -3.58608151e-02 2.61146630e+02] [ 4.90367731e-02 9.98796830e-01 -5.35594437e-04 9.86137838e+00] [ 3.58439256e-02 -1.22389314e-03 9.99356651e-01 9.16724698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:9.86, Z:9.17 [[ 9.98149634e-01 -4.91051854e-02 -3.58606781e-02 2.61174834e+02] [ 4.91172637e-02 9.98792870e-01 -5.44613990e-04 9.86261581e+00] [ 3.58441330e-02 -1.21777213e-03 9.99356651e-01 9.16918295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.20, Y:9.86, Z:9.17 [[ 9.98148459e-01 -4.91291657e-02 -3.58605389e-02 2.61203912e+02] [ 4.91409360e-02 9.98791701e-01 -5.53629334e-04 9.86382041e+00] [ 3.58444080e-02 -1.20961618e-03 9.99356651e-01 9.17126488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.23, Y:9.87, Z:9.17 [[ 9.98137125e-01 -4.93589972e-02 -3.58603986e-02 2.61232855e+02] [ 4.93705947e-02 9.98780370e-01 -5.62571087e-04 9.86557742e+00] [ 3.58444302e-02 -1.20892612e-03 9.99356651e-01 9.17383736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:9.87, Z:9.17 [[ 9.98111089e-01 -4.98828284e-02 -3.58602555e-02 2.61261797e+02] [ 4.98944412e-02 9.98754333e-01 -5.71553570e-04 9.86678678e+00] [ 3.58440963e-02 -1.21875345e-03 9.99356651e-01 9.17486127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.29, Y:9.87, Z:9.17 [[ 9.98099025e-01 -5.01246533e-02 -3.58588146e-02 2.61289979e+02] [ 5.01332243e-02 9.98742321e-01 -6.60652027e-04 9.86674498e+00] [ 3.58468307e-02 -1.13832185e-03 9.99356648e-01 9.17491385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.32, Y:9.87, Z:9.18 [[ 9.97974370e-01 -5.25477417e-02 -3.58593302e-02 2.61318482e+02] [ 5.25590049e-02 9.98617622e-01 -6.29154776e-04 9.86728637e+00] [ 3.58428197e-02 -1.25685037e-03 9.99356649e-01 9.17532823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.35, Y:9.87, Z:9.18 [[ 9.97910799e-01 -5.37410794e-02 -3.58599244e-02 2.61348456e+02] [ 5.37544007e-02 9.98554011e-01 -5.93236757e-04 9.86781184e+00] [ 3.58399526e-02 -1.33563138e-03 9.99356650e-01 9.17604944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:9.87, Z:9.18 [[ 9.97842245e-01 -5.49992858e-02 -3.58599034e-02 2.61377716e+02] [ 5.50133725e-02 9.98485441e-01 -5.94507058e-04 9.86834070e+00] [ 3.58382889e-02 -1.37954997e-03 9.99356650e-01 9.17716746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:9.87, Z:9.18 [[ 9.97730598e-01 -5.69887996e-02 -3.58598820e-02 2.61407532e+02] [ 5.70041225e-02 9.98373765e-01 -5.95796540e-04 9.86825089e+00] [ 3.58355191e-02 -1.44971667e-03 9.99356650e-01 9.17713501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:9.87, Z:9.18 [[ 9.97681011e-01 -5.78504057e-02 -3.58598713e-02 2.61438471e+02] [ 5.78662610e-02 9.98324166e-01 -5.96437212e-04 9.86860993e+00] [ 3.58342802e-02 -1.48002259e-03 9.99356650e-01 9.17828695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.47, Y:9.87, Z:9.18 [[ 9.97580695e-01 -5.95552478e-02 -3.58598713e-02 2.61469300e+02] [ 5.95722022e-02 9.98223821e-01 -5.96437212e-04 9.86947919e+00] [ 3.58316987e-02 -1.54125726e-03 9.99356650e-01 9.17933383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.50, Y:9.87, Z:9.18 [[ 9.97551575e-01 -6.00410339e-02 -3.58598713e-02 2.61500209e+02] [ 6.00583015e-02 9.98194693e-01 -5.96437212e-04 9.87017240e+00] [ 3.58309439e-02 -1.55870608e-03 9.99356650e-01 9.18036584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.53, Y:9.87, Z:9.18 [[ 9.97529216e-01 -6.04113673e-02 -3.58598713e-02 2.61530399e+02] [ 6.04288736e-02 9.98172328e-01 -5.96437212e-04 9.87131325e+00] [ 3.58303628e-02 -1.57200809e-03 9.99356650e-01 9.18139000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.56, Y:9.87, Z:9.18 [[ 9.97523670e-01 -6.05028636e-02 -3.58598713e-02 2.61560459e+02] [ 6.05204289e-02 9.98166781e-01 -5.96437212e-04 9.87251307e+00] [ 3.58302185e-02 -1.57529456e-03 9.99356650e-01 9.18233052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.59, Y:9.87, Z:9.18 [[ 9.97579319e-01 -5.95782797e-02 -3.58598820e-02 2.61591283e+02] [ 5.95952721e-02 9.98222444e-01 -5.95793140e-04 9.87378515e+00] [ 3.58316354e-02 -1.54272851e-03 9.99356650e-01 9.18371537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.62, Y:9.88, Z:9.18 [[ 9.97614064e-01 -5.89936209e-02 -3.58599033e-02 2.61621863e+02] [ 5.90102823e-02 9.98257198e-01 -5.94510617e-04 9.87515153e+00] [ 3.58324789e-02 -1.52301086e-03 9.99356650e-01 9.18491825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.65, Y:9.88, Z:9.19 [[ 9.97714598e-01 -5.72682135e-02 -3.58599033e-02 2.61652724e+02] [ 5.72837627e-02 9.98357760e-01 -5.94510617e-04 9.87799156e+00] [ 3.58350593e-02 -1.46103827e-03 9.99356650e-01 9.18597850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.68, Y:9.88, Z:9.19 [[ 9.97771503e-01 -5.62680565e-02 -3.58599033e-02 2.61683092e+02] [ 5.62829610e-02 9.98414681e-01 -5.94510617e-04 9.88011967e+00] [ 3.58365058e-02 -1.42511578e-03 9.99356650e-01 9.18776866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.71, Y:9.88, Z:9.19 [[ 9.97765004e-01 -5.63831972e-02 -3.58599033e-02 2.61712435e+02] [ 5.63981759e-02 9.98408179e-01 -5.94510617e-04 9.88172361e+00] [ 3.58363411e-02 -1.42925124e-03 9.99356650e-01 9.18911715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.74, Y:9.88, Z:9.19 [[ 9.97738552e-01 -5.68493610e-02 -3.58598927e-02 2.61742757e+02] [ 5.68646173e-02 9.98381721e-01 -5.95146949e-04 9.88247968e+00] [ 3.58356951e-02 -1.44535802e-03 9.99356650e-01 9.19072584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.77, Y:9.88, Z:9.19 [[ 9.97693826e-01 -5.76289619e-02 -3.58598927e-02 2.61772266e+02] [ 5.76447208e-02 9.98336983e-01 -5.95146949e-04 9.88305135e+00] [ 3.58345548e-02 -1.47335907e-03 9.99356650e-01 9.19094555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.80, Y:9.88, Z:9.19 [[ 9.97645617e-01 -5.84576071e-02 -3.58598818e-02 2.61802295e+02] [ 5.84738768e-02 9.98288761e-01 -5.95801005e-04 9.88330278e+00] [ 3.58333461e-02 -1.50246805e-03 9.99356650e-01 9.19143401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:9.88, Z:9.19 [[ 9.97585477e-01 -5.94750853e-02 -3.58598818e-02 2.61832558e+02] [ 5.94920109e-02 9.98228604e-01 -5.95801005e-04 9.88362510e+00] [ 3.58317951e-02 -1.53901405e-03 9.99356650e-01 9.19175522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:9.88, Z:9.19 [[ 9.97504561e-01 -6.08170865e-02 -3.58599185e-02 2.61864059e+02] [ 6.08349568e-02 9.98147662e-01 -5.93585277e-04 9.88407998e+00] [ 3.58295940e-02 -1.58943257e-03 9.99356650e-01 9.19271927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:9.88, Z:9.19 [[ 9.97429546e-01 -6.20351984e-02 -3.58599392e-02 2.61895613e+02] [ 6.20538989e-02 9.98072624e-01 -5.92333392e-04 9.88409143e+00] [ 3.58275691e-02 -1.63443822e-03 9.99356650e-01 9.19405805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:9.88, Z:9.19 [[ 9.97271174e-01 -6.45311468e-02 -3.58599609e-02 2.61926432e+02] [ 6.45515040e-02 9.97914202e-01 -5.91014725e-04 9.88431072e+00] [ 3.58233031e-02 -1.72541246e-03 9.99356650e-01 9.19453034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:9.89, Z:9.20 [[ 9.97206276e-01 -6.55263571e-02 -3.58599933e-02 2.61958687e+02] [ 6.55474266e-02 9.97849281e-01 -5.89046363e-04 9.88504382e+00] [ 3.58214666e-02 -1.76312954e-03 9.99356650e-01 9.19606706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:9.89, Z:9.20 [[ 9.97168299e-01 -6.61017543e-02 -3.58600359e-02 2.61990145e+02] [ 6.61232883e-02 9.97811288e-01 -5.86439164e-04 9.88587536e+00] [ 3.58203133e-02 -1.78640495e-03 9.99356650e-01 9.19654727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:9.89, Z:9.20 [[ 9.97135693e-01 -6.65917746e-02 -3.58600676e-02 2.62022474e+02] [ 6.66136942e-02 9.97778670e-01 -5.84497096e-04 9.88734484e+00] [ 3.58193332e-02 -1.80594866e-03 9.99356650e-01 9.19764171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:9.89, Z:9.20 [[ 9.97145635e-01 -6.64427174e-02 -3.58601091e-02 2.62055034e+02] [ 6.64646328e-02 9.97788612e-01 -5.81935022e-04 9.88870503e+00] [ 3.58194739e-02 -1.80315502e-03 9.99356650e-01 9.19933314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.09, Y:9.89, Z:9.20 [[ 9.97169170e-01 -6.60885500e-02 -3.58601508e-02 2.62085967e+02] [ 6.61103296e-02 9.97812151e-01 -5.79352897e-04 9.89199258e+00] [ 3.58199828e-02 -1.79301355e-03 9.99356650e-01 9.20195803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:9.89, Z:9.20 [[ 9.97173783e-01 -6.60188885e-02 -3.58601818e-02 2.62118638e+02] [ 6.60406923e-02 9.97816764e-01 -5.77429381e-04 9.89245705e+00] [ 3.58200118e-02 -1.79243379e-03 9.99356650e-01 9.20312996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.15, Y:9.89, Z:9.21 [[ 9.97183056e-01 -6.58786562e-02 -3.58602220e-02 2.62151140e+02] [ 6.59004593e-02 9.97826036e-01 -5.74925087e-04 9.89419833e+00] [ 3.58201384e-02 -1.78989954e-03 9.99356650e-01 9.20518498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.18, Y:9.90, Z:9.21 [[ 9.97194041e-01 -6.57121523e-02 -3.58602628e-02 2.62182981e+02] [ 6.57339400e-02 9.97837022e-01 -5.72364073e-04 9.89573659e+00] [ 3.58203091e-02 -1.78647832e-03 9.99356650e-01 9.20674258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.22, Y:9.90, Z:9.21 [[ 9.97192683e-01 -6.57327359e-02 -3.58603033e-02 2.62215573e+02] [ 6.57546282e-02 9.97835660e-01 -5.69818279e-04 9.89696617e+00] [ 3.58201451e-02 -1.78976229e-03 9.99356650e-01 9.20848005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:9.90, Z:9.21 [[ 9.97183737e-01 -6.58682733e-02 -3.58603442e-02 2.62247107e+02] [ 6.58903456e-02 9.97826709e-01 -5.67233961e-04 9.89825997e+00] [ 3.58197719e-02 -1.79721399e-03 9.99356650e-01 9.20950766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.28, Y:9.90, Z:9.21 [[ 9.97157665e-01 -6.62617902e-02 -3.58603744e-02 2.62276635e+02] [ 6.62841852e-02 9.97800625e-01 -5.65313858e-04 9.90098124e+00] [ 3.58189627e-02 -1.81326866e-03 9.99356650e-01 9.20917140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.31, Y:9.90, Z:9.21 [[ 9.97220439e-01 -6.53134823e-02 -3.58545004e-02 2.62308128e+02] [ 6.53220311e-02 9.97863798e-01 -9.34194189e-04 9.90189199e+00] [ 3.58389235e-02 -1.41049125e-03 9.99356584e-01 9.20946511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.34, Y:9.90, Z:9.21 [[ 9.97394010e-01 -6.26072433e-02 -3.58541809e-02 2.62341093e+02] [ 6.26133244e-02 9.98037405e-01 -9.54306446e-04 9.90114849e+00] [ 3.58435601e-02 -1.29312993e-03 9.99356577e-01 9.21069940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.37, Y:9.90, Z:9.21 [[ 9.97431549e-01 -6.20027557e-02 -3.58603347e-02 2.62372710e+02] [ 6.20225455e-02 9.98074591e-01 -5.61384186e-04 9.90221522e+00] [ 3.58260963e-02 -1.66420694e-03 9.99356654e-01 9.21181257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:9.90, Z:9.21 [[ 9.97464307e-01 -6.14735087e-02 -3.58603541e-02 2.62404252e+02] [ 6.14930017e-02 9.98107357e-01 -5.60143858e-04 9.90361080e+00] [ 3.58269173e-02 -1.64643731e-03 9.99356654e-01 9.21313384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.44, Y:9.90, Z:9.21 [[ 9.97475794e-01 -6.12868243e-02 -3.58603735e-02 2.62435366e+02] [ 6.13062417e-02 9.98118847e-01 -5.58898596e-04 9.90474983e+00] [ 3.58271678e-02 -1.64097691e-03 9.99356654e-01 9.21465978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.47, Y:9.91, Z:9.22 [[ 9.97479466e-01 -6.12270066e-02 -3.58603931e-02 2.62466969e+02] [ 6.12464307e-02 9.98122519e-01 -5.57636729e-04 9.90590696e+00] [ 3.58272084e-02 -1.64008990e-03 9.99356654e-01 9.21602258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:9.91, Z:9.22 [[ 9.97490509e-01 -6.10468307e-02 -3.58604129e-02 2.62498806e+02] [ 6.10661843e-02 9.98133564e-01 -5.56362883e-04 9.90600721e+00] [ 3.58274459e-02 -1.63489189e-03 9.99356654e-01 9.21689449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:9.91, Z:9.22 [[ 9.97505878e-01 -6.07951684e-02 -3.58604327e-02 2.62529751e+02] [ 6.08144058e-02 9.98148937e-01 -5.55082090e-04 9.90623706e+00] [ 3.58277991e-02 -1.62713326e-03 9.99356654e-01 9.21764533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:9.91, Z:9.22 [[ 9.97514944e-01 -6.06462223e-02 -3.58604525e-02 2.62559928e+02] [ 6.06654096e-02 9.98158004e-01 -5.53803448e-04 9.90665623e+00] [ 3.58279837e-02 -1.62306182e-03 9.99356654e-01 9.21938189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:9.91, Z:9.22 [[ 9.97541472e-01 -6.02083004e-02 -3.58604622e-02 2.62591053e+02] [ 6.02272280e-02 9.98184540e-01 -5.53169793e-04 9.90746707e+00] [ 3.58286644e-02 -1.60796643e-03 9.99356654e-01 9.22070648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.62, Y:9.91, Z:9.22 [[ 9.97556141e-01 -5.99647474e-02 -3.58604819e-02 2.62622312e+02] [ 5.99835639e-02 9.98199212e-01 -5.51891815e-04 9.90813197e+00] [ 3.58289988e-02 -1.60049644e-03 9.99356654e-01 9.22240704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.65, Y:9.91, Z:9.22 [[ 9.97568443e-01 -5.97597380e-02 -3.58605016e-02 2.62654566e+02] [ 5.97784684e-02 9.98211516e-01 -5.50609270e-04 9.90824614e+00] [ 3.58292699e-02 -1.59441543e-03 9.99356654e-01 9.22348684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.69, Y:9.91, Z:9.22 [[ 9.97547316e-01 -6.01113524e-02 -3.58605418e-02 2.62685613e+02] [ 6.01304038e-02 9.98190380e-01 -5.47977883e-04 9.90870022e+00] [ 3.58285875e-02 -1.60967499e-03 9.99356654e-01 9.22452822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.72, Y:9.91, Z:9.23 [[ 9.97526408e-01 -6.04572919e-02 -3.58605717e-02 2.62717212e+02] [ 6.04766367e-02 9.98169464e-01 -5.46017926e-04 9.90874198e+00] [ 3.58279383e-02 -1.62405946e-03 9.99356654e-01 9.22508744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.75, Y:9.91, Z:9.23 [[ 9.97442157e-01 -6.18317125e-02 -3.58605911e-02 2.62749585e+02] [ 6.18519892e-02 9.98085184e-01 -5.44736997e-04 9.90807255e+00] [ 3.58256067e-02 -1.67470525e-03 9.99356654e-01 9.22581554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:9.91, Z:9.23 [[ 9.97382812e-01 -6.27816940e-02 -3.58606305e-02 2.62780818e+02] [ 6.28026766e-02 9.98025816e-01 -5.42130865e-04 9.90804181e+00] [ 3.58238709e-02 -1.71143158e-03 9.99356654e-01 9.22661287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:9.91, Z:9.23 [[ 9.97314092e-01 -6.38640430e-02 -3.58606597e-02 2.62812199e+02] [ 6.38857929e-02 9.97957070e-01 -5.40194103e-04 9.90810198e+00] [ 3.58218978e-02 -1.75224349e-03 9.99356654e-01 9.22679090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:9.91, Z:9.23 [[ 9.97190267e-01 -6.57691565e-02 -3.58606879e-02 2.62844644e+02] [ 6.57922021e-02 9.97833201e-01 -5.38314955e-04 9.90730287e+00] [ 3.58183895e-02 -1.82255119e-03 9.99356654e-01 9.22872067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.88, Y:9.91, Z:9.23 [[ 9.97066527e-01 -6.76191540e-02 -3.58607258e-02 2.62875524e+02] [ 6.76434834e-02 9.97709413e-01 -5.35779437e-04 9.90604971e+00] [ 3.58148126e-02 -1.89153667e-03 9.99356654e-01 9.23004188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.91, Y:9.91, Z:9.23 [[ 9.96974792e-01 -6.89584701e-02 -3.58607539e-02 2.62907799e+02] [ 6.89837308e-02 9.97617642e-01 -5.33888654e-04 9.90549578e+00] [ 3.58121369e-02 -1.94153507e-03 9.99356654e-01 9.23206158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.94, Y:9.91, Z:9.23 [[ 9.96887821e-01 -7.02045241e-02 -3.58607917e-02 2.62940382e+02] [ 7.02306797e-02 9.97530636e-01 -5.31341492e-04 9.90513945e+00] [ 3.58095409e-02 -1.98883991e-03 9.99356654e-01 9.23369867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:9.90, Z:9.24 [[ 9.96805845e-01 -7.13590058e-02 -3.58608294e-02 2.62972033e+02] [ 7.13859975e-02 9.97448625e-01 -5.28785268e-04 9.90450810e+00] [ 3.58070685e-02 -2.03286483e-03 9.99356654e-01 9.23504539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:9.90, Z:9.24 [[ 9.96718079e-01 -7.25745837e-02 -3.58608573e-02 2.63002091e+02] [ 7.26024275e-02 9.97360822e-01 -5.26880711e-04 9.90252444e+00] [ 3.58044523e-02 -2.07843376e-03 9.99356654e-01 9.23579563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:9.90, Z:9.24 [[ 9.96726166e-01 -7.24640333e-02 -3.58596359e-02 2.63034777e+02] [ 7.24888456e-02 9.97369037e-01 -6.09430061e-04 9.90295095e+00] [ 3.58094522e-02 -1.99198872e-03 9.99356651e-01 9.23699738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:9.90, Z:9.24 [[ 9.96629573e-01 -7.37806072e-02 -3.58596800e-02 2.63065894e+02] [ 7.38063752e-02 9.97272406e-01 -6.06460519e-04 9.90179592e+00] [ 3.58066143e-02 -2.04225651e-03 9.99356651e-01 9.23895734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.10, Y:9.90, Z:9.24 [[ 9.96509941e-01 -7.53793906e-02 -3.58592498e-02 2.63098561e+02] [ 7.54051428e-02 9.97152777e-01 -6.35658632e-04 9.90171380e+00] [ 3.58050661e-02 -2.07053171e-03 9.99356648e-01 9.24047809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.13, Y:9.90, Z:9.24 [[ 9.96467029e-01 -7.59437955e-02 -3.58608361e-02 2.63130916e+02] [ 7.59737748e-02 9.97109676e-01 -5.27921887e-04 9.90121323e+00] [ 3.57972791e-02 -2.19842633e-03 9.99356654e-01 9.24223516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:9.90, Z:9.24 [[ 9.96438742e-01 -7.63140274e-02 -3.58608730e-02 2.63162735e+02] [ 7.63443357e-02 9.97081374e-01 -5.25404389e-04 9.90077227e+00] [ 3.57963042e-02 -2.21424124e-03 9.99356654e-01 9.24435352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:9.90, Z:9.25 [[ 9.96426165e-01 -7.64780516e-02 -3.58609107e-02 2.63194241e+02] [ 7.65085586e-02 9.97068788e-01 -5.22813997e-04 9.89960717e+00] [ 3.57957786e-02 -2.22272104e-03 9.99356654e-01 9.24608753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:9.90, Z:9.25 [[ 9.96416874e-01 -7.65990020e-02 -3.58609388e-02 2.63225605e+02] [ 7.66296562e-02 9.97059489e-01 -5.20883556e-04 9.89799125e+00] [ 3.57953885e-02 -2.22899424e-03 9.99356654e-01 9.24652695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.26, Y:9.90, Z:9.25 [[ 9.96469956e-01 -7.59053092e-02 -3.58609994e-02 2.63257467e+02] [ 7.59356669e-02 9.97112585e-01 -5.16674932e-04 9.89720665e+00] [ 3.57966722e-02 -2.20827786e-03 9.99356654e-01 9.24806215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:9.90, Z:9.25 [[ 9.96518906e-01 -7.52599237e-02 -3.58610356e-02 2.63289608e+02] [ 7.52899556e-02 9.97161551e-01 -5.14153006e-04 9.89700767e+00] [ 3.57979410e-02 -2.18761258e-03 9.99356654e-01 9.24905013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.32, Y:9.90, Z:9.25 [[ 9.96704537e-01 -7.27602221e-02 -3.58610719e-02 2.63320695e+02] [ 7.27887332e-02 9.97347251e-01 -5.11610330e-04 9.89622379e+00] [ 3.58031663e-02 -2.10035765e-03 9.99356654e-01 9.24985005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.35, Y:9.90, Z:9.25 [[ 9.96825155e-01 -7.10886214e-02 -3.58610988e-02 2.63352578e+02] [ 7.11161225e-02 9.97467913e-01 -5.09715221e-04 9.89620273e+00] [ 3.58065303e-02 -2.04220534e-03 9.99356654e-01 9.25095598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.38, Y:9.90, Z:9.25 [[ 9.96999373e-01 -6.86019569e-02 -3.58611345e-02 2.63384997e+02] [ 6.86279453e-02 9.97642194e-01 -5.07189899e-04 9.89632570e+00] [ 3.58113751e-02 -1.95540796e-03 9.99356654e-01 9.25204370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.42, Y:9.90, Z:9.25 [[ 9.97376562e-01 -6.28806067e-02 -3.58611704e-02 2.63416071e+02] [ 6.29029981e-02 9.98019518e-01 -5.04637915e-04 9.89637057e+00] [ 3.58218799e-02 -1.75246110e-03 9.99356654e-01 9.25259010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:9.90, Z:9.25 [[ 9.97573137e-01 -5.96809045e-02 -3.58611971e-02 2.63446634e+02] [ 5.97013014e-02 9.98216160e-01 -5.02737690e-04 9.89674447e+00] [ 3.58272303e-02 -1.63944252e-03 9.99356654e-01 9.25354656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.48, Y:9.90, Z:9.26 [[ 9.97741905e-01 -5.67896614e-02 -3.58612058e-02 2.63477933e+02] [ 5.68082171e-02 9.98384983e-01 -5.02113226e-04 9.89742922e+00] [ 3.58318042e-02 -1.53623176e-03 9.99356654e-01 9.25587101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.51, Y:9.90, Z:9.26 [[ 9.98042269e-01 -5.12406236e-02 -3.58612240e-02 2.63507001e+02] [ 5.12556498e-02 9.98685440e-01 -5.00809850e-04 9.89729253e+00] [ 3.58397441e-02 -1.33826094e-03 9.99356654e-01 9.25672277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.54, Y:9.90, Z:9.26 [[ 9.98160260e-01 -4.88883304e-02 -3.58612150e-02 2.63535037e+02] [ 4.89018176e-02 9.98803465e-01 -5.01455559e-04 9.89813225e+00] [ 3.58428211e-02 -1.25314558e-03 9.99356654e-01 9.25549668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:9.90, Z:9.26 [[ 9.98373994e-01 -4.43118222e-02 -3.58584854e-02 2.63563317e+02] [ 4.43154820e-02 9.99017346e-01 -6.93120746e-04 9.89638534e+00] [ 3.58539623e-02 -8.97092337e-04 9.99356637e-01 9.25892281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:9.90, Z:9.26 [[ 9.98452079e-01 -4.25139070e-02 -3.58610461e-02 2.63589731e+02] [ 4.25228092e-02 9.99095364e-01 -5.14768097e-04 9.89725351e+00] [ 3.58504897e-02 -1.01094115e-03 9.99356653e-01 9.25813643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.62, Y:9.90, Z:9.26 [[ 9.98559904e-01 -3.99044450e-02 -3.58574105e-02 2.63619082e+02] [ 3.99028432e-02 9.99203275e-01 -7.60591817e-04 9.89607406e+00] [ 3.58591930e-02 -6.71316136e-04 9.99356627e-01 9.26143691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:9.90, Z:9.26 [[ 9.98708019e-01 -3.60040873e-02 -3.58608249e-02 2.63646814e+02] [ 3.60082726e-02 9.99351352e-01 -5.29343280e-04 9.89529644e+00] [ 3.58566224e-02 -7.62626982e-04 9.99356654e-01 9.26291759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:9.90, Z:9.26 [[ 9.98746774e-01 -3.49125610e-02 -3.58607780e-02 2.63675090e+02] [ 3.49159297e-02 9.99390111e-01 -5.32505336e-04 9.89510913e+00] [ 3.58574980e-02 -7.20274417e-04 9.99356654e-01 9.26452420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.70, Y:9.89, Z:9.27 [[ 9.98775997e-01 -3.40664542e-02 -3.58606259e-02 2.63702526e+02] [ 3.40689171e-02 9.99419339e-01 -5.42558900e-04 9.89380868e+00] [ 3.58582860e-02 -6.79837884e-04 9.99356654e-01 9.26613785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.73, Y:9.89, Z:9.27 [[ 9.98748195e-01 -3.48721893e-02 -3.58604714e-02 2.63730326e+02] [ 3.48748113e-02 9.99391536e-01 -5.52585592e-04 9.89328130e+00] [ 3.58579214e-02 -6.98733310e-04 9.99356654e-01 9.26731791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.76, Y:9.89, Z:9.27 [[ 9.98718608e-01 -3.57096717e-02 -3.58603133e-02 2.63757921e+02] [ 3.57124716e-02 9.99361948e-01 -5.62659957e-04 9.89230197e+00] [ 3.58575249e-02 -7.18721450e-04 9.99356654e-01 9.26835147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:9.89, Z:9.27 [[ 9.98669231e-01 -3.70650369e-02 -3.58601499e-02 2.63785335e+02] [ 3.70683428e-02 9.99312569e-01 -5.72887610e-04 9.89139757e+00] [ 3.58567326e-02 -7.57151101e-04 9.99356654e-01 9.26888125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.81, Y:9.89, Z:9.27 [[ 9.98556265e-01 -3.99930937e-02 -3.58599838e-02 2.63813250e+02] [ 3.99979192e-02 9.99199593e-01 -5.83105020e-04 9.88878897e+00] [ 3.58546013e-02 -8.52061563e-04 9.99356654e-01 9.26822067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.84, Y:9.89, Z:9.27 [[ 9.98482807e-01 -4.17869488e-02 -3.58599321e-02 2.63840908e+02] [ 4.17928165e-02 9.99126127e-01 -5.86267001e-04 9.88753340e+00] [ 3.58530933e-02 -9.13310040e-04 9.99356654e-01 9.26923629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.87, Y:9.89, Z:9.27 [[ 9.98412599e-01 -4.34322430e-02 -3.58597628e-02 2.63868599e+02] [ 4.34388057e-02 9.99055912e-01 -5.96442843e-04 9.88640804e+00] [ 3.58518129e-02 -9.62209220e-04 9.99356654e-01 9.27056466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.90, Y:9.89, Z:9.27 [[ 9.98380527e-01 -4.41634903e-02 -3.58595883e-02 2.63895104e+02] [ 4.41701538e-02 9.99023838e-01 -6.06758317e-04 9.88521406e+00] [ 3.58513801e-02 -9.78147842e-04 9.99356654e-01 9.27085177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:9.88, Z:9.27 [[ 9.98348070e-01 -4.48912642e-02 -3.58595122e-02 2.63924311e+02] [ 4.48982365e-02 9.98991379e-01 -6.11223136e-04 9.88276660e+00] [ 3.58507821e-02 -9.99815419e-04 9.99356654e-01 9.27182177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.95, Y:9.88, Z:9.27 [[ 9.98377480e-01 -4.42325045e-02 -3.58593593e-02 2.63952120e+02] [ 4.42387349e-02 9.99020796e-01 -6.20066433e-04 9.88081330e+00] [ 3.58516727e-02 -9.67312327e-04 9.99356654e-01 9.27378008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.98, Y:9.88, Z:9.27 [[ 9.98365214e-01 -4.45085413e-02 -3.58593049e-02 2.63980494e+02] [ 4.45148372e-02 9.99008529e-01 -6.23195950e-04 9.88138313e+00] [ 3.58514890e-02 -9.74093962e-04 9.99356654e-01 9.27479950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.01, Y:9.88, Z:9.28 [[ 9.98371662e-01 -4.43638036e-02 -3.58591298e-02 2.64008953e+02] [ 4.43696504e-02 9.99014982e-01 -6.33112885e-04 9.87910567e+00] [ 3.58518952e-02 -9.58975088e-04 9.99356654e-01 9.27654672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.04, Y:9.88, Z:9.28 [[ 9.98354607e-01 -4.47461003e-02 -3.58589725e-02 2.64037214e+02] [ 4.47518780e-02 9.98997927e-01 -6.41898962e-04 9.87803487e+00] [ 3.58517617e-02 -9.63913577e-04 9.99356654e-01 9.27795500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.07, Y:9.87, Z:9.28 [[ 9.98293289e-01 -4.60939858e-02 -3.58587903e-02 2.64065346e+02] [ 4.61002724e-02 9.98936605e-01 -6.51921616e-04 9.87495808e+00] [ 3.58507079e-02 -1.00229102e-03 9.99356654e-01 9.27948501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.09, Y:9.88, Z:9.28 [[ 9.98280326e-01 -4.63740367e-02 -3.58586048e-02 2.64093720e+02] [ 4.63801431e-02 9.98923643e-01 -6.61968563e-04 9.87555761e+00] [ 3.58507063e-02 -1.00229703e-03 9.99356654e-01 9.28050654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.12, Y:9.87, Z:9.28 [[ 9.98205731e-01 -4.79530293e-02 -3.58584164e-02 2.64121605e+02] [ 4.79597925e-02 9.98849041e-01 -6.72021508e-04 9.87426225e+00] [ 3.58493703e-02 -1.04894649e-03 9.99356654e-01 9.28179903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:9.87, Z:9.28 [[ 9.98039308e-01 -5.13003682e-02 -3.58582213e-02 2.64149713e+02] [ 5.13089207e-02 9.98682597e-01 -6.82276524e-04 9.87123873e+00] [ 3.58459826e-02 -1.15890784e-03 9.99356654e-01 9.28233509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.18, Y:9.87, Z:9.28 [[ 9.97932672e-01 -5.33346385e-02 -3.58580245e-02 2.64177798e+02] [ 5.33441365e-02 9.98575948e-01 -6.92468202e-04 9.87003649e+00] [ 3.58438933e-02 -1.22177871e-03 9.99356654e-01 9.28264147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.21, Y:9.87, Z:9.28 [[ 9.97834885e-01 -5.51340123e-02 -3.58578240e-02 2.64205977e+02] [ 5.51443030e-02 9.98478148e-01 -7.02698907e-04 9.86897356e+00] [ 3.58419963e-02 -1.27617723e-03 9.99356654e-01 9.28310634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.23, Y:9.87, Z:9.28 [[ 9.97666989e-01 -5.80930280e-02 -3.58577617e-02 2.64233439e+02] [ 5.81051128e-02 9.98310221e-01 -7.05863643e-04 9.86692145e+00] [ 3.58381758e-02 -1.37930243e-03 9.99356654e-01 9.28361759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.26, Y:9.87, Z:9.28 [[ 9.97611325e-01 -5.90412651e-02 -3.58576684e-02 2.64262239e+02] [ 5.90537922e-02 9.98254549e-01 -7.10572790e-04 9.86627726e+00] [ 3.58370337e-02 -1.40865584e-03 9.99356654e-01 9.28494483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.29, Y:9.86, Z:9.29 [[ 9.97600427e-01 -5.92252423e-02 -3.58574898e-02 2.64291016e+02] [ 5.92375687e-02 9.98243654e-01 -7.19473497e-04 9.86489179e+00] [ 3.58371226e-02 -1.40636345e-03 9.99356654e-01 9.28566880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.32, Y:9.86, Z:9.29 [[ 9.97619831e-01 -5.88975105e-02 -3.58574518e-02 2.64319754e+02] [ 5.89095578e-02 9.98263063e-01 -7.21362860e-04 9.86475290e+00] [ 3.58376561e-02 -1.39270073e-03 9.99356654e-01 9.28685212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.35, Y:9.86, Z:9.29 [[ 9.97665443e-01 -5.81198729e-02 -3.58572729e-02 2.64348337e+02] [ 5.81311036e-02 9.98308691e-01 -7.30146576e-04 9.86458518e+00] [ 3.58390632e-02 -1.35598084e-03 9.99356654e-01 9.28873353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.38, Y:9.86, Z:9.29 [[ 9.97727110e-01 -5.70515861e-02 -3.58570821e-02 2.64376784e+02] [ 5.70617959e-02 9.98370375e-01 -7.39399999e-04 9.86490370e+00] [ 3.58408325e-02 -1.30835008e-03 9.99356655e-01 9.28916254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:9.87, Z:9.29 [[ 9.97906372e-01 -5.38251422e-02 -3.58570415e-02 2.64405077e+02] [ 5.38332014e-02 9.98549667e-01 -7.41364738e-04 9.86500085e+00] [ 3.58449409e-02 -1.19048674e-03 9.99356655e-01 9.29136678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.43, Y:9.86, Z:9.29 [[ 9.98122126e-01 -4.96639436e-02 -3.58568493e-02 2.64433329e+02] [ 4.96689909e-02 9.98765452e-01 -7.50547064e-04 9.86441224e+00] [ 3.58498574e-02 -1.03183589e-03 9.99356655e-01 9.29294125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.46, Y:9.86, Z:9.29 [[ 9.98223686e-01 -4.75791437e-02 -3.58566231e-02 2.64460206e+02] [ 4.75824648e-02 9.98867023e-01 -7.61203492e-04 9.86422521e+00] [ 3.58522158e-02 -9.46295149e-04 9.99356655e-01 9.29389551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.49, Y:9.86, Z:9.30 [[ 9.98391556e-01 -4.39159486e-02 -3.58565246e-02 2.64488762e+02] [ 4.39167435e-02 9.99034901e-01 -7.65813877e-04 9.86351035e+00] [ 3.58555510e-02 -8.10119687e-04 9.99356655e-01 9.29552969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.52, Y:9.86, Z:9.30 [[ 9.98450297e-01 -4.25597010e-02 -3.58563264e-02 2.64517145e+02] [ 4.25592928e-02 9.99093642e-01 -7.74985382e-04 9.86363336e+00] [ 3.58568109e-02 -7.52235507e-04 9.99356655e-01 9.29633636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.54, Y:9.86, Z:9.30 [[ 9.98491374e-01 -4.15850425e-02 -3.58560979e-02 2.64544949e+02] [ 4.15836320e-02 9.99134718e-01 -7.85414380e-04 9.86384758e+00] [ 3.58577338e-02 -7.06797297e-04 9.99356655e-01 9.29707465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.57, Y:9.86, Z:9.30 [[ 9.98504264e-01 -4.12745906e-02 -3.58558645e-02 2.64572857e+02] [ 4.12726025e-02 9.99147606e-01 -7.95930887e-04 9.86400553e+00] [ 3.58581529e-02 -6.85124460e-04 9.99356655e-01 9.29791330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.60, Y:9.86, Z:9.30 [[ 9.98508201e-01 -4.11794483e-02 -3.58556298e-02 2.64600421e+02] [ 4.11770243e-02 9.99151541e-01 -8.06367712e-04 9.86416320e+00] [ 3.58584135e-02 -6.71263366e-04 9.99356655e-01 9.29876959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.63, Y:9.86, Z:9.30 [[ 9.98505794e-01 -4.12379804e-02 -3.58553932e-02 2.64628109e+02] [ 4.12352213e-02 9.99149133e-01 -8.16753261e-04 9.86410957e+00] [ 3.58585663e-02 -6.62972212e-04 9.99356655e-01 9.29981425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:9.86, Z:9.30 [[ 9.98463975e-01 -4.22384463e-02 -3.58553197e-02 2.64656187e+02] [ 4.22362164e-02 9.99107316e-01 -8.19968116e-04 9.86317985e+00] [ 3.58579464e-02 -6.95684416e-04 9.99356655e-01 9.30106292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.68, Y:9.86, Z:9.30 [[ 9.98430040e-01 -4.30333419e-02 -3.58550832e-02 2.64682832e+02] [ 4.30312575e-02 9.99073382e-01 -8.30184130e-04 9.86302302e+00] [ 3.58575848e-02 -7.14008541e-04 9.99356655e-01 9.30191979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:9.86, Z:9.30 [[ 9.98387271e-01 -4.40145127e-02 -3.58549802e-02 2.64710720e+02] [ 4.40129017e-02 9.99030614e-01 -8.34606346e-04 9.86313631e+00] [ 3.58569577e-02 -7.44821369e-04 9.99356655e-01 9.30321025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:9.86, Z:9.30 [[ 9.98315769e-01 -4.56077003e-02 -3.58547413e-02 2.64739158e+02] [ 4.56067519e-02 9.98959114e-01 -8.44747117e-04 9.86331116e+00] [ 3.58559476e-02 -7.91893924e-04 9.99356655e-01 9.30393213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.77, Y:9.86, Z:9.31 [[ 9.98258948e-01 -4.68350499e-02 -3.58545918e-02 2.64766965e+02] [ 4.68346665e-02 9.98902292e-01 -8.51045026e-04 9.86394575e+00] [ 3.58550927e-02 -8.29674538e-04 9.99356655e-01 9.30520065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.80, Y:9.86, Z:9.31 [[ 9.98152971e-01 -4.90419527e-02 -3.58543476e-02 2.64795179e+02] [ 4.90426267e-02 9.98796315e-01 -8.61210611e-04 9.86430723e+00] [ 3.58534258e-02 -8.98771456e-04 9.99356655e-01 9.30599528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.82, Y:9.86, Z:9.31 [[ 9.98084856e-01 -5.04093579e-02 -3.58540990e-02 2.64823417e+02] [ 5.04105460e-02 9.98728200e-01 -8.71440254e-04 9.86457322e+00] [ 3.58524285e-02 -9.37653388e-04 9.99356655e-01 9.30650768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.85, Y:9.87, Z:9.31 [[ 9.98012689e-01 -5.18186702e-02 -3.58538480e-02 2.64850178e+02] [ 5.18204003e-02 9.98656031e-01 -8.81647125e-04 9.86503017e+00] [ 3.58513474e-02 -9.78065740e-04 9.99356655e-01 9.30654403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.88, Y:9.87, Z:9.31 [[ 9.97927665e-01 -5.34311285e-02 -3.58537388e-02 2.64878533e+02] [ 5.34337395e-02 9.98571004e-01 -8.86065079e-04 9.86549401e+00] [ 3.58498475e-02 -1.03157049e-03 9.99356655e-01 9.30674810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.91, Y:9.87, Z:9.31 [[ 9.97759636e-01 -5.64821810e-02 -3.58534869e-02 2.64906042e+02] [ 5.64863972e-02 9.98402967e-01 -8.96146086e-04 9.86571955e+00] [ 3.58468439e-02 -1.13109591e-03 9.99356655e-01 9.30745305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.93, Y:9.87, Z:9.31 [[ 9.97651414e-01 -5.83626785e-02 -3.58532241e-02 2.64933063e+02] [ 5.83677342e-02 9.98294739e-01 -9.06538904e-04 9.86653380e+00] [ 3.58449930e-02 -1.18826163e-03 9.99356655e-01 9.30797854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.96, Y:9.87, Z:9.31 [[ 9.97389039e-01 -6.26869897e-02 -3.58531097e-02 2.64961359e+02] [ 6.26946725e-02 9.98032338e-01 -9.11041958e-04 9.86713327e+00] [ 3.58396734e-02 -1.33913571e-03 9.99356655e-01 9.30953471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:9.87, Z:9.31 [[ 9.97373252e-01 -6.29378253e-02 -3.58528451e-02 2.64990579e+02] [ 6.29453004e-02 9.98016553e-01 -9.21337588e-04 9.86792404e+00] [ 3.58397199e-02 -1.33785064e-03 9.99356655e-01 9.31058654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.02, Y:9.87, Z:9.31 [[ 9.97046950e-01 -6.79114841e-02 -3.58526113e-02 2.65019808e+02] [ 6.79218441e-02 9.97690211e-01 -9.30346848e-04 9.86797606e+00] [ 3.58329806e-02 -1.50757599e-03 9.99356655e-01 9.31178551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:9.87, Z:9.31 [[ 9.96899524e-01 -7.00424611e-02 -3.58523726e-02 2.65050405e+02] [ 7.00538691e-02 9.97542767e-01 -9.39458004e-04 9.86881793e+00] [ 3.58300769e-02 -1.57505218e-03 9.99356655e-01 9.31307155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:9.87, Z:9.31 [[ 9.96617679e-01 -7.39446428e-02 -3.58523726e-02 2.65080280e+02] [ 7.39585688e-02 9.97260872e-01 -9.39458004e-04 9.87087049e+00] [ 3.58236362e-02 -1.71530971e-03 9.99356655e-01 9.31497205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:9.87, Z:9.32 [[ 9.96510127e-01 -7.53802117e-02 -3.58523557e-02 2.65110363e+02] [ 7.53950411e-02 9.97153300e-01 -9.40101511e-04 9.87228697e+00] [ 3.58211599e-02 -1.76626916e-03 9.99356655e-01 9.31728608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.14, Y:9.87, Z:9.32 [[ 9.96413905e-01 -7.66416245e-02 -3.58523557e-02 2.65142123e+02] [ 7.66572681e-02 9.97057059e-01 -9.40101511e-04 9.87381412e+00] [ 3.58188952e-02 -1.81161342e-03 9.99356655e-01 9.31922593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.17, Y:9.88, Z:9.32 [[ 9.96336616e-01 -7.76399010e-02 -3.58523899e-02 2.65172757e+02] [ 7.76562359e-02 9.96979753e-01 -9.38796512e-04 9.87522903e+00] [ 3.58169949e-02 -1.84880431e-03 9.99356655e-01 9.32048178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:9.88, Z:9.32 [[ 9.96171992e-01 -7.97243210e-02 -3.58524068e-02 2.65204012e+02] [ 7.97420247e-02 9.96815093e-01 -9.38148956e-04 9.87653860e+00] [ 3.58130135e-02 -1.92438580e-03 9.99356655e-01 9.32120257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.23, Y:9.88, Z:9.32 [[ 9.96081407e-01 -8.08482117e-02 -3.58524404e-02 2.65234899e+02] [ 8.08666872e-02 9.96724486e-01 -9.36861970e-04 9.87765193e+00] [ 3.58107489e-02 -1.96607730e-03 9.99356655e-01 9.32214249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.27, Y:9.88, Z:9.32 [[ 9.95999903e-01 -8.18461557e-02 -3.58524740e-02 2.65266046e+02] [ 8.18653216e-02 9.96642962e-01 -9.35574853e-04 9.87900234e+00] [ 3.58086891e-02 -2.00324185e-03 9.99356655e-01 9.32306467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.30, Y:9.88, Z:9.32 [[ 9.95882941e-01 -8.32572210e-02 -3.58525076e-02 2.65297039e+02] [ 8.32773441e-02 9.96525971e-01 -9.34288409e-04 9.88146973e+00] [ 3.58057412e-02 -2.05525972e-03 9.99356655e-01 9.32402038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:9.88, Z:9.33 [[ 9.95838443e-01 -8.37877778e-02 -3.58525408e-02 2.65329202e+02] [ 8.38082894e-02 9.96481460e-01 -9.33010177e-04 9.88325116e+00] [ 3.58045671e-02 -2.07561272e-03 9.99356655e-01 9.32539765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.36, Y:9.89, Z:9.33 [[ 9.95855459e-01 -8.35852626e-02 -3.58526080e-02 2.65361469e+02] [ 8.36057364e-02 9.96498477e-01 -9.30420102e-04 9.88523321e+00] [ 3.58048387e-02 -2.07091976e-03 9.99356655e-01 9.32617123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.39, Y:9.89, Z:9.33 [[ 9.96020294e-01 -8.15975447e-02 -3.58526753e-02 2.65393845e+02] [ 8.16168284e-02 9.96663350e-01 -9.27819263e-04 9.88859601e+00] [ 3.58087553e-02 -2.00205483e-03 9.99356655e-01 9.32759674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.42, Y:9.89, Z:9.33 [[ 9.96165486e-01 -7.98054175e-02 -3.58527435e-02 2.65424818e+02] [ 7.98236390e-02 9.96808573e-01 -9.25177348e-04 9.89111167e+00] [ 3.58121563e-02 -1.94026671e-03 9.99356655e-01 9.32877714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:9.90, Z:9.33 [[ 9.96552797e-01 -7.48137620e-02 -3.58527942e-02 2.65456244e+02] [ 7.48288321e-02 9.97195965e-01 -9.23210446e-04 9.89648241e+00] [ 3.58213305e-02 -1.76279476e-03 9.99356655e-01 9.33264180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:9.90, Z:9.33 [[ 9.96759896e-01 -7.20019716e-02 -3.58528449e-02 2.65487491e+02] [ 7.20152980e-02 9.97403102e-01 -9.21234419e-04 9.89990158e+00] [ 3.58260695e-02 -1.66370379e-03 9.99356655e-01 9.33483179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.52, Y:9.91, Z:9.34 [[ 9.97143124e-01 -6.64842997e-02 -3.58528785e-02 2.65517175e+02] [ 6.64941130e-02 9.97786393e-01 -9.19927586e-04 9.90545795e+00] [ 3.58346750e-02 -1.46670588e-03 9.99356655e-01 9.33673217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:9.91, Z:9.34 [[ 9.97281965e-01 -6.43680761e-02 -3.58529329e-02 2.65547362e+02] [ 6.43766007e-02 9.97925253e-01 -9.17800151e-04 9.90810177e+00] [ 3.58376242e-02 -1.39278441e-03 9.99356655e-01 9.33805349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:9.91, Z:9.34 [[ 9.97368111e-01 -6.30191812e-02 -3.58529490e-02 2.65577705e+02] [ 6.30268583e-02 9.98011410e-01 -9.17170874e-04 9.91069024e+00] [ 3.58394516e-02 -1.34494176e-03 9.99356655e-01 9.33999240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.61, Y:9.91, Z:9.34 [[ 9.97411402e-01 -6.23302567e-02 -3.58529490e-02 2.65608226e+02] [ 6.23374894e-02 9.98054706e-01 -9.17170874e-04 9.91316262e+00] [ 3.58403720e-02 -1.32018614e-03 9.99356655e-01 9.34098249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.64, Y:9.92, Z:9.34 [[ 9.97433112e-01 -6.19818830e-02 -3.58529490e-02 2.65637873e+02] [ 6.19888910e-02 9.98076418e-01 -9.17170874e-04 9.91557227e+00] [ 3.58408309e-02 -1.30766795e-03 9.99356655e-01 9.34143325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.67, Y:9.92, Z:9.34 [[ 9.97376503e-01 -6.28862281e-02 -3.58529328e-02 2.65667217e+02] [ 6.28937967e-02 9.98019803e-01 -9.17803980e-04 9.91910536e+00] [ 3.58396542e-02 -1.33953094e-03 9.99356655e-01 9.33916494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.70, Y:9.92, Z:9.34 [[ 9.97308392e-01 -6.39573282e-02 -3.58529168e-02 2.65697556e+02] [ 6.39655652e-02 9.97951684e-01 -9.18431167e-04 9.92123240e+00] [ 3.58382190e-02 -1.37739297e-03 9.99356655e-01 9.34148574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.73, Y:9.92, Z:9.34 [[ 9.97219694e-01 -6.53257259e-02 -3.58529168e-02 2.65728167e+02] [ 6.53348455e-02 9.97862974e-01 -9.18431167e-04 9.92328163e+00] [ 3.58362953e-02 -1.42656713e-03 9.99356655e-01 9.34310214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.76, Y:9.93, Z:9.34 [[ 9.97034960e-01 -6.80871225e-02 -3.58529168e-02 2.65758155e+02] [ 6.80980236e-02 9.97678212e-01 -9.18431167e-04 9.92620669e+00] [ 3.58322072e-02 -1.52580479e-03 9.99356655e-01 9.34426997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:9.93, Z:9.35 [[ 9.96934280e-01 -6.95457269e-02 -3.58529330e-02 2.65790541e+02] [ 6.95575918e-02 9.97577515e-01 -9.17795337e-04 9.92780611e+00] [ 3.58299086e-02 -1.57886205e-03 9.99356655e-01 9.34586984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:9.93, Z:9.35 [[ 9.96847059e-01 -7.07849042e-02 -3.58529998e-02 2.65822202e+02] [ 7.07976626e-02 9.97490277e-01 -9.15179160e-04 9.92924261e+00] [ 3.58277996e-02 -1.62601493e-03 9.99356655e-01 9.34635187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.85, Y:9.93, Z:9.35 [[ 9.96661416e-01 -7.33524433e-02 -3.58530330e-02 2.65853423e+02] [ 7.33669053e-02 9.97304598e-01 -9.13877330e-04 9.93132930e+00] [ 3.58234298e-02 -1.71959980e-03 9.99356655e-01 9.34583896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.89, Y:9.93, Z:9.35 [[ 9.96571841e-01 -7.45595202e-02 -3.58530825e-02 2.65885447e+02] [ 7.45748310e-02 9.97215003e-01 -9.11932139e-04 9.93287063e+00] [ 3.58212250e-02 -1.76493168e-03 9.99356655e-01 9.34702176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.92, Y:9.93, Z:9.35 [[ 9.96577062e-01 -7.44896723e-02 -3.58531461e-02 2.65918107e+02] [ 7.45050281e-02 9.97220223e-01 -9.09421911e-04 9.93363745e+00] [ 3.58212249e-02 -1.76493064e-03 9.99356655e-01 9.34819337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.95, Y:9.94, Z:9.35 [[ 9.96489591e-01 -7.56507987e-02 -3.58532097e-02 2.65950061e+02] [ 7.56669940e-02 9.97132731e-01 -9.06910648e-04 9.93525873e+00] [ 3.58190174e-02 -1.80917758e-03 9.99356655e-01 9.35048417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.98, Y:9.94, Z:9.35 [[ 9.96414298e-01 -7.66360850e-02 -3.58532748e-02 2.65982661e+02] [ 7.66530089e-02 9.97057420e-01 -9.04326840e-04 9.93685888e+00] [ 3.58170778e-02 -1.84717720e-03 9.99356655e-01 9.35205041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:9.94, Z:9.35 [[ 9.96296599e-01 -7.81512951e-02 -3.58533406e-02 2.66014000e+02] [ 7.81692908e-02 9.96939692e-01 -9.01713988e-04 9.93906831e+00] [ 3.58140884e-02 -1.90425563e-03 9.99356655e-01 9.35289806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.05, Y:9.94, Z:9.35 [[ 9.96274572e-01 -7.84315501e-02 -3.58534430e-02 2.66045119e+02] [ 7.84498735e-02 9.96917655e-01 -8.97623673e-04 9.94071052e+00] [ 3.58133323e-02 -1.91841842e-03 9.99356656e-01 9.35463925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.08, Y:9.94, Z:9.35 [[ 9.96220185e-01 -7.91198053e-02 -3.58524638e-02 2.66076227e+02] [ 7.91371711e-02 9.96863296e-01 -9.36690318e-04 9.94303647e+00] [ 3.58141160e-02 -1.90411276e-03 9.99356655e-01 9.35455883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:9.94, Z:9.36 [[ 9.96225121e-01 -7.90571414e-02 -3.58535348e-02 2.66108740e+02] [ 7.90760085e-02 9.96868189e-01 -8.93725878e-04 9.94471431e+00] [ 3.58119037e-02 -1.94480225e-03 9.99356656e-01 9.35742420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.14, Y:9.95, Z:9.36 [[ 9.96245471e-01 -7.88002588e-02 -3.58535998e-02 2.66139737e+02] [ 7.88190539e-02 9.96888541e-01 -8.91109368e-04 9.94651155e+00] [ 3.58122625e-02 -1.93818315e-03 9.99356656e-01 9.35808588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:9.95, Z:9.36 [[ 9.96276969e-01 -7.84009999e-02 -3.58536481e-02 2.66171535e+02] [ 7.84196072e-02 9.96920044e-01 -8.89163104e-04 9.94808361e+00] [ 3.58129317e-02 -1.92577628e-03 9.99356656e-01 9.35942447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:9.95, Z:9.36 [[ 9.96318666e-01 -7.78693020e-02 -3.58537103e-02 2.66203593e+02] [ 7.78876563e-02 9.96961748e-01 -8.86647144e-04 9.95076872e+00] [ 3.58138203e-02 -1.90917837e-03 9.99356656e-01 9.36110898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:9.95, Z:9.36 [[ 9.96340992e-01 -7.75830819e-02 -3.58537740e-02 2.66234765e+02] [ 7.76013442e-02 9.96984077e-01 -8.84063018e-04 9.95245885e+00] [ 3.58142302e-02 -1.90147284e-03 9.99356656e-01 9.36153068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.27, Y:9.95, Z:9.36 [[ 9.96356420e-01 -7.73846502e-02 -3.58538818e-02 2.66266804e+02] [ 7.74029421e-02 9.96999504e-01 -8.79671079e-04 9.95376612e+00] [ 3.58143754e-02 -1.89873001e-03 9.99356656e-01 9.36281558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.30, Y:9.96, Z:9.36 [[ 9.96374105e-01 -7.71565812e-02 -3.58539444e-02 2.66299385e+02] [ 7.71748177e-02 9.97017191e-01 -8.77110517e-04 9.95554997e+00] [ 3.58146738e-02 -1.89309142e-03 9.99356656e-01 9.36352990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.33, Y:9.96, Z:9.36 [[ 9.96415462e-01 -7.66206116e-02 -3.58540065e-02 2.66331846e+02] [ 7.66385935e-02 9.97058555e-01 -8.74566227e-04 9.95698578e+00] [ 3.58155537e-02 -1.87636932e-03 9.99356656e-01 9.36445892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:9.96, Z:9.37 [[ 9.96526056e-01 -7.51685153e-02 -3.58540679e-02 2.66363798e+02] [ 7.51856506e-02 9.97169172e-01 -8.72042444e-04 9.95967827e+00] [ 3.58181213e-02 -1.82669840e-03 9.99356656e-01 9.36596200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:9.96, Z:9.37 [[ 9.96592536e-01 -7.42818840e-02 -3.58541298e-02 2.66395898e+02] [ 7.42985388e-02 9.97235665e-01 -8.69487490e-04 9.96144444e+00] [ 3.58196042e-02 -1.79738472e-03 9.99356656e-01 9.36710616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:9.96, Z:9.37 [[ 9.96680774e-01 -7.30883780e-02 -3.58541926e-02 2.66426742e+02] [ 7.31043558e-02 9.97323920e-01 -8.66890137e-04 9.96323418e+00] [ 3.58216035e-02 -1.75708492e-03 9.99356656e-01 9.36722250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:9.97, Z:9.37 [[ 9.96858258e-01 -7.06263840e-02 -3.58542393e-02 2.66458578e+02] [ 7.06408427e-02 9.97501440e-01 -8.64954538e-04 9.96702290e+00] [ 3.58257440e-02 -1.67053661e-03 9.99356656e-01 9.36743146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:9.97, Z:9.37 [[ 9.96934335e-01 -6.95442350e-02 -3.58542997e-02 2.66490905e+02] [ 6.95580856e-02 9.97577530e-01 -8.62443199e-04 9.96918529e+00] [ 3.58274217e-02 -1.63415721e-03 9.99356656e-01 9.36805027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.52, Y:9.97, Z:9.37 [[ 9.97005378e-01 -6.85181856e-02 -3.58543597e-02 2.66523133e+02] [ 6.85314641e-02 9.97648585e-01 -8.59941888e-04 9.97108011e+00] [ 3.58289729e-02 -1.59978508e-03 9.99356656e-01 9.36990600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:9.97, Z:9.37 [[ 9.97099371e-01 -6.71364646e-02 -3.58544226e-02 2.66554621e+02] [ 6.71489461e-02 9.97742594e-01 -8.57311789e-04 9.97412297e+00] [ 3.58310415e-02 -1.55276165e-03 9.99356656e-01 9.37020285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.59, Y:9.98, Z:9.37 [[ 9.97131411e-01 -6.66588865e-02 -3.58544694e-02 2.66586450e+02] [ 6.66711303e-02 9.97774638e-01 -8.55351108e-04 9.97598721e+00] [ 3.58316970e-02 -1.53756055e-03 9.99356656e-01 9.37158616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.62, Y:9.98, Z:9.37 [[ 9.97215429e-01 -6.53899100e-02 -3.58545314e-02 2.66617785e+02] [ 6.54014289e-02 9.97858670e-01 -8.52743198e-04 9.97934218e+00] [ 3.58335159e-02 -1.49456891e-03 9.99356656e-01 9.37267728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.65, Y:9.98, Z:9.38 [[ 9.97323191e-01 -6.37252141e-02 -3.58545775e-02 2.66649818e+02] [ 6.37357290e-02 9.97966449e-01 -8.50799569e-04 9.98360800e+00] [ 3.58358828e-02 -1.43669550e-03 9.99356656e-01 9.37506818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:9.99, Z:9.38 [[ 9.97398173e-01 -6.25406162e-02 -3.58546386e-02 2.66682272e+02] [ 6.25504596e-02 9.98041442e-01 -8.48220299e-04 9.98590749e+00] [ 3.58374634e-02 -1.39671074e-03 9.99356656e-01 9.37650849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.71, Y:9.99, Z:9.38 [[ 9.97435858e-01 -6.19366515e-02 -3.58546997e-02 2.66714796e+02] [ 6.19461983e-02 9.98079132e-01 -8.45630073e-04 9.98816908e+00] [ 3.58382030e-02 -1.37760058e-03 9.99356656e-01 9.37775903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:9.99, Z:9.38 [[ 9.97473739e-01 -6.13235339e-02 -3.58547607e-02 2.66745801e+02] [ 6.13327786e-02 9.98117017e-01 -8.43032963e-04 9.99010698e+00] [ 3.58389446e-02 -1.35816886e-03 9.99356656e-01 9.37884793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.78, Y:9.99, Z:9.38 [[ 9.97499136e-01 -6.09090096e-02 -3.58548061e-02 2.66776792e+02] [ 6.09180564e-02 9.98142416e-01 -8.41097549e-04 9.99189632e+00] [ 3.58394332e-02 -1.34521102e-03 9.99356656e-01 9.38016776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.81, Y:9.99, Z:9.38 [[ 9.97523430e-01 -6.05098038e-02 -3.58548360e-02 2.66807623e+02] [ 6.05186389e-02 9.98166714e-01 -8.39823774e-04 9.99359541e+00] [ 3.58399214e-02 -1.33214198e-03 9.99356656e-01 9.38122644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:10.00, Z:9.38 [[ 9.97517610e-01 -6.06056682e-02 -3.58548655e-02 2.66838533e+02] [ 6.06146105e-02 9.98160892e-01 -8.38558577e-04 9.99608269e+00] [ 3.58397460e-02 -1.33685176e-03 9.99356656e-01 9.38140156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:10.00, Z:9.38 [[ 9.97505322e-01 -6.08075166e-02 -3.58549586e-02 2.66870834e+02] [ 6.08167326e-02 9.98148600e-01 -8.34561978e-04 9.99749333e+00] [ 3.58393244e-02 -1.34810141e-03 9.99356656e-01 9.38300793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.90, Y:10.00, Z:9.38 [[ 9.97478105e-01 -6.12523285e-02 -3.58550191e-02 2.66901909e+02] [ 6.12619250e-02 9.98121378e-01 -8.31951521e-04 9.99888852e+00] [ 3.58386201e-02 -1.36669407e-03 9.99356656e-01 9.38367583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.93, Y:10.00, Z:9.38 [[ 9.97420087e-01 -6.21899012e-02 -3.58550641e-02 2.66932924e+02] [ 6.22001720e-02 9.98063350e-01 -8.30009724e-04 1.00012092e+01] [ 3.58372436e-02 -1.40232278e-03 9.99356656e-01 9.38472353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.97, Y:10.00, Z:9.39 [[ 9.97382048e-01 -6.27969659e-02 -3.58551555e-02 2.66965053e+02] [ 6.28077707e-02 9.98025301e-01 -8.26041611e-04 1.00032513e+01] [ 3.58362253e-02 -1.42810331e-03 9.99356656e-01 9.38594738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:10.00, Z:9.39 [[ 9.97378265e-01 -6.28569758e-02 -3.58552149e-02 2.66996395e+02] [ 6.28679121e-02 9.98021517e-01 -8.23457663e-04 1.00042078e+01] [ 3.58360360e-02 -1.43284372e-03 9.99356656e-01 9.38668585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:10.01, Z:9.39 [[ 9.97378764e-01 -6.28490303e-02 -3.58552590e-02 2.67028331e+02] [ 6.28600306e-02 9.98022015e-01 -8.21530168e-04 1.00054534e+01] [ 3.58359702e-02 -1.43448593e-03 9.99356656e-01 9.38755813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.06, Y:10.01, Z:9.39 [[ 9.97410795e-01 -6.23386137e-02 -3.58553168e-02 2.67060217e+02] [ 6.23493756e-02 9.98054049e-01 -8.19000542e-04 1.00066524e+01] [ 3.58365995e-02 -1.41867663e-03 9.99356656e-01 9.38870914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.09, Y:10.01, Z:9.39 [[ 9.97514498e-01 -6.06565630e-02 -3.58553739e-02 2.67091882e+02] [ 6.06663301e-02 9.98157768e-01 -8.16494535e-04 1.00084317e+01] [ 3.58388457e-02 -1.36074881e-03 9.99356656e-01 9.39029324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:10.02, Z:9.39 [[ 9.97306626e-01 -6.39834460e-02 -3.58554326e-02 2.67117145e+02] [ 6.39954515e-02 9.97949858e-01 -8.13908105e-04 1.00157705e+01] [ 3.58340005e-02 -1.48286865e-03 9.99356656e-01 9.38880128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:10.01, Z:9.39 [[ 9.97617337e-01 -5.89488752e-02 -3.58424315e-02 2.67152981e+02] [ 5.89373094e-02 9.98260732e-01 -1.38008701e-03 1.00113850e+01] [ 3.58614465e-02 -7.35657751e-04 9.99356501e-01 9.39289937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:10.01, Z:9.39 [[ 9.97658990e-01 -5.82317266e-02 -3.58553351e-02 2.67184516e+02] [ 5.82402657e-02 9.98302269e-01 -8.07135198e-04 1.00123284e+01] [ 3.58414632e-02 -1.28297855e-03 9.99356665e-01 9.39334393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:10.01, Z:9.39 [[ 9.97720965e-01 -5.71599888e-02 -3.58554289e-02 2.67216479e+02] [ 5.71679872e-02 9.98364250e-01 -8.02947343e-04 1.00132584e+01] [ 3.58426748e-02 -1.24866530e-03 9.99356665e-01 9.39430466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:10.01, Z:9.40 [[ 9.97740898e-01 -5.68109557e-02 -3.58554871e-02 2.67247694e+02] [ 5.68188227e-02 9.98384185e-01 -8.00338252e-04 1.00142339e+01] [ 3.58430192e-02 -1.23873636e-03 9.99356665e-01 9.39526865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:10.02, Z:9.40 [[ 9.97759601e-01 -5.64815004e-02 -3.58555304e-02 2.67279183e+02] [ 5.64892247e-02 9.98402890e-01 -7.98394572e-04 1.00151940e+01] [ 3.58433597e-02 -1.22884526e-03 9.99356665e-01 9.39620508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:10.02, Z:9.40 [[ 9.97771183e-01 -5.62765036e-02 -3.58555587e-02 2.67310264e+02] [ 5.62841415e-02 9.98414473e-01 -7.97121432e-04 1.00167659e+01] [ 3.58435679e-02 -1.22275454e-03 9.99356665e-01 9.39754098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:10.02, Z:9.40 [[ 9.97780723e-01 -5.61070911e-02 -3.58555872e-02 2.67341375e+02] [ 5.61146659e-02 9.98424014e-01 -7.95837309e-04 1.00179251e+01] [ 3.58437314e-02 -1.21795317e-03 9.99356665e-01 9.39844034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:10.02, Z:9.40 [[ 9.97767915e-01 -5.63343891e-02 -3.58556154e-02 2.67372349e+02] [ 5.63421562e-02 9.98411203e-01 -7.94562311e-04 1.00186964e+01] [ 3.58434093e-02 -1.22739391e-03 9.99356665e-01 9.39875335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:10.02, Z:9.40 [[ 9.97763548e-01 -5.64116529e-02 -3.58556435e-02 2.67403114e+02] [ 5.64195153e-02 9.98406835e-01 -7.93294852e-04 1.00190812e+01] [ 3.58432706e-02 -1.23143734e-03 9.99356665e-01 9.39955074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.43, Y:10.02, Z:9.40 [[ 9.97767438e-01 -5.63427800e-02 -3.58556909e-02 2.67434131e+02] [ 5.63506751e-02 9.98410725e-01 -7.91145934e-04 1.00191385e+01] [ 3.58432817e-02 -1.23111274e-03 9.99356665e-01 9.40107768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:10.02, Z:9.40 [[ 9.97795606e-01 -5.58417061e-02 -3.58557192e-02 2.67465482e+02] [ 5.58493243e-02 9.98438896e-01 -7.89861134e-04 1.00191270e+01] [ 3.58438519e-02 -1.21439772e-03 9.99356665e-01 9.40212803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:10.02, Z:9.40 [[ 9.97815210e-01 -5.54902916e-02 -3.58557475e-02 2.67496331e+02] [ 5.54977293e-02 9.98458502e-01 -7.88575118e-04 1.00197277e+01] [ 3.58442342e-02 -1.20306032e-03 9.99356665e-01 9.40339265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.53, Y:10.02, Z:9.40 [[ 9.97817327e-01 -5.54521762e-02 -3.58557899e-02 2.67528111e+02] [ 5.54596588e-02 9.98460619e-01 -7.86641278e-04 1.00205142e+01] [ 3.58442152e-02 -1.20362558e-03 9.99356665e-01 9.40446462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:10.03, Z:9.41 [[ 9.97621351e-01 -5.88727461e-02 -3.58558176e-02 2.67552864e+02] [ 5.88824795e-02 9.98264613e-01 -7.85377749e-04 1.00270044e+01] [ 3.58398312e-02 -1.32776983e-03 9.99356665e-01 9.40516593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:10.02, Z:9.41 [[ 9.97889371e-01 -5.41500832e-02 -3.58409304e-02 2.67587014e+02] [ 5.41330379e-02 9.98532684e-01 -1.44652428e-03 1.00219699e+01] [ 3.58666698e-02 -4.96707241e-04 9.99356461e-01 9.40614067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:10.02, Z:9.41 [[ 9.97889841e-01 -5.41318332e-02 -3.58554054e-02 2.67617136e+02] [ 5.41383643e-02 9.98533131e-01 -7.89424745e-04 1.00220415e+01] [ 3.58455432e-02 -1.15339407e-03 9.99356676e-01 9.40641067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:10.02, Z:9.41 [[ 9.97860214e-01 -5.46752430e-02 -3.58554193e-02 2.67647614e+02] [ 5.46821471e-02 9.98503501e-01 -7.88793995e-04 1.00222111e+01] [ 3.58448892e-02 -1.17354517e-03 9.99356676e-01 9.40685816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.68, Y:10.02, Z:9.41 [[ 9.97794133e-01 -5.58682082e-02 -3.58554193e-02 2.67678286e+02] [ 5.58758813e-02 9.98437411e-01 -7.88793995e-04 1.00215928e+01] [ 3.58434605e-02 -1.21639913e-03 9.99356676e-01 9.40716037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:10.02, Z:9.41 [[ 9.97761532e-01 -5.64474423e-02 -3.58554193e-02 2.67709994e+02] [ 5.64554889e-02 9.98404805e-01 -7.88793995e-04 1.00220395e+01] [ 3.58427483e-02 -1.23720692e-03 9.99356676e-01 9.40806267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.74, Y:10.02, Z:9.41 [[ 9.97714391e-01 -5.72746096e-02 -3.58554467e-02 2.67741186e+02] [ 5.72832343e-02 9.98357657e-01 -7.87545594e-04 1.00223822e+01] [ 3.58416661e-02 -1.26817038e-03 9.99356676e-01 9.40946795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:10.02, Z:9.41 [[ 9.97715565e-01 -5.72541397e-02 -3.58554743e-02 2.67772494e+02] [ 5.72627964e-02 9.98358830e-01 -7.86287157e-04 1.00228625e+01] [ 3.58416476e-02 -1.26869379e-03 9.99356676e-01 9.41087845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:10.02, Z:9.41 [[ 9.97726187e-01 -5.70687230e-02 -3.58555018e-02 2.67803119e+02] [ 5.70773053e-02 9.98369453e-01 -7.85029883e-04 1.00233170e+01] [ 3.58418384e-02 -1.26329055e-03 9.99356676e-01 9.41212535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:10.02, Z:9.41 [[ 9.97733865e-01 -5.69343164e-02 -3.58555155e-02 2.67834277e+02] [ 5.69428343e-02 9.98377132e-01 -7.84406409e-04 1.00232740e+01] [ 3.58419863e-02 -1.25908584e-03 9.99356676e-01 9.41388276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:10.02, Z:9.41 [[ 9.97731631e-01 -5.69734431e-02 -3.58555437e-02 2.67865907e+02] [ 5.69820328e-02 9.98374897e-01 -7.83113449e-04 1.00229297e+01] [ 3.58418914e-02 -1.26178471e-03 9.99356676e-01 9.41464582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.90, Y:10.02, Z:9.42 [[ 9.97713037e-01 -5.72981001e-02 -3.58555857e-02 2.67896169e+02] [ 5.73069682e-02 9.98356300e-01 -7.81184914e-04 1.00225211e+01] [ 3.58414103e-02 -1.27537654e-03 9.99356676e-01 9.41514064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.93, Y:10.02, Z:9.42 [[ 9.97671655e-01 -5.80141790e-02 -3.58555995e-02 2.67927684e+02] [ 5.80235317e-02 9.98314911e-01 -7.80549896e-04 1.00223050e+01] [ 3.58404626e-02 -1.30173601e-03 9.99356676e-01 9.41642575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:10.02, Z:9.42 [[ 9.97673644e-01 -5.79799381e-02 -3.58556263e-02 2.67959504e+02] [ 5.79893128e-02 9.98316900e-01 -7.79319599e-04 1.00229653e+01] [ 3.58404626e-02 -1.30173650e-03 9.99356676e-01 9.41756749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.99, Y:10.02, Z:9.42 [[ 9.97570230e-01 -5.97328159e-02 -3.58556530e-02 2.67990737e+02] [ 5.97433649e-02 9.98213467e-01 -7.78089797e-04 1.00226122e+01] [ 3.58380731e-02 -1.36593814e-03 9.99356676e-01 9.41823799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:10.02, Z:9.42 [[ 9.97500499e-01 -6.08861578e-02 -3.58556802e-02 2.68020690e+02] [ 6.08974956e-02 9.98143723e-01 -7.76834716e-04 1.00229479e+01] [ 3.58364206e-02 -1.40862811e-03 9.99356676e-01 9.41897307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:10.02, Z:9.42 [[ 9.97373888e-01 -6.29261167e-02 -3.58556937e-02 2.68053147e+02] [ 6.29387925e-02 9.98017087e-01 -7.76207910e-04 1.00226065e+01] [ 3.58334388e-02 -1.48254457e-03 9.99356676e-01 9.42020717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:10.02, Z:9.42 [[ 9.97328311e-01 -6.36443626e-02 -3.58557499e-02 2.68084566e+02] [ 6.36575950e-02 9.97971499e-01 -7.73605742e-04 1.00225908e+01] [ 3.58322521e-02 -1.51095190e-03 9.99356676e-01 9.42113482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.12, Y:10.02, Z:9.42 [[ 9.97295169e-01 -6.41615806e-02 -3.58557918e-02 2.68116985e+02] [ 6.41752165e-02 9.97938348e-01 -7.71656670e-04 1.00226756e+01] [ 3.58313804e-02 -1.53148373e-03 9.99356676e-01 9.42239571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.15, Y:10.02, Z:9.42 [[ 9.97269869e-01 -6.45535943e-02 -3.58558470e-02 2.68149302e+02] [ 6.45675753e-02 9.97913041e-01 -7.69084098e-04 1.00226337e+01] [ 3.58306644e-02 -1.54814070e-03 9.99356676e-01 9.42318086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.18, Y:10.02, Z:9.42 [[ 9.97249122e-01 -6.48732861e-02 -3.58559026e-02 2.68181680e+02] [ 6.48875667e-02 9.97892287e-01 -7.66483310e-04 1.00225297e+01] [ 3.58300529e-02 -1.56222746e-03 9.99356676e-01 9.42408091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.21, Y:10.02, Z:9.42 [[ 9.97219659e-01 -6.53245891e-02 -3.58559581e-02 2.68213210e+02] [ 6.53392543e-02 9.97862815e-01 -7.63877804e-04 1.00222410e+01] [ 3.58292273e-02 -1.58104760e-03 9.99356676e-01 9.42439244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:10.02, Z:9.43 [[ 9.97197440e-01 -6.56628764e-02 -3.58559993e-02 2.68245868e+02] [ 6.56778292e-02 9.97840590e-01 -7.61941294e-04 1.00225976e+01] [ 3.58286027e-02 -1.59513829e-03 9.99356676e-01 9.42574158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:10.02, Z:9.43 [[ 9.97197416e-01 -6.56632061e-02 -3.58560546e-02 2.68277891e+02] [ 6.56782530e-02 9.97840564e-01 -7.59326012e-04 1.00231247e+01] [ 3.58284856e-02 -1.59776509e-03 9.99356676e-01 9.42687706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:10.02, Z:9.43 [[ 9.97191149e-01 -6.57582864e-02 -3.58561096e-02 2.68309225e+02] [ 6.57734880e-02 9.97834293e-01 -7.56721318e-04 1.00229569e+01] [ 3.58282165e-02 -1.60378560e-03 9.99356676e-01 9.42808261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:10.02, Z:9.43 [[ 9.97230330e-01 -6.51613751e-02 -3.58561505e-02 2.68340925e+02] [ 6.51762614e-02 9.97873482e-01 -7.54780282e-04 1.00230282e+01] [ 3.58290842e-02 -1.58428005e-03 9.99356676e-01 9.42934319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:10.02, Z:9.43 [[ 9.97282969e-01 -6.43507013e-02 -3.58562042e-02 2.68372132e+02] [ 6.43651568e-02 9.97926130e-01 -7.52217137e-04 1.00231250e+01] [ 3.58302488e-02 -1.55771687e-03 9.99356676e-01 9.43027738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:10.02, Z:9.43 [[ 9.97437775e-01 -6.19048805e-02 -3.58562443e-02 2.68403814e+02] [ 6.19178273e-02 9.98080969e-01 -7.50304277e-04 1.00236098e+01] [ 3.58338825e-02 -1.47175891e-03 9.99356676e-01 9.43227014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:10.02, Z:9.43 [[ 9.97541124e-01 -6.02165455e-02 -3.58562986e-02 2.68434590e+02] [ 6.02284972e-02 9.98184336e-01 -7.47698459e-04 1.00244025e+01] [ 3.58362194e-02 -1.41371102e-03 9.99356676e-01 9.43251714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:10.03, Z:9.43 [[ 9.97747900e-01 -5.66873034e-02 -3.58563390e-02 2.68466321e+02] [ 5.66970494e-02 9.98391150e-01 -7.45753913e-04 1.00255664e+01] [ 3.58409264e-02 -1.28887422e-03 9.99356676e-01 9.43299442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.50, Y:10.03, Z:9.43 [[ 9.97837421e-01 -5.50890386e-02 -3.58563653e-02 2.68496765e+02] [ 5.50977997e-02 9.98480685e-01 -7.44487610e-04 1.00267663e+01] [ 3.58429013e-02 -1.23272924e-03 9.99356676e-01 9.43382560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.53, Y:10.03, Z:9.43 [[ 9.98011144e-01 -5.18466731e-02 -3.58563653e-02 2.68527088e+02] [ 5.18533441e-02 9.98654433e-01 -7.44487610e-04 1.00279763e+01] [ 3.58467174e-02 -1.11626552e-03 9.99356676e-01 9.43436129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:10.03, Z:9.44 [[ 9.98080944e-01 -5.04851473e-02 -3.58563653e-02 2.68557531e+02] [ 5.04909408e-02 9.98724242e-01 -7.44487610e-04 1.00287582e+01] [ 3.58482068e-02 -1.06736272e-03 9.99356676e-01 9.43534487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:10.03, Z:9.44 [[ 9.98130960e-01 -4.94864436e-02 -3.58563653e-02 2.68587655e+02] [ 4.94915934e-02 9.98774263e-01 -7.44487610e-04 1.00292834e+01] [ 3.58492569e-02 -1.03149252e-03 9.99356676e-01 9.43609952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.62, Y:10.03, Z:9.44 [[ 9.98174511e-01 -4.86000882e-02 -3.58563388e-02 2.68617025e+02] [ 4.86046209e-02 9.98817819e-01 -7.45764693e-04 1.00296237e+01] [ 3.58501943e-02 -9.98380445e-04 9.99356676e-01 9.43699715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:10.03, Z:9.44 [[ 9.98207640e-01 -4.79148315e-02 -3.58563417e-02 2.68646939e+02] [ 4.79189276e-02 9.98850950e-01 -7.45623937e-04 1.00304721e+01] [ 3.58508674e-02 -9.73909934e-04 9.99356676e-01 9.43763255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:10.03, Z:9.44 [[ 9.98249755e-01 -4.70292656e-02 -3.58563155e-02 2.68675607e+02] [ 4.70327457e-02 9.98893069e-01 -7.46884013e-04 1.00309363e+01] [ 3.58517504e-02 -9.40844186e-04 9.99356676e-01 9.43578264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.70, Y:10.03, Z:9.44 [[ 9.98178464e-01 -4.85200655e-02 -3.58546736e-02 2.68703029e+02] [ 4.85217120e-02 9.98821788e-01 -8.24735311e-04 1.00320355e+01] [ 3.58524454e-02 -9.16497122e-04 9.99356674e-01 9.43885962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.73, Y:10.03, Z:9.44 [[ 9.98139249e-01 -4.93191837e-02 -3.58560657e-02 2.68733028e+02] [ 4.93237059e-02 9.98782557e-01 -7.58970798e-04 1.00324653e+01] [ 3.58498448e-02 -1.01099550e-03 9.99356676e-01 9.43964873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:10.03, Z:9.44 [[ 9.98124166e-01 -4.96235249e-02 -3.58560390e-02 2.68762491e+02] [ 4.96281980e-02 9.98767472e-01 -7.60229697e-04 1.00327884e+01] [ 3.58495708e-02 -1.02066697e-03 9.99356676e-01 9.44020978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:10.03, Z:9.44 [[ 9.98062822e-01 -5.08424056e-02 -3.58560123e-02 2.68792510e+02] [ 5.08478190e-02 9.98706123e-01 -7.61489637e-04 1.00325282e+01] [ 3.58483350e-02 -1.06318553e-03 9.99356676e-01 9.44178833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:10.03, Z:9.44 [[ 9.98033478e-01 -5.14152193e-02 -3.58559847e-02 2.68822256e+02] [ 5.14209555e-02 9.98676776e-01 -7.62786650e-04 1.00329900e+01] [ 3.58477581e-02 -1.08246238e-03 9.99356676e-01 9.44309372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:10.03, Z:9.44 [[ 9.98015486e-01 -5.17632989e-02 -3.58559573e-02 2.68852187e+02] [ 5.17692133e-02 9.98658783e-01 -7.64071918e-04 1.00332216e+01] [ 3.58474176e-02 -1.09367910e-03 9.99356676e-01 9.44388093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.88, Y:10.03, Z:9.44 [[ 9.97994828e-01 -5.21600835e-02 -3.58559437e-02 2.68883138e+02] [ 5.21662308e-02 9.98638122e-01 -7.64709107e-04 1.00336529e+01] [ 3.58469996e-02 -1.10729370e-03 9.99356676e-01 9.44495038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:10.03, Z:9.45 [[ 9.97957664e-01 -5.28663602e-02 -3.58559437e-02 2.68913958e+02] [ 5.28729627e-02 9.98600954e-01 -7.64709107e-04 1.00342447e+01] [ 3.58462070e-02 -1.13266266e-03 9.99356676e-01 9.44654856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:10.03, Z:9.45 [[ 9.97953612e-01 -5.29428034e-02 -3.58559437e-02 2.68943655e+02] [ 5.29494551e-02 9.98596901e-01 -7.64709107e-04 1.00349736e+01] [ 3.58461201e-02 -1.13540847e-03 9.99356676e-01 9.44764717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.97, Y:10.04, Z:9.45 [[ 9.97959000e-01 -5.28411486e-02 -3.58559301e-02 2.68973877e+02] [ 5.28477119e-02 9.98602290e-01 -7.65349170e-04 1.00354717e+01] [ 3.58462558e-02 -1.13111677e-03 9.99356676e-01 9.44874967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.00, Y:10.04, Z:9.45 [[ 9.97963915e-01 -5.27482435e-02 -3.58559301e-02 2.69004454e+02] [ 5.27547469e-02 9.98607206e-01 -7.65349170e-04 1.00360964e+01] [ 3.58463609e-02 -1.12777966e-03 9.99356676e-01 9.44991965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.03, Y:10.04, Z:9.45 [[ 9.97973046e-01 -5.25752073e-02 -3.58559301e-02 2.69033939e+02] [ 5.25815991e-02 9.98616338e-01 -7.65349170e-04 1.00361420e+01] [ 3.58465559e-02 -1.12156430e-03 9.99356676e-01 9.45041789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.06, Y:10.04, Z:9.45 [[ 9.97963587e-01 -5.27544619e-02 -3.58559166e-02 2.69064909e+02] [ 5.27609467e-02 9.98606878e-01 -7.65979455e-04 1.00364932e+01] [ 3.58463737e-02 -1.12737250e-03 9.99356676e-01 9.45118915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.10, Y:10.04, Z:9.45 [[ 9.97912546e-01 -5.37113012e-02 -3.58559166e-02 2.69095931e+02] [ 5.37184028e-02 9.98555830e-01 -7.65979455e-04 1.00365489e+01] [ 3.58452763e-02 -1.16174206e-03 9.99356676e-01 9.45119149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:10.04, Z:9.45 [[ 9.97862807e-01 -5.46275721e-02 -3.58559166e-02 2.69125732e+02] [ 5.46352643e-02 9.98506085e-01 -7.65979455e-04 1.00367765e+01] [ 3.58441945e-02 -1.19465507e-03 9.99356676e-01 9.45207334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:10.04, Z:9.45 [[ 9.97806360e-01 -5.56491054e-02 -3.58559030e-02 2.69155903e+02] [ 5.56574334e-02 9.98449629e-01 -7.66614855e-04 1.00371175e+01] [ 3.58429745e-02 -1.23071436e-03 9.99356676e-01 9.45349403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.19, Y:10.04, Z:9.45 [[ 9.97662046e-01 -5.81790076e-02 -3.58559030e-02 2.69185381e+02] [ 5.81889667e-02 9.98305292e-01 -7.66614856e-04 1.00366989e+01] [ 3.58397386e-02 -1.32159540e-03 9.99356676e-01 9.45379770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.22, Y:10.04, Z:9.45 [[ 9.97591449e-01 -5.93772249e-02 -3.58559045e-02 2.69216281e+02] [ 5.93879591e-02 9.98234683e-01 -7.66543312e-04 1.00365575e+01] [ 3.58381227e-02 -1.36471194e-03 9.99356676e-01 9.45489839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.25, Y:10.04, Z:9.46 [[ 9.97501089e-01 -6.08763674e-02 -3.58559045e-02 2.69246277e+02] [ 6.08880682e-02 9.98144306e-01 -7.66543312e-04 1.00364701e+01] [ 3.58360313e-02 -1.41856897e-03 9.99356676e-01 9.45548459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:10.04, Z:9.46 [[ 9.97295103e-01 -6.41625352e-02 -3.58559182e-02 2.69277327e+02] [ 6.41763781e-02 9.97938278e-01 -7.65905968e-04 1.00360373e+01] [ 3.58311357e-02 -1.53726869e-03 9.99356676e-01 9.45575108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.31, Y:10.04, Z:9.46 [[ 9.97175193e-01 -6.59998851e-02 -3.58559459e-02 2.69308934e+02] [ 6.60149597e-02 9.97818340e-01 -7.64604590e-04 1.00362433e+01] [ 3.58281843e-02 -1.60458410e-03 9.99356676e-01 9.45668647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:10.04, Z:9.46 [[ 9.96903877e-01 -6.99786275e-02 -3.58559873e-02 2.69341537e+02] [ 6.99963384e-02 9.97546957e-01 -7.62657375e-04 1.00353470e+01] [ 3.58214008e-02 -1.74949173e-03 9.99356676e-01 9.45800471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:10.04, Z:9.46 [[ 9.96776512e-01 -7.17699795e-02 -3.58560416e-02 2.69373084e+02] [ 7.17889378e-02 9.97419556e-01 -7.60098011e-04 1.00350816e+01] [ 3.58180693e-02 -1.81641929e-03 9.99356676e-01 9.45927746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:10.03, Z:9.46 [[ 9.96563052e-01 -7.46754574e-02 -3.58560819e-02 2.69404815e+02] [ 7.46963587e-02 9.97206036e-01 -7.58190340e-04 1.00340553e+01] [ 3.58125195e-02 -1.92273428e-03 9.99356676e-01 9.46057585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.44, Y:10.03, Z:9.46 [[ 9.96504044e-01 -7.54587843e-02 -3.58561375e-02 2.69435519e+02] [ 7.54802856e-02 9.97147008e-01 -7.55553022e-04 1.00342383e+01] [ 3.58108533e-02 -1.95351986e-03 9.99356676e-01 9.46156028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:10.03, Z:9.46 [[ 9.96470752e-01 -7.58971372e-02 -3.58561788e-02 2.69467827e+02] [ 7.59189917e-02 9.97113704e-01 -7.53589514e-04 1.00346393e+01] [ 3.58098825e-02 -1.97123503e-03 9.99356676e-01 9.46361552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:10.04, Z:9.47 [[ 9.96466940e-01 -7.59471340e-02 -3.58562324e-02 2.69499524e+02] [ 7.59691127e-02 9.97109889e-01 -7.51026368e-04 1.00353454e+01] [ 3.58096422e-02 -1.97559322e-03 9.99356676e-01 9.46555153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:10.04, Z:9.47 [[ 9.96492513e-01 -7.56108310e-02 -3.58562864e-02 2.69531798e+02] [ 7.56326856e-02 9.97135466e-01 -7.48439876e-04 1.00362312e+01] [ 3.58101650e-02 -1.96609250e-03 9.99356676e-01 9.46725621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.56, Y:10.04, Z:9.47 [[ 9.96592370e-01 -7.42830442e-02 -3.58563410e-02 2.69563416e+02] [ 7.43041362e-02 9.97235348e-01 -7.45816980e-04 1.00372088e+01] [ 3.58126122e-02 -1.92099893e-03 9.99356676e-01 9.46900308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:10.04, Z:9.47 [[ 9.96655344e-01 -7.34332639e-02 -3.58563815e-02 2.69595305e+02] [ 7.34538777e-02 9.97298338e-01 -7.43864347e-04 1.00374919e+01] [ 3.58141341e-02 -1.89241388e-03 9.99356676e-01 9.47071845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.63, Y:10.04, Z:9.47 [[ 9.96707266e-01 -7.27251085e-02 -3.58564359e-02 2.69626536e+02] [ 7.27453598e-02 9.97350271e-01 -7.41234392e-04 1.00379345e+01] [ 3.58153324e-02 -1.86959562e-03 9.99356676e-01 9.47219685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:10.04, Z:9.47 [[ 9.96754395e-01 -7.20762471e-02 -3.58565271e-02 2.69658331e+02] [ 7.20962391e-02 9.97397408e-01 -7.36794259e-04 1.00384678e+01] [ 3.58163126e-02 -1.85071784e-03 9.99356676e-01 9.47384020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.69, Y:10.04, Z:9.47 [[ 9.96799163e-01 -7.14544275e-02 -3.58565806e-02 2.69689340e+02] [ 7.14741121e-02 9.97442185e-01 -7.34181460e-04 1.00393929e+01] [ 3.58173266e-02 -1.83098580e-03 9.99356676e-01 9.47487404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.72, Y:10.04, Z:9.48 [[ 9.96823450e-01 -7.11147841e-02 -3.58566203e-02 2.69721234e+02] [ 7.11343194e-02 9.97466477e-01 -7.32235035e-04 1.00401151e+01] [ 3.58178495e-02 -1.82072723e-03 9.99356676e-01 9.47552124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:10.04, Z:9.47 [[ 9.96858923e-01 -7.06157734e-02 -3.58566736e-02 2.69752569e+02] [ 7.06350807e-02 9.97501956e-01 -7.29617181e-04 1.00408900e+01] [ 3.58186246e-02 -1.80541364e-03 9.99356676e-01 9.47476588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:10.04, Z:9.48 [[ 9.96895990e-01 -7.00905235e-02 -3.58567132e-02 2.69784642e+02] [ 7.01095621e-02 9.97539032e-01 -7.27665578e-04 1.00414848e+01] [ 3.58194734e-02 -1.78849156e-03 9.99356676e-01 9.47600129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.82, Y:10.04, Z:9.48 [[ 9.96998006e-01 -6.86241027e-02 -3.58567654e-02 2.69815920e+02] [ 6.86422879e-02 9.97641073e-01 -7.25086155e-04 1.00425112e+01] [ 3.58219403e-02 -1.73838096e-03 9.99356676e-01 9.47630496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:10.04, Z:9.48 [[ 9.97124865e-01 -6.67554665e-02 -3.58568041e-02 2.69848534e+02] [ 6.67725154e-02 9.97767963e-01 -7.23165442e-04 1.00442563e+01] [ 3.58250457e-02 -1.67316276e-03 9.99356676e-01 9.47757559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.88, Y:10.04, Z:9.48 [[ 9.97129606e-01 -6.66845959e-02 -3.58568552e-02 2.69881202e+02] [ 6.67016903e-02 9.97772702e-01 -7.20622008e-04 1.00448522e+01] [ 3.58250457e-02 -1.67315932e-03 9.99356676e-01 9.47874727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.91, Y:10.05, Z:9.48 [[ 9.97211304e-01 -6.54514938e-02 -3.58569062e-02 2.69913063e+02] [ 6.54678844e-02 9.97854418e-01 -7.18075121e-04 1.00460699e+01] [ 3.58269714e-02 -1.63140316e-03 9.99356676e-01 9.47969290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:10.05, Z:9.48 [[ 9.97290287e-01 -6.42367594e-02 -3.58569568e-02 2.69944327e+02] [ 6.42524575e-02 9.97933419e-01 -7.15543017e-04 1.00476289e+01] [ 3.58288196e-02 -1.59029349e-03 9.99356676e-01 9.48088904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:10.05, Z:9.48 [[ 9.97365295e-01 -6.30614423e-02 -3.58569818e-02 2.69975538e+02] [ 6.30764276e-02 9.98008444e-01 -7.14284651e-04 1.00491746e+01] [ 3.58306145e-02 -1.54932760e-03 9.99356676e-01 9.48215367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:10.05, Z:9.48 [[ 9.97519122e-01 -6.05794920e-02 -3.58570192e-02 2.70006583e+02] [ 6.05929444e-02 9.98162305e-01 -7.12403186e-04 1.00517074e+01] [ 3.58342820e-02 -1.46204657e-03 9.99356676e-01 9.48455519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.04, Y:10.05, Z:9.49 [[ 9.97585573e-01 -5.94751850e-02 -3.58570438e-02 2.70036451e+02] [ 5.94879698e-02 9.98228769e-01 -7.11165232e-04 1.00531145e+01] [ 3.58358294e-02 -1.42361456e-03 9.99356676e-01 9.48605301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.07, Y:10.05, Z:9.49 [[ 9.97725428e-01 -5.70810172e-02 -3.58570559e-02 2.70067595e+02] [ 5.70922805e-02 9.98368653e-01 -7.10550706e-04 1.00547449e+01] [ 3.58391196e-02 -1.33822659e-03 9.99356676e-01 9.48823999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:10.06, Z:9.49 [[ 9.97802459e-01 -5.57182489e-02 -3.58570815e-02 2.70098030e+02] [ 5.57286801e-02 9.98445698e-01 -7.09257009e-04 1.00561949e+01] [ 3.58408674e-02 -1.29056944e-03 9.99356676e-01 9.48976609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:10.06, Z:9.49 [[ 9.97896161e-01 -5.40140817e-02 -3.58570815e-02 2.70128625e+02] [ 5.40234144e-02 9.98539417e-01 -7.09257009e-04 1.00588665e+01] [ 3.58430192e-02 -1.22935713e-03 9.99356676e-01 9.49200629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:10.06, Z:9.49 [[ 9.97923223e-01 -5.35117848e-02 -3.58570815e-02 2.70157893e+02] [ 5.35207937e-02 9.98566483e-01 -7.09257009e-04 1.00602910e+01] [ 3.58436334e-02 -1.21131542e-03 9.99356676e-01 9.49323106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:10.06, Z:9.49 [[ 9.97923222e-01 -5.35118077e-02 -3.58570689e-02 2.70188866e+02] [ 5.35207936e-02 9.98566483e-01 -7.09895953e-04 1.00609046e+01] [ 3.58436550e-02 -1.21067713e-03 9.99356676e-01 9.49434305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.22, Y:10.06, Z:9.50 [[ 9.97906568e-01 -5.38214845e-02 -3.58570689e-02 2.70219355e+02] [ 5.38306700e-02 9.98549826e-01 -7.09895953e-04 1.00625587e+01] [ 3.58432776e-02 -1.22180021e-03 9.99356676e-01 9.49579654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.25, Y:10.06, Z:9.50 [[ 9.97893220e-01 -5.40683956e-02 -3.58570689e-02 2.70248970e+02] [ 5.40777403e-02 9.98536476e-01 -7.09895953e-04 1.00634757e+01] [ 3.58429741e-02 -1.23066890e-03 9.99356676e-01 9.49645026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.28, Y:10.06, Z:9.50 [[ 9.97860946e-01 -5.46607892e-02 -3.58570720e-02 2.70279442e+02] [ 5.46705215e-02 9.98504196e-01 -7.09737795e-04 1.00642715e+01] [ 3.58422317e-02 -1.25210520e-03 9.99356676e-01 9.49760841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.31, Y:10.06, Z:9.50 [[ 9.97811421e-01 -5.55575239e-02 -3.58570720e-02 2.70308974e+02] [ 5.55678342e-02 9.98454662e-01 -7.09737795e-04 1.00647669e+01] [ 3.58410920e-02 -1.28431536e-03 9.99356676e-01 9.49798926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.34, Y:10.07, Z:9.50 [[ 9.97803192e-01 -5.57051372e-02 -3.58570594e-02 2.70339014e+02] [ 5.57155199e-02 9.98446431e-01 -7.10372358e-04 1.00656921e+01] [ 3.58409244e-02 -1.28898291e-03 9.99356676e-01 9.49945909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:10.07, Z:9.50 [[ 9.97800900e-01 -5.57461740e-02 -3.58570594e-02 2.70369215e+02] [ 5.57565831e-02 9.98444139e-01 -7.10372358e-04 1.00670133e+01] [ 3.58408714e-02 -1.29045694e-03 9.99356676e-01 9.50058729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.40, Y:10.07, Z:9.50 [[ 9.97876273e-01 -5.43802740e-02 -3.58570594e-02 2.70399887e+02] [ 5.43898027e-02 9.98519526e-01 -7.10372358e-04 1.00696447e+01] [ 3.58426043e-02 -1.24139467e-03 9.99356676e-01 9.50140996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:10.07, Z:9.50 [[ 9.97921995e-01 -5.35346803e-02 -3.58570722e-02 2.70429708e+02] [ 5.35436869e-02 9.98565256e-01 -7.09729153e-04 1.00710560e+01] [ 3.58436216e-02 -1.21166552e-03 9.99356676e-01 9.50226047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:10.07, Z:9.50 [[ 9.97998519e-01 -5.20886523e-02 -3.58570596e-02 2.70460560e+02] [ 5.20967041e-02 9.98641792e-01 -7.10362859e-04 1.00721019e+01] [ 3.58453601e-02 -1.15909354e-03 9.99356676e-01 9.50429865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:10.07, Z:9.51 [[ 9.98076460e-01 -5.05732347e-02 -3.58570596e-02 2.70491204e+02] [ 5.05803098e-02 9.98719744e-01 -7.10362859e-04 1.00734479e+01] [ 3.58470788e-02 -1.10466474e-03 9.99356676e-01 9.50566686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:10.08, Z:9.51 [[ 9.98213190e-01 -4.77985313e-02 -3.58570596e-02 2.70521870e+02] [ 4.78038181e-02 9.98856491e-01 -7.10362859e-04 1.00752469e+01] [ 3.58500111e-02 -1.00501078e-03 9.99356676e-01 9.50747578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:10.08, Z:9.51 [[ 9.98281034e-01 -4.63599900e-02 -3.58570596e-02 2.70551896e+02] [ 4.63643498e-02 9.98924343e-01 -7.10362859e-04 1.00764655e+01] [ 3.58514221e-02 -9.53347485e-04 9.99356676e-01 9.50895121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.58, Y:10.08, Z:9.51 [[ 9.98398415e-01 -4.37593087e-02 -3.58570337e-02 2.70580724e+02] [ 4.37619458e-02 9.99041734e-01 -7.11668368e-04 1.00787947e+01] [ 3.58538152e-02 -8.58644993e-04 9.99356676e-01 9.50990917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.61, Y:10.08, Z:9.51 [[ 9.98432489e-01 -4.29748921e-02 -3.58569847e-02 2.70608975e+02] [ 4.29769355e-02 9.99075809e-01 -7.14127644e-04 1.00802753e+01] [ 3.58545356e-02 -8.28015078e-04 9.99356676e-01 9.51062367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.64, Y:10.08, Z:9.51 [[ 9.98480424e-01 -4.18465458e-02 -3.58568029e-02 2.70637128e+02] [ 4.18475386e-02 9.99123746e-01 -7.23142049e-04 1.00813237e+01] [ 3.58556443e-02 -7.78475766e-04 9.99356676e-01 9.51125658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:10.08, Z:9.51 [[ 9.98548280e-01 -4.01948638e-02 -3.58567384e-02 2.70665055e+02] [ 4.01946780e-02 9.99191603e-01 -7.26329499e-04 1.00825188e+01] [ 3.58569466e-02 -7.15974981e-04 9.99356676e-01 9.51266998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:10.08, Z:9.51 [[ 9.98585402e-01 -3.92619995e-02 -3.58565263e-02 2.70692154e+02] [ 3.92608421e-02 9.99228724e-01 -7.36654483e-04 1.00831686e+01] [ 3.58577935e-02 -6.72145003e-04 9.99356676e-01 9.51360368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.72, Y:10.08, Z:9.52 [[ 9.98664135e-01 -3.72056721e-02 -3.58564338e-02 2.70720398e+02] [ 3.72030295e-02 9.99307453e-01 -7.41124990e-04 1.00836814e+01] [ 3.58591756e-02 -5.93833020e-04 9.99356677e-01 9.51518414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.75, Y:10.08, Z:9.52 [[ 9.98696943e-01 -3.63145640e-02 -3.58562165e-02 2.70747418e+02] [ 3.63109752e-02 9.99340257e-01 -7.51496442e-04 1.00843573e+01] [ 3.58598508e-02 -5.51456987e-04 9.99356677e-01 9.51591789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.78, Y:10.09, Z:9.52 [[ 9.98723099e-01 -3.55881305e-02 -3.58560659e-02 2.70775407e+02] [ 3.55838182e-02 9.99366407e-01 -7.58615048e-04 1.00853161e+01] [ 3.58603454e-02 -5.18249356e-04 9.99356677e-01 9.51711998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.80, Y:10.09, Z:9.52 [[ 9.98749005e-01 -3.48537346e-02 -3.58558512e-02 2.70803076e+02] [ 3.48485898e-02 9.99392308e-01 -7.68629537e-04 1.00862737e+01] [ 3.58608515e-02 -4.81857865e-04 9.99356677e-01 9.51801756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:10.09, Z:9.52 [[ 9.98771225e-01 -3.42113019e-02 -3.58556348e-02 2.70830486e+02] [ 3.42053856e-02 9.99414521e-01 -7.78595703e-04 1.00869058e+01] [ 3.58612788e-02 -4.48816830e-04 9.99356677e-01 9.51800698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.86, Y:10.09, Z:9.52 [[ 9.98763205e-01 -3.44448891e-02 -3.58554108e-02 2.70858429e+02] [ 3.44387578e-02 9.99406499e-01 -7.88777890e-04 1.00870119e+01] [ 3.58612999e-02 -4.47013473e-04 9.99356677e-01 9.51839606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.89, Y:10.09, Z:9.52 [[ 9.98739373e-01 -3.51293280e-02 -3.58551842e-02 2.70886703e+02] [ 3.51232724e-02 9.99382668e-01 -7.98948757e-04 1.00870906e+01] [ 3.58611161e-02 -4.61409820e-04 9.99356677e-01 9.51871722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:10.09, Z:9.52 [[ 9.98671966e-01 -3.69963119e-02 -3.58549519e-02 2.70914379e+02] [ 3.69910895e-02 9.99315268e-01 -8.09239823e-04 1.00867382e+01] [ 3.58603397e-02 -5.18148609e-04 9.99356677e-01 9.51912213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:10.09, Z:9.52 [[ 9.98565206e-01 -3.97738124e-02 -3.58548798e-02 2.70942120e+02] [ 3.97702651e-02 9.99208520e-01 -8.12421456e-04 1.00866625e+01] [ 3.58588145e-02 -6.14702275e-04 9.99356677e-01 9.51987902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:10.09, Z:9.52 [[ 9.98499795e-01 -4.13836246e-02 -3.58546439e-02 2.70968939e+02] [ 4.13807454e-02 9.99143111e-01 -8.22700934e-04 1.00867370e+01] [ 3.58579668e-02 -6.62225179e-04 9.99356677e-01 9.51979382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:10.09, Z:9.52 [[ 9.98333018e-01 -4.52287173e-02 -3.58545412e-02 2.70996768e+02] [ 4.52281558e-02 9.98976341e-01 -8.27153042e-04 1.00860979e+01] [ 3.58552495e-02 -7.95860585e-04 9.99356677e-01 9.52074470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.03, Y:10.09, Z:9.52 [[ 9.98321636e-01 -4.54794474e-02 -3.58543009e-02 2.71025967e+02] [ 4.54786782e-02 9.98964959e-01 -8.37441338e-04 1.00868171e+01] [ 3.58552766e-02 -7.94570406e-04 9.99356677e-01 9.52179663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:10.09, Z:9.52 [[ 9.98134075e-01 -4.94252213e-02 -3.58540885e-02 2.71053630e+02] [ 4.94266720e-02 9.98777396e-01 -8.46438639e-04 1.00859580e+01] [ 3.58520886e-02 -9.27289026e-04 9.99356677e-01 9.52260548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:10.09, Z:9.52 [[ 9.98031196e-01 -5.14608690e-02 -3.58540131e-02 2.71083040e+02] [ 5.14635175e-02 9.98674514e-01 -8.49621526e-04 1.00859145e+01] [ 3.58502114e-02 -9.97224844e-04 9.99356677e-01 9.52395588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:10.09, Z:9.53 [[ 9.97930391e-01 -5.33800253e-02 -3.58539834e-02 2.71113393e+02] [ 5.33838660e-02 9.98573702e-01 -8.50874155e-04 1.00855084e+01] [ 3.58482646e-02 -1.06491107e-03 9.99356677e-01 9.52523594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.14, Y:10.08, Z:9.53 [[ 9.97711873e-01 -5.73193724e-02 -3.58539834e-02 2.71143577e+02] [ 5.73257528e-02 9.98355164e-01 -8.50874155e-04 1.00841625e+01] [ 3.58437810e-02 -1.20642934e-03 9.99356677e-01 9.52637208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:10.08, Z:9.53 [[ 9.97492048e-01 -6.10254566e-02 -3.58539834e-02 2.71174727e+02] [ 6.10342268e-02 9.98135311e-01 -8.50874155e-04 1.00830768e+01] [ 3.58390518e-02 -1.33957995e-03 9.99356677e-01 9.52807578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:10.08, Z:9.53 [[ 9.97418679e-01 -6.22130970e-02 -3.58540133e-02 2.71207204e+02] [ 6.22226784e-02 9.98061930e-01 -8.49612387e-04 1.00829743e+01] [ 3.58373827e-02 -1.38351347e-03 9.99356677e-01 9.52933099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:10.08, Z:9.53 [[ 9.97355437e-01 -6.32188130e-02 -3.58540749e-02 2.71238113e+02] [ 6.32291366e-02 9.97998677e-01 -8.47004224e-04 1.00826978e+01] [ 3.58358659e-02 -1.42225793e-03 9.99356677e-01 9.52993544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:10.08, Z:9.53 [[ 9.97288419e-01 -6.42673442e-02 -3.58541207e-02 2.71270319e+02] [ 6.42784139e-02 9.97931647e-01 -8.45059799e-04 1.00824470e+01] [ 3.58342715e-02 -1.46187766e-03 9.99356677e-01 9.53132962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:10.08, Z:9.53 [[ 9.97195294e-01 -6.56964514e-02 -3.58541814e-02 2.71302610e+02] [ 6.57085356e-02 9.97838503e-01 -8.42475925e-04 1.00813430e+01] [ 3.58320304e-02 -1.51581273e-03 9.99356677e-01 9.53166372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:10.08, Z:9.53 [[ 9.97147502e-01 -6.64178639e-02 -3.58542426e-02 2.71334008e+02] [ 6.64305071e-02 9.97790701e-01 -8.39863008e-04 1.00813310e+01] [ 3.58308118e-02 -1.54434822e-03 9.99356677e-01 9.53193677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:10.08, Z:9.53 [[ 9.97072263e-01 -6.75379333e-02 -3.58542881e-02 2.71366626e+02] [ 6.75513690e-02 9.97715446e-01 -8.37916928e-04 1.00808776e+01] [ 3.58289682e-02 -1.58654252e-03 9.99356677e-01 9.53188714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:10.08, Z:9.53 [[ 9.97031979e-01 -6.81300163e-02 -3.58543471e-02 2.71398482e+02] [ 6.81439248e-02 9.97675151e-01 -8.35383959e-04 1.00806305e+01] [ 3.58279059e-02 -1.61035141e-03 9.99356677e-01 9.53232538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:10.08, Z:9.53 [[ 9.96996806e-01 -6.86427722e-02 -3.58544057e-02 2.71429895e+02] [ 6.86571019e-02 9.97639969e-01 -8.32862232e-04 1.00803848e+01] [ 3.58269582e-02 -1.63129860e-03 9.99356677e-01 9.53281411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.46, Y:10.08, Z:9.53 [[ 9.96952409e-01 -6.92845777e-02 -3.58544492e-02 2.71462626e+02] [ 6.92993889e-02 9.97595561e-01 -8.30984380e-04 1.00797760e+01] [ 3.58258138e-02 -1.65623954e-03 9.99356677e-01 9.53282323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.49, Y:10.08, Z:9.53 [[ 9.96953221e-01 -6.92728586e-02 -3.58545226e-02 2.71493578e+02] [ 6.92877763e-02 9.97596371e-01 -8.27807030e-04 1.00800240e+01] [ 3.58256862e-02 -1.65899525e-03 9.99356677e-01 9.53327846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:10.08, Z:9.53 [[ 9.96957510e-01 -6.92110740e-02 -3.58545662e-02 2.71525079e+02] [ 6.92260198e-02 9.97600660e-01 -8.25912267e-04 1.00805990e+01] [ 3.58257012e-02 -1.65866947e-03 9.99356677e-01 9.53295963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:10.08, Z:9.54 [[ 9.97067360e-01 -6.76091431e-02 -3.58564346e-02 2.71555691e+02] [ 6.76259738e-02 9.97710466e-01 -7.44594873e-04 1.00819407e+01] [ 3.58246815e-02 -1.68241506e-03 9.99356674e-01 9.53632436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:10.08, Z:9.54 [[ 9.97137976e-01 -6.65605280e-02 -3.58546079e-02 2.71586356e+02] [ 6.65738298e-02 9.97781161e-01 -8.24078661e-04 1.00832383e+01] [ 3.58299034e-02 -1.56525844e-03 9.99356677e-01 9.53797068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:10.08, Z:9.54 [[ 9.97220472e-01 -6.53128953e-02 -3.58546502e-02 2.71617623e+02] [ 6.53254586e-02 9.97863672e-01 -8.22232042e-04 1.00843999e+01] [ 3.58317553e-02 -1.52227485e-03 9.99356677e-01 9.53961438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.65, Y:10.09, Z:9.54 [[ 9.97382362e-01 -6.27922316e-02 -3.58546921e-02 2.71649808e+02] [ 6.28032349e-02 9.98025591e-01 -8.20402937e-04 1.00863626e+01] [ 3.58354152e-02 -1.43353523e-03 9.99356677e-01 9.54276320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.68, Y:10.09, Z:9.54 [[ 9.97456481e-01 -6.16036073e-02 -3.58547512e-02 2.71681112e+02] [ 6.16139370e-02 9.98099721e-01 -8.17811894e-04 1.00875522e+01] [ 3.58369973e-02 -1.39342061e-03 9.99356677e-01 9.54371129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.71, Y:10.09, Z:9.54 [[ 9.97575534e-01 -5.96446839e-02 -3.58547807e-02 2.71710989e+02] [ 5.96537969e-02 9.98218793e-01 -8.16515812e-04 1.00885231e+01] [ 3.58396167e-02 -1.32433761e-03 9.99356677e-01 9.54489829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.74, Y:10.09, Z:9.55 [[ 9.97607121e-01 -5.91139808e-02 -3.58548295e-02 2.71741894e+02] [ 5.91228289e-02 9.98250383e-01 -8.14365026e-04 1.00895604e+01] [ 3.58402377e-02 -1.30742260e-03 9.99356677e-01 9.54699100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.77, Y:10.09, Z:9.55 [[ 9.97631587e-01 -5.86996238e-02 -3.58548586e-02 2.71772649e+02] [ 5.87082507e-02 9.98274852e-01 -8.13083223e-04 1.00902747e+01] [ 3.58407314e-02 -1.29381852e-03 9.99356677e-01 9.54825985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:10.09, Z:9.55 [[ 9.97636483e-01 -5.86163440e-02 -3.58548730e-02 2.71803076e+02] [ 5.86249400e-02 9.98279749e-01 -8.12447623e-04 1.00908721e+01] [ 3.58408163e-02 -1.29146239e-03 9.99356677e-01 9.54923311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:10.09, Z:9.55 [[ 9.97636484e-01 -5.86163216e-02 -3.58548872e-02 2.71834048e+02] [ 5.86249400e-02 9.98279749e-01 -8.11821348e-04 1.00915731e+01] [ 3.58407938e-02 -1.29208802e-03 9.99356677e-01 9.55034467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:10.09, Z:9.55 [[ 9.97609525e-01 -5.90733638e-02 -3.58548872e-02 2.71864412e+02] [ 5.90822770e-02 9.98252786e-01 -8.11821348e-04 1.00917620e+01] [ 3.58401981e-02 -1.30850767e-03 9.99356677e-01 9.55115725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.90, Y:10.09, Z:9.55 [[ 9.97578738e-01 -5.95910065e-02 -3.58548872e-02 2.71895003e+02] [ 5.96002534e-02 9.98221995e-01 -8.11821348e-04 1.00921246e+01] [ 3.58395143e-02 -1.32710465e-03 9.99356677e-01 9.55131172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.93, Y:10.09, Z:9.55 [[ 9.97546253e-01 -6.01323500e-02 -3.58549013e-02 2.71926159e+02] [ 6.01419684e-02 9.98189504e-01 -8.11196163e-04 1.00927418e+01] [ 3.58387653e-02 -1.34717865e-03 9.99356677e-01 9.55257725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.96, Y:10.09, Z:9.55 [[ 9.97482228e-01 -6.11852036e-02 -3.58549301e-02 2.71957492e+02] [ 6.11955466e-02 9.98125468e-01 -8.09923045e-04 1.00933044e+01] [ 3.58372742e-02 -1.38627820e-03 9.99356677e-01 9.55274167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.99, Y:10.09, Z:9.55 [[ 9.97460412e-01 -6.15398098e-02 -3.58549587e-02 2.71988868e+02] [ 6.15504270e-02 9.98103647e-01 -8.08654554e-04 1.00938304e+01] [ 3.58367295e-02 -1.40028712e-03 9.99356677e-01 9.55323769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:10.09, Z:9.55 [[ 9.97413334e-01 -6.22981615e-02 -3.58549871e-02 2.72020434e+02] [ 6.23093131e-02 9.98056560e-01 -8.07392877e-04 1.00942909e+01] [ 3.58356042e-02 -1.42879520e-03 9.99356677e-01 9.55446611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:10.09, Z:9.56 [[ 9.97394027e-01 -6.26064873e-02 -3.58550163e-02 2.72052109e+02] [ 6.26178843e-02 9.98037249e-01 -8.06094996e-04 1.00945321e+01] [ 3.58351086e-02 -1.44117093e-03 9.99356677e-01 9.55553148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:10.09, Z:9.56 [[ 9.97318239e-01 -6.38023939e-02 -3.58550600e-02 2.72083146e+02] [ 6.38146322e-02 9.97961445e-01 -8.04145137e-04 1.00946967e+01] [ 3.58332739e-02 -1.48608886e-03 9.99356677e-01 9.55628229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:10.10, Z:9.56 [[ 9.97292315e-01 -6.42063095e-02 -3.58551033e-02 2.72114908e+02] [ 6.42188776e-02 9.97935515e-01 -8.02212147e-04 1.00955325e+01] [ 3.58325880e-02 -1.50253448e-03 9.99356677e-01 9.55833441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.15, Y:10.10, Z:9.56 [[ 9.97324909e-01 -6.36980073e-02 -3.58551323e-02 2.72145214e+02] [ 6.37102942e-02 9.97968114e-01 -8.00913707e-04 1.00962729e+01] [ 3.58332954e-02 -1.48556984e-03 9.99356677e-01 9.56064206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.18, Y:10.10, Z:9.56 [[ 9.97272765e-01 -6.45099854e-02 -3.58537812e-02 2.72176957e+02] [ 6.45206233e-02 9.97916002e-01 -8.61452281e-04 1.00969078e+01] [ 3.58346343e-02 -1.45420541e-03 9.99356675e-01 9.56200606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.21, Y:10.10, Z:9.56 [[ 9.97240800e-01 -6.50014587e-02 -3.58552193e-02 2.72208524e+02] [ 6.50147362e-02 9.97883986e-01 -7.96735112e-04 1.00970869e+01] [ 3.58311381e-02 -1.53658087e-03 9.99356677e-01 9.56302907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.24, Y:10.10, Z:9.56 [[ 9.97208127e-01 -6.55007808e-02 -3.58552620e-02 2.72239938e+02] [ 6.55144494e-02 9.97851304e-01 -7.94811859e-04 1.00973873e+01] [ 3.58302807e-02 -1.55644490e-03 9.99356677e-01 9.56434782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.27, Y:10.10, Z:9.57 [[ 9.97130295e-01 -6.66751248e-02 -3.58552901e-02 2.72271165e+02] [ 6.66895964e-02 9.97773455e-01 -7.93542171e-04 1.00972667e+01] [ 3.58283662e-02 -1.59990988e-03 9.99356677e-01 9.56553892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:10.10, Z:9.57 [[ 9.97140900e-01 -6.65163292e-02 -3.58553180e-02 2.72301065e+02] [ 6.65307438e-02 9.97784061e-01 -7.92277484e-04 1.00973369e+01] [ 3.58285642e-02 -1.59546869e-03 9.99356677e-01 9.56727727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.33, Y:10.10, Z:9.57 [[ 9.97061436e-01 -6.76979948e-02 -3.58535215e-02 2.72333548e+02] [ 6.77102429e-02 9.97704645e-01 -8.73887292e-04 1.00977487e+01] [ 3.58303854e-02 -1.55633133e-03 9.99356674e-01 9.56770881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.37, Y:10.10, Z:9.57 [[ 9.97021322e-01 -6.82852238e-02 -3.58554274e-02 2.72365604e+02] [ 6.83009663e-02 9.97664452e-01 -7.87067628e-04 1.00982493e+01] [ 3.58254304e-02 -1.66423713e-03 9.99356677e-01 9.56905594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:10.10, Z:9.57 [[ 9.96995183e-01 -6.86657867e-02 -3.58554838e-02 2.72397312e+02] [ 6.86818672e-02 9.97638304e-01 -7.84491554e-04 1.00984277e+01] [ 3.58246718e-02 -1.68048728e-03 9.99356677e-01 9.57116516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.43, Y:10.10, Z:9.57 [[ 9.97016937e-01 -6.83491539e-02 -3.58555410e-02 2.72428261e+02] [ 6.83651242e-02 9.97660062e-01 -7.81868717e-04 1.00985622e+01] [ 3.58250813e-02 -1.67173216e-03 9.99356677e-01 9.57215420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.46, Y:10.10, Z:9.57 [[ 9.97037156e-01 -6.80535625e-02 -3.58555835e-02 2.72460413e+02] [ 6.80694123e-02 9.97680283e-01 -7.79915298e-04 1.00988819e+01] [ 3.58254847e-02 -1.66306396e-03 9.99356678e-01 9.57300211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:10.10, Z:9.57 [[ 9.97123674e-01 -6.67738812e-02 -3.58556398e-02 2.72491579e+02] [ 6.67889987e-02 9.97766819e-01 -7.77317023e-04 1.00995442e+01] [ 3.58274721e-02 -1.61968107e-03 9.99356678e-01 9.57299089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:10.10, Z:9.57 [[ 9.97188059e-01 -6.58053625e-02 -3.58556816e-02 2.72522528e+02] [ 6.58199247e-02 9.97831216e-01 -7.75384001e-04 1.01004111e+01] [ 3.58289428e-02 -1.58681460e-03 9.99356678e-01 9.57392715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.55, Y:10.10, Z:9.58 [[ 9.97244981e-01 -6.49369869e-02 -3.58557709e-02 2.72554807e+02] [ 6.49511381e-02 9.97888147e-01 -7.71232477e-04 1.01010436e+01] [ 3.58301303e-02 -1.55976541e-03 9.99356678e-01 9.57531713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.59, Y:10.10, Z:9.58 [[ 9.97409484e-01 -6.23592882e-02 -3.58558265e-02 2.72585881e+02] [ 6.23718700e-02 9.98052683e-01 -7.68638876e-04 1.01017663e+01] [ 3.58339356e-02 -1.46974724e-03 9.99356678e-01 9.57649603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:10.10, Z:9.58 [[ 9.97495297e-01 -6.09711927e-02 -3.58559190e-02 2.72617386e+02] [ 6.09830353e-02 9.98138510e-01 -7.64297878e-04 1.01023435e+01] [ 3.58357737e-02 -1.42421924e-03 9.99356678e-01 9.57764039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:10.10, Z:9.58 [[ 9.97673148e-01 -5.79882781e-02 -3.58559464e-02 2.72647956e+02] [ 5.79982435e-02 9.98316394e-01 -7.63010636e-04 1.01025031e+01] [ 3.58398248e-02 -1.31834669e-03 9.99356678e-01 9.57845322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.68, Y:10.10, Z:9.58 [[ 9.97746233e-01 -5.67168783e-02 -3.58559600e-02 2.72678805e+02] [ 5.67260469e-02 9.98389490e-01 -7.62372758e-04 1.01031900e+01] [ 3.58414530e-02 -1.27331232e-03 9.99356678e-01 9.57977956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.71, Y:10.10, Z:9.58 [[ 9.97873286e-01 -5.44357939e-02 -3.58559600e-02 2.72707918e+02] [ 5.44434919e-02 9.98516562e-01 -7.62372758e-04 1.01046088e+01] [ 3.58442703e-02 -1.19137226e-03 9.99356678e-01 9.58085048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:10.11, Z:9.58 [[ 9.97917284e-01 -5.36231860e-02 -3.58559466e-02 2.72737911e+02] [ 5.36303376e-02 9.98560566e-01 -7.63002782e-04 1.01057024e+01] [ 3.58452490e-02 -1.16155286e-03 9.99356678e-01 9.58190006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:10.11, Z:9.58 [[ 9.97932554e-01 -5.33382435e-02 -3.58559466e-02 2.72768130e+02] [ 5.33452114e-02 9.98575839e-01 -7.63002782e-04 1.01067504e+01] [ 3.58455792e-02 -1.15131773e-03 9.99356678e-01 9.58335463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:10.11, Z:9.58 [[ 9.97959022e-01 -5.28407217e-02 -3.58559466e-02 2.72799080e+02] [ 5.28473689e-02 9.98602310e-01 -7.63002782e-04 1.01076253e+01] [ 3.58461487e-02 -1.13344693e-03 9.99356678e-01 9.58386295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:10.11, Z:9.58 [[ 9.97978820e-01 -5.24654730e-02 -3.58559466e-02 2.72829274e+02] [ 5.24718783e-02 9.98622111e-01 -7.63002782e-04 1.01083566e+01] [ 3.58465723e-02 -1.11996825e-03 9.99356678e-01 9.58403899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:10.11, Z:9.58 [[ 9.98022713e-01 -5.16237947e-02 -3.58559466e-02 2.72858991e+02] [ 5.16296575e-02 9.98666008e-01 -7.63002782e-04 1.01094128e+01] [ 3.58475041e-02 -1.08973613e-03 9.99356678e-01 9.58404126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:10.11, Z:9.59 [[ 9.98095658e-01 -5.01937232e-02 -3.58559189e-02 2.72888313e+02] [ 5.01986176e-02 9.98738962e-01 -7.64302962e-04 1.01115225e+01] [ 3.58490664e-02 -1.03707009e-03 9.99356678e-01 9.58581097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:10.11, Z:9.59 [[ 9.98126962e-01 -4.95673481e-02 -3.58558914e-02 2.72916961e+02] [ 4.95717925e-02 9.98770270e-01 -7.65589314e-04 1.01129749e+01] [ 3.58497465e-02 -1.01328547e-03 9.99356678e-01 9.58672181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:10.11, Z:9.59 [[ 9.98211710e-01 -4.78303304e-02 -3.58558394e-02 2.72944517e+02] [ 4.78335682e-02 9.98855024e-01 -7.68017505e-04 1.01145064e+01] [ 3.58515199e-02 -9.48468673e-04 9.99356678e-01 9.58836227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:10.12, Z:9.59 [[ 9.98193485e-01 -4.82123396e-02 -3.58515852e-02 2.72973897e+02] [ 4.82088141e-02 9.98836815e-01 -9.63290710e-04 1.01172909e+01] [ 3.58563256e-02 -7.66811895e-04 9.99356661e-01 9.58986826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:10.12, Z:9.59 [[ 9.98187374e-01 -4.83358221e-02 -3.58554795e-02 2.73002678e+02] [ 4.83387556e-02 9.98830690e-01 -7.85572188e-04 1.01188517e+01] [ 3.58515246e-02 -9.49061019e-04 9.99356677e-01 9.59086618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:10.12, Z:9.59 [[ 9.98164020e-01 -4.88158485e-02 -3.58552847e-02 2.73031417e+02] [ 4.88187757e-02 9.98807337e-01 -7.94365217e-04 1.01200956e+01] [ 3.58512990e-02 -9.57504321e-04 9.99356677e-01 9.59133249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:10.12, Z:9.59 [[ 9.98118455e-01 -4.97389472e-02 -3.58550858e-02 2.73061020e+02] [ 4.97421507e-02 9.98761770e-01 -8.03243281e-04 1.01215650e+01] [ 3.58506414e-02 -9.81777137e-04 9.99356677e-01 9.59234225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:10.12, Z:9.59 [[ 9.98082672e-01 -5.04519068e-02 -3.58550571e-02 2.73089515e+02] [ 5.04555239e-02 9.98725985e-01 -8.04522186e-04 1.01228046e+01] [ 3.58499669e-02 -1.00610604e-03 9.99356677e-01 9.59358487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:10.12, Z:9.60 [[ 9.98011815e-01 -5.18346937e-02 -3.58550143e-02 2.73119479e+02] [ 5.18391338e-02 9.98655123e-01 -8.06424966e-04 1.01239827e+01] [ 3.58485945e-02 -1.05387124e-03 9.99356677e-01 9.59533717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:10.13, Z:9.60 [[ 9.97879202e-01 -5.43278752e-02 -3.58549854e-02 2.73149564e+02] [ 5.43338764e-02 9.98522497e-01 -8.07707772e-04 1.01251751e+01] [ 3.58458906e-02 -1.14214556e-03 9.99356677e-01 9.59765623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:10.13, Z:9.60 [[ 9.97739022e-01 -5.68442065e-02 -3.58549854e-02 2.73180975e+02] [ 5.68518300e-02 9.98382300e-01 -8.07707772e-04 1.01262093e+01] [ 3.58428963e-02 -1.23253997e-03 9.99356677e-01 9.59869842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.21, Y:10.13, Z:9.60 [[ 9.97666122e-01 -5.81096085e-02 -3.58550143e-02 2.73211205e+02] [ 5.81180942e-02 9.98309389e-01 -8.06419473e-04 1.01272516e+01] [ 3.58412582e-02 -1.27928771e-03 9.99356677e-01 9.59978234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.24, Y:10.13, Z:9.60 [[ 9.97587168e-01 -5.94496096e-02 -3.58550586e-02 2.73242061e+02] [ 5.94590301e-02 9.98230423e-01 -8.04445093e-04 1.01281889e+01] [ 3.58394343e-02 -1.32940291e-03 9.99356677e-01 9.60129953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:10.13, Z:9.60 [[ 9.97496640e-01 -6.09497072e-02 -3.58550881e-02 2.73273088e+02] [ 6.09601422e-02 9.98139878e-01 -8.03130865e-04 1.01290709e+01] [ 3.58373438e-02 -1.38461093e-03 9.99356677e-01 9.60213775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:10.13, Z:9.60 [[ 9.97332690e-01 -6.35760510e-02 -3.58551320e-02 2.73304665e+02] [ 6.35882503e-02 9.97975898e-01 -8.01163834e-04 1.01295579e+01] [ 3.58334924e-02 -1.48093823e-03 9.99356677e-01 9.60262468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.34, Y:10.13, Z:9.60 [[ 9.97282024e-01 -6.43659199e-02 -3.58551750e-02 2.73336168e+02] [ 6.43786978e-02 9.97925220e-01 -7.99234512e-04 1.01300108e+01] [ 3.58322269e-02 -1.51124727e-03 9.99356677e-01 9.60355512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.37, Y:10.13, Z:9.61 [[ 9.97233457e-01 -6.51139976e-02 -3.58552633e-02 2.73367978e+02] [ 6.51274009e-02 9.97876640e-01 -7.95253723e-04 1.01304803e+01] [ 3.58309119e-02 -1.54210649e-03 9.99356677e-01 9.60567588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.40, Y:10.13, Z:9.61 [[ 9.97260564e-01 -6.46974788e-02 -3.58553205e-02 2.73399348e+02] [ 6.47107062e-02 9.97903751e-01 -7.92669767e-04 1.01312986e+01] [ 3.58314425e-02 -1.52972481e-03 9.99356677e-01 9.60655005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:10.13, Z:9.61 [[ 9.97444600e-01 -6.17953365e-02 -3.58553630e-02 2.73430485e+02] [ 6.18067615e-02 9.98087821e-01 -7.90742053e-04 1.01334892e+01] [ 3.58356653e-02 -1.42738248e-03 9.99356677e-01 9.60867845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:10.14, Z:9.61 [[ 9.97572036e-01 -5.97027946e-02 -3.58554048e-02 2.73461259e+02] [ 5.97129383e-02 9.98215279e-01 -7.88843127e-04 1.01352514e+01] [ 3.58385090e-02 -1.35410373e-03 9.99356677e-01 9.61103455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:10.14, Z:9.61 [[ 9.97677985e-01 -5.79053266e-02 -3.58554319e-02 2.73492719e+02] [ 5.79143558e-02 9.98321244e-01 -7.87605108e-04 1.01368213e+01] [ 3.58408460e-02 -1.29076797e-03 9.99356677e-01 9.61362189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:10.14, Z:9.61 [[ 9.97807969e-01 -5.56205242e-02 -3.58554601e-02 2.73523801e+02] [ 5.56281264e-02 9.98451247e-01 -7.86322073e-04 1.01379538e+01] [ 3.58436645e-02 -1.20997364e-03 9.99356677e-01 9.61498385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:10.14, Z:9.61 [[ 9.98052231e-01 -5.10502416e-02 -3.58554886e-02 2.73553856e+02] [ 5.10549444e-02 9.98695537e-01 -7.85019463e-04 1.01391288e+01] [ 3.58487919e-02 -1.04710955e-03 9.99356677e-01 9.61433035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.58, Y:10.14, Z:9.62 [[ 9.98153062e-01 -4.90392521e-02 -3.58555027e-02 2.73584682e+02] [ 4.90426820e-02 9.98796376e-01 -7.84373359e-04 1.01401408e+01] [ 3.58508113e-02 -9.75525349e-04 9.99356677e-01 9.61503663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.61, Y:10.14, Z:9.62 [[ 9.98221031e-01 -4.76356709e-02 -3.58555027e-02 2.73614471e+02] [ 4.76381962e-02 9.98864349e-01 -7.84373359e-04 1.01412114e+01] [ 3.58521475e-02 -9.25113492e-04 9.99356677e-01 9.61664311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.64, Y:10.14, Z:9.62 [[ 9.98343998e-01 -4.49849704e-02 -3.58554741e-02 2.73642720e+02] [ 4.49857406e-02 9.98987320e-01 -7.85681324e-04 1.01428012e+01] [ 3.58545078e-02 -8.28604821e-04 9.99356677e-01 9.61767190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.67, Y:10.14, Z:9.62 [[ 9.98373648e-01 -4.43220814e-02 -3.58554314e-02 2.73671501e+02] [ 4.43223545e-02 9.99016971e-01 -7.87626154e-04 1.01440487e+01] [ 3.58550937e-02 -8.02851944e-04 9.99356677e-01 9.61918804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:10.15, Z:9.62 [[ 9.98373954e-01 -4.43153610e-02 -3.58552332e-02 2.73700324e+02] [ 4.43153097e-02 9.99017277e-01 -7.96546451e-04 1.01453149e+01] [ 3.58552967e-02 -7.93684532e-04 9.99356677e-01 9.62116896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.73, Y:10.15, Z:9.62 [[ 9.98362865e-01 -4.45646341e-02 -3.58550322e-02 2.73729524e+02] [ 4.45644222e-02 9.99006188e-01 -8.05492985e-04 1.01460088e+01] [ 3.58552955e-02 -7.93684508e-04 9.99356677e-01 9.62222040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.76, Y:10.15, Z:9.62 [[ 9.98395675e-01 -4.38235890e-02 -3.58548290e-02 2.73757692e+02] [ 4.38225785e-02 9.99038997e-01 -8.14439469e-04 1.01468403e+01] [ 3.58560641e-02 -7.58118213e-04 9.99356677e-01 9.62309457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.79, Y:10.15, Z:9.62 [[ 9.98380582e-01 -4.41661542e-02 -3.58547568e-02 2.73785939e+02] [ 4.41652508e-02 9.99023905e-01 -8.17603939e-04 1.01472632e+01] [ 3.58558696e-02 -7.67254431e-04 9.99356677e-01 9.62438874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.81, Y:10.15, Z:9.63 [[ 9.98360957e-01 -4.46077543e-02 -3.58545470e-02 2.73814087e+02] [ 4.46068087e-02 9.99004279e-01 -8.26705124e-04 1.01484546e+01] [ 3.58557233e-02 -7.74006801e-04 9.99356677e-01 9.62603366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.84, Y:10.15, Z:9.63 [[ 9.98323581e-01 -4.54366004e-02 -3.58544724e-02 2.73842775e+02] [ 4.54360733e-02 9.98966904e-01 -8.29927364e-04 1.01494894e+01] [ 3.58551403e-02 -8.00550377e-04 9.99356677e-01 9.62785931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:10.15, Z:9.63 [[ 9.98295406e-01 -4.60516385e-02 -3.58542624e-02 2.73871677e+02] [ 4.60511856e-02 9.98938729e-01 -8.38902178e-04 1.01504089e+01] [ 3.58548441e-02 -8.13659102e-04 9.99356677e-01 9.62959259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:10.15, Z:9.63 [[ 9.98206332e-01 -4.79436443e-02 -3.58542176e-02 2.73900750e+02] [ 4.79443421e-02 9.98849655e-01 -8.40811858e-04 1.01505326e+01] [ 3.58532845e-02 -8.79703154e-04 9.99356677e-01 9.63016292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:10.15, Z:9.63 [[ 9.98076244e-01 -5.05795388e-02 -3.58541733e-02 2.73930382e+02] [ 5.05818678e-02 9.98719563e-01 -8.42697739e-04 1.01501277e+01] [ 3.58508875e-02 -9.72494460e-04 9.99356677e-01 9.63102495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:10.15, Z:9.63 [[ 9.97856692e-01 -5.47403135e-02 -3.58541427e-02 2.73960357e+02] [ 5.47452780e-02 9.98499996e-01 -8.43997722e-04 1.01497745e+01] [ 3.58465620e-02 -1.12065623e-03 9.99356677e-01 9.63125136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.99, Y:10.15, Z:9.63 [[ 9.97713975e-01 -5.72826898e-02 -3.58541275e-02 2.73990527e+02] [ 5.72892702e-02 9.98357264e-01 -8.44643030e-04 1.01500276e+01] [ 3.58436120e-02 -1.21134464e-03 9.99356677e-01 9.63215413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.02, Y:10.15, Z:9.63 [[ 9.97572009e-01 -5.97040067e-02 -3.58541275e-02 2.74021158e+02] [ 5.97121484e-02 9.98215280e-01 -8.44643030e-04 1.01501202e+01] [ 3.58405665e-02 -1.29833474e-03 9.99356677e-01 9.63265257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.05, Y:10.15, Z:9.63 [[ 9.97419456e-01 -6.22005629e-02 -3.58541423e-02 2.74053319e+02] [ 6.22103371e-02 9.98062704e-01 -8.44015672e-04 1.01504952e+01] [ 3.58371804e-02 -1.38866062e-03 9.99356677e-01 9.63370983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.09, Y:10.15, Z:9.63 [[ 9.97274612e-01 -6.44811981e-02 -3.58542017e-02 2.74085439e+02] [ 6.44925340e-02 9.97917835e-01 -8.41485079e-04 1.01511217e+01] [ 3.58338072e-02 -1.47313661e-03 9.99356677e-01 9.63473949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.12, Y:10.15, Z:9.64 [[ 9.97002328e-01 -6.85626029e-02 -3.58542611e-02 2.74116826e+02] [ 6.85766628e-02 9.97645497e-01 -8.38942886e-04 1.01511253e+01] [ 3.58273623e-02 -1.62233756e-03 9.99356677e-01 9.63524949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.15, Y:10.15, Z:9.64 [[ 9.96869275e-01 -7.04706906e-02 -3.58543054e-02 2.74148533e+02] [ 7.04860494e-02 9.97512414e-01 -8.37047355e-04 1.01512870e+01] [ 3.58241020e-02 -1.69280155e-03 9.99356677e-01 9.63682440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.18, Y:10.15, Z:9.64 [[ 9.96756544e-01 -7.20475929e-02 -3.58543659e-02 2.74179776e+02] [ 7.20640625e-02 9.97399656e-01 -8.34445574e-04 1.01514629e+01] [ 3.58212521e-02 -1.75207218e-03 9.99356677e-01 9.63803130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:10.15, Z:9.64 [[ 9.96633297e-01 -7.37328426e-02 -3.58544111e-02 2.74212168e+02] [ 7.37504693e-02 9.97276379e-01 -8.32501132e-04 1.01515894e+01] [ 3.58181399e-02 -1.81458130e-03 9.99356677e-01 9.63965944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:10.15, Z:9.64 [[ 9.96638283e-01 -7.36653941e-02 -3.58544697e-02 2.74244736e+02] [ 7.36830681e-02 9.97281363e-01 -8.29970521e-04 1.01517837e+01] [ 3.58181345e-02 -1.81468693e-03 9.99356677e-01 9.64072545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.28, Y:10.15, Z:9.64 [[ 9.96663509e-01 -7.33232790e-02 -3.58545281e-02 2.74276488e+02] [ 7.33408232e-02 9.97306592e-01 -8.27436491e-04 1.01524389e+01] [ 3.58186276e-02 -1.80492485e-03 9.99356677e-01 9.64210560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.31, Y:10.15, Z:9.64 [[ 9.96698443e-01 -7.28468350e-02 -3.58545874e-02 2.74307562e+02] [ 7.28641643e-02 9.97341533e-01 -8.24859677e-04 1.01535487e+01] [ 3.58193576e-02 -1.79037819e-03 9.99356677e-01 9.64231337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.34, Y:10.15, Z:9.64 [[ 9.96711509e-01 -7.26678265e-02 -3.58546314e-02 2.74339501e+02] [ 7.26851090e-02 9.97354600e-01 -8.22942494e-04 1.01544243e+01] [ 3.58195830e-02 -1.78586154e-03 9.99356677e-01 9.64359452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.37, Y:10.16, Z:9.64 [[ 9.96678412e-01 -7.31203403e-02 -3.58546908e-02 2.74371739e+02] [ 7.31380079e-02 9.97321492e-01 -8.20347592e-04 1.01560557e+01] [ 3.58186378e-02 -1.80471792e-03 9.99356677e-01 9.64487178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.40, Y:10.16, Z:9.65 [[ 9.96629629e-01 -7.37822488e-02 -3.58547500e-02 2.74403915e+02] [ 7.38004365e-02 9.97272694e-01 -8.17753786e-04 1.01566064e+01] [ 3.58172988e-02 -1.83109855e-03 9.99356677e-01 9.64523903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:10.16, Z:9.65 [[ 9.96634933e-01 -7.37105382e-02 -3.58548086e-02 2.74436581e+02] [ 7.37287721e-02 9.97277997e-01 -8.15176676e-04 1.01572900e+01] [ 3.58172988e-02 -1.83109746e-03 9.99356677e-01 9.64641068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:10.16, Z:9.65 [[ 9.96611455e-01 -7.40272638e-02 -3.58548670e-02 2.74468694e+02] [ 7.40457946e-02 9.97254511e-01 -8.12598475e-04 1.01577444e+01] [ 3.58165823e-02 -1.84505717e-03 9.99356677e-01 9.64732292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.50, Y:10.16, Z:9.65 [[ 9.96552396e-01 -7.48180875e-02 -3.58549249e-02 2.74501098e+02] [ 7.48372206e-02 9.97195434e-01 -8.10035699e-04 1.01581328e+01] [ 3.58149727e-02 -1.87603991e-03 9.99356677e-01 9.64797054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.53, Y:10.16, Z:9.65 [[ 9.96560237e-01 -7.47135449e-02 -3.58549822e-02 2.74533194e+02] [ 7.47327018e-02 9.97203275e-01 -8.07491068e-04 1.01588089e+01] [ 3.58150362e-02 -1.87482620e-03 9.99356677e-01 9.64961043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.56, Y:10.16, Z:9.65 [[ 9.96625519e-01 -7.38376053e-02 -3.58550405e-02 2.74564291e+02] [ 7.38562902e-02 9.97268570e-01 -8.04892551e-04 1.01596609e+01] [ 3.58165363e-02 -1.84594382e-03 9.99356677e-01 9.65078298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:10.16, Z:9.65 [[ 9.96705215e-01 -7.27538807e-02 -3.58550839e-02 2.74595412e+02] [ 7.27719360e-02 9.97348285e-01 -8.02955275e-04 1.01606387e+01] [ 3.58184245e-02 -1.80893416e-03 9.99356677e-01 9.65172551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:10.16, Z:9.65 [[ 9.96790849e-01 -7.15710110e-02 -3.58551738e-02 2.74627366e+02] [ 7.15884478e-02 9.97433936e-01 -7.98922597e-04 1.01615988e+01] [ 3.58203468e-02 -1.77045750e-03 9.99356677e-01 9.65390452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.66, Y:10.16, Z:9.66 [[ 9.96880374e-01 -7.03130348e-02 -3.58552311e-02 2.74659330e+02] [ 7.03297526e-02 9.97523479e-01 -7.96342197e-04 1.01626248e+01] [ 3.58224281e-02 -1.72783163e-03 9.99356677e-01 9.65506053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:10.16, Z:9.66 [[ 9.97034226e-01 -6.80966194e-02 -3.58552880e-02 2.74690417e+02] [ 6.81119997e-02 9.97677365e-01 -7.93772104e-04 1.01632361e+01] [ 3.58260624e-02 -1.65075741e-03 9.99356677e-01 9.65528858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:10.16, Z:9.66 [[ 9.97086449e-01 -6.73276257e-02 -3.58553303e-02 2.74722305e+02] [ 6.73425787e-02 9.97729598e-01 -7.91856692e-04 1.01638750e+01] [ 3.58272381e-02 -1.62504082e-03 9.99356677e-01 9.65604420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:10.16, Z:9.66 [[ 9.97116945e-01 -6.68744323e-02 -3.58553853e-02 2.74754646e+02] [ 6.68891827e-02 9.97760099e-01 -7.89355047e-04 1.01645070e+01] [ 3.58278605e-02 -1.61125813e-03 9.99356677e-01 9.65763846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.79, Y:10.17, Z:9.66 [[ 9.97111431e-01 -6.69565642e-02 -3.58554406e-02 2.74787036e+02] [ 6.69714579e-02 9.97754581e-01 -7.86837930e-04 1.01650579e+01] [ 3.58276141e-02 -1.61672604e-03 9.99356677e-01 9.65924793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:10.17, Z:9.66 [[ 9.97081003e-01 -6.74081332e-02 -3.58554961e-02 2.74819259e+02] [ 6.74234092e-02 9.97724145e-01 -7.84300409e-04 1.01658447e+01] [ 3.58267624e-02 -1.63548875e-03 9.99356677e-01 9.66027618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:10.17, Z:9.66 [[ 9.97072446e-01 -6.75345630e-02 -3.58555511e-02 2.74851121e+02] [ 6.75500111e-02 9.97715583e-01 -7.81777562e-04 1.01666625e+01] [ 3.58264391e-02 -1.64255401e-03 9.99356677e-01 9.66118121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.88, Y:10.17, Z:9.66 [[ 9.97075435e-01 -6.74903904e-02 -3.58556056e-02 2.74882874e+02] [ 6.75059001e-02 9.97718571e-01 -7.79269485e-04 1.01668496e+01] [ 3.58263968e-02 -1.64347447e-03 9.99356677e-01 9.66202512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.92, Y:10.17, Z:9.66 [[ 9.97114345e-01 -6.69130322e-02 -3.58556625e-02 2.74915303e+02] [ 6.69282637e-02 9.97757488e-01 -7.76644389e-04 1.01672563e+01] [ 3.58272233e-02 -1.62535397e-03 9.99356677e-01 9.66257133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.95, Y:10.17, Z:9.66 [[ 9.97130054e-01 -6.66785022e-02 -3.58557192e-02 2.74946027e+02] [ 6.66936767e-02 9.97773198e-01 -7.74017871e-04 1.01679036e+01] [ 3.58274859e-02 -1.61955326e-03 9.99356677e-01 9.66342416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.98, Y:10.17, Z:9.66 [[ 9.97204413e-01 -6.55570179e-02 -3.58557613e-02 2.74978175e+02] [ 6.55715392e-02 9.97847572e-01 -7.72062562e-04 1.01685484e+01] [ 3.58291985e-02 -1.58121326e-03 9.99356677e-01 9.66485662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.755099893 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:275.01, Y:10.17, Z:9.67 [[ 9.97253090e-01 -6.48123055e-02 -3.58558166e-02 2.75009312e+02] [ 6.48264390e-02 9.97896257e-01 -7.69485379e-04 1.01690016e+01] [ 3.58302573e-02 -1.55703323e-03 9.99356677e-01 9.66660676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.04, Y:10.17, Z:9.67 [[ 9.97326782e-01 -6.36681670e-02 -3.58560180e-02 2.75040639e+02] [ 6.36819004e-02 9.97969958e-01 -7.60070983e-04 1.01694332e+01] [ 3.58316211e-02 -1.52534022e-03 9.99356677e-01 9.66799024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:10.17, Z:9.67 [[ 9.97376970e-01 -6.28771263e-02 -3.58559101e-02 2.75071809e+02] [ 6.28901680e-02 9.98020161e-01 -7.65129663e-04 1.01700362e+01] [ 3.58330303e-02 -1.49186150e-03 9.99356677e-01 9.66984695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:10.17, Z:9.67 [[ 9.97417404e-01 -6.22324101e-02 -3.58559508e-02 2.75104426e+02] [ 6.22451047e-02 9.98060602e-01 -7.63217824e-04 1.01706695e+01] [ 3.58339087e-02 -1.47061067e-03 9.99356677e-01 9.67186969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:10.17, Z:9.67 [[ 9.97459000e-01 -6.15620804e-02 -3.58560057e-02 2.75135812e+02] [ 6.15744357e-02 9.98102204e-01 -7.60626690e-04 1.01712451e+01] [ 3.58347841e-02 -1.44911938e-03 9.99356677e-01 9.67322136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.17, Y:10.17, Z:9.67 [[ 9.97542148e-01 -6.01997309e-02 -3.58560466e-02 2.75167261e+02] [ 6.02112770e-02 9.98185367e-01 -7.58697321e-04 1.01719886e+01] [ 3.58366544e-02 -1.40210580e-03 9.99356677e-01 9.67418589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.20, Y:10.17, Z:9.67 [[ 9.97575859e-01 -5.96384765e-02 -3.58560734e-02 2.75198306e+02] [ 5.96497063e-02 9.98219084e-01 -7.57427075e-04 1.01726337e+01] [ 3.58373885e-02 -1.38321328e-03 9.99356677e-01 9.67497404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:10.17, Z:9.68 [[ 9.97599562e-01 -5.92406489e-02 -3.58561001e-02 2.75229467e+02] [ 5.92516676e-02 9.98242790e-01 -7.56162360e-04 1.01730139e+01] [ 3.58378889e-02 -1.37018648e-03 9.99356677e-01 9.67539835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:10.17, Z:9.67 [[ 9.97626833e-01 -5.87795930e-02 -3.58561266e-02 2.75260944e+02] [ 5.87903597e-02 9.98270066e-01 -7.54900518e-04 1.01729288e+01] [ 3.58384706e-02 -1.35488557e-03 9.99356677e-01 9.67468402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:10.17, Z:9.68 [[ 9.97623661e-01 -5.88333850e-02 -3.58561535e-02 2.75290952e+02] [ 5.88442323e-02 9.98266892e-01 -7.53622695e-04 1.01732892e+01] [ 3.58383491e-02 -1.35809599e-03 9.99356677e-01 9.67567429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:10.17, Z:9.68 [[ 9.97646725e-01 -5.84409820e-02 -3.58561668e-02 2.75322346e+02] [ 5.84515990e-02 9.98289960e-01 -7.52987073e-04 1.01737863e+01] [ 3.58388566e-02 -1.34463520e-03 9.99356677e-01 9.67737433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.35, Y:10.17, Z:9.68 [[ 9.97653770e-01 -5.83205725e-02 -3.58561940e-02 2.75353315e+02] [ 5.83311584e-02 9.98297005e-01 -7.51692175e-04 1.01741579e+01] [ 3.58389702e-02 -1.34160480e-03 9.99356677e-01 9.67883434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:10.17, Z:9.68 [[ 9.97662012e-01 -5.81793590e-02 -3.58562802e-02 2.75383225e+02] [ 5.81900022e-02 9.98305246e-01 -7.47556699e-04 1.01745236e+01] [ 3.58390050e-02 -1.34066810e-03 9.99356677e-01 9.68006900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.41, Y:10.17, Z:9.68 [[ 9.97687458e-01 -5.77413489e-02 -3.58562934e-02 2.75414209e+02] [ 5.77517325e-02 9.98330696e-01 -7.46922790e-04 1.01746891e+01] [ 3.58395667e-02 -1.32556757e-03 9.99356677e-01 9.68069682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.45, Y:10.17, Z:9.68 [[ 9.97668807e-01 -5.80626976e-02 -3.58563199e-02 2.75445619e+02] [ 5.80733342e-02 9.98312041e-01 -7.45647232e-04 1.01740732e+01] [ 3.58390902e-02 -1.33838707e-03 9.99356677e-01 9.68133312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:10.17, Z:9.68 [[ 9.97658046e-01 -5.82472750e-02 -3.58563463e-02 2.75476753e+02] [ 5.82580763e-02 9.98301278e-01 -7.44375256e-04 1.01737115e+01] [ 3.58387942e-02 -1.34628980e-03 9.99356677e-01 9.68213304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.51, Y:10.17, Z:9.68 [[ 9.97561945e-01 -5.98705855e-02 -3.58563725e-02 2.75507175e+02] [ 5.98824786e-02 9.98205158e-01 -7.43114053e-04 1.01728299e+01] [ 3.58365066e-02 -1.40586616e-03 9.99356677e-01 9.68262647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:10.17, Z:9.68 [[ 9.97492012e-01 -6.10246395e-02 -3.58563854e-02 2.75539014e+02] [ 6.10372992e-02 9.98135210e-01 -7.42488586e-04 1.01727377e+01] [ 3.58348309e-02 -1.44795049e-03 9.99356677e-01 9.68333687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:10.17, Z:9.68 [[ 9.97352959e-01 -6.32565655e-02 -3.58564111e-02 2.75569964e+02] [ 6.32707091e-02 9.97996126e-01 -7.41244093e-04 1.01711419e+01] [ 3.58314480e-02 -1.52937857e-03 9.99356677e-01 9.68325285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:10.17, Z:9.68 [[ 9.97355209e-01 -6.32210662e-02 -3.58564375e-02 2.75601785e+02] [ 6.32352327e-02 9.97998376e-01 -7.39968659e-04 1.01717688e+01] [ 3.58314480e-02 -1.52937857e-03 9.99356677e-01 9.68439459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.63, Y:10.17, Z:9.69 [[ 9.97189932e-01 -6.57765464e-02 -3.58564637e-02 2.75632701e+02] [ 6.57924067e-02 9.97833059e-01 -7.38693224e-04 1.01702021e+01] [ 3.58273536e-02 -1.62246560e-03 9.99356677e-01 9.68543467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:10.17, Z:9.69 [[ 9.97116526e-01 -6.68800735e-02 -3.58565029e-02 2.75664706e+02] [ 6.68967139e-02 9.97759634e-01 -7.36786530e-04 1.01701200e+01] [ 3.58254476e-02 -1.66402019e-03 9.99356677e-01 9.68705205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.70, Y:10.17, Z:9.69 [[ 9.97003263e-01 -6.85478024e-02 -3.58565559e-02 2.75697349e+02] [ 6.85656115e-02 9.97646339e-01 -7.34197548e-04 1.01697004e+01] [ 3.58224894e-02 -1.72652933e-03 9.99356677e-01 9.68886743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:10.17, Z:9.69 [[ 9.96932280e-01 -6.95725053e-02 -3.58566089e-02 2.75728786e+02] [ 6.95910684e-02 9.97575334e-01 -7.31602508e-04 1.01696960e+01] [ 3.58205680e-02 -1.76594156e-03 9.99356677e-01 9.69146435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:10.17, Z:9.69 [[ 9.96937237e-01 -6.95014184e-02 -3.58566482e-02 2.75761454e+02] [ 6.95200051e-02 9.97580291e-01 -7.29668621e-04 1.01703007e+01] [ 3.58205986e-02 -1.76532055e-03 9.99356677e-01 9.69263627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.79, Y:10.17, Z:9.69 [[ 9.96942190e-01 -6.94303090e-02 -3.58567001e-02 2.75794123e+02] [ 6.94489414e-02 9.97585242e-01 -7.27112692e-04 1.01709029e+01] [ 3.58205985e-02 -1.76532054e-03 9.99356677e-01 9.69380798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.83, Y:10.17, Z:9.69 [[ 9.96947985e-01 -6.93470172e-02 -3.58567517e-02 2.75825393e+02] [ 6.93656876e-02 9.97591037e-01 -7.24556760e-04 1.01704998e+01] [ 3.58206200e-02 -1.76488284e-03 9.99356677e-01 9.69494660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.86, Y:10.17, Z:9.70 [[ 9.96978197e-01 -6.89112814e-02 -3.58567901e-02 2.75857123e+02] [ 6.89297391e-02 9.97621255e-01 -7.22652627e-04 1.01704644e+01] [ 3.58212949e-02 -1.75113027e-03 9.99356677e-01 9.69503549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.89, Y:10.17, Z:9.70 [[ 9.97052067e-01 -6.78340843e-02 -3.58568420e-02 2.75888976e+02] [ 6.78519399e-02 9.97695142e-01 -7.20069371e-04 1.01697138e+01] [ 3.58230423e-02 -1.71500963e-03 9.99356677e-01 9.69649838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.92, Y:10.17, Z:9.70 [[ 9.97122302e-01 -6.67937031e-02 -3.58568941e-02 2.75920428e+02] [ 6.68109813e-02 9.97765392e-01 -7.17462400e-04 1.01698612e+01] [ 3.58246900e-02 -1.68023652e-03 9.99356677e-01 9.69807198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.95, Y:10.17, Z:9.70 [[ 9.97200200e-01 -6.56204060e-02 -3.58569747e-02 2.75952881e+02] [ 6.56370728e-02 9.97843307e-01 -7.13411187e-04 1.01705714e+01] [ 3.58264566e-02 -1.64213308e-03 9.99356677e-01 9.69936208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.98, Y:10.17, Z:9.70 [[ 9.97248952e-01 -6.48752719e-02 -3.58570262e-02 2.75984088e+02] [ 6.48915513e-02 9.97892069e-01 -7.10816116e-04 1.01712434e+01] [ 3.58275564e-02 -1.61795743e-03 9.99356677e-01 9.70021025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:10.17, Z:9.70 [[ 9.97299413e-01 -6.40948650e-02 -3.58570645e-02 2.76015385e+02] [ 6.41107106e-02 9.97942541e-01 -7.08879549e-04 1.01712994e+01] [ 3.58287255e-02 -1.59185672e-03 9.99356677e-01 9.69949742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:10.17, Z:9.70 [[ 9.97317675e-01 -6.38100542e-02 -3.58571020e-02 2.76046481e+02] [ 6.38257845e-02 9.97960806e-01 -7.06975192e-04 1.01718283e+01] [ 3.58290945e-02 -1.58352881e-03 9.99356677e-01 9.70003139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.08, Y:10.17, Z:9.70 [[ 9.97328945e-01 -6.36336546e-02 -3.58571269e-02 2.76076486e+02] [ 6.36493166e-02 9.97972077e-01 -7.05708735e-04 1.01725892e+01] [ 3.58293183e-02 -1.57845788e-03 9.99356677e-01 9.70063148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.11, Y:10.17, Z:9.70 [[ 9.97361652e-01 -6.31189369e-02 -3.58571393e-02 2.76108102e+02] [ 6.31342895e-02 9.98004792e-01 -7.05080486e-04 1.01728329e+01] [ 3.58301008e-02 -1.56059478e-03 9.99356677e-01 9.70128374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.14, Y:10.17, Z:9.70 [[ 9.97402263e-01 -6.24739122e-02 -3.58571641e-02 2.76139514e+02] [ 6.24888942e-02 9.98045411e-01 -7.03816910e-04 1.01732220e+01] [ 3.58310483e-02 -1.53868596e-03 9.99356677e-01 9.70244079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.17, Y:10.17, Z:9.70 [[ 9.97527827e-01 -6.04358868e-02 -3.58571893e-02 2.76170953e+02] [ 6.04496009e-02 9.98171003e-01 -7.02529209e-04 1.01737770e+01] [ 3.58340646e-02 -1.46676035e-03 9.99356677e-01 9.70367561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.20, Y:10.17, Z:9.70 [[ 9.97636638e-01 -5.86122754e-02 -3.58572144e-02 2.76200958e+02] [ 5.86248599e-02 9.98279838e-01 -7.01244356e-04 1.01744234e+01] [ 3.58366357e-02 -1.40253711e-03 9.99356677e-01 9.70432173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.23, Y:10.18, Z:9.71 [[ 9.97917921e-01 -5.36104643e-02 -3.58572269e-02 2.76231682e+02] [ 5.36198472e-02 9.98561175e-01 -7.00607257e-04 1.01760301e+01] [ 3.58431945e-02 -1.22351049e-03 9.99356677e-01 9.70631181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:10.18, Z:9.71 [[ 9.98185713e-01 -4.83688089e-02 -3.58572391e-02 2.76261011e+02] [ 4.83748358e-02 9.98829007e-01 -6.99982031e-04 1.01780805e+01] [ 3.58491078e-02 -1.03587599e-03 9.99356677e-01 9.70929511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.29, Y:10.18, Z:9.71 [[ 9.98173752e-01 -4.86150241e-02 -3.58572144e-02 2.76290219e+02] [ 4.86211643e-02 9.98817046e-01 -7.01246054e-04 1.01786906e+01] [ 3.58488880e-02 -1.04345411e-03 9.99356677e-01 9.71034398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.32, Y:10.18, Z:9.71 [[ 9.98372899e-01 -4.43376589e-02 -3.58570391e-02 2.76318665e+02] [ 4.43407251e-02 9.99016214e-01 -7.10094765e-04 1.01794577e+01] [ 3.58532474e-02 -8.80987745e-04 9.99356677e-01 9.71232590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.35, Y:10.18, Z:9.71 [[ 9.98417692e-01 -4.33174035e-02 -3.58568554e-02 2.76345716e+02] [ 4.33194835e-02 9.99061012e-01 -7.19255743e-04 1.01800421e+01] [ 3.58543425e-02 -8.35182795e-04 9.99356677e-01 9.71337497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.37, Y:10.18, Z:9.71 [[ 9.98415247e-01 -4.33738016e-02 -3.58567638e-02 2.76373190e+02] [ 4.33757550e-02 9.99058567e-01 -7.23794180e-04 1.01802029e+01] [ 3.58544007e-02 -8.32667056e-04 9.99356677e-01 9.71456278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:10.18, Z:9.72 [[ 9.98383352e-01 -4.41020405e-02 -3.58565502e-02 2.76401421e+02] [ 4.41040887e-02 9.99026671e-01 -7.34225962e-04 1.01801909e+01] [ 3.58540308e-02 -8.48381490e-04 9.99356677e-01 9.71558887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.43, Y:10.18, Z:9.72 [[ 9.98334089e-01 -4.52036601e-02 -3.58563348e-02 2.76428294e+02] [ 4.52060459e-02 9.98977407e-01 -7.44597448e-04 1.01802071e+01] [ 3.58533269e-02 -8.77566100e-04 9.99356677e-01 9.71616750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.46, Y:10.18, Z:9.72 [[ 9.98264611e-01 -4.67129212e-02 -3.58562411e-02 2.76456149e+02] [ 4.67161186e-02 9.98907925e-01 -7.49082463e-04 1.01803878e+01] [ 3.58520752e-02 -9.27281899e-04 9.99356677e-01 9.71777383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.48, Y:10.18, Z:9.72 [[ 9.98102111e-01 -5.00651683e-02 -3.58560196e-02 2.76484499e+02] [ 5.00701509e-02 9.98745415e-01 -7.59536584e-04 1.01798655e+01] [ 3.58490615e-02 -1.03722125e-03 9.99356678e-01 9.71818908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.51, Y:10.18, Z:9.72 [[ 9.97908951e-01 -5.37781236e-02 -3.58557967e-02 2.76513057e+02] [ 5.37851268e-02 9.98552236e-01 -7.69918419e-04 1.01793597e+01] [ 3.58452908e-02 -1.16020009e-03 9.99356678e-01 9.71833928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.54, Y:10.18, Z:9.72 [[ 9.97815068e-01 -5.54929443e-02 -3.58555994e-02 2.76542579e+02] [ 5.55007270e-02 9.98458343e-01 -7.79003128e-04 1.01797368e+01] [ 3.58435515e-02 -1.21271077e-03 9.99356678e-01 9.71904025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.57, Y:10.18, Z:9.72 [[ 9.97615271e-01 -5.89758279e-02 -3.58555714e-02 2.76571918e+02] [ 5.89858099e-02 9.98258516e-01 -7.80288925e-04 1.01802198e+01] [ 3.58391477e-02 -1.33654177e-03 9.99356678e-01 9.71918724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.60, Y:10.18, Z:9.72 [[ 9.97498652e-01 -6.09164912e-02 -3.58555575e-02 2.76602234e+02] [ 6.09277016e-02 9.98141876e-01 -7.80926974e-04 1.01807531e+01] [ 3.58365047e-02 -1.40562310e-03 9.99356678e-01 9.72070622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:10.18, Z:9.72 [[ 9.97308630e-01 -6.39521351e-02 -3.58555575e-02 2.76633133e+02] [ 6.39653032e-02 9.97951818e-01 -7.80926974e-04 1.01811022e+01] [ 3.58320607e-02 -1.51468640e-03 9.99356678e-01 9.72356404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.66, Y:10.18, Z:9.73 [[ 9.97269016e-01 -6.45669111e-02 -3.58555856e-02 2.76664082e+02] [ 6.45805221e-02 9.97912195e-01 -7.79634013e-04 1.01817842e+01] [ 3.58310647e-02 -1.53806759e-03 9.99356678e-01 9.72504101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.69, Y:10.18, Z:9.73 [[ 9.97228426e-01 -6.51908063e-02 -3.58556136e-02 2.76694026e+02] [ 6.52048660e-02 9.97871595e-01 -7.78341600e-04 1.01831913e+01] [ 3.58300391e-02 -1.56177611e-03 9.99356678e-01 9.72564921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.73, Y:10.18, Z:9.72 [[ 9.97319213e-01 -6.37868285e-02 -3.58556615e-02 2.76725182e+02] [ 6.38000621e-02 9.97962399e-01 -7.76130780e-04 1.01845349e+01] [ 3.58321089e-02 -1.51354329e-03 9.99356678e-01 9.72329058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:10.19, Z:9.73 [[ 9.97253434e-01 -6.48078603e-02 -3.58542933e-02 2.76756145e+02] [ 6.48194810e-02 9.97896653e-01 -8.39422779e-04 1.01863212e+01] [ 3.58332805e-02 -1.48693943e-03 9.99356676e-01 9.72742250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.79, Y:10.19, Z:9.73 [[ 9.97282752e-01 -6.43543168e-02 -3.58557370e-02 2.76787790e+02] [ 6.43680499e-02 9.97925928e-01 -7.72408470e-04 1.01875771e+01] [ 3.58310774e-02 -1.53765423e-03 9.99356678e-01 9.72844368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:10.19, Z:9.73 [[ 9.97285023e-01 -6.43190641e-02 -3.58558246e-02 2.76819608e+02] [ 6.43329212e-02 9.97928196e-01 -7.68322619e-04 1.01882274e+01] [ 3.58309561e-02 -1.54047329e-03 9.99356678e-01 9.72958440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:10.19, Z:9.73 [[ 9.97383879e-01 -6.27674820e-02 -3.58558516e-02 2.76851060e+02] [ 6.27803837e-02 9.98027071e-01 -7.67059614e-04 1.01893511e+01] [ 3.58332569e-02 -1.48599123e-03 9.99356678e-01 9.72758341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:10.19, Z:9.73 [[ 9.97326652e-01 -6.36710520e-02 -3.58545257e-02 2.76881981e+02] [ 6.36823097e-02 9.97969877e-01 -8.29106903e-04 1.01911229e+01] [ 3.58345267e-02 -1.45640859e-03 9.99356676e-01 9.73273812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:10.19, Z:9.73 [[ 9.97328994e-01 -6.36335634e-02 -3.58559232e-02 2.76913801e+02] [ 6.36471523e-02 9.97972173e-01 -7.63476788e-04 1.01917388e+01] [ 3.58317963e-02 -1.52068987e-03 9.99356678e-01 9.73385776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.94, Y:10.19, Z:9.74 [[ 9.97316296e-01 -6.38322522e-02 -3.58559501e-02 2.76944878e+02] [ 6.38460146e-02 9.97959471e-01 -7.62212730e-04 1.01939947e+01] [ 3.58314387e-02 -1.52909233e-03 9.99356678e-01 9.73538334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.98, Y:10.20, Z:9.74 [[ 9.97303606e-01 -6.40301962e-02 -3.58559767e-02 2.76975821e+02] [ 6.40441313e-02 9.97946777e-01 -7.60956083e-04 1.01957684e+01] [ 3.58310806e-02 -1.53746064e-03 9.99356678e-01 9.73722355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.01, Y:10.20, Z:9.74 [[ 9.97264764e-01 -6.46323227e-02 -3.58560033e-02 2.77006716e+02] [ 6.46466912e-02 9.97907926e-01 -7.59702148e-04 1.01979845e+01] [ 3.58300912e-02 -1.56034779e-03 9.99356678e-01 9.73853628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.04, Y:10.20, Z:9.74 [[ 9.97325916e-01 -6.36817236e-02 -3.58560429e-02 2.77037219e+02] [ 6.36955463e-02 9.97969089e-01 -7.57826712e-04 1.01991319e+01] [ 3.58314822e-02 -1.52807002e-03 9.99356678e-01 9.73854196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:10.20, Z:9.74 [[ 9.97254610e-01 -6.47904830e-02 -3.58529733e-02 2.77069140e+02] [ 6.47998236e-02 9.97897875e-01 -9.02642376e-04 1.02003900e+01] [ 3.58360885e-02 -1.42310208e-03 9.99356668e-01 9.74071132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:10.20, Z:9.74 [[ 9.97258342e-01 -6.47313096e-02 -3.58560604e-02 2.77100787e+02] [ 6.47458638e-02 9.97901499e-01 -7.56302906e-04 1.02027115e+01] [ 3.58297729e-02 -1.56730222e-03 9.99356679e-01 9.74362588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:10.21, Z:9.75 [[ 9.97264980e-01 -6.46289308e-02 -3.58561142e-02 2.77131918e+02] [ 6.46435108e-02 9.97908136e-01 -7.53743537e-04 1.02053895e+01] [ 3.58298218e-02 -1.56618308e-03 9.99356679e-01 9.74651250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.16, Y:10.21, Z:9.75 [[ 9.97247977e-01 -6.48907367e-02 -3.58561543e-02 2.77163879e+02] [ 6.49055541e-02 9.97891128e-01 -7.51834068e-04 1.02066815e+01] [ 3.58293253e-02 -1.57749856e-03 9.99356679e-01 9.74911985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.20, Y:10.21, Z:9.75 [[ 9.97252595e-01 -6.48197017e-02 -3.58562077e-02 2.77196546e+02] [ 6.48345650e-02 9.97895745e-01 -7.49279241e-04 1.02073045e+01] [ 3.58293251e-02 -1.57750096e-03 9.99356679e-01 9.75029150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.23, Y:10.21, Z:9.74 [[ 9.97420178e-01 -6.21877532e-02 -3.58562608e-02 2.77228006e+02] [ 6.22010108e-02 9.98063363e-01 -7.46726816e-04 1.02074998e+01] [ 3.58332575e-02 -1.48549527e-03 9.99356679e-01 9.74468128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:10.21, Z:9.75 [[ 9.97360645e-01 -6.31360964e-02 -3.58549487e-02 2.77258160e+02] [ 6.31477174e-02 9.98003863e-01 -8.09371573e-04 1.02096431e+01] [ 3.58344779e-02 -1.45692282e-03 9.99356677e-01 9.74717301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.29, Y:10.21, Z:9.75 [[ 9.97478094e-01 -6.12545087e-02 -3.58516038e-02 2.77290385e+02] [ 6.12591702e-02 9.98121423e-01 -9.69470667e-04 1.02093803e+01] [ 3.58436383e-02 -1.22921375e-03 9.99356654e-01 9.74581655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:10.21, Z:9.75 [[ 9.97344780e-01 -6.33850215e-02 -3.58570644e-02 2.77319861e+02] [ 6.34004078e-02 9.97987919e-01 -7.08921472e-04 1.02134615e+01] [ 3.58298520e-02 -1.56631337e-03 9.99356677e-01 9.75454138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.35, Y:10.22, Z:9.76 [[ 9.97393892e-01 -6.26080139e-02 -3.58561259e-02 2.77351888e+02] [ 6.26212967e-02 9.98037076e-01 -7.53576201e-04 1.02151975e+01] [ 3.58329230e-02 -1.49374480e-03 9.99356678e-01 9.75625131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.38, Y:10.22, Z:9.75 [[ 9.97514178e-01 -6.06613519e-02 -3.58561796e-02 2.77381886e+02] [ 6.06734714e-02 9.98157385e-01 -7.51014131e-04 1.02162909e+01] [ 3.58356680e-02 -1.42637164e-03 9.99356678e-01 9.75277503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:10.22, Z:9.76 [[ 9.97543718e-01 -6.01756963e-02 -3.58527048e-02 2.77413511e+02] [ 6.01816079e-02 9.98187025e-01 -9.15255192e-04 1.02188539e+01] [ 3.58427809e-02 -1.24466636e-03 9.99356666e-01 9.75886750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.44, Y:10.22, Z:9.76 [[ 9.97597547e-01 -5.92745781e-02 -3.58560867e-02 2.77444721e+02] [ 5.92856755e-02 9.98240772e-01 -7.54577905e-04 1.02197832e+01] [ 3.58377350e-02 -1.37298725e-03 9.99356679e-01 9.75871043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:10.22, Z:9.75 [[ 9.97740346e-01 -5.68202234e-02 -3.58561719e-02 2.77474884e+02] [ 5.68298845e-02 9.98383594e-01 -7.50506369e-04 1.02213247e+01] [ 3.58408577e-02 -1.28889162e-03 9.99356679e-01 9.75472812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:10.22, Z:9.76 [[ 9.97679853e-01 -5.78743482e-02 -3.58534626e-02 2.77504961e+02] [ 5.78800587e-02 9.98323157e-01 -8.79512341e-04 1.02245121e+01] [ 3.58442431e-02 -1.19772877e-03 9.99356671e-01 9.76217570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.54, Y:10.23, Z:9.77 [[ 9.97658168e-01 -5.82452872e-02 -3.58561884e-02 2.77536677e+02] [ 5.82559196e-02 9.98301401e-01 -7.49042612e-04 1.02255810e+01] [ 3.58389113e-02 -1.34154675e-03 9.99356679e-01 9.76521398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.57, Y:10.23, Z:9.77 [[ 9.97632028e-01 -5.86912880e-02 -3.58562421e-02 2.77568522e+02] [ 5.87023005e-02 9.98275254e-01 -7.46462139e-04 1.02256794e+01] [ 3.58382100e-02 -1.36014936e-03 9.99356679e-01 9.76674964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:10.23, Z:9.77 [[ 9.97587294e-01 -5.94467521e-02 -3.58562963e-02 2.77600080e+02] [ 5.94583454e-02 9.98230510e-01 -7.43852989e-04 1.02256821e+01] [ 3.58370686e-02 -1.38989776e-03 9.99356679e-01 9.76912056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:10.23, Z:9.77 [[ 9.97562787e-01 -5.98565760e-02 -3.58563365e-02 2.77631973e+02] [ 5.98685032e-02 9.98205997e-01 -7.41910304e-04 1.02260590e+01] [ 3.58364183e-02 -1.40656308e-03 9.99356679e-01 9.77067154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.66, Y:10.23, Z:9.77 [[ 9.97564925e-01 -5.98208928e-02 -3.58563894e-02 2.77663794e+02] [ 5.98328892e-02 9.98208134e-01 -7.39342567e-04 1.02266851e+01] [ 3.58363677e-02 -1.40784916e-03 9.99356679e-01 9.77181281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.70, Y:10.23, Z:9.77 [[ 9.97573218e-01 -5.96824206e-02 -3.58564158e-02 2.77695352e+02] [ 5.96943737e-02 9.98216428e-01 -7.38062455e-04 1.02259782e+01] [ 3.58365126e-02 -1.40415494e-03 9.99356679e-01 9.76897051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.73, Y:10.23, Z:9.77 [[ 9.97579295e-01 -5.95810671e-02 -3.58559063e-02 2.77728033e+02] [ 5.95920699e-02 9.98222522e-01 -7.62716739e-04 1.02266060e+01] [ 3.58376167e-02 -1.37585725e-03 9.99356679e-01 9.77015247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.76, Y:10.23, Z:9.77 [[ 9.97443710e-01 -6.18093390e-02 -3.58559735e-02 2.77758879e+02] [ 6.18218959e-02 9.98086908e-01 -7.59449958e-04 1.02275082e+01] [ 3.58343188e-02 -1.45917568e-03 9.99356679e-01 9.77436737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.79, Y:10.23, Z:9.77 [[ 9.97394389e-01 -6.25999236e-02 -3.58564260e-02 2.77790923e+02] [ 6.26137799e-02 9.98037560e-01 -7.37450564e-04 1.02274804e+01] [ 3.58322242e-02 -1.50957731e-03 9.99356680e-01 9.77432451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:10.23, Z:9.78 [[ 9.97398911e-01 -6.25278005e-02 -3.58564789e-02 2.77823593e+02] [ 6.25417030e-02 9.98042081e-01 -7.34866243e-04 1.02280912e+01] [ 3.58322244e-02 -1.50957047e-03 9.99356680e-01 9.77549620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:10.23, Z:9.77 [[ 9.97246165e-01 -6.49183796e-02 -3.58565319e-02 2.77856011e+02] [ 6.49339167e-02 9.97889298e-01 -7.32275071e-04 1.02272552e+01] [ 3.58283875e-02 -1.59804655e-03 9.99356680e-01 9.77482730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:10.23, Z:9.77 [[ 9.97259617e-01 -6.47113748e-02 -3.58565844e-02 2.77888612e+02] [ 6.47268709e-02 9.97902751e-01 -7.29694573e-04 1.02263906e+01] [ 3.58286037e-02 -1.59318958e-03 9.99356680e-01 9.77409456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:10.23, Z:9.78 [[ 9.97014304e-01 -6.83870399e-02 -3.58565302e-02 2.77919560e+02] [ 6.84048107e-02 9.97657379e-01 -7.32370874e-04 1.02266401e+01] [ 3.58226166e-02 -1.72257492e-03 9.99356680e-01 9.77739370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:10.23, Z:9.78 [[ 9.96947329e-01 -6.93564785e-02 -3.58566779e-02 2.77951720e+02] [ 6.93751367e-02 9.97590379e-01 -7.25065196e-04 1.02263965e+01] [ 3.58205649e-02 -1.76471012e-03 9.99356680e-01 9.77928269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:10.23, Z:9.78 [[ 9.96878927e-01 -7.03327762e-02 -3.58567303e-02 2.77983931e+02] [ 7.03521575e-02 9.97521956e-01 -7.22464063e-04 1.02263550e+01] [ 3.58186886e-02 -1.80238914e-03 9.99356680e-01 9.78102627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.02, Y:10.23, Z:9.78 [[ 9.96734670e-01 -7.23483856e-02 -3.58567822e-02 2.78015982e+02] [ 7.23691598e-02 9.97377655e-01 -7.19880811e-04 1.02257111e+01] [ 3.58148355e-02 -1.87739503e-03 9.99356680e-01 9.78249867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:10.23, Z:9.78 [[ 9.96701988e-01 -7.27972086e-02 -3.58568343e-02 2.78048392e+02] [ 7.28183658e-02 9.97344961e-01 -7.17276350e-04 1.02254953e+01] [ 3.58138487e-02 -1.89612531e-03 9.99356680e-01 9.78337241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:10.22, Z:9.78 [[ 9.96663452e-01 -7.33228900e-02 -3.58568866e-02 2.78079512e+02] [ 7.33444805e-02 9.97306411e-01 -7.14649747e-04 1.02247741e+01] [ 3.58127031e-02 -1.91763944e-03 9.99356680e-01 9.78325405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:10.22, Z:9.78 [[ 9.96657691e-01 -7.34011223e-02 -3.58569699e-02 2.78111173e+02] [ 7.34229139e-02 9.97300642e-01 -7.10448233e-04 1.02246211e+01] [ 3.58123268e-02 -1.92464952e-03 9.99356680e-01 9.78409998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:10.22, Z:9.79 [[ 9.96663387e-01 -7.33237158e-02 -3.58570078e-02 2.78143187e+02] [ 7.33455264e-02 9.97306338e-01 -7.08527509e-04 1.02245680e+01] [ 3.58123730e-02 -1.92378769e-03 9.99356680e-01 9.78507606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:10.22, Z:9.79 [[ 9.96683136e-01 -7.30547649e-02 -3.58570581e-02 2.78174062e+02] [ 7.30764937e-02 9.97326089e-01 -7.05972621e-04 1.02237772e+01] [ 3.58127542e-02 -1.91667707e-03 9.99356680e-01 9.78667231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:10.22, Z:9.79 [[ 9.96729119e-01 -7.24246707e-02 -3.58570955e-02 2.78206064e+02] [ 7.24460613e-02 9.97372083e-01 -7.04070048e-04 1.02238358e+01] [ 3.58138580e-02 -1.89593822e-03 9.99356680e-01 9.78816835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:10.22, Z:9.79 [[ 9.96797526e-01 -7.14769738e-02 -3.58571445e-02 2.78237839e+02] [ 7.14978429e-02 9.97440508e-01 -7.01565969e-04 1.02242348e+01] [ 3.58155142e-02 -1.86438926e-03 9.99356680e-01 9.78888880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.27, Y:10.22, Z:9.79 [[ 9.96873037e-01 -7.04159739e-02 -3.58571929e-02 2.78269602e+02] [ 7.04362477e-02 9.97516038e-01 -6.99083022e-04 1.02245039e+01] [ 3.58173516e-02 -1.82874910e-03 9.99356680e-01 9.79012311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:10.22, Z:9.79 [[ 9.96941254e-01 -6.94434598e-02 -3.58572427e-02 2.78301656e+02] [ 6.94631983e-02 9.97584272e-01 -6.96517654e-04 1.02249560e+01] [ 3.58189899e-02 -1.79637158e-03 9.99356680e-01 9.79080109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.33, Y:10.22, Z:9.79 [[ 9.97117789e-01 -6.68608268e-02 -3.58572930e-02 2.78334120e+02] [ 6.68789929e-02 9.97760853e-01 -6.93919259e-04 1.02247423e+01] [ 3.58233992e-02 -1.70618040e-03 9.99356680e-01 9.79151017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.36, Y:10.23, Z:9.79 [[ 9.97336177e-01 -6.35200855e-02 -3.58573436e-02 2.78364956e+02] [ 6.35361913e-02 9.97979296e-01 -6.91296290e-04 1.02250722e+01] [ 3.58287977e-02 -1.58878424e-03 9.99356680e-01 9.79151630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:10.23, Z:9.79 [[ 9.97565475e-01 -5.98111020e-02 -3.58574279e-02 2.78396851e+02] [ 5.98249743e-02 9.98208646e-01 -6.86894151e-04 1.02263583e+01] [ 3.58342784e-02 -1.45994781e-03 9.99356680e-01 9.79291189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:10.23, Z:9.79 [[ 9.97667439e-01 -5.80854806e-02 -3.58574783e-02 2.78427174e+02] [ 5.80983352e-02 9.98310631e-01 -6.84250450e-04 1.02273872e+01] [ 3.58366468e-02 -1.40060540e-03 9.99356680e-01 9.79396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:10.23, Z:9.79 [[ 9.97767007e-01 -5.63492638e-02 -3.58574908e-02 2.78457877e+02] [ 5.63610225e-02 9.98410220e-01 -6.83597119e-04 1.02284561e+01] [ 3.58390055e-02 -1.33889419e-03 9.99356680e-01 9.79470981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:10.23, Z:9.80 [[ 9.97767008e-01 -5.63492407e-02 -3.58575030e-02 2.78488851e+02] [ 5.63610226e-02 9.98410221e-01 -6.82953907e-04 1.02290457e+01] [ 3.58389815e-02 -1.33953666e-03 9.99356680e-01 9.79582136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.52, Y:10.23, Z:9.80 [[ 9.97873080e-01 -5.44385474e-02 -3.58575030e-02 2.78519734e+02] [ 5.44490975e-02 9.98516314e-01 -6.82953907e-04 1.02297333e+01] [ 3.58414808e-02 -1.27090736e-03 9.99356680e-01 9.79693880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:10.23, Z:9.80 [[ 9.98037077e-01 -5.13442555e-02 -3.58575030e-02 2.78549473e+02] [ 5.13528111e-02 9.98680340e-01 -6.82953907e-04 1.02300134e+01] [ 3.58452491e-02 -1.15977026e-03 9.99356680e-01 9.79778366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.58, Y:10.23, Z:9.80 [[ 9.98120008e-01 -4.97060359e-02 -3.58574908e-02 2.78579689e+02] [ 4.97135128e-02 9.98763285e-01 -6.83593126e-04 1.02304291e+01] [ 3.58471241e-02 -1.10029385e-03 9.99356680e-01 9.79840851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:10.23, Z:9.80 [[ 9.98177948e-01 -4.85285863e-02 -3.58574908e-02 2.78609229e+02] [ 4.85353043e-02 9.98821234e-01 -6.83593126e-04 1.02313022e+01] [ 3.58483971e-02 -1.05800665e-03 9.99356680e-01 9.79910978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.64, Y:10.23, Z:9.80 [[ 9.98315542e-01 -4.56105289e-02 -3.58574788e-02 2.78638326e+02] [ 4.56153438e-02 9.98958844e-01 -6.84225986e-04 1.02324424e+01] [ 3.58513535e-02 -9.52577785e-04 9.99356680e-01 9.80133887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:10.23, Z:9.80 [[ 9.98379780e-01 -4.41820923e-02 -3.58574542e-02 2.78666695e+02] [ 4.41859406e-02 9.99023089e-01 -6.85508880e-04 1.02334542e+01] [ 3.58527119e-02 -8.99997139e-04 9.99356680e-01 9.80182030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:10.23, Z:9.80 [[ 9.98429380e-01 -4.30468107e-02 -3.58572801e-02 2.78694871e+02] [ 4.30496049e-02 9.99072695e-01 -6.94498755e-04 1.02342322e+01] [ 3.58539254e-02 -8.50233780e-04 9.99356680e-01 9.80164224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.72, Y:10.23, Z:9.80 [[ 9.98498278e-01 -4.14180106e-02 -3.58571866e-02 2.78722759e+02] [ 4.14195832e-02 9.99141596e-01 -6.99293227e-04 1.02347126e+01] [ 3.58553700e-02 -7.86946643e-04 9.99356680e-01 9.80204546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:10.24, Z:9.80 [[ 9.98608623e-01 -3.86664543e-02 -3.58569854e-02 2.78750962e+02] [ 3.86658893e-02 9.99251943e-01 -7.09462081e-04 1.02353886e+01] [ 3.58575947e-02 -6.77967276e-04 9.99356680e-01 9.80469216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:10.24, Z:9.80 [[ 9.98722470e-01 -3.56036307e-02 -3.58581743e-02 2.78778573e+02] [ 3.56032196e-02 9.99365793e-01 -6.50205053e-04 1.02362478e+01] [ 3.58585825e-02 -6.27292058e-04 9.99356677e-01 9.80484217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.81, Y:10.24, Z:9.81 [[ 9.98763826e-01 -3.44257205e-02 -3.58565069e-02 2.78806019e+02] [ 3.44216185e-02 9.99407133e-01 -7.31896925e-04 1.02370683e+01] [ 3.58604449e-02 -5.03246829e-04 9.99356681e-01 9.80552691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:10.24, Z:9.81 [[ 9.98825880e-01 -3.25758767e-02 -3.58562924e-02 2.78833126e+02] [ 3.25702111e-02 9.99469174e-01 -7.42261958e-04 1.02376274e+01] [ 3.58614388e-02 -4.26456561e-04 9.99356681e-01 9.80548684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:10.24, Z:9.81 [[ 9.98829359e-01 -3.24691376e-02 -3.58561989e-02 2.78860755e+02] [ 3.24632423e-02 9.99472651e-01 -7.46748857e-04 1.02379778e+01] [ 3.58615365e-02 -4.18133791e-04 9.99356681e-01 9.80665061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.89, Y:10.24, Z:9.81 [[ 9.98819931e-01 -3.27581287e-02 -3.58559798e-02 2.78889111e+02] [ 3.27520470e-02 9.99463221e-01 -7.57125490e-04 1.02386378e+01] [ 3.58615351e-02 -4.18124709e-04 9.99356681e-01 9.80767215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.92, Y:10.24, Z:9.81 [[ 9.98833000e-01 -3.23574237e-02 -3.58557579e-02 2.78916463e+02] [ 3.23507118e-02 9.99476284e-01 -7.67492990e-04 1.02379244e+01] [ 3.58618138e-02 -3.93361966e-04 9.99356681e-01 9.80785594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.94, Y:10.24, Z:9.81 [[ 9.98818823e-01 -3.27922444e-02 -3.58556612e-02 2.78943763e+02] [ 3.27856514e-02 9.99462108e-01 -7.71983605e-04 1.02378875e+01] [ 3.58616898e-02 -4.04479453e-04 9.99356681e-01 9.80858800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:10.24, Z:9.81 [[ 9.98793281e-01 -3.35613596e-02 -3.58555077e-02 2.78971714e+02] [ 3.35550083e-02 9.99436569e-01 -7.79049091e-04 1.02374464e+01] [ 3.58614515e-02 -4.25022863e-04 9.99356681e-01 9.81066560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:10.24, Z:9.81 [[ 9.98777341e-01 -3.40326494e-02 -3.58552786e-02 2.78998172e+02] [ 3.40262281e-02 9.99420628e-01 -7.89456901e-04 1.02372711e+01] [ 3.58613723e-02 -4.31528223e-04 9.99356681e-01 9.81184586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.02, Y:10.24, Z:9.81 [[ 9.98748653e-01 -3.48645024e-02 -3.58551788e-02 2.79024891e+02] [ 3.48584552e-02 9.99391944e-01 -7.93962120e-04 1.02370284e+01] [ 3.58610579e-02 -4.56887546e-04 9.99356681e-01 9.81319207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:10.24, Z:9.82 [[ 9.98657422e-01 -3.73867267e-02 -3.58550797e-02 2.79053093e+02] [ 3.73821443e-02 9.99300724e-01 -7.98412434e-04 1.02360084e+01] [ 3.58598571e-02 -5.42999262e-04 9.99356681e-01 9.81550969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.08, Y:10.24, Z:9.82 [[ 9.98605621e-01 -3.87458857e-02 -3.58548497e-02 2.79079945e+02] [ 3.87418128e-02 9.99248927e-01 -8.08610815e-04 1.02354500e+01] [ 3.58592504e-02 -5.81598571e-04 9.99356681e-01 9.81721036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:10.23, Z:9.82 [[ 9.98522359e-01 -4.08355092e-02 -3.58546902e-02 2.79107804e+02] [ 4.08325308e-02 9.99165672e-01 -8.15623718e-04 1.02349306e+01] [ 3.58580820e-02 -6.49619222e-04 9.99356681e-01 9.81898658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:10.23, Z:9.82 [[ 9.98324326e-01 -4.54202353e-02 -3.58544503e-02 2.79135730e+02] [ 4.54198373e-02 9.98967645e-01 -8.26033931e-04 1.02327285e+01] [ 3.58549545e-02 -8.03853533e-04 9.99356681e-01 9.81831414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:10.23, Z:9.82 [[ 9.98202160e-01 -4.80304361e-02 -3.58542086e-02 2.79163199e+02] [ 4.80313482e-02 9.98845479e-01 -8.36398361e-04 1.02320033e+01] [ 3.58529867e-02 -8.87231324e-04 9.99356681e-01 9.81814506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.19, Y:10.23, Z:9.82 [[ 9.97949631e-01 -5.30191172e-02 -3.58539633e-02 2.79190857e+02] [ 5.30228720e-02 9.98592939e-01 -8.46783496e-04 1.02298311e+01] [ 3.58484103e-02 -1.05603283e-03 9.99356681e-01 9.81741605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.22, Y:10.23, Z:9.82 [[ 9.97808265e-01 -5.56162244e-02 -3.58538871e-02 2.79220257e+02] [ 5.56215381e-02 9.98451562e-01 -8.49996864e-04 1.02291899e+01] [ 3.58456432e-02 -1.14611445e-03 9.99356681e-01 9.81794985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:10.23, Z:9.82 [[ 9.97684640e-01 -5.77915209e-02 -3.58538569e-02 2.79250854e+02] [ 5.77981914e-02 9.98327924e-01 -8.51268671e-04 1.02284862e+01] [ 3.58431027e-02 -1.22299041e-03 9.99356681e-01 9.81853858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.28, Y:10.23, Z:9.82 [[ 9.97476201e-01 -6.12840054e-02 -3.58538569e-02 2.79280823e+02] [ 6.12929280e-02 9.98119458e-01 -8.51268671e-04 1.02270861e+01] [ 3.58386014e-02 -1.34846763e-03 9.99356681e-01 9.81937261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:10.23, Z:9.82 [[ 9.97407840e-01 -6.23867043e-02 -3.58538722e-02 2.79311031e+02] [ 6.23963612e-02 9.98051086e-01 -8.50622936e-04 1.02268648e+01] [ 3.58370637e-02 -1.38873318e-03 9.99356681e-01 9.82037265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.34, Y:10.23, Z:9.82 [[ 9.97294480e-01 -6.41733536e-02 -3.58538722e-02 2.79341374e+02] [ 6.41841628e-02 9.97937708e-01 -8.50622936e-04 1.02265329e+01] [ 3.58345184e-02 -1.45292921e-03 9.99356681e-01 9.82119354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:10.23, Z:9.82 [[ 9.97250763e-01 -6.48491638e-02 -3.58538873e-02 2.79372594e+02] [ 6.48604317e-02 9.97893983e-01 -8.49987948e-04 1.02270845e+01] [ 3.58334994e-02 -1.47784748e-03 9.99356681e-01 9.82248659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:10.23, Z:9.82 [[ 9.97217368e-01 -6.53606674e-02 -3.58539172e-02 2.79404159e+02] [ 6.53723105e-02 9.97860582e-01 -8.48724487e-04 1.02276142e+01] [ 3.58326839e-02 -1.49749061e-03 9.99356681e-01 9.82411622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.44, Y:10.23, Z:9.83 [[ 9.97064056e-01 -6.76591605e-02 -3.58539473e-02 2.79435370e+02] [ 6.76723320e-02 9.97707240e-01 -8.47449547e-04 1.02279871e+01] [ 3.58290806e-02 -1.58135875e-03 9.99356681e-01 9.82731104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.47, Y:10.23, Z:9.83 [[ 9.96923838e-01 -6.96947151e-02 -3.58539773e-02 2.79466845e+02] [ 6.97092454e-02 9.97566993e-01 -8.46179248e-04 1.02278231e+01] [ 3.58257186e-02 -1.65577744e-03 9.99356681e-01 9.82556736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.50, Y:10.23, Z:9.82 [[ 9.96813217e-01 -7.12593962e-02 -3.58540073e-02 2.79497715e+02] [ 7.12749817e-02 9.97456346e-01 -8.44904969e-04 1.02277887e+01] [ 3.58230146e-02 -1.71328128e-03 9.99356681e-01 9.82450021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.53, Y:10.23, Z:9.83 [[ 9.96607694e-01 -7.40782525e-02 -3.58541012e-02 2.79529451e+02] [ 7.40958005e-02 9.97250774e-01 -8.40901511e-04 1.02283791e+01] [ 3.58178227e-02 -1.81858942e-03 9.99356681e-01 9.82740555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:10.23, Z:9.83 [[ 9.96386067e-01 -7.70018437e-02 -3.58541611e-02 2.79560324e+02] [ 7.70213700e-02 9.97029090e-01 -8.38343351e-04 1.02289839e+01] [ 3.58121955e-02 -1.92622297e-03 9.99356681e-01 9.82844863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:10.23, Z:9.83 [[ 9.96287930e-01 -7.82613306e-02 -3.58542056e-02 2.79592258e+02] [ 7.82817383e-02 9.96930925e-01 -8.36433986e-04 1.02297197e+01] [ 3.58096268e-02 -1.97340046e-03 9.99356681e-01 9.82843334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:10.23, Z:9.83 [[ 9.96293354e-01 -7.81922341e-02 -3.58542635e-02 2.79624923e+02] [ 7.82126865e-02 9.96936347e-01 -8.33944661e-04 1.02304164e+01] [ 3.58096265e-02 -1.97340475e-03 9.99356681e-01 9.82960504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.66, Y:10.23, Z:9.83 [[ 9.96298772e-01 -7.81231373e-02 -3.58543211e-02 2.79657588e+02] [ 7.81436343e-02 9.96941764e-01 -8.31459637e-04 1.02311109e+01] [ 3.58096264e-02 -1.97340474e-03 9.99356681e-01 9.83077675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.69, Y:10.23, Z:9.83 [[ 9.96196502e-01 -7.94165792e-02 -3.58543786e-02 2.79689629e+02] [ 7.94380002e-02 9.96839464e-01 -8.28974608e-04 1.02318094e+01] [ 3.58068939e-02 -2.02237853e-03 9.99356681e-01 9.83075748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.72, Y:10.23, Z:9.83 [[ 9.96059529e-01 -8.11164213e-02 -3.58544355e-02 2.79722183e+02] [ 8.11390280e-02 9.96702451e-01 -8.26506901e-04 1.02326209e+01] [ 3.58032470e-02 -2.08594397e-03 9.99356681e-01 9.83036733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:10.23, Z:9.83 [[ 9.96020652e-01 -8.15923741e-02 -3.58544921e-02 2.79754627e+02] [ 8.16153763e-02 9.96663560e-01 -8.24044922e-04 1.02335713e+01] [ 3.58021015e-02 -2.10551210e-03 9.99356681e-01 9.83114146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:10.24, Z:9.83 [[ 9.96018937e-01 -8.16132909e-02 -3.58545482e-02 2.79786435e+02] [ 8.16363944e-02 9.96661840e-01 -8.21596758e-04 1.02350043e+01] [ 3.58019132e-02 -2.10871011e-03 9.99356681e-01 9.83314403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:10.24, Z:9.83 [[ 9.96024678e-01 -8.15431642e-02 -3.58546058e-02 2.79819101e+02] [ 8.15663129e-02 9.96667580e-01 -8.19075285e-04 1.02356889e+01] [ 3.58019132e-02 -2.10870880e-03 9.99356681e-01 9.83431571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:10.24, Z:9.84 [[ 9.96222595e-01 -7.90884589e-02 -3.58546632e-02 2.79849772e+02] [ 7.91101138e-02 9.96865549e-01 -8.16552500e-04 1.02383737e+01] [ 3.58068584e-02 -2.02299843e-03 9.99356681e-01 9.83668143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:10.24, Z:9.84 [[ 9.96396346e-01 -7.68684680e-02 -3.58547059e-02 2.79882242e+02] [ 7.68887576e-02 9.97039345e-01 -8.14672896e-04 1.02401574e+01] [ 3.58111752e-02 -1.94508670e-03 9.99356681e-01 9.83905914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:10.24, Z:9.84 [[ 9.96596311e-01 -7.42309178e-02 -3.58547637e-02 2.79913583e+02] [ 7.42495969e-02 9.97239358e-01 -8.12121642e-04 1.02417246e+01] [ 3.58160661e-02 -1.85284432e-03 9.99356681e-01 9.84038413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.95, Y:10.24, Z:9.84 [[ 9.96805430e-01 -7.13678034e-02 -3.58548584e-02 2.79945249e+02] [ 7.13847861e-02 9.97448525e-01 -8.07918952e-04 1.02434141e+01] [ 3.58210350e-02 -1.75415340e-03 9.99356681e-01 9.84228088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.97, Y:10.25, Z:9.84 [[ 9.97330698e-01 -6.36074233e-02 -3.58549168e-02 2.79973748e+02] [ 6.36194934e-02 9.97973903e-01 -8.05320444e-04 1.02462007e+01] [ 3.58334956e-02 -1.47790084e-03 9.99356681e-01 9.84396573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.01, Y:10.25, Z:9.85 [[ 9.97364727e-01 -6.30747070e-02 -3.58494388e-02 2.80005838e+02] [ 6.30776314e-02 9.98008070e-01 -1.05056036e-03 1.02489013e+01] [ 3.58442930e-02 -1.21350584e-03 9.99356650e-01 9.84554569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.04, Y:10.25, Z:9.85 [[ 9.97504927e-01 -6.08139520e-02 -3.58550366e-02 2.80036504e+02] [ 6.08244260e-02 9.98148160e-01 -7.99599092e-04 1.02542259e+01] [ 3.58372656e-02 -1.38325799e-03 9.99356682e-01 9.84579913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:10.25, Z:9.85 [[ 9.97699654e-01 -5.75320357e-02 -3.58533751e-02 2.80067930e+02] [ 5.75377113e-02 9.98342951e-01 -8.74327941e-04 1.02528285e+01] [ 3.58442662e-02 -1.19060446e-03 9.99356679e-01 9.84633734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.10, Y:10.25, Z:9.85 [[ 9.97816296e-01 -5.54711580e-02 -3.58551261e-02 2.80097014e+02] [ 5.54783378e-02 9.98459574e-01 -7.95405015e-04 1.02541834e+01] [ 3.58440159e-02 -1.19551471e-03 9.99356682e-01 9.84662986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:10.26, Z:9.85 [[ 9.97932385e-01 -5.33419728e-02 -3.58551118e-02 2.80126626e+02] [ 5.33477570e-02 9.98575677e-01 -7.96045602e-04 1.02557943e+01] [ 3.58465052e-02 -1.11839011e-03 9.99356682e-01 9.84741818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.16, Y:10.26, Z:9.85 [[ 9.98074407e-01 -5.06151233e-02 -3.58550836e-02 2.80157037e+02] [ 5.06191042e-02 9.98717713e-01 -7.97314673e-04 1.02581470e+01] [ 3.58494633e-02 -1.01917284e-03 9.99356682e-01 9.84930243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:10.26, Z:9.85 [[ 9.98072579e-01 -5.06511535e-02 -3.58550836e-02 2.80187161e+02] [ 5.06551576e-02 9.98715885e-01 -7.97314673e-04 1.02588451e+01] [ 3.58494265e-02 -1.02046700e-03 9.99356682e-01 9.85038379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:10.26, Z:9.85 [[ 9.98143995e-01 -4.92237772e-02 -3.58550548e-02 2.80215644e+02] [ 4.92268148e-02 9.98787306e-01 -7.98609864e-04 1.02605627e+01] [ 3.58508842e-02 -9.67902501e-04 9.99356682e-01 9.85136438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.24, Y:10.26, Z:9.85 [[ 9.98215063e-01 -4.77609244e-02 -3.58550118e-02 2.80244304e+02] [ 4.77629500e-02 9.98858378e-01 -8.00536871e-04 1.02621430e+01] [ 3.58523133e-02 -9.13433172e-04 9.99356682e-01 9.85276148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.27, Y:10.26, Z:9.85 [[ 9.98341895e-01 -4.50321412e-02 -3.58548111e-02 2.80273028e+02] [ 4.50320893e-02 9.98985213e-01 -8.09424880e-04 1.02642809e+01] [ 3.58548762e-02 -8.06534288e-04 9.99356682e-01 9.85308468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:10.27, Z:9.85 [[ 9.98158665e-01 -4.89257167e-02 -3.58546093e-02 2.80298069e+02] [ 4.89278566e-02 9.98801980e-01 -8.18268976e-04 1.02723722e+01] [ 3.58516891e-02 -9.37526911e-04 9.99356682e-01 9.85305700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.33, Y:10.27, Z:9.86 [[ 9.98476347e-01 -4.19579826e-02 -3.58400814e-02 2.80333776e+02] [ 4.19333495e-02 9.99119374e-01 -1.43905006e-03 1.02676700e+01] [ 3.58688993e-02 -6.60372104e-05 9.99356502e-01 9.85538629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:10.27, Z:9.86 [[ 9.98494418e-01 -4.15134875e-02 -3.58542592e-02 2.80361651e+02] [ 4.15108728e-02 9.99137718e-01 -8.17654202e-04 1.02688596e+01] [ 3.58572864e-02 -6.71918439e-04 9.99356695e-01 9.85626491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.035099893 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:280.39, Y:10.28, Z:9.85 [[ 9.98278410e-01 -4.64188073e-02 -3.58540247e-02 2.80386255e+02] [ 4.64189887e-02 9.98921715e-01 -8.27810991e-04 1.02758722e+01] [ 3.58537899e-02 -8.37921730e-04 9.99356695e-01 9.85410230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:10.27, Z:9.86 [[ 9.98296901e-01 -4.60322022e-02 -3.58376014e-02 2.80420153e+02] [ 4.60073990e-02 9.98939947e-01 -1.51689201e-03 1.02713064e+01] [ 3.58694375e-02 -1.34486236e-04 9.99356476e-01 9.85774272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:10.27, Z:9.86 [[ 9.98126947e-01 -4.95693894e-02 -3.58534900e-02 2.80448392e+02] [ 4.95713389e-02 9.98770236e-01 -8.35108996e-04 1.02715826e+01] [ 3.58507945e-02 -9.43760711e-04 9.99356708e-01 9.85906460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:10.27, Z:9.86 [[ 9.98125173e-01 -4.96052681e-02 -3.58532489e-02 2.80478514e+02] [ 4.96068737e-02 9.98768463e-01 -8.45334680e-04 1.02723266e+01] [ 3.58510273e-02 -9.34817766e-04 9.99356708e-01 9.86014946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.51, Y:10.27, Z:9.86 [[ 9.98039014e-01 -5.13095772e-02 -3.58532187e-02 2.80507915e+02] [ 5.13122355e-02 9.98682301e-01 -8.46611116e-04 1.02730661e+01] [ 3.58494142e-02 -9.94757878e-04 9.99356708e-01 9.86193022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:10.27, Z:9.86 [[ 9.98037178e-01 -5.13453112e-02 -3.58531884e-02 2.80538037e+02] [ 5.13479465e-02 9.98680464e-01 -8.47892777e-04 1.02738076e+01] [ 3.58494142e-02 -9.94759087e-04 9.99356708e-01 9.86301196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:10.27, Z:9.86 [[ 9.97960456e-01 -5.28155195e-02 -3.58531580e-02 2.80567739e+02] [ 5.28190564e-02 9.98603738e-01 -8.49175647e-04 1.02745424e+01] [ 3.58479473e-02 -1.04628626e-03 9.99356708e-01 9.86462759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:10.28, Z:9.87 [[ 9.97960455e-01 -5.28155658e-02 -3.58531275e-02 2.80598709e+02] [ 5.28190564e-02 9.98603737e-01 -8.50465017e-04 1.02752776e+01] [ 3.58479849e-02 -1.04499791e-03 9.99356708e-01 9.86573973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.63, Y:10.28, Z:9.87 [[ 9.97833289e-01 -5.51659283e-02 -3.58531275e-02 2.80628398e+02] [ 5.51709340e-02 9.98476562e-01 -8.50465017e-04 1.02756000e+01] [ 3.58454241e-02 -1.12942822e-03 9.99356708e-01 9.86657234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:10.28, Z:9.87 [[ 9.97511923e-01 -6.07002340e-02 -3.58531123e-02 2.80655490e+02] [ 6.07087850e-02 9.98155158e-01 -8.51104760e-04 1.02808890e+01] [ 3.58386312e-02 -1.32761174e-03 9.99356708e-01 9.86741878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.69, Y:10.28, Z:9.87 [[ 9.97641916e-01 -5.85312034e-02 -3.58427827e-02 2.80688402e+02] [ 5.85228886e-02 9.98285244e-01 -1.28198481e-03 1.02768148e+01] [ 3.58563572e-02 -8.18661396e-04 9.99356619e-01 9.86970605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:10.28, Z:9.87 [[ 9.97588062e-01 -5.94358322e-02 -3.58530399e-02 2.80720155e+02] [ 5.94436456e-02 9.98231302e-01 -8.48936883e-04 1.02772154e+01] [ 3.58400839e-02 -1.28434610e-03 9.99356713e-01 9.87144202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:10.28, Z:9.87 [[ 9.97340291e-01 -6.34578780e-02 -3.58530707e-02 2.80748093e+02] [ 6.34683318e-02 9.97983493e-01 -8.47632552e-04 1.02816550e+01] [ 3.58345617e-02 -1.43015649e-03 9.99356713e-01 9.87210364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.78, Y:10.28, Z:9.87 [[ 9.97336000e-01 -6.35302584e-02 -3.58442312e-02 2.80781201e+02] [ 6.35274620e-02 9.97979347e-01 -1.21807563e-03 1.02781949e+01] [ 3.58491871e-02 -1.06226235e-03 9.99356647e-01 9.87233634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.81, Y:10.28, Z:9.87 [[ 9.97047013e-01 -6.79103321e-02 -3.58530404e-02 2.80808681e+02] [ 6.79237899e-02 9.97690156e-01 -8.43943691e-04 1.02824107e+01] [ 3.58275379e-02 -1.59382284e-03 9.99356717e-01 9.87041315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:10.28, Z:9.87 [[ 9.97127805e-01 -6.67194206e-02 -3.58421563e-02 2.80842055e+02] [ 6.67158318e-02 9.97771173e-01 -1.29745807e-03 1.02788201e+01] [ 3.58488360e-02 -1.09750775e-03 9.99356621e-01 9.87463001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.87, Y:10.28, Z:9.88 [[ 9.97057825e-01 -6.77515382e-02 -3.58527797e-02 2.80872842e+02] [ 6.77647126e-02 9.97700969e-01 -8.48978787e-04 1.02788017e+01] [ 3.58278726e-02 -1.58307237e-03 9.99356722e-01 9.87527034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:10.28, Z:9.88 [[ 9.96921551e-01 -6.97280147e-02 -3.58528251e-02 2.80905282e+02] [ 6.97425331e-02 9.97564665e-01 -8.47056470e-04 1.02792219e+01] [ 3.58245750e-02 -1.65601799e-03 9.99356722e-01 9.87625794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.94, Y:10.28, Z:9.88 [[ 9.96921767e-01 -6.97248917e-02 -3.58528856e-02 2.80937433e+02] [ 6.97395003e-02 9.97564880e-01 -8.44486828e-04 1.02800064e+01] [ 3.58244613e-02 -1.65847503e-03 9.99356722e-01 9.87729367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:10.28, Z:9.88 [[ 9.96979109e-01 -6.89000940e-02 -3.58529458e-02 2.80968401e+02] [ 6.89142625e-02 9.97622231e-01 -8.41924989e-04 1.02814561e+01] [ 3.58257045e-02 -1.63139769e-03 9.99356722e-01 9.87855548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:10.28, Z:9.88 [[ 9.97066957e-01 -6.76169096e-02 -3.58529906e-02 2.80999978e+02] [ 6.76303189e-02 9.97710095e-01 -8.40013308e-04 1.02827970e+01] [ 3.58276897e-02 -1.58719967e-03 9.99356722e-01 9.87960015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:10.28, Z:9.88 [[ 9.97156791e-01 -6.62789096e-02 -3.58530347e-02 2.81031940e+02] [ 6.62915238e-02 9.97799946e-01 -8.38122932e-04 1.02840667e+01] [ 3.58297060e-02 -1.54101233e-03 9.99356722e-01 9.88119521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:10.29, Z:9.88 [[ 9.97400998e-01 -6.24964388e-02 -3.58530935e-02 2.81064475e+02] [ 6.25067040e-02 9.98044194e-01 -8.35602336e-04 1.02862307e+01] [ 3.58351940e-02 -1.40762810e-03 9.99356722e-01 9.88421527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:10.29, Z:9.88 [[ 9.97540793e-01 -6.02238981e-02 -3.58531536e-02 2.81095873e+02] [ 6.02327907e-02 9.98184010e-01 -8.33014978e-04 1.02873481e+01] [ 3.58382120e-02 -1.32856908e-03 9.99356722e-01 9.88497959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.13, Y:10.29, Z:9.89 [[ 9.97676220e-01 -5.79370997e-02 -3.58531981e-02 2.81127170e+02] [ 5.79445869e-02 9.98319455e-01 -8.31094458e-04 1.02888369e+01] [ 3.58410964e-02 -1.24833558e-03 9.99356722e-01 9.88732046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:10.29, Z:9.89 [[ 9.97914166e-01 -5.36829864e-02 -3.58532275e-02 2.81158485e+02] [ 5.36877765e-02 9.98557427e-01 -8.29827084e-04 1.02914258e+01] [ 3.58460541e-02 -1.09678386e-03 9.99356722e-01 9.88951614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:10.29, Z:9.89 [[ 9.98017892e-01 -5.17187678e-02 -3.58532565e-02 2.81188495e+02] [ 5.17223370e-02 9.98661160e-01 -8.28569245e-04 1.02928516e+01] [ 3.58481074e-02 -1.02748728e-03 9.99356722e-01 9.89109503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:10.29, Z:9.89 [[ 9.98101080e-01 -5.00877042e-02 -3.58532565e-02 2.81218472e+02] [ 5.00902221e-02 9.98744353e-01 -8.28569245e-04 1.02939314e+01] [ 3.58497386e-02 -9.68901725e-04 9.99356722e-01 9.89244850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:10.29, Z:9.89 [[ 9.98186887e-01 -4.83475204e-02 -3.58532565e-02 2.81248001e+02] [ 4.83489168e-02 9.98830164e-01 -8.28569245e-04 1.02947321e+01] [ 3.58513734e-02 -9.06399163e-04 9.99356722e-01 9.89190653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:10.30, Z:9.89 [[ 9.98210897e-01 -4.78492511e-02 -3.58532420e-02 2.81277671e+02] [ 4.78503039e-02 9.98854174e-01 -8.29197795e-04 1.02955076e+01] [ 3.58518369e-02 -8.87874249e-04 9.99356722e-01 9.89366198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.31, Y:10.30, Z:9.89 [[ 9.98291893e-01 -4.61285626e-02 -3.58532120e-02 2.81307317e+02] [ 4.61284602e-02 9.98935171e-01 -8.30490718e-04 1.02970507e+01] [ 3.58533438e-02 -8.24781313e-04 9.99356722e-01 9.89471044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:10.30, Z:9.90 [[ 9.98335665e-01 -4.51713404e-02 -3.58531823e-02 2.81336383e+02] [ 4.51705751e-02 9.98978942e-01 -8.31771839e-04 1.02985078e+01] [ 3.58541464e-02 -7.89121375e-04 9.99356722e-01 9.89582184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.37, Y:10.30, Z:9.90 [[ 9.98382190e-01 -4.41311052e-02 -3.58531379e-02 2.81365501e+02] [ 4.41296011e-02 9.99025467e-01 -8.33683252e-04 1.02999642e+01] [ 3.58549892e-02 -7.49850162e-04 9.99356722e-01 9.89761741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:10.30, Z:9.90 [[ 9.98479376e-01 -4.18748589e-02 -3.58529288e-02 2.81393475e+02] [ 4.18715818e-02 9.99122645e-01 -8.42580831e-04 1.03018620e+01] [ 3.58567560e-02 -6.59919257e-04 9.99356722e-01 9.89838122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.42, Y:10.30, Z:9.90 [[ 9.98510975e-01 -4.11145445e-02 -3.58528545e-02 2.81421812e+02] [ 4.11106646e-02 9.99154241e-01 -8.45727854e-04 1.03028830e+01] [ 3.58573034e-02 -6.29466133e-04 9.99356722e-01 9.89950925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:10.30, Z:9.90 [[ 9.98549692e-01 -4.01634552e-02 -3.58526196e-02 2.81450709e+02] [ 4.01586092e-02 9.99192951e-01 -8.55573261e-04 1.03034687e+01] [ 3.58580476e-02 -5.85458922e-04 9.99356722e-01 9.90233753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.48, Y:10.30, Z:9.90 [[ 9.98544472e-01 -4.02931993e-02 -3.58524020e-02 2.81478388e+02] [ 4.02881129e-02 9.99187730e-01 -8.64596882e-04 1.03040249e+01] [ 3.58581175e-02 -5.81087182e-04 9.99356722e-01 9.90391848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:10.30, Z:9.90 [[ 9.98532733e-01 -4.05833083e-02 -3.58521478e-02 2.81506736e+02] [ 4.05780350e-02 9.99175989e-01 -8.75010276e-04 1.03047750e+01] [ 3.58581161e-02 -5.81083309e-04 9.99356722e-01 9.90493985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:10.31, Z:9.91 [[ 9.98528693e-01 -4.06828082e-02 -3.58518908e-02 2.81534417e+02] [ 4.06772254e-02 9.99171947e-01 -8.85419745e-04 1.03053346e+01] [ 3.58582249e-02 -5.74238421e-04 9.99356722e-01 9.90555956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.56, Y:10.31, Z:9.91 [[ 9.98508263e-01 -4.11812696e-02 -3.58518109e-02 2.81563382e+02] [ 4.11758923e-02 9.99151518e-01 -8.88640055e-04 1.03060197e+01] [ 3.58579867e-02 -5.88915870e-04 9.99356722e-01 9.90670192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:10.31, Z:9.91 [[ 9.98473514e-01 -4.20155408e-02 -3.58515881e-02 2.81590812e+02] [ 4.20103813e-02 9.99116771e-01 -8.97543289e-04 1.03067784e+01] [ 3.58576337e-02 -6.09965684e-04 9.99356722e-01 9.90817560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:10.31, Z:9.91 [[ 9.98373777e-01 -4.43225040e-02 -3.58513248e-02 2.81617328e+02] [ 4.43184578e-02 9.99017042e-01 -9.07938191e-04 1.03072567e+01] [ 3.58563265e-02 -6.82413743e-04 9.99356722e-01 9.90719665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.65, Y:10.31, Z:9.91 [[ 9.98304140e-01 -4.58643652e-02 -3.58511427e-02 2.81645671e+02] [ 4.58610563e-02 9.98947409e-01 -9.15073734e-04 1.03073985e+01] [ 3.58553754e-02 -7.30649375e-04 9.99356722e-01 9.90936448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:10.31, Z:9.91 [[ 9.98216592e-01 -4.77320318e-02 -3.58509112e-02 2.81673975e+02] [ 4.77296040e-02 9.98859866e-01 -9.24055908e-04 1.03074201e+01] [ 3.58541434e-02 -7.88741853e-04 9.99356722e-01 9.91017090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:10.31, Z:9.91 [[ 9.98116225e-01 -4.97867196e-02 -3.58508619e-02 2.81703292e+02] [ 4.97855475e-02 9.98759502e-01 -9.25963621e-04 1.03075535e+01] [ 3.58524896e-02 -8.60635472e-04 9.99356722e-01 9.91086956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:10.31, Z:9.91 [[ 9.97914908e-01 -5.36707956e-02 -3.58508289e-02 2.81732876e+02] [ 5.36720812e-02 9.98558185e-01 -9.27239437e-04 1.03069416e+01] [ 3.58489043e-02 -9.98882541e-04 9.99356722e-01 9.91138139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:10.31, Z:9.91 [[ 9.97814365e-01 -5.55086609e-02 -3.58508125e-02 2.81762843e+02] [ 5.55111085e-02 9.98457639e-01 -9.27873624e-04 1.03072703e+01] [ 3.58470226e-02 -1.06427271e-03 9.99356722e-01 9.91283444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:10.31, Z:9.91 [[ 9.97721141e-01 -5.71598222e-02 -3.58507961e-02 2.81793492e+02] [ 5.71633116e-02 9.98364409e-01 -9.28506367e-04 1.03073215e+01] [ 3.58452321e-02 -1.12295980e-03 9.99356722e-01 9.91392055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:10.31, Z:9.92 [[ 9.97551575e-01 -6.00464465e-02 -3.58507961e-02 2.81823635e+02] [ 6.00517971e-02 9.98194830e-01 -9.28506367e-04 1.03065359e+01] [ 3.58418328e-02 -1.22667174e-03 9.99356722e-01 9.91505083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:10.31, Z:9.92 [[ 9.97473656e-01 -6.13271878e-02 -3.58508123e-02 2.81854587e+02] [ 6.13333868e-02 9.98116904e-01 -9.27880996e-04 1.03066462e+01] [ 3.58402061e-02 -1.27331489e-03 9.99356722e-01 9.91597043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:10.31, Z:9.92 [[ 9.97339843e-01 -6.34661697e-02 -3.58508442e-02 2.81886794e+02] [ 6.34737924e-02 9.97983076e-01 -9.26647011e-04 1.03064064e+01] [ 3.58373465e-02 -1.35140706e-03 9.99356722e-01 9.91800269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.92, Y:10.31, Z:9.92 [[ 9.97279344e-01 -6.44098009e-02 -3.58509103e-02 2.81919276e+02] [ 6.44181242e-02 9.97922568e-01 -9.24083171e-04 1.03068408e+01] [ 3.58359524e-02 -1.38787933e-03 9.99356722e-01 9.91949346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:10.31, Z:9.92 [[ 9.97207339e-01 -6.55151197e-02 -3.58509773e-02 2.81950222e+02] [ 6.55242496e-02 9.97850552e-01 -9.21476631e-04 1.03074707e+01] [ 3.58342881e-02 -1.43020512e-03 9.99356722e-01 9.91958436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:10.31, Z:9.92 [[ 9.97017054e-01 -6.83498251e-02 -3.58510270e-02 2.81982441e+02] [ 6.83608531e-02 9.97660237e-01 -9.19535872e-04 1.03073916e+01] [ 3.58299942e-02 -1.53401385e-03 9.99356722e-01 9.92240626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:10.31, Z:9.92 [[ 9.96927469e-01 -6.96442414e-02 -3.58510930e-02 2.82014442e+02] [ 6.96561971e-02 9.97570636e-01 -9.16957943e-04 1.03076696e+01] [ 3.58278584e-02 -1.58311024e-03 9.99356722e-01 9.92316694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:10.31, Z:9.92 [[ 9.96842293e-01 -7.08529300e-02 -3.58511586e-02 2.82045872e+02] [ 7.08657578e-02 9.97485443e-01 -9.14383543e-04 1.03076634e+01] [ 3.58257956e-02 -1.62912334e-03 9.99356722e-01 9.92366020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:10.31, Z:9.92 [[ 9.96758971e-01 -7.20155562e-02 -3.58512611e-02 2.82078237e+02] [ 7.20292790e-02 9.97402103e-01 -9.10347808e-04 1.03076541e+01] [ 3.58236824e-02 -1.67494314e-03 9.99356722e-01 9.92454031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:10.31, Z:9.93 [[ 9.96621818e-01 -7.38893452e-02 -3.58513254e-02 2.82110229e+02] [ 7.39043683e-02 9.97264920e-01 -9.07806878e-04 1.03076187e+01] [ 3.58203464e-02 -1.74482942e-03 9.99356722e-01 9.92578504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:10.31, Z:9.93 [[ 9.96578573e-01 -7.44703021e-02 -3.58513893e-02 2.82142508e+02] [ 7.44857908e-02 9.97221664e-01 -9.05278845e-04 1.03083201e+01] [ 3.58191985e-02 -1.76823758e-03 9.99356722e-01 9.92764659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:10.31, Z:9.93 [[ 9.96548346e-01 -7.48736778e-02 -3.58514537e-02 2.82174443e+02] [ 7.48895186e-02 9.97191429e-01 -9.02719808e-04 1.03091143e+01] [ 3.58183523e-02 -1.78529418e-03 9.99356722e-01 9.92913254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:10.31, Z:9.93 [[ 9.96603744e-01 -7.41326321e-02 -3.58515175e-02 2.82206675e+02] [ 7.41480859e-02 9.97246836e-01 -9.00178865e-04 1.03093100e+01] [ 3.58195450e-02 -1.76119977e-03 9.99356722e-01 9.93069154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:10.31, Z:9.93 [[ 9.96722673e-01 -7.25160476e-02 -3.58515807e-02 2.82238720e+02] [ 7.25305489e-02 9.97365787e-01 -8.97653947e-04 1.03092238e+01] [ 3.58222344e-02 -1.70562279e-03 9.99356722e-01 9.93197067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.27, Y:10.31, Z:9.93 [[ 9.96782004e-01 -7.16958647e-02 -3.58516445e-02 2.82270026e+02] [ 7.17099286e-02 9.97425127e-01 -8.95098378e-04 1.03098341e+01] [ 3.58235060e-02 -1.67870091e-03 9.99356722e-01 9.93322872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.30, Y:10.31, Z:9.93 [[ 9.96854539e-01 -7.06801564e-02 -3.58516919e-02 2.82302509e+02] [ 7.06936332e-02 9.97497675e-01 -8.93196092e-04 1.03103480e+01] [ 3.58251106e-02 -1.64409978e-03 9.99356722e-01 9.93467023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:10.31, Z:9.94 [[ 9.96905613e-01 -6.99560668e-02 -3.58517542e-02 2.82334346e+02] [ 6.99691664e-02 9.97548757e-01 -8.90688020e-04 1.03112771e+01] [ 3.58261819e-02 -1.62058547e-03 9.99356722e-01 9.93604846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:10.31, Z:9.94 [[ 9.96967966e-01 -6.90617312e-02 -3.58518192e-02 2.82366866e+02] [ 6.90743480e-02 9.97611120e-01 -8.88065455e-04 1.03120097e+01] [ 3.58275048e-02 -1.59106823e-03 9.99356722e-01 9.93737141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:10.31, Z:9.94 [[ 9.97101265e-01 -6.71096832e-02 -3.58518840e-02 2.82398094e+02] [ 6.71211349e-02 9.97744441e-01 -8.85442052e-04 1.03124081e+01] [ 3.58304397e-02 -1.52354375e-03 9.99356722e-01 9.93762667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:10.31, Z:9.94 [[ 9.97185329e-01 -6.58487610e-02 -3.58519321e-02 2.82429874e+02] [ 6.58594694e-02 9.97828517e-01 -8.83490709e-04 1.03127005e+01] [ 3.58322570e-02 -1.48018525e-03 9.99356722e-01 9.93901048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.46, Y:10.31, Z:9.94 [[ 9.97275450e-01 -6.44694663e-02 -3.58519967e-02 2.82461247e+02] [ 6.44793795e-02 9.97918651e-01 -8.80862208e-04 1.03130119e+01] [ 3.58341649e-02 -1.43325224e-03 9.99356722e-01 9.93959279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:10.31, Z:9.94 [[ 9.97498446e-01 -6.09219210e-02 -3.58520446e-02 2.82492238e+02] [ 6.09296166e-02 9.98141678e-01 -8.78905439e-04 1.03135913e+01] [ 3.58389646e-02 -1.30774453e-03 9.99356722e-01 9.94059642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.52, Y:10.31, Z:9.94 [[ 9.97626873e-01 -5.87813872e-02 -3.58520764e-02 2.82523609e+02] [ 5.87877492e-02 9.98270119e-01 -8.77607243e-04 1.03146831e+01] [ 3.58416435e-02 -1.23213831e-03 9.99356722e-01 9.94145986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:10.32, Z:9.94 [[ 9.97897206e-01 -5.39980850e-02 -3.58521079e-02 2.82554593e+02] [ 5.40014094e-02 9.98540475e-01 -8.76320269e-04 1.03166528e+01] [ 3.58471004e-02 -1.06158681e-03 9.99356722e-01 9.94220211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.58, Y:10.32, Z:9.94 [[ 9.98033099e-01 -5.14252520e-02 -3.58521390e-02 2.82583929e+02] [ 5.14269638e-02 9.98676375e-01 -8.75044860e-04 1.03182137e+01] [ 3.58496836e-02 -9.70442920e-04 9.99356722e-01 9.94308603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:10.32, Z:9.94 [[ 9.98319291e-01 -4.55326110e-02 -3.58521079e-02 2.82613854e+02] [ 4.55304796e-02 9.98962566e-01 -8.76316732e-04 1.03197219e+01] [ 3.58548147e-02 -7.57519769e-04 9.99356722e-01 9.94441660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.64, Y:10.32, Z:9.95 [[ 9.98584690e-01 -3.92841744e-02 -3.58520767e-02 2.82642340e+02] [ 3.92779717e-02 9.99227937e-01 -8.77590327e-04 1.03208882e+01] [ 3.58588721e-02 -5.31848590e-04 9.99356722e-01 9.94621004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:10.32, Z:9.95 [[ 9.98694350e-01 -3.63901185e-02 -3.58518542e-02 2.82669391e+02] [ 3.63817288e-02 9.99337572e-01 -8.86587067e-04 1.03220921e+01] [ 3.58603680e-02 -4.18922943e-04 9.99356722e-01 9.94774753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:10.32, Z:9.95 [[ 9.98862346e-01 -3.14430679e-02 -3.58517436e-02 2.82696375e+02] [ 3.14313325e-02 9.99505516e-01 -8.91040688e-04 1.03238264e+01] [ 3.58620325e-02 -2.36841080e-04 9.99356722e-01 9.94975123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:10.32, Z:9.95 [[ 9.98853487e-01 -3.17234439e-02 -3.58515686e-02 2.82724731e+02] [ 3.17116383e-02 9.99496656e-01 -8.98027060e-04 1.03246069e+01] [ 3.58620114e-02 -2.39914513e-04 9.99356722e-01 9.95077164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:10.33, Z:9.95 [[ 9.98936107e-01 -2.90058137e-02 -3.58513137e-02 2.82752354e+02] [ 2.89918972e-02 9.99579234e-01 -9.08087880e-04 1.03257985e+01] [ 3.58625686e-02 -1.32275831e-04 9.99356722e-01 9.95189730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.78, Y:10.33, Z:9.95 [[ 9.99018346e-01 -2.60201155e-02 -3.58510559e-02 2.82778976e+02] [ 2.60039156e-02 9.99661419e-01 -9.18154696e-04 1.03267498e+01] [ 3.58628079e-02 -1.50144457e-05 9.99356722e-01 9.95270425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:10.33, Z:9.95 [[ 9.99153215e-01 -2.01881671e-02 -3.58509439e-02 2.82806545e+02] [ 2.01680576e-02 9.99796178e-01 -9.22508373e-04 1.03270395e+01] [ 3.58622605e-02 1.98683307e-04 9.99356722e-01 9.95383973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:10.33, Z:9.96 [[ 9.99199031e-01 -1.77770911e-02 -3.58506833e-02 2.82834083e+02] [ 1.77550706e-02 9.99841931e-01 -9.32528761e-04 1.03274885e+01] [ 3.58615940e-02 2.95250424e-04 9.99356723e-01 9.95575403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:10.33, Z:9.96 [[ 9.99230590e-01 -1.59052369e-02 -3.58504104e-02 2.82860565e+02] [ 1.58816399e-02 9.99873434e-01 -9.42901157e-04 1.03279796e+01] [ 3.58608701e-02 3.72812370e-04 9.99356723e-01 9.95657166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:10.33, Z:9.96 [[ 9.99254304e-01 -1.43385245e-02 -3.58502916e-02 2.82888681e+02] [ 1.43137583e-02 9.99897104e-01 -9.47399596e-04 1.03279199e+01] [ 3.58601870e-02 4.33540714e-04 9.99356723e-01 9.95763299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.91, Y:10.33, Z:9.96 [[ 9.99253798e-01 -1.43744235e-02 -3.58500187e-02 2.82914869e+02] [ 1.43493140e-02 9.99896585e-01 -9.57614167e-04 1.03286268e+01] [ 3.58600764e-02 4.42476418e-04 9.99356723e-01 9.95825068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.94, Y:10.33, Z:9.96 [[ 9.99237240e-01 -1.54951800e-02 -3.58446249e-02 2.82943243e+02] [ 1.54635503e-02 9.99879760e-01 -1.15949101e-03 1.03266446e+01] [ 3.58582815e-02 6.04321433e-04 9.99356702e-01 9.96040472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:10.32, Z:9.96 [[ 9.99231424e-01 -1.58682393e-02 -3.58435615e-02 2.82972949e+02] [ 1.58354245e-02 9.99873893e-01 -1.19922299e-03 1.03239444e+01] [ 3.58580709e-02 6.30703286e-04 9.99356694e-01 9.95919002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:10.32, Z:9.96 [[ 9.99189266e-01 -1.83189209e-02 -3.58500758e-02 2.83000826e+02] [ 1.82964562e-02 9.99832150e-01 -9.54626458e-04 1.03227215e+01] [ 3.58615461e-02 2.97923168e-04 9.99356723e-01 9.96092668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.03, Y:10.32, Z:9.96 [[ 9.99130817e-01 -2.12697354e-02 -3.58498023e-02 2.83028457e+02] [ 2.12488048e-02 9.99773753e-01 -9.64788234e-04 1.03212500e+01] [ 3.58622122e-02 2.02184207e-04 9.99356724e-01 9.96204435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:10.32, Z:9.96 [[ 9.99049049e-01 -2.48154959e-02 -3.58495247e-02 2.83055895e+02] [ 2.47964809e-02 9.99692045e-01 -9.74996416e-04 1.03196976e+01] [ 3.58626796e-02 8.51271906e-05 9.99356724e-01 9.96321718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.08, Y:10.31, Z:9.96 [[ 9.98841503e-01 -3.21011387e-02 -3.58492439e-02 2.83084413e+02] [ 3.20864470e-02 9.99484612e-01 -9.85213312e-04 1.03147774e+01] [ 3.58623941e-02 -1.66202920e-04 9.99356724e-01 9.96494617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:10.31, Z:9.97 [[ 9.98689843e-01 -3.65162230e-02 -3.58491730e-02 2.83112418e+02] [ 3.65042820e-02 9.99333008e-01 -9.87785643e-04 1.03129445e+01] [ 3.58613321e-02 -3.22156833e-04 9.99356724e-01 9.96633594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:10.31, Z:9.97 [[ 9.98365080e-01 -4.45199330e-02 -3.58488861e-02 2.83141364e+02] [ 4.45127777e-02 9.99008317e-01 -9.98090927e-04 1.03087976e+01] [ 3.58577703e-02 -5.99274369e-04 9.99356724e-01 9.96841735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:10.31, Z:9.97 [[ 9.98189750e-01 -4.82918137e-02 -3.58486327e-02 2.83169174e+02] [ 4.82867650e-02 9.98833006e-01 -1.00711155e-03 1.03069823e+01] [ 3.58554328e-02 -7.25726079e-04 9.99356724e-01 9.96990204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:10.31, Z:9.97 [[ 9.98022470e-01 -5.16337606e-02 -3.58483373e-02 2.83197292e+02] [ 5.16304921e-02 9.98665738e-01 -1.01751734e-03 1.03053768e+01] [ 3.58530445e-02 -8.35362125e-04 9.99356724e-01 9.97073751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.23, Y:10.30, Z:9.97 [[ 9.97840508e-01 -5.50383808e-02 -3.58482457e-02 2.83225759e+02] [ 5.50371915e-02 9.98483783e-01 -1.02073325e-03 1.03034504e+01] [ 3.58500715e-02 -9.54457784e-04 9.99356724e-01 9.97194419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:10.30, Z:9.97 [[ 9.97502580e-01 -6.08565900e-02 -3.58479891e-02 2.83254268e+02] [ 6.08588314e-02 9.98145852e-01 -1.02966788e-03 1.02990534e+01] [ 3.58441837e-02 -1.15457036e-03 9.99356724e-01 9.97263506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:10.30, Z:9.97 [[ 9.97338092e-01 -6.34953152e-02 -3.58479345e-02 2.83284419e+02] [ 6.34991902e-02 9.97981357e-01 -1.03156693e-03 1.02974692e+01] [ 3.58410700e-02 -1.24749382e-03 9.99356724e-01 9.97333433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:10.29, Z:9.97 [[ 9.97031402e-01 -6.81418341e-02 -3.58479345e-02 2.83314515e+02] [ 6.81487065e-02 9.97674641e-01 -1.03156693e-03 1.02944517e+01] [ 3.58348680e-02 -1.41448574e-03 9.99356724e-01 9.97412628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.35, Y:10.29, Z:9.97 [[ 9.96897294e-01 -7.00764597e-02 -3.58479345e-02 2.83345988e+02] [ 7.00845803e-02 9.97540519e-01 -1.03156693e-03 1.02937278e+01] [ 3.58320557e-02 -1.48402116e-03 9.99356724e-01 9.97486752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:10.29, Z:9.97 [[ 9.96762101e-01 -7.19738616e-02 -3.58479712e-02 2.83376521e+02] [ 7.19832524e-02 9.97405309e-01 -1.03028766e-03 1.02929259e+01] [ 3.58291106e-02 -1.55350187e-03 9.99356724e-01 9.97493331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:10.29, Z:9.98 [[ 9.96634071e-01 -7.37255069e-02 -3.58479895e-02 2.83407733e+02] [ 7.37360509e-02 9.97277261e-01 -1.02965277e-03 1.02922379e+01] [ 3.58262964e-02 -1.61710214e-03 9.99356724e-01 9.97512791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:10.29, Z:9.98 [[ 9.96636633e-01 -7.36908478e-02 -3.58480252e-02 2.83439543e+02] [ 7.37014141e-02 9.97279822e-01 -1.02840794e-03 1.02931195e+01] [ 3.58262964e-02 -1.61710112e-03 9.99356724e-01 9.97626954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:10.29, Z:9.98 [[ 9.96518211e-01 -7.52753107e-02 -3.58480609e-02 2.83470037e+02] [ 7.52869443e-02 9.97161382e-01 -1.02716209e-03 1.02926330e+01] [ 3.58236219e-02 -1.67530524e-03 9.99356724e-01 9.97651744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:10.29, Z:9.98 [[ 9.96267564e-01 -7.85229675e-02 -3.58480786e-02 2.83501195e+02] [ 7.85367196e-02 9.96910693e-01 -1.02654392e-03 1.02912981e+01] [ 3.58179401e-02 -1.79267809e-03 9.99356724e-01 9.97771028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:10.29, Z:9.98 [[ 9.96191045e-01 -7.94878279e-02 -3.58481151e-02 2.83532604e+02] [ 7.95022487e-02 9.96834159e-01 -1.02526812e-03 1.02915043e+01] [ 3.58161220e-02 -1.82864284e-03 9.99356724e-01 9.97764740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:10.29, Z:9.98 [[ 9.96073929e-01 -8.09421516e-02 -3.58482377e-02 2.83564866e+02] [ 8.09576658e-02 9.96717018e-01 -1.02096276e-03 1.02922073e+01] [ 3.58131875e-02 -1.88523526e-03 9.99356724e-01 9.97979423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:10.29, Z:9.98 [[ 9.96007528e-01 -8.17551364e-02 -3.58483114e-02 2.83596280e+02] [ 8.17712686e-02 9.96650602e-01 -1.01836832e-03 1.02928925e+01] [ 3.58114980e-02 -1.91705939e-03 9.99356724e-01 9.97975051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:10.29, Z:9.98 [[ 9.95919159e-01 -8.28246528e-02 -3.58483663e-02 2.83628691e+02] [ 8.28415450e-02 9.96562213e-01 -1.01643325e-03 1.02933465e+01] [ 3.58093130e-02 -1.95744869e-03 9.99356724e-01 9.98054666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:10.29, Z:9.98 [[ 9.95931526e-01 -8.26757800e-02 -3.58484385e-02 2.83660921e+02] [ 8.26926677e-02 9.96574581e-01 -1.01388005e-03 1.02939699e+01] [ 3.58094659e-02 -1.95464791e-03 9.99356724e-01 9.98155473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:10.29, Z:9.98 [[ 9.95961392e-01 -8.23151908e-02 -3.58485102e-02 2.83692838e+02] [ 8.23319369e-02 9.96604450e-01 -1.01133720e-03 1.02948686e+01] [ 3.58100332e-02 -1.94422447e-03 9.99356724e-01 9.98318759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:10.30, Z:9.99 [[ 9.96027070e-01 -8.15165929e-02 -3.58485826e-02 2.83725050e+02] [ 8.15329157e-02 9.96670139e-01 -1.00876543e-03 1.02966324e+01] [ 3.58114429e-02 -1.91808178e-03 9.99356724e-01 9.98529357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:10.30, Z:9.99 [[ 9.96089493e-01 -8.07502065e-02 -3.58486555e-02 2.83757130e+02] [ 8.07661277e-02 9.96732572e-01 -1.00616848e-03 1.02980503e+01] [ 3.58127709e-02 -1.89312323e-03 9.99356724e-01 9.98685038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.79, Y:10.30, Z:9.99 [[ 9.96204648e-01 -7.93168878e-02 -3.58487290e-02 2.83788536e+02] [ 7.93319781e-02 9.96847747e-01 -1.00354022e-03 1.02999041e+01] [ 3.58153225e-02 -1.84421916e-03 9.99356724e-01 9.98768900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.82, Y:10.30, Z:9.99 [[ 9.96254698e-01 -7.86857138e-02 -3.58487838e-02 2.83820623e+02] [ 7.87004669e-02 9.96897805e-01 -1.00158068e-03 1.03007987e+01] [ 3.58163840e-02 -1.82348656e-03 9.99356724e-01 9.98876791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.85, Y:10.30, Z:9.99 [[ 9.96309157e-01 -7.79931032e-02 -3.58488560e-02 2.83853023e+02] [ 7.80075023e-02 9.96952271e-01 -9.98987589e-04 1.03016181e+01] [ 3.58175126e-02 -1.80117924e-03 9.99356724e-01 9.98988499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.88, Y:10.30, Z:9.99 [[ 9.96425542e-01 -7.64917893e-02 -3.58489277e-02 2.83884357e+02] [ 7.65053118e-02 9.97068676e-01 -9.96410901e-04 1.03026072e+01] [ 3.58200601e-02 -1.74978412e-03 9.99356724e-01 9.99082567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.92, Y:10.30, Z:9.99 [[ 9.96505222e-01 -7.54465909e-02 -3.58490443e-02 2.83916004e+02] [ 7.54595901e-02 9.97148367e-01 -9.92198347e-04 1.03039984e+01] [ 3.58216739e-02 -1.71642335e-03 9.99356724e-01 9.99236296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:10.31, Z:9.99 [[ 9.96631942e-01 -7.37537447e-02 -3.58490797e-02 2.83947321e+02] [ 7.37656974e-02 9.97275107e-01 -9.90914869e-04 1.03056682e+01] [ 3.58244785e-02 -1.65685496e-03 9.99356724e-01 9.99357138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.98, Y:10.31, Z:9.99 [[ 9.96769426e-01 -7.18717768e-02 -3.58491150e-02 2.83978416e+02] [ 7.18825609e-02 9.97412612e-01 -9.89638369e-04 1.03075203e+01] [ 3.58274865e-02 -1.59048492e-03 9.99356724e-01 9.99494855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:10.31, Z:10.00 [[ 9.97151781e-01 -6.63563360e-02 -3.58491500e-02 2.84008811e+02] [ 6.63636073e-02 9.97795016e-01 -9.88367180e-04 1.03099194e+01] [ 3.58356877e-02 -1.39352682e-03 9.99356724e-01 9.99569982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:10.31, Z:10.00 [[ 9.97359881e-01 -6.31514426e-02 -3.58491674e-02 2.84038960e+02] [ 6.31566693e-02 9.98003136e-01 -9.87736801e-04 1.03117327e+01] [ 3.58399585e-02 -1.27898495e-03 9.99356724e-01 9.99732242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:10.31, Z:10.00 [[ 9.97585535e-01 -5.94805598e-02 -3.58491674e-02 2.84068400e+02] [ 5.94834192e-02 9.98228805e-01 -9.87736801e-04 1.03135521e+01] [ 3.58444227e-02 -1.14707911e-03 9.99356724e-01 9.99773804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:10.32, Z:10.00 [[ 9.98046221e-01 -5.11720640e-02 -3.58491494e-02 2.84097594e+02] [ 5.11695438e-02 9.98689492e-01 -9.88387940e-04 1.03172739e+01] [ 3.58527467e-02 -8.47927773e-04 9.99356724e-01 9.99936462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:10.32, Z:10.00 [[ 9.98242370e-01 -4.71912158e-02 -3.58491146e-02 2.84124962e+02] [ 4.71860846e-02 9.98885626e-01 -9.89651152e-04 1.03198040e+01] [ 3.58558681e-02 -7.03667642e-04 9.99356724e-01 1.00005504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:10.32, Z:10.00 [[ 9.98418916e-01 -4.32958472e-02 -3.58488279e-02 2.84152393e+02] [ 4.32878373e-02 9.99062142e-01 -9.99928962e-04 1.03222406e+01] [ 3.58584995e-02 -5.53470239e-04 9.99356724e-01 1.00013555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:10.33, Z:10.00 [[ 9.98719709e-01 -3.56906804e-02 -3.58485391e-02 2.84179102e+02] [ 3.56774040e-02 9.99362848e-01 -1.01017865e-03 1.03257163e+01] [ 3.58617521e-02 -2.70097488e-04 9.99356724e-01 1.00023771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:10.33, Z:10.00 [[ 9.98833410e-01 -3.23529130e-02 -3.58484137e-02 2.84206361e+02] [ 3.23373284e-02 9.99476497e-01 -1.01460829e-03 1.03277119e+01] [ 3.58624725e-02 -1.45817269e-04 9.99356724e-01 1.00036828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:10.33, Z:10.01 [[ 9.98934277e-01 -2.90724971e-02 -3.58482890e-02 2.84234050e+02] [ 2.90546433e-02 9.99577305e-01 -1.01899652e-03 1.03294891e+01] [ 3.58627608e-02 -2.36486958e-05 9.99356724e-01 1.00050281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:10.33, Z:10.01 [[ 9.99013735e-01 -2.62007259e-02 -3.58480033e-02 2.84261624e+02] [ 2.61806664e-02 9.99656698e-01 -1.02894978e-03 1.03312795e+01] [ 3.58626558e-02 8.94103485e-05 9.99356724e-01 1.00061671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.29, Y:10.33, Z:10.01 [[ 9.99134059e-01 -2.11204575e-02 -3.58477107e-02 2.84288247e+02] [ 2.10967666e-02 9.99776899e-01 -1.03904519e-03 1.03337306e+01] [ 3.58616581e-02 2.81874654e-04 9.99356724e-01 1.00069052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:10.34, Z:10.01 [[ 9.99017428e-01 -2.60601122e-02 -3.58475834e-02 2.84309061e+02] [ 2.60394430e-02 9.99660372e-01 -1.04341762e-03 1.03434470e+01] [ 3.58626001e-02 1.08941284e-04 9.99356724e-01 1.00107383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:10.34, Z:10.01 [[ 9.99192153e-01 -1.82116987e-02 -3.58242182e-02 2.84346609e+02] [ 1.81578389e-02 9.99833461e-01 -1.82824779e-03 1.03362780e+01] [ 3.58515476e-02 1.17628047e-03 9.99356434e-01 1.00096650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:10.34, Z:10.01 [[ 9.99037281e-01 -2.52882367e-02 -3.58471099e-02 2.84367867e+02] [ 2.52672544e-02 9.99680193e-01 -1.03830522e-03 1.03446822e+01] [ 3.58619027e-02 1.31547582e-04 9.99356746e-01 1.00133070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.40, Y:10.34, Z:10.01 [[ 9.99027014e-01 -2.57232034e-02 -3.58237772e-02 2.84397832e+02] [ 2.56740128e-02 9.99668689e-01 -1.83254411e-03 1.03443658e+01] [ 3.58590473e-02 9.11020959e-04 9.99356442e-01 1.00141236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:10.34, Z:10.01 [[ 9.98950481e-01 -2.85394436e-02 -3.58250752e-02 2.84427095e+02] [ 2.84936719e-02 9.99592374e-01 -1.78765863e-03 1.03428689e+01] [ 3.58614908e-02 7.64994513e-04 9.99356477e-01 1.00139118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:10.34, Z:10.01 [[ 9.98895613e-01 -3.03989071e-02 -3.58254333e-02 2.84457247e+02] [ 3.03547757e-02 9.99537611e-01 -1.77523916e-03 1.03423522e+01] [ 3.58628334e-02 6.85805614e-04 9.99356486e-01 1.00143503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.49, Y:10.34, Z:10.02 [[ 9.98800018e-01 -3.33905772e-02 -3.58272741e-02 2.84485337e+02] [ 3.33506654e-02 9.99442247e-01 -1.71121821e-03 1.03423696e+01] [ 3.58644299e-02 5.14301351e-04 9.99356532e-01 1.00156513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:10.33, Z:10.01 [[ 9.98801673e-01 -3.33412789e-02 -3.58270536e-02 2.84522574e+02] [ 3.33010615e-02 9.99443888e-01 -1.71885346e-03 1.03326930e+01] [ 3.58644386e-02 5.23714789e-04 9.99356527e-01 1.00141136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:10.34, Z:10.02 [[ 9.98461477e-01 -4.23044824e-02 -3.58470289e-02 2.84545229e+02] [ 4.22954463e-02 9.99104636e-01 -1.01070394e-03 1.03387622e+01] [ 3.58576900e-02 -5.07017132e-04 9.99356778e-01 1.00178480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.57, Y:10.34, Z:10.02 [[ 9.98354066e-01 -4.47836886e-02 -3.58270901e-02 2.84574695e+02] [ 4.47512939e-02 9.98996702e-01 -1.70600057e-03 1.03369546e+01] [ 3.58675458e-02 9.98839715e-05 9.99356548e-01 1.00188104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:10.33, Z:10.02 [[ 9.98092860e-01 -5.02680423e-02 -3.58296981e-02 2.84604448e+02] [ 5.02425101e-02 9.98735745e-01 -1.61318922e-03 1.03332285e+01] [ 3.58654921e-02 -1.90061327e-04 9.99356608e-01 1.00199210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:10.33, Z:10.02 [[ 9.97940779e-01 -5.32003491e-02 -3.58318924e-02 2.84632881e+02] [ 5.31795526e-02 9.98583788e-01 -1.53388449e-03 1.03321683e+01] [ 3.58627500e-02 -3.74798116e-04 9.99356654e-01 1.00215900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:10.33, Z:10.02 [[ 9.98078313e-01 -5.05550976e-02 -3.58310453e-02 2.84666879e+02] [ 5.05315069e-02 9.98721242e-01 -1.56425054e-03 1.03257548e+01] [ 3.58643069e-02 -2.49352170e-04 9.99356638e-01 1.00187967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.69, Y:10.33, Z:10.02 [[ 9.97748947e-01 -5.66747937e-02 -3.58469954e-02 2.84692825e+02] [ 5.66760275e-02 9.98392139e-01 -9.82557399e-04 1.03303622e+01] [ 3.58450446e-02 -1.05131969e-03 9.99356807e-01 1.00187028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:10.32, Z:10.02 [[ 9.97949015e-01 -5.30455756e-02 -3.58319850e-02 2.84726023e+02] [ 5.30251509e-02 9.98592019e-01 -1.52074756e-03 1.03236123e+01] [ 3.58622032e-02 -3.82367880e-04 9.99356671e-01 1.00171864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.75, Y:10.32, Z:10.02 [[ 9.97991992e-01 -5.22206900e-02 -3.58466648e-02 2.84754054e+02] [ 5.22188324e-02 9.98635177e-01 -9.88695285e-04 1.03235257e+01] [ 3.58493708e-02 -8.85161001e-04 9.99356813e-01 1.00187287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:10.33, Z:10.02 [[ 9.97944601e-01 -5.31196622e-02 -3.58451493e-02 2.84781623e+02] [ 5.31164222e-02 9.98587781e-01 -1.04334634e-03 1.03257940e+01] [ 3.58499504e-02 -8.62764234e-04 9.99356812e-01 1.00216195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:10.33, Z:10.02 [[ 9.98083091e-01 -5.04539836e-02 -3.58404544e-02 2.84809594e+02] [ 5.04427482e-02 9.98726211e-01 -1.21822855e-03 1.03259807e+01] [ 3.58562658e-02 -5.91997703e-04 9.99356782e-01 1.00232480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.84, Y:10.32, Z:10.02 [[ 9.98296769e-01 -4.60339255e-02 -3.58390744e-02 2.84839985e+02] [ 4.60180078e-02 9.98939804e-01 -1.26933898e-03 1.03233756e+01] [ 3.58595106e-02 -3.82065799e-04 9.99356768e-01 1.00231139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:10.32, Z:10.02 [[ 9.98391156e-01 -4.39325681e-02 -3.58473038e-02 2.84867394e+02] [ 4.39262891e-02 9.99034311e-01 -9.63094427e-04 1.03241097e+01] [ 3.58549976e-02 -6.13094070e-04 9.99356815e-01 1.00238533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.90, Y:10.33, Z:10.03 [[ 9.98560527e-01 -3.98980469e-02 -3.58471842e-02 2.84895430e+02] [ 3.98890102e-02 9.99203648e-01 -9.67523919e-04 1.03263916e+01] [ 3.58572396e-02 -4.63777503e-04 9.99356815e-01 1.00252203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:10.33, Z:10.02 [[ 9.98729295e-01 -3.54231012e-02 -3.58468916e-02 2.84921963e+02] [ 3.54107978e-02 9.99372362e-01 -9.78247922e-04 1.03252393e+01] [ 3.58590453e-02 -2.92362174e-04 9.99356815e-01 1.00237637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:10.33, Z:10.03 [[ 9.98892916e-01 -3.04660325e-02 -3.58436042e-02 2.84951011e+02] [ 3.04462683e-02 9.99535803e-01 -1.09722596e-03 1.03260059e+01] [ 3.58603938e-02 4.70724553e-06 9.99356809e-01 1.00250290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:10.33, Z:10.02 [[ 9.99004092e-01 -2.65680020e-02 -3.58464260e-02 2.84978761e+02] [ 2.65493744e-02 9.99647007e-01 -9.95637752e-04 1.03259498e+01] [ 3.58602246e-02 4.29460035e-05 9.99356814e-01 1.00246149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:10.33, Z:10.03 [[ 9.99127520e-01 -2.14347572e-02 -3.58434006e-02 2.85007411e+02] [ 2.14089458e-02 9.99770193e-01 -1.10381289e-03 1.03258639e+01] [ 3.58588234e-02 3.35480414e-04 9.99356809e-01 1.00255569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.04, Y:10.33, Z:10.03 [[ 9.99178074e-01 -1.89270407e-02 -3.58461117e-02 2.85035157e+02] [ 1.89030768e-02 9.99820813e-01 -1.00734367e-03 1.03261993e+01] [ 3.58587546e-02 3.28913901e-04 9.99356814e-01 1.00263401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:10.33, Z:10.03 [[ 9.99222286e-01 -1.64286455e-02 -3.58458173e-02 2.85063418e+02] [ 1.64027026e-02 9.99864949e-01 -1.01771211e-03 1.03266021e+01] [ 3.58576959e-02 4.28952336e-04 9.99356814e-01 1.00278402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:10.33, Z:10.03 [[ 9.99255164e-01 -1.42904199e-02 -3.58455194e-02 2.85091444e+02] [ 1.42627294e-02 9.99897754e-01 -1.02810006e-03 1.03268553e+01] [ 3.58565463e-02 5.16079349e-04 9.99356814e-01 1.00289766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:10.33, Z:10.03 [[ 9.99273347e-01 -1.29569535e-02 -3.58454271e-02 2.85118835e+02] [ 1.29282904e-02 9.99915894e-01 -1.03130828e-03 1.03265593e+01] [ 3.58557749e-02 5.67138782e-04 9.99356814e-01 1.00310556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:10.33, Z:10.03 [[ 9.99282768e-01 -1.22096686e-02 -3.58451297e-02 2.85147046e+02] [ 1.21801580e-02 9.99925277e-01 -1.04154302e-03 1.03261081e+01] [ 3.58551681e-02 6.04196648e-04 9.99356814e-01 1.00324781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:10.32, Z:10.03 [[ 9.99288340e-01 -1.17457293e-02 -3.58448274e-02 2.85173956e+02] [ 1.17155510e-02 9.99930817e-01 -1.05184529e-03 1.03232668e+01] [ 3.58547022e-02 6.31154830e-04 9.99356814e-01 1.00329061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:10.32, Z:10.03 [[ 9.99255609e-01 -1.42732426e-02 -3.58399445e-02 2.85202833e+02] [ 1.42387876e-02 9.99897883e-01 -1.21642544e-03 1.03221578e+01] [ 3.58536470e-02 7.05202582e-04 9.99356802e-01 1.00334084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:10.32, Z:10.03 [[ 9.99209257e-01 -1.72055649e-02 -3.58445019e-02 2.85230638e+02] [ 1.71785072e-02 9.99851874e-01 -1.06272594e-03 1.03210364e+01] [ 3.58574771e-02 4.46130566e-04 9.99356814e-01 1.00346456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:10.32, Z:10.04 [[ 9.99061809e-01 -2.43042500e-02 -3.58441931e-02 2.85258389e+02] [ 2.42813886e-02 9.99704588e-01 -1.07303958e-03 1.03175018e+01] [ 3.58596837e-02 2.01686081e-04 9.99356814e-01 1.00358065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:10.32, Z:10.04 [[ 9.99054895e-01 -2.45869174e-02 -3.58440972e-02 2.85286763e+02] [ 2.45641232e-02 9.99697677e-01 -1.07623324e-03 1.03184161e+01] [ 3.58597220e-02 1.94737263e-04 9.99356814e-01 1.00368260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:10.32, Z:10.04 [[ 9.98931114e-01 -2.91865122e-02 -3.58437898e-02 2.85314561e+02] [ 2.91663138e-02 9.99573982e-01 -1.08637707e-03 1.03165680e+01] [ 3.58602272e-02 3.97846384e-05 9.99356814e-01 1.00382561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:10.31, Z:10.04 [[ 9.98609520e-01 -3.86558004e-02 -3.58434820e-02 2.85343715e+02] [ 3.86413366e-02 9.99252543e-01 -1.09643929e-03 1.03126317e+01] [ 3.58590743e-02 -2.90125340e-04 9.99356814e-01 1.00405981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:10.31, Z:10.04 [[ 9.98402456e-01 -4.36782237e-02 -3.58434031e-02 2.85371009e+02] [ 4.36669022e-02 9.99045541e-01 -1.09901038e-03 1.03112684e+01] [ 3.58571949e-02 -4.67915718e-04 9.99356814e-01 1.00417342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:10.31, Z:10.04 [[ 9.98160654e-01 -4.88934475e-02 -3.58432654e-02 2.85399180e+02] [ 4.88853251e-02 9.98803788e-01 -1.10348533e-03 1.03097587e+01] [ 3.58543424e-02 -6.50754042e-04 9.99356814e-01 1.00430313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:10.31, Z:10.04 [[ 9.97901342e-01 -5.39276954e-02 -3.58429390e-02 2.85426344e+02] [ 5.39224402e-02 9.98544506e-01 -1.11398604e-03 1.03085823e+01] [ 3.58508445e-02 -8.21090570e-04 9.99356815e-01 1.00437268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:10.31, Z:10.04 [[ 9.97322421e-01 -6.37438754e-02 -3.58427970e-02 2.85454140e+02] [ 6.37447854e-02 9.97965606e-01 -1.11853768e-03 1.03058443e+01] [ 3.58411785e-02 -1.16924869e-03 9.99356815e-01 1.00441894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:10.30, Z:10.04 [[ 9.96713038e-01 -7.26528597e-02 -3.58424706e-02 2.85482551e+02] [ 7.26591447e-02 9.97356192e-01 -1.12890134e-03 1.03033743e+01] [ 3.58297279e-02 -1.47909257e-03 9.99356815e-01 1.00443601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:10.30, Z:10.04 [[ 9.96140753e-01 -8.01182998e-02 -3.58421402e-02 2.85510893e+02] [ 8.01290302e-02 9.96783848e-01 -1.13929358e-03 1.03020365e+01] [ 3.58181447e-02 -1.73709918e-03 9.99356815e-01 1.00444888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:10.31, Z:10.05 [[ 9.95439936e-01 -8.84007626e-02 -3.58418481e-02 2.85537936e+02] [ 8.84165143e-02 9.96082929e-01 -1.14841051e-03 1.03067319e+01] [ 3.58029734e-02 -2.02583759e-03 9.99356815e-01 1.00458122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:10.31, Z:10.05 [[ 9.95416640e-01 -8.86678164e-02 -3.58292008e-02 2.85570847e+02] [ 8.86696587e-02 9.96059897e-01 -1.54070660e-03 1.03060275e+01] [ 3.58246411e-02 -1.64331802e-03 9.99356740e-01 1.00464137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:10.31, Z:10.05 [[ 9.95439391e-01 -8.84066991e-02 -3.58423646e-02 2.85601475e+02] [ 8.84231734e-02 9.96082361e-01 -1.12837759e-03 1.03058588e+01] [ 3.58017033e-02 -2.04606412e-03 9.99356819e-01 1.00475001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:10.31, Z:10.05 [[ 9.95425342e-01 -8.85649260e-02 -3.58418982e-02 2.85631842e+02] [ 8.85809775e-02 9.96068323e-01 -1.14300301e-03 1.03074339e+01] [ 3.58022094e-02 -2.03713622e-03 9.99356819e-01 1.00480591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:10.31, Z:10.05 [[ 9.95428487e-01 -8.85295658e-02 -3.58419187e-02 2.85663650e+02] [ 8.85456176e-02 9.96071468e-01 -1.14235980e-03 1.03084176e+01] [ 3.58022452e-02 -2.03650734e-03 9.99356819e-01 1.00492009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:10.31, Z:10.05 [[ 9.95432374e-01 -8.84858371e-02 -3.58419593e-02 2.85693533e+02] [ 8.85019063e-02 9.96075354e-01 -1.14108661e-03 1.03099811e+01] [ 3.58022622e-02 -2.03620716e-03 9.99356819e-01 1.00491889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:10.31, Z:10.05 [[ 9.95440362e-01 -8.83959214e-02 -3.58419793e-02 2.85725162e+02] [ 8.84119552e-02 9.96083343e-01 -1.14045499e-03 1.03117051e+01] [ 3.58024102e-02 -2.03360454e-03 9.99356819e-01 1.00498671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:10.31, Z:10.05 [[ 9.95490695e-01 -8.78272536e-02 -3.58420202e-02 2.85755730e+02] [ 8.78429663e-02 9.96133684e-01 -1.13916825e-03 1.03135704e+01] [ 3.58034937e-02 -2.01443799e-03 9.99356819e-01 1.00502573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:10.32, Z:10.05 [[ 9.95559060e-01 -8.70488675e-02 -3.58420405e-02 2.85787294e+02] [ 8.70641004e-02 9.96202061e-01 -1.13852975e-03 1.03157073e+01] [ 3.58050224e-02 -1.98708141e-03 9.99356819e-01 1.00511891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:10.32, Z:10.05 [[ 9.95660660e-01 -8.58789573e-02 -3.58420812e-02 2.85818832e+02] [ 8.58934806e-02 9.96303677e-01 -1.13724652e-03 1.03180485e+01] [ 3.58072629e-02 -1.94628949e-03 9.99356819e-01 1.00520611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:10.32, Z:10.05 [[ 9.95931511e-01 -8.26787068e-02 -3.58421221e-02 2.85849320e+02] [ 8.26912099e-02 9.96574570e-01 -1.13595637e-03 1.03228623e+01] [ 3.58132669e-02 -1.83249370e-03 9.99356819e-01 1.00528905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:10.33, Z:10.05 [[ 9.96084716e-01 -8.08119987e-02 -3.58421424e-02 2.85880562e+02] [ 8.08233195e-02 9.96727797e-01 -1.13531694e-03 1.03259085e+01] [ 3.58166069e-02 -1.76600907e-03 9.99356819e-01 1.00546163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:10.33, Z:10.06 [[ 9.96419052e-01 -7.65794360e-02 -3.58421835e-02 2.85911994e+02] [ 7.65880712e-02 9.97062175e-01 -1.13401773e-03 1.03317249e+01] [ 3.58237279e-02 -1.61512683e-03 9.99356819e-01 1.00559236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:10.33, Z:10.06 [[ 9.96615372e-01 -7.39806347e-02 -3.58422245e-02 2.85941381e+02] [ 7.39876394e-02 9.97258515e-01 -1.13271865e-03 1.03348928e+01] [ 3.58277629e-02 -1.52299677e-03 9.99356819e-01 1.00567402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:10.34, Z:10.06 [[ 9.96788214e-01 -7.16141878e-02 -3.58422290e-02 2.85972066e+02] [ 7.16196705e-02 9.97431371e-01 -1.13257778e-03 1.03382396e+01] [ 3.58312723e-02 -1.43806844e-03 9.99356819e-01 1.00583427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:10.34, Z:10.06 [[ 9.97212488e-01 -6.54414872e-02 -3.58422290e-02 2.86002081e+02] [ 6.54429879e-02 9.97855667e-01 -1.13257778e-03 1.03438843e+01] [ 3.58394889e-02 -1.21620185e-03 9.99356819e-01 1.00601320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:10.35, Z:10.06 [[ 9.97425056e-01 -6.21175733e-02 -3.58422290e-02 2.86031642e+02] [ 6.21169303e-02 9.98068236e-01 -1.13257778e-03 1.03472319e+01] [ 3.58433433e-02 -1.09674778e-03 9.99356819e-01 1.00616303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:10.35, Z:10.06 [[ 9.97865910e-01 -5.45798803e-02 -3.58421884e-02 2.86060037e+02] [ 5.45743319e-02 9.98509067e-01 -1.13386026e-03 1.03532014e+01] [ 3.58506361e-02 -8.24622986e-04 9.99356819e-01 1.00633943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:10.35, Z:10.06 [[ 9.97850119e-01 -5.48680019e-02 -3.58418998e-02 2.86088405e+02] [ 5.48623142e-02 9.98493275e-01 -1.14291234e-03 1.03541702e+01] [ 3.58506052e-02 -8.25914353e-04 9.99356819e-01 1.00644154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:10.36, Z:10.07 [[ 9.98251669e-01 -4.69998613e-02 -3.58415670e-02 2.86115617e+02] [ 4.69887322e-02 9.98894754e-01 -1.15325623e-03 1.03598677e+01] [ 3.58561561e-02 -5.32909836e-04 9.99356819e-01 1.00653993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:10.36, Z:10.07 [[ 9.98542548e-01 -4.03505716e-02 -3.58414637e-02 2.86143505e+02] [ 4.03350451e-02 9.99185542e-01 -1.15645535e-03 1.03645005e+01] [ 3.58589360e-02 -2.90897184e-04 9.99356819e-01 1.00658889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:10.37, Z:10.07 [[ 9.98648511e-01 -3.76372771e-02 -3.58411327e-02 2.86170190e+02] [ 3.76196386e-02 9.99291450e-01 -1.16662590e-03 1.03672158e+01] [ 3.58596461e-02 -1.83281237e-04 9.99356819e-01 1.00663069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:10.37, Z:10.07 [[ 9.98709720e-01 -3.59766438e-02 -3.58409890e-02 2.86197582e+02] [ 3.59577783e-02 9.99352624e-01 -1.17102455e-03 1.03699544e+01] [ 3.58599159e-02 -1.19248735e-04 9.99356819e-01 1.00668865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:10.37, Z:10.07 [[ 9.98754725e-01 -3.47051455e-02 -3.58406556e-02 2.86224059e+02] [ 3.46850985e-02 9.99397593e-01 -1.18114018e-03 1.03724800e+01] [ 3.58600566e-02 -6.34673399e-05 9.99356819e-01 1.00674573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.25, Y:10.37, Z:10.07 [[ 9.98766288e-01 -3.43710185e-02 -3.58404160e-02 2.86252021e+02] [ 3.43504972e-02 9.99409141e-01 -1.18836529e-03 1.03747688e+01] [ 3.58600847e-02 -4.42369214e-05 9.99356819e-01 1.00683278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:10.38, Z:10.07 [[ 9.98739322e-01 -3.51462021e-02 -3.58400861e-02 2.86279743e+02] [ 3.51258256e-02 9.99382179e-01 -1.19823312e-03 1.03771057e+01] [ 3.58600567e-02 -6.21900845e-05 9.99356819e-01 1.00699713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:10.38, Z:10.07 [[ 9.98678937e-01 -3.68224577e-02 -3.58397530e-02 2.86307542e+02] [ 3.68028056e-02 9.99321817e-01 -1.20811622e-03 1.03784767e+01] [ 3.58599329e-02 -1.12483243e-04 9.99356819e-01 1.00711771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:10.38, Z:10.07 [[ 9.98601289e-01 -3.88716240e-02 -3.58393989e-02 2.86334613e+02] [ 3.88529173e-02 9.99244197e-01 -1.21853120e-03 1.03793724e+01] [ 3.58596777e-02 -1.75638375e-04 9.99356819e-01 1.00722133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:10.38, Z:10.07 [[ 9.98372027e-01 -4.43717324e-02 -3.58391540e-02 2.86362638e+02] [ 4.43563104e-02 9.99015023e-01 -1.22569138e-03 1.03801491e+01] [ 3.58582393e-02 -3.65996647e-04 9.99356820e-01 1.00745276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:10.38, Z:10.08 [[ 9.98281318e-01 -4.63679966e-02 -3.58388022e-02 2.86392704e+02] [ 4.63534941e-02 9.98924335e-01 -1.23589397e-03 1.03792541e+01] [ 3.58575575e-02 -4.27483843e-04 9.99356820e-01 1.00751485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:10.38, Z:10.08 [[ 9.97783758e-01 -5.60598441e-02 -3.58450311e-02 2.86418223e+02] [ 5.60580415e-02 9.98426953e-01 -1.05610032e-03 1.03805200e+01] [ 3.58478500e-02 -9.55642492e-04 9.99356802e-01 1.00772613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:10.38, Z:10.08 [[ 9.97519318e-01 -6.05874044e-02 -3.58382089e-02 2.86447314e+02] [ 6.05815057e-02 9.98162469e-01 -1.25148510e-03 1.03805311e+01] [ 3.58481793e-02 -9.22752090e-04 9.99356821e-01 1.00778943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:10.38, Z:10.08 [[ 9.97002848e-01 -6.85636016e-02 -3.58378912e-02 2.86476988e+02] [ 6.85625227e-02 9.97646025e-01 -1.26051747e-03 1.03798699e+01] [ 3.58399553e-02 -1.20039672e-03 9.99356821e-01 1.00764485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:10.38, Z:10.08 [[ 9.96739950e-01 -7.22860817e-02 -3.58356499e-02 2.86507211e+02] [ 7.22851201e-02 9.97383130e-01 -1.32413813e-03 1.03794448e+01] [ 3.58375894e-02 -1.27056288e-03 9.99356820e-01 1.00766985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:10.38, Z:10.08 [[ 9.96521241e-01 -7.52400329e-02 -3.58378827e-02 2.86537933e+02] [ 7.52432568e-02 9.97164411e-01 -1.26066498e-03 1.03795910e+01] [ 3.58311137e-02 -1.44027958e-03 9.99356822e-01 1.00781538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:10.38, Z:10.08 [[ 9.96114192e-01 -8.04497419e-02 -3.58379047e-02 2.86568902e+02] [ 8.04563512e-02 9.96757337e-01 -1.26003900e-03 1.03800497e+01] [ 3.58230643e-02 -1.62824432e-03 9.99356822e-01 1.00813318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:10.38, Z:10.08 [[ 9.96019483e-01 -8.16139109e-02 -3.58379487e-02 2.86599566e+02] [ 8.16213168e-02 9.96662619e-01 -1.25878852e-03 1.03807563e+01] [ 3.58210784e-02 -1.67136267e-03 9.99356822e-01 1.00826650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:10.38, Z:10.08 [[ 9.95873372e-01 -8.33795560e-02 -3.58340285e-02 2.86631401e+02] [ 8.33840645e-02 9.96516542e-01 -1.37124772e-03 1.03816388e+01] [ 3.58235361e-02 -1.62239785e-03 9.99356814e-01 1.00846521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:10.38, Z:10.08 [[ 9.95803783e-01 -8.42059547e-02 -3.58354919e-02 2.86663391e+02] [ 8.42125090e-02 9.96446931e-01 -1.32913089e-03 1.03818891e+01] [ 3.58200867e-02 -1.69424311e-03 9.99356819e-01 1.00845617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:10.38, Z:10.08 [[ 9.95715397e-01 -8.52434741e-02 -3.58384938e-02 2.86695387e+02] [ 8.52538068e-02 9.96358492e-01 -1.24255198e-03 1.03832085e+01] [ 3.58139071e-02 -1.81813988e-03 9.99356822e-01 1.00847240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:10.38, Z:10.09 [[ 9.95713476e-01 -8.52658701e-02 -3.58385850e-02 2.86726708e+02] [ 8.52763120e-02 9.96356569e-01 -1.23991452e-03 1.03846128e+01] [ 3.58137320e-02 -1.82158276e-03 9.99356822e-01 1.00857059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:10.39, Z:10.09 [[ 9.95703410e-01 -8.53833168e-02 -3.58386530e-02 2.86758886e+02] [ 8.53939051e-02 9.96346500e-01 -1.23794756e-03 1.03862324e+01] [ 3.58134165e-02 -1.82777393e-03 9.99356822e-01 1.00868304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:10.39, Z:10.09 [[ 9.95710832e-01 -8.52966826e-02 -3.58387415e-02 2.86790719e+02] [ 8.53073072e-02 9.96353922e-01 -1.23537973e-03 1.03879276e+01] [ 3.58134444e-02 -1.82722555e-03 9.99356822e-01 1.00880435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:10.39, Z:10.09 [[ 9.95721883e-01 -8.51675453e-02 -3.58388316e-02 2.86821729e+02] [ 8.51781804e-02 9.96364972e-01 -1.23276065e-03 1.03901640e+01] [ 3.58135476e-02 -1.82519971e-03 9.99356822e-01 1.00897994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:10.39, Z:10.09 [[ 9.95739117e-01 -8.49657858e-02 -3.58388985e-02 2.86854153e+02] [ 8.49763607e-02 9.96382207e-01 -1.23081167e-03 1.03917397e+01] [ 3.58138177e-02 -1.81989184e-03 9.99356822e-01 1.00910668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:10.39, Z:10.09 [[ 9.95808806e-01 -8.41450455e-02 -3.58389876e-02 2.86885018e+02] [ 8.41551836e-02 9.96451904e-01 -1.22821182e-03 1.03942838e+01] [ 3.58151754e-02 -1.79297243e-03 9.99356822e-01 1.00922281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:10.40, Z:10.09 [[ 9.95860173e-01 -8.35348864e-02 -3.58390539e-02 2.86916893e+02] [ 8.35447000e-02 9.96503276e-01 -1.22627438e-03 1.03961180e+01] [ 3.58161713e-02 -1.77296519e-03 9.99356822e-01 1.00930234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:10.40, Z:10.09 [[ 9.95954607e-01 -8.24013195e-02 -3.58391429e-02 2.86949046e+02] [ 8.24104947e-02 9.96597719e-01 -1.22366759e-03 1.03979905e+01] [ 3.58180399e-02 -1.73480412e-03 9.99356822e-01 1.00942609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:10.40, Z:10.10 [[ 9.96050434e-01 -8.12347373e-02 -3.58392312e-02 2.86981414e+02] [ 8.12432524e-02 9.96693555e-01 -1.22107491e-03 1.03999651e+01] [ 3.58199245e-02 -1.69544351e-03 9.99356822e-01 1.00951910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:10.40, Z:10.10 [[ 9.96285680e-01 -7.82967904e-02 -3.58393191e-02 2.87012368e+02] [ 7.83035014e-02 9.96928822e-01 -1.21849073e-03 1.04024363e+01] [ 3.58246541e-02 -1.59237930e-03 9.99356822e-01 1.00957736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:10.40, Z:10.10 [[ 9.96436357e-01 -7.63552534e-02 -3.58393844e-02 2.87044528e+02] [ 7.63607803e-02 9.97079511e-01 -1.21656651e-03 1.04041566e+01] [ 3.58276071e-02 -1.52449226e-03 9.99356822e-01 1.00967890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:10.41, Z:10.10 [[ 9.96604346e-01 -7.41303551e-02 -3.58394702e-02 2.87076041e+02] [ 7.41345370e-02 9.97247510e-01 -1.21403355e-03 1.04060949e+01] [ 3.58308192e-02 -1.44703142e-03 9.99356822e-01 1.00979631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:10.41, Z:10.10 [[ 9.96793195e-01 -7.15461729e-02 -3.58395127e-02 2.87107285e+02] [ 7.15487323e-02 9.97436368e-01 -1.21277748e-03 1.04082770e+01] [ 3.58344030e-02 -1.35538337e-03 9.99356822e-01 1.00994941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:10.41, Z:10.10 [[ 9.97227101e-01 -6.52199070e-02 -3.58395550e-02 2.87138209e+02] [ 6.52184302e-02 9.97870276e-01 -1.21152643e-03 1.04118868e+01] [ 3.58422423e-02 -1.12923253e-03 9.99356822e-01 1.01022927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:10.41, Z:10.10 [[ 9.97450289e-01 -6.17125890e-02 -3.58395988e-02 2.87168483e+02] [ 6.17088969e-02 9.98093456e-01 -1.21023034e-03 1.04144789e+01] [ 3.58459555e-02 -1.00447750e-03 9.99356822e-01 1.01039795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:10.42, Z:10.11 [[ 9.97450289e-01 -6.17125890e-02 -3.58395988e-02 2.87199446e+02] [ 6.17088969e-02 9.98093456e-01 -1.21023034e-03 1.04155244e+01] [ 3.58459555e-02 -1.00447750e-03 9.99356822e-01 1.01050912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:10.42, Z:10.11 [[ 9.97656754e-01 -5.82797141e-02 -3.58395988e-02 2.87228896e+02] [ 5.82738087e-02 9.98299904e-01 -1.21023034e-03 1.04178983e+01] [ 3.58491999e-02 -8.81115451e-04 9.99356822e-01 1.01065478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:10.42, Z:10.11 [[ 9.97850954e-01 -5.48543603e-02 -3.58395553e-02 2.87258040e+02] [ 5.48462008e-02 9.98494079e-01 -1.21151733e-03 1.04199619e+01] [ 3.58520408e-02 -7.56749726e-04 9.99356822e-01 1.01080491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:10.42, Z:10.11 [[ 9.98129031e-01 -4.95375346e-02 -3.58395117e-02 2.87286544e+02] [ 4.95259027e-02 9.98772103e-01 -1.21280485e-03 1.04218852e+01] [ 3.58555838e-02 -5.64448438e-04 9.99356822e-01 1.01095570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:10.42, Z:10.11 [[ 9.98224456e-01 -4.75761273e-02 -3.58392009e-02 2.87313276e+02] [ 4.75629046e-02 9.98867497e-01 -1.22192111e-03 1.04230530e+01] [ 3.58567472e-02 -4.84864960e-04 9.99356822e-01 1.01106127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:10.42, Z:10.11 [[ 9.98307300e-01 -4.58049898e-02 -3.58390465e-02 2.87340851e+02] [ 4.57904643e-02 9.98950314e-01 -1.22643239e-03 1.04241022e+01] [ 3.58576035e-02 -4.16730169e-04 9.99356822e-01 1.01119161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:10.43, Z:10.11 [[ 9.98451798e-01 -4.25393267e-02 -3.58386988e-02 2.87368687e+02] [ 4.25223362e-02 9.99094751e-01 -1.23651172e-03 1.04252336e+01] [ 3.58588562e-02 -2.89347848e-04 9.99356823e-01 1.01132143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:10.43, Z:10.11 [[ 9.98501638e-01 -4.13532666e-02 -3.58383388e-02 2.87395322e+02] [ 4.13351411e-02 9.99144560e-01 -1.24685729e-03 1.04262499e+01] [ 3.58592429e-02 -2.36393745e-04 9.99356823e-01 1.01139745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:10.43, Z:10.11 [[ 9.98531957e-01 -4.06147113e-02 -3.58381824e-02 2.87423018e+02] [ 4.05959494e-02 9.99174861e-01 -1.25133771e-03 1.04272587e+01] [ 3.58594336e-02 -2.05384352e-04 9.99356823e-01 1.01143435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:10.43, Z:10.11 [[ 9.98557887e-01 -3.99724372e-02 -3.58378244e-02 2.87450914e+02] [ 3.99528968e-02 9.99200768e-01 -1.26150732e-03 1.04274084e+01] [ 3.58596072e-02 -1.72136817e-04 9.99356823e-01 1.01141156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:10.43, Z:10.12 [[ 9.98549593e-01 -4.01794230e-02 -3.58374662e-02 2.87479164e+02] [ 4.01596536e-02 9.99192467e-01 -1.27160233e-03 1.04273133e+01] [ 3.58596185e-02 -1.69462240e-04 9.99356823e-01 1.01151607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:10.43, Z:10.12 [[ 9.98499356e-01 -4.14094093e-02 -3.58370891e-02 2.87506319e+02] [ 4.13900536e-02 9.99142242e-01 -1.28214283e-03 1.04257335e+01] [ 3.58594423e-02 -2.03080244e-04 9.99356823e-01 1.01157435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:10.43, Z:10.12 [[ 9.98439458e-01 -4.28294786e-02 -3.58369254e-02 2.87534192e+02] [ 4.28108735e-02 9.99082366e-01 -1.28670395e-03 1.04256908e+01] [ 3.58591490e-02 -2.49514085e-04 9.99356823e-01 1.01173861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:10.43, Z:10.12 [[ 9.98371401e-01 -4.43879119e-02 -3.58365485e-02 2.87561837e+02] [ 4.43699366e-02 9.99014327e-01 -1.29711545e-03 1.04254432e+01] [ 3.58588016e-02 -2.95062411e-04 9.99356823e-01 1.01189480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:10.43, Z:10.12 [[ 9.98283854e-01 -4.63154022e-02 -3.58361694e-02 2.87588644e+02] [ 4.62982953e-02 9.98926803e-01 -1.30750596e-03 1.04251085e+01] [ 3.58582678e-02 -3.53891463e-04 9.99356823e-01 1.01196679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:10.42, Z:10.12 [[ 9.98175941e-01 -4.85857114e-02 -3.58360045e-02 2.87616386e+02] [ 4.85699052e-02 9.98818924e-01 -1.31200877e-03 1.04243095e+01] [ 3.58574244e-02 -4.30935754e-04 9.99356823e-01 1.01213514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:10.42, Z:10.12 [[ 9.97920669e-01 -5.35737467e-02 -3.58356287e-02 2.87644615e+02] [ 5.35607884e-02 9.98563715e-01 -1.32219661e-03 1.04219581e+01] [ 3.58549935e-02 -5.99937194e-04 9.99356823e-01 1.01229726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:10.42, Z:10.12 [[ 9.97755914e-01 -5.65594512e-02 -3.58352497e-02 2.87672602e+02] [ 5.65480511e-02 9.98398990e-01 -1.33238942e-03 1.04209323e+01] [ 3.58532363e-02 -6.97014109e-04 9.99356823e-01 1.01243735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:10.42, Z:10.13 [[ 9.97583035e-01 -5.95310962e-02 -3.58348576e-02 2.87700789e+02] [ 5.95212360e-02 9.98226136e-01 -1.34285192e-03 1.04196693e+01] [ 3.58512329e-02 -7.93328719e-04 9.99356823e-01 1.01251083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:10.42, Z:10.13 [[ 9.97385322e-01 -6.27566394e-02 -3.58346739e-02 2.87729192e+02] [ 6.27486835e-02 9.98028450e-01 -1.34773638e-03 1.04187040e+01] [ 3.58486035e-02 -9.04366124e-04 9.99356823e-01 1.01264772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:10.42, Z:10.13 [[ 9.96999674e-01 -6.86115928e-02 -3.58343300e-02 2.87758827e+02] [ 6.86070868e-02 9.97642835e-01 -1.35681986e-03 1.04163384e+01] [ 3.58429561e-02 -1.10574003e-03 9.99356823e-01 1.01280316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:10.42, Z:10.13 [[ 9.96821757e-01 -7.11497584e-02 -3.58342808e-02 2.87788885e+02] [ 7.11468434e-02 9.97464928e-01 -1.35811677e-03 1.04158721e+01] [ 3.58400680e-02 -1.19569562e-03 9.99356823e-01 1.01290420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:10.42, Z:10.13 [[ 9.96654627e-01 -7.34537837e-02 -3.58342808e-02 2.87818981e+02] [ 7.34523554e-02 9.97297803e-01 -1.35811677e-03 1.04155284e+01] [ 3.58372083e-02 -1.27853897e-03 9.99356823e-01 1.01301762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:10.42, Z:10.13 [[ 9.96523620e-01 -7.52102391e-02 -3.58342808e-02 2.87848878e+02] [ 7.52099444e-02 9.97166796e-01 -1.35811677e-03 1.04151519e+01] [ 3.58348993e-02 -1.34169883e-03 9.99356823e-01 1.01304874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:10.41, Z:10.13 [[ 9.96303594e-01 -7.80708047e-02 -3.58343053e-02 2.87879512e+02] [ 7.80723797e-02 9.96946769e-01 -1.35747078e-03 1.04135382e+01] [ 3.58308737e-02 -1.44521648e-03 9.99356823e-01 1.01313641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:10.41, Z:10.13 [[ 9.96236272e-01 -7.89252353e-02 -3.58343053e-02 2.87911026e+02] [ 7.89273619e-02 9.96879445e-01 -1.35747078e-03 1.04134655e+01] [ 3.58296211e-02 -1.47594556e-03 9.99356823e-01 1.01324095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:10.41, Z:10.13 [[ 9.96212958e-01 -7.92189453e-02 -3.58343537e-02 2.87941839e+02] [ 7.92213075e-02 9.96856131e-01 -1.35619199e-03 1.04127310e+01] [ 3.58291313e-02 -1.48778832e-03 9.99356823e-01 1.01327051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:10.41, Z:10.13 [[ 9.96310242e-01 -7.79858861e-02 -3.58343777e-02 2.87973211e+02] [ 7.79874750e-02 9.96953417e-01 -1.35555675e-03 1.04132917e+01] [ 3.58309196e-02 -1.44407756e-03 9.99356823e-01 1.01335189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:10.41, Z:10.13 [[ 9.96461600e-01 -7.60274523e-02 -3.58344258e-02 2.88004755e+02] [ 7.60278226e-02 9.97104777e-01 -1.35428609e-03 1.04142843e+01] [ 3.58336400e-02 -1.37491928e-03 9.99356823e-01 1.01344959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:10.42, Z:10.14 [[ 9.96907454e-01 -6.99386818e-02 -3.58344745e-02 2.88034908e+02] [ 6.99351694e-02 9.97550621e-01 -1.35299376e-03 1.04155936e+01] [ 3.58413289e-02 -1.15728049e-03 9.99356823e-01 1.01350933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:10.42, Z:10.14 [[ 9.97176655e-01 -6.59894455e-02 -3.58344987e-02 2.88064360e+02] [ 6.59834086e-02 9.97819804e-01 -1.35235244e-03 1.04171639e+01] [ 3.58456135e-02 -1.01594809e-03 9.99356823e-01 1.01364329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:10.42, Z:10.14 [[ 9.97447325e-01 -6.17634671e-02 -3.58344508e-02 2.88093630e+02] [ 6.17546594e-02 9.98090442e-01 -1.35362078e-03 1.04188990e+01] [ 3.58496272e-02 -8.62778880e-04 9.99356823e-01 1.01379497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:10.42, Z:10.14 [[ 9.97938941e-01 -5.32331213e-02 -3.58344013e-02 2.88121388e+02] [ 5.32187684e-02 9.98581958e-01 -1.35492967e-03 1.04208325e+01] [ 3.58557138e-02 -5.54925629e-04 9.99356823e-01 1.01386066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:10.42, Z:10.14 [[ 9.98115829e-01 -4.98065801e-02 -3.58342786e-02 2.88149150e+02] [ 4.97899034e-02 9.98758790e-01 -1.35816787e-03 1.04223648e+01] [ 3.58574465e-02 -4.28576424e-04 9.99356823e-01 1.01401311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:10.42, Z:10.14 [[ 9.98268945e-01 -4.66373930e-02 -3.58338783e-02 2.88175703e+02] [ 4.66182988e-02 9.98911838e-01 -1.36864859e-03 1.04235585e+01] [ 3.58587155e-02 -3.04235066e-04 9.99356823e-01 1.01410198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:10.42, Z:10.14 [[ 9.98374683e-01 -4.43163382e-02 -3.58337047e-02 2.88202678e+02] [ 4.42955867e-02 9.99017525e-01 -1.37318024e-03 1.04247168e+01] [ 3.58593533e-02 -2.16326584e-04 9.99356823e-01 1.01417285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:10.43, Z:10.14 [[ 9.98450297e-01 -4.25788946e-02 -3.58335346e-02 2.88230611e+02] [ 4.25568658e-02 9.99093096e-01 -1.37760393e-03 1.04254668e+01] [ 3.58596939e-02 -1.49493873e-04 9.99356823e-01 1.01418225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:10.43, Z:10.14 [[ 9.98428680e-01 -4.30831420e-02 -3.58331466e-02 2.88258605e+02] [ 4.30610782e-02 9.99071478e-01 -1.38762298e-03 1.04256521e+01] [ 3.58596579e-02 -1.57571352e-04 9.99356823e-01 1.01424190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:10.43, Z:10.14 [[ 9.98369314e-01 -4.44378946e-02 -3.58327437e-02 2.88286365e+02] [ 4.44163324e-02 9.99012130e-01 -1.39795010e-03 1.04257376e+01] [ 3.58594676e-02 -1.95888573e-04 9.99356823e-01 1.01430656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:10.43, Z:10.14 [[ 9.98270622e-01 -4.66026729e-02 -3.58323358e-02 2.88314305e+02] [ 4.65821322e-02 9.98913471e-01 -1.40832897e-03 1.04261273e+01] [ 3.58590348e-02 -2.63253166e-04 9.99356823e-01 1.01437864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:10.43, Z:10.14 [[ 9.98019802e-01 -5.16966852e-02 -3.58319257e-02 2.88342068e+02] [ 5.16790536e-02 9.98662737e-01 -1.41868696e-03 1.04253824e+01] [ 3.58573504e-02 -4.35882334e-04 9.99356823e-01 1.01448323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:10.43, Z:10.15 [[ 9.97861120e-01 -5.46743880e-02 -3.58315140e-02 2.88369592e+02] [ 5.46583043e-02 9.98504095e-01 -1.42901112e-03 1.04256196e+01] [ 3.58560437e-02 -5.32535154e-04 9.99356823e-01 1.01463941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:10.42, Z:10.15 [[ 9.97556710e-01 -5.99728450e-02 -3.58310933e-02 2.88397879e+02] [ 5.99598001e-02 9.98199755e-01 -1.43948177e-03 1.04249940e+01] [ 3.58529184e-02 -7.12460492e-04 9.99356823e-01 1.01475698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:10.42, Z:10.15 [[ 9.97396220e-01 -6.25853141e-02 -3.58309628e-02 2.88425538e+02] [ 6.25738370e-02 9.98039295e-01 -1.44272415e-03 1.04249434e+01] [ 3.58510021e-02 -8.03113215e-04 9.99356823e-01 1.01493301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:10.43, Z:10.15 [[ 9.97229729e-01 -6.51846650e-02 -3.58305349e-02 2.88453524e+02] [ 6.51744852e-02 9.97872825e-01 -1.45327357e-03 1.04252683e+01] [ 3.58490482e-02 -8.85989052e-04 9.99356824e-01 1.01506041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:10.43, Z:10.15 [[ 9.97074533e-01 -6.75170992e-02 -3.58304023e-02 2.88482565e+02] [ 6.75083066e-02 9.97717649e-01 -1.45653532e-03 1.04256376e+01] [ 3.58469658e-02 -9.66575511e-04 9.99356824e-01 1.01516741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:10.43, Z:10.15 [[ 9.96758802e-01 -7.20284643e-02 -3.58300382e-02 2.88512603e+02] [ 7.20222623e-02 9.97401948e-01 -1.46543727e-03 1.04257656e+01] [ 3.58425031e-02 -1.11987292e-03 9.99356824e-01 1.01532275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:10.43, Z:10.15 [[ 9.96598835e-01 -7.42089897e-02 -3.58299848e-02 2.88543027e+02] [ 7.42041481e-02 9.97241993e-01 -1.46674054e-03 1.04264433e+01] [ 3.58400108e-02 -1.19698159e-03 9.99356824e-01 1.01545477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:10.43, Z:10.16 [[ 9.96411221e-01 -7.66869652e-02 -3.58299848e-02 2.88572376e+02] [ 7.66837229e-02 9.97054389e-01 -1.46674054e-03 1.04270554e+01] [ 3.58369235e-02 -1.28609990e-03 9.99356824e-01 1.01558592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:10.43, Z:10.16 [[ 9.96208611e-01 -7.92755834e-02 -3.58299582e-02 2.88602364e+02] [ 7.92739888e-02 9.96851785e-01 -1.46739105e-03 1.04277914e+01] [ 3.58334861e-02 -1.37855611e-03 9.99356824e-01 1.01571101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:10.43, Z:10.16 [[ 9.95979974e-01 -8.20981422e-02 -3.58299582e-02 2.88632754e+02] [ 8.20983701e-02 9.96623151e-01 -1.46739105e-03 1.04283756e+01] [ 3.58294359e-02 -1.48008907e-03 9.99356824e-01 1.01579016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:10.43, Z:10.16 [[ 9.95414245e-01 -8.86943921e-02 -3.58299582e-02 2.88662836e+02] [ 8.86988808e-02 9.96057406e-01 -1.46739105e-03 1.04289269e+01] [ 3.58188446e-02 -1.71741524e-03 9.99356824e-01 1.01584929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:10.43, Z:10.16 [[ 9.95089833e-01 -9.22628430e-02 -3.58300520e-02 2.88694300e+02] [ 9.22697202e-02 9.95732972e-01 -1.46509762e-03 1.04300653e+01] [ 3.58123382e-02 -1.84812512e-03 9.99356824e-01 1.01600171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:10.43, Z:10.16 [[ 9.94759912e-01 -9.57544786e-02 -3.58301053e-02 2.88725231e+02] [ 9.57636596e-02 9.95403023e-01 -1.46379357e-03 1.04313310e+01] [ 3.58055599e-02 -1.97509884e-03 9.99356824e-01 1.01614623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:10.43, Z:10.16 [[ 9.94174891e-01 -1.01648827e-01 -3.58301846e-02 2.88757842e+02] [ 1.01661890e-01 9.94817935e-01 -1.46184858e-03 1.04329213e+01] [ 3.57931055e-02 -2.18923113e-03 9.99356824e-01 1.01629745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:10.43, Z:10.16 [[ 9.93969293e-01 -1.03639926e-01 -3.58302896e-02 2.88790275e+02] [ 1.03654369e-01 9.94612308e-01 -1.45926969e-03 1.04345073e+01] [ 3.57884857e-02 -2.26349681e-03 9.99356824e-01 1.01640671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:10.43, Z:10.16 [[ 9.94051219e-01 -1.02851138e-01 -3.58303942e-02 2.88825745e+02] [ 1.02865163e-01 9.94694243e-01 -1.45669895e-03 1.04339291e+01] [ 3.57901099e-02 -2.23766596e-03 9.99356824e-01 1.01635113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:10.44, Z:10.17 [[ 9.93648877e-01 -1.06661660e-01 -3.58496729e-02 2.88851608e+02] [ 1.06695240e-01 9.94291287e-01 -9.80590221e-04 1.04392254e+01] [ 3.57496088e-02 -2.85062707e-03 9.99356713e-01 1.01650307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:10.44, Z:10.17 [[ 9.93683955e-01 -1.06341057e-01 -3.58298246e-02 2.88882272e+02] [ 1.06357011e-01 9.94326927e-01 -1.46584738e-03 1.04421052e+01] [ 3.57824391e-02 -2.35416400e-03 9.99356831e-01 1.01658163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67509989300004 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:288.91, Y:10.44, Z:10.17 [[ 9.93826784e-01 -1.04997815e-01 -3.58299045e-02 2.88913465e+02] [ 1.05012970e-01 9.94469775e-01 -1.46389160e-03 1.04447175e+01] [ 3.57854624e-02 -2.30775001e-03 9.99356831e-01 1.01670196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:10.45, Z:10.17 [[ 9.93858349e-01 -1.04700468e-01 -3.58244875e-02 2.88945491e+02] [ 1.04710671e-01 9.94501446e-01 -1.59648275e-03 1.04478351e+01] [ 3.57946571e-02 -2.16452840e-03 9.99356822e-01 1.01682805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:10.45, Z:10.17 [[ 9.94147710e-01 -1.01914343e-01 -3.58301271e-02 2.88977702e+02] [ 1.01927719e-01 9.94790739e-01 -1.45788878e-03 1.04528369e+01] [ 3.57920584e-02 -2.20272634e-03 9.99356831e-01 1.01692132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:10.46, Z:10.17 [[ 9.94290529e-01 -1.00511387e-01 -3.58302311e-02 2.89008500e+02] [ 1.00523947e-01 9.94933575e-01 -1.45532777e-03 1.04561960e+01] [ 3.57949769e-02 -2.15477764e-03 9.99356831e-01 1.01706599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:10.46, Z:10.17 [[ 9.94297627e-01 -1.00441121e-01 -3.58303085e-02 2.89041144e+02] [ 1.00453704e-01 9.94940672e-01 -1.45342067e-03 1.04574587e+01] [ 3.57950144e-02 -2.15415447e-03 9.99356831e-01 1.01718317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:10.46, Z:10.17 [[ 9.94429868e-01 -9.91232560e-02 -3.58304110e-02 2.89073411e+02] [ 9.91350781e-02 9.95072928e-01 -1.45088940e-03 1.04607930e+01] [ 3.57976888e-02 -2.10924284e-03 9.99356831e-01 1.01734866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:10.46, Z:10.18 [[ 9.94550924e-01 -9.79011405e-02 -3.58305150e-02 2.89105434e+02] [ 9.79122648e-02 9.95193997e-01 -1.44831431e-03 1.04642174e+01] [ 3.58001051e-02 -2.06782454e-03 9.99356831e-01 1.01755667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:10.47, Z:10.18 [[ 9.94766528e-01 -9.56855304e-02 -3.58306188e-02 2.89136105e+02] [ 9.56953145e-02 9.95409623e-01 -1.44574247e-03 1.04698405e+01] [ 3.58044794e-02 -1.99064612e-03 9.99356831e-01 1.01774456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:10.47, Z:10.18 [[ 9.94863550e-01 -9.46714178e-02 -3.58306961e-02 2.89167704e+02] [ 9.46806152e-02 9.95506653e-01 -1.44382577e-03 1.04731909e+01] [ 3.58063853e-02 -1.95606271e-03 9.99356831e-01 1.01786331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:10.48, Z:10.18 [[ 9.95008959e-01 -9.31306923e-02 -3.58307976e-02 2.89200140e+02] [ 9.31389844e-02 9.95652074e-01 -1.44130258e-03 1.04760296e+01] [ 3.58092374e-02 -1.90313511e-03 9.99356831e-01 1.01800418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:10.48, Z:10.18 [[ 9.95283778e-01 -9.01462635e-02 -3.58308985e-02 2.89231974e+02] [ 9.01527171e-02 9.95926914e-01 -1.43878823e-03 1.04805086e+01] [ 3.58146576e-02 -1.79825028e-03 9.99356831e-01 1.01812443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:10.48, Z:10.18 [[ 9.95477503e-01 -8.79811411e-02 -3.58310008e-02 2.89262618e+02] [ 8.79862875e-02 9.96120651e-01 -1.43623760e-03 1.04834395e+01] [ 3.58183616e-02 -1.72289451e-03 9.99356831e-01 1.01821226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:10.49, Z:10.18 [[ 9.95765384e-01 -8.46606575e-02 -3.58311703e-02 2.89295387e+02] [ 8.46638112e-02 9.96408545e-01 -1.43199551e-03 1.04851311e+01] [ 3.58237179e-02 -1.60767188e-03 9.99356831e-01 1.01835804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:10.49, Z:10.18 [[ 9.96266858e-01 -7.85367420e-02 -3.58375229e-02 2.89327342e+02] [ 7.85416647e-02 9.96910020e-01 -1.27261860e-03 1.04897690e+01] [ 3.58267329e-02 -1.54687097e-03 9.99356819e-01 1.01843611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:10.49, Z:10.19 [[ 9.96396102e-01 -7.68789855e-02 -3.58389401e-02 2.89356469e+02] [ 7.68841214e-02 9.97039268e-01 -1.23688252e-03 1.04948677e+01] [ 3.58279209e-02 -1.52302050e-03 9.99356813e-01 1.01863634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:10.50, Z:10.19 [[ 9.96645108e-01 -7.35842302e-02 -3.58314209e-02 2.89388240e+02] [ 7.35804533e-02 9.97288265e-01 -1.42585658e-03 1.04979555e+01] [ 3.58391761e-02 -1.21541921e-03 9.99356831e-01 1.01884925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:10.50, Z:10.19 [[ 9.96913723e-01 -6.98507763e-02 -3.58315262e-02 2.89419738e+02] [ 6.98446857e-02 9.97556863e-01 -1.42320504e-03 1.05006213e+01] [ 3.58433968e-02 -1.08382905e-03 9.99356831e-01 1.01884025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:10.50, Z:10.19 [[ 9.97168805e-01 -6.61095359e-02 -3.58316044e-02 2.89451192e+02] [ 6.61011029e-02 9.97811918e-01 -1.42123272e-03 1.05033010e+01] [ 3.58471590e-02 -9.51299633e-04 9.99356831e-01 1.01894674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:10.51, Z:10.19 [[ 9.97660992e-01 -5.82119998e-02 -3.58316535e-02 2.89482579e+02] [ 5.81985194e-02 9.98304020e-01 -1.41999502e-03 1.05073959e+01] [ 3.58535444e-02 -6.68675536e-04 9.99356831e-01 1.01915004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:10.51, Z:10.19 [[ 9.97875634e-01 -5.44087071e-02 -3.58317039e-02 2.89511727e+02] [ 5.43928215e-02 9.98518607e-01 -1.41872087e-03 1.05099156e+01] [ 3.58558138e-02 -5.33280482e-04 9.99356831e-01 1.01930916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:10.51, Z:10.19 [[ 9.98250409e-01 -4.70341748e-02 -3.58316522e-02 2.89541319e+02] [ 4.70134921e-02 9.98893245e-01 -1.42002490e-03 1.05131273e+01] [ 3.58587851e-02 -2.67030661e-04 9.99356831e-01 1.01935660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:10.51, Z:10.19 [[ 9.98504181e-01 -4.12976599e-02 -3.58316008e-02 2.89574014e+02] [ 4.12732374e-02 9.99146886e-01 -1.42132061e-03 1.05111277e+01] [ 3.58597296e-02 -5.96915951e-05 9.99356831e-01 1.01885635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:10.52, Z:10.20 [[ 9.98453091e-01 -4.25028107e-02 -3.58460052e-02 2.89598725e+02] [ 4.24922170e-02 9.99096238e-01 -1.05765948e-03 1.05168808e+01] [ 3.58585624e-02 -4.67152852e-04 9.99356766e-01 1.01951504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.63, Y:10.52, Z:10.20 [[ 9.98512485e-01 -4.10969633e-02 -3.58309378e-02 2.89626467e+02] [ 4.10719508e-02 9.99155162e-01 -1.43416390e-03 1.05184567e+01] [ 3.58596063e-02 -3.96159495e-05 9.99356837e-01 1.01963252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:10.52, Z:10.20 [[ 9.98544652e-01 -4.03082004e-02 -3.58305303e-02 2.89653940e+02] [ 4.02823174e-02 9.99187294e-01 -1.44427304e-03 1.05197118e+01] [ 3.58596267e-02 -1.16567508e-06 9.99356837e-01 1.01975709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:10.52, Z:10.20 [[ 9.98517848e-01 -4.09671819e-02 -3.58301175e-02 2.89680792e+02] [ 4.09413581e-02 9.99160493e-01 -1.45444299e-03 1.05206353e+01] [ 3.58596223e-02 -1.46463879e-05 9.99356837e-01 1.01983898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:10.52, Z:10.20 [[ 9.98386245e-01 -4.40582431e-02 -3.58298324e-02 2.89708611e+02] [ 4.40341580e-02 9.99028957e-01 -1.46143374e-03 1.05208819e+01] [ 3.58594283e-02 -1.18661157e-04 9.99356837e-01 1.01990504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:10.52, Z:10.20 [[ 9.98373672e-01 -4.43425738e-02 -3.58294136e-02 2.89736961e+02] [ 4.43183060e-02 9.99016377e-01 -1.47162858e-03 1.05221109e+01] [ 3.58594268e-02 -1.18663690e-04 9.99356837e-01 1.02000717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:10.52, Z:10.20 [[ 9.98116490e-01 -4.97971430e-02 -3.58289919e-02 2.89765383e+02] [ 4.97760213e-02 9.98759306e-01 -1.48182583e-03 1.05215299e+01] [ 3.58583298e-02 -3.04389866e-04 9.99356837e-01 1.02002270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:10.52, Z:10.20 [[ 9.97935618e-01 -5.32992988e-02 -3.58285693e-02 2.89793663e+02] [ 5.32800686e-02 9.98578494e-01 -1.49197541e-03 1.05216753e+01] [ 3.58571600e-02 -4.20053225e-04 9.99356837e-01 1.02012948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:10.52, Z:10.20 [[ 9.97722808e-01 -5.71447885e-02 -3.58283662e-02 2.89822656e+02] [ 5.71278615e-02 9.98365748e-01 -1.49683573e-03 1.05216541e+01] [ 3.58553500e-02 -5.53370797e-04 9.99356837e-01 1.02027144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:10.52, Z:10.20 [[ 9.97295522e-01 -6.41716271e-02 -3.58279856e-02 2.89852154e+02] [ 6.41589044e-02 9.97938559e-01 -1.50589049e-03 1.05199588e+01] [ 3.58507638e-02 -7.96866467e-04 9.99356837e-01 1.02041166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:10.52, Z:10.21 [[ 9.97082859e-01 -6.73953311e-02 -3.58279316e-02 2.89882684e+02] [ 6.73846412e-02 9.97725934e-01 -1.50717354e-03 1.05196168e+01] [ 3.58480330e-02 -9.11475419e-04 9.99356837e-01 1.02050311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:10.52, Z:10.21 [[ 9.96882376e-01 -7.02985650e-02 -3.58279316e-02 2.89912760e+02] [ 7.02897477e-02 9.97525478e-01 -1.50717354e-03 1.05194075e+01] [ 3.58452268e-02 -1.01586154e-03 9.99356837e-01 1.02058867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:10.52, Z:10.20 [[ 9.96855236e-01 -7.06823631e-02 -3.58279584e-02 2.89945438e+02] [ 7.06738163e-02 9.97498342e-01 -1.50653702e-03 1.05168248e+01] [ 3.58448147e-02 -1.03029923e-03 9.99356837e-01 1.02039876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:10.52, Z:10.21 [[ 9.96319777e-01 -7.78610523e-02 -3.58407452e-02 2.89973729e+02] [ 7.78680614e-02 9.96962948e-01 -1.20239381e-03 1.05189748e+01] [ 3.58255147e-02 -1.59288062e-03 9.99356791e-01 1.02076679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:10.52, Z:10.21 [[ 9.96169971e-01 -7.97607429e-02 -3.58275368e-02 2.90005002e+02] [ 7.97577573e-02 9.96813125e-01 -1.51483065e-03 1.05196850e+01] [ 3.58341829e-02 -1.34849518e-03 9.99356840e-01 1.02085518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:10.52, Z:10.21 [[ 9.96019252e-01 -8.16212290e-02 -3.58277081e-02 2.90037117e+02] [ 8.16195905e-02 9.96662410e-01 -1.51076916e-03 1.05204752e+01] [ 3.58314407e-02 -1.41948769e-03 9.99356840e-01 1.02100615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:10.52, Z:10.21 [[ 9.95864500e-01 -8.34881179e-02 -3.58278191e-02 2.90069488e+02] [ 8.34877797e-02 9.96507660e-01 -1.50812993e-03 1.05211660e+01] [ 3.58286071e-02 -1.48929202e-03 9.99356840e-01 1.02108179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:10.52, Z:10.21 [[ 9.95540853e-01 -8.72626434e-02 -3.58279299e-02 2.90100597e+02] [ 8.72648380e-02 9.96184010e-01 -1.50549325e-03 1.05209561e+01] [ 3.58225842e-02 -1.62773846e-03 9.99356840e-01 1.02109853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:10.52, Z:10.21 [[ 9.95352457e-01 -8.93859047e-02 -3.58280125e-02 2.90132902e+02] [ 8.93895418e-02 9.95995607e-01 -1.50352581e-03 1.05219305e+01] [ 3.58189371e-02 -1.70611151e-03 9.99356840e-01 1.02120242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:10.52, Z:10.21 [[ 9.95085503e-01 -9.23102738e-02 -3.58281206e-02 2.90165675e+02] [ 9.23158935e-02 9.95728639e-01 -1.50094462e-03 1.05233653e+01] [ 3.58136384e-02 -1.81393674e-03 9.99356840e-01 1.02124697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:10.52, Z:10.21 [[ 9.94803271e-01 -9.53021929e-02 -3.58321581e-02 2.90195864e+02] [ 9.53132118e-02 9.95446342e-01 -1.40444702e-03 1.05249511e+01] [ 3.58028375e-02 -2.01812958e-03 9.99356835e-01 1.02125833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:10.53, Z:10.21 [[ 9.94640342e-01 -9.69892943e-02 -3.58282993e-02 2.90227954e+02] [ 9.69980869e-02 9.95283442e-01 -1.49681595e-03 1.05270057e+01] [ 3.58044882e-02 -1.98648295e-03 9.99356839e-01 1.02131016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:10.53, Z:10.21 [[ 9.94507395e-01 -9.83431051e-02 -3.58284064e-02 2.90260264e+02] [ 9.83528653e-02 9.95150482e-01 -1.49424806e-03 1.05289309e+01] [ 3.58016048e-02 -2.03778567e-03 9.99356839e-01 1.02134561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:10.53, Z:10.21 [[ 9.94315446e-01 -1.00265197e-01 -3.58285395e-02 2.90291898e+02] [ 1.00276316e-01 9.94958510e-01 -1.49104982e-03 1.05321195e+01] [ 3.57974107e-02 -2.11018006e-03 9.99356839e-01 1.02135783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:10.53, Z:10.21 [[ 9.94275123e-01 -1.00664238e-01 -3.58286432e-02 2.90324447e+02] [ 1.00675703e-01 9.94918181e-01 -1.48855234e-03 1.05343255e+01] [ 3.57964125e-02 -2.12704329e-03 9.99356839e-01 1.02143249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:10.54, Z:10.22 [[ 9.94289800e-01 -1.00519126e-01 -3.58287469e-02 2.90357510e+02] [ 1.00530588e-01 9.94932858e-01 -1.48605282e-03 1.05366485e+01] [ 3.57965743e-02 -2.12431783e-03 9.99356839e-01 1.02161033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:10.54, Z:10.22 [[ 9.94328252e-01 -1.00137989e-01 -3.58289088e-02 2.90389600e+02] [ 1.00149345e-01 9.94971312e-01 -1.48213928e-03 1.05393655e+01] [ 3.57971548e-02 -2.11450880e-03 9.99356839e-01 1.02172982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:10.54, Z:10.22 [[ 9.94496298e-01 -9.84550306e-02 -3.58290427e-02 2.90421346e+02] [ 9.84654145e-02 9.95139375e-01 -1.47889543e-03 1.05438769e+01] [ 3.58004958e-02 -2.05716551e-03 9.99356839e-01 1.02188083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:10.55, Z:10.22 [[ 9.94614313e-01 -9.72555379e-02 -3.58291488e-02 2.90454527e+02] [ 9.72652387e-02 9.95257401e-01 -1.47632044e-03 1.05469024e+01] [ 3.58028058e-02 -2.01656127e-03 9.99356839e-01 1.02205897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:10.55, Z:10.22 [[ 9.94776658e-01 -9.55806485e-02 -3.58293093e-02 2.90487192e+02] [ 9.55894067e-02 9.95419759e-01 -1.47241394e-03 1.05501513e+01] [ 3.58059367e-02 -1.96017940e-03 9.99356839e-01 1.02224415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:10.55, Z:10.22 [[ 9.94947858e-01 -9.37817065e-02 -3.58294724e-02 2.90519353e+02] [ 9.37894446e-02 9.95590972e-01 -1.46843443e-03 1.05535252e+01] [ 3.58092116e-02 -1.89941063e-03 9.99356839e-01 1.02237874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:10.56, Z:10.23 [[ 9.95473026e-01 -8.80323475e-02 -3.58296071e-02 2.90550910e+02] [ 8.80364886e-02 9.96116173e-01 -1.46514185e-03 1.05588650e+01] [ 3.58194309e-02 -1.69580360e-03 9.99356839e-01 1.02260422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:10.56, Z:10.23 [[ 9.95757233e-01 -8.47570944e-02 -3.58297112e-02 2.90583244e+02] [ 8.47592113e-02 9.96400390e-01 -1.46259104e-03 1.05623450e+01] [ 3.58247032e-02 -1.58051246e-03 9.99356839e-01 1.02271329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:10.57, Z:10.23 [[ 9.96057195e-01 -8.11559546e-02 -3.58298152e-02 2.90614893e+02] [ 8.11558375e-02 9.96700355e-01 -1.46003916e-03 1.05658322e+01] [ 3.58300804e-02 -1.45351615e-03 9.99356839e-01 1.02285793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:10.57, Z:10.23 [[ 9.96647513e-01 -7.35523763e-02 -3.58299196e-02 2.90645703e+02] [ 7.35474433e-02 9.97290654e-01 -1.45747224e-03 1.05724103e+01] [ 3.58400445e-02 -1.18261290e-03 9.99356839e-01 1.02305317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:10.58, Z:10.23 [[ 9.96920166e-01 -6.97595495e-02 -3.58299972e-02 2.90678082e+02] [ 6.97522379e-02 9.97563285e-01 -1.45556078e-03 1.05762052e+01] [ 3.58442290e-02 -1.04814460e-03 9.99356839e-01 1.02325483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:10.58, Z:10.23 [[ 9.97176977e-01 -6.59869654e-02 -3.58301021e-02 2.90710286e+02] [ 6.59773134e-02 9.97820065e-01 -1.45297371e-03 1.05795522e+01] [ 3.58478722e-02 -9.15101948e-04 9.99356839e-01 1.02340333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:10.58, Z:10.23 [[ 9.97616579e-01 -5.89691260e-02 -3.58302060e-02 2.90741241e+02] [ 5.89550415e-02 9.98259585e-01 -1.45040892e-03 1.05838810e+01] [ 3.58533759e-02 -6.65419293e-04 9.99356839e-01 1.02348719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:10.59, Z:10.24 [[ 9.97799414e-01 -5.57899864e-02 -3.58302575e-02 2.90771607e+02] [ 5.57738987e-02 9.98442373e-01 -1.44913602e-03 1.05870081e+01] [ 3.58552946e-02 -5.52446079e-04 9.99356839e-01 1.02362305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:10.59, Z:10.24 [[ 9.97956927e-01 -5.28976730e-02 -3.58302575e-02 2.90800566e+02] [ 5.28797218e-02 9.98599837e-01 -1.44913602e-03 1.05899250e+01] [ 3.58567452e-02 -4.48518716e-04 9.99356839e-01 1.02371951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:10.59, Z:10.24 [[ 9.98104868e-01 -5.00286583e-02 -3.58302313e-02 2.90831255e+02] [ 5.00088359e-02 9.98747723e-01 -1.44978240e-03 1.05925098e+01] [ 3.58578926e-02 -3.44793285e-04 9.99356839e-01 1.02385511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.86, Y:10.59, Z:10.24 [[ 9.98228300e-01 -4.75021709e-02 -3.58302313e-02 2.90859354e+02] [ 4.74807214e-02 9.98871102e-01 -1.44978240e-03 1.05949151e+01] [ 3.58586504e-02 -2.54031410e-04 9.99356839e-01 1.02391306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:10.60, Z:10.24 [[ 9.98427555e-01 -4.31116947e-02 -3.58301533e-02 2.90888063e+02] [ 4.30873493e-02 9.99070254e-01 -1.45170807e-03 1.05981580e+01] [ 3.58594259e-02 -9.44009910e-05 9.99356840e-01 1.02397365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:10.60, Z:10.24 [[ 9.98526236e-01 -4.07625193e-02 -3.58297844e-02 2.90915024e+02] [ 4.07363372e-02 9.99168863e-01 -1.46075709e-03 1.05998022e+01] [ 3.58595490e-02 -9.69901332e-07 9.99356840e-01 1.02402014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:10.60, Z:10.24 [[ 9.98603798e-01 -3.88161605e-02 -3.58296012e-02 2.90942428e+02] [ 3.87885652e-02 9.99246366e-01 -1.46523643e-03 1.06012196e+01] [ 3.58594736e-02 7.34118454e-05 9.99356840e-01 1.02406450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:10.60, Z:10.24 [[ 9.98730280e-01 -3.54132555e-02 -3.58291720e-02 2.90969773e+02] [ 3.53830969e-02 9.99372733e-01 -1.47565760e-03 1.06032722e+01] [ 3.58589553e-02 2.06036860e-04 9.99356840e-01 1.02414706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:10.60, Z:10.24 [[ 9.98720101e-01 -3.56993511e-02 -3.58289857e-02 2.90998113e+02] [ 3.56692148e-02 9.99362555e-01 -1.48016761e-03 1.06045010e+01] [ 3.58589877e-02 2.00281363e-04 9.99356840e-01 1.02424901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:10.61, Z:10.24 [[ 9.98752185e-01 -3.47906126e-02 -3.58285587e-02 2.91025972e+02] [ 3.47595235e-02 9.99394594e-01 -1.49043189e-03 1.06063752e+01] [ 3.58587209e-02 2.43188478e-04 9.99356840e-01 1.02440795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:10.61, Z:10.25 [[ 9.98749831e-01 -3.48585895e-02 -3.58281234e-02 2.91052771e+02] [ 3.48271714e-02 9.99392223e-01 -1.50082390e-03 1.06080991e+01] [ 3.58586645e-02 2.51155424e-04 9.99356840e-01 1.02455112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:10.61, Z:10.25 [[ 9.98717044e-01 -3.57859473e-02 -3.58278228e-02 2.91080724e+02] [ 3.57548696e-02 9.99359453e-01 -1.50796379e-03 1.06089825e+01] [ 3.58588373e-02 2.25010001e-04 9.99356840e-01 1.02469154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:10.61, Z:10.25 [[ 9.98635084e-01 -3.80048321e-02 -3.58273865e-02 2.91108652e+02] [ 3.79748124e-02 9.99277543e-01 -1.51826104e-03 1.06098660e+01] [ 3.58592040e-02 1.55650464e-04 9.99356840e-01 1.02485747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:10.61, Z:10.25 [[ 9.98533198e-01 -4.05941106e-02 -3.58269412e-02 2.91136499e+02] [ 4.05653825e-02 9.99175717e-01 -1.52869604e-03 1.06105157e+01] [ 3.58594657e-02 7.31201730e-05 9.99356840e-01 1.02500831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:10.61, Z:10.25 [[ 9.98380565e-01 -4.41892293e-02 -3.58268032e-02 2.91164067e+02] [ 4.41626989e-02 9.99023178e-01 -1.53192465e-03 1.06106048e+01] [ 3.58595013e-02 -5.27645205e-05 9.99356840e-01 1.02515900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:10.61, Z:10.25 [[ 9.97991872e-01 -5.22369209e-02 -3.58263565e-02 2.91192114e+02] [ 5.22151997e-02 9.98634665e-01 -1.54230179e-03 1.06091751e+01] [ 3.58580066e-02 -3.31475706e-04 9.99356840e-01 1.02528425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:10.61, Z:10.25 [[ 9.97770553e-01 -5.63063492e-02 -3.58262183e-02 2.91221571e+02] [ 5.62871346e-02 9.98413426e-01 -1.54550526e-03 1.06091098e+01] [ 3.58563991e-02 -4.74495527e-04 9.99356840e-01 1.02546190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:10.61, Z:10.26 [[ 9.97553326e-01 -6.00320573e-02 -3.58261634e-02 2.91252021e+02] [ 6.00151979e-02 9.98196265e-01 -1.54677609e-03 1.06091259e+01] [ 3.58543986e-02 -6.07122655e-04 9.99356840e-01 1.02557919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:10.61, Z:10.26 [[ 9.97173955e-01 -6.60347584e-02 -3.58261634e-02 2.91282369e+02] [ 6.60217689e-02 9.97816984e-01 -1.54677609e-03 1.06073861e+01] [ 3.58500953e-02 -8.22901850e-04 9.99356840e-01 1.02563337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:10.61, Z:10.26 [[ 9.97027671e-01 -6.82078284e-02 -3.58261906e-02 2.91313400e+02] [ 6.81962629e-02 9.97670727e-01 -1.54614585e-03 1.06069422e+01] [ 3.58482009e-02 -9.01662116e-04 9.99356840e-01 1.02574581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:10.61, Z:10.26 [[ 9.96910463e-01 -6.98999904e-02 -3.58262450e-02 2.91345689e+02] [ 6.98895618e-02 9.97553539e-01 -1.54488337e-03 1.06069810e+01] [ 3.58465848e-02 -9.63770173e-04 9.99356840e-01 1.02584015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.38, Y:10.61, Z:10.26 [[ 9.96848927e-01 -7.07720857e-02 -3.58263560e-02 2.91377829e+02] [ 7.07623123e-02 9.97492013e-01 -1.54230585e-03 1.06067311e+01] [ 3.58456562e-02 -9.97709857e-04 9.99356840e-01 1.02593270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:10.61, Z:10.26 [[ 9.96878049e-01 -7.03606427e-02 -3.58264659e-02 2.91410348e+02] [ 7.03506957e-02 9.97521132e-01 -1.53974832e-03 1.06059596e+01] [ 3.58459945e-02 -9.85475497e-04 9.99356840e-01 1.02611802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.44, Y:10.61, Z:10.26 [[ 9.96954565e-01 -6.92679640e-02 -3.58265773e-02 2.91441826e+02] [ 6.92574054e-02 9.97597639e-01 -1.53715187e-03 1.06065499e+01] [ 3.58469843e-02 -9.48785216e-04 9.99356840e-01 1.02619715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.47, Y:10.61, Z:10.26 [[ 9.97071651e-01 -6.75616307e-02 -3.58266603e-02 2.91473590e+02] [ 6.75500410e-02 9.97714706e-01 -1.53521613e-03 1.06071046e+01] [ 3.58485075e-02 -8.89371891e-04 9.99356840e-01 1.02632998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.50, Y:10.61, Z:10.26 [[ 9.97210555e-01 -6.54794333e-02 -3.58267127e-02 2.91504391e+02] [ 6.54665448e-02 9.97853586e-01 -1.53399053e-03 1.06082070e+01] [ 3.58502586e-02 -8.15739547e-04 9.99356840e-01 1.02649302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:10.61, Z:10.27 [[ 9.97554062e-01 -6.00194715e-02 -3.58267668e-02 2.91535305e+02] [ 6.00031085e-02 9.98197013e-01 -1.53272632e-03 1.06091115e+01] [ 3.58541651e-02 -6.20740007e-04 9.99356840e-01 1.02665068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.56, Y:10.61, Z:10.27 [[ 9.97716523e-01 -5.72553739e-02 -3.58268221e-02 2.91564618e+02] [ 5.72372760e-02 9.98359429e-01 -1.53143304e-03 1.06102286e+01] [ 3.58557284e-02 -5.22693658e-04 9.99356840e-01 1.02670974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:10.61, Z:10.27 [[ 9.97862567e-01 -5.46510580e-02 -3.58267946e-02 2.91594277e+02] [ 5.46312590e-02 9.98505422e-01 -1.53207581e-03 1.06114630e+01] [ 3.58569783e-02 -4.28461791e-04 9.99356840e-01 1.02678582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.62, Y:10.61, Z:10.27 [[ 9.98043723e-01 -5.12364340e-02 -3.58267401e-02 2.91623245e+02] [ 5.12143898e-02 9.98686505e-01 -1.53335024e-03 1.06130658e+01] [ 3.58582452e-02 -3.04494052e-04 9.99356840e-01 1.02682187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:10.61, Z:10.27 [[ 9.98059364e-01 -5.09309162e-02 -3.58266371e-02 2.91651702e+02] [ 5.09085890e-02 9.98702136e-01 -1.53575305e-03 1.06145244e+01] [ 3.58583563e-02 -2.91110829e-04 9.99356840e-01 1.02688850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:10.62, Z:10.27 [[ 9.98047233e-01 -5.11683398e-02 -3.58262578e-02 2.91680367e+02] [ 5.11458497e-02 9.98690000e-01 -1.54455073e-03 1.06154430e+01] [ 3.58583575e-02 -2.90829816e-04 9.99356840e-01 1.02695185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:10.62, Z:10.27 [[ 9.97987037e-01 -5.23295347e-02 -3.58258744e-02 2.91709555e+02] [ 5.23074751e-02 9.98629819e-01 -1.55339175e-03 1.06162787e+01] [ 3.58580748e-02 -3.23696210e-04 9.99356840e-01 1.02705897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:10.62, Z:10.27 [[ 9.97788893e-01 -5.59808942e-02 -3.58254764e-02 2.91738258e+02] [ 5.59608592e-02 9.98431741e-01 -1.56251717e-03 1.06163499e+01] [ 3.58567639e-02 -4.45762166e-04 9.99356840e-01 1.02709598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:10.62, Z:10.27 [[ 9.97640587e-01 -5.85644924e-02 -3.58253920e-02 2.91768048e+02] [ 5.85460527e-02 9.98283483e-01 -1.56445154e-03 1.06170244e+01] [ 3.58555184e-02 -5.36674938e-04 9.99356840e-01 1.02718331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:10.62, Z:10.27 [[ 9.97472580e-01 -6.13595821e-02 -3.58253355e-02 2.91797104e+02] [ 6.13428973e-02 9.98115523e-01 -1.56574345e-03 1.06175868e+01] [ 3.58538969e-02 -6.35843718e-04 9.99356840e-01 1.02726608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:10.62, Z:10.27 [[ 9.97303292e-01 -6.40522526e-02 -3.58253075e-02 2.91827833e+02] [ 6.40372807e-02 9.97946278e-01 -1.56638472e-03 1.06184702e+01] [ 3.58520627e-02 -7.31994637e-04 9.99356840e-01 1.02746245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:10.62, Z:10.28 [[ 9.96953160e-01 -6.92888522e-02 -3.58253075e-02 2.91858717e+02] [ 6.92772572e-02 9.97596215e-01 -1.56638472e-03 1.06195635e+01] [ 3.58477241e-02 -9.20266849e-04 9.99356840e-01 1.02768641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:10.62, Z:10.28 [[ 9.96767335e-01 -7.19126108e-02 -3.58253641e-02 2.91889365e+02] [ 7.19027549e-02 9.97410419e-01 -1.56508859e-03 1.06205694e+01] [ 3.58451410e-02 -1.01591319e-03 9.99356840e-01 1.02779794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:10.62, Z:10.28 [[ 9.96586265e-01 -7.43798103e-02 -3.58254208e-02 2.91920635e+02] [ 7.43715930e-02 9.97229372e-01 -1.56378939e-03 1.06212989e+01] [ 3.58424763e-02 -1.10594259e-03 9.99356840e-01 1.02787859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:10.62, Z:10.28 [[ 9.96391169e-01 -7.69491495e-02 -3.58255029e-02 2.91952343e+02] [ 7.69426581e-02 9.97034296e-01 -1.56190629e-03 1.06222993e+01] [ 3.58394424e-02 -1.20023979e-03 9.99356840e-01 1.02805885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:10.62, Z:10.28 [[ 9.95988717e-01 -8.19939049e-02 -3.58256142e-02 2.91984733e+02] [ 8.19907622e-02 9.96631870e-01 -1.55934882e-03 1.06228897e+01] [ 3.58328060e-02 -1.38427558e-03 9.99356840e-01 1.02823205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:10.62, Z:10.28 [[ 9.95770252e-01 -8.46056896e-02 -3.58257279e-02 2.92015566e+02] [ 8.46043277e-02 9.96413410e-01 -1.55673182e-03 1.06236837e+01] [ 3.58289441e-02 -1.48086439e-03 9.99356840e-01 1.02831470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:10.62, Z:10.28 [[ 9.95559317e-01 -8.70526132e-02 -3.58258127e-02 2.92047680e+02] [ 8.70529020e-02 9.96202477e-01 -1.55477920e-03 1.06248041e+01] [ 3.58251109e-02 -1.57086605e-03 9.99356840e-01 1.02846647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:10.63, Z:10.29 [[ 9.95185855e-01 -9.12229006e-02 -3.58259228e-02 2.92079315e+02] [ 9.12259752e-02 9.95829007e-01 -1.55223796e-03 1.06259006e+01] [ 3.58180928e-02 -1.72348949e-03 9.99356840e-01 1.02857972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:10.63, Z:10.29 [[ 9.95042075e-01 -9.27780475e-02 -3.58260047e-02 2.92112313e+02] [ 9.27821953e-02 9.95685222e-01 -1.55034470e-03 1.06272944e+01] [ 3.58152614e-02 -1.78135716e-03 9.99356840e-01 1.02876607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:10.63, Z:10.29 [[ 9.94939865e-01 -9.38677281e-02 -3.58261753e-02 2.92145155e+02] [ 9.38727221e-02 9.95583005e-01 -1.54639348e-03 1.06288206e+01] [ 3.58130877e-02 -1.82453208e-03 9.99356840e-01 1.02890303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:10.63, Z:10.29 [[ 9.94877786e-01 -9.45233504e-02 -3.58263463e-02 2.92176878e+02] [ 9.45289109e-02 9.95520922e-01 -1.54242164e-03 1.06306713e+01] [ 3.58116721e-02 -1.85210447e-03 9.99356840e-01 1.02898787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:10.63, Z:10.29 [[ 9.94866355e-01 -9.46434849e-02 -3.58266200e-02 2.92209388e+02] [ 9.46493523e-02 9.95509488e-01 -1.53603742e-03 1.06326147e+01] [ 3.58111160e-02 -1.86281442e-03 9.99356840e-01 1.02906614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:10.64, Z:10.29 [[ 9.95031752e-01 -9.28883920e-02 -3.58267875e-02 2.92241984e+02] [ 9.28932657e-02 9.95674894e-01 -1.53211913e-03 1.06358388e+01] [ 3.58141490e-02 -1.80356012e-03 9.99356840e-01 1.02911761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:10.64, Z:10.29 [[ 9.95194101e-01 -9.11324901e-02 -3.58269545e-02 2.92274494e+02] [ 9.11363695e-02 9.95837249e-01 -1.52820413e-03 1.06384437e+01] [ 3.58170849e-02 -1.74427883e-03 9.99356840e-01 1.02920404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:10.64, Z:10.29 [[ 9.95398170e-01 -8.88757624e-02 -3.58271238e-02 2.92306085e+02] [ 8.88783264e-02 9.96041324e-01 -1.52422612e-03 1.06410769e+01] [ 3.58207626e-02 -1.66704291e-03 9.99356840e-01 1.02924773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:10.65, Z:10.29 [[ 9.95898711e-01 -8.30792717e-02 -3.58272634e-02 2.92338084e+02] [ 8.30782095e-02 9.96541870e-01 -1.52093657e-03 1.06454624e+01] [ 3.58297264e-02 -1.46176613e-03 9.99356840e-01 1.02930808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:10.65, Z:10.29 [[ 9.96162206e-01 -7.98577449e-02 -3.58273732e-02 2.92369956e+02] [ 7.98546955e-02 9.96805358e-01 -1.51834750e-03 1.06485538e+01] [ 3.58341693e-02 -1.34846358e-03 9.99356840e-01 1.02940454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:10.65, Z:10.29 [[ 9.96412139e-01 -7.66762114e-02 -3.58274818e-02 2.92402419e+02] [ 7.66712005e-02 9.97055279e-01 -1.51577833e-03 1.06520871e+01] [ 3.58382041e-02 -1.23659612e-03 9.99356840e-01 1.02949653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:10.66, Z:10.30 [[ 9.96866623e-01 -7.05217613e-02 -3.58275905e-02 2.92434004e+02] [ 7.05128713e-02 9.97509722e-01 -1.51320698e-03 1.06576795e+01] [ 3.58450838e-02 -1.01784074e-03 9.99356840e-01 1.02962097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:10.66, Z:10.30 [[ 9.97083605e-01 -6.73844284e-02 -3.58276994e-02 2.92465879e+02] [ 6.73736076e-02 9.97726674e-01 -1.51062227e-03 1.06609109e+01] [ 3.58480438e-02 -9.07624664e-04 9.99356840e-01 1.02972454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:10.66, Z:10.30 [[ 9.97262013e-01 -6.46903781e-02 -3.58278083e-02 2.92497461e+02] [ 6.46779128e-02 9.97905052e-01 -1.50803674e-03 1.06639836e+01] [ 3.58503063e-02 -8.13360103e-04 9.99356840e-01 1.02980825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:10.67, Z:10.30 [[ 9.97401996e-01 -6.24949507e-02 -3.58279157e-02 2.92528247e+02] [ 6.24811617e-02 9.98045008e-01 -1.50547911e-03 1.06668670e+01] [ 3.58519573e-02 -7.37001932e-04 9.99356840e-01 1.02988175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:10.67, Z:10.30 [[ 9.97527311e-01 -6.04617294e-02 -3.58279686e-02 2.92559786e+02] [ 6.04466749e-02 9.98170295e-01 -1.50421995e-03 1.06693790e+01] [ 3.58533617e-02 -6.65181091e-04 9.99356840e-01 1.03003283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:10.67, Z:10.30 [[ 9.97710285e-01 -5.73632344e-02 -3.58280221e-02 2.92590984e+02] [ 5.73462288e-02 9.98353220e-01 -1.50294366e-03 1.06728431e+01] [ 3.58552350e-02 -5.55099605e-04 9.99356840e-01 1.03023745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:10.68, Z:10.30 [[ 9.97770543e-01 -5.63053422e-02 -3.58280763e-02 2.92621475e+02] [ 5.62877013e-02 9.98413461e-01 -1.50165169e-03 1.06753015e+01] [ 3.58557847e-02 -5.18376228e-04 9.99356840e-01 1.03040076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:10.68, Z:10.31 [[ 9.97827726e-01 -5.52827087e-02 -3.58280763e-02 2.92651872e+02] [ 5.52644089e-02 9.98470626e-01 -1.50165169e-03 1.06776346e+01] [ 3.58562971e-02 -4.81627762e-04 9.99356840e-01 1.03059190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:10.68, Z:10.31 [[ 9.97920242e-01 -5.35867486e-02 -3.58280763e-02 2.92680751e+02] [ 5.35673562e-02 9.98563109e-01 -1.50165169e-03 1.06805540e+01] [ 3.58570639e-02 -4.20686701e-04 9.99356840e-01 1.03081195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:10.68, Z:10.31 [[ 9.97946864e-01 -5.30886716e-02 -3.58280497e-02 2.92710313e+02] [ 5.30689355e-02 9.98589721e-01 -1.50228581e-03 1.06822934e+01] [ 3.58572765e-02 -4.02155049e-04 9.99356840e-01 1.03092377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:10.68, Z:10.31 [[ 9.97957448e-01 -5.28893641e-02 -3.58280233e-02 2.92740544e+02] [ 5.28694771e-02 9.98600300e-01 -1.50291482e-03 1.06839563e+01] [ 3.58573630e-02 -3.94363820e-04 9.99356840e-01 1.03101862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:10.69, Z:10.31 [[ 9.97942100e-01 -5.31781756e-02 -3.58280233e-02 2.92769785e+02] [ 5.31584747e-02 9.98584958e-01 -1.50291482e-03 1.06855504e+01] [ 3.58572474e-02 -4.04741099e-04 9.99356840e-01 1.03111838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:10.69, Z:10.31 [[ 9.97903078e-01 -5.39054811e-02 -3.58279973e-02 2.92800134e+02] [ 5.38862264e-02 9.98545950e-01 -1.50353545e-03 1.06868520e+01] [ 3.58569504e-02 -4.30252918e-04 9.99356840e-01 1.03121727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:10.69, Z:10.31 [[ 9.97881912e-01 -5.42958994e-02 -3.58279973e-02 2.92830827e+02] [ 5.42768961e-02 9.98524791e-01 -1.50353545e-03 1.06879599e+01] [ 3.58567793e-02 -4.44281657e-04 9.99356840e-01 1.03137243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:10.69, Z:10.31 [[ 9.97872394e-01 -5.44705464e-02 -3.58279973e-02 2.92861729e+02] [ 5.44516557e-02 9.98515276e-01 -1.50353545e-03 1.06893881e+01] [ 3.58567010e-02 -4.50557251e-04 9.99356840e-01 1.03144829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:10.69, Z:10.31 [[ 9.97898024e-01 -5.39989695e-02 -3.58279973e-02 2.92891533e+02] [ 5.39797749e-02 9.98540897e-01 -1.50353545e-03 1.06904984e+01] [ 3.58569099e-02 -4.33612174e-04 9.99356840e-01 1.03149006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:10.69, Z:10.32 [[ 9.97898024e-01 -5.39989925e-02 -3.58279703e-02 2.92922485e+02] [ 5.39797749e-02 9.98540896e-01 -1.50417879e-03 1.06917982e+01] [ 3.58569177e-02 -4.32968727e-04 9.99356840e-01 1.03160124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:10.69, Z:10.32 [[ 9.97932240e-01 -5.33629228e-02 -3.58279703e-02 2.92953313e+02] [ 5.33432955e-02 9.98575100e-01 -1.50417879e-03 1.06932172e+01] [ 3.58571864e-02 -4.10113493e-04 9.99356840e-01 1.03170870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:10.69, Z:10.32 [[ 9.98000307e-01 -5.20744075e-02 -3.58279703e-02 2.92984096e+02] [ 5.20539502e-02 9.98643141e-01 -1.50417879e-03 1.06944336e+01] [ 3.58576860e-02 -3.63816482e-04 9.99356840e-01 1.03181658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:10.70, Z:10.32 [[ 9.98146727e-01 -4.91880840e-02 -3.58279703e-02 2.93014223e+02] [ 4.91657677e-02 9.98789500e-01 -1.50417879e-03 1.06955619e+01] [ 3.58585882e-02 -2.60118525e-04 9.99356840e-01 1.03188258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:10.70, Z:10.32 [[ 9.98215623e-01 -4.77695232e-02 -3.58279703e-02 2.93043219e+02] [ 4.77462935e-02 9.98858363e-01 -1.50417879e-03 1.06965075e+01] [ 3.58589216e-02 -2.09158014e-04 9.99356840e-01 1.03194174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:10.70, Z:10.32 [[ 9.98272465e-01 -4.65666217e-02 -3.58278686e-02 2.93071969e+02] [ 4.65425307e-02 9.98915173e-01 -1.50659608e-03 1.06971985e+01] [ 3.58591587e-02 -1.63526290e-04 9.99356840e-01 1.03205856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:10.70, Z:10.32 [[ 9.98369174e-01 -4.44452862e-02 -3.58274835e-02 2.93100759e+02] [ 4.44195029e-02 9.99011817e-01 -1.51569882e-03 1.06968890e+01] [ 3.58594451e-02 -7.82120259e-05 9.99356840e-01 1.03209539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:10.70, Z:10.32 [[ 9.98415515e-01 -4.33921392e-02 -3.58270993e-02 2.93129003e+02] [ 4.33653541e-02 9.99058117e-01 -1.52472641e-03 1.06969465e+01] [ 3.58595155e-02 -3.13443420e-05 9.99356840e-01 1.03217258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:10.70, Z:10.32 [[ 9.98430223e-01 -4.30525171e-02 -3.58269631e-02 2.93157092e+02] [ 4.30253988e-02 9.99072810e-01 -1.52791989e-03 1.06968068e+01] [ 3.58595255e-02 -1.59479834e-05 9.99356840e-01 1.03228108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:10.70, Z:10.32 [[ 9.98470110e-01 -4.21176904e-02 -3.58265205e-02 2.93184194e+02] [ 4.20896007e-02 9.99112656e-01 -1.53822844e-03 1.06950234e+01] [ 3.58595167e-02 2.79511777e-05 9.99356840e-01 1.03237876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:293.21, Y:10.69, Z:10.32 [[ 9.98487109e-01 -4.17129156e-02 -3.58263284e-02 2.93212489e+02] [ 4.16844053e-02 9.99129636e-01 -1.54268913e-03 1.06947640e+01] [ 3.58594966e-02 4.69560114e-05 9.99356840e-01 1.03239916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:10.69, Z:10.33 [[ 9.98436328e-01 -4.29134287e-02 -3.58236972e-02 2.93241141e+02] [ 4.28835042e-02 9.99078792e-01 -1.60363208e-03 1.06946166e+01] [ 3.58595135e-02 6.48788581e-05 9.99356839e-01 1.03261285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:10.69, Z:10.33 [[ 9.98323150e-01 -4.54686580e-02 -3.58258116e-02 2.93267772e+02] [ 4.54421260e-02 9.98965763e-01 -1.55491773e-03 1.06921287e+01] [ 3.58594592e-02 -7.56906778e-05 9.99356840e-01 1.03265499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:10.69, Z:10.33 [[ 9.98220153e-01 -4.76765292e-02 -3.58256136e-02 2.93295376e+02] [ 4.76512554e-02 9.98862816e-01 -1.55946478e-03 1.06914614e+01] [ 3.58592232e-02 -1.50446293e-04 9.99356840e-01 1.03274814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:10.69, Z:10.33 [[ 9.98085731e-01 -5.04125961e-02 -3.58251750e-02 2.93322979e+02] [ 5.03887246e-02 9.98728448e-01 -1.56947804e-03 1.06905943e+01] [ 3.58587429e-02 -2.38711240e-04 9.99356840e-01 1.03288662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:10.69, Z:10.33 [[ 9.97937916e-01 -5.32588543e-02 -3.58247195e-02 2.93352176e+02] [ 5.32364451e-02 9.98580685e-01 -1.57980545e-03 1.06895542e+01] [ 3.58580116e-02 -3.30632958e-04 9.99356840e-01 1.03292317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:10.69, Z:10.33 [[ 9.97564891e-01 -5.98404873e-02 -3.58246349e-02 2.93382187e+02] [ 5.98222498e-02 9.98207792e-01 -1.58172315e-03 1.06864928e+01] [ 3.58550808e-02 -5.65238775e-04 9.99356840e-01 1.03299221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:10.69, Z:10.33 [[ 9.97331299e-01 -6.36150852e-02 -3.58245787e-02 2.93412721e+02] [ 6.35992351e-02 9.97974264e-01 -1.58299339e-03 1.06860171e+01] [ 3.58527099e-02 -6.99646953e-04 9.99356840e-01 1.03306703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:10.69, Z:10.33 [[ 9.97100940e-01 -6.71290921e-02 -3.58245787e-02 2.93442915e+02] [ 6.71155078e-02 9.97743957e-01 -1.58299339e-03 1.06854554e+01] [ 3.58500218e-02 -8.25980600e-04 9.99356840e-01 1.03314178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:10.68, Z:10.33 [[ 9.96846943e-01 -7.08009243e-02 -3.58245787e-02 2.93474597e+02] [ 7.07897083e-02 9.97490006e-01 -1.58299339e-03 1.06847689e+01] [ 3.58467366e-02 -9.58009360e-04 9.99356840e-01 1.03314954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:10.68, Z:10.33 [[ 9.96318835e-01 -7.78805068e-02 -3.58246640e-02 2.93506776e+02] [ 7.78739286e-02 9.96961961e-01 -1.58106204e-03 1.06824149e+01] [ 3.58389612e-02 -1.21456544e-03 9.99356840e-01 1.03327339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:10.68, Z:10.33 [[ 9.96063419e-01 -8.10817558e-02 -3.58247774e-02 2.93538553e+02] [ 8.10773368e-02 9.96706564e-01 -1.57848845e-03 1.06820955e+01] [ 3.58347774e-02 -1.33230294e-03 9.99356840e-01 1.03340583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:10.68, Z:10.34 [[ 9.95590283e-01 -8.66981284e-02 -3.58248900e-02 2.93571137e+02] [ 8.66974287e-02 9.96233443e-01 -1.57592782e-03 1.06807335e+01] [ 3.58265835e-02 -1.53694742e-03 9.99356840e-01 1.03365680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:10.68, Z:10.34 [[ 9.95392688e-01 -8.89379876e-02 -3.58250029e-02 2.93603638e+02] [ 8.89388272e-02 9.96035848e-01 -1.57335638e-03 1.06805953e+01] [ 3.58229183e-02 -1.62012631e-03 9.99356840e-01 1.03383405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:10.68, Z:10.34 [[ 9.95222707e-01 -9.08202827e-02 -3.58251164e-02 2.93635020e+02] [ 9.08224316e-02 9.95865864e-01 -1.57076967e-03 1.06806296e+01] [ 3.58196682e-02 -1.69045854e-03 9.99356840e-01 1.03394481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:10.68, Z:10.34 [[ 9.95085249e-01 -9.23141090e-02 -3.58252933e-02 2.93666110e+02] [ 9.23173687e-02 9.95728401e-01 -1.56672473e-03 1.06807383e+01] [ 3.58168928e-02 -1.74827214e-03 9.99356840e-01 1.03407688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:10.68, Z:10.34 [[ 9.94813264e-01 -9.52003396e-02 -3.58254775e-02 2.93698011e+02] [ 9.52056166e-02 9.95456402e-01 -1.56250093e-03 1.06799176e+01] [ 3.58114515e-02 -1.85639002e-03 9.99356840e-01 1.03422982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:10.68, Z:10.34 [[ 9.94700851e-01 -9.63677539e-02 -3.58255881e-02 2.93730600e+02] [ 9.63738769e-02 9.95343982e-01 -1.55996077e-03 1.06801397e+01] [ 3.58091134e-02 -1.90095651e-03 9.99356840e-01 1.03431478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:10.68, Z:10.34 [[ 9.94574121e-01 -9.76669742e-02 -3.58256987e-02 2.93762388e+02] [ 9.76740286e-02 9.95217242e-01 -1.55741610e-03 1.06806368e+01] [ 3.58064612e-02 -1.95027457e-03 9.99356840e-01 1.03436408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:10.68, Z:10.34 [[ 9.94435122e-01 -9.90721933e-02 -3.58258082e-02 2.93793125e+02] [ 9.90802470e-02 9.95078232e-01 -1.55489431e-03 1.06810396e+01] [ 3.58035286e-02 -2.00338841e-03 9.99356840e-01 1.03439776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:10.68, Z:10.34 [[ 9.94214608e-01 -1.01261144e-01 -3.58258897e-02 2.93825140e+02] [ 1.01270681e-01 9.94857697e-01 -1.55301217e-03 1.06809605e+01] [ 3.57989220e-02 -2.08408487e-03 9.99356840e-01 1.03443213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:10.68, Z:10.34 [[ 9.94139382e-01 -1.01996998e-01 -3.58259979e-02 2.93856970e+02] [ 1.02007101e-01 9.94782462e-01 -1.55051386e-03 1.06818148e+01] [ 3.57972221e-02 -2.11307929e-03 9.99356840e-01 1.03447748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:10.68, Z:10.35 [[ 9.94106433e-01 -1.02317595e-01 -3.58261051e-02 2.93888624e+02] [ 1.02327994e-01 9.94749509e-01 -1.54803306e-03 1.06830782e+01] [ 3.57963914e-02 -2.12710384e-03 9.99356840e-01 1.03463874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:10.69, Z:10.35 [[ 9.94271766e-01 -1.00698251e-01 -3.58262157e-02 2.93920995e+02] [ 1.00707695e-01 9.94914857e-01 -1.54546856e-03 1.06858558e+01] [ 3.57996602e-02 -2.07135984e-03 9.99356840e-01 1.03474180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:10.69, Z:10.35 [[ 9.94504016e-01 -9.83780249e-02 -3.58263251e-02 2.93952616e+02] [ 9.83860595e-02 9.95147126e-01 -1.54292730e-03 1.06883151e+01] [ 3.58042546e-02 -1.99036357e-03 9.99356840e-01 1.03499571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:10.69, Z:10.35 [[ 9.94812773e-01 -9.52051092e-02 -3.58264381e-02 2.93984354e+02] [ 9.52111867e-02 9.95455904e-01 -1.54029925e-03 1.06909623e+01] [ 3.58102837e-02 -1.87876832e-03 9.99356840e-01 1.03512969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:10.69, Z:10.35 [[ 9.95194056e-01 -9.11331295e-02 -3.58265787e-02 2.94015744e+02] [ 9.11366926e-02 9.95837206e-01 -1.53702214e-03 1.06941447e+01] [ 3.58175137e-02 -1.73548060e-03 9.99356840e-01 1.03525758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:10.70, Z:10.36 [[ 9.96066032e-01 -8.10487708e-02 -3.58267548e-02 2.94047135e+02] [ 8.10459675e-02 9.96709186e-01 -1.53290733e-03 1.06993409e+01] [ 3.58330958e-02 -1.37673708e-03 9.99356840e-01 1.03557647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:10.70, Z:10.36 [[ 9.96534290e-01 -7.50722759e-02 -3.58268353e-02 2.94078083e+02] [ 7.50656822e-02 9.97177416e-01 -1.53102417e-03 1.07023102e+01] [ 3.58406485e-02 -1.16364775e-03 9.99356840e-01 1.03572743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:10.71, Z:10.36 [[ 9.97410947e-01 -6.23524539e-02 -3.58270111e-02 2.94110108e+02] [ 6.23378039e-02 9.98053940e-01 -1.52689894e-03 1.07075442e+01] [ 3.58524954e-02 -7.10431471e-04 9.99356840e-01 1.03608727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:10.71, Z:10.36 [[ 9.97770907e-01 -5.62995132e-02 -3.58271217e-02 2.94140672e+02] [ 5.62810555e-02 9.98413802e-01 -1.52429885e-03 1.07107880e+01] [ 3.58561100e-02 -4.95487178e-04 9.99356840e-01 1.03621974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:10.71, Z:10.36 [[ 9.98082508e-01 -5.04749258e-02 -3.58272126e-02 2.94170142e+02] [ 5.04527929e-02 9.98725287e-01 -1.52215910e-03 1.07136065e+01] [ 3.58583740e-02 -2.88342568e-04 9.99356840e-01 1.03631357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:10.72, Z:10.36 [[ 9.98322652e-01 -4.54785434e-02 -3.58271582e-02 2.94199080e+02] [ 4.54531475e-02 9.98965310e-01 -1.52343875e-03 1.07160569e+01] [ 3.58593720e-02 -1.07573694e-04 9.99356840e-01 1.03639446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:10.72, Z:10.36 [[ 9.98526475e-01 -4.07593060e-02 -3.58267752e-02 2.94226388e+02] [ 4.07305515e-02 9.99168992e-01 -1.53239243e-03 1.07180998e+01] [ 3.58594621e-02 7.08901006e-05 9.99356840e-01 1.03645715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:10.72, Z:10.37 [[ 9.98805760e-01 -3.32191140e-02 -3.58265851e-02 2.94254347e+02] [ 3.31853502e-02 9.99448033e-01 -1.53682491e-03 1.07200863e+01] [ 3.58578620e-02 3.46071800e-04 9.99356840e-01 1.03652998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:10.72, Z:10.37 [[ 9.98879240e-01 -3.09313897e-02 -3.58261455e-02 2.94281958e+02] [ 3.08957899e-02 9.99521414e-01 -1.54700500e-03 1.07213217e+01] [ 3.58568506e-02 4.38394109e-04 9.99356840e-01 1.03660169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:10.72, Z:10.37 [[ 9.98938285e-01 -2.89624304e-02 -3.58257071e-02 2.94309134e+02] [ 2.89252032e-02 9.99580366e-01 -1.55709172e-03 1.07220100e+01] [ 3.58557706e-02 5.19172677e-04 9.99356840e-01 1.03657430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:10.72, Z:10.37 [[ 9.98961137e-01 -2.81634257e-02 -3.58255170e-02 2.94336720e+02] [ 2.81255286e-02 9.99603180e-01 -1.56145387e-03 1.07227072e+01] [ 3.58552766e-02 5.52220129e-04 9.99356840e-01 1.03670539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:10.72, Z:10.37 [[ 9.98974222e-01 -2.76959911e-02 -3.58250814e-02 2.94364140e+02] [ 2.76574374e-02 9.99616225e-01 -1.57138519e-03 1.07225625e+01] [ 3.58548537e-02 5.78943356e-04 9.99356840e-01 1.03674529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:10.72, Z:10.37 [[ 9.98947561e-01 -2.86416995e-02 -3.58248922e-02 2.94392013e+02] [ 2.86035995e-02 9.99589591e-01 -1.57568619e-03 1.07231525e+01] [ 3.58553197e-02 5.49307012e-04 9.99356840e-01 1.03691755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:10.72, Z:10.37 [[ 9.98915451e-01 -2.97410587e-02 -3.58244434e-02 2.94419927e+02] [ 2.97033017e-02 9.99557502e-01 -1.58582455e-03 1.07234271e+01] [ 3.58557552e-02 5.20000399e-04 9.99356840e-01 1.03708283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:10.72, Z:10.37 [[ 9.98820640e-01 -3.27715103e-02 -3.58239843e-02 2.94449170e+02] [ 3.27353319e-02 9.99462781e-01 -1.59612978e-03 1.07225534e+01] [ 3.58570465e-02 4.21537358e-04 9.99356840e-01 1.03726613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:10.72, Z:10.37 [[ 9.98757326e-01 -3.46478661e-02 -3.58235825e-02 2.94476820e+02] [ 3.46125724e-02 9.99399516e-01 -1.60509692e-03 1.07226963e+01] [ 3.58576842e-02 3.63155963e-04 9.99356840e-01 1.03742129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:10.72, Z:10.38 [[ 9.98689057e-01 -3.65632679e-02 -3.58231191e-02 2.94505687e+02] [ 3.65288373e-02 9.99331294e-01 -1.61537369e-03 1.07225963e+01] [ 3.58582273e-02 3.04679133e-04 9.99356841e-01 1.03759975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:10.72, Z:10.38 [[ 9.98533673e-01 -4.05861680e-02 -3.58227105e-02 2.94533259e+02] [ 4.05540017e-02 9.99176028e-01 -1.62438369e-03 1.07210250e+01] [ 3.58591211e-02 1.69247544e-04 9.99356841e-01 1.03779689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:10.72, Z:10.38 [[ 9.98429177e-01 -4.30804784e-02 -3.58224939e-02 2.94561783e+02] [ 4.30497460e-02 9.99071602e-01 -1.62914769e-03 1.07205096e+01] [ 3.58594208e-02 8.44393215e-05 9.99356841e-01 1.03798039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:10.72, Z:10.38 [[ 9.98158939e-01 -4.89439489e-02 -3.58220848e-02 2.94589635e+02] [ 4.89166692e-02 9.98801520e-01 -1.63809205e-03 1.07174386e+01] [ 3.58593275e-02 -1.17220855e-04 9.99356841e-01 1.03806410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:10.72, Z:10.38 [[ 9.97974494e-01 -5.25708835e-02 -3.58219397e-02 2.94617845e+02] [ 5.25458254e-02 9.98617165e-01 -1.64125921e-03 1.07164740e+01] [ 3.58586864e-02 -2.44358567e-04 9.99356841e-01 1.03810186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:10.72, Z:10.38 [[ 9.97761929e-01 -5.64619739e-02 -3.58214776e-02 2.94646000e+02] [ 5.64390621e-02 9.98404680e-01 -1.65128480e-03 1.07153004e+01] [ 3.58575657e-02 -3.74141491e-04 9.99356841e-01 1.03814662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:10.71, Z:10.38 [[ 9.97537504e-01 -6.02974574e-02 -3.58210079e-02 2.94675106e+02] [ 6.02766533e-02 9.98180327e-01 -1.66141102e-03 1.07141434e+01] [ 3.58560043e-02 -5.01850674e-04 9.99356841e-01 1.03820807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:10.71, Z:10.38 [[ 9.97092322e-01 -6.72590996e-02 -3.58205864e-02 2.94704554e+02] [ 6.72424586e-02 9.97735266e-01 -1.67044939e-03 1.07104555e+01] [ 3.58518153e-02 -7.43072038e-04 9.99356841e-01 1.03820476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:10.71, Z:10.38 [[ 9.96894748e-01 -7.01266858e-02 -3.58205254e-02 2.94735411e+02] [ 7.01118471e-02 9.97537736e-01 -1.67175790e-03 1.07093590e+01] [ 3.58495606e-02 -8.44876523e-04 9.99356841e-01 1.03824410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:10.71, Z:10.38 [[ 9.96694616e-01 -7.29159205e-02 -3.58205254e-02 2.94764975e+02] [ 7.29028810e-02 9.97337644e-01 -1.67175790e-03 1.07083787e+01] [ 3.58470561e-02 -9.45187398e-04 9.99356841e-01 1.03826831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:10.71, Z:10.38 [[ 9.96367727e-01 -7.72544124e-02 -3.58204952e-02 2.94795684e+02] [ 7.72441493e-02 9.97010805e-01 -1.67240411e-03 1.07058157e+01] [ 3.58426213e-02 -1.10059420e-03 9.99356841e-01 1.03831459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:10.71, Z:10.38 [[ 9.96370529e-01 -7.72182691e-02 -3.58204952e-02 2.94827474e+02] [ 7.72079827e-02 9.97013606e-01 -1.67240411e-03 1.07072720e+01] [ 3.58426612e-02 -1.09929401e-03 9.99356841e-01 1.03842878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:10.71, Z:10.38 [[ 9.96231102e-01 -7.89967094e-02 -3.58205558e-02 2.94857749e+02] [ 7.89876177e-02 9.96874197e-01 -1.67110388e-03 1.07071016e+01] [ 3.58405995e-02 -1.16457471e-03 9.99356841e-01 1.03848388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:10.71, Z:10.39 [[ 9.96080093e-01 -8.08784850e-02 -3.58206589e-02 2.94889434e+02] [ 8.08706875e-02 9.96723205e-01 -1.66889134e-03 1.07072607e+01] [ 3.58382594e-02 -1.23449188e-03 9.99356841e-01 1.03855926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:10.71, Z:10.39 [[ 9.95954121e-01 -8.24151971e-02 -3.58207186e-02 2.94920793e+02] [ 8.24084380e-02 9.96597245e-01 -1.66760901e-03 1.07074342e+01] [ 3.58362658e-02 -1.29106741e-03 9.99356841e-01 1.03872232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:10.71, Z:10.39 [[ 9.95749843e-01 -8.48476339e-02 -3.58207800e-02 2.94951764e+02] [ 8.48424931e-02 9.96392982e-01 -1.66628878e-03 1.07063739e+01] [ 3.58329545e-02 -1.37991749e-03 9.99356841e-01 1.03878845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:10.71, Z:10.39 [[ 9.95691635e-01 -8.55279682e-02 -3.58208718e-02 2.94983069e+02] [ 8.55233377e-02 9.96334777e-01 -1.66431452e-03 1.07066691e+01] [ 3.58319257e-02 -1.40637647e-03 9.99356841e-01 1.03884372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:10.71, Z:10.39 [[ 9.95648818e-01 -8.60248916e-02 -3.58210739e-02 2.95014903e+02] [ 8.60207388e-02 9.96291964e-01 -1.65995160e-03 1.07072235e+01] [ 3.58310453e-02 -1.42862640e-03 9.99356841e-01 1.03899412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:10.71, Z:10.39 [[ 9.95636751e-01 -8.61643887e-02 -3.58211955e-02 2.95045872e+02] [ 8.61604204e-02 9.96279898e-01 -1.65732536e-03 1.07079302e+01] [ 3.58307394e-02 -1.43627522e-03 9.99356841e-01 1.03904659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:10.71, Z:10.39 [[ 9.95686830e-01 -8.55837183e-02 -3.58212858e-02 2.95077921e+02] [ 8.55794452e-02 9.96329975e-01 -1.65537005e-03 1.07091348e+01] [ 3.58314935e-02 -1.41733561e-03 9.99356841e-01 1.03922304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:10.71, Z:10.39 [[ 9.95749038e-01 -8.48568216e-02 -3.58214066e-02 2.95109666e+02] [ 8.48521729e-02 9.96392180e-01 -1.65275224e-03 1.07107545e+01] [ 3.58324167e-02 -1.39379773e-03 9.99356841e-01 1.03935155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:10.71, Z:10.39 [[ 9.95952542e-01 -8.24339276e-02 -3.58215278e-02 2.95140691e+02] [ 8.24278087e-02 9.96595672e-01 -1.65012087e-03 1.07129571e+01] [ 3.58356055e-02 -1.30924797e-03 9.99356841e-01 1.03948115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:10.71, Z:10.40 [[ 9.96064405e-01 -8.10709923e-02 -3.58217287e-02 2.95172145e+02] [ 8.10641504e-02 9.96707527e-01 -1.64574807e-03 1.07148365e+01] [ 3.58372091e-02 -1.26458693e-03 9.99356841e-01 1.03953884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:10.72, Z:10.40 [[ 9.96184716e-01 -7.95789506e-02 -3.58218176e-02 2.95203603e+02] [ 7.95712150e-02 9.96827828e-01 -1.64381156e-03 1.07166833e+01] [ 3.58389974e-02 -1.21284559e-03 9.99356841e-01 1.03973965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:10.72, Z:10.40 [[ 9.96326976e-01 -7.77775673e-02 -3.58218769e-02 2.95234882e+02] [ 7.77687154e-02 9.96970074e-01 -1.64251791e-03 1.07182428e+01] [ 3.58410903e-02 -1.14933645e-03 9.99356841e-01 1.03986280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:10.72, Z:10.40 [[ 9.96627511e-01 -7.38267803e-02 -3.58219364e-02 2.95265370e+02] [ 7.38154253e-02 9.97270570e-01 -1.64122012e-03 1.07207035e+01] [ 3.58453289e-02 -1.00852635e-03 9.99356841e-01 1.03998324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:10.72, Z:10.40 [[ 9.96779880e-01 -7.17402143e-02 -3.58219658e-02 2.95296280e+02] [ 7.17275362e-02 9.97422914e-01 -1.64057754e-03 1.07226553e+01] [ 3.58473449e-02 -9.34126664e-04 9.99356841e-01 1.04010161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:10.72, Z:10.40 [[ 9.96940101e-01 -6.94782131e-02 -3.58219658e-02 2.95326480e+02] [ 6.94640759e-02 9.97583105e-01 -1.64057754e-03 1.07244211e+01] [ 3.58493722e-02 -8.52782210e-04 9.99356841e-01 1.04023507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:10.73, Z:10.40 [[ 9.97090408e-01 -6.72867391e-02 -3.58219658e-02 2.95355763e+02] [ 6.72711885e-02 9.97733379e-01 -1.64057754e-03 1.07262418e+01] [ 3.58511601e-02 -7.73982085e-04 9.99356841e-01 1.04029721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:10.73, Z:10.40 [[ 9.97375668e-01 -6.29171371e-02 -3.58219364e-02 2.95385324e+02] [ 6.28987464e-02 9.98018564e-01 -1.64121814e-03 1.07285322e+01] [ 3.58542183e-02 -6.16243857e-04 9.99356841e-01 1.04043824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:10.73, Z:10.41 [[ 9.97506203e-01 -6.08125621e-02 -3.58218789e-02 2.95414982e+02] [ 6.07927699e-02 9.98149058e-01 -1.64247364e-03 1.07303292e+01] [ 3.58554577e-02 -5.39333599e-04 9.99356841e-01 1.04056179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:10.73, Z:10.41 [[ 9.97614969e-01 -5.90014508e-02 -3.58218208e-02 2.95443188e+02] [ 5.89804460e-02 9.98257785e-01 -1.64373811e-03 1.07320302e+01] [ 3.58563945e-02 -4.72969227e-04 9.99356841e-01 1.04057432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:10.73, Z:10.41 [[ 9.97825585e-01 -5.53256529e-02 -3.58214154e-02 2.95471894e+02] [ 5.53019646e-02 9.98468308e-01 -1.65252673e-03 1.07340733e+01] [ 3.58579751e-02 -3.32061196e-04 9.99356841e-01 1.04083725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:10.74, Z:10.41 [[ 9.97908798e-01 -5.38041535e-02 -3.58209892e-02 2.95499182e+02] [ 5.37791554e-02 9.98551471e-01 -1.66171483e-03 1.07354914e+01] [ 3.58585086e-02 -2.68182699e-04 9.99356841e-01 1.04096548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:10.74, Z:10.41 [[ 9.97981793e-01 -5.24328899e-02 -3.58208382e-02 2.95526379e+02] [ 5.24068922e-02 9.98624427e-01 -1.66496216e-03 1.07370172e+01] [ 3.58588628e-02 -2.15656889e-04 9.99356841e-01 1.04112304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:10.74, Z:10.41 [[ 9.98022113e-01 -5.16598892e-02 -3.58206334e-02 2.95553868e+02] [ 5.16332360e-02 9.98664720e-01 -1.66935831e-03 1.07384022e+01] [ 3.58590416e-02 -1.83478713e-04 9.99356841e-01 1.04125327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:10.74, Z:10.41 [[ 9.98135862e-01 -4.94137500e-02 -3.58201362e-02 2.95581826e+02] [ 4.93852702e-02 9.98778390e-01 -1.67995879e-03 1.07395306e+01] [ 3.58593910e-02 -9.21599944e-05 9.99356841e-01 1.04114005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:10.74, Z:10.41 [[ 9.98192378e-01 -4.82587412e-02 -3.58199820e-02 2.95609878e+02] [ 4.82294003e-02 9.98834867e-01 -1.68323957e-03 1.07405563e+01] [ 3.58594780e-02 -4.73793440e-05 9.99356841e-01 1.04127236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:10.74, Z:10.41 [[ 9.98323923e-01 -4.54566652e-02 -3.58194835e-02 2.95638066e+02] [ 4.54251426e-02 9.98966310e-01 -1.69378303e-03 1.07407599e+01] [ 3.58594509e-02 6.38389752e-05 9.99356841e-01 1.04146863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:10.74, Z:10.42 [[ 9.98387241e-01 -4.40442125e-02 -3.58193289e-02 2.95666164e+02] [ 4.40116641e-02 9.99029576e-01 -1.69704550e-03 1.07412959e+01] [ 3.58593140e-02 1.17840305e-04 9.99356841e-01 1.04163696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:10.74, Z:10.42 [[ 9.98431909e-01 -4.30201557e-02 -3.58188350e-02 2.95694273e+02] [ 4.29865768e-02 9.99074191e-01 -1.70740614e-03 1.07417506e+01] [ 3.58591265e-02 1.64999669e-04 9.99356841e-01 1.04178998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:10.74, Z:10.42 [[ 9.98525833e-01 -4.07824533e-02 -3.58183325e-02 2.95721225e+02] [ 4.07470592e-02 9.99168017e-01 -1.71788499e-03 1.07412283e+01] [ 3.58585918e-02 2.55860828e-04 9.99356841e-01 1.04174859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:10.74, Z:10.42 [[ 9.98542879e-01 -4.03631231e-02 -3.58181143e-02 2.95749440e+02] [ 4.03272966e-02 9.99185039e-01 -1.72242093e-03 1.07414510e+01] [ 3.58584463e-02 2.75463436e-04 9.99356841e-01 1.04188402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:10.74, Z:10.42 [[ 9.98555022e-01 -4.00620465e-02 -3.58176115e-02 2.95777166e+02] [ 4.00256536e-02 9.99197150e-01 -1.73281517e-03 1.07412758e+01] [ 3.58582754e-02 2.96687980e-04 9.99356841e-01 1.04191381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:10.74, Z:10.42 [[ 9.98543326e-01 -4.03529495e-02 -3.58171080e-02 2.95805576e+02] [ 4.03163726e-02 9.99185444e-01 -1.74316103e-03 1.07410148e+01] [ 3.58582746e-02 2.96605939e-04 9.99356841e-01 1.04202140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:10.74, Z:10.42 [[ 9.98502077e-01 -4.13614992e-02 -3.58165974e-02 2.95832752e+02] [ 4.13251968e-02 9.99144210e-01 -1.75358914e-03 1.07383923e+01] [ 3.58584770e-02 2.70834466e-04 9.99356841e-01 1.04208934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:10.74, Z:10.42 [[ 9.98441264e-01 -4.28045523e-02 -3.58163761e-02 2.95860336e+02] [ 4.27690162e-02 9.99083440e-01 -1.75809757e-03 1.07376214e+01] [ 3.58588028e-02 2.23525991e-04 9.99356841e-01 1.04222250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:10.73, Z:10.42 [[ 9.98288812e-01 -4.62241488e-02 -3.58158619e-02 2.95888738e+02] [ 4.61904390e-02 9.98931087e-01 -1.76851101e-03 1.07343519e+01] [ 3.58593258e-02 1.11134367e-04 9.99356841e-01 1.04224578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:10.73, Z:10.42 [[ 9.98176380e-01 -4.85919168e-02 -3.58153480e-02 2.95916593e+02] [ 4.85593592e-02 9.98818714e-01 -1.77885897e-03 1.07337445e+01] [ 3.58594780e-02 3.64446614e-05 9.99356841e-01 1.04238709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:10.73, Z:10.43 [[ 9.98054709e-01 -5.10303419e-02 -3.58148267e-02 2.95944615e+02] [ 5.09989792e-02 9.98697103e-01 -1.78929310e-03 1.07334538e+01] [ 3.58594719e-02 -4.07071989e-05 9.99356841e-01 1.04250765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:10.73, Z:10.43 [[ 9.97914916e-01 -5.36950333e-02 -3.58143031e-02 2.95972181e+02] [ 5.36650120e-02 9.98557373e-01 -1.79971259e-03 1.07329852e+01] [ 3.58592720e-02 -1.26014971e-04 9.99356842e-01 1.04260917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:10.73, Z:10.43 [[ 9.97636283e-01 -5.86448643e-02 -3.58137779e-02 2.96000349e+02] [ 5.86176576e-02 9.98278866e-01 -1.81010307e-03 1.07296328e+01] [ 3.58582909e-02 -2.93495269e-04 9.99356842e-01 1.04263841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:10.73, Z:10.43 [[ 9.97480054e-01 -6.12450306e-02 -3.58132487e-02 2.96027586e+02] [ 6.12191251e-02 9.98122690e-01 -1.82051310e-03 1.07286447e+01] [ 3.58575136e-02 -3.76530249e-04 9.99356842e-01 1.04267816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:10.73, Z:10.43 [[ 9.97306362e-01 -6.40113888e-02 -3.58128777e-02 2.96054293e+02] [ 6.39870048e-02 9.97949058e-01 -1.82778342e-03 1.07278884e+01] [ 3.58564265e-02 -4.68698747e-04 9.99356842e-01 1.04270892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:10.73, Z:10.43 [[ 9.97128212e-01 -6.67291821e-02 -3.58126487e-02 2.96081367e+02] [ 6.67063891e-02 9.97770966e-01 -1.83225876e-03 1.07270278e+01] [ 3.58550862e-02 -5.61935584e-04 9.99356842e-01 1.04276836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:10.72, Z:10.43 [[ 9.96792183e-01 -7.15738420e-02 -3.58124225e-02 2.96109171e+02] [ 7.15540142e-02 9.97435035e-01 -1.83666979e-03 1.07239750e+01] [ 3.58520224e-02 -7.31744502e-04 9.99356842e-01 1.04291156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:10.72, Z:10.43 [[ 9.96662967e-01 -7.33514811e-02 -3.58118897e-02 2.96137013e+02] [ 7.33324288e-02 9.97305843e-01 -1.84699990e-03 1.07233632e+01] [ 3.58508870e-02 -7.85336456e-04 9.99356842e-01 1.04302086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:10.72, Z:10.43 [[ 9.96523095e-01 -7.52279296e-02 -3.58117244e-02 2.96165812e+02] [ 7.52099730e-02 9.97166003e-01 -1.85019938e-03 1.07228402e+01] [ 3.58494208e-02 -8.49632413e-04 9.99356842e-01 1.04323905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:10.72, Z:10.43 [[ 9.96354821e-01 -7.74249599e-02 -3.58112560e-02 2.96194331e+02] [ 7.74080967e-02 9.96997758e-01 -1.85922298e-03 1.07203063e+01] [ 3.58476922e-02 -9.19635384e-04 9.99356842e-01 1.04340918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:10.72, Z:10.44 [[ 9.96286352e-01 -7.83012965e-02 -3.58107872e-02 2.96223311e+02] [ 7.82846761e-02 9.96929295e-01 -1.86820737e-03 1.07199629e+01] [ 3.58471059e-02 -9.42166370e-04 9.99356842e-01 1.04350808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:10.72, Z:10.44 [[ 9.96203144e-01 -7.93529509e-02 -3.58106876e-02 2.96252166e+02] [ 7.93369407e-02 9.96846103e-01 -1.87011633e-03 1.07177602e+01] [ 3.58461436e-02 -9.78094625e-04 9.99356842e-01 1.04361547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:10.72, Z:10.44 [[ 9.96167240e-01 -7.98026162e-02 -3.58102224e-02 2.96280009e+02] [ 7.97865778e-02 9.96810198e-01 -1.87898130e-03 1.07176841e+01] [ 3.58459425e-02 -9.85395476e-04 9.99356842e-01 1.04368672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:10.72, Z:10.44 [[ 9.96086647e-01 -8.08024279e-02 -3.58100574e-02 2.96308504e+02] [ 8.07869220e-02 9.96729618e-01 -1.88212067e-03 1.07164582e+01] [ 3.58450248e-02 -1.01822905e-03 9.99356842e-01 1.04376313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:10.72, Z:10.44 [[ 9.96025182e-01 -8.15567914e-02 -3.58095866e-02 2.96336428e+02] [ 8.15414522e-02 9.96668157e-01 -1.89103562e-03 1.07155378e+01] [ 3.58445015e-02 -1.03644659e-03 9.99356842e-01 1.04381603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:10.72, Z:10.44 [[ 9.95894959e-01 -8.31319225e-02 -3.58094198e-02 2.96364950e+02] [ 8.31174869e-02 9.96537955e-01 -1.89418890e-03 1.07151639e+01] [ 3.58429136e-02 -1.08997580e-03 9.99356842e-01 1.04397393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:10.71, Z:10.44 [[ 9.95612199e-01 -8.64527018e-02 -3.58089407e-02 2.96393704e+02] [ 8.64400868e-02 9.96255233e-01 -1.90320363e-03 1.07141498e+01] [ 3.58393817e-02 -1.20047519e-03 9.99356842e-01 1.04404786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:10.72, Z:10.44 [[ 9.95484540e-01 -8.79106685e-02 -3.58084478e-02 2.96423604e+02] [ 8.78986636e-02 9.96127586e-01 -1.91243367e-03 1.07150759e+01] [ 3.58379059e-02 -1.24371656e-03 9.99356842e-01 1.04417692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:10.72, Z:10.44 [[ 9.95461992e-01 -8.81656520e-02 -3.58083779e-02 2.96452807e+02] [ 8.81537648e-02 9.96105040e-01 -1.91374117e-03 1.07166659e+01] [ 3.58376319e-02 -1.25158672e-03 9.99356842e-01 1.04428189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:10.72, Z:10.44 [[ 9.95284535e-01 -9.01470471e-02 -3.58078851e-02 2.96481892e+02] [ 9.01361103e-02 9.95927600e-01 -1.92291733e-03 1.07177117e+01] [ 3.58354064e-02 -1.31373361e-03 9.99356842e-01 1.04440635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:10.72, Z:10.45 [[ 9.95088878e-01 -9.22817896e-02 -3.58077804e-02 2.96511069e+02] [ 9.22721622e-02 9.95731963e-01 -1.92486495e-03 1.07187236e+01] [ 3.58325815e-02 -1.38864962e-03 9.99356842e-01 1.04451550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:10.72, Z:10.45 [[ 9.95065445e-01 -9.25341444e-02 -3.58077107e-02 2.96540272e+02] [ 9.25246337e-02 9.95708533e-01 -1.92616022e-03 1.07203274e+01] [ 3.58322787e-02 -1.39643985e-03 9.99356842e-01 1.04462047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:10.72, Z:10.45 [[ 9.94846288e-01 -9.48615125e-02 -3.58072197e-02 2.96569690e+02] [ 9.48531796e-02 9.95489392e-01 -1.93524522e-03 1.07213461e+01] [ 3.58292877e-02 -1.47115712e-03 9.99356842e-01 1.04473386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:10.72, Z:10.45 [[ 9.94651989e-01 -9.68775974e-02 -3.58071490e-02 2.96598072e+02] [ 9.68705209e-02 9.95295108e-01 -1.93655381e-03 1.07224152e+01] [ 3.58262889e-02 -1.54246008e-03 9.99356842e-01 1.04479278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:10.72, Z:10.45 [[ 9.94444386e-01 -9.89859518e-02 -3.58070435e-02 2.96627115e+02] [ 9.89801687e-02 9.95087518e-01 -1.93850242e-03 1.07238703e+01] [ 3.58230265e-02 -1.61645435e-03 9.99356842e-01 1.04488526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:10.73, Z:10.45 [[ 9.94440879e-01 -9.90212251e-02 -3.58069171e-02 2.96657207e+02] [ 9.90153810e-02 9.95084010e-01 -1.94083396e-03 1.07255322e+01] [ 3.58230744e-02 -1.61539091e-03 9.99356842e-01 1.04499345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:10.73, Z:10.45 [[ 9.94112657e-01 -1.02263853e-01 -3.58068483e-02 2.96686462e+02] [ 1.02260061e-01 9.94755803e-01 -1.94210185e-03 1.07273535e+01] [ 3.58176770e-02 -1.73094247e-03 9.99356842e-01 1.04507542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:10.73, Z:10.45 [[ 9.93953798e-01 -1.03796543e-01 -3.58067787e-02 2.96715982e+02] [ 1.03793697e-01 9.94596949e-01 -1.94338468e-03 1.07293957e+01] [ 3.58150295e-02 -1.78488334e-03 9.99356842e-01 1.04515014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:10.73, Z:10.45 [[ 9.93827722e-01 -1.04996843e-01 -3.58067441e-02 2.96746776e+02] [ 1.04994750e-01 9.94470876e-01 -1.94402126e-03 1.07313935e+01] [ 3.58128803e-02 -1.82749792e-03 9.99356842e-01 1.04530933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:10.73, Z:10.45 [[ 9.93587465e-01 -1.07246568e-01 -3.58067441e-02 2.96777626e+02] [ 1.07245931e-01 9.94230623e-01 -1.94402126e-03 1.07338881e+01] [ 3.58086511e-02 -1.90857246e-03 9.99356842e-01 1.04544040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:10.74, Z:10.46 [[ 9.93464138e-01 -1.08383040e-01 -3.58067441e-02 2.96807150e+02] [ 1.08383139e-01 9.94107296e-01 -1.94402126e-03 1.07359552e+01] [ 3.58064445e-02 -1.94953191e-03 9.99356842e-01 1.04556232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:10.74, Z:10.46 [[ 9.93395700e-01 -1.09008546e-01 -3.58067090e-02 2.96837921e+02] [ 1.09009027e-01 9.94038858e-01 -1.94466749e-03 1.07380854e+01] [ 3.58052455e-02 -1.97143019e-03 9.99356842e-01 1.04568990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:10.74, Z:10.46 [[ 9.93354856e-01 -1.09380111e-01 -3.58067090e-02 2.96868717e+02] [ 1.09380833e-01 9.93998014e-01 -1.94466749e-03 1.07405695e+01] [ 3.58045056e-02 -1.98482275e-03 9.99356842e-01 1.04581928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:10.75, Z:10.46 [[ 9.93020317e-01 -1.12376732e-01 -3.58067090e-02 2.96896067e+02] [ 1.12379394e-01 9.93663469e-01 -1.94466749e-03 1.07482723e+01] [ 3.57983541e-02 -2.09284193e-03 9.99356842e-01 1.04560423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:10.75, Z:10.46 [[ 9.93375889e-01 -1.09195353e-01 -3.57871311e-02 2.96928079e+02] [ 1.09183095e-01 9.94018989e-01 -2.30252787e-03 1.07484551e+01] [ 3.58245132e-02 -1.62007405e-03 9.99356783e-01 1.04611772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:10.75, Z:10.46 [[ 9.93456389e-01 -1.08454212e-01 -3.58062522e-02 2.96958396e+02] [ 1.08454078e-01 9.94099544e-01 -1.95178338e-03 1.07520117e+01] [ 3.58066581e-02 -1.94432241e-03 9.99356845e-01 1.04621497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:10.76, Z:10.46 [[ 9.93587017e-01 -1.07250873e-01 -3.58062874e-02 2.96988308e+02] [ 1.07249983e-01 9.94230172e-01 -1.95113789e-03 1.07555412e+01] [ 3.58089525e-02 -1.90159845e-03 9.99356845e-01 1.04636364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:10.76, Z:10.47 [[ 9.93854647e-01 -1.04741824e-01 -3.58062874e-02 2.97018517e+02] [ 1.04739310e-01 9.94497798e-01 -1.95113789e-03 1.07611794e+01] [ 3.58136397e-02 -1.81117837e-03 9.99356845e-01 1.04656912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:10.76, Z:10.47 [[ 9.94007407e-01 -1.03282065e-01 -3.58062874e-02 2.97048921e+02] [ 1.03278607e-01 9.94650553e-01 -1.95113789e-03 1.07648072e+01] [ 3.58162611e-02 -1.75857796e-03 9.99356845e-01 1.04670073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:10.77, Z:10.47 [[ 9.94305189e-01 -1.00374800e-01 -3.58062874e-02 2.97079759e+02] [ 1.00369461e-01 9.94948322e-01 -1.95113789e-03 1.07715177e+01] [ 3.58212506e-02 -1.65383125e-03 9.99356845e-01 1.04690389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:10.78, Z:10.47 [[ 9.94487355e-01 -9.85535649e-02 -3.58063583e-02 2.97110572e+02] [ 9.85470948e-02 9.95130478e-01 -1.94983526e-03 1.07760419e+01] [ 3.58241617e-02 -1.58952608e-03 9.99356845e-01 1.04701091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:10.78, Z:10.47 [[ 9.94684484e-01 -9.65436529e-02 -3.58064290e-02 2.97141392e+02] [ 9.65359298e-02 9.95327593e-01 -1.94853554e-03 1.07804728e+01] [ 3.58272456e-02 -1.51842885e-03 9.99356845e-01 1.04712688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:10.79, Z:10.47 [[ 9.95105180e-01 -9.21063218e-02 -3.58064994e-02 2.97172165e+02] [ 9.20957770e-02 9.95748249e-01 -1.94724189e-03 1.07878602e+01] [ 3.58336124e-02 -1.35991689e-03 9.99356845e-01 1.04726495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:10.79, Z:10.47 [[ 9.95322089e-01 -8.97319825e-02 -3.58065699e-02 2.97201839e+02] [ 8.97199501e-02 9.95965132e-01 -1.94594466e-03 1.07922814e+01] [ 3.58367086e-02 -1.27572197e-03 9.99356845e-01 1.04738057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:10.80, Z:10.47 [[ 9.95564177e-01 -8.70049186e-02 -3.58066049e-02 2.97232986e+02] [ 8.69911478e-02 9.96207185e-01 -1.94530120e-03 1.07966339e+01] [ 3.58400478e-02 -1.17818546e-03 9.99356845e-01 1.04748442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:10.80, Z:10.48 [[ 9.95970610e-01 -8.22218161e-02 -3.58066740e-02 2.97264183e+02] [ 8.22050025e-02 9.96613545e-01 -1.94402807e-03 1.08035914e+01] [ 3.58452578e-02 -1.00729290e-03 9.99356845e-01 1.04762587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:10.81, Z:10.48 [[ 9.96147175e-01 -8.00542466e-02 -3.58067444e-02 2.97295259e+02] [ 8.00360805e-02 9.96790074e-01 -1.94272973e-03 1.08079739e+01] [ 3.58473312e-02 -9.30586752e-04 9.99356845e-01 1.04774291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:10.81, Z:10.48 [[ 9.96283334e-01 -7.83415031e-02 -3.58068146e-02 2.97326828e+02] [ 7.83222783e-02 9.96926202e-01 -1.94143496e-03 1.08124626e+01] [ 3.58488466e-02 -8.70252008e-04 9.99356845e-01 1.04785369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:10.82, Z:10.48 [[ 9.96471700e-01 -7.59079624e-02 -3.58068848e-02 2.97357528e+02] [ 7.58872141e-02 9.97114520e-01 -1.94014061e-03 1.08188990e+01] [ 3.58508368e-02 -7.83989518e-04 9.99356845e-01 1.04795735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:10.82, Z:10.48 [[ 9.96514778e-01 -7.53402936e-02 -3.58069547e-02 2.97388193e+02] [ 7.53192254e-02 9.97157588e-01 -1.93884927e-03 1.08223632e+01] [ 3.58512500e-02 -7.64860142e-04 9.99356845e-01 1.04807227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:10.83, Z:10.48 [[ 9.96527654e-01 -7.51697908e-02 -3.58069547e-02 2.97418481e+02] [ 7.51486126e-02 9.97170460e-01 -1.93884927e-03 1.08255788e+01] [ 3.58513804e-02 -7.58726054e-04 9.99356845e-01 1.04820666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:10.83, Z:10.48 [[ 9.96522561e-01 -7.52372568e-02 -3.58069898e-02 2.97448750e+02] [ 7.52161454e-02 9.97165370e-01 -1.93820081e-03 1.08287473e+01] [ 3.58513151e-02 -7.61802914e-04 9.99356845e-01 1.04832323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:10.83, Z:10.48 [[ 9.96407445e-01 -7.67467509e-02 -3.58069898e-02 2.97478650e+02] [ 7.67266133e-02 9.97050285e-01 -1.93820081e-03 1.08338624e+01] [ 3.58501200e-02 -8.16111340e-04 9.99356845e-01 1.04847681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:10.84, Z:10.49 [[ 9.96332475e-01 -7.77139535e-02 -3.58069898e-02 2.97509447e+02] [ 7.76944400e-02 9.96975334e-01 -1.93820081e-03 1.08371221e+01] [ 3.58493109e-02 -8.50911605e-04 9.99356845e-01 1.04861836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:10.84, Z:10.49 [[ 9.96232130e-01 -7.89898564e-02 -3.58070595e-02 2.97540177e+02] [ 7.89712125e-02 9.96875015e-01 -1.93691247e-03 1.08401985e+01] [ 3.58481594e-02 -8.98112465e-04 9.99356845e-01 1.04877676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:10.84, Z:10.49 [[ 9.95995523e-01 -8.19192798e-02 -3.58071306e-02 2.97570337e+02] [ 8.19025738e-02 9.96638461e-01 -1.93559588e-03 1.08439549e+01] [ 3.58453262e-02 -1.00485133e-03 9.99356845e-01 1.04869374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:10.85, Z:10.49 [[ 9.95863478e-01 -8.35091230e-02 -3.58072524e-02 2.97601936e+02] [ 8.34935244e-02 9.96506444e-01 -1.93334114e-03 1.08466427e+01] [ 3.58436094e-02 -1.06432986e-03 9.99356845e-01 1.04893830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:10.85, Z:10.49 [[ 9.95637220e-01 -8.61647127e-02 -3.58073932e-02 2.97633125e+02] [ 8.61509227e-02 9.96280227e-01 -1.93072941e-03 1.08507863e+01] [ 3.58405586e-02 -1.16253390e-03 9.99356845e-01 1.04900773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:10.85, Z:10.49 [[ 9.95643442e-01 -8.60926844e-02 -3.58076142e-02 2.97665749e+02] [ 8.60789955e-02 9.96286452e-01 -1.92662243e-03 1.08524829e+01] [ 3.58405090e-02 -1.16405447e-03 9.99356845e-01 1.04912484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:10.86, Z:10.49 [[ 9.95460712e-01 -8.81803580e-02 -3.58077532e-02 2.97696502e+02] [ 8.81681104e-02 9.96103751e-01 -1.92403559e-03 1.08562063e+01] [ 3.58378994e-02 -1.24180009e-03 9.99356845e-01 1.04913987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:10.86, Z:10.49 [[ 9.95389046e-01 -8.89855963e-02 -3.58079835e-02 2.97728232e+02] [ 8.89740232e-02 9.96032097e-01 -1.91974007e-03 1.08588414e+01] [ 3.58367301e-02 -1.27509211e-03 9.99356845e-01 1.04928459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:10.86, Z:10.49 [[ 9.95300491e-01 -8.99706091e-02 -3.58081181e-02 2.97760301e+02] [ 8.99597628e-02 9.95943555e-01 -1.91722498e-03 1.08614422e+01] [ 3.58353584e-02 -1.31307485e-03 9.99356845e-01 1.04941749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:10.86, Z:10.50 [[ 9.95222858e-01 -9.08252870e-02 -3.58082551e-02 2.97792453e+02] [ 9.08150849e-02 9.95865932e-01 -1.91466419e-03 1.08638952e+01] [ 3.58341212e-02 -1.34641216e-03 9.99356845e-01 1.04953095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:10.87, Z:10.50 [[ 9.95036492e-01 -9.28447006e-02 -3.58083925e-02 2.97824517e+02] [ 9.28358960e-02 9.95679587e-01 -1.91209069e-03 1.08671733e+01] [ 3.58312129e-02 -1.42170418e-03 9.99356845e-01 1.04968869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:10.87, Z:10.50 [[ 9.94917837e-01 -9.41076341e-02 -3.58085318e-02 2.97856884e+02] [ 9.40997396e-02 9.95560944e-01 -1.90947776e-03 1.08696099e+01] [ 3.58292722e-02 -1.46980004e-03 9.99356845e-01 1.04981573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:10.87, Z:10.50 [[ 9.94628337e-01 -9.71195636e-02 -3.58086708e-02 2.97887530e+02] [ 9.71137101e-02 9.95271466e-01 -1.90686845e-03 1.08724995e+01] [ 3.58245425e-02 -1.58088747e-03 9.99356845e-01 1.04989745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:10.87, Z:10.50 [[ 9.94474061e-01 -9.86867416e-02 -3.58087742e-02 2.97920024e+02] [ 9.86819714e-02 9.95117199e-01 -1.90492484e-03 1.08746431e+01] [ 3.58219179e-02 -1.63928208e-03 9.99356845e-01 1.04999048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:10.88, Z:10.50 [[ 9.94315334e-01 -1.00273324e-01 -3.58089114e-02 2.97952741e+02] [ 1.00269672e-01 9.94958478e-01 -1.90234068e-03 1.08767905e+01] [ 3.58191341e-02 -1.69902131e-03 9.99356845e-01 1.05010459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:10.88, Z:10.50 [[ 9.94177033e-01 -1.01635296e-01 -3.58091207e-02 2.97984953e+02] [ 1.01632667e-01 9.94820183e-01 -1.89839256e-03 1.08788992e+01] [ 3.58165798e-02 -1.75203817e-03 9.99356845e-01 1.05017170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:10.88, Z:10.50 [[ 9.93918878e-01 -1.04129469e-01 -3.58094504e-02 2.98017451e+02] [ 1.04128679e-01 9.94562033e-01 -1.89215399e-03 1.08814777e+01] [ 3.58117488e-02 -1.84814319e-03 9.99356845e-01 1.05023953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:10.88, Z:10.50 [[ 9.93823083e-01 -1.05039743e-01 -3.58096542e-02 2.98049221e+02] [ 1.05039681e-01 9.94466239e-01 -1.88828926e-03 1.08835428e+01] [ 3.58098375e-02 -1.88480919e-03 9.99356845e-01 1.05029115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:10.89, Z:10.50 [[ 9.93757876e-01 -1.05654814e-01 -3.58098226e-02 2.98082210e+02] [ 1.05655265e-01 9.94401031e-01 -1.88508965e-03 1.08857280e+01] [ 3.58084933e-02 -1.91017361e-03 9.99356845e-01 1.05042065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:10.89, Z:10.50 [[ 9.93734287e-01 -1.05876387e-01 -3.58100252e-02 2.98114569e+02] [ 1.05877120e-01 9.94377442e-01 -1.88123385e-03 1.08886400e+01] [ 3.58078595e-02 -1.92201575e-03 9.99356845e-01 1.05049070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:10.89, Z:10.51 [[ 9.93773144e-01 -1.05511001e-01 -3.58101604e-02 2.98146810e+02] [ 1.05511589e-01 9.94416299e-01 -1.87865669e-03 1.08912364e+01] [ 3.58084261e-02 -1.91142837e-03 9.99356845e-01 1.05059525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:10.89, Z:10.51 [[ 9.94117987e-01 -1.02210816e-01 -3.58102978e-02 2.98178417e+02] [ 1.02209364e-01 9.94761140e-01 -1.87603266e-03 1.08947402e+01] [ 3.58144436e-02 -1.79514994e-03 9.99356845e-01 1.05071040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:10.90, Z:10.51 [[ 9.94352377e-01 -9.99047626e-02 -3.58104687e-02 2.98211284e+02] [ 9.99019357e-02 9.94995526e-01 -1.87276615e-03 1.08976721e+01] [ 3.58183544e-02 -1.71534566e-03 9.99356845e-01 1.05091809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:10.90, Z:10.51 [[ 9.94646708e-01 -9.69305015e-02 -3.58106736e-02 2.98242791e+02] [ 9.69258923e-02 9.95289847e-01 -1.86883869e-03 1.09005254e+01] [ 3.58231473e-02 -1.61214725e-03 9.99356845e-01 1.05108862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:10.90, Z:10.51 [[ 9.94975833e-01 -9.34916022e-02 -3.58107749e-02 2.98274997e+02] [ 9.34848395e-02 9.95618953e-01 -1.86689661e-03 1.09036420e+01] [ 3.58284253e-02 -1.49024753e-03 9.99356845e-01 1.05132080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:10.91, Z:10.52 [[ 9.95333203e-01 -8.96068867e-02 -3.58109096e-02 2.98306890e+02] [ 8.95977066e-02 9.95976293e-01 -1.86430845e-03 1.09068457e+01] [ 3.58338719e-02 -1.35296727e-03 9.99356845e-01 1.05154947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:10.91, Z:10.52 [[ 9.96029001e-01 -8.15095016e-02 -3.58110444e-02 2.98338548e+02] [ 8.14951850e-02 9.96671997e-01 -1.86171561e-03 1.09119138e+01] [ 3.58436126e-02 -1.06410495e-03 9.99356845e-01 1.05179397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.37, Y:10.91, Z:10.52 [[ 9.96335360e-01 -7.76750224e-02 -3.58111809e-02 2.98369725e+02] [ 7.76583254e-02 9.96978299e-01 -1.85908642e-03 1.09149911e+01] [ 3.58473748e-02 -9.28762797e-04 9.99356845e-01 1.05188925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:10.92, Z:10.52 [[ 9.96635147e-01 -7.37287991e-02 -3.58112823e-02 2.98402074e+02] [ 7.37096263e-02 9.97278016e-01 -1.85713166e-03 1.09177416e+01] [ 3.58507286e-02 -7.88753549e-04 9.99356845e-01 1.05200508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:10.92, Z:10.52 [[ 9.96884128e-01 -7.02821341e-02 -3.58114186e-02 2.98432971e+02] [ 7.02608331e-02 9.97526930e-01 -1.85449876e-03 1.09203459e+01] [ 3.58531926e-02 -6.67419722e-04 9.99356845e-01 1.05206488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:10.92, Z:10.52 [[ 9.97095146e-01 -6.72220515e-02 -3.58115199e-02 2.98464713e+02] [ 6.71988479e-02 9.97737883e-01 -1.85254043e-03 1.09228686e+01] [ 3.58550416e-02 -5.59333805e-04 9.99356845e-01 1.05213880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:10.93, Z:10.52 [[ 9.97450422e-01 -6.17267114e-02 -3.58115867e-02 2.98494524e+02] [ 6.17000128e-02 9.98093022e-01 -1.85124770e-03 1.09254420e+01] [ 3.58575663e-02 -3.63047567e-04 9.99356845e-01 1.05221212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.52, Y:10.93, Z:10.52 [[ 9.97593046e-01 -5.93771202e-02 -3.58116199e-02 2.98524983e+02] [ 5.93489311e-02 9.98235583e-01 -1.85060652e-03 1.09276004e+01] [ 3.58583169e-02 -2.79229164e-04 9.99356845e-01 1.05232401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.55, Y:10.93, Z:10.52 [[ 9.97706239e-01 -5.74437821e-02 -3.58116199e-02 2.98554191e+02] [ 5.74143479e-02 9.98348721e-01 -1.85060652e-03 1.09296428e+01] [ 3.58587907e-02 -2.09739131e-04 9.99356845e-01 1.05244196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:10.93, Z:10.52 [[ 9.97804433e-01 -5.57121277e-02 -3.58116277e-02 2.98584659e+02] [ 5.56815839e-02 9.98446862e-01 -1.85045495e-03 1.09317185e+01] [ 3.58591001e-02 -1.47656000e-04 9.99356845e-01 1.05249963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.61, Y:10.93, Z:10.52 [[ 9.97926243e-01 -5.34858926e-02 -3.58116277e-02 2.98614462e+02] [ 5.34539157e-02 9.98568603e-01 -1.85045495e-03 1.09333039e+01] [ 3.58593403e-02 -6.76541705e-05 9.99356845e-01 1.05247190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.64, Y:10.93, Z:10.53 [[ 9.97912774e-01 -5.37366543e-02 -3.58115614e-02 2.98643642e+02] [ 5.37047928e-02 9.98555139e-01 -1.85173809e-03 1.09348428e+01] [ 3.58593249e-02 -7.53793925e-05 9.99356845e-01 1.05257679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:10.94, Z:10.53 [[ 9.97922586e-01 -5.35544323e-02 -3.58110936e-02 2.98673256e+02] [ 5.35221303e-02 9.98564930e-01 -1.86074100e-03 1.09362313e+01] [ 3.58593531e-02 -5.98105483e-05 9.99356845e-01 1.05265090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.70, Y:10.94, Z:10.53 [[ 9.97917501e-01 -5.36491546e-02 -3.58110268e-02 2.98701481e+02] [ 5.36168676e-02 9.98559845e-01 -1.86202587e-03 1.09375233e+01] [ 3.58593495e-02 -6.19268758e-05 9.99356845e-01 1.05273118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.73, Y:10.94, Z:10.53 [[ 9.97817905e-01 -5.54707681e-02 -3.58109274e-02 2.98730231e+02] [ 5.54395852e-02 9.98460304e-01 -1.86393503e-03 1.09378666e+01] [ 3.58591834e-02 -1.25475210e-04 9.99356845e-01 1.05288294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:10.94, Z:10.53 [[ 9.97741294e-01 -5.68321608e-02 -3.58108300e-02 2.98760055e+02] [ 5.68017873e-02 9.98383732e-01 -1.86580516e-03 1.09384716e+01] [ 3.58589878e-02 -1.72528291e-04 9.99356845e-01 1.05300268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:10.94, Z:10.53 [[ 9.97632462e-01 -5.87116629e-02 -3.58107648e-02 2.98789756e+02] [ 5.86824549e-02 9.98274954e-01 -1.86705410e-03 1.09391186e+01] [ 3.58586075e-02 -2.38829814e-04 9.99356845e-01 1.05313126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:10.94, Z:10.53 [[ 9.97369129e-01 -6.30270853e-02 -3.58106987e-02 2.98820444e+02] [ 6.30006115e-02 9.98011740e-01 -1.86832213e-03 1.09387851e+01] [ 3.58572526e-02 -3.92689104e-04 9.99356845e-01 1.05326639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:10.94, Z:10.53 [[ 9.97212459e-01 -6.54591908e-02 -3.58106987e-02 2.98850245e+02] [ 6.54342843e-02 9.97855132e-01 -1.86832213e-03 1.09388415e+01] [ 3.58561883e-02 -4.80133336e-04 9.99356845e-01 1.05337012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.88, Y:10.94, Z:10.53 [[ 9.97027866e-01 -6.82131304e-02 -3.58106657e-02 2.98880255e+02] [ 6.81899763e-02 9.97670604e-01 -1.86895364e-03 1.09388969e+01] [ 3.58547357e-02 -5.78529592e-04 9.99356845e-01 1.05346703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:10.94, Z:10.54 [[ 9.96822393e-01 -7.11527297e-02 -3.58106981e-02 2.98911889e+02] [ 7.11314932e-02 9.97465197e-01 -1.86833284e-03 1.09390395e+01] [ 3.58528621e-02 -6.84872413e-04 9.99356845e-01 1.05364088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:10.94, Z:10.54 [[ 9.96603955e-01 -7.41494818e-02 -3.58107639e-02 2.98941772e+02] [ 7.41302233e-02 9.97246822e-01 -1.86707155e-03 1.09387682e+01] [ 3.58506129e-02 -7.93929031e-04 9.99356845e-01 1.05374499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.97, Y:10.94, Z:10.54 [[ 9.96122953e-01 -8.03532792e-02 -3.58107965e-02 2.98974240e+02] [ 8.03380464e-02 9.96765928e-01 -1.86644521e-03 1.09371896e+01] [ 3.58449568e-02 -1.01776052e-03 9.99356845e-01 1.05382843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.01, Y:10.94, Z:10.54 [[ 9.95860022e-01 -8.35487514e-02 -3.58109273e-02 2.99006282e+02] [ 8.35356718e-02 9.96503044e-01 -1.86393225e-03 1.09371678e+01] [ 3.58414273e-02 -1.13527426e-03 9.99356845e-01 1.05387168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.04, Y:10.94, Z:10.54 [[ 9.95335692e-01 -8.95791763e-02 -3.58110575e-02 2.99038653e+02] [ 8.95700818e-02 9.95978783e-01 -1.86142703e-03 1.09361518e+01] [ 3.58337986e-02 -1.35485459e-03 9.99356845e-01 1.05391212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.07, Y:10.94, Z:10.54 [[ 9.95077292e-01 -9.24053071e-02 -3.58111905e-02 2.99070436e+02] [ 9.23981308e-02 9.95720408e-01 -1.85886496e-03 1.09366963e+01] [ 3.58297022e-02 -1.45917276e-03 9.99356845e-01 1.05400473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:10.94, Z:10.54 [[ 9.94857352e-01 -9.47438579e-02 -3.58113227e-02 2.99102240e+02] [ 9.47382848e-02 9.95500483e-01 -1.85631573e-03 1.09372403e+01] [ 3.58260635e-02 -1.54593394e-03 9.99356845e-01 1.05414386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:10.94, Z:10.54 [[ 9.94646641e-01 -9.69309015e-02 -3.58114562e-02 2.99133576e+02] [ 9.69268351e-02 9.95289783e-01 -1.85373602e-03 1.09379293e+01] [ 3.58224608e-02 -1.62727880e-03 9.99356845e-01 1.05420546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:10.94, Z:10.54 [[ 9.94267763e-01 -1.00742980e-01 -3.58115555e-02 2.99166209e+02] [ 1.00741448e-01 9.94910916e-01 -1.85181592e-03 1.09390377e+01] [ 3.58158650e-02 -1.76650708e-03 9.99356845e-01 1.05434039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.20, Y:10.94, Z:10.54 [[ 9.94131447e-01 -1.02079330e-01 -3.58116891e-02 2.99199220e+02] [ 1.02078755e-01 9.94774602e-01 -1.84922799e-03 1.09404322e+01] [ 3.58133267e-02 -1.81723695e-03 9.99356845e-01 1.05446006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:10.94, Z:10.55 [[ 9.93975413e-01 -1.03587583e-01 -3.58118957e-02 2.99231319e+02] [ 1.03588129e-01 9.94618567e-01 -1.84521816e-03 1.09422381e+01] [ 3.58103181e-02 -1.87558578e-03 9.99356845e-01 1.05455197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:10.94, Z:10.55 [[ 9.93852331e-01 -1.04761821e-01 -3.58120666e-02 2.99262059e+02] [ 1.04763245e-01 9.94495485e-01 -1.84189598e-03 1.09440397e+01] [ 3.58078989e-02 -1.92121571e-03 9.99356845e-01 1.05463307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:10.95, Z:10.55 [[ 9.93574848e-01 -1.07361544e-01 -3.58122929e-02 2.99295204e+02] [ 1.07364809e-01 9.94217995e-01 -1.83748546e-03 1.09461120e+01] [ 3.58025013e-02 -2.01930067e-03 9.99356845e-01 1.05479390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.33, Y:10.95, Z:10.55 [[ 9.93664736e-01 -1.06526322e-01 -3.58124891e-02 2.99329637e+02] [ 1.06529185e-01 9.94307885e-01 -1.83365403e-03 1.09462124e+01] [ 3.58039727e-02 -1.99303791e-03 9.99356845e-01 1.05453723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.36, Y:10.95, Z:10.55 [[ 9.93335916e-01 -1.09547928e-01 -3.58191291e-02 2.99359490e+02] [ 1.09557423e-01 9.93979008e-01 -1.70349127e-03 1.09496446e+01] [ 3.57900763e-02 -2.23211242e-03 9.99356837e-01 1.05501528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.39, Y:10.95, Z:10.55 [[ 9.93199531e-01 -1.10779688e-01 -3.58127503e-02 2.99392559e+02] [ 1.10785492e-01 9.93842659e-01 -1.82843497e-03 1.09517818e+01] [ 3.57947924e-02 -2.15153241e-03 9.99356845e-01 1.05509783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:10.95, Z:10.55 [[ 9.93075906e-01 -1.11882427e-01 -3.58129483e-02 2.99425404e+02] [ 1.11889084e-01 9.93719027e-01 -1.82454853e-03 1.09539046e+01] [ 3.57921430e-02 -2.19516281e-03 9.99356845e-01 1.05521441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.46, Y:10.96, Z:10.55 [[ 9.93021351e-01 -1.12365537e-01 -3.58131499e-02 2.99458365e+02] [ 1.12372650e-01 9.93664467e-01 -1.82058328e-03 1.09560714e+01] [ 3.57908253e-02 -2.21654047e-03 9.99356845e-01 1.05497013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.49, Y:10.96, Z:10.55 [[ 9.92797575e-01 -1.14325661e-01 -3.58136658e-02 2.99489664e+02] [ 1.14334409e-01 9.93440670e-01 -1.81041562e-03 1.09586220e+01] [ 3.57857291e-02 -2.29735807e-03 9.99356845e-01 1.05530472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.52, Y:10.96, Z:10.55 [[ 9.92639962e-01 -1.15686220e-01 -3.58134569e-02 2.99522396e+02] [ 1.15695701e-01 9.93283047e-01 -1.81453796e-03 1.09610214e+01] [ 3.57828166e-02 -2.34228011e-03 9.99356845e-01 1.05537256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.55, Y:10.96, Z:10.56 [[ 9.92548324e-01 -1.16469767e-01 -3.58136540e-02 2.99554877e+02] [ 1.16479896e-01 9.93191399e-01 -1.81063903e-03 1.09631814e+01] [ 3.57806978e-02 -2.37442396e-03 9.99356845e-01 1.05553151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.59, Y:10.97, Z:10.56 [[ 9.92509535e-01 -1.16799790e-01 -3.58138521e-02 2.99587976e+02] [ 1.16810274e-01 9.93152604e-01 -1.80671289e-03 1.09655495e+01] [ 3.57796442e-02 -2.39024609e-03 9.99356845e-01 1.05565654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:10.97, Z:10.56 [[ 9.92510640e-01 -1.16790343e-01 -3.58140494e-02 2.99621335e+02] [ 1.16800962e-01 9.93153707e-01 -1.80279219e-03 1.09680123e+01] [ 3.57794047e-02 -2.39382499e-03 9.99356845e-01 1.05577914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.65, Y:10.97, Z:10.56 [[ 9.92579257e-01 -1.16205676e-01 -3.58142455e-02 2.99653764e+02] [ 1.16216056e-01 9.93222328e-01 -1.79888944e-03 1.09717255e+01] [ 3.57805494e-02 -2.37665001e-03 9.99356845e-01 1.05595285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.69, Y:10.98, Z:10.56 [[ 9.92761154e-01 -1.14641252e-01 -3.58144437e-02 2.99686334e+02] [ 1.14650760e-01 9.93404239e-01 -1.79493396e-03 1.09762484e+01] [ 3.57839937e-02 -2.32421248e-03 9.99356845e-01 1.05604795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.72, Y:10.98, Z:10.56 [[ 9.92773740e-01 -1.14532149e-01 -3.58146400e-02 2.99719814e+02] [ 1.14541728e-01 9.93416823e-01 -1.79100940e-03 1.09778336e+01] [ 3.57839940e-02 -2.32420365e-03 9.99356845e-01 1.05616810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.75, Y:10.98, Z:10.56 [[ 9.92908437e-01 -1.13358427e-01 -3.58148362e-02 2.99752824e+02] [ 1.13367387e-01 9.93551530e-01 -1.78707599e-03 1.09808345e+01] [ 3.57864654e-02 -2.28583157e-03 9.99356845e-01 1.05631927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.78, Y:10.99, Z:10.56 [[ 9.93169770e-01 -1.11045445e-01 -3.58150313e-02 2.99784502e+02] [ 1.11053048e-01 9.93812880e-01 -1.78315898e-03 1.09850653e+01] [ 3.57914510e-02 -2.20638878e-03 9.99356845e-01 1.05637063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.82, Y:10.99, Z:10.56 [[ 9.93310406e-01 -1.09780274e-01 -3.58151920e-02 2.99817565e+02] [ 1.09787173e-01 9.93953524e-01 -1.77992358e-03 1.09878789e+01] [ 3.57940369e-02 -2.16403209e-03 9.99356845e-01 1.05646426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:10.99, Z:10.57 [[ 9.93447179e-01 -1.08535529e-01 -3.58153826e-02 2.99849378e+02] [ 1.08541761e-01 9.94090304e-01 -1.77608138e-03 1.09906835e+01] [ 3.57964925e-02 -2.12302166e-03 9.99356845e-01 1.05658168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:10.99, Z:10.57 [[ 9.93569836e-01 -1.07406839e-01 -3.58155400e-02 2.99882693e+02] [ 1.07412454e-01 9.94212966e-01 -1.77290163e-03 1.09938364e+01] [ 3.57986960e-02 -2.08553346e-03 9.99356845e-01 1.05672105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:11.00, Z:10.57 [[ 9.93680675e-01 -1.06376458e-01 -3.58157254e-02 2.99915581e+02] [ 1.06381542e-01 9.94323809e-01 -1.76914765e-03 1.09969620e+01] [ 3.58006242e-02 -2.05216425e-03 9.99356845e-01 1.05689502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.95, Y:11.00, Z:10.57 [[ 9.93907443e-01 -1.04236346e-01 -3.58159151e-02 2.99947273e+02] [ 1.04240183e-01 9.94550586e-01 -1.76529810e-03 1.10012619e+01] [ 3.58047476e-02 -1.97891463e-03 9.99356845e-01 1.05702566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:11.00, Z:10.57 [[ 9.93997392e-01 -1.03375014e-01 -3.58160719e-02 2.99980037e+02] [ 1.03378408e-01 9.94640538e-01 -1.76211229e-03 1.10040472e+01] [ 3.58062754e-02 -1.95107346e-03 9.99356845e-01 1.05712343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.01, Y:11.01, Z:10.57 [[ 9.94126062e-01 -1.02130155e-01 -3.58162542e-02 3.00011524e+02] [ 1.02132877e-01 9.94769211e-01 -1.75839788e-03 1.10064876e+01] [ 3.58084924e-02 -1.90994792e-03 9.99356845e-01 1.05717690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.04, Y:11.01, Z:10.57 [[ 9.94292878e-01 -1.00493077e-01 -3.58164052e-02 3.00044817e+02] [ 1.00494850e-01 9.94936030e-01 -1.75531825e-03 1.10094177e+01] [ 3.58114293e-02 -1.85406384e-03 9.99356845e-01 1.05724787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:11.01, Z:10.57 [[ 9.94384778e-01 -9.95795370e-02 -3.58165982e-02 3.00076319e+02] [ 9.95808612e-02 9.95027932e-01 -1.75136977e-03 1.10117783e+01] [ 3.58129163e-02 -1.82511226e-03 9.99356845e-01 1.05736237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.11, Y:11.02, Z:10.58 [[ 9.94566754e-01 -9.77451797e-02 -3.58169110e-02 3.00109448e+02] [ 9.77455482e-02 9.95209909e-01 -1.74494992e-03 1.10151557e+01] [ 3.58159052e-02 -1.76547442e-03 9.99356845e-01 1.05751542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.14, Y:11.02, Z:10.58 [[ 9.94688785e-01 -9.64953701e-02 -3.58171016e-02 3.00140929e+02] [ 9.64950713e-02 9.95331940e-01 -1.74102889e-03 1.10172488e+01] [ 3.58179064e-02 -1.72439186e-03 9.99356845e-01 1.05755891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:11.02, Z:10.58 [[ 9.94828695e-01 -9.50420518e-02 -3.58172590e-02 3.00174213e+02] [ 9.50409300e-02 9.95471849e-01 -1.73778572e-03 1.10194703e+01] [ 3.58202357e-02 -1.67530650e-03 9.99356845e-01 1.05772307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.21, Y:11.02, Z:10.58 [[ 9.94964903e-01 -9.36053005e-02 -3.58174449e-02 3.00206807e+02] [ 9.36033879e-02 9.95608055e-01 -1.73394446e-03 1.10218325e+01] [ 3.58224431e-02 -1.62742030e-03 9.99356845e-01 1.05790026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.24, Y:11.02, Z:10.58 [[ 9.95077229e-01 -9.24034900e-02 -3.58176305e-02 3.00239415e+02] [ 9.24009385e-02 9.95720379e-01 -1.73010319e-03 1.10240822e+01] [ 3.58242122e-02 -1.58799639e-03 9.99356845e-01 1.05805066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.27, Y:11.03, Z:10.58 [[ 9.95091329e-01 -9.22514602e-02 -3.58178144e-02 3.00268447e+02] [ 9.22489476e-02 9.95734478e-01 -1.72628678e-03 1.10276987e+01] [ 3.58242852e-02 -1.58634268e-03 9.99356845e-01 1.05818509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.30, Y:11.03, Z:10.58 [[ 9.95342001e-01 -8.95130142e-02 -3.58011274e-02 3.00303052e+02] [ 8.94963455e-02 9.95984997e-01 -2.07109731e-03 1.10276561e+01] [ 3.58427759e-02 -1.14261992e-03 9.99356788e-01 1.05834305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.34, Y:11.03, Z:10.58 [[ 9.95417839e-01 -8.86588792e-02 -3.58179983e-02 3.00336142e+02] [ 8.86542789e-02 9.96060973e-01 -1.71976984e-03 1.10292275e+01] [ 3.58293831e-02 -1.46352923e-03 9.99356850e-01 1.05846685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.37, Y:11.03, Z:10.59 [[ 9.95491721e-01 -8.78253416e-02 -3.58181821e-02 3.00368963e+02] [ 8.78203406e-02 9.96134852e-01 -1.71593259e-03 1.10308907e+01] [ 3.58304419e-02 -1.43736827e-03 9.99356850e-01 1.05856317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.40, Y:11.03, Z:10.59 [[ 9.95642683e-01 -8.60969972e-02 -3.58183668e-02 3.00399864e+02] [ 8.60910186e-02 9.96285805e-01 -1.71206898e-03 1.10332114e+01] [ 3.58327344e-02 -1.37903073e-03 9.99356850e-01 1.05856219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.43, Y:11.04, Z:10.59 [[ 9.95730754e-01 -8.50723390e-02 -3.58184580e-02 3.00431652e+02] [ 8.50657672e-02 9.96373871e-01 -1.71015734e-03 1.10352709e+01] [ 3.58340628e-02 -1.34406836e-03 9.99356850e-01 1.05865992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.46, Y:11.04, Z:10.59 [[ 9.95814920e-01 -8.40813566e-02 -3.58185794e-02 3.00463520e+02] [ 8.40742362e-02 9.96458031e-01 -1.70761211e-03 1.10371644e+01] [ 3.58352894e-02 -1.31095408e-03 9.99356850e-01 1.05873857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:11.04, Z:10.59 [[ 9.95995287e-01 -8.19170743e-02 -3.58187302e-02 3.00495242e+02] [ 8.19086701e-02 9.96638382e-01 -1.70444366e-03 1.10389518e+01] [ 3.58379443e-02 -1.23624670e-03 9.99356850e-01 1.05889643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.53, Y:11.04, Z:10.59 [[ 9.96056941e-01 -8.11639032e-02 -3.58188538e-02 3.00526920e+02] [ 8.11551062e-02 9.96700031e-01 -1.70184196e-03 1.10406526e+01] [ 3.58387808e-02 -1.21175139e-03 9.99356850e-01 1.05906089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.56, Y:11.04, Z:10.59 [[ 9.96109523e-01 -8.05159589e-02 -3.58189780e-02 3.00557835e+02] [ 8.05068376e-02 9.96752608e-01 -1.69922321e-03 1.10423667e+01] [ 3.58394743e-02 -1.19106023e-03 9.99356850e-01 1.05916471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.59, Y:11.04, Z:10.59 [[ 9.96139623e-01 -8.01426173e-02 -3.58191739e-02 3.00589870e+02] [ 8.01334037e-02 9.96782707e-01 -1.69508398e-03 1.10441741e+01] [ 3.58397816e-02 -1.18177201e-03 9.99356850e-01 1.05932498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.62, Y:11.05, Z:10.59 [[ 9.96151073e-01 -8.00001156e-02 -3.58192972e-02 3.00621421e+02] [ 7.99909037e-02 9.96794157e-01 -1.69247472e-03 1.10457468e+01] [ 3.58398643e-02 -1.17925744e-03 9.99356850e-01 1.05944465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.65, Y:11.05, Z:10.60 [[ 9.96156782e-01 -7.99289085e-02 -3.58194925e-02 3.00654060e+02] [ 7.99197994e-02 9.96799867e-01 -1.68833086e-03 1.10472253e+01] [ 3.58398118e-02 -1.18084442e-03 9.99356850e-01 1.05956175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.69, Y:11.05, Z:10.60 [[ 9.96108147e-01 -8.05326947e-02 -3.58196128e-02 3.00686222e+02] [ 8.05240673e-02 9.96751239e-01 -1.68577409e-03 1.10491438e+01] [ 3.58390034e-02 -1.20512761e-03 9.99356850e-01 1.05969051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.72, Y:11.05, Z:10.60 [[ 9.95983952e-01 -8.20543384e-02 -3.58197332e-02 3.00718469e+02] [ 8.20467855e-02 9.96627058e-01 -1.68321141e-03 1.10504633e+01] [ 3.58370301e-02 -1.26244242e-03 9.99356850e-01 1.05981102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.75, Y:11.05, Z:10.60 [[ 9.95903384e-01 -8.30264244e-02 -3.58198557e-02 3.00749315e+02] [ 8.30195930e-02 9.96546498e-01 -1.68060129e-03 1.10512533e+01] [ 3.58356861e-02 -1.30003333e-03 9.99356850e-01 1.05992010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.78, Y:11.05, Z:10.60 [[ 9.95781080e-01 -8.44805571e-02 -3.58200519e-02 3.00780718e+02] [ 8.44748154e-02 9.96424204e-01 -1.67640852e-03 1.10523113e+01] [ 3.58335907e-02 -1.35655639e-03 9.99356850e-01 1.06002358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.81, Y:11.05, Z:10.60 [[ 9.95646433e-01 -8.60528814e-02 -3.58201414e-02 3.00813060e+02] [ 8.60482240e-02 9.96289566e-01 -1.67449578e-03 1.10535066e+01] [ 3.58313283e-02 -1.41505379e-03 9.99356850e-01 1.06015175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.85, Y:11.05, Z:10.60 [[ 9.95318497e-01 -8.97663556e-02 -3.58202613e-02 3.00845513e+02] [ 8.97641896e-02 9.95961643e-01 -1.67192496e-03 1.10545710e+01] [ 3.58256890e-02 -1.55127889e-03 9.99356850e-01 1.06027083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:11.06, Z:10.60 [[ 9.95162597e-01 -9.14784499e-02 -3.58203811e-02 3.00876271e+02] [ 9.14774826e-02 9.95805746e-01 -1.66935494e-03 1.10558384e+01] [ 3.58228513e-02 -1.61547870e-03 9.99356850e-01 1.06033324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.91, Y:11.06, Z:10.60 [[ 9.94840713e-01 -9.49149133e-02 -3.58205893e-02 3.00906983e+02] [ 9.49163282e-02 9.95483862e-01 -1.66487524e-03 1.10568039e+01] [ 3.58168401e-02 -1.74367314e-03 9.99356850e-01 1.06034047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.94, Y:11.06, Z:10.61 [[ 9.94700085e-01 -9.63774913e-02 -3.58206774e-02 3.00940069e+02] [ 9.63799200e-02 9.95343230e-01 -1.66297716e-03 1.10581706e+01] [ 3.58141424e-02 -1.79823050e-03 9.99356850e-01 1.06050102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.97, Y:11.06, Z:10.61 [[ 9.94637836e-01 -9.70177394e-02 -3.58208619e-02 3.00971608e+02] [ 9.70207251e-02 9.95280979e-01 -1.65899469e-03 1.10593566e+01] [ 3.58127744e-02 -1.82526710e-03 9.99356850e-01 1.06057624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.00, Y:11.06, Z:10.61 [[ 9.94610404e-01 -9.72985083e-02 -3.58210143e-02 3.01004415e+02] [ 9.73017940e-02 9.95253545e-01 -1.65569687e-03 1.10610892e+01] [ 3.58120883e-02 -1.83867563e-03 9.99356850e-01 1.06073385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.04, Y:11.06, Z:10.61 [[ 9.94662996e-01 -9.67593274e-02 -3.58211937e-02 3.01037567e+02] [ 9.67624041e-02 9.95306138e-01 -1.65180744e-03 1.10632005e+01] [ 3.58128817e-02 -1.82315308e-03 9.99356850e-01 1.06091187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.07, Y:11.07, Z:10.61 [[ 9.94980151e-01 -9.34415717e-02 -3.58213768e-02 3.01069893e+02] [ 9.34426465e-02 9.95623300e-01 -1.64782663e-03 1.10664200e+01] [ 3.58185729e-02 -1.70768946e-03 9.99356850e-01 1.06115920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.10, Y:11.07, Z:10.61 [[ 9.95270381e-01 -9.02977640e-02 -3.58215280e-02 3.01101880e+02] [ 9.02969253e-02 9.95913531e-01 -1.64453299e-03 1.10690053e+01] [ 3.58236421e-02 -1.59781886e-03 9.99356850e-01 1.06131332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.13, Y:11.07, Z:10.61 [[ 9.95609048e-01 -8.64837088e-02 -3.58216753e-02 3.01133905e+02] [ 8.64805213e-02 9.96252190e-01 -1.64131917e-03 1.10719051e+01] [ 3.58293698e-02 -1.46376494e-03 9.99356850e-01 1.06147385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.17, Y:11.07, Z:10.62 [[ 9.95976692e-01 -8.21415131e-02 -3.58217941e-02 3.01167298e+02] [ 8.21356145e-02 9.96619815e-01 -1.63872057e-03 1.10747514e+01] [ 3.58353168e-02 -1.31011758e-03 9.99356850e-01 1.06163054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.20, Y:11.08, Z:10.62 [[ 9.96336460e-01 -7.76559419e-02 -3.58219740e-02 3.01198894e+02] [ 7.76472891e-02 9.96979551e-01 -1.63477872e-03 1.10778458e+01] [ 3.58407259e-02 -1.15268954e-03 9.99356850e-01 1.06175258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:11.08, Z:10.62 [[ 9.96998159e-01 -6.86399911e-02 -3.58220923e-02 3.01231126e+02] [ 6.86256145e-02 9.97641148e-01 -1.63218369e-03 1.10823506e+01] [ 3.58496263e-02 -8.31028961e-04 9.99356850e-01 1.06199260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.26, Y:11.09, Z:10.62 [[ 9.97215569e-01 -6.54054834e-02 -3.58222115e-02 3.01261633e+02] [ 6.53891152e-02 9.97858511e-01 -1.62956217e-03 1.10865865e+01] [ 3.58520809e-02 -7.17357952e-04 9.99356850e-01 1.06198838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.29, Y:11.09, Z:10.62 [[ 9.97520431e-01 -6.05818175e-02 -3.58166567e-02 3.01294046e+02] [ 6.05579550e-02 9.98163146e-01 -1.75170536e-03 1.10874584e+01] [ 3.58569883e-02 -4.21621600e-04 9.99356842e-01 1.06228721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:11.09, Z:10.62 [[ 9.97786539e-01 -5.60247853e-02 -3.58224317e-02 3.01324686e+02] [ 5.60025585e-02 9.98429304e-01 -1.62435587e-03 1.10916538e+01] [ 3.58571697e-02 -3.85387399e-04 9.99356851e-01 1.06236610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.36, Y:11.09, Z:10.63 [[ 9.97913308e-01 -5.37220837e-02 -3.58185442e-02 3.01355827e+02] [ 5.36952926e-02 9.98555903e-01 -1.71019684e-03 1.10928171e+01] [ 3.58586941e-02 -2.16659026e-04 9.99356847e-01 1.06251963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.39, Y:11.09, Z:10.63 [[ 9.97982281e-01 -5.24234141e-02 -3.58211166e-02 3.01386285e+02] [ 5.23978298e-02 9.98624922e-01 -1.65327077e-03 1.10934702e+01] [ 3.58585298e-02 -2.27013839e-04 9.99356850e-01 1.06265372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.42, Y:11.09, Z:10.63 [[ 9.97999945e-01 -5.20850563e-02 -3.58225780e-02 3.01415413e+02] [ 5.20604134e-02 9.98642622e-01 -1.62097386e-03 1.10949067e+01] [ 3.58583818e-02 -2.47206398e-04 9.99356851e-01 1.06275670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.45, Y:11.10, Z:10.63 [[ 9.97825615e-01 -5.53243543e-02 -3.58225785e-02 3.01445352e+02] [ 5.53017980e-02 9.98468369e-01 -1.62096369e-03 1.10975232e+01] [ 3.58573903e-02 -3.63613911e-04 9.99356851e-01 1.06284493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.48, Y:11.10, Z:10.63 [[ 9.97809906e-01 -5.56104408e-02 -3.58171685e-02 3.01476304e+02] [ 5.55837830e-02 9.98452510e-01 -1.74036253e-03 1.10967196e+01] [ 3.58585241e-02 -2.54302745e-04 9.99356844e-01 1.06291491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.51, Y:11.10, Z:10.63 [[ 9.97682948e-01 -5.78400779e-02 -3.58226250e-02 3.01506915e+02] [ 5.78191882e-02 9.98325758e-01 -1.61968651e-03 1.10970713e+01] [ 3.58563321e-02 -4.55301482e-04 9.99356851e-01 1.06300621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.54, Y:11.10, Z:10.63 [[ 9.97509685e-01 -6.07549809e-02 -3.58226250e-02 3.01537889e+02] [ 6.07359695e-02 9.98152553e-01 -1.61968651e-03 1.10976704e+01] [ 3.58548487e-02 -5.60068879e-04 9.99356851e-01 1.06314233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.57, Y:11.10, Z:10.63 [[ 9.97095306e-01 -6.72137328e-02 -3.58226839e-02 3.01568132e+02] [ 6.71989319e-02 9.97738285e-01 -1.61838385e-03 1.10967720e+01] [ 3.58504408e-02 -7.93563157e-04 9.99356851e-01 1.06315623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.60, Y:11.10, Z:10.63 [[ 9.96874973e-01 -7.04060875e-02 -3.58227846e-02 3.01600169e+02] [ 7.03934257e-02 9.97517997e-01 -1.61615184e-03 1.10972746e+01] [ 3.58476592e-02 -9.10587205e-04 9.99356851e-01 1.06337696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:11.10, Z:10.64 [[ 9.96461606e-01 -7.60328015e-02 -3.58229017e-02 3.01629779e+02] [ 7.60238635e-02 9.97104693e-01 -1.61355095e-03 1.11006375e+01] [ 3.58418662e-02 -1.11555382e-03 9.99356851e-01 1.06356104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:11.10, Z:10.64 [[ 9.96242081e-01 -7.88614507e-02 -3.58132230e-02 3.01662894e+02] [ 7.88466540e-02 9.96885081e-01 -1.82750976e-03 1.10980376e+01] [ 3.58457878e-02 -1.00311068e-03 9.99356830e-01 1.06375115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:11.10, Z:10.64 [[ 9.96044093e-01 -8.13195753e-02 -3.58230556e-02 3.01694550e+02] [ 8.13142294e-02 9.96687217e-01 -1.60855273e-03 1.10986467e+01] [ 3.58351884e-02 -1.31073472e-03 9.99356854e-01 1.06384882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:11.10, Z:10.64 [[ 9.95873258e-01 -8.33855957e-02 -3.58231408e-02 3.01726682e+02] [ 8.33816522e-02 9.96516392e-01 -1.60665295e-03 1.10991650e+01] [ 3.58323187e-02 -1.38696996e-03 9.99356854e-01 1.06397727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.76, Y:11.10, Z:10.64 [[ 9.95558398e-01 -8.70641722e-02 -3.58232517e-02 3.01756896e+02] [ 8.70626937e-02 9.96201543e-01 -1.60417663e-03 1.11022080e+01] [ 3.58268449e-02 -1.52181727e-03 9.99356854e-01 1.06434097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:11.10, Z:10.64 [[ 9.95465328e-01 -8.81258843e-02 -3.58135289e-02 3.01789001e+02] [ 8.81172873e-02 9.96108441e-01 -1.82145840e-03 1.11016716e+01] [ 3.58346761e-02 -1.34259234e-03 9.99356830e-01 1.06448682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:11.10, Z:10.64 [[ 9.95357023e-01 -8.93396576e-02 -3.58165117e-02 3.01822271e+02] [ 8.93342461e-02 9.96000158e-01 -1.75460441e-03 1.10989432e+01] [ 3.58300070e-02 -1.45318324e-03 9.99356843e-01 1.06444702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:11.10, Z:10.65 [[ 9.95304551e-01 -8.99194196e-02 -3.58238642e-02 3.01854624e+02] [ 8.99203366e-02 9.95947694e-01 -1.58883718e-03 1.10995077e+01] [ 3.58215622e-02 -1.63991705e-03 9.99356856e-01 1.06461239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.89, Y:11.10, Z:10.65 [[ 9.95302629e-01 -8.99406410e-02 -3.58239753e-02 3.01887886e+02] [ 8.99416619e-02 9.95945772e-01 -1.58632796e-03 1.11004636e+01] [ 3.58214121e-02 -1.64319148e-03 9.99356856e-01 1.06475183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:11.10, Z:10.65 [[ 9.95413791e-01 -8.87018297e-02 -3.58241416e-02 3.01920812e+02] [ 8.87021854e-02 9.96056935e-01 -1.58256152e-03 1.11010215e+01] [ 3.58232608e-02 -1.60237610e-03 9.99356856e-01 1.06491732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:11.10, Z:10.65 [[ 9.95438738e-01 -8.84213704e-02 -3.58243067e-02 3.01950547e+02] [ 8.84216794e-02 9.96081881e-01 -1.57881662e-03 1.11041446e+01] [ 3.58235439e-02 -1.59603014e-03 9.99356856e-01 1.06506555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.99, Y:11.10, Z:10.65 [[ 9.95695069e-01 -8.54900493e-02 -3.58159339e-02 3.01985003e+02] [ 8.54816224e-02 9.96338176e-01 -1.76932327e-03 1.11036261e+01] [ 3.58360418e-02 -1.29989769e-03 9.99356837e-01 1.06526845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.02, Y:11.11, Z:10.65 [[ 9.96059380e-01 -8.11313484e-02 -3.58247981e-02 3.02016367e+02] [ 8.11273862e-02 9.96702510e-01 -1.56664039e-03 1.11053512e+01] [ 3.58337698e-02 -1.34590538e-03 9.99356858e-01 1.06524433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.05, Y:11.11, Z:10.65 [[ 9.96280316e-01 -7.83716095e-02 -3.58248817e-02 3.02047365e+02] [ 7.83659344e-02 9.96923433e-01 -1.56472581e-03 1.11069581e+01] [ 3.58372942e-02 -1.24854481e-03 9.99356858e-01 1.06530835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:11.11, Z:10.66 [[ 9.96509886e-01 -7.53964094e-02 -3.58249623e-02 3.02079072e+02] [ 7.53888803e-02 9.97152984e-01 -1.56287978e-03 1.11088245e+01] [ 3.58408036e-02 -1.14337864e-03 9.99356858e-01 1.06554120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.11, Y:11.11, Z:10.66 [[ 9.96727382e-01 -7.24644002e-02 -3.58250744e-02 3.02111704e+02] [ 7.24550716e-02 9.97370457e-01 -1.56030589e-03 1.11109666e+01] [ 3.58439374e-02 -1.04050872e-03 9.99356858e-01 1.06566321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.14, Y:11.11, Z:10.66 [[ 9.97160764e-01 -6.62341547e-02 -3.58252276e-02 3.02142353e+02] [ 6.62209341e-02 9.97803770e-01 -1.55678052e-03 1.11141824e+01] [ 3.58496592e-02 -8.20019583e-04 9.99356858e-01 1.06562823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.17, Y:11.12, Z:10.66 [[ 9.97352326e-01 -6.32841021e-02 -3.58254158e-02 3.02173182e+02] [ 6.32691354e-02 9.97995294e-01 -1.55243773e-03 1.11161732e+01] [ 3.58518409e-02 -7.18315695e-04 9.99356858e-01 1.06574478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.20, Y:11.12, Z:10.66 [[ 9.97667377e-01 -5.81062766e-02 -3.58254931e-02 3.02204707e+02] [ 5.80880368e-02 9.98310260e-01 -1.55065116e-03 1.11184221e+01] [ 3.58550599e-02 -5.33998486e-04 9.99356858e-01 1.06594381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:11.12, Z:10.66 [[ 9.97801658e-01 -5.57528654e-02 -3.58255453e-02 3.02235409e+02] [ 5.57331526e-02 9.98444498e-01 -1.54944284e-03 1.11197784e+01] [ 3.58562045e-02 -4.50633951e-04 9.99356858e-01 1.06613725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:11.12, Z:10.66 [[ 9.97895712e-01 -5.40433083e-02 -3.58255453e-02 3.02264821e+02] [ 5.40224941e-02 9.98538517e-01 -1.54944284e-03 1.11211643e+01] [ 3.58569239e-02 -3.89202948e-04 9.99356858e-01 1.06620806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.29, Y:11.12, Z:10.66 [[ 9.97957205e-01 -5.28956490e-02 -3.58255186e-02 3.02294926e+02] [ 5.28740734e-02 9.98599985e-01 -1.55006022e-03 1.11226740e+01] [ 3.58573538e-02 -3.47347336e-04 9.99356858e-01 1.06644422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.32, Y:11.12, Z:10.67 [[ 9.98020946e-01 -5.16790367e-02 -3.58255186e-02 3.02323960e+02] [ 5.16566776e-02 9.98663700e-01 -1.55006022e-03 1.11236561e+01] [ 3.58577506e-02 -3.03634697e-04 9.99356858e-01 1.06660154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.35, Y:11.12, Z:10.67 [[ 9.98012362e-01 -5.18445761e-02 -3.58254914e-02 3.02353447e+02] [ 5.18223010e-02 9.98655118e-01 -1.55069003e-03 1.11246270e+01] [ 3.58577052e-02 -3.08951574e-04 9.99356858e-01 1.06674573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.38, Y:11.13, Z:10.67 [[ 9.97974450e-01 -5.25693346e-02 -3.58254367e-02 3.02383388e+02] [ 5.25474810e-02 9.98617221e-01 -1.55195176e-03 1.11255150e+01] [ 3.58574831e-02 -3.33728248e-04 9.99356858e-01 1.06686513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:11.13, Z:10.67 [[ 9.97909940e-01 -5.37800451e-02 -3.58253820e-02 3.02413484e+02] [ 5.37589260e-02 9.98552735e-01 -1.55321454e-03 1.11259096e+01] [ 3.58570651e-02 -3.75965832e-04 9.99356858e-01 1.06708170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.44, Y:11.12, Z:10.67 [[ 9.97694519e-01 -5.76384329e-02 -3.58253820e-02 3.02444435e+02] [ 5.76197996e-02 9.98337391e-01 -1.55321454e-03 1.11249959e+01] [ 3.58553432e-02 -5.14617699e-04 9.99356858e-01 1.06717714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.48, Y:11.12, Z:10.67 [[ 9.97554352e-01 -6.00154768e-02 -3.58253820e-02 3.02475727e+02] [ 5.99983753e-02 9.98197266e-01 -1.55321454e-03 1.11249496e+01] [ 3.58540152e-02 -6.00048792e-04 9.99356858e-01 1.06729188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.51, Y:11.13, Z:10.67 [[ 9.97386584e-01 -6.27418582e-02 -3.58254384e-02 3.02506226e+02] [ 6.27265609e-02 9.98029544e-01 -1.55191121e-03 1.11250867e+01] [ 3.58522158e-02 -6.99351122e-04 9.99356858e-01 1.06728127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.54, Y:11.12, Z:10.67 [[ 9.97058927e-01 -6.77497824e-02 -3.58254664e-02 3.02537797e+02] [ 6.77377373e-02 9.97701956e-01 -1.55126414e-03 1.11241736e+01] [ 3.58482357e-02 -8.80034273e-04 9.99356858e-01 1.06736775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.57, Y:11.12, Z:10.67 [[ 9.96897713e-01 -7.00819634e-02 -3.58255214e-02 3.02568775e+02] [ 7.00714681e-02 9.97540770e-01 -1.54999485e-03 1.11246946e+01] [ 3.58460448e-02 -9.65160555e-04 9.99356858e-01 1.06742976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.60, Y:11.13, Z:10.68 [[ 9.96779765e-01 -7.17399923e-02 -3.58256035e-02 3.02601083e+02] [ 7.17306348e-02 9.97422839e-01 -1.54809494e-03 1.11251596e+01] [ 3.58443354e-02 -1.02668356e-03 9.99356858e-01 1.06757469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.63, Y:11.13, Z:10.68 [[ 9.96679757e-01 -7.31162052e-02 -3.58257122e-02 3.02632259e+02] [ 7.31078262e-02 9.97322845e-01 -1.54557524e-03 1.11256957e+01] [ 3.58428078e-02 -1.07869639e-03 9.99356858e-01 1.06767134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.66, Y:11.13, Z:10.68 [[ 9.96684788e-01 -7.30475214e-02 -3.58258775e-02 3.02664901e+02] [ 7.30392360e-02 9.97327876e-01 -1.54173375e-03 1.11270376e+01] [ 3.58427661e-02 -1.08007214e-03 9.99356858e-01 1.06778845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.70, Y:11.13, Z:10.68 [[ 9.96602859e-01 -7.41568662e-02 -3.58259834e-02 3.02697377e+02] [ 7.41493852e-02 9.97245957e-01 -1.53926826e-03 1.11270323e+01] [ 3.58414644e-02 -1.12243550e-03 9.99356858e-01 1.06803874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.73, Y:11.13, Z:10.68 [[ 9.96606938e-01 -7.41019659e-02 -3.58260918e-02 3.02729812e+02] [ 7.40945402e-02 9.97250038e-01 -1.53674174e-03 1.11280391e+01] [ 3.58414470e-02 -1.12299032e-03 9.99356858e-01 1.06814518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.76, Y:11.13, Z:10.68 [[ 9.96643101e-01 -7.36139500e-02 -3.58261997e-02 3.02760609e+02] [ 7.36062999e-02 9.97286197e-01 -1.53422200e-03 1.11288863e+01] [ 3.58419146e-02 -1.10796223e-03 9.99356858e-01 1.06822310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.79, Y:11.13, Z:10.68 [[ 9.96719547e-01 -7.25715043e-02 -3.58262800e-02 3.02792592e+02] [ 7.25632490e-02 9.97362636e-01 -1.53234388e-03 1.11299555e+01] [ 3.58429976e-02 -1.07235418e-03 9.99356858e-01 1.06840317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.82, Y:11.13, Z:10.68 [[ 9.96769576e-01 -7.18810231e-02 -3.58263895e-02 3.02823694e+02] [ 7.18724143e-02 9.97412661e-01 -1.52978045e-03 1.11309806e+01] [ 3.58436566e-02 -1.05009050e-03 9.99356858e-01 1.06847316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.86, Y:11.13, Z:10.69 [[ 9.96819742e-01 -7.11818697e-02 -3.58265701e-02 3.02855897e+02] [ 7.11729622e-02 9.97462822e-01 -1.52553737e-03 1.11318982e+01] [ 3.58442624e-02 -1.02919735e-03 9.99356858e-01 1.06861943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:11.13, Z:10.69 [[ 9.96844056e-01 -7.08405090e-02 -3.58266779e-02 3.02888351e+02] [ 7.08314724e-02 9.97487134e-01 -1.52300162e-03 1.11325689e+01] [ 3.58445405e-02 -1.01946124e-03 9.99356858e-01 1.06869854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:11.13, Z:10.69 [[ 9.96854200e-01 -7.06975679e-02 -3.58267847e-02 3.02920354e+02] [ 7.06885294e-02 9.97497278e-01 -1.52048652e-03 1.11329990e+01] [ 3.58446149e-02 -1.01683936e-03 9.99356858e-01 1.06881938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:11.13, Z:10.69 [[ 9.96823200e-01 -7.11332693e-02 -3.58268940e-02 3.02951427e+02] [ 7.11246045e-02 9.97466283e-01 -1.51790679e-03 1.11332240e+01] [ 3.58440925e-02 -1.03508896e-03 9.99356858e-01 1.06876020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.98, Y:11.13, Z:10.69 [[ 9.96802847e-01 -7.14178247e-02 -3.58270646e-02 3.02983453e+02] [ 7.14094885e-02 9.97445935e-01 -1.51386974e-03 1.11341069e+01] [ 3.58436772e-02 -1.04936269e-03 9.99356858e-01 1.06889621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.02, Y:11.13, Z:10.69 [[ 9.96786907e-01 -7.16398972e-02 -3.58271725e-02 3.03015185e+02] [ 7.16317961e-02 9.97429998e-01 -1.51131216e-03 1.11349476e+01] [ 3.58433668e-02 -1.05990854e-03 9.99356858e-01 1.06899699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.05, Y:11.14, Z:10.69 [[ 9.96759889e-01 -7.20147859e-02 -3.58272827e-02 3.03046045e+02] [ 7.20070206e-02 9.97402984e-01 -1.50869505e-03 1.11359033e+01] [ 3.58428870e-02 -1.07600918e-03 9.99356858e-01 1.06891865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.08, Y:11.14, Z:10.69 [[ 9.96679321e-01 -7.31213444e-02 -3.58273647e-02 3.03078555e+02] [ 7.31143632e-02 9.97322425e-01 -1.50674482e-03 1.11371341e+01] [ 3.58416094e-02 -1.11775355e-03 9.99356858e-01 1.06902570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.11, Y:11.14, Z:10.69 [[ 9.96652004e-01 -7.34926904e-02 -3.58274688e-02 3.03110843e+02] [ 7.34860378e-02 9.97295112e-01 -1.50426494e-03 1.11384611e+01] [ 3.58411120e-02 -1.13359006e-03 9.99356858e-01 1.06919664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.14, Y:11.14, Z:10.69 [[ 9.96628372e-01 -7.38124190e-02 -3.58275771e-02 3.03142255e+02] [ 7.38060656e-02 9.97271482e-01 -1.50168024e-03 1.11400560e+01] [ 3.58406636e-02 -1.14767538e-03 9.99356858e-01 1.06922760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.17, Y:11.14, Z:10.69 [[ 9.96699366e-01 -7.28474585e-02 -3.58276578e-02 3.03174665e+02] [ 7.28405515e-02 9.97342471e-01 -1.49975401e-03 1.11418882e+01] [ 3.58416980e-02 -1.11490248e-03 9.99356858e-01 1.06937302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.21, Y:11.14, Z:10.70 [[ 9.96771049e-01 -7.18599091e-02 -3.58277630e-02 3.03206870e+02] [ 7.18524554e-02 9.97414148e-01 -1.49723546e-03 1.11439022e+01] [ 3.58427089e-02 -1.08191178e-03 9.99356858e-01 1.06957451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.24, Y:11.15, Z:10.70 [[ 9.96846595e-01 -7.08041661e-02 -3.58278699e-02 3.03239178e+02] [ 7.07961233e-02 9.97489687e-01 -1.49467462e-03 1.11461174e+01] [ 3.58437599e-02 -1.04651298e-03 9.99356858e-01 1.06980373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.27, Y:11.15, Z:10.70 [[ 9.96978083e-01 -6.89279173e-02 -3.58279778e-02 3.03271089e+02] [ 6.89187573e-02 9.97621160e-01 -1.49208165e-03 1.11486517e+01] [ 3.58455949e-02 -9.81647003e-04 9.99356858e-01 1.07001721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.30, Y:11.15, Z:10.70 [[ 9.97016558e-01 -6.83690779e-02 -3.58280866e-02 3.03302034e+02] [ 6.83596514e-02 9.97659631e-01 -1.48946448e-03 1.11503025e+01] [ 3.58460690e-02 -9.64174762e-04 9.99356858e-01 1.07012485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.33, Y:11.15, Z:10.70 [[ 9.97028184e-01 -6.81992384e-02 -3.58282546e-02 3.03333500e+02] [ 6.81898478e-02 9.97671258e-01 -1.48541326e-03 1.11517303e+01] [ 3.58461239e-02 -9.62124340e-04 9.99356858e-01 1.07025640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:11.15, Z:10.70 [[ 9.97005325e-01 -6.85325611e-02 -3.58283338e-02 3.03364393e+02] [ 6.85234542e-02 9.97648403e-01 -1.48350110e-03 1.11530446e+01] [ 3.58457481e-02 -9.76022695e-04 9.99356858e-01 1.07035997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.40, Y:11.15, Z:10.70 [[ 9.96886314e-01 -7.02424660e-02 -3.58283873e-02 3.03396027e+02] [ 7.02345086e-02 9.97529407e-01 -1.48220720e-03 1.11543585e+01] [ 3.58439838e-02 -1.03879710e-03 9.99356858e-01 1.07039341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.43, Y:11.16, Z:10.70 [[ 9.96827509e-01 -7.10720148e-02 -3.58285569e-02 3.03427546e+02] [ 7.10647401e-02 9.97470610e-01 -1.47809699e-03 1.11553287e+01] [ 3.58429838e-02 -1.07273934e-03 9.99356858e-01 1.07040732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.46, Y:11.16, Z:10.70 [[ 9.96712086e-01 -7.26726986e-02 -3.58287228e-02 3.03459232e+02] [ 7.26666015e-02 9.97355199e-01 -1.47406325e-03 1.11561967e+01] [ 3.58410871e-02 -1.13433487e-03 9.99356858e-01 1.07049114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.49, Y:11.16, Z:10.71 [[ 9.96566286e-01 -7.46453765e-02 -3.58288298e-02 3.03490021e+02] [ 7.46406459e-02 9.97209411e-01 -1.47145972e-03 1.11569437e+01] [ 3.58386839e-02 -1.20787985e-03 9.99356858e-01 1.07055005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.52, Y:11.16, Z:10.71 [[ 9.96307646e-01 -7.80215595e-02 -3.58289093e-02 3.03521736e+02] [ 7.80190776e-02 9.96950783e-01 -1.46951934e-03 1.11572377e+01] [ 3.58343134e-02 -1.33124511e-03 9.99356858e-01 1.07056621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.55, Y:11.16, Z:10.71 [[ 9.96164639e-01 -7.98266561e-02 -3.58289867e-02 3.03553509e+02] [ 7.98254074e-02 9.96807780e-01 -1.46763101e-03 1.11583300e+01] [ 3.58317688e-02 -1.39806135e-03 9.99356858e-01 1.07065929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.59, Y:11.16, Z:10.71 [[ 9.96049857e-01 -8.12462890e-02 -3.58290903e-02 3.03585501e+02] [ 8.12460478e-02 9.96692998e-01 -1.46509745e-03 1.11593088e+01] [ 3.58296372e-02 -1.45166187e-03 9.99356858e-01 1.07073455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.62, Y:11.16, Z:10.71 [[ 9.95890005e-01 -8.31827356e-02 -3.58291936e-02 3.03617511e+02] [ 8.31838357e-02 9.96533146e-01 -1.46256758e-03 1.11605564e+01] [ 3.58266393e-02 -1.52385332e-03 9.99356858e-01 1.07078299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.65, Y:11.16, Z:10.71 [[ 9.95841096e-01 -8.37661793e-02 -3.58292981e-02 3.03648680e+02] [ 8.37677483e-02 9.96484236e-01 -1.46000286e-03 1.11620745e+01] [ 3.58256296e-02 -1.54740877e-03 9.99356858e-01 1.07085188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.68, Y:11.16, Z:10.71 [[ 9.95842134e-01 -8.37538034e-02 -3.58293759e-02 3.03680911e+02] [ 8.37554332e-02 9.96485274e-01 -1.45808984e-03 1.11633609e+01] [ 3.58255660e-02 -1.54887760e-03 9.99356858e-01 1.07095306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.71, Y:11.16, Z:10.71 [[ 9.95834993e-01 -8.38386286e-02 -3.58294792e-02 3.03713060e+02] [ 8.38404045e-02 9.96478132e-01 -1.45554702e-03 1.11649777e+01] [ 3.58253236e-02 -1.55447337e-03 9.99356858e-01 1.07108736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.74, Y:11.17, Z:10.71 [[ 9.95910946e-01 -8.29314738e-02 -3.58295820e-02 3.03744849e+02] [ 8.29327548e-02 9.96554086e-01 -1.45301344e-03 1.11663507e+01] [ 3.58266169e-02 -1.52437395e-03 9.99356858e-01 1.07122457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.78, Y:11.17, Z:10.71 [[ 9.96163682e-01 -7.98382900e-02 -3.58296885e-02 3.03775789e+02] [ 7.98376683e-02 9.96806823e-01 -1.45038063e-03 1.11690890e+01] [ 3.58310739e-02 -1.41574228e-03 9.99356858e-01 1.07137504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.81, Y:11.17, Z:10.71 [[ 9.96352241e-01 -7.74495420e-02 -3.58298667e-02 3.03806994e+02] [ 7.74475367e-02 9.96995380e-01 -1.44596579e-03 1.11713133e+01] [ 3.58342010e-02 -1.33424366e-03 9.99356858e-01 1.07146624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.84, Y:11.17, Z:10.72 [[ 9.96553979e-01 -7.48089689e-02 -3.58299446e-02 3.03838241e+02] [ 7.48053288e-02 9.97197111e-01 -1.44403254e-03 1.11733099e+01] [ 3.58375438e-02 -1.24121442e-03 9.99356858e-01 1.07157469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.87, Y:11.18, Z:10.72 [[ 9.96912503e-01 -6.98689106e-02 -3.58301156e-02 3.03869867e+02] [ 6.98622359e-02 9.97555610e-01 -1.43977665e-03 1.11761001e+01] [ 3.58431285e-02 -1.06784065e-03 9.99356858e-01 1.07172867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:11.18, Z:10.72 [[ 9.97101758e-01 -6.71139284e-02 -3.58302204e-02 3.03901075e+02] [ 6.71055703e-02 9.97744846e-01 -1.43716548e-03 1.11778130e+01] [ 3.58458715e-02 -9.71407145e-04 9.99356858e-01 1.07184540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:11.18, Z:10.72 [[ 9.97240941e-01 -6.50130469e-02 -3.58302984e-02 3.03932095e+02] [ 6.50034039e-02 9.97884010e-01 -1.43521801e-03 1.11792802e+01] [ 3.58477897e-02 -8.97833196e-04 9.99356858e-01 1.07196351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.96, Y:11.18, Z:10.72 [[ 9.97363462e-01 -6.31055525e-02 -3.58303501e-02 3.03963751e+02] [ 6.30947260e-02 9.98006513e-01 -1.43392528e-03 1.11806193e+01] [ 3.58494114e-02 -8.30561438e-04 9.99356858e-01 1.07205442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:11.18, Z:10.72 [[ 9.97521314e-01 -6.05591492e-02 -3.58304024e-02 3.03994870e+02] [ 6.05467279e-02 9.98164336e-01 -1.43261815e-03 1.11820798e+01] [ 3.58513879e-02 -7.40346490e-04 9.99356858e-01 1.07212986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.03, Y:11.18, Z:10.72 [[ 9.97572481e-01 -5.97103301e-02 -3.58304542e-02 3.04025524e+02] [ 5.96974083e-02 9.98215493e-01 -1.43132115e-03 1.11836388e+01] [ 3.58519792e-02 -7.11138660e-04 9.99356858e-01 1.07222149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.06, Y:11.18, Z:10.72 [[ 9.97619844e-01 -5.89137156e-02 -3.58304542e-02 3.04055825e+02] [ 5.89002803e-02 9.98262845e-01 -1.43132115e-03 1.11848923e+01] [ 3.58525356e-02 -6.82509410e-04 9.99356858e-01 1.07230510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.09, Y:11.19, Z:10.72 [[ 9.97659602e-01 -5.82365666e-02 -3.58304542e-02 3.04086245e+02] [ 5.82226949e-02 9.98302594e-01 -1.43132115e-03 1.11860525e+01] [ 3.58529906e-02 -6.58174312e-04 9.99356858e-01 1.07239418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.12, Y:11.19, Z:10.72 [[ 9.97681677e-01 -5.78571529e-02 -3.58304542e-02 3.04116295e+02] [ 5.78430367e-02 9.98324664e-01 -1.43132115e-03 1.11871820e+01] [ 3.58532383e-02 -6.44539387e-04 9.99356858e-01 1.07247828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:11.19, Z:10.73 [[ 9.97678804e-01 -5.79066711e-02 -3.58304542e-02 3.04145870e+02] [ 5.78925868e-02 9.98321792e-01 -1.43132115e-03 1.11884711e+01] [ 3.58532063e-02 -6.46318901e-04 9.99356858e-01 1.07255975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.17, Y:11.19, Z:10.73 [[ 9.97660181e-01 -5.82266362e-02 -3.58304606e-02 3.04174984e+02] [ 5.82127639e-02 9.98303173e-01 -1.43116052e-03 1.11896348e+01] [ 3.58529942e-02 -6.57978280e-04 9.99356858e-01 1.07261191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.20, Y:11.19, Z:10.73 [[ 9.97533637e-01 -6.03558020e-02 -3.58304350e-02 3.04204457e+02] [ 6.03432790e-02 9.98176657e-01 -1.43180161e-03 1.11907575e+01] [ 3.58515214e-02 -7.33855671e-04 9.99356858e-01 1.07272075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.23, Y:11.19, Z:10.73 [[ 9.97447153e-01 -6.17685822e-02 -3.58304096e-02 3.04234604e+02] [ 6.17569472e-02 9.98090190e-01 -1.43243543e-03 1.11916053e+01] [ 3.58504599e-02 -7.83998072e-04 9.99356858e-01 1.07284173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.27, Y:11.19, Z:10.73 [[ 9.97319630e-01 -6.37944954e-02 -3.58304096e-02 3.04266321e+02] [ 6.37841666e-02 9.97962689e-01 -1.43243543e-03 1.11923395e+01] [ 3.58487934e-02 -8.56816843e-04 9.99356858e-01 1.07296518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.30, Y:11.19, Z:10.73 [[ 9.97175876e-01 -6.60034142e-02 -3.58304612e-02 3.04297634e+02] [ 6.59945561e-02 9.97818957e-01 -1.43114570e-03 1.11930198e+01] [ 3.58467739e-02 -9.37511413e-04 9.99356858e-01 1.07305498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.33, Y:11.19, Z:10.73 [[ 9.96857299e-01 -7.06519454e-02 -3.58305381e-02 3.04328426e+02] [ 7.06461550e-02 9.97500415e-01 -1.42921690e-03 1.11928227e+01] [ 3.58419536e-02 -1.10656445e-03 9.99356858e-01 1.07309426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:11.19, Z:10.73 [[ 9.96691838e-01 -7.29489348e-02 -3.58306127e-02 3.04360785e+02] [ 7.29446936e-02 9.97334966e-01 -1.42734432e-03 1.11933307e+01] [ 3.58392461e-02 -1.19103063e-03 9.99356858e-01 1.07316630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:11.19, Z:10.73 [[ 9.96522276e-01 -7.52297381e-02 -3.58307137e-02 3.04392447e+02] [ 7.52270599e-02 9.97165412e-01 -1.42480512e-03 1.11940213e+01] [ 3.58363361e-02 -1.27558920e-03 9.99356858e-01 1.07325048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.42, Y:11.19, Z:10.73 [[ 9.96154156e-01 -7.99565690e-02 -3.58307889e-02 3.04423516e+02] [ 7.99570101e-02 9.96797297e-01 -1.42291083e-03 1.11941721e+01] [ 3.58298046e-02 -1.44748421e-03 9.99356858e-01 1.07336861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.46, Y:11.19, Z:10.73 [[ 9.95977874e-01 -8.21232171e-02 -3.58308633e-02 3.04455330e+02] [ 8.21251245e-02 9.96621014e-01 -1.42103422e-03 1.11946334e+01] [ 3.58264912e-02 -1.52729547e-03 9.99356858e-01 1.07345099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:11.19, Z:10.74 [[ 9.95805299e-01 -8.41899522e-02 -3.58309618e-02 3.04487082e+02] [ 8.41932836e-02 9.96448433e-01 -1.41854752e-03 1.11949140e+01] [ 3.58231331e-02 -1.60412919e-03 9.99356858e-01 1.07357541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.52, Y:11.20, Z:10.74 [[ 9.95496903e-01 -8.77613238e-02 -3.58310655e-02 3.04519612e+02] [ 8.77670563e-02 9.96140020e-01 -1.41592169e-03 1.11953983e+01] [ 3.58170215e-02 -1.73524149e-03 9.99356858e-01 1.07373055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:11.20, Z:10.74 [[ 9.95415060e-01 -8.86847498e-02 -3.58311693e-02 3.04551281e+02] [ 8.86911734e-02 9.96058170e-01 -1.41328961e-03 1.11966059e+01] [ 3.58152662e-02 -1.77109870e-03 9.99356858e-01 1.07391529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:11.20, Z:10.74 [[ 9.95360563e-01 -8.92942912e-02 -3.58312727e-02 3.04583378e+02] [ 8.93012029e-02 9.96003667e-01 -1.41066517e-03 1.11984699e+01] [ 3.58140433e-02 -1.79565527e-03 9.99356858e-01 1.07410722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.62, Y:11.20, Z:10.74 [[ 9.95364439e-01 -8.92510130e-02 -3.58314011e-02 3.04615101e+02] [ 8.92580141e-02 9.96007543e-01 -1.40739536e-03 1.12002286e+01] [ 3.58139572e-02 -1.79736841e-03 9.99356858e-01 1.07425573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:11.20, Z:10.74 [[ 9.95370582e-01 -8.91824414e-02 -3.58314978e-02 3.04647750e+02] [ 8.91894867e-02 9.96013685e-01 -1.40493049e-03 1.12014452e+01] [ 3.58139573e-02 -1.79736642e-03 9.99356858e-01 1.07437289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.68, Y:11.20, Z:10.75 [[ 9.95391621e-01 -8.89472781e-02 -3.58315943e-02 3.04680651e+02] [ 8.89542602e-02 9.96034725e-01 -1.40246361e-03 1.12032499e+01] [ 3.58142575e-02 -1.79137243e-03 9.99356858e-01 1.07453315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.71, Y:11.21, Z:10.75 [[ 9.95237740e-01 -9.06527844e-02 -3.58317513e-02 3.04712395e+02] [ 9.06610128e-02 9.95880829e-01 -1.39844009e-03 1.12052723e+01] [ 3.58109267e-02 -1.85676251e-03 9.99356858e-01 1.07477895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:11.21, Z:10.75 [[ 9.95045848e-01 -9.27353097e-02 -3.58318812e-02 3.04745568e+02] [ 9.27450037e-02 9.95688916e-01 -1.39510519e-03 1.12069354e+01] [ 3.58067825e-02 -1.93503433e-03 9.99356858e-01 1.07485911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:11.21, Z:10.74 [[ 9.94601345e-01 -9.73870097e-02 -3.58320348e-02 3.04777073e+02] [ 9.73998525e-02 9.95244359e-01 -1.39114899e-03 1.12081385e+01] [ 3.57971103e-02 -2.10639624e-03 9.99356858e-01 1.07446840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.81, Y:11.21, Z:10.74 [[ 9.94547028e-01 -9.79401318e-02 -3.58321106e-02 3.04809360e+02] [ 9.79534025e-02 9.95190033e-01 -1.38919331e-03 1.12096777e+01] [ 3.57958171e-02 -2.12825907e-03 9.99356858e-01 1.07427700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.84, Y:11.21, Z:10.74 [[ 9.94551714e-01 -9.78924999e-02 -3.58322105e-02 3.04841736e+02] [ 9.79058325e-02 9.95194717e-01 -1.38661102e-03 1.12119038e+01] [ 3.57957654e-02 -2.12912603e-03 9.99356858e-01 1.07417642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.87, Y:11.21, Z:10.74 [[ 9.94616804e-01 -9.72289032e-02 -3.58323101e-02 3.04873962e+02] [ 9.72418993e-02 9.95259814e-01 -1.38403227e-03 1.12146355e+01] [ 3.57970263e-02 -2.10782014e-03 9.99356858e-01 1.07417894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:11.22, Z:10.74 [[ 9.94912570e-01 -9.41542217e-02 -3.58324091e-02 3.04905530e+02] [ 9.41653225e-02 9.95555616e-01 -1.38146490e-03 1.12194927e+01] [ 3.58032269e-02 -1.99973357e-03 9.99356858e-01 1.07433191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:11.22, Z:10.75 [[ 9.95188157e-01 -9.11951964e-02 -3.58325081e-02 3.04938128e+02] [ 9.12044772e-02 9.95831232e-01 -1.37889292e-03 1.12227698e+01] [ 3.58088791e-02 -1.89582726e-03 9.99356858e-01 1.07455840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:11.23, Z:10.75 [[ 9.95511225e-01 -8.75980632e-02 -3.58326576e-02 3.04969621e+02] [ 8.76051598e-02 9.96154328e-01 -1.37499732e-03 1.12261512e+01] [ 3.58153040e-02 -1.77030043e-03 9.99356858e-01 1.07476007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:11.23, Z:10.75 [[ 9.95838643e-01 -8.37938534e-02 -3.58327811e-02 3.05001941e+02] [ 8.37986086e-02 9.96481767e-01 -1.37177097e-03 1.12294470e+01] [ 3.58216590e-02 -1.63667466e-03 9.99356858e-01 1.07504883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:11.23, Z:10.75 [[ 9.96181605e-01 -7.96128983e-02 -3.58328804e-02 3.05033466e+02] [ 7.96150472e-02 9.96824744e-01 -1.36917185e-03 1.12324873e+01] [ 3.58281056e-02 -1.48889265e-03 9.99356858e-01 1.07520438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.07, Y:11.24, Z:10.76 [[ 9.96794661e-01 -7.15290393e-02 -3.58329542e-02 3.05065539e+02] [ 7.15260404e-02 9.97437796e-01 -1.36723740e-03 1.12369107e+01] [ 3.58389400e-02 -1.20013439e-03 9.99356858e-01 1.07570329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:11.24, Z:10.76 [[ 9.97024403e-01 -6.82519714e-02 -3.58330524e-02 3.05097930e+02] [ 6.82469509e-02 9.97667525e-01 -1.36465969e-03 1.12394844e+01] [ 3.58426134e-02 -1.08489756e-03 9.99356858e-01 1.07600176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.13, Y:11.24, Z:10.76 [[ 9.97408325e-01 -6.23908483e-02 -3.58331494e-02 3.05129899e+02] [ 6.23821396e-02 9.98051408e-01 -1.36210757e-03 1.12418588e+01] [ 3.58483083e-02 -8.76771099e-04 9.99356858e-01 1.07635318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:11.24, Z:10.76 [[ 9.97597807e-01 -5.92840056e-02 -3.58332456e-02 3.05161600e+02] [ 5.92733851e-02 9.98240861e-01 -1.35957057e-03 1.12430312e+01] [ 3.58508108e-02 -7.67653151e-04 9.99356858e-01 1.07647745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:11.24, Z:10.77 [[ 9.97783714e-01 -5.60681253e-02 -3.58332946e-02 3.05193330e+02] [ 5.60554785e-02 9.98426732e-01 -1.35827841e-03 1.12437877e+01] [ 3.58530754e-02 -6.53384397e-04 9.99356858e-01 1.07652582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.22, Y:11.24, Z:10.77 [[ 9.97939083e-01 -5.32311822e-02 -3.58333432e-02 3.05224089e+02] [ 5.32167534e-02 9.98582063e-01 -1.35699496e-03 1.12446300e+01] [ 3.58547682e-02 -5.52735886e-04 9.99356858e-01 1.07654083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:11.25, Z:10.77 [[ 9.98192478e-01 -4.82467509e-02 -3.58333432e-02 3.05254220e+02] [ 4.82291112e-02 9.98835378e-01 -1.35699496e-03 1.12455138e+01] [ 3.58570815e-02 -3.73668137e-04 9.99356858e-01 1.07657263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.28, Y:11.25, Z:10.77 [[ 9.98271265e-01 -4.65882062e-02 -3.58332303e-02 3.05283279e+02] [ 4.65693916e-02 9.98914132e-01 -1.35996925e-03 1.12463704e+01] [ 3.58576787e-02 -3.11113511e-04 9.99356858e-01 1.07666940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.31, Y:11.25, Z:10.77 [[ 9.98322906e-01 -4.54684574e-02 -3.58328859e-02 3.05311628e+02] [ 4.54485981e-02 9.98965741e-01 -1.36898591e-03 1.12467833e+01] [ 3.58580710e-02 -2.61864440e-04 9.99356858e-01 1.07672206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:11.25, Z:10.77 [[ 9.98384025e-01 -4.41063327e-02 -3.58325416e-02 3.05339395e+02] [ 4.40852751e-02 9.99026821e-01 -1.37793901e-03 1.12468508e+01] [ 3.58584460e-02 -2.03975156e-04 9.99356858e-01 1.07677854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:11.25, Z:10.77 [[ 9.98526105e-01 -4.07634650e-02 -3.58323575e-02 3.05366761e+02] [ 4.07400842e-02 9.99168821e-01 -1.38270854e-03 1.12459236e+01] [ 3.58589384e-02 -7.91426867e-05 9.99356858e-01 1.07680847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.39, Y:11.25, Z:10.77 [[ 9.98584953e-01 -3.92956164e-02 -3.58321875e-02 3.05394392e+02] [ 3.92711332e-02 9.99227629e-01 -1.38710067e-03 1.12462313e+01] [ 3.58590187e-02 -2.20327555e-05 9.99356858e-01 1.07690393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.42, Y:11.25, Z:10.77 [[ 9.98706516e-01 -3.60746105e-02 -3.58317999e-02 3.05423287e+02] [ 3.60476979e-02 9.99349094e-01 -1.39704219e-03 1.12460797e+01] [ 3.58588745e-02 1.03581237e-04 9.99356858e-01 1.07710987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.45, Y:11.25, Z:10.77 [[ 9.98759538e-01 -3.45758957e-02 -3.58314610e-02 3.05450767e+02] [ 3.45477089e-02 9.99402061e-01 -1.40568109e-03 1.12465764e+01] [ 3.58586387e-02 1.66042505e-04 9.99356858e-01 1.07726474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.48, Y:11.25, Z:10.77 [[ 9.98832706e-01 -3.23938074e-02 -3.58310728e-02 3.05479558e+02] [ 3.23638645e-02 9.99475151e-01 -1.41550770e-03 1.12452616e+01] [ 3.58581206e-02 2.54223400e-04 9.99356858e-01 1.07749786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.51, Y:11.24, Z:10.77 [[ 9.98686740e-01 -3.66190608e-02 -3.58307184e-02 3.05507388e+02] [ 3.65915161e-02 9.99329291e-01 -1.42442189e-03 1.12367843e+01] [ 3.58588474e-02 1.11450945e-04 9.99356859e-01 1.07745037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:11.21, Z:10.77 [[ 9.96261833e-01 -7.86036438e-02 -3.58305425e-02 3.05537805e+02] [ 7.86029987e-02 9.96904974e-01 -1.42883333e-03 1.12074185e+01] [ 3.58319575e-02 -1.39289598e-03 9.99356859e-01 1.07672444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:11.21, Z:10.77 [[ 9.96267599e-01 -7.85305775e-02 -3.58304384e-02 3.05570450e+02] [ 7.85297917e-02 9.96910740e-01 -1.43143890e-03 1.12086686e+01] [ 3.58321606e-02 -1.38766067e-03 9.99356859e-01 1.07684174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.60, Y:11.21, Z:10.77 [[ 9.96158910e-01 -7.98974175e-02 -3.58305434e-02 3.05601981e+02] [ 7.98976086e-02 9.96802052e-01 -1.42880603e-03 1.12086530e+01] [ 3.58301171e-02 -1.43945688e-03 9.99356859e-01 1.07691160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.63, Y:11.21, Z:10.77 [[ 9.96164767e-01 -7.98243441e-02 -3.58305956e-02 3.05634626e+02] [ 7.98245352e-02 9.96807908e-01 -1.42749650e-03 1.12098974e+01] [ 3.58301700e-02 -1.43813892e-03 9.99356859e-01 1.07702879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.67, Y:11.21, Z:10.77 [[ 9.96170620e-01 -7.97512231e-02 -3.58307001e-02 3.05667272e+02] [ 7.97514613e-02 9.96813761e-01 -1.42486814e-03 1.12111388e+01] [ 3.58301699e-02 -1.43813892e-03 9.99356859e-01 1.07714594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.70, Y:11.21, Z:10.77 [[ 9.96103166e-01 -8.05893018e-02 -3.58308044e-02 3.05698644e+02] [ 8.05901755e-02 9.96746307e-01 -1.42223977e-03 1.12116649e+01] [ 3.58288393e-02 -1.47091328e-03 9.99356859e-01 1.07719889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.73, Y:11.21, Z:10.77 [[ 9.96109013e-01 -8.05169289e-02 -3.58309805e-02 3.05731290e+02] [ 8.05179157e-02 9.96752153e-01 -1.41778992e-03 1.12128977e+01] [ 3.58287631e-02 -1.47276255e-03 9.99356859e-01 1.07731598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.76, Y:11.21, Z:10.77 [[ 9.96114851e-01 -8.04446219e-02 -3.58310832e-02 3.05763936e+02] [ 8.04456553e-02 9.96757992e-01 -1.41519065e-03 1.12141290e+01] [ 3.58287630e-02 -1.47276254e-03 9.99356859e-01 1.07743313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.80, Y:11.21, Z:10.78 [[ 9.96093074e-01 -8.07137791e-02 -3.58311856e-02 3.05796350e+02] [ 8.07150796e-02 9.96736214e-01 -1.41259137e-03 1.12147368e+01] [ 3.58282559e-02 -1.48504452e-03 9.99356859e-01 1.07756453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.83, Y:11.22, Z:10.78 [[ 9.96099020e-01 -8.06403232e-02 -3.58312895e-02 3.05828996e+02] [ 8.06416711e-02 9.96742160e-01 -1.40995074e-03 1.12159649e+01] [ 3.58282558e-02 -1.48504451e-03 9.99356859e-01 1.07768168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.86, Y:11.22, Z:10.78 [[ 9.96104960e-01 -8.05668669e-02 -3.58313933e-02 3.05861642e+02] [ 8.05682622e-02 9.96748100e-01 -1.40731011e-03 1.12171906e+01] [ 3.58282557e-02 -1.48504451e-03 9.99356859e-01 1.07779882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.89, Y:11.22, Z:10.78 [[ 9.96110895e-01 -8.04934101e-02 -3.58314968e-02 3.05894288e+02] [ 8.04948528e-02 9.96754035e-01 -1.40466946e-03 1.12184138e+01] [ 3.58282556e-02 -1.48504451e-03 9.99356859e-01 1.07791597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.93, Y:11.22, Z:10.78 [[ 9.96094288e-01 -8.06986089e-02 -3.58316001e-02 3.05926524e+02] [ 8.07002789e-02 9.96737427e-01 -1.40202881e-03 1.12183676e+01] [ 3.58278387e-02 -1.49506723e-03 9.99356859e-01 1.07796806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.96, Y:11.22, Z:10.78 [[ 9.96108457e-01 -8.05234787e-02 -3.58317032e-02 3.05959025e+02] [ 8.05251304e-02 9.96751596e-01 -1.39938815e-03 1.12191109e+01] [ 3.58279910e-02 -1.49141021e-03 9.99356859e-01 1.07805335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.99, Y:11.22, Z:10.78 [[ 9.96114369e-01 -8.04502674e-02 -3.58318058e-02 3.05991672e+02] [ 8.04519664e-02 9.96757508e-01 -1.39675602e-03 1.12203267e+01] [ 3.58279909e-02 -1.49141049e-03 9.99356859e-01 1.07817050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:11.22, Z:10.78 [[ 9.96091930e-01 -8.07275717e-02 -3.58319082e-02 3.06022722e+02] [ 8.07295443e-02 9.96735069e-01 -1.39412418e-03 1.12215618e+01] [ 3.58274638e-02 -1.50401777e-03 9.99356859e-01 1.07826405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.06, Y:11.22, Z:10.78 [[ 9.96067493e-01 -8.10284972e-02 -3.58319844e-02 3.06055213e+02] [ 8.10307345e-02 9.96710631e-01 -1.39216390e-03 1.12232376e+01] [ 3.58269247e-02 -1.51680281e-03 9.99356859e-01 1.07848811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.09, Y:11.23, Z:10.79 [[ 9.96022378e-01 -8.15811541e-02 -3.58320866e-02 3.06086492e+02] [ 8.15838429e-02 9.96665514e-01 -1.38952805e-03 1.12258613e+01] [ 3.58259643e-02 -1.53931829e-03 9.99356859e-01 1.07872015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.12, Y:11.23, Z:10.79 [[ 9.96019277e-01 -8.16189623e-02 -3.58321626e-02 3.06117906e+02] [ 8.16217460e-02 9.96662413e-01 -1.38756502e-03 1.12277263e+01] [ 3.58258213e-02 -1.54264216e-03 9.99356859e-01 1.07886619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.15, Y:11.23, Z:10.79 [[ 9.96020363e-01 -8.16056823e-02 -3.58322380e-02 3.06149570e+02] [ 8.16085274e-02 9.96663498e-01 -1.38561558e-03 1.12295618e+01] [ 3.58257578e-02 -1.54411484e-03 9.99356859e-01 1.07906854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.18, Y:11.23, Z:10.79 [[ 9.96035636e-01 -8.14190123e-02 -3.58323398e-02 3.06182132e+02] [ 8.14218316e-02 9.96678771e-01 -1.38297745e-03 1.12315419e+01] [ 3.58259331e-02 -1.54003992e-03 9.99356859e-01 1.07917406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.21, Y:11.23, Z:10.79 [[ 9.96008233e-01 -8.17535114e-02 -3.58324407e-02 3.06213678e+02] [ 8.17566407e-02 9.96651366e-01 -1.38035995e-03 1.12341249e+01] [ 3.58253002e-02 -1.55469010e-03 9.99356859e-01 1.07923224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.25, Y:11.24, Z:10.79 [[ 9.95950584e-01 -8.24527660e-02 -3.58326084e-02 3.06245813e+02] [ 8.24565036e-02 9.96593714e-01 -1.37599159e-03 1.12361320e+01] [ 3.58240066e-02 -1.58421198e-03 9.99356859e-01 1.07928359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.28, Y:11.24, Z:10.79 [[ 9.95865789e-01 -8.34706382e-02 -3.58327086e-02 3.06276898e+02] [ 8.34751270e-02 9.96508915e-01 -1.37337772e-03 1.12378109e+01] [ 3.58222503e-02 -1.62344001e-03 9.99356859e-01 1.07929292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.31, Y:11.24, Z:10.79 [[ 9.95783042e-01 -8.44520271e-02 -3.58327830e-02 3.06308879e+02] [ 8.44572196e-02 9.96426162e-01 -1.37143259e-03 1.12394257e+01] [ 3.58205428e-02 -1.66068791e-03 9.99356859e-01 1.07931950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.34, Y:11.24, Z:10.79 [[ 9.95694406e-01 -8.54906727e-02 -3.58328806e-02 3.06340633e+02] [ 8.54966277e-02 9.96337520e-01 -1.36887943e-03 1.12422129e+01] [ 3.58186698e-02 -1.70060486e-03 9.99356859e-01 1.07936545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.37, Y:11.24, Z:10.79 [[ 9.95732668e-01 -8.50438240e-02 -3.58329809e-02 3.06372521e+02] [ 8.50495849e-02 9.96375783e-01 -1.36624751e-03 1.12447139e+01] [ 3.58193053e-02 -1.68716288e-03 9.99356859e-01 1.07949551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.40, Y:11.25, Z:10.80 [[ 9.95828565e-01 -8.39134070e-02 -3.58330804e-02 3.06403356e+02] [ 8.39185317e-02 9.96471686e-01 -1.36363361e-03 1.12476991e+01] [ 3.58210772e-02 -1.64911419e-03 9.99356859e-01 1.07956668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.44, Y:11.25, Z:10.80 [[ 9.96197340e-01 -7.94156475e-02 -3.58331543e-02 3.06435501e+02] [ 7.94179379e-02 9.96840477e-01 -1.36168764e-03 1.12533023e+01] [ 3.58280780e-02 -1.48928562e-03 9.99356859e-01 1.07989903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.47, Y:11.26, Z:10.80 [[ 9.96458304e-01 -7.60711906e-02 -3.58332538e-02 3.06466323e+02] [ 7.60714161e-02 9.97101445e-01 -1.35906672e-03 1.12567558e+01] [ 3.58327749e-02 -1.37163303e-03 9.99356859e-01 1.08005854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.50, Y:11.26, Z:10.80 [[ 9.96734375e-01 -7.23640627e-02 -3.58333277e-02 3.06498035e+02] [ 7.23619660e-02 9.97377513e-01 -1.35711369e-03 1.12604974e+01] [ 3.58375616e-02 -1.24028818e-03 9.99356859e-01 1.08023749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.53, Y:11.27, Z:10.80 [[ 9.97302751e-01 -6.40561391e-02 -3.58334262e-02 3.06529591e+02] [ 6.40487769e-02 9.97945850e-01 -1.35450953e-03 1.12666397e+01] [ 3.58465836e-02 -9.44231034e-04 9.99356859e-01 1.08045947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.56, Y:11.27, Z:10.81 [[ 9.97302753e-01 -6.40560463e-02 -3.58335238e-02 3.06560549e+02] [ 6.40487770e-02 9.97945853e-01 -1.35192112e-03 1.12678065e+01] [ 3.58465152e-02 -9.46818720e-04 9.99356859e-01 1.08057055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.59, Y:11.27, Z:10.81 [[ 9.97564090e-01 -5.98485179e-02 -3.58335238e-02 3.06590949e+02] [ 5.98385359e-02 9.98207154e-01 -1.35192112e-03 1.12711903e+01] [ 3.58501903e-02 -7.95597637e-04 9.99356859e-01 1.08073881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.62, Y:11.28, Z:10.81 [[ 9.98016293e-01 -5.17632641e-02 -3.58335479e-02 3.06621123e+02] [ 5.17480946e-02 9.98659256e-01 -1.35128184e-03 1.12768264e+01] [ 3.58554510e-02 -5.05716533e-04 9.99356859e-01 1.08099915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:11.28, Z:10.81 [[ 9.98003433e-01 -5.20106113e-02 -3.58335479e-02 3.06650321e+02] [ 5.19956011e-02 9.98646400e-01 -1.35128184e-03 1.12779628e+01] [ 3.58553246e-02 -5.14602948e-04 9.99356859e-01 1.08110400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:11.28, Z:10.81 [[ 9.98178935e-01 -4.85262331e-02 -3.58332106e-02 3.06679175e+02] [ 4.85086595e-02 9.98821836e-01 -1.36016847e-03 1.12812647e+01] [ 3.58569970e-02 -3.80529492e-04 9.99356859e-01 1.08126770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.71, Y:11.28, Z:10.81 [[ 9.98316341e-01 -4.56121694e-02 -3.58331389e-02 3.06707817e+02] [ 4.55926513e-02 9.98959186e-01 -1.36205559e-03 1.12841450e+01] [ 3.58579695e-02 -2.73965456e-04 9.99356859e-01 1.08141491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:11.29, Z:10.81 [[ 9.98511196e-01 -4.11266534e-02 -3.58328037e-02 3.06735783e+02] [ 4.11039331e-02 9.99153936e-01 -1.37081579e-03 1.12871979e+01] [ 3.58588640e-02 -1.04094255e-04 9.99356859e-01 1.08149466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.76, Y:11.29, Z:10.82 [[ 9.98571276e-01 -3.96414639e-02 -3.58324112e-02 3.06763147e+02] [ 3.96174222e-02 9.99213967e-01 -1.38100018e-03 1.12888715e+01] [ 3.58589907e-02 -4.05606489e-05 9.99356859e-01 1.08157889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:11.29, Z:10.82 [[ 9.98602758e-01 -3.88406841e-02 -3.58320053e-02 3.06790351e+02] [ 3.88157519e-02 9.99245416e-01 -1.39145385e-03 1.12903169e+01] [ 3.58590120e-02 -1.33657682e-06 9.99356859e-01 1.08166830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:11.29, Z:10.82 [[ 9.98623881e-01 -3.82940107e-02 -3.58317252e-02 3.06816772e+02] [ 3.82684693e-02 9.99266515e-01 -1.39863068e-03 1.12914056e+01] [ 3.58590023e-02 2.54807255e-05 9.99356859e-01 1.08174675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.84, Y:11.29, Z:10.82 [[ 9.98585447e-01 -3.92836475e-02 -3.58315498e-02 3.06843278e+02] [ 3.92585822e-02 9.99228100e-01 -1.40310838e-03 1.12918482e+01] [ 3.58590106e-02 -5.57223247e-06 9.99356859e-01 1.08178277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.87, Y:11.29, Z:10.82 [[ 9.98541026e-01 -4.03971683e-02 -3.58313778e-02 3.06871137e+02] [ 4.03726626e-02 9.99183700e-01 -1.40748646e-03 1.12923171e+01] [ 3.58589872e-02 -4.11751542e-05 9.99356859e-01 1.08186633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:11.29, Z:10.82 [[ 9.98478720e-01 -4.19092849e-02 -3.58309719e-02 3.06897702e+02] [ 4.18853843e-02 9.99121416e-01 -1.41774511e-03 1.12927627e+01] [ 3.58589081e-02 -8.52057048e-05 9.99356859e-01 1.08198573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.93, Y:11.29, Z:10.82 [[ 9.98419728e-01 -4.32920326e-02 -3.58307955e-02 3.06925014e+02] [ 4.32688626e-02 9.99062452e-01 -1.42219011e-03 1.12929200e+01] [ 3.58587719e-02 -1.30415102e-04 9.99356859e-01 1.08208792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.95, Y:11.29, Z:10.82 [[ 9.98228648e-01 -4.74945629e-02 -3.58306204e-02 3.06952752e+02] [ 4.74739409e-02 9.98871458e-01 -1.42658792e-03 1.12914130e+01] [ 3.58579392e-02 -2.76959825e-04 9.99356859e-01 1.08224992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:11.29, Z:10.82 [[ 9.98109144e-01 -4.99433015e-02 -3.58302011e-02 3.06980976e+02] [ 4.99238811e-02 9.98751992e-01 -1.43704373e-03 1.12911870e+01] [ 3.58572554e-02 -3.54456216e-04 9.99356859e-01 1.08238114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:11.29, Z:10.83 [[ 9.97978897e-01 -5.24818877e-02 -3.58297800e-02 3.07008568e+02] [ 5.24637284e-02 9.98621781e-01 -1.44746507e-03 1.12910516e+01] [ 3.58563645e-02 -4.35224261e-04 9.99356859e-01 1.08253022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:11.29, Z:10.83 [[ 9.97683575e-01 -5.78249203e-02 -3.58296494e-02 3.07036948e+02] [ 5.78100878e-02 9.98326544e-01 -1.45069224e-03 1.12894295e+01] [ 3.58535762e-02 -6.23983360e-04 9.99356859e-01 1.08269869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:11.29, Z:10.83 [[ 9.97523826e-01 -6.05184195e-02 -3.58292769e-02 3.07066582e+02] [ 6.05049949e-02 9.98166827e-01 -1.45983343e-03 1.12891853e+01] [ 3.58519425e-02 -7.11631589e-04 9.99356859e-01 1.08283573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:11.29, Z:10.83 [[ 9.97349156e-01 -6.33318735e-02 -3.58292505e-02 3.07097487e+02] [ 6.33202394e-02 9.97992192e-01 -1.46048124e-03 1.12889503e+01] [ 3.58498073e-02 -8.12106992e-04 9.99356859e-01 1.08295668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:11.29, Z:10.83 [[ 9.97178498e-01 -6.59644420e-02 -3.58292505e-02 3.07128482e+02] [ 6.59545054e-02 9.97821562e-01 -1.46048124e-03 1.12887105e+01] [ 3.58475386e-02 -9.06740012e-04 9.99356859e-01 1.08303177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:11.29, Z:10.83 [[ 9.96868343e-01 -7.04966064e-02 -3.58292505e-02 3.07158463e+02] [ 7.04895930e-02 9.97511446e-01 -1.46048124e-03 1.12868705e+01] [ 3.58430465e-02 -1.06968178e-03 9.99356859e-01 1.08309148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:11.29, Z:10.83 [[ 9.96743165e-01 -7.22448984e-02 -3.58292773e-02 3.07190214e+02] [ 7.22390366e-02 9.97386279e-01 -1.45982420e-03 1.12868328e+01] [ 3.58410944e-02 -1.13320268e-03 9.99356859e-01 1.08318467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:11.29, Z:10.83 [[ 9.96629470e-01 -7.37967434e-02 -3.58293303e-02 3.07221202e+02] [ 7.37919297e-02 9.97272593e-01 -1.45852254e-03 1.12864698e+01] [ 3.58392433e-02 -1.19030888e-03 9.99356859e-01 1.08324865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:11.29, Z:10.83 [[ 9.96526208e-01 -7.51782724e-02 -3.58293833e-02 3.07252636e+02] [ 7.51743971e-02 9.97169337e-01 -1.45721907e-03 1.12863801e+01] [ 3.58375136e-02 -1.24129529e-03 9.99356859e-01 1.08330349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:11.29, Z:10.83 [[ 9.96415769e-01 -7.66281127e-02 -3.58294368e-02 3.07284364e+02] [ 7.66252203e-02 9.97058903e-01 -1.45590337e-03 1.12851810e+01] [ 3.58356220e-02 -1.29475341e-03 9.99356859e-01 1.08336704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:11.29, Z:10.83 [[ 9.96402122e-01 -7.68052743e-02 -3.58296045e-02 3.07316738e+02] [ 7.68026449e-02 9.97045258e-01 -1.45176427e-03 1.12854314e+01] [ 3.58352404e-02 -1.30526739e-03 9.99356859e-01 1.08343943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:11.29, Z:10.83 [[ 9.96425387e-01 -7.65028049e-02 -3.58297093e-02 3.07348563e+02] [ 7.65000733e-02 9.97068523e-01 -1.44917365e-03 1.12850861e+01] [ 3.58355411e-02 -1.29698197e-03 9.99356859e-01 1.08344594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.38, Y:11.29, Z:10.84 [[ 9.96430873e-01 -7.64312752e-02 -3.58298130e-02 3.07381210e+02] [ 7.64285897e-02 9.97074008e-01 -1.44660323e-03 1.12863447e+01] [ 3.58355410e-02 -1.29698196e-03 9.99356859e-01 1.08356309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.41, Y:11.29, Z:10.84 [[ 9.96455434e-01 -7.61103510e-02 -3.58299166e-02 3.07412889e+02] [ 7.61075507e-02 9.97098569e-01 -1.44403279e-03 1.12867161e+01] [ 3.58358644e-02 -1.28801287e-03 9.99356859e-01 1.08354762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:11.29, Z:10.84 [[ 9.96478645e-01 -7.58058186e-02 -3.58299937e-02 3.07445502e+02] [ 7.58028905e-02 9.97121779e-01 -1.44211794e-03 1.12879376e+01] [ 3.58361880e-02 -1.27897736e-03 9.99356859e-01 1.08362159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.795099893 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:307.47, Y:11.29, Z:10.84 [[ 9.96528435e-01 -7.51483969e-02 -3.58301006e-02 3.07474690e+02] [ 7.51451401e-02 9.97171568e-01 -1.43945608e-03 1.12891490e+01] [ 3.58369305e-02 -1.25799902e-03 9.99356859e-01 1.08366840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:11.29, Z:10.84 [[ 9.96469077e-01 -7.59339461e-02 -3.58247614e-02 3.07506084e+02] [ 7.59264368e-02 9.97112183e-01 -1.57199304e-03 1.12905493e+01] [ 3.58406737e-02 -1.15360403e-03 9.99356851e-01 1.08384385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:11.29, Z:10.84 [[ 9.96428913e-01 -7.64566838e-02 -3.58301189e-02 3.07537231e+02] [ 7.64543034e-02 9.97072049e-01 -1.43856290e-03 1.12918692e+01] [ 3.58351978e-02 -1.30594112e-03 9.99356860e-01 1.08396463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.57, Y:11.29, Z:10.84 [[ 9.96419275e-01 -7.65821544e-02 -3.58301968e-02 3.07569497e+02] [ 7.65799248e-02 9.97062411e-01 -1.43662059e-03 1.12932589e+01] [ 3.58349619e-02 -1.31239733e-03 9.99356860e-01 1.08408052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:11.29, Z:10.84 [[ 9.96378185e-01 -7.71148636e-02 -3.58303000e-02 3.07602080e+02] [ 7.71130704e-02 9.97021323e-01 -1.43404279e-03 1.12946776e+01] [ 3.58341591e-02 -1.33413549e-03 9.99356860e-01 1.08419009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.63, Y:11.30, Z:10.84 [[ 9.96339102e-01 -7.76181466e-02 -3.58304046e-02 3.07634190e+02] [ 7.76167724e-02 9.96982240e-01 -1.43142321e-03 1.12960355e+01] [ 3.58333815e-02 -1.35485745e-03 9.99356860e-01 1.08428560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.67, Y:11.30, Z:10.84 [[ 9.96174922e-01 -7.96975483e-02 -3.58305087e-02 3.07665098e+02] [ 7.96976101e-02 9.96818062e-01 -1.42881342e-03 1.12971932e+01] [ 3.58303712e-02 -1.43225781e-03 9.99356860e-01 1.08435805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:11.30, Z:10.84 [[ 9.96060627e-01 -8.11134757e-02 -3.58305862e-02 3.07697187e+02] [ 8.11145216e-02 9.96703767e-01 -1.42686676e-03 1.12983485e+01] [ 3.58282184e-02 -1.48513506e-03 9.99356860e-01 1.08446783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:11.30, Z:10.85 [[ 9.95941888e-01 -8.25585694e-02 -3.58306889e-02 3.07728139e+02] [ 8.25606412e-02 9.96585025e-01 -1.42428458e-03 1.12993542e+01] [ 3.58259148e-02 -1.53969997e-03 9.99356860e-01 1.08455776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.76, Y:11.30, Z:10.85 [[ 9.95735141e-01 -8.50157599e-02 -3.58308595e-02 3.07759165e+02] [ 8.50195732e-02 9.96378269e-01 -1.41997845e-03 1.13003859e+01] [ 3.58218103e-02 -1.63240194e-03 9.99356860e-01 1.08465538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:11.30, Z:10.85 [[ 9.95659708e-01 -8.58946054e-02 -3.58310283e-02 3.07791409e+02] [ 8.58991398e-02 9.96302832e-01 -1.41570545e-03 1.13018592e+01] [ 3.58201565e-02 -1.66829364e-03 9.99356860e-01 1.08479244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.82, Y:11.30, Z:10.85 [[ 9.95628495e-01 -8.62556110e-02 -3.58311294e-02 3.07822874e+02] [ 8.62604706e-02 9.96271617e-01 -1.41314195e-03 1.13038830e+01] [ 3.58194287e-02 -1.68384570e-03 9.99356860e-01 1.08499980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:11.31, Z:10.85 [[ 9.95677122e-01 -8.56924323e-02 -3.58312047e-02 3.07854635e+02] [ 8.56969967e-02 9.96320246e-01 -1.41123222e-03 1.13054414e+01] [ 3.58202866e-02 -1.66549499e-03 9.99356860e-01 1.08515719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:11.31, Z:10.85 [[ 9.95758700e-01 -8.47391813e-02 -3.58313021e-02 3.07886958e+02] [ 8.47432190e-02 9.96401828e-01 -1.40875308e-03 1.13072822e+01] [ 3.58217515e-02 -1.63368175e-03 9.99356860e-01 1.08533078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.92, Y:11.31, Z:10.85 [[ 9.95880706e-01 -8.32930398e-02 -3.58314035e-02 3.07918036e+02] [ 8.32962364e-02 9.96523838e-01 -1.40616948e-03 1.13094649e+01] [ 3.58239719e-02 -1.58424401e-03 9.99356860e-01 1.08547238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.95, Y:11.31, Z:10.86 [[ 9.96057616e-01 -8.11500564e-02 -3.58314790e-02 3.07950027e+02] [ 8.11519383e-02 9.96700753e-01 -1.40424407e-03 1.13118828e+01] [ 3.58272166e-02 -1.50908597e-03 9.99356860e-01 1.08562834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.98, Y:11.32, Z:10.86 [[ 9.96487342e-01 -7.56906525e-02 -3.58315785e-02 3.07982142e+02] [ 7.56891015e-02 9.97130481e-01 -1.40169898e-03 1.13159121e+01] [ 3.58348546e-02 -1.31528470e-03 9.99356860e-01 1.08575183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.01, Y:11.32, Z:10.86 [[ 9.96737964e-01 -7.23154303e-02 -3.58316786e-02 3.08013895e+02] [ 7.23117932e-02 9.97381094e-01 -1.39913759e-03 1.13186013e+01] [ 3.58390180e-02 -1.19647938e-03 9.99356860e-01 1.08587275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:11.32, Z:10.86 [[ 9.96983827e-01 -6.88428056e-02 -3.58317776e-02 3.08045435e+02] [ 6.88370193e-02 9.97626941e-01 -1.39659699e-03 1.13215209e+01] [ 3.58428923e-02 -1.07416815e-03 9.99356860e-01 1.08601306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.08, Y:11.33, Z:10.86 [[ 9.97415947e-01 -6.22696505e-02 -3.58318277e-02 3.08076186e+02] [ 6.22596716e-02 9.98059009e-01 -1.39530885e-03 1.13260179e+01] [ 3.58491639e-02 -8.39174531e-04 9.99356860e-01 1.08615957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:11.33, Z:10.86 [[ 9.97587531e-01 -5.94574951e-02 -3.58318780e-02 3.08106980e+02] [ 5.94457497e-02 9.98230564e-01 -1.39401674e-03 1.13286568e+01] [ 3.58513605e-02 -7.39399131e-04 9.99356860e-01 1.08630039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:11.33, Z:10.86 [[ 9.97718611e-01 -5.72158173e-02 -3.58318780e-02 3.08136764e+02] [ 5.72026270e-02 9.98361616e-01 -1.39401674e-03 1.13314444e+01] [ 3.58529314e-02 -6.58841105e-04 9.99356860e-01 1.08639723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:11.34, Z:10.86 [[ 9.97902395e-01 -5.39155658e-02 -3.58318530e-02 3.08166478e+02] [ 5.39002258e-02 9.98545352e-01 -1.39465927e-03 1.13351596e+01] [ 3.58549241e-02 -5.39611139e-04 9.99356860e-01 1.08641841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:11.34, Z:10.86 [[ 9.97951216e-01 -5.30042658e-02 -3.58318029e-02 3.08194740e+02] [ 5.29882925e-02 9.98594158e-01 -1.39594543e-03 1.13371460e+01] [ 3.58554201e-02 -5.05580609e-04 9.99356860e-01 1.08645892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.22, Y:11.34, Z:10.87 [[ 9.97974968e-01 -5.25552059e-02 -3.58317283e-02 3.08224062e+02] [ 5.25388747e-02 9.98617901e-01 -1.39785651e-03 1.13393097e+01] [ 3.58556700e-02 -4.87532884e-04 9.99356860e-01 1.08651181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.25, Y:11.34, Z:10.87 [[ 9.97957844e-01 -5.28794236e-02 -3.58316776e-02 3.08252249e+02] [ 5.28632546e-02 9.98600780e-01 -1.39915456e-03 1.13416781e+01] [ 3.58555278e-02 -4.97881826e-04 9.99356860e-01 1.08652872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.28, Y:11.34, Z:10.87 [[ 9.97952957e-01 -5.29717943e-02 -3.58313229e-02 3.08282163e+02] [ 5.29553608e-02 9.98595888e-01 -1.40818116e-03 1.13430193e+01] [ 3.58556056e-02 -4.92162074e-04 9.99356860e-01 1.08661068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.31, Y:11.34, Z:10.87 [[ 9.97915127e-01 -5.36797937e-02 -3.58312720e-02 3.08310674e+02] [ 5.36637699e-02 9.98558067e-01 -1.40947618e-03 1.13442581e+01] [ 3.58552661e-02 -5.16303533e-04 9.99356860e-01 1.08666148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:11.35, Z:10.87 [[ 9.97869866e-01 -5.45147376e-02 -3.58311761e-02 3.08340421e+02] [ 5.44991644e-02 9.98512818e-01 -1.41190968e-03 1.13454435e+01] [ 3.58548585e-02 -5.43867033e-04 9.99356860e-01 1.08680382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:11.35, Z:10.87 [[ 9.97723492e-01 -5.71311213e-02 -3.58311246e-02 3.08369078e+02] [ 5.71171872e-02 9.98366481e-01 -1.41321424e-03 1.13465182e+01] [ 3.58533323e-02 -6.36576001e-04 9.99356860e-01 1.08696541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.40, Y:11.35, Z:10.87 [[ 9.97615428e-01 -5.89880855e-02 -3.58310480e-02 3.08399036e+02] [ 5.89752786e-02 9.98258440e-01 -1.41515507e-03 1.13475256e+01] [ 3.58521233e-02 -7.01365502e-04 9.99356860e-01 1.08710124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.43, Y:11.35, Z:10.87 [[ 9.97476981e-01 -6.12846432e-02 -3.58310480e-02 3.08428211e+02] [ 6.12733166e-02 9.98120022e-01 -1.41515507e-03 1.13483906e+01] [ 3.58504136e-02 -7.83902536e-04 9.99356860e-01 1.08722377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:11.35, Z:10.87 [[ 9.97310475e-01 -6.39371193e-02 -3.58310232e-02 3.08457628e+02] [ 6.39274803e-02 9.97953542e-01 -1.41578156e-03 1.13489167e+01] [ 3.58482175e-02 -8.78613256e-04 9.99356860e-01 1.08736757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:11.35, Z:10.87 [[ 9.96899484e-01 -7.00539692e-02 -3.58309987e-02 3.08488702e+02] [ 7.00482531e-02 9.97542599e-01 -1.41640148e-03 1.13488295e+01] [ 3.58421721e-02 -1.09788896e-03 9.99356860e-01 1.08737635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:11.35, Z:10.87 [[ 9.96681486e-01 -7.30900191e-02 -3.58310502e-02 3.08520926e+02] [ 7.30863088e-02 9.97324616e-01 -1.41509670e-03 1.13493689e+01] [ 3.58386178e-02 -1.20835852e-03 9.99356860e-01 1.08744177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:11.35, Z:10.88 [[ 9.96686829e-01 -7.30170727e-02 -3.58311535e-02 3.08553576e+02] [ 7.30134093e-02 9.97329959e-01 -1.41247818e-03 1.13505988e+01] [ 3.58386178e-02 -1.20835628e-03 9.99356860e-01 1.08755892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:11.35, Z:10.88 [[ 9.96458427e-01 -7.60705268e-02 -3.58312566e-02 3.08586030e+02] [ 7.60689280e-02 9.97101565e-01 -1.40985741e-03 1.13513239e+01] [ 3.58346506e-02 -1.32078098e-03 9.99356860e-01 1.08763890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:11.35, Z:10.88 [[ 9.95997693e-01 -8.18822919e-02 -3.58313601e-02 3.08618664e+02] [ 8.18845397e-02 9.96640829e-01 -1.40722162e-03 1.13517433e+01] [ 3.58262230e-02 -1.53244494e-03 9.99356860e-01 1.08771075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:11.35, Z:10.88 [[ 9.95797459e-01 -8.42824183e-02 -3.58314641e-02 3.08649949e+02] [ 8.42863114e-02 9.96440588e-01 -1.40456749e-03 1.13527519e+01] [ 3.58223055e-02 -1.62143721e-03 9.99356860e-01 1.08785100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:11.35, Z:10.88 [[ 9.95642763e-01 -8.60905921e-02 -3.58315417e-02 3.08682413e+02] [ 8.60957242e-02 9.96285882e-01 -1.40258685e-03 1.13540943e+01] [ 3.58192086e-02 -1.68846708e-03 9.99356860e-01 1.08796872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:11.36, Z:10.88 [[ 9.95536013e-01 -8.73163262e-02 -3.58316441e-02 3.08713692e+02] [ 8.73223442e-02 9.96179125e-01 -1.39996605e-03 1.13553674e+01] [ 3.58169757e-02 -1.73518653e-03 9.99356860e-01 1.08808487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:11.36, Z:10.88 [[ 9.95472785e-01 -8.80342150e-02 -3.58317202e-02 3.08744951e+02] [ 8.80407668e-02 9.96115891e-01 -1.39801476e-03 1.13565428e+01] [ 3.58156190e-02 -1.76296647e-03 9.99356860e-01 1.08822658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:11.36, Z:10.88 [[ 9.95440696e-01 -8.83962821e-02 -3.58317949e-02 3.08777434e+02] [ 8.84031366e-02 9.96083800e-01 -1.39609720e-03 1.13582774e+01] [ 3.58148802e-02 -1.77791109e-03 9.99356860e-01 1.08836863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:11.36, Z:10.88 [[ 9.95535036e-01 -8.73273583e-02 -3.58318952e-02 3.08807367e+02] [ 8.73336149e-02 9.96178146e-01 -1.39351929e-03 1.13599141e+01] [ 3.58166432e-02 -1.74203166e-03 9.99356860e-01 1.08835132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:11.36, Z:10.89 [[ 9.95596379e-01 -8.66270472e-02 -3.58274367e-02 3.08840310e+02] [ 8.66287362e-02 9.96239523e-01 -1.50812178e-03 1.13612531e+01] [ 3.58233526e-02 -1.60220498e-03 9.99356853e-01 1.08853195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:11.36, Z:10.89 [[ 9.95753526e-01 -8.47996255e-02 -3.58321053e-02 3.08872686e+02] [ 8.48044630e-02 9.96396647e-01 -1.38756775e-03 1.13626555e+01] [ 3.58206548e-02 -1.65704698e-03 9.99356861e-01 1.08853928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:11.36, Z:10.89 [[ 9.95943555e-01 -8.25378011e-02 -3.58322047e-02 3.08905188e+02] [ 8.25412702e-02 9.96586685e-01 -1.38499823e-03 1.13643426e+01] [ 3.58242128e-02 -1.57825563e-03 9.99356861e-01 1.08857899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:11.37, Z:10.89 [[ 9.96428168e-01 -7.64653610e-02 -3.58323031e-02 3.08935826e+02] [ 7.64650014e-02 9.97071308e-01 -1.38244751e-03 1.13671972e+01] [ 3.58330706e-02 -1.36240746e-03 9.99356861e-01 1.08857612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:11.37, Z:10.89 [[ 9.96564816e-01 -7.46653327e-02 -3.58281495e-02 3.08967877e+02] [ 7.46599474e-02 9.97207938e-01 -1.49005060e-03 1.13697453e+01] [ 3.58393702e-02 -1.18999575e-03 9.99356855e-01 1.08859834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:11.37, Z:10.89 [[ 9.96956138e-01 -6.92423760e-02 -3.58322826e-02 3.08999613e+02] [ 6.92373369e-02 9.97599258e-01 -1.38296704e-03 1.13733172e+01] [ 3.58420184e-02 -1.10217434e-03 9.99356861e-01 1.08864603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:11.38, Z:10.89 [[ 9.97135502e-01 -6.66095486e-02 -3.58323797e-02 3.09030653e+02] [ 6.66029018e-02 9.97778607e-01 -1.38044713e-03 1.13753701e+01] [ 3.58447328e-02 -1.01004762e-03 9.99356861e-01 1.08870465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.06, Y:11.38, Z:10.89 [[ 9.97283516e-01 -6.43554487e-02 -3.58324518e-02 3.09061484e+02] [ 6.43474156e-02 9.97926605e-01 -1.37857217e-03 1.13775182e+01] [ 3.58468756e-02 -9.30898370e-04 9.99356861e-01 1.08875580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:11.38, Z:10.89 [[ 9.97454981e-01 -6.16408452e-02 -3.58324998e-02 3.09092732e+02] [ 6.16311066e-02 9.98098046e-01 -1.37732508e-03 1.13796729e+01] [ 3.58492475e-02 -8.34576852e-04 9.99356861e-01 1.08882470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:11.38, Z:10.89 [[ 9.97787459e-01 -5.60019295e-02 -3.58325474e-02 3.09122865e+02] [ 5.59886007e-02 9.98430460e-01 -1.37608357e-03 1.13834314e+01] [ 3.58533701e-02 -6.33175267e-04 9.99356861e-01 1.08878315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:11.39, Z:10.89 [[ 9.97960838e-01 -5.28222686e-02 -3.58325711e-02 3.09152342e+02] [ 5.28069131e-02 9.98603794e-01 -1.37546779e-03 1.13862611e+01] [ 3.58551968e-02 -5.19544481e-04 9.99356861e-01 1.08895096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:11.39, Z:10.89 [[ 9.98126313e-01 -4.95973112e-02 -3.58325224e-02 3.09182302e+02] [ 4.95798328e-02 9.98769215e-01 -1.37673370e-03 1.13890775e+01] [ 3.58567026e-02 -4.02416344e-04 9.99356861e-01 1.08909691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:11.39, Z:10.89 [[ 9.98280267e-01 -4.63954951e-02 -3.58324730e-02 3.09211087e+02] [ 4.63759084e-02 9.98923108e-01 -1.37802043e-03 1.13917027e+01] [ 3.58578192e-02 -2.86112887e-04 9.99356861e-01 1.08920534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:11.40, Z:10.89 [[ 9.98526426e-01 -4.07558070e-02 -3.58321234e-02 3.09239257e+02] [ 4.07322655e-02 9.99169134e-01 -1.38704928e-03 1.13956263e+01] [ 3.58588821e-02 -7.45182035e-05 9.99356861e-01 1.08933423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:11.40, Z:10.89 [[ 9.98634182e-01 -3.80244366e-02 -3.58317150e-02 3.09265793e+02] [ 3.79987614e-02 9.99276809e-01 -1.39752279e-03 1.13979883e+01] [ 3.58589418e-02 3.40532367e-05 9.99356861e-01 1.08941026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:11.40, Z:10.90 [[ 9.98709317e-01 -3.59972430e-02 -3.58315379e-02 3.09293620e+02] [ 3.59701011e-02 9.99351883e-01 -1.40204793e-03 1.14002463e+01] [ 3.58587847e-02 1.11374287e-04 9.99356861e-01 1.08952510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:11.40, Z:10.90 [[ 9.98794138e-01 -3.35618881e-02 -3.58311362e-02 3.09321782e+02] [ 3.35328138e-02 9.99436619e-01 -1.41223956e-03 1.14031890e+01] [ 3.58583471e-02 2.09017776e-04 9.99356861e-01 1.08968834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:11.40, Z:10.90 [[ 9.98800995e-01 -3.33576393e-02 -3.58307295e-02 3.09349407e+02] [ 3.33280661e-02 9.99443453e-01 -1.42248415e-03 1.14047501e+01] [ 3.58582387e-02 2.26609662e-04 9.99356861e-01 1.08982108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:11.41, Z:10.90 [[ 9.98779734e-01 -3.39886957e-02 -3.58303145e-02 3.09376859e+02] [ 3.39591561e-02 9.99422194e-01 -1.43286243e-03 1.14058888e+01] [ 3.58583126e-02 2.14346718e-04 9.99356861e-01 1.08995387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:11.41, Z:10.90 [[ 9.98725221e-01 -3.55548963e-02 -3.58298993e-02 3.09403356e+02] [ 3.55259944e-02 9.99367711e-01 -1.44316936e-03 1.14070123e+01] [ 3.58585562e-02 1.68436839e-04 9.99356861e-01 1.09008386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:11.41, Z:10.90 [[ 9.98526199e-01 -4.07634891e-02 -3.58297190e-02 3.09431230e+02] [ 4.07377786e-02 9.99168823e-01 -1.44763279e-03 1.14067373e+01] [ 3.58589487e-02 -1.41238896e-05 9.99356861e-01 1.09026044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:11.41, Z:10.90 [[ 9.98425416e-01 -4.31619161e-02 -3.58292954e-02 3.09460361e+02] [ 4.31373757e-02 9.99068086e-01 -1.45804219e-03 1.14061388e+01] [ 3.58588375e-02 -8.98353955e-05 9.99356861e-01 1.09011400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:11.41, Z:10.90 [[ 9.98171362e-01 -4.86835636e-02 -3.58307548e-02 3.09487131e+02] [ 4.86638597e-02 9.98814200e-01 -1.42234049e-03 1.14067515e+01] [ 3.58575113e-02 -3.23923283e-04 9.99356860e-01 1.09048145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:11.41, Z:10.91 [[ 9.97668310e-01 -5.80882578e-02 -3.58287222e-02 3.09516065e+02] [ 5.80728364e-02 9.98311264e-01 -1.47182333e-03 1.14055901e+01] [ 3.58537126e-02 -6.12284026e-04 9.99356861e-01 1.09054600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:11.41, Z:10.90 [[ 9.97438171e-01 -6.19146535e-02 -3.58283566e-02 3.09546544e+02] [ 6.19013808e-02 9.98081172e-01 -1.48066891e-03 1.14052380e+01] [ 3.58512833e-02 -7.40949062e-04 9.99356861e-01 1.09044140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:11.41, Z:10.91 [[ 9.97149463e-01 -6.64017434e-02 -3.58295512e-02 3.09578125e+02] [ 6.63923993e-02 9.97792534e-01 -1.45183228e-03 1.14054130e+01] [ 3.58468629e-02 -9.31116090e-04 9.99356861e-01 1.09053372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:11.41, Z:10.91 [[ 9.96788854e-01 -7.16115382e-02 -3.58297222e-02 3.09608925e+02] [ 7.16057028e-02 9.97431966e-01 -1.44770635e-03 1.14066778e+01] [ 3.58413828e-02 -1.12255489e-03 9.99356861e-01 1.09073963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:11.41, Z:10.91 [[ 9.96059493e-01 -8.11290025e-02 -3.58269761e-02 3.09640061e+02] [ 8.11269291e-02 9.96702628e-01 -1.51400317e-03 1.14066552e+01] [ 3.58316708e-02 -1.39849533e-03 9.99356861e-01 1.09068935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:11.41, Z:10.91 [[ 9.95738896e-01 -8.49727739e-02 -3.58284538e-02 3.09672541e+02] [ 8.49744690e-02 9.96382032e-01 -1.47818787e-03 1.14073151e+01] [ 3.58244333e-02 -1.57261468e-03 9.99356862e-01 1.09078140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:11.41, Z:10.91 [[ 9.95438757e-01 -8.84194267e-02 -3.58285604e-02 3.09703281e+02] [ 8.84234413e-02 9.96081883e-01 -1.47559872e-03 1.14080321e+01] [ 3.58186515e-02 -1.69921646e-03 9.99356862e-01 1.09078956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:11.41, Z:10.91 [[ 9.94940433e-01 -9.38607666e-02 -3.58286398e-02 3.09735967e+02] [ 9.38683668e-02 9.95583526e-01 -1.47366899e-03 1.14088772e+01] [ 3.58087233e-02 -1.89696304e-03 9.99356862e-01 1.09087427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.77, Y:11.41, Z:10.91 [[ 9.94744859e-01 -9.59112384e-02 -3.58287699e-02 3.09767893e+02] [ 9.59202778e-02 9.95387933e-01 -1.47049953e-03 1.14105462e+01] [ 3.58045627e-02 -1.97393372e-03 9.99356862e-01 1.09096943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:11.41, Z:10.91 [[ 9.94623471e-01 -9.71619311e-02 -3.58288996e-02 3.09801161e+02] [ 9.71718928e-02 9.95266532e-01 -1.46733148e-03 1.14123260e+01] [ 3.58018735e-02 -2.02211967e-03 9.99356862e-01 1.09114999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:11.42, Z:10.91 [[ 9.94573949e-01 -9.76674974e-02 -3.58290501e-02 3.09832787e+02] [ 9.76779182e-02 9.95217002e-01 -1.46364868e-03 1.14157309e+01] [ 3.58006307e-02 -2.04400017e-03 9.99356862e-01 1.09140454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.87, Y:11.42, Z:10.92 [[ 9.94624004e-01 -9.71563798e-02 -3.58291517e-02 3.09865709e+02] [ 9.71665596e-02 9.95267062e-01 -1.46115653e-03 1.14183617e+01] [ 3.58015352e-02 -2.02809405e-03 9.99356862e-01 1.09156124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.90, Y:11.42, Z:10.92 [[ 9.94731968e-01 -9.60446444e-02 -3.58293035e-02 3.09897680e+02] [ 9.60542395e-02 9.95375034e-01 -1.45742600e-03 1.14209139e+01] [ 3.58035721e-02 -1.99180827e-03 9.99356862e-01 1.09170158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:11.42, Z:10.92 [[ 9.94931592e-01 -9.39541318e-02 -3.58294289e-02 3.09930450e+02] [ 9.39624865e-02 9.95574676e-01 -1.45433589e-03 1.14244564e+01] [ 3.58075129e-02 -1.91965750e-03 9.99356862e-01 1.09189832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:11.43, Z:10.92 [[ 9.95188155e-01 -9.11963638e-02 -3.58295868e-02 3.09959802e+02] [ 9.12030763e-02 9.95831258e-01 -1.45043477e-03 1.14264976e+01] [ 3.58124969e-02 -1.82431304e-03 9.99356862e-01 1.09198538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:11.43, Z:10.92 [[ 9.95129294e-01 -9.18405115e-02 -3.58191194e-02 3.09993799e+02] [ 9.18383967e-02 9.95772460e-01 -1.70783894e-03 1.14292497e+01] [ 3.58245414e-02 -1.59004994e-03 9.99356830e-01 1.09203080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:11.43, Z:10.92 [[ 9.95264801e-01 -9.03559696e-02 -3.58298033e-02 3.10026275e+02] [ 9.03624239e-02 9.95907903e-01 -1.44249550e-03 1.14325294e+01] [ 3.58135223e-02 -1.80200288e-03 9.99356865e-01 1.09209815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:11.44, Z:10.92 [[ 9.95324757e-01 -8.96930684e-02 -3.58299050e-02 3.10058334e+02] [ 8.96991852e-02 9.95967862e-01 -1.43996557e-03 1.14350106e+01] [ 3.58145888e-02 -1.78067990e-03 9.99356865e-01 1.09218172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:11.44, Z:10.92 [[ 9.95395042e-01 -8.89096198e-02 -3.58300079e-02 3.10090623e+02] [ 8.89153226e-02 9.96038152e-01 -1.43739973e-03 1.14373615e+01] [ 3.58158535e-02 -1.75505615e-03 9.99356865e-01 1.09223311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:11.44, Z:10.92 [[ 9.95464478e-01 -8.81287462e-02 -3.58301123e-02 3.10123227e+02] [ 8.81340381e-02 9.96107591e-01 -1.43479220e-03 1.14400947e+01] [ 3.58170933e-02 -1.72956782e-03 9.99356865e-01 1.09225584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:11.44, Z:10.92 [[ 9.95663823e-01 -8.58472200e-02 -3.58302414e-02 3.10155225e+02] [ 8.58511542e-02 9.96306946e-01 -1.43156014e-03 1.14441291e+01] [ 3.58208139e-02 -1.65071494e-03 9.99356865e-01 1.09224960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:11.45, Z:10.92 [[ 9.95824472e-01 -8.39631336e-02 -3.58303457e-02 3.10186507e+02] [ 8.39659448e-02 9.96467600e-01 -1.42894533e-03 1.14470529e+01] [ 3.58237573e-02 -1.58555010e-03 9.99356865e-01 1.09227832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:11.45, Z:10.92 [[ 9.96006384e-01 -8.17768738e-02 -3.58305243e-02 3.10217864e+02] [ 8.17784345e-02 9.96649516e-01 -1.42445378e-03 1.14503074e+01] [ 3.58269621e-02 -1.51139913e-03 9.99356865e-01 1.09233299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:11.46, Z:10.92 [[ 9.96486897e-01 -7.56969284e-02 -3.58306975e-02 3.10249352e+02] [ 7.56947211e-02 9.97130028e-01 -1.42008457e-03 1.14566253e+01] [ 3.58353604e-02 -1.29709899e-03 9.99356865e-01 1.09249586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:11.46, Z:10.93 [[ 9.96764981e-01 -7.19425292e-02 -3.58307983e-02 3.10281294e+02] [ 7.19379907e-02 9.97408099e-01 -1.41753502e-03 1.14606317e+01] [ 3.58399095e-02 -1.16464637e-03 9.99356865e-01 1.09269464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:11.46, Z:10.93 [[ 9.97066622e-01 -6.76335530e-02 -3.58308999e-02 3.10312365e+02] [ 6.76263271e-02 9.97709716e-01 -1.41496343e-03 1.14644734e+01] [ 3.58445359e-02 -1.01229934e-03 9.99356865e-01 1.09284134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:11.47, Z:10.93 [[ 9.97654796e-01 -5.83185095e-02 -3.58309755e-02 3.10343790e+02] [ 5.83053466e-02 9.98297796e-01 -1.41304512e-03 1.14709847e+01] [ 3.58523906e-02 -6.79406209e-04 9.99356865e-01 1.09326462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:11.47, Z:10.93 [[ 9.97927595e-01 -5.34476193e-02 -3.58310785e-02 3.10374593e+02] [ 5.34314116e-02 9.98570526e-01 -1.41042913e-03 1.14747354e+01] [ 3.58552430e-02 -5.06998951e-04 9.99356865e-01 1.09346679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:11.48, Z:10.94 [[ 9.98164189e-01 -4.88301240e-02 -3.58311292e-02 3.10405343e+02] [ 4.88109883e-02 9.98807039e-01 -1.40914047e-03 1.14781087e+01] [ 3.58571926e-02 -3.42399270e-04 9.99356865e-01 1.09368669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:11.48, Z:10.94 [[ 9.98357785e-01 -4.46974569e-02 -3.58311292e-02 3.10434529e+02] [ 4.46756600e-02 9.99000550e-01 -1.40914047e-03 1.14804565e+01] [ 3.58583028e-02 -1.93952983e-04 9.99356865e-01 1.09379808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:11.48, Z:10.94 [[ 9.98447781e-01 -4.26398913e-02 -3.58311037e-02 3.10462985e+02] [ 4.26167466e-02 9.99090499e-01 -1.40978687e-03 1.14813666e+01] [ 3.58586285e-02 -1.19406500e-04 9.99356865e-01 1.09396583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:11.48, Z:10.94 [[ 9.98437060e-01 -4.28904903e-02 -3.58307477e-02 3.10492165e+02] [ 4.28671843e-02 9.99079772e-01 -1.41877831e-03 1.14825551e+01] [ 3.58586274e-02 -1.19402421e-04 9.99356865e-01 1.09407096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:11.48, Z:10.94 [[ 9.98563074e-01 -3.98493572e-02 -3.58303896e-02 3.10520923e+02] [ 3.98237712e-02 9.99205699e-01 -1.42776559e-03 1.14832812e+01] [ 3.58588250e-02 -1.18724590e-06 9.99356866e-01 1.09430414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:11.48, Z:10.94 [[ 9.98598713e-01 -3.89463601e-02 -3.58300244e-02 3.10547521e+02] [ 3.89198663e-02 9.99241302e-01 -1.43687106e-03 1.14841573e+01] [ 3.58588012e-02 4.03578309e-05 9.99356866e-01 1.09436526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:11.49, Z:10.94 [[ 9.98656399e-01 -3.74382996e-02 -3.58297359e-02 3.10575645e+02] [ 3.74105787e-02 9.99298936e-01 -1.44402936e-03 1.14851593e+01] [ 3.58586790e-02 1.01678009e-04 9.99356866e-01 1.09448891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.60, Y:11.49, Z:10.95 [[ 9.98659331e-01 -3.73604044e-02 -3.58293229e-02 3.10603049e+02] [ 3.73322682e-02 9.99301850e-01 -1.45420667e-03 1.14860156e+01] [ 3.58586384e-02 1.14667167e-04 9.99356866e-01 1.09461993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:11.49, Z:10.95 [[ 9.98648600e-01 -3.76465508e-02 -3.58289025e-02 3.10630548e+02] [ 3.76182297e-02 9.99291111e-01 -1.46449026e-03 1.14865421e+01] [ 3.58586368e-02 1.14691258e-04 9.99356866e-01 1.09471782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:11.49, Z:10.95 [[ 9.98633620e-01 -3.80422488e-02 -3.58284792e-02 3.10657583e+02] [ 3.80138133e-02 9.99276126e-01 -1.47477630e-03 1.14864637e+01] [ 3.58586476e-02 1.10784081e-04 9.99356866e-01 1.09470806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:11.48, Z:10.95 [[ 9.98592272e-01 -3.91127544e-02 -3.58282949e-02 3.10685297e+02] [ 3.90848476e-02 9.99234801e-01 -1.47923955e-03 1.14837341e+01] [ 3.58587362e-02 7.68137433e-05 9.99356866e-01 1.09479069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:11.48, Z:10.95 [[ 9.98563255e-01 -3.98470959e-02 -3.58278586e-02 3.10712554e+02] [ 3.98192850e-02 9.99205787e-01 -1.48973316e-03 1.14831101e+01] [ 3.58587652e-02 6.09530786e-05 9.99356866e-01 1.09477452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:11.48, Z:10.95 [[ 9.98520582e-01 -4.09026327e-02 -3.58276688e-02 3.10740530e+02] [ 4.08753378e-02 9.99163137e-01 -1.49428241e-03 1.14827796e+01] [ 3.58588060e-02 2.76036758e-05 9.99356866e-01 1.09484423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:11.48, Z:10.95 [[ 9.98488727e-01 -4.16733785e-02 -3.58272507e-02 3.10768655e+02] [ 4.16462224e-02 9.99131287e-01 -1.50424069e-03 1.14825557e+01] [ 3.58588139e-02 9.89771790e-06 9.99356866e-01 1.09502042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:11.48, Z:10.95 [[ 9.98453922e-01 -4.24994782e-02 -3.58268168e-02 3.10796625e+02] [ 4.24724853e-02 9.99096489e-01 -1.51450446e-03 1.14818490e+01] [ 3.58588126e-02 -9.49103057e-06 9.99356866e-01 1.09495757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:11.48, Z:10.95 [[ 9.98449203e-01 -4.26083296e-02 -3.58290228e-02 3.10824134e+02] [ 4.25832677e-02 9.99091851e-01 -1.46264471e-03 1.14822663e+01] [ 3.58588056e-02 -6.53404255e-05 9.99356864e-01 1.09535339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:11.48, Z:10.95 [[ 9.98449230e-01 -4.26104006e-02 -3.58258148e-02 3.10853106e+02] [ 4.25826575e-02 9.99091764e-01 -1.53740402e-03 1.14823853e+01] [ 3.58587859e-02 9.46145619e-06 9.99356867e-01 1.09549365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:11.48, Z:10.96 [[ 9.98463526e-01 -4.22744185e-02 -3.58254249e-02 3.10880904e+02] [ 4.22461351e-02 9.99106037e-01 -1.54643529e-03 1.14819343e+01] [ 3.58587730e-02 3.05734932e-05 9.99356867e-01 1.09558181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.91, Y:11.48, Z:10.96 [[ 9.98477534e-01 -4.19423653e-02 -3.58252867e-02 3.10910128e+02] [ 4.19137536e-02 9.99120031e-01 -1.54963163e-03 1.14793739e+01] [ 3.58587567e-02 4.57001268e-05 9.99356867e-01 1.09571221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:11.48, Z:10.96 [[ 9.98477559e-01 -4.19421157e-02 -3.58248984e-02 3.10937108e+02] [ 4.19131836e-02 9.99120041e-01 -1.55855648e-03 1.14791990e+01] [ 3.58587431e-02 5.46481275e-05 9.99356867e-01 1.09580382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.96, Y:11.48, Z:10.96 [[ 9.98479174e-01 -4.19038070e-02 -3.58247055e-02 3.10964782e+02] [ 4.18746915e-02 9.99121648e-01 -1.56297908e-03 1.14787939e+01] [ 3.58587335e-02 6.04535682e-05 9.99356867e-01 1.09595100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:11.48, Z:10.96 [[ 9.98486666e-01 -4.17252934e-02 -3.58242501e-02 3.10991747e+02] [ 4.16956912e-02 9.99129118e-01 -1.57334653e-03 1.14767239e+01] [ 3.58586998e-02 7.72486576e-05 9.99356867e-01 1.09605450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.02, Y:11.48, Z:10.96 [[ 9.98502718e-01 -4.13395686e-02 -3.58240523e-02 3.11019123e+02] [ 4.13095570e-02 9.99145150e-01 -1.57783742e-03 1.14759827e+01] [ 3.58586553e-02 9.55992238e-05 9.99356867e-01 1.09613574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:11.48, Z:10.96 [[ 9.98512723e-01 -4.10973728e-02 -3.58238560e-02 3.11045861e+02] [ 4.10670459e-02 9.99155140e-01 -1.58228200e-03 1.14753960e+01] [ 3.58586175e-02 1.08748771e-04 9.99356867e-01 1.09620046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:11.47, Z:10.96 [[ 9.98535486e-01 -4.05407021e-02 -3.58236609e-02 3.11072786e+02] [ 4.05098590e-02 9.99177879e-01 -1.58668850e-03 1.14725416e+01] [ 3.58585349e-02 1.33153322e-04 9.99356867e-01 1.09623480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:11.47, Z:10.96 [[ 9.98530135e-01 -4.06724589e-02 -3.58234674e-02 3.11100221e+02] [ 4.06415443e-02 9.99172524e-01 -1.59104461e-03 1.14715323e+01] [ 3.58585360e-02 1.32784949e-04 9.99356867e-01 1.09637084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:11.47, Z:10.96 [[ 9.98519936e-01 -4.09224825e-02 -3.58230021e-02 3.11128117e+02] [ 4.08913554e-02 9.99162315e-01 -1.60145218e-03 1.14705832e+01] [ 3.58585291e-02 1.34230818e-04 9.99356867e-01 1.09645323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.16, Y:11.47, Z:10.97 [[ 9.98508296e-01 -4.12059348e-02 -3.58225348e-02 3.11155862e+02] [ 4.11746174e-02 9.99150666e-01 -1.61183873e-03 1.14697531e+01] [ 3.58585268e-02 1.34455182e-04 9.99356867e-01 1.09652884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:11.47, Z:10.97 [[ 9.98491773e-01 -4.16047896e-02 -3.58220636e-02 3.11184166e+02] [ 4.15733555e-02 9.99134137e-01 -1.62224339e-03 1.14666076e+01] [ 3.58585397e-02 1.30553293e-04 9.99356867e-01 1.09655195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:11.47, Z:10.97 [[ 9.98456765e-01 -4.24367721e-02 -3.58219174e-02 3.11212445e+02] [ 4.24057577e-02 9.99099149e-01 -1.62546576e-03 1.14656892e+01] [ 3.58586267e-02 1.03901736e-04 9.99356867e-01 1.09659661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:11.46, Z:10.97 [[ 9.98424695e-01 -4.31850953e-02 -3.58214475e-02 3.11240815e+02] [ 4.31541932e-02 9.99067085e-01 -1.63575613e-03 1.14646359e+01] [ 3.58586694e-02 8.73336560e-05 9.99356867e-01 1.09661092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:11.46, Z:10.97 [[ 9.98376450e-01 -4.42865534e-02 -3.58213020e-02 3.11268586e+02] [ 4.42562459e-02 9.99018868e-01 -1.63893612e-03 1.14635057e+01] [ 3.58587394e-02 5.09588732e-05 9.99356867e-01 1.09670439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:11.46, Z:10.97 [[ 9.98255923e-01 -4.69252569e-02 -3.58208323e-02 3.11296381e+02] [ 4.68962814e-02 9.98898403e-01 -1.64913867e-03 1.14598788e+01] [ 3.58587584e-02 -3.36013852e-05 9.99356867e-01 1.09679286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:11.46, Z:10.97 [[ 9.98160805e-01 -4.89069054e-02 -3.58206866e-02 3.11324569e+02] [ 4.88790921e-02 9.98803336e-01 -1.65229588e-03 1.14586780e+01] [ 3.58586300e-02 -1.01625659e-04 9.99356867e-01 1.09693463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:11.45, Z:10.97 [[ 9.97969308e-01 -5.26704119e-02 -3.58202165e-02 3.11353403e+02] [ 5.26446580e-02 9.98611925e-01 -1.66242688e-03 1.14549824e+01] [ 3.58580560e-02 -2.26692042e-04 9.99356867e-01 1.09721150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.38, Y:11.45, Z:10.97 [[ 9.97865715e-01 -5.45981463e-02 -3.58197863e-02 3.11381077e+02] [ 5.45733030e-02 9.98508368e-01 -1.67164473e-03 1.14538577e+01] [ 3.58576250e-02 -2.86727085e-04 9.99356867e-01 1.09730728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.41, Y:11.45, Z:10.98 [[ 9.97655858e-01 -5.83073120e-02 -3.58196335e-02 3.11409467e+02] [ 5.82847405e-02 9.98298594e-01 -1.67491318e-03 1.14499760e+01] [ 3.58563494e-02 -4.16751096e-04 9.99356867e-01 1.09750679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.44, Y:11.45, Z:10.98 [[ 9.97553254e-01 -6.00372889e-02 -3.58194074e-02 3.11439383e+02] [ 6.00156590e-02 9.98196022e-01 -1.67973307e-03 1.14487855e+01] [ 3.58556366e-02 -4.74102150e-04 9.99356867e-01 1.09766015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.47, Y:11.45, Z:10.98 [[ 9.97436649e-01 -6.19443788e-02 -3.58193480e-02 3.11469143e+02] [ 6.19239324e-02 9.98079456e-01 -1.68099917e-03 1.14474688e+01] [ 3.58546838e-02 -5.41384709e-04 9.99356867e-01 1.09785001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.50, Y:11.44, Z:10.98 [[ 9.97160503e-01 -6.62412955e-02 -3.58192887e-02 3.11498522e+02] [ 6.62235735e-02 9.97803392e-01 -1.68226238e-03 1.14433546e+01] [ 3.58520430e-02 -6.94595697e-04 9.99356867e-01 1.09799911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:11.44, Z:10.98 [[ 9.96992128e-01 -6.87290367e-02 -3.58192282e-02 3.11528438e+02] [ 6.87128726e-02 9.97635057e-01 -1.68354876e-03 1.14416298e+01] [ 3.58502265e-02 -7.82757203e-04 9.99356867e-01 1.09808565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:11.44, Z:10.98 [[ 9.96769849e-01 -7.18808279e-02 -3.58191982e-02 3.11557639e+02] [ 7.18666736e-02 9.97412826e-01 -1.68418790e-03 1.14401718e+01] [ 3.58475885e-02 -8.95458904e-04 9.99356867e-01 1.09812239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:11.44, Z:10.98 [[ 9.96509488e-01 -7.54044205e-02 -3.58191686e-02 3.11587844e+02] [ 7.53925169e-02 9.97152511e-01 -1.68481618e-03 1.14387482e+01] [ 3.58442165e-02 -1.02156197e-03 9.99356867e-01 1.09823513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.62, Y:11.44, Z:10.98 [[ 9.96209905e-01 -7.92641919e-02 -3.58191686e-02 3.11618411e+02] [ 7.92547795e-02 9.96852969e-01 -1.68481618e-03 1.14374608e+01] [ 3.58399902e-02 -1.16040975e-03 9.99356867e-01 1.09829822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:11.43, Z:10.98 [[ 9.95554465e-01 -8.71108147e-02 -3.58191686e-02 3.11648962e+02] [ 8.71064692e-02 9.96197583e-01 -1.68481618e-03 1.14342181e+01] [ 3.58297349e-02 -1.44275504e-03 9.99356867e-01 1.09827329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.68, Y:11.43, Z:10.98 [[ 9.95239213e-01 -9.06415676e-02 -3.58191987e-02 3.11679844e+02] [ 9.06395263e-02 9.95882342e-01 -1.68417628e-03 1.14340380e+01] [ 3.58243639e-02 -1.57047693e-03 9.99356867e-01 1.09830914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:11.43, Z:10.98 [[ 9.94968739e-01 -9.35637710e-02 -3.58194014e-02 3.11711688e+02] [ 9.35637735e-02 9.95611871e-01 -1.67985519e-03 1.14341524e+01] [ 3.58193948e-02 -1.67999495e-03 9.99356867e-01 1.09848771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:11.43, Z:10.99 [[ 9.94578865e-01 -9.76209166e-02 -3.58195253e-02 3.11743196e+02] [ 9.76236372e-02 9.95221992e-01 -1.67720828e-03 1.14340347e+01] [ 3.58121099e-02 -1.82871644e-03 9.99356867e-01 1.09854831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.77, Y:11.43, Z:10.99 [[ 9.94506965e-01 -9.83506574e-02 -3.58196174e-02 3.11774135e+02] [ 9.83539205e-02 9.95150089e-01 -1.67523938e-03 1.14349826e+01] [ 3.58106563e-02 -1.85696257e-03 9.99356867e-01 1.09863576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:11.44, Z:10.99 [[ 9.94465620e-01 -9.87678031e-02 -3.58197084e-02 3.11806074e+02] [ 9.87714060e-02 9.95108743e-01 -1.67329062e-03 1.14364995e+01] [ 3.58097722e-02 -1.87393297e-03 9.99356867e-01 1.09879425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:11.44, Z:10.99 [[ 9.94549318e-01 -9.79213623e-02 -3.58198260e-02 3.11838322e+02] [ 9.79245084e-02 9.95192443e-01 -1.67076898e-03 1.14382140e+01] [ 3.58112242e-02 -1.84597670e-03 9.99356867e-01 1.09906066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.87, Y:11.44, Z:10.99 [[ 9.94648324e-01 -9.69104913e-02 -3.58199492e-02 3.11869648e+02] [ 9.69130788e-02 9.95291451e-01 -1.66812318e-03 1.14393551e+01] [ 3.58129479e-02 -1.81222564e-03 9.99356867e-01 1.09914011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.90, Y:11.44, Z:10.99 [[ 9.94681590e-01 -9.65684187e-02 -3.58200409e-02 3.11900201e+02] [ 9.65708559e-02 9.95324718e-01 -1.66615173e-03 1.14426931e+01] [ 3.58134698e-02 -1.80188156e-03 9.99356867e-01 1.09926552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.93, Y:11.44, Z:10.99 [[ 9.94845456e-01 -9.48683573e-02 -3.58122028e-02 3.11932115e+02] [ 9.48636424e-02 9.95488585e-01 -1.83466023e-03 1.14431952e+01] [ 3.58246903e-02 -1.57207260e-03 9.99356853e-01 1.09928862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:11.45, Z:10.99 [[ 9.95010637e-01 -9.31167748e-02 -3.58203625e-02 3.11963233e+02] [ 9.31172579e-02 9.95653768e-01 -1.65843052e-03 1.14456930e+01] [ 3.58191066e-02 -1.68533793e-03 9.99356869e-01 1.09932195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:11.45, Z:10.99 [[ 9.95071634e-01 -9.24626330e-02 -3.58204537e-02 3.11995307e+02] [ 9.24627641e-02 9.95714765e-01 -1.65645904e-03 1.14477354e+01] [ 3.58201152e-02 -1.66376276e-03 9.99356869e-01 1.09941370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:11.45, Z:11.00 [[ 9.95129294e-01 -9.18399379e-02 -3.58205743e-02 3.12027446e+02] [ 9.18397604e-02 9.95772425e-01 -1.65384746e-03 1.14494993e+01] [ 3.58210294e-02 -1.64396090e-03 9.99356869e-01 1.09950321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:11.45, Z:11.00 [[ 9.95243491e-01 -9.05939889e-02 -3.58206951e-02 3.12058340e+02] [ 9.05931004e-02 9.95886622e-01 -1.65122493e-03 1.14517260e+01] [ 3.58229421e-02 -1.60173697e-03 9.99356869e-01 1.09953844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:11.45, Z:11.00 [[ 9.95348527e-01 -8.94325521e-02 -3.58207852e-02 3.12090780e+02] [ 8.94309833e-02 9.95991656e-01 -1.64926986e-03 1.14538443e+01] [ 3.58247016e-02 -1.56188971e-03 9.99356869e-01 1.09973899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:11.46, Z:11.00 [[ 9.95491832e-01 -8.78229727e-02 -3.58209037e-02 3.12122861e+02] [ 8.78204567e-02 9.96134959e-01 -1.64669193e-03 1.14562162e+01] [ 3.58270718e-02 -1.50653975e-03 9.99356869e-01 1.09990911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:11.46, Z:11.00 [[ 9.95682554e-01 -8.56335580e-02 -3.58210231e-02 3.12154709e+02] [ 8.56297211e-02 9.96325674e-01 -1.64409008e-03 1.14587563e+01] [ 3.58301942e-02 -1.43035241e-03 9.99356869e-01 1.10005087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.19, Y:11.46, Z:11.00 [[ 9.96133525e-01 -8.02174895e-02 -3.58211425e-02 3.12186144e+02] [ 8.02102488e-02 9.96776616e-01 -1.64148431e-03 1.14627591e+01] [ 3.58373529e-02 -1.23808520e-03 9.99356869e-01 1.10017347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.22, Y:11.47, Z:11.00 [[ 9.96396614e-01 -7.68805975e-02 -3.58212313e-02 3.12216889e+02] [ 7.68712725e-02 9.97039678e-01 -1.63954434e-03 1.14652779e+01] [ 3.58412381e-02 -1.11998720e-03 9.99356869e-01 1.10031118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.25, Y:11.47, Z:11.00 [[ 9.96671317e-01 -7.32333287e-02 -3.58212911e-02 3.12247656e+02] [ 7.32216972e-02 9.97314343e-01 -1.63823642e-03 1.14675700e+01] [ 3.58450609e-02 -9.90112485e-04 9.99356869e-01 1.10038096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.28, Y:11.47, Z:11.00 [[ 9.97244287e-01 -6.49666276e-02 -3.58213503e-02 3.12278549e+02] [ 6.49497112e-02 9.97887196e-01 -1.63694099e-03 1.14713112e+01] [ 3.58520133e-02 -6.94156306e-04 9.99356869e-01 1.10047603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:11.47, Z:11.01 [[ 9.97511830e-01 -6.07204720e-02 -3.58214097e-02 3.12307960e+02] [ 6.07008653e-02 9.98154662e-01 -1.63564073e-03 1.14740935e+01] [ 3.58546240e-02 -5.42819585e-04 9.99356869e-01 1.10056074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.34, Y:11.48, Z:11.01 [[ 9.97756153e-01 -5.65640389e-02 -3.58213507e-02 3.12336458e+02] [ 5.65417078e-02 9.98398896e-01 -1.63693073e-03 1.14767205e+01] [ 3.58565884e-02 -3.92142640e-04 9.99356869e-01 1.10064313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.36, Y:11.48, Z:11.01 [[ 9.97740027e-01 -5.68478224e-02 -3.58212630e-02 3.12364809e+02] [ 5.68256054e-02 9.98382775e-01 -1.63884725e-03 1.14780805e+01] [ 3.58564969e-02 -4.00421460e-04 9.99356869e-01 1.10074503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.39, Y:11.48, Z:11.01 [[ 9.97950945e-01 -5.30168066e-02 -3.58207938e-02 3.12393908e+02] [ 5.29917563e-02 9.98593588e-01 -1.64903963e-03 1.14803558e+01] [ 3.58578419e-02 -2.52546115e-04 9.99356869e-01 1.10086591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.42, Y:11.48, Z:11.01 [[ 9.98277696e-01 -4.64601176e-02 -3.58203771e-02 3.12421465e+02] [ 4.64305232e-02 9.98920146e-01 -1.65804284e-03 1.14832027e+01] [ 3.58587292e-02 -7.97166936e-06 9.99356869e-01 1.10103832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.45, Y:11.48, Z:11.01 [[ 9.98389597e-01 -4.39903140e-02 -3.58198927e-02 3.12448859e+02] [ 4.39587572e-02 9.99031953e-01 -1.66844301e-03 1.14845136e+01] [ 3.58586127e-02 9.11581819e-05 9.99356869e-01 1.10114705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.48, Y:11.49, Z:11.01 [[ 9.98445201e-01 -4.27097869e-02 -3.58197426e-02 3.12476648e+02] [ 4.26772909e-02 9.99087511e-01 -1.67165772e-03 1.14854563e+01] [ 3.58584537e-02 1.40369052e-04 9.99356869e-01 1.10126143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:11.49, Z:11.01 [[ 9.98463476e-01 -4.22808308e-02 -3.58192567e-02 3.12504807e+02] [ 4.22476876e-02 9.99105752e-01 -1.68200681e-03 1.14861743e+01] [ 3.58583420e-02 1.66141602e-04 9.99356869e-01 1.10139458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.53, Y:11.49, Z:11.01 [[ 9.98414872e-01 -4.34138148e-02 -3.58187651e-02 3.12532600e+02] [ 4.33810273e-02 9.99057167e-01 -1.69241051e-03 1.14855096e+01] [ 3.58584680e-02 1.35872996e-04 9.99356869e-01 1.10145504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.56, Y:11.49, Z:11.02 [[ 9.98325295e-01 -4.54272870e-02 -3.58185325e-02 3.12560765e+02] [ 4.53956187e-02 9.98967646e-01 -1.69731869e-03 1.14853357e+01] [ 3.58586597e-02 6.84717372e-05 9.99356869e-01 1.10151786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:11.48, Z:11.02 [[ 9.98213667e-01 -4.78178112e-02 -3.58180375e-02 3.12587572e+02] [ 4.77873087e-02 9.98856074e-01 -1.70770131e-03 1.14846248e+01] [ 3.58587229e-02 -6.99683184e-06 9.99356869e-01 1.10151643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:11.48, Z:11.01 [[ 9.97918788e-01 -5.36207620e-02 -3.58176958e-02 3.12615559e+02] [ 5.35937389e-02 9.98561350e-01 -1.71483917e-03 1.14820382e+01] [ 3.58581176e-02 -2.08334005e-04 9.99356869e-01 1.10149012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:11.48, Z:11.02 [[ 9.97722194e-01 -5.71625036e-02 -3.58172051e-02 3.12643803e+02] [ 5.71373957e-02 9.98364834e-01 -1.72502685e-03 1.14814077e+01] [ 3.58572449e-02 -3.25404251e-04 9.99356869e-01 1.10155124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:11.48, Z:11.02 [[ 9.97474100e-01 -6.13399027e-02 -3.58167107e-02 3.12671399e+02] [ 6.13171197e-02 9.98116827e-01 -1.73523192e-03 1.14808637e+01] [ 3.58557006e-02 -4.65328636e-04 9.99356869e-01 1.10157633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:11.48, Z:11.02 [[ 9.97224292e-01 -6.52756543e-02 -3.58162163e-02 3.12699376e+02] [ 6.52550434e-02 9.97867092e-01 -1.74537800e-03 1.14799458e+01] [ 3.58537543e-02 -5.96655408e-04 9.99356869e-01 1.10162905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:11.48, Z:11.02 [[ 9.96632116e-01 -7.37674350e-02 -3.58160629e-02 3.12727877e+02] [ 7.37521873e-02 9.97275066e-01 -1.74851920e-03 1.14768133e+01] [ 3.58474503e-02 -8.98882595e-04 9.99356869e-01 1.10169186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:11.48, Z:11.02 [[ 9.96358780e-01 -7.73719845e-02 -3.58156095e-02 3.12757134e+02] [ 7.73587308e-02 9.97001774e-01 -1.75775761e-03 1.14763990e+01] [ 3.58442274e-02 -1.01929287e-03 9.99356869e-01 1.10178055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.79, Y:11.48, Z:11.02 [[ 9.96111996e-01 -8.04868719e-02 -3.58155774e-02 3.12787368e+02] [ 8.04756052e-02 9.96755028e-01 -1.75841240e-03 1.14760766e+01] [ 3.58408859e-02 -1.13070458e-03 9.99356869e-01 1.10189639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.82, Y:11.48, Z:11.02 [[ 9.95910665e-01 -8.29408947e-02 -3.58155774e-02 3.12817865e+02] [ 8.29312124e-02 9.96553723e-01 -1.75841240e-03 1.14759748e+01] [ 3.58379913e-02 -1.21900759e-03 9.99356869e-01 1.10201424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.85, Y:11.48, Z:11.02 [[ 9.95659280e-01 -8.59059945e-02 -3.58156093e-02 3.12848323e+02] [ 8.58982503e-02 9.96302364e-01 -1.75776164e-03 1.14752185e+01] [ 3.58341785e-02 -1.32636649e-03 9.99356869e-01 1.10213871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.88, Y:11.48, Z:11.02 [[ 9.95616887e-01 -8.63959318e-02 -3.58156093e-02 3.12879839e+02] [ 8.63885041e-02 9.96259974e-01 -1.75776164e-03 1.14760091e+01] [ 3.58335215e-02 -1.34399974e-03 9.99356869e-01 1.10222409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.91, Y:11.48, Z:11.02 [[ 9.95685975e-01 -8.55960122e-02 -3.58156740e-02 3.12910178e+02] [ 8.55881152e-02 9.96329057e-01 -1.75644332e-03 1.14759769e+01] [ 3.58345412e-02 -1.31653005e-03 9.99356869e-01 1.10225336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.94, Y:11.48, Z:11.02 [[ 9.95771165e-01 -8.45991875e-02 -3.58157060e-02 3.12941872e+02] [ 8.45906702e-02 9.96414239e-01 -1.75578921e-03 1.14768847e+01] [ 3.58358178e-02 -1.28131031e-03 9.99356869e-01 1.10231886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.97, Y:11.48, Z:11.02 [[ 9.95889758e-01 -8.31914664e-02 -3.58157681e-02 3.12973564e+02] [ 8.31820856e-02 9.96532820e-01 -1.75452316e-03 1.14778250e+01] [ 3.58375497e-02 -1.23191863e-03 9.99356869e-01 1.10232886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.00, Y:11.48, Z:11.02 [[ 9.96023398e-01 -8.15758383e-02 -3.58158312e-02 3.13003699e+02] [ 8.15654606e-02 9.96666445e-01 -1.75323328e-03 1.14790773e+01] [ 3.58394586e-02 -1.17507340e-03 9.99356869e-01 1.10237244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.03, Y:11.48, Z:11.02 [[ 9.96280673e-01 -7.83711951e-02 -3.58158625e-02 3.13033124e+02] [ 7.83587718e-02 9.96923684e-01 -1.75259378e-03 1.14801998e+01] [ 3.58430344e-02 -1.06041169e-03 9.99356869e-01 1.10230952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.06, Y:11.48, Z:11.02 [[ 9.96395497e-01 -7.68975895e-02 -3.58158316e-02 3.13062685e+02] [ 7.68841925e-02 9.97038488e-01 -1.75322479e-03 1.14812770e+01] [ 3.58445814e-02 -1.00676601e-03 9.99356869e-01 1.10236053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.09, Y:11.48, Z:11.02 [[ 9.96524297e-01 -7.52100761e-02 -3.58157693e-02 3.13092666e+02] [ 7.51955445e-02 9.97167264e-01 -1.75449578e-03 1.14825558e+01] [ 3.58462685e-02 -9.44788608e-04 9.99356869e-01 1.10240622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.12, Y:11.48, Z:11.02 [[ 9.96767192e-01 -7.19194069e-02 -3.58157059e-02 3.13121378e+02] [ 7.19027060e-02 9.97410105e-01 -1.75579023e-03 1.14836062e+01] [ 3.58492224e-02 -8.25132074e-04 9.99356869e-01 1.10240281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.15, Y:11.49, Z:11.02 [[ 9.96901195e-01 -7.00374795e-02 -3.58156114e-02 3.13149155e+02] [ 7.00194958e-02 9.97544075e-01 -1.75771531e-03 1.14850458e+01] [ 3.58507569e-02 -7.55522555e-04 9.99356869e-01 1.10245270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.18, Y:11.49, Z:11.02 [[ 9.97201567e-01 -6.56223557e-02 -3.58153806e-02 3.13177695e+02] [ 6.56013570e-02 9.97844355e-01 -1.76240551e-03 1.14871876e+01] [ 3.58538286e-02 -5.92064035e-04 9.99356869e-01 1.10247612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.21, Y:11.49, Z:11.03 [[ 9.97362122e-01 -6.31354710e-02 -3.58149345e-02 3.13205133e+02] [ 6.31125456e-02 9.98004844e-01 -1.77142593e-03 1.14891841e+01] [ 3.58553179e-02 -4.93618563e-04 9.99356869e-01 1.10255364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.23, Y:11.49, Z:11.03 [[ 9.97514294e-01 -6.06838940e-02 -3.58147764e-02 3.13233361e+02] [ 6.06592745e-02 9.98156953e-01 -1.77461531e-03 1.14911527e+01] [ 3.58564587e-02 -4.02294214e-04 9.99356869e-01 1.10264043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.26, Y:11.49, Z:11.03 [[ 9.97663853e-01 -5.81736574e-02 -3.58142665e-02 3.13261560e+02] [ 5.81470535e-02 9.98306433e-01 -1.78484752e-03 1.14930404e+01] [ 3.58574437e-02 -3.01816218e-04 9.99356870e-01 1.10275027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.29, Y:11.50, Z:11.03 [[ 9.97949888e-01 -5.30414509e-02 -3.58137503e-02 3.13288705e+02] [ 5.30111727e-02 9.98592306e-01 -1.79514603e-03 1.14952269e+01] [ 3.58585526e-02 -1.07063118e-04 9.99356870e-01 1.10288491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.32, Y:11.50, Z:11.03 [[ 9.98055442e-01 -5.10169181e-02 -3.58135264e-02 3.13316890e+02] [ 5.09851769e-02 9.98697789e-01 -1.79960094e-03 1.14969559e+01] [ 3.58586997e-02 -2.98574683e-05 9.99356870e-01 1.10302756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.34, Y:11.50, Z:11.03 [[ 9.98146158e-01 -4.92105270e-02 -3.58130051e-02 3.13344584e+02] [ 4.91772531e-02 9.98788427e-01 -1.80991717e-03 1.14988183e+01] [ 3.58586820e-02 4.53766577e-05 9.99356870e-01 1.10317837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.37, Y:11.50, Z:11.03 [[ 9.98260168e-01 -4.68412539e-02 -3.58124825e-02 3.13371858e+02] [ 4.68060868e-02 9.98902336e-01 -1.82019863e-03 1.15006351e+01] [ 3.58584328e-02 1.40789624e-04 9.99356870e-01 1.10332504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:11.50, Z:11.03 [[ 9.98270162e-01 -4.66279635e-02 -3.58122557e-02 3.13399114e+02] [ 4.65924996e-02 9.98912313e-01 -1.82464965e-03 1.15019542e+01] [ 3.58583829e-02 1.52910795e-04 9.99356870e-01 1.10349970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.43, Y:11.50, Z:11.04 [[ 9.98235480e-01 -4.73649135e-02 -3.58118832e-02 3.13426689e+02] [ 4.73296623e-02 9.98877644e-01 -1.83193242e-03 1.15030214e+01] [ 3.58584588e-02 1.33735600e-04 9.99356870e-01 1.10363347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:11.50, Z:11.04 [[ 9.98174844e-01 -4.86263946e-02 -3.58113657e-02 3.13454715e+02] [ 4.85915940e-02 9.98817032e-01 -1.84199303e-03 1.15036954e+01] [ 3.58585715e-02 9.84997623e-05 9.99356870e-01 1.10374701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.48, Y:11.50, Z:11.04 [[ 9.97985414e-01 -5.23707691e-02 -3.58108476e-02 3.13483041e+02] [ 5.23380186e-02 9.98627709e-01 -1.85201075e-03 1.15025931e+01] [ 3.58586960e-02 -2.59890991e-05 9.99356870e-01 1.10386032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:11.50, Z:11.04 [[ 9.97832420e-01 -5.52094448e-02 -3.58103188e-02 3.13511404e+02] [ 5.51781565e-02 9.98474789e-01 -1.86218013e-03 1.15030226e+01] [ 3.58585104e-02 -1.17803675e-04 9.99356870e-01 1.10393292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.54, Y:11.50, Z:11.04 [[ 9.97675424e-01 -5.79776530e-02 -3.58097778e-02 3.13538546e+02] [ 5.79477757e-02 9.98317860e-01 -1.87252648e-03 1.15035311e+01] [ 3.58581054e-02 -2.06923322e-04 9.99356870e-01 1.10408081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.57, Y:11.50, Z:11.04 [[ 9.97493416e-01 -6.10291909e-02 -3.58095429e-02 3.13566891e+02] [ 6.10011180e-02 9.98135933e-01 -1.87700754e-03 1.15040727e+01] [ 3.58573438e-02 -3.12119491e-04 9.99356870e-01 1.10417569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.59, Y:11.51, Z:11.05 [[ 9.96974317e-01 -6.89922259e-02 -3.58089921e-02 3.13594028e+02] [ 6.89689092e-02 9.97617024e-01 -1.88745716e-03 1.15057343e+01] [ 3.58538800e-02 -5.87960815e-04 9.99356870e-01 1.10451859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.62, Y:11.51, Z:11.05 [[ 9.96745338e-01 -7.22295895e-02 -3.57996930e-02 3.13622335e+02] [ 7.22020574e-02 9.97387892e-01 -2.06297595e-03 1.15059795e+01] [ 3.58551883e-02 -5.28549828e-04 9.99356856e-01 1.10456404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.65, Y:11.50, Z:11.04 [[ 9.96581488e-01 -7.44559096e-02 -3.58002167e-02 3.13650979e+02] [ 7.44301665e-02 9.97224115e-01 -2.05312851e-03 1.15046464e+01] [ 3.58537070e-02 -6.18506226e-04 9.99356858e-01 1.10441370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.68, Y:11.50, Z:11.04 [[ 9.96076548e-01 -8.09276472e-02 -3.58081960e-02 3.13679824e+02] [ 8.09114717e-02 9.96719475e-01 -1.90299143e-03 1.15045228e+01] [ 3.58447310e-02 -1.00176870e-03 9.99356869e-01 1.10449350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.71, Y:11.51, Z:11.05 [[ 9.95835507e-01 -8.38416615e-02 -3.58080942e-02 3.13709459e+02] [ 8.38272983e-02 9.96478477e-01 -1.90490564e-03 1.15054971e+01] [ 3.58417056e-02 -1.10472312e-03 9.99356869e-01 1.10458879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.74, Y:11.51, Z:11.05 [[ 9.95642959e-01 -8.60981083e-02 -3.58080271e-02 3.13737866e+02] [ 8.60851570e-02 9.96285959e-01 -1.90616623e-03 1.15065795e+01] [ 3.58391519e-02 -1.18467865e-03 9.99356869e-01 1.10467774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.77, Y:11.51, Z:11.05 [[ 9.95294465e-01 -9.00373313e-02 -3.58079270e-02 3.13768669e+02] [ 9.00268570e-02 9.95937510e-01 -1.90804446e-03 1.15081790e+01] [ 3.58342529e-02 -1.32460903e-03 9.99356869e-01 1.10476846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.80, Y:11.51, Z:11.05 [[ 9.95216736e-01 -9.08924672e-02 -3.58079270e-02 3.13798672e+02] [ 9.08825454e-02 9.95859790e-01 -1.90804446e-03 1.15099423e+01] [ 3.58331016e-02 -1.35539777e-03 9.99356869e-01 1.10485629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.83, Y:11.51, Z:11.05 [[ 9.95155914e-01 -9.15559796e-02 -3.58079617e-02 3.13829658e+02] [ 9.15465100e-02 9.95798975e-01 -1.90739294e-03 1.15121492e+01] [ 3.58321648e-02 -1.37994056e-03 9.99356869e-01 1.10492229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.86, Y:11.51, Z:11.05 [[ 9.95138829e-01 -9.17414640e-02 -3.58080307e-02 3.13859734e+02] [ 9.17321607e-02 9.95781893e-01 -1.90609745e-03 1.15144123e+01] [ 3.58318567e-02 -1.38791644e-03 9.99356869e-01 1.10497087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.89, Y:11.52, Z:11.05 [[ 9.95181664e-01 -9.12756141e-02 -3.58080648e-02 3.13891387e+02] [ 9.12660329e-02 9.95824724e-01 -1.90545512e-03 1.15182166e+01] [ 3.58324779e-02 -1.37178603e-03 9.99356869e-01 1.10507452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.92, Y:11.52, Z:11.05 [[ 9.95170531e-01 -9.13968920e-02 -3.58081326e-02 3.13922835e+02] [ 9.13874350e-02 9.95813592e-01 -1.90418021e-03 1.15211976e+01] [ 3.58322614e-02 -1.37742937e-03 9.99356869e-01 1.10523107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.95, Y:11.52, Z:11.05 [[ 9.95185216e-01 -9.12368245e-02 -3.58082022e-02 3.13953087e+02] [ 9.12273111e-02 9.95828277e-01 -1.90287136e-03 1.15237773e+01] [ 3.58324322e-02 -1.37297656e-03 9.99356869e-01 1.10536387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.98, Y:11.53, Z:11.06 [[ 9.95262230e-01 -9.03927955e-02 -3.58083169e-02 3.13984457e+02] [ 9.03828144e-02 9.95905284e-01 -1.90070967e-03 1.15272288e+01] [ 3.58335025e-02 -1.34475193e-03 9.99356869e-01 1.10550616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.02, Y:11.53, Z:11.06 [[ 9.95287538e-01 -9.01136855e-02 -3.58083849e-02 3.14015924e+02] [ 9.01035701e-02 9.95930589e-01 -1.89942832e-03 1.15300127e+01] [ 3.58338304e-02 -1.33598599e-03 9.99356869e-01 1.10561426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.05, Y:11.53, Z:11.06 [[ 9.95289205e-01 -9.00952441e-02 -3.58084531e-02 3.14046640e+02] [ 9.00851630e-02 9.95932257e-01 -1.89814223e-03 1.15325926e+01] [ 3.58338071e-02 -1.33660986e-03 9.99356869e-01 1.10574345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.08, Y:11.54, Z:11.06 [[ 9.95274333e-01 -9.02593778e-02 -3.58084869e-02 3.14077351e+02] [ 9.02494257e-02 9.95917386e-01 -1.89750427e-03 1.15364432e+01] [ 3.58335622e-02 -1.34315808e-03 9.99356869e-01 1.10581676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.11, Y:11.54, Z:11.06 [[ 9.95267021e-01 -9.03399366e-02 -3.58085548e-02 3.14108739e+02] [ 9.03300826e-02 9.95910077e-01 -1.89622237e-03 1.15394329e+01] [ 3.58334051e-02 -1.34734212e-03 9.99356869e-01 1.10590658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.14, Y:11.54, Z:11.06 [[ 9.95252637e-01 -9.04982346e-02 -3.58086230e-02 3.14139110e+02] [ 9.04885292e-02 9.95895695e-01 -1.89493343e-03 1.15422730e+01] [ 3.58331416e-02 -1.35433213e-03 9.99356869e-01 1.10597713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.17, Y:11.55, Z:11.06 [[ 9.95340822e-01 -8.95230880e-02 -3.58087368e-02 3.14170522e+02] [ 8.95128299e-02 9.95983871e-01 -1.89277920e-03 1.15460831e+01] [ 3.58343718e-02 -1.32138097e-03 9.99356869e-01 1.10611589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:11.55, Z:11.06 [[ 9.95344071e-01 -8.94869236e-02 -3.58088055e-02 3.14202302e+02] [ 8.94766889e-02 9.95987121e-01 -1.89147953e-03 1.15477329e+01] [ 3.58343718e-02 -1.32138041e-03 9.99356869e-01 1.10623004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.23, Y:11.55, Z:11.06 [[ 9.95453045e-01 -8.82664191e-02 -3.58088741e-02 3.14233903e+02] [ 8.82554426e-02 9.96096082e-01 -1.89017930e-03 1.15509234e+01] [ 3.58359186e-02 -1.27874330e-03 9.99356869e-01 1.10635206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:11.55, Z:11.06 [[ 9.95605115e-01 -8.65342352e-02 -3.58089435e-02 3.14264967e+02] [ 8.65221871e-02 9.96248133e-01 -1.88886449e-03 1.15542135e+01] [ 3.58380446e-02 -1.21770496e-03 9.99356869e-01 1.10644068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.30, Y:11.56, Z:11.07 [[ 9.95978650e-01 -8.21233308e-02 -3.58090469e-02 3.14295948e+02] [ 8.21085050e-02 9.96621610e-01 -1.88690167e-03 1.15593805e+01] [ 3.58430286e-02 -1.06091353e-03 9.99356869e-01 1.10669180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.33, Y:11.56, Z:11.07 [[ 9.96203731e-01 -7.93462885e-02 -3.58091156e-02 3.14327419e+02] [ 7.93297172e-02 9.96846648e-01 -1.88559643e-03 1.15628774e+01] [ 3.58458120e-02 -9.62288814e-04 9.99356869e-01 1.10691081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.36, Y:11.57, Z:11.07 [[ 9.96400997e-01 -7.68293869e-02 -3.58091842e-02 3.14358273e+02] [ 7.68112382e-02 9.97043872e-01 -1.88429370e-03 1.15664480e+01] [ 3.58480968e-02 -8.73035658e-04 9.99356869e-01 1.10710398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.39, Y:11.57, Z:11.07 [[ 9.96602187e-01 -7.41739708e-02 -3.58092532e-02 3.14388331e+02] [ 7.41541563e-02 9.97245013e-01 -1.88298072e-03 1.15692695e+01] [ 3.58502674e-02 -7.78822257e-04 9.99356869e-01 1.10721766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.42, Y:11.57, Z:11.07 [[ 9.96891706e-01 -7.01756440e-02 -3.58092875e-02 3.14418129e+02] [ 7.01532744e-02 9.97534448e-01 -1.88232945e-03 1.15731537e+01] [ 3.58530915e-02 -6.35660151e-04 9.99356869e-01 1.10727494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.45, Y:11.58, Z:11.07 [[ 9.96982585e-01 -6.88724826e-02 -3.58092946e-02 3.14448019e+02] [ 6.88492778e-02 9.97625298e-01 -1.88219373e-03 1.15759948e+01] [ 3.58538895e-02 -5.88929695e-04 9.99356869e-01 1.10742876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.48, Y:11.58, Z:11.07 [[ 9.97059930e-01 -6.77435920e-02 -3.58092278e-02 3.14477705e+02] [ 6.77196138e-02 9.97702614e-01 -1.88346408e-03 1.15781169e+01] [ 3.58545528e-02 -5.47060508e-04 9.99356869e-01 1.10749715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.51, Y:11.58, Z:11.08 [[ 9.97096769e-01 -6.71992292e-02 -3.58091611e-02 3.14507512e+02] [ 6.71748546e-02 9.97739438e-01 -1.88473100e-03 1.15801046e+01] [ 3.58548648e-02 -5.26215999e-04 9.99356869e-01 1.10760057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.875099893 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:314.53, Y:11.58, Z:11.07 [[ 9.97210368e-01 -6.54919103e-02 -3.58090933e-02 3.14534950e+02] [ 6.54663892e-02 9.97852993e-01 -1.88601920e-03 1.15820413e+01] [ 3.58557299e-02 -4.63534133e-04 9.99356869e-01 1.10745316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.56, Y:11.58, Z:11.08 [[ 9.97097046e-01 -6.72004095e-02 -3.57992501e-02 3.14563973e+02] [ 6.71693150e-02 9.97739440e-01 -2.07192682e-03 1.15840986e+01] [ 3.58575581e-02 -3.38698998e-04 9.99356854e-01 1.10775198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.59, Y:11.59, Z:11.08 [[ 9.97014451e-01 -6.84101043e-02 -3.58084050e-02 3.14593407e+02] [ 6.83859858e-02 9.97657130e-01 -1.89933774e-03 1.15855774e+01] [ 3.58544445e-02 -5.55125903e-04 9.99356869e-01 1.10791816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.62, Y:11.59, Z:11.08 [[ 9.96951710e-01 -6.93184689e-02 -3.58083383e-02 3.14622567e+02] [ 6.92948908e-02 9.97594409e-01 -1.90059432e-03 1.15870593e+01] [ 3.58539444e-02 -5.86534139e-04 9.99356869e-01 1.10803368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:11.59, Z:11.08 [[ 9.96884776e-01 -7.02745352e-02 -3.58082706e-02 3.14651025e+02] [ 7.02515277e-02 9.97527496e-01 -1.90187035e-03 1.15886346e+01] [ 3.58533875e-02 -6.19640108e-04 9.99356869e-01 1.10812603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.68, Y:11.59, Z:11.08 [[ 9.96752954e-01 -7.21202142e-02 -3.58081425e-02 3.14681100e+02] [ 7.20983103e-02 9.97395713e-01 -1.90427945e-03 1.15897768e+01] [ 3.58522248e-02 -6.83610396e-04 9.99356869e-01 1.10828662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.71, Y:11.59, Z:11.08 [[ 9.96710064e-01 -7.27105613e-02 -3.58081425e-02 3.14710973e+02] [ 7.26890381e-02 9.97352835e-01 -1.90427945e-03 1.15909025e+01] [ 3.58518136e-02 -7.04844935e-04 9.99356869e-01 1.10832383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.74, Y:11.59, Z:11.08 [[ 9.96695739e-01 -7.29066535e-02 -3.58081499e-02 3.14740759e+02] [ 7.28852617e-02 9.97338515e-01 -1.90414004e-03 1.15921379e+01] [ 3.58516715e-02 -7.12038112e-04 9.99356869e-01 1.10841821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.77, Y:11.59, Z:11.09 [[ 9.96671978e-01 -7.32307892e-02 -3.58080838e-02 3.14770573e+02] [ 7.32095619e-02 9.97314760e-01 -1.90538164e-03 1.15932784e+01] [ 3.58514631e-02 -7.22453641e-04 9.99356869e-01 1.10859092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.80, Y:11.59, Z:11.09 [[ 9.96667044e-01 -7.32979466e-02 -3.58080158e-02 3.14800107e+02] [ 7.32767167e-02 9.97309825e-01 -1.90665820e-03 1.15947927e+01] [ 3.58514401e-02 -7.23590441e-04 9.99356869e-01 1.10864832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.83, Y:11.60, Z:11.09 [[ 9.96649882e-01 -7.35309537e-02 -3.58079821e-02 3.14830480e+02] [ 7.35098514e-02 9.97292667e-01 -1.90729110e-03 1.15963520e+01] [ 3.58512829e-02 -7.31337994e-04 9.99356869e-01 1.10883903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.86, Y:11.60, Z:11.09 [[ 9.96583736e-01 -7.44220745e-02 -3.58079821e-02 3.14860784e+02] [ 7.44015469e-02 9.97226540e-01 -1.90729110e-03 1.15981213e+01] [ 3.58506147e-02 -7.63393970e-04 9.99356869e-01 1.10891668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.89, Y:11.60, Z:11.09 [[ 9.96549944e-01 -7.48732145e-02 -3.58079821e-02 3.14891719e+02] [ 7.48529779e-02 9.97192757e-01 -1.90729110e-03 1.15996635e+01] [ 3.58502654e-02 -7.79623255e-04 9.99356869e-01 1.10899642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.92, Y:11.60, Z:11.09 [[ 9.96486911e-01 -7.57074930e-02 -3.58079821e-02 3.14922189e+02] [ 7.56877946e-02 9.97129741e-01 -1.90729110e-03 1.16012760e+01] [ 3.58496002e-02 -8.09636579e-04 9.99356869e-01 1.10909759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.95, Y:11.60, Z:11.09 [[ 9.96430669e-01 -7.64441621e-02 -3.58079821e-02 3.14951268e+02] [ 7.64249389e-02 9.97073513e-01 -1.90729110e-03 1.16023294e+01] [ 3.58489918e-02 -8.36139499e-04 9.99356869e-01 1.10915821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.325099893 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:314.98, Y:11.60, Z:11.09 [[ 9.96493586e-01 -7.56196013e-02 -3.58079484e-02 3.14978790e+02] [ 7.55998235e-02 9.97136413e-01 -1.90792394e-03 1.16031780e+01] [ 3.58496857e-02 -8.05840610e-04 9.99356869e-01 1.10885260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.01, Y:11.61, Z:11.09 [[ 9.96318371e-01 -7.78987557e-02 -3.57978602e-02 3.15008134e+02] [ 7.78736576e-02 9.96961030e-01 -2.09699760e-03 1.16050710e+01] [ 3.58524250e-02 -6.98433065e-04 9.99356851e-01 1.10936310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.04, Y:11.61, Z:11.10 [[ 9.96308210e-01 -7.80241174e-02 -3.58076526e-02 3.15038550e+02] [ 7.80056802e-02 9.96951078e-01 -1.91378924e-03 1.16067489e+01] [ 3.58477995e-02 -8.86476362e-04 9.99356868e-01 1.10953753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.07, Y:11.61, Z:11.10 [[ 9.96270802e-01 -7.85003291e-02 -3.58076526e-02 3.15069171e+02] [ 7.84821992e-02 9.96913678e-01 -1.91378924e-03 1.16087889e+01] [ 3.58473717e-02 -9.03610979e-04 9.99356868e-01 1.10968529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.10, Y:11.61, Z:11.10 [[ 9.96193469e-01 -7.94756670e-02 -3.58076856e-02 3.15099824e+02] [ 7.94581887e-02 9.96836364e-01 -1.91317065e-03 1.16103077e+01] [ 3.58464536e-02 -9.39325738e-04 9.99356868e-01 1.10979436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:11.61, Z:11.10 [[ 9.96142386e-01 -8.01134020e-02 -3.58076856e-02 3.15131096e+02] [ 8.00963353e-02 9.96785291e-01 -1.91317065e-03 1.16118004e+01] [ 3.58458450e-02 -9.62274023e-04 9.99356868e-01 1.10986710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.16, Y:11.62, Z:11.10 [[ 9.95804895e-01 -8.42046120e-02 -3.58077510e-02 3.15158379e+02] [ 8.41902303e-02 9.96447866e-01 -1.91194668e-03 1.16173174e+01] [ 3.58415518e-02 -1.11073694e-03 9.99356868e-01 1.11004749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.19, Y:11.61, Z:11.10 [[ 9.95874285e-01 -8.33890012e-02 -3.57866380e-02 3.15191527e+02] [ 8.33599858e-02 9.96516834e-01 -2.30469500e-03 1.16148316e+01] [ 3.58541735e-02 -6.87987150e-04 9.99356796e-01 1.11012581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.22, Y:11.62, Z:11.10 [[ 9.95770970e-01 -8.46049516e-02 -3.58074977e-02 3.15222022e+02] [ 8.45907320e-02 9.96413941e-01 -1.91462735e-03 1.16162679e+01] [ 3.58410769e-02 -1.12245211e-03 9.99356872e-01 1.11003048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.25, Y:11.62, Z:11.10 [[ 9.95712479e-01 -8.52905645e-02 -3.58075322e-02 3.15252922e+02] [ 8.52768108e-02 9.96355460e-01 -1.91398122e-03 1.16177989e+01] [ 3.58402748e-02 -1.14777717e-03 9.99356872e-01 1.11028947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.28, Y:11.62, Z:11.10 [[ 9.95672119e-01 -8.57604086e-02 -3.58076003e-02 3.15283660e+02] [ 8.57470041e-02 9.96315107e-01 -1.91270752e-03 1.16194095e+01] [ 3.58396877e-02 -1.16596490e-03 9.99356872e-01 1.11023086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:11.62, Z:11.11 [[ 9.95604602e-01 -8.65406599e-02 -3.58077019e-02 3.15314383e+02] [ 8.65278277e-02 9.96247602e-01 -1.91080342e-03 1.16213859e+01] [ 3.58386993e-02 -1.19595798e-03 9.99356872e-01 1.11069057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.35, Y:11.62, Z:11.11 [[ 9.95595305e-01 -8.66475134e-02 -3.58077713e-02 3.15345378e+02] [ 8.66347969e-02 9.96238308e-01 -1.90950255e-03 1.16232558e+01] [ 3.58385271e-02 -1.20110722e-03 9.99356872e-01 1.11083896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.38, Y:11.63, Z:11.11 [[ 9.95590571e-01 -8.67018465e-02 -3.58078747e-02 3.15377123e+02] [ 8.66892348e-02 9.96233576e-01 -1.90756063e-03 1.16250729e+01] [ 3.58383961e-02 -1.20500788e-03 9.99356872e-01 1.11101239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.41, Y:11.63, Z:11.11 [[ 9.95552686e-01 -8.71357261e-02 -3.58080131e-02 3.15408677e+02] [ 8.71234881e-02 9.96195698e-01 -1.90495971e-03 1.16268493e+01] [ 3.58377786e-02 -1.22323124e-03 9.99356872e-01 1.11121505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.44, Y:11.63, Z:11.11 [[ 9.95568045e-01 -8.69600236e-02 -3.58081161e-02 3.15440055e+02] [ 8.69477418e-02 9.96211056e-01 -1.90302046e-03 1.16284793e+01] [ 3.58379279e-02 -1.21884848e-03 9.99356872e-01 1.11134752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.47, Y:11.63, Z:11.11 [[ 9.95555660e-01 -8.71016065e-02 -3.58083413e-02 3.15471945e+02] [ 8.70895688e-02 9.96198676e-01 -1.89877424e-03 1.16307182e+01] [ 3.58376085e-02 -1.22819755e-03 9.99356872e-01 1.11147373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.50, Y:11.63, Z:11.12 [[ 9.95541361e-01 -8.72648308e-02 -3.58084759e-02 3.15502668e+02] [ 8.72529898e-02 9.96184381e-01 -1.89623186e-03 1.16335530e+01] [ 3.58373188e-02 -1.23661934e-03 9.99356872e-01 1.11157525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.53, Y:11.64, Z:11.12 [[ 9.95516589e-01 -8.75469465e-02 -3.58085762e-02 3.15534393e+02] [ 8.75353558e-02 9.96159612e-01 -1.89433619e-03 1.16358151e+01] [ 3.58369007e-02 -1.24867335e-03 9.99356872e-01 1.11177708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.57, Y:11.64, Z:11.12 [[ 9.95471464e-01 -8.80585113e-02 -3.58087134e-02 3.15566952e+02] [ 8.80473444e-02 9.96114495e-01 -1.89173993e-03 1.16381653e+01] [ 3.58361622e-02 -1.26968900e-03 9.99356872e-01 1.11195388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.60, Y:11.64, Z:11.12 [[ 9.95410072e-01 -8.87497278e-02 -3.58088518e-02 3.15597947e+02] [ 8.87391016e-02 9.96053113e-01 -1.88911572e-03 1.16403163e+01] [ 3.58351768e-02 -1.29720052e-03 9.99356872e-01 1.11193211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.63, Y:11.64, Z:11.12 [[ 9.95153318e-01 -9.15837508e-02 -3.58090812e-02 3.15630254e+02] [ 9.15751122e-02 9.95796388e-01 -1.88475835e-03 1.16427290e+01] [ 3.58311669e-02 -1.40359710e-03 9.99356872e-01 1.11218774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.66, Y:11.64, Z:11.12 [[ 9.94965157e-01 -9.36057485e-02 -3.58092158e-02 3.15661428e+02] [ 9.35985087e-02 9.95608245e-01 -1.88219614e-03 1.16444948e+01] [ 3.58281349e-02 -1.47896962e-03 9.99356872e-01 1.11227902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.69, Y:11.65, Z:11.13 [[ 9.94744815e-01 -9.59189548e-02 -3.58093162e-02 3.15693543e+02] [ 9.59132790e-02 9.95387918e-01 -1.88028499e-03 1.16466392e+01] [ 3.58245157e-02 -1.56418519e-03 9.99356872e-01 1.11251358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.72, Y:11.65, Z:11.13 [[ 9.94253985e-01 -1.00879611e-01 -3.58094544e-02 3.15724364e+02] [ 1.00877238e-01 9.94897109e-01 -1.87764997e-03 1.16498151e+01] [ 3.58161392e-02 -1.74549787e-03 9.99356872e-01 1.11259165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.76, Y:11.65, Z:11.13 [[ 9.94029561e-01 -1.03067486e-01 -3.58095572e-02 3.15755044e+02] [ 1.03066598e-01 9.94672689e-01 -1.87568712e-03 1.16520649e+01] [ 3.58121109e-02 -1.82628080e-03 9.99356872e-01 1.11259438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:11.65, Z:11.13 [[ 9.93804197e-01 -1.05218281e-01 -3.58096588e-02 3.15786760e+02] [ 1.05218855e-01 9.94447325e-01 -1.87374511e-03 1.16545044e+01] [ 3.58079716e-02 -1.90571555e-03 9.99356872e-01 1.11280331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.82, Y:11.66, Z:11.13 [[ 9.93379278e-01 -1.09157082e-01 -3.58097956e-02 3.15815585e+02] [ 1.09160299e-01 9.94022398e-01 -1.87112703e-03 1.16593953e+01] [ 3.57999856e-02 -2.05026919e-03 9.99356872e-01 1.11304892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.85, Y:11.66, Z:11.13 [[ 9.93389037e-01 -1.09071427e-01 -3.58000636e-02 3.15847981e+02] [ 1.09067913e-01 9.94032172e-01 -2.05693440e-03 1.16611826e+01] [ 3.58107678e-02 -1.86130213e-03 9.99356855e-01 1.11315265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.88, Y:11.66, Z:11.13 [[ 9.93272123e-01 -1.10127827e-01 -3.58099228e-02 3.15879421e+02] [ 1.10131788e-01 9.93915238e-01 -1.86793793e-03 1.16643607e+01] [ 3.57977399e-02 -2.08844016e-03 9.99356873e-01 1.11334552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.91, Y:11.67, Z:11.14 [[ 9.93327301e-01 -1.09628948e-01 -3.58101493e-02 3.15911722e+02] [ 1.09632742e-01 9.93970417e-01 -1.86359320e-03 1.16666080e+01] [ 3.57985328e-02 -2.07480684e-03 9.99356873e-01 1.11352211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.94, Y:11.67, Z:11.14 [[ 9.93369235e-01 -1.09248323e-01 -3.58101595e-02 3.15943042e+02] [ 1.09251878e-01 9.94012352e-01 -1.86339661e-03 1.16711013e+01] [ 3.57993138e-02 -2.06128630e-03 9.99356873e-01 1.11369934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.98, Y:11.67, Z:11.14 [[ 9.93434440e-01 -1.08653759e-01 -3.58102628e-02 3.15975794e+02] [ 1.08657000e-01 9.94077558e-01 -1.86141071e-03 1.16742597e+01] [ 3.58004278e-02 -2.04184621e-03 9.99356873e-01 1.11395116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.01, Y:11.68, Z:11.14 [[ 9.93637206e-01 -1.06783485e-01 -3.58104662e-02 3.16007335e+02] [ 1.06785656e-01 9.94280329e-01 -1.85748874e-03 1.16785855e+01] [ 3.58039912e-02 -1.97837419e-03 9.99356873e-01 1.11406674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.04, Y:11.68, Z:11.14 [[ 9.93773038e-01 -1.05511847e-01 -3.58106002e-02 3.16039215e+02] [ 1.05513289e-01 9.94416163e-01 -1.85490089e-03 1.16815999e+01] [ 3.58063537e-02 -1.93514371e-03 9.99356873e-01 1.11415433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.07, Y:11.68, Z:11.14 [[ 9.93933716e-01 -1.03987290e-01 -3.58107668e-02 3.16072338e+02] [ 1.03987860e-01 9.94576843e-01 -1.85167922e-03 1.16848970e+01] [ 3.58091105e-02 -1.88343860e-03 9.99356873e-01 1.11425241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.10, Y:11.69, Z:11.14 [[ 9.94323383e-01 -1.00192734e-01 -3.58109645e-02 3.16103859e+02] [ 1.00190988e-01 9.94966508e-01 -1.84784752e-03 1.16902794e+01] [ 3.58158512e-02 -1.75057791e-03 9.99356873e-01 1.11444624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.14, Y:11.69, Z:11.15 [[ 9.94544177e-01 -9.79767549e-02 -3.58110974e-02 3.16135319e+02] [ 9.79736677e-02 9.95187297e-01 -1.84526893e-03 1.16941093e+01] [ 3.58195427e-02 -1.67334309e-03 9.99356873e-01 1.11471377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.17, Y:11.70, Z:11.15 [[ 9.94554612e-01 -9.78705822e-02 -3.58116244e-02 3.16168793e+02] [ 9.78677941e-02 9.95197733e-01 -1.83503214e-03 1.16957475e+01] [ 3.58192431e-02 -1.67976501e-03 9.99356873e-01 1.11483371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.20, Y:11.70, Z:11.15 [[ 9.94807241e-01 -9.52683934e-02 -3.58118282e-02 3.16199951e+02] [ 9.52640653e-02 9.95450353e-01 -1.83106574e-03 1.16997378e+01] [ 3.58233397e-02 -1.59002288e-03 9.99356873e-01 1.11493810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:11.70, Z:11.15 [[ 9.95109661e-01 -9.20564026e-02 -3.58103654e-02 3.16231715e+02] [ 9.20489727e-02 9.95752745e-01 -1.85961726e-03 1.17030935e+01] [ 3.58294593e-02 -1.44578425e-03 9.99356873e-01 1.11498460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.26, Y:11.71, Z:11.15 [[ 9.95490038e-01 -8.78469883e-02 -3.58118858e-02 3.16261023e+02] [ 8.78379077e-02 9.96133100e-01 -1.82986190e-03 1.17112686e+01] [ 3.58341527e-02 -1.32403183e-03 9.99356873e-01 1.11518249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.29, Y:11.71, Z:11.15 [[ 9.95954567e-01 -8.24180460e-02 -3.58017721e-02 3.16294510e+02] [ 8.23983556e-02 9.96597411e-01 -2.02763071e-03 1.17127418e+01] [ 3.58470668e-02 -9.30579085e-04 9.99356854e-01 1.11521134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.32, Y:11.72, Z:11.15 [[ 9.96035140e-01 -8.14339752e-02 -3.58121023e-02 3.16322631e+02] [ 8.14209305e-02 9.96678133e-01 -1.82492632e-03 1.17188755e+01] [ 3.58417503e-02 -1.09816395e-03 9.99356875e-01 1.11517422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.35, Y:11.73, Z:11.16 [[ 9.96486287e-01 -7.57181391e-02 -3.58028309e-02 3.16352105e+02] [ 7.56948200e-02 9.97129009e-01 -2.00830116e-03 1.17261414e+01] [ 3.58521061e-02 -7.08844268e-04 9.99356855e-01 1.11573460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.38, Y:11.73, Z:11.16 [[ 9.96692994e-01 -7.29512362e-02 -3.57937599e-02 3.16383396e+02] [ 7.29196931e-02 9.97335416e-01 -2.18765161e-03 1.17299797e+01] [ 3.58579763e-02 -4.29652951e-04 9.99356804e-01 1.11569582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.42, Y:11.73, Z:11.16 [[ 9.96858465e-01 -7.06548518e-02 -3.57923453e-02 3.16415186e+02] [ 7.06208288e-02 9.97500772e-01 -2.21550617e-03 1.17341275e+01] [ 3.58594283e-02 -3.19139008e-04 9.99356793e-01 1.11584900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.45, Y:11.74, Z:11.16 [[ 9.97049898e-01 -6.79007869e-02 -3.57908504e-02 3.16446830e+02] [ 6.78639285e-02 9.97692060e-01 -2.24507109e-03 1.17370941e+01] [ 3.58606894e-02 -1.90459810e-04 9.99356780e-01 1.11601903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.48, Y:11.74, Z:11.16 [[ 9.97216336e-01 -6.54109330e-02 -3.57909059e-02 3.16477496e+02] [ 6.53725108e-02 9.97858407e-01 -2.24396947e-03 1.17421405e+01] [ 3.58610364e-02 -1.02018366e-04 9.99356781e-01 1.11635106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.51, Y:11.74, Z:11.17 [[ 9.97279817e-01 -6.44363343e-02 -3.57900191e-02 3.16508839e+02] [ 6.43966381e-02 9.97921819e-01 -2.26198574e-03 1.17448295e+01] [ 3.58613950e-02 -4.89241762e-05 9.99356772e-01 1.11660663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:11.74, Z:11.17 [[ 9.97560200e-01 -5.99414932e-02 -3.57863788e-02 3.16543471e+02] [ 5.98962487e-02 9.98201875e-01 -2.33600213e-03 1.17415017e+01] [ 3.58620538e-02 1.86832909e-04 9.99356732e-01 1.11658759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.57, Y:11.75, Z:11.17 [[ 9.97084040e-01 -6.73845825e-02 -3.58152863e-02 3.16567912e+02] [ 6.73654627e-02 9.97726847e-01 -1.74169410e-03 1.17507873e+01] [ 3.58512360e-02 -6.76097942e-04 9.99356909e-01 1.11694597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.60, Y:11.75, Z:11.17 [[ 9.97275272e-01 -6.45098830e-02 -3.57841610e-02 3.16604103e+02] [ 6.44662076e-02 9.97917066e-01 -2.37419263e-03 1.17462139e+01] [ 3.58627839e-02 6.08544487e-05 9.99356722e-01 1.11702723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:11.75, Z:11.17 [[ 9.97103298e-01 -6.70992078e-02 -3.58149235e-02 3.16635232e+02] [ 6.70798999e-02 9.97746087e-01 -1.74180339e-03 1.17473866e+01] [ 3.58510734e-02 -6.65703577e-04 9.99356922e-01 1.11722180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.67, Y:11.75, Z:11.17 [[ 9.96709204e-01 -7.27189761e-02 -3.58149849e-02 3.16666517e+02] [ 7.27033374e-02 9.97352092e-01 -1.74053855e-03 1.17476931e+01] [ 3.58467203e-02 -8.69058144e-04 9.99356922e-01 1.11732329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.70, Y:11.75, Z:11.18 [[ 9.96483764e-01 -7.57455464e-02 -3.58150768e-02 3.16698933e+02] [ 7.57319282e-02 9.97126698e-01 -1.73864587e-03 1.17485503e+01] [ 3.58438640e-02 -9.79812443e-04 9.99356922e-01 1.11753553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.73, Y:11.75, Z:11.18 [[ 9.96247513e-01 -7.87919095e-02 -3.58152014e-02 3.16730625e+02] [ 7.87803493e-02 9.96890487e-01 -1.73607649e-03 1.17492435e+01] [ 3.58406223e-02 -1.09197219e-03 9.99356922e-01 1.11757053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.76, Y:11.75, Z:11.18 [[ 9.96030734e-01 -8.14864370e-02 -3.58153247e-02 3.16761758e+02] [ 8.14767076e-02 9.96673738e-01 -1.73352911e-03 1.17500664e+01] [ 3.58374526e-02 -1.19146647e-03 9.99356922e-01 1.11765535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.79, Y:11.75, Z:11.18 [[ 9.95642220e-01 -8.61035711e-02 -3.58154149e-02 3.16793531e+02] [ 8.60968901e-02 9.96285264e-01 -1.73166325e-03 1.17501182e+01] [ 3.58314725e-02 -1.35947880e-03 9.99356922e-01 1.11795034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.83, Y:11.75, Z:11.18 [[ 9.95486567e-01 -8.78848221e-02 -3.58155410e-02 3.16826221e+02] [ 8.78793855e-02 9.96129622e-01 -1.72904981e-03 1.17510414e+01] [ 3.58288786e-02 -1.42620188e-03 9.99356922e-01 1.11805104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.86, Y:11.75, Z:11.18 [[ 9.95375097e-01 -8.91383734e-02 -3.58157297e-02 3.16857007e+02] [ 8.91338873e-02 9.96018160e-01 -1.72513226e-03 1.17520743e+01] [ 3.58268927e-02 -1.47524153e-03 9.99356922e-01 1.11811306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.89, Y:11.75, Z:11.18 [[ 9.95263647e-01 -9.03742192e-02 -3.58158232e-02 3.16889410e+02] [ 9.03706014e-02 9.95906715e-01 -1.72318909e-03 1.17528560e+01] [ 3.58249507e-02 -1.52167003e-03 9.99356922e-01 1.11823339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.92, Y:11.75, Z:11.18 [[ 9.95308496e-01 -8.98788966e-02 -3.58159452e-02 3.16921878e+02] [ 8.98750499e-02 9.95951562e-01 -1.72065067e-03 1.17539628e+01] [ 3.58255968e-02 -1.50638164e-03 9.99356922e-01 1.11847332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.95, Y:11.76, Z:11.19 [[ 9.95387328e-01 -8.90015527e-02 -3.58160704e-02 3.16953689e+02] [ 8.89972330e-02 9.96030392e-01 -1.71804053e-03 1.17553600e+01] [ 3.58268029e-02 -1.47741539e-03 9.99356922e-01 1.11864733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.98, Y:11.76, Z:11.19 [[ 9.95487371e-01 -8.78754461e-02 -3.58161953e-02 3.16984670e+02] [ 8.78704926e-02 9.96130430e-01 -1.71543290e-03 1.17568839e+01] [ 3.58283464e-02 -1.43949493e-03 9.99356922e-01 1.11869994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:11.76, Z:11.19 [[ 9.95681107e-01 -8.56523160e-02 -3.58163994e-02 3.17016484e+02] [ 8.56460799e-02 9.96324155e-01 -1.71116136e-03 1.17586959e+01] [ 3.58313087e-02 -1.36376317e-03 9.99356922e-01 1.11908536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.05, Y:11.76, Z:11.19 [[ 9.95763124e-01 -8.46934271e-02 -3.58165239e-02 3.17047880e+02] [ 8.46866655e-02 9.96406167e-01 -1.70855148e-03 1.17602459e+01] [ 3.58325083e-02 -1.33186942e-03 9.99356922e-01 1.11913618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.08, Y:11.76, Z:11.19 [[ 9.95841854e-01 -8.37625963e-02 -3.58166164e-02 3.17081155e+02] [ 8.37553034e-02 9.96484890e-01 -1.70660909e-03 1.17618675e+01] [ 3.58336671e-02 -1.30031882e-03 9.99356922e-01 1.11933269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.11, Y:11.76, Z:11.19 [[ 9.95951404e-01 -8.24497258e-02 -3.58168015e-02 3.17112028e+02] [ 8.24417251e-02 9.96594432e-01 -1.70271475e-03 1.17637056e+01] [ 3.58352134e-02 -1.25697776e-03 9.99356922e-01 1.11939542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.14, Y:11.77, Z:11.19 [[ 9.95999209e-01 -8.18701777e-02 -3.58168931e-02 3.17142743e+02] [ 8.18618721e-02 9.96642233e-01 -1.70078668e-03 1.17654520e+01] [ 3.58358720e-02 -1.23805573e-03 9.99356922e-01 1.11940164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.18, Y:11.77, Z:11.19 [[ 9.96004263e-01 -8.18086337e-02 -3.58169836e-02 3.17175110e+02] [ 8.18003570e-02 9.96647287e-01 -1.69887772e-03 1.17674512e+01] [ 3.58358825e-02 -1.23775260e-03 9.99356922e-01 1.11949943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.21, Y:11.77, Z:11.20 [[ 9.96006358e-01 -8.17830709e-02 -3.58171013e-02 3.17206917e+02] [ 8.17748668e-02 9.96649383e-01 -1.69639426e-03 1.17693831e+01] [ 3.58358282e-02 -1.23931921e-03 9.99356922e-01 1.11955554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.24, Y:11.77, Z:11.20 [[ 9.95956506e-01 -8.23878886e-02 -3.58172180e-02 3.17238845e+02] [ 8.23801636e-02 9.96599538e-01 -1.69392713e-03 1.17717848e+01] [ 3.58349819e-02 -1.26355053e-03 9.99356922e-01 1.11975551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.27, Y:11.77, Z:11.20 [[ 9.95921548e-01 -8.28093496e-02 -3.58173398e-02 3.17270679e+02] [ 8.28019895e-02 9.96564584e-01 -1.69134591e-03 1.17736273e+01] [ 3.58343516e-02 -1.28129916e-03 9.99356922e-01 1.11983311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.30, Y:11.78, Z:11.20 [[ 9.95897241e-01 -8.31011139e-02 -3.58174619e-02 3.17302549e+02] [ 8.30940351e-02 9.96540280e-01 -1.68875728e-03 1.17755762e+01] [ 3.58338811e-02 -1.29438872e-03 9.99356922e-01 1.11990013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.33, Y:11.78, Z:11.20 [[ 9.95869710e-01 -8.34303413e-02 -3.58175841e-02 3.17333405e+02] [ 8.34235684e-02 9.96512752e-01 -1.68616148e-03 1.17776538e+01] [ 3.58333563e-02 -1.30883353e-03 9.99356922e-01 1.11985756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.37, Y:11.78, Z:11.20 [[ 9.95895015e-01 -8.31276880e-02 -3.58176750e-02 3.17365706e+02] [ 8.31207890e-02 9.96538056e-01 -1.68422807e-03 1.17810329e+01] [ 3.58336822e-02 -1.29987907e-03 9.99356922e-01 1.11997681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.40, Y:11.78, Z:11.20 [[ 9.95944886e-01 -8.25279908e-02 -3.58177937e-02 3.17398240e+02] [ 8.25207955e-02 9.96587924e-01 -1.68170005e-03 1.17837376e+01] [ 3.58343680e-02 -1.28083227e-03 9.99356922e-01 1.12012554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.43, Y:11.79, Z:11.20 [[ 9.96016232e-01 -8.16623697e-02 -3.58179134e-02 3.17430229e+02] [ 8.16547072e-02 9.96659264e-01 -1.67914661e-03 1.17865145e+01] [ 3.58353783e-02 -1.25224395e-03 9.99356922e-01 1.12031256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.46, Y:11.79, Z:11.20 [[ 9.96128871e-01 -8.02766574e-02 -3.58180346e-02 3.17461467e+02] [ 8.02681933e-02 9.96771893e-01 -1.67655684e-03 1.17893579e+01] [ 3.58369986e-02 -1.20498226e-03 9.99356922e-01 1.12040658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.49, Y:11.79, Z:11.21 [[ 9.96385364e-01 -7.70276618e-02 -3.58182389e-02 3.17492990e+02] [ 7.70172579e-02 9.97028358e-01 -1.67218169e-03 1.17931091e+01] [ 3.58406041e-02 -1.09248518e-03 9.99356922e-01 1.12065250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.52, Y:11.80, Z:11.21 [[ 9.96555534e-01 -7.47938215e-02 -3.58183286e-02 3.17523775e+02] [ 7.47820453e-02 9.97198504e-01 -1.67025699e-03 1.17958160e+01] [ 3.58429086e-02 -1.01406403e-03 9.99356922e-01 1.12077544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.56, Y:11.80, Z:11.21 [[ 9.96728872e-01 -7.24471491e-02 -3.58185093e-02 3.17555323e+02] [ 7.24339985e-02 9.97371816e-01 -1.66637287e-03 1.17985315e+01] [ 3.58450957e-02 -9.33555903e-04 9.99356922e-01 1.12099668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.59, Y:11.80, Z:11.21 [[ 9.97030581e-01 -6.81692597e-02 -3.58185991e-02 3.17587116e+02] [ 6.81534195e-02 9.97673464e-01 -1.66444206e-03 1.18027491e+01] [ 3.58487296e-02 -7.81660372e-04 9.99356922e-01 1.12123544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.62, Y:11.81, Z:11.21 [[ 9.97159932e-01 -6.62502003e-02 -3.58187178e-02 3.17618887e+02] [ 6.62332148e-02 9.97802786e-01 -1.66188187e-03 1.18051964e+01] [ 3.58501165e-02 -7.15226816e-04 9.99356922e-01 1.12140323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.65, Y:11.81, Z:11.22 [[ 9.97251978e-01 -6.48498508e-02 -3.58188366e-02 3.17650439e+02] [ 6.48320546e-02 9.97894810e-01 -1.65931898e-03 1.18073980e+01] [ 3.58510377e-02 -6.67449634e-04 9.99356922e-01 1.12150016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.68, Y:11.81, Z:11.22 [[ 9.97300400e-01 -6.41008372e-02 -3.58189249e-02 3.17682731e+02] [ 6.40826267e-02 9.97943220e-01 -1.65741070e-03 1.18095872e+01] [ 3.58514946e-02 -6.42434438e-04 9.99356922e-01 1.12165964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.71, Y:11.81, Z:11.22 [[ 9.97351551e-01 -6.32999173e-02 -3.58190446e-02 3.17714612e+02] [ 6.32812837e-02 9.97994359e-01 -1.65481838e-03 1.18111070e+01] [ 3.58519544e-02 -6.16239448e-04 9.99356922e-01 1.12155385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.75, Y:11.81, Z:11.22 [[ 9.97346478e-01 -6.33797327e-02 -3.58191639e-02 3.17747053e+02] [ 6.33612432e-02 9.97989290e-01 -1.65223347e-03 1.18123839e+01] [ 3.58518600e-02 -6.21697519e-04 9.99356922e-01 1.12155180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:11.81, Z:11.22 [[ 9.97329322e-01 -6.36490603e-02 -3.58192817e-02 3.17779242e+02] [ 6.36308363e-02 9.97972142e-01 -1.64967404e-03 1.18137599e+01] [ 3.58516455e-02 -6.33942562e-04 9.99356922e-01 1.12163751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.81, Y:11.82, Z:11.22 [[ 9.97242652e-01 -6.49927899e-02 -3.58194020e-02 3.17810460e+02] [ 6.49755260e-02 9.97885499e-01 -1.64705891e-03 1.18154356e+01] [ 3.58507088e-02 -6.84867092e-04 9.99356922e-01 1.12160100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:11.82, Z:11.22 [[ 9.97207818e-01 -6.55250454e-02 -3.58194914e-02 3.17841822e+02] [ 6.55081945e-02 9.97850675e-01 -1.64511181e-03 1.18168930e+01] [ 3.58502997e-02 -7.05951852e-04 9.99356922e-01 1.12166284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.87, Y:11.82, Z:11.22 [[ 9.97164245e-01 -6.61847876e-02 -3.58195796e-02 3.17874030e+02] [ 6.61684310e-02 9.97807115e-01 -1.64319047e-03 1.18183010e+01] [ 3.58497855e-02 -7.31594592e-04 9.99356922e-01 1.12178818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.91, Y:11.82, Z:11.22 [[ 9.97074811e-01 -6.75186726e-02 -3.58196962e-02 3.17905393e+02] [ 6.75032675e-02 9.97717704e-01 -1.64064411e-03 1.18195438e+01] [ 3.58487192e-02 -7.82101617e-04 9.99356922e-01 1.12185599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.94, Y:11.82, Z:11.22 [[ 9.97032174e-01 -6.81453389e-02 -3.58197831e-02 3.17937356e+02] [ 6.81304061e-02 9.97675079e-01 -1.63874530e-03 1.18205130e+01] [ 3.58481777e-02 -8.06534580e-04 9.99356922e-01 1.12196609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.97, Y:11.82, Z:11.22 [[ 9.96964300e-01 -6.91311819e-02 -3.58198978e-02 3.17969681e+02] [ 6.91169750e-02 9.97607221e-01 -1.63623378e-03 1.18214107e+01] [ 3.58473034e-02 -8.44496319e-04 9.99356922e-01 1.12214813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:11.82, Z:11.22 [[ 9.96893783e-01 -7.01406577e-02 -3.58200139e-02 3.18001104e+02] [ 7.01271932e-02 9.97536720e-01 -1.63368712e-03 1.18221390e+01] [ 3.58463671e-02 -8.83344507e-04 9.99356922e-01 1.12228690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:11.82, Z:11.23 [[ 9.96799310e-01 -7.14706622e-02 -3.58201005e-02 3.18033678e+02] [ 7.14581238e-02 9.97442266e-01 -1.63178750e-03 1.18230443e+01] [ 3.58451071e-02 -9.33072517e-04 9.99356922e-01 1.12250027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.07, Y:11.82, Z:11.23 [[ 9.96584065e-01 -7.44117812e-02 -3.58202133e-02 3.18065633e+02] [ 7.44012292e-02 9.97227057e-01 -1.62930611e-03 1.18232197e+01] [ 3.58421255e-02 -1.04132740e-03 9.99356922e-01 1.12270519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.10, Y:11.82, Z:11.23 [[ 9.96456404e-01 -7.61021637e-02 -3.58203267e-02 3.18097924e+02] [ 7.60927921e-02 9.97099414e-01 -1.62681023e-03 1.18239058e+01] [ 3.58402305e-02 -1.10462320e-03 9.99356922e-01 1.12284040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.13, Y:11.82, Z:11.23 [[ 9.96305015e-01 -7.80590308e-02 -3.58204430e-02 3.18129521e+02] [ 7.80510141e-02 9.96948043e-01 -1.62424507e-03 1.18246090e+01] [ 3.58379076e-02 -1.17757839e-03 9.99356922e-01 1.12291108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.16, Y:11.83, Z:11.23 [[ 9.96310379e-01 -7.79905042e-02 -3.58205296e-02 3.18162164e+02] [ 7.79825120e-02 9.96953407e-01 -1.62233253e-03 1.18260248e+01] [ 3.58379256e-02 -1.17702815e-03 9.99356922e-01 1.12302824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.19, Y:11.83, Z:11.23 [[ 9.95896409e-01 -8.31097155e-02 -3.58206410e-02 3.18193127e+02] [ 8.31051165e-02 9.96539470e-01 -1.61986964e-03 1.18257022e+01] [ 3.58313095e-02 -1.36365618e-03 9.99356922e-01 1.12305350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.23, Y:11.83, Z:11.23 [[ 9.95659845e-01 -8.58973162e-02 -3.58207239e-02 3.18226122e+02] [ 8.58945834e-02 9.96302917e-01 -1.61803439e-03 1.18261197e+01] [ 3.58272765e-02 -1.46579428e-03 9.99356922e-01 1.12312527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.26, Y:11.83, Z:11.23 [[ 9.95373766e-01 -8.91511645e-02 -3.58208987e-02 3.18259413e+02] [ 8.91506728e-02 9.96016843e-01 -1.61415572e-03 1.18264952e+01] [ 3.58221223e-02 -1.58676897e-03 9.99356922e-01 1.12319369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.29, Y:11.83, Z:11.23 [[ 9.95080913e-01 -9.23624800e-02 -3.58210727e-02 3.18292294e+02] [ 9.23642024e-02 9.95723988e-01 -1.61028443e-03 1.18267684e+01] [ 3.58166312e-02 -1.70622151e-03 9.99356922e-01 1.12325716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.32, Y:11.83, Z:11.23 [[ 9.94516148e-01 -9.82571630e-02 -3.58212471e-02 3.18324472e+02] [ 9.82628356e-02 9.95159201e-01 -1.60639545e-03 1.18264966e+01] [ 3.58056835e-02 -1.92231110e-03 9.99356922e-01 1.12330143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.36, Y:11.83, Z:11.23 [[ 9.94267925e-01 -1.00737881e-01 -3.58213912e-02 3.18357375e+02] [ 1.00745274e-01 9.94910961e-01 -1.60317590e-03 1.18271042e+01] [ 3.58005953e-02 -2.01484949e-03 9.99356922e-01 1.12339628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.39, Y:11.83, Z:11.24 [[ 9.94030603e-01 -1.03053265e-01 -3.58215625e-02 3.18390461e+02] [ 1.03062293e-01 9.94673618e-01 -1.59933988e-03 1.18279287e+01] [ 3.57955803e-02 -2.10205959e-03 9.99356922e-01 1.12352709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.42, Y:11.83, Z:11.24 [[ 9.93905717e-01 -1.04250799e-01 -3.58217354e-02 3.18423072e+02] [ 1.04260741e-01 9.94548718e-01 -1.59545784e-03 1.18286249e+01] [ 3.57927887e-02 -2.14906601e-03 9.99356922e-01 1.12359855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:11.83, Z:11.24 [[ 9.93766557e-01 -1.05569034e-01 -3.58219068e-02 3.18454963e+02] [ 1.05579968e-01 9.94409542e-01 -1.59160032e-03 1.18292133e+01] [ 3.57896696e-02 -2.20039659e-03 9.99356922e-01 1.12360739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.49, Y:11.83, Z:11.24 [[ 9.93769507e-01 -1.05541209e-01 -3.58220484e-02 3.18487819e+02] [ 1.05552239e-01 9.94412491e-01 -1.58840568e-03 1.18303548e+01] [ 3.57895346e-02 -2.20258830e-03 9.99356922e-01 1.12368565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:11.83, Z:11.24 [[ 9.93889549e-01 -1.04404658e-01 -3.58222170e-02 3.18521192e+02] [ 1.04415090e-01 9.94532542e-01 -1.58459511e-03 1.18318738e+01] [ 3.57917996e-02 -2.16546749e-03 9.99356922e-01 1.12380135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.55, Y:11.83, Z:11.24 [[ 9.93997714e-01 -1.03369728e-01 -3.58223841e-02 3.18553790e+02] [ 1.03379626e-01 9.94640716e-01 -1.58080901e-03 1.18334977e+01] [ 3.57938095e-02 -2.13198414e-03 9.99356922e-01 1.12395481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.59, Y:11.84, Z:11.24 [[ 9.94128881e-01 -1.02100500e-01 -3.58225511e-02 3.18587098e+02] [ 1.02109713e-01 9.94771893e-01 -1.57701425e-03 1.18356252e+01] [ 3.57962809e-02 -2.09007500e-03 9.99356922e-01 1.12410088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.62, Y:11.84, Z:11.24 [[ 9.94284326e-01 -1.00575401e-01 -3.58227187e-02 3.18620529e+02] [ 1.00583765e-01 9.94927350e-01 -1.57319732e-03 1.18374684e+01] [ 3.57992276e-02 -2.03897847e-03 9.99356922e-01 1.12423714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.65, Y:11.84, Z:11.24 [[ 9.94625676e-01 -9.71415717e-02 -3.58228854e-02 3.18652155e+02] [ 9.71478518e-02 9.95268723e-01 -1.56939383e-03 1.18393589e+01] [ 3.58058508e-02 -1.91915696e-03 9.99356922e-01 1.12428722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.68, Y:11.84, Z:11.24 [[ 9.94795980e-01 -9.53816541e-02 -3.58231588e-02 3.18684719e+02] [ 9.53870216e-02 9.95439035e-01 -1.56312708e-03 1.18411663e+01] [ 3.58088643e-02 -1.86207189e-03 9.99356922e-01 1.12442520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.72, Y:11.84, Z:11.25 [[ 9.94958255e-01 -9.36736913e-02 -3.58233242e-02 3.18716364e+02] [ 9.36780912e-02 9.95601318e-01 -1.55932868e-03 1.18431907e+01] [ 3.58118168e-02 -1.80439368e-03 9.99356922e-01 1.12452612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:11.85, Z:11.25 [[ 9.95182353e-01 -9.12620582e-02 -3.58234607e-02 3.18749787e+02] [ 9.12650125e-02 9.95825424e-01 -1.55618492e-03 1.18452752e+01] [ 3.58159336e-02 -1.72074082e-03 9.99356922e-01 1.12465711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.78, Y:11.85, Z:11.25 [[ 9.95674096e-01 -8.57307561e-02 -3.58236226e-02 3.18782062e+02] [ 8.57302711e-02 9.96317174e-01 -1.55245044e-03 1.18480782e+01] [ 3.58247831e-02 -1.52543418e-03 9.99356922e-01 1.12473506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.81, Y:11.85, Z:11.25 [[ 9.96222315e-01 -7.91059966e-02 -3.58237291e-02 3.18814572e+02] [ 7.91013226e-02 9.96865376e-01 -1.54998735e-03 1.18512268e+01] [ 3.58340485e-02 -1.28957237e-03 9.99356922e-01 1.12488945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:11.85, Z:11.25 [[ 9.96503567e-01 -7.54804209e-02 -3.58238398e-02 3.18846199e+02] [ 7.54734990e-02 9.97146607e-01 -1.54742437e-03 1.18536002e+01] [ 3.58384206e-02 -1.16173663e-03 9.99356922e-01 1.12499367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.88, Y:11.86, Z:11.25 [[ 9.96772092e-01 -7.18473267e-02 -3.58239772e-02 3.18877914e+02] [ 7.18381752e-02 9.97415105e-01 -1.54423787e-03 1.18560883e+01] [ 3.58423253e-02 -1.03427594e-03 9.99356922e-01 1.12514603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:11.86, Z:11.25 [[ 9.97028024e-01 -6.82037643e-02 -3.58240863e-02 3.18909884e+02] [ 6.81923537e-02 9.97671001e-01 -1.54170362e-03 1.18585806e+01] [ 3.58458020e-02 -9.05807046e-04 9.99356922e-01 1.12526827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.94, Y:11.86, Z:11.25 [[ 9.97381860e-01 -6.28176200e-02 -3.58241945e-02 3.18940613e+02] [ 6.28028272e-02 9.98024767e-01 -1.53918428e-03 1.18613456e+01] [ 3.58501213e-02 -7.14706212e-04 9.99356922e-01 1.12531551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.97, Y:11.86, Z:11.25 [[ 9.97514061e-01 -6.06821229e-02 -3.58242750e-02 3.18971837e+02] [ 6.06660210e-02 9.98156937e-01 -1.53730878e-03 1.18628451e+01] [ 3.58515357e-02 -6.39829097e-04 9.99356922e-01 1.12543514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:11.86, Z:11.26 [[ 9.97646326e-01 -5.84672971e-02 -3.58243279e-02 3.19003239e+02] [ 5.84498122e-02 9.98289166e-01 -1.53607459e-03 1.18640683e+01] [ 3.58528486e-02 -5.61466071e-04 9.99356922e-01 1.12551884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:11.86, Z:11.26 [[ 9.97894839e-01 -5.40601809e-02 -3.58243805e-02 3.19034524e+02] [ 5.40399008e-02 9.98537597e-01 -1.53484746e-03 1.18648995e+01] [ 3.58549649e-02 -4.04329605e-04 9.99356922e-01 1.12555958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.07, Y:11.87, Z:11.26 [[ 9.98001475e-01 -5.20544449e-02 -3.58244347e-02 3.19065194e+02] [ 5.20329186e-02 9.98644193e-01 -1.53358005e-03 1.18660465e+01] [ 3.58556934e-02 -3.33534740e-04 9.99356922e-01 1.12570104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.10, Y:11.87, Z:11.26 [[ 9.98115072e-01 -4.98288294e-02 -3.58244347e-02 3.19095840e+02] [ 4.98058698e-02 9.98757740e-01 -1.53358005e-03 1.18672024e+01] [ 3.58563480e-02 -2.53577767e-04 9.99356922e-01 1.12584070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.12, Y:11.87, Z:11.26 [[ 9.98224819e-01 -4.75796158e-02 -3.58244347e-02 3.19124897e+02] [ 4.75552081e-02 9.98867434e-01 -1.53358005e-03 1.18684111e+01] [ 3.58568283e-02 -1.72780778e-04 9.99356922e-01 1.12591627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.15, Y:11.87, Z:11.26 [[ 9.98321953e-01 -4.54960160e-02 -3.58244404e-02 3.19153158e+02] [ 4.54702719e-02 9.98964515e-01 -1.53344876e-03 1.18694939e+01] [ 3.58571105e-02 -9.80714868e-05 9.99356922e-01 1.12608234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.18, Y:11.87, Z:11.26 [[ 9.98511352e-01 -4.11304987e-02 -3.58240504e-02 3.19182364e+02] [ 4.11016203e-02 9.99153781e-01 -1.54250459e-03 1.18701025e+01] [ 3.58571794e-02 6.77818232e-05 9.99356922e-01 1.12618437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.21, Y:11.87, Z:11.26 [[ 9.98597513e-01 -3.89829820e-02 -3.58236575e-02 3.19210028e+02] [ 3.89523967e-02 9.99239863e-01 -1.55157705e-03 1.18705089e+01] [ 3.58569117e-02 1.53983666e-04 9.99356922e-01 1.12628683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.24, Y:11.87, Z:11.26 [[ 9.98663243e-01 -3.72615812e-02 -3.58232076e-02 3.19237323e+02] [ 3.72295185e-02 9.99305521e-01 -1.56189622e-03 1.18709494e+01] [ 3.58565278e-02 2.26127578e-04 9.99356922e-01 1.12633743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.27, Y:11.87, Z:11.26 [[ 9.98728652e-01 -3.54653616e-02 -3.58230119e-02 3.19265482e+02] [ 3.54319833e-02 9.99370863e-01 -1.56637052e-03 1.18703359e+01] [ 3.58560262e-02 2.95098759e-04 9.99356922e-01 1.12640758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.29, Y:11.87, Z:11.26 [[ 9.98718329e-01 -3.57553233e-02 -3.58225574e-02 3.19293349e+02] [ 3.57217611e-02 9.99360530e-01 -1.57669731e-03 1.18703551e+01] [ 3.58560253e-02 2.95031667e-04 9.99356922e-01 1.12646951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.32, Y:11.87, Z:11.27 [[ 9.98687265e-01 -3.66131692e-02 -3.58221028e-02 3.19320887e+02] [ 3.65797905e-02 9.99329475e-01 -1.58695974e-03 1.18700630e+01] [ 3.58561868e-02 2.74511465e-04 9.99356922e-01 1.12656724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.35, Y:11.87, Z:11.27 [[ 9.98573660e-01 -3.95911160e-02 -3.58216339e-02 3.19348461e+02] [ 3.95592754e-02 9.99215949e-01 -1.59747429e-03 1.18670908e+01] [ 3.58567937e-02 1.78117874e-04 9.99356923e-01 1.12655066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.38, Y:11.87, Z:11.27 [[ 9.98493212e-01 -4.15707814e-02 -3.58214302e-02 3.19376306e+02] [ 4.15400508e-02 9.99135555e-01 -1.60202953e-03 1.18657476e+01] [ 3.58570621e-02 1.11591583e-04 9.99356923e-01 1.12663194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.40, Y:11.86, Z:11.27 [[ 9.98396986e-01 -4.38214207e-02 -3.58209730e-02 3.19404530e+02] [ 4.37917737e-02 9.99039379e-01 -1.61218817e-03 1.18645503e+01] [ 3.58572110e-02 4.09398693e-05 9.99356923e-01 1.12671709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:11.86, Z:11.27 [[ 9.98199000e-01 -4.81211836e-02 -3.58205038e-02 3.19432298e+02] [ 4.80939319e-02 9.98841499e-01 -1.62254547e-03 1.18610854e+01] [ 3.58570845e-02 -1.03125603e-04 9.99356923e-01 1.12682449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.46, Y:11.86, Z:11.27 [[ 9.98063736e-01 -5.08495840e-02 -3.58203584e-02 3.19460569e+02] [ 5.08239737e-02 9.98706303e-01 -1.62575010e-03 1.18601732e+01] [ 3.58566864e-02 -1.97930737e-04 9.99356923e-01 1.12694521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.49, Y:11.86, Z:11.27 [[ 9.97932823e-01 -5.33574367e-02 -3.58198977e-02 3.19489744e+02] [ 5.33330791e-02 9.98575439e-01 -1.63583767e-03 1.18590142e+01] [ 3.58561541e-02 -2.77929331e-04 9.99356923e-01 1.12703425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.52, Y:11.86, Z:11.27 [[ 9.97788303e-01 -5.59952398e-02 -3.58194937e-02 3.19517974e+02] [ 5.59722652e-02 9.98430969e-01 -1.64463564e-03 1.18575963e+01] [ 3.58553836e-02 -3.63900001e-04 9.99356923e-01 1.12710354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.55, Y:11.85, Z:11.27 [[ 9.97443419e-01 -6.18352436e-02 -3.58193791e-02 3.19547121e+02] [ 6.18159421e-02 9.98086207e-01 -1.64712881e-03 1.18534775e+01] [ 3.58526788e-02 -5.71290871e-04 9.99356923e-01 1.12709542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.58, Y:11.85, Z:11.27 [[ 9.97244529e-01 -6.49640517e-02 -3.58192938e-02 3.19578187e+02] [ 6.49467003e-02 9.97887372e-01 -1.64898138e-03 1.18519918e+01] [ 3.58507455e-02 -6.81907277e-04 9.99356923e-01 1.12712710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.61, Y:11.85, Z:11.27 [[ 9.97012555e-01 -6.84320378e-02 -3.58192938e-02 3.19608868e+02] [ 6.84169222e-02 9.97655454e-01 -1.64898138e-03 1.18507311e+01] [ 3.58481570e-02 -8.06590697e-04 9.99356923e-01 1.12715449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:11.85, Z:11.27 [[ 9.96796568e-01 -7.15093011e-02 -3.58192938e-02 3.19640456e+02] [ 7.14961701e-02 9.97439511e-01 -1.64898138e-03 1.18494061e+01] [ 3.58454964e-02 -9.17243339e-04 9.99356923e-01 1.12716974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:11.85, Z:11.27 [[ 9.96329270e-01 -7.77493355e-02 -3.58193528e-02 3.19672028e+02] [ 7.77402767e-02 9.96972284e-01 -1.64769843e-03 1.18462907e+01] [ 3.58390094e-02 -1.14295623e-03 9.99356923e-01 1.12712306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:11.85, Z:11.27 [[ 9.96095773e-01 -8.06856961e-02 -3.58194124e-02 3.19704620e+02] [ 8.06785791e-02 9.96738810e-01 -1.64640128e-03 1.18458084e+01] [ 3.58354396e-02 -1.24988594e-03 9.99356923e-01 1.12712201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.74, Y:11.85, Z:11.27 [[ 9.95863793e-01 -8.35000991e-02 -3.58195313e-02 3.19735540e+02] [ 8.34948923e-02 9.96506849e-01 -1.64381002e-03 1.18453492e+01] [ 3.58316666e-02 -1.35373703e-03 9.99356923e-01 1.12707790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.77, Y:11.84, Z:11.27 [[ 9.95370583e-01 -8.91872023e-02 -3.58196199e-02 3.19767991e+02] [ 8.91857381e-02 9.96013659e-01 -1.64187895e-03 1.18443304e+01] [ 3.58232652e-02 -1.56032123e-03 9.99356923e-01 1.12712253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:11.84, Z:11.27 [[ 9.95155839e-01 -9.15521867e-02 -3.58197377e-02 3.19799436e+02] [ 9.15523431e-02 9.95798916e-01 -1.63930436e-03 1.18445867e+01] [ 3.58193379e-02 -1.64801761e-03 9.99356923e-01 1.12716593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:11.84, Z:11.27 [[ 9.94951621e-01 -9.37454652e-02 -3.58198255e-02 3.19830619e+02] [ 9.37471080e-02 9.95594696e-01 -1.63738381e-03 1.18449810e+01] [ 3.58155256e-02 -1.72888737e-03 9.99356923e-01 1.12723765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:11.85, Z:11.27 [[ 9.94607935e-01 -9.73241466e-02 -3.58199116e-02 3.19862915e+02] [ 9.73281707e-02 9.95251000e-01 -1.63549694e-03 1.18451780e+01] [ 3.58089762e-02 -1.85960824e-03 9.99356923e-01 1.12739364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:11.85, Z:11.28 [[ 9.94472449e-01 -9.86989018e-02 -3.58200304e-02 3.19895122e+02] [ 9.87039084e-02 9.95115507e-01 -1.63289154e-03 1.18464218e+01] [ 3.58062323e-02 -1.91171135e-03 9.99356923e-01 1.12754857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:11.85, Z:11.28 [[ 9.94352844e-01 -9.98966352e-02 -3.58201492e-02 3.19927106e+02] [ 9.99025100e-02 9.94995895e-01 -1.63028222e-03 1.18479042e+01] [ 3.58037611e-02 -1.95744705e-03 9.99356923e-01 1.12768317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:11.85, Z:11.28 [[ 9.94177700e-01 -1.01624838e-01 -3.58202970e-02 3.19958581e+02] [ 1.01631948e-01 9.94820738e-01 -1.62702703e-03 1.18500474e+01] [ 3.58001207e-02 -2.02293256e-03 9.99356923e-01 1.12783206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.99, Y:11.85, Z:11.28 [[ 9.94108501e-01 -1.02299432e-01 -3.58205734e-02 3.19991526e+02] [ 1.02307198e-01 9.94751532e-01 -1.62091843e-03 1.18519250e+01] [ 3.57983893e-02 -2.05333369e-03 9.99356923e-01 1.12798011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.02, Y:11.85, Z:11.28 [[ 9.94080591e-01 -1.02570227e-01 -3.58207513e-02 3.20023932e+02] [ 1.02578309e-01 9.94723618e-01 -1.61697886e-03 1.18534903e+01] [ 3.57976012e-02 -2.06702478e-03 9.99356923e-01 1.12807372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.06, Y:11.86, Z:11.28 [[ 9.94025626e-01 -1.03101445e-01 -3.58210276e-02 3.20056020e+02] [ 1.03110091e-01 9.94668646e-01 -1.61083427e-03 1.18550764e+01] [ 3.57961323e-02 -2.09229886e-03 9.99356923e-01 1.12820307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:11.86, Z:11.28 [[ 9.93998284e-01 -1.03364685e-01 -3.58211419e-02 3.20089274e+02] [ 1.03373593e-01 9.94641299e-01 -1.60828781e-03 1.18565497e+01] [ 3.57954273e-02 -2.10432481e-03 9.99356923e-01 1.12833680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:11.86, Z:11.29 [[ 9.93906798e-01 -1.04240631e-01 -3.58213180e-02 3.20121756e+02] [ 1.04250247e-01 9.94549804e-01 -1.60435536e-03 1.18578952e+01] [ 3.57933239e-02 -2.13980154e-03 9.99356923e-01 1.12850177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:11.86, Z:11.29 [[ 9.93918389e-01 -1.04129998e-01 -3.58214959e-02 3.20155243e+02] [ 1.04139685e-01 9.94561393e-01 -1.60037454e-03 1.18593052e+01] [ 3.57933239e-02 -2.13979762e-03 9.99356923e-01 1.12862192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:11.86, Z:11.29 [[ 9.93921257e-01 -1.04102558e-01 -3.58216735e-02 3.20186934e+02] [ 1.04112371e-01 9.94564259e-01 -1.59638979e-03 1.18610901e+01] [ 3.57931444e-02 -2.14279361e-03 9.99356923e-01 1.12873844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:11.86, Z:11.29 [[ 9.93922969e-01 -1.04086159e-01 -3.58218202e-02 3.20217605e+02] [ 1.04096079e-01 9.94565970e-01 -1.59309149e-03 1.18631178e+01] [ 3.57929821e-02 -2.14550081e-03 9.99356923e-01 1.12879781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:11.87, Z:11.29 [[ 9.94148679e-01 -1.01907783e-01 -3.58219053e-02 3.20249887e+02] [ 1.01916363e-01 9.94791698e-01 -1.59117526e-03 1.18656694e+01] [ 3.57974871e-02 -2.06897351e-03 9.99356923e-01 1.12890649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.28, Y:11.87, Z:11.29 [[ 9.94360155e-01 -9.98231694e-02 -3.58220208e-02 3.20282343e+02] [ 9.98304948e-02 9.95003190e-01 -1.58856971e-03 1.18680197e+01] [ 3.58016011e-02 -1.99651964e-03 9.99356923e-01 1.12904613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.31, Y:11.87, Z:11.29 [[ 9.94620404e-01 -9.71958198e-02 -3.58221380e-02 3.20313016e+02] [ 9.72015414e-02 9.95263455e-01 -1.58592261e-03 1.18707532e+01] [ 3.58066099e-02 -1.90457605e-03 9.99356923e-01 1.12914970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.34, Y:11.87, Z:11.29 [[ 9.94966995e-01 -9.35811938e-02 -3.58223271e-02 3.20343964e+02] [ 9.35847326e-02 9.95610062e-01 -1.58163925e-03 1.18736100e+01] [ 3.58130810e-02 -1.77874405e-03 9.99356923e-01 1.12927628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.38, Y:11.88, Z:11.30 [[ 9.95781192e-01 -8.44782396e-02 -3.58224120e-02 3.20376209e+02] [ 8.44759665e-02 9.96424265e-01 -1.57971433e-03 1.18795030e+01] [ 3.58277721e-02 -1.45308306e-03 9.99356923e-01 1.12950188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.41, Y:11.88, Z:11.30 [[ 9.96222546e-01 -7.91036347e-02 -3.58225232e-02 3.20407528e+02] [ 7.90979823e-02 9.96865599e-01 -1.57718911e-03 1.18835117e+01] [ 3.58350024e-02 -1.26225796e-03 9.99356923e-01 1.12965850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.44, Y:11.89, Z:11.30 [[ 9.96651858e-01 -7.34969937e-02 -3.58227095e-02 3.20439253e+02] [ 7.34878754e-02 9.97294870e-01 -1.57294705e-03 1.18873311e+01] [ 3.58414113e-02 -1.06485421e-03 9.99356923e-01 1.12990867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.47, Y:11.89, Z:11.30 [[ 9.97411608e-01 -6.23442863e-02 -3.58228224e-02 3.20469992e+02] [ 6.23280686e-02 9.98054480e-01 -1.57037116e-03 1.18927983e+01] [ 3.58510321e-02 -6.66460913e-04 9.99356923e-01 1.13010347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.50, Y:11.90, Z:11.30 [[ 9.97723139e-01 -5.71424433e-02 -3.58228786e-02 3.20499434e+02] [ 5.71229196e-02 9.98365920e-01 -1.56908807e-03 1.18961863e+01] [ 3.58540027e-02 -4.80791934e-04 9.99356923e-01 1.13023639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.53, Y:11.90, Z:11.30 [[ 9.97983197e-01 -5.24047894e-02 -3.58228508e-02 3.20528864e+02] [ 5.23821914e-02 9.98625877e-01 -1.56972295e-03 1.18996368e+01] [ 3.58558868e-02 -3.09922294e-04 9.99356923e-01 1.13043767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.56, Y:11.90, Z:11.30 [[ 9.98204342e-01 -4.80085284e-02 -3.58227935e-02 3.20557488e+02] [ 4.79830529e-02 9.98846914e-01 -1.57102959e-03 1.19028172e+01] [ 3.58569095e-02 -1.50678434e-04 9.99356923e-01 1.13047776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.59, Y:11.91, Z:11.31 [[ 9.98498593e-01 -4.14402328e-02 -3.58227082e-02 3.20585838e+02] [ 4.14104607e-02 9.99140981e-01 -1.57297099e-03 1.19073416e+01] [ 3.58571201e-02 8.71744731e-05 9.99356923e-01 1.13051290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.61, Y:11.91, Z:11.31 [[ 9.98592627e-01 -3.91091465e-02 -3.58223255e-02 3.20613281e+02] [ 3.90775639e-02 9.99234929e-01 -1.58164000e-03 1.19100153e+01] [ 3.58567754e-02 1.79564827e-04 9.99356923e-01 1.13070094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.64, Y:11.91, Z:11.31 [[ 9.98678174e-01 -3.68605181e-02 -3.58218690e-02 3.20642146e+02] [ 3.68271208e-02 9.99320384e-01 -1.59191265e-03 1.19121760e+01] [ 3.58562026e-02 2.70592125e-04 9.99356923e-01 1.13078605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.67, Y:11.91, Z:11.31 [[ 9.98742824e-01 -3.50662640e-02 -3.58207929e-02 3.20669717e+02] [ 3.50308488e-02 9.99384925e-01 -1.61601046e-03 1.19146563e+01] [ 3.58554279e-02 3.59146072e-04 9.99356923e-01 1.13085642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.70, Y:11.92, Z:11.31 [[ 9.98746716e-01 -3.49547166e-02 -3.58213036e-02 3.20697603e+02] [ 3.49196385e-02 9.99388835e-01 -1.60461049e-03 1.19159797e+01] [ 3.58554995e-02 3.51732486e-04 9.99356923e-01 1.13097583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.72, Y:11.92, Z:11.31 [[ 9.98713862e-01 -3.58816005e-02 -3.58208481e-02 3.20724413e+02] [ 3.58467560e-02 9.99355994e-01 -1.61471440e-03 1.19174982e+01] [ 3.58557178e-02 3.28576454e-04 9.99356923e-01 1.13094589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.75, Y:11.92, Z:11.31 [[ 9.98664016e-01 -3.72434118e-02 -3.58205336e-02 3.20752506e+02] [ 3.72091938e-02 9.99306182e-01 -1.62166069e-03 1.19188014e+01] [ 3.58560769e-02 2.86640998e-04 9.99356923e-01 1.13117711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.78, Y:11.92, Z:11.31 [[ 9.98506702e-01 -4.12466945e-02 -3.58200668e-02 3.20780278e+02] [ 4.12146835e-02 9.99148981e-01 -1.63190852e-03 1.19194325e+01] [ 3.58568940e-02 1.53158881e-04 9.99356923e-01 1.13125991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.81, Y:11.92, Z:11.31 [[ 9.98376249e-01 -4.42922639e-02 -3.58198405e-02 3.20807675e+02] [ 4.42620345e-02 9.99018615e-01 -1.63686032e-03 1.19200568e+01] [ 3.58571877e-02 4.87434544e-05 9.99356923e-01 1.13141363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.84, Y:11.92, Z:11.32 [[ 9.98223600e-01 -4.76088951e-02 -3.58195145e-02 3.20835539e+02] [ 4.75805453e-02 9.98866052e-01 -1.64396276e-03 1.19202889e+01] [ 3.58571643e-02 -6.32696091e-05 9.99356923e-01 1.13157878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.86, Y:11.92, Z:11.32 [[ 9.98045356e-01 -5.12099942e-02 -3.58190299e-02 3.20862896e+02] [ 5.11835859e-02 9.98687891e-01 -1.65445377e-03 1.19206740e+01] [ 3.58567560e-02 -1.82126486e-04 9.99356923e-01 1.13166444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.89, Y:11.92, Z:11.32 [[ 9.97674916e-01 -5.79807778e-02 -3.58188797e-02 3.20891742e+02] [ 5.79586133e-02 9.98317610e-01 -1.65769954e-03 1.19194382e+01] [ 3.58547331e-02 -4.22167349e-04 9.99356923e-01 1.13183248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.92, Y:11.92, Z:11.32 [[ 9.97491157e-01 -6.10608642e-02 -3.58184617e-02 3.20922460e+02] [ 6.10403616e-02 9.98133907e-01 -1.66668383e-03 1.19197365e+01] [ 3.58533902e-02 -5.23869475e-04 9.99356923e-01 1.13201971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:11.92, Z:11.32 [[ 9.97149282e-01 -6.64104381e-02 -3.58184617e-02 3.20953295e+02] [ 6.63933834e-02 9.97792133e-01 -1.66668383e-03 1.19185394e+01] [ 3.58500645e-02 -7.16176277e-04 9.99356923e-01 1.13218600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:11.92, Z:11.32 [[ 9.96976848e-01 -6.89507113e-02 -3.58184921e-02 3.20984149e+02] [ 6.89353181e-02 9.97619740e-01 -1.66602875e-03 1.19186296e+01] [ 3.58481087e-02 -8.08167053e-04 9.99356923e-01 1.13237543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.145099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:321.02, Y:11.92, Z:11.32 [[ 9.96819376e-01 -7.11910376e-02 -3.58185532e-02 3.21015366e+02] [ 7.11771363e-02 9.97462302e-01 -1.66471416e-03 1.19186813e+01] [ 3.58461693e-02 -8.90042717e-04 9.99356923e-01 1.13246786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17509989300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:321.05, Y:11.92, Z:11.33 [[ 9.96659056e-01 -7.34013009e-02 -3.58186446e-02 3.21047654e+02] [ 7.33888961e-02 9.97302013e-01 -1.66274532e-03 1.19185340e+01] [ 3.58440541e-02 -9.71500609e-04 9.99356923e-01 1.13266666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.08, Y:11.92, Z:11.33 [[ 9.96432768e-01 -7.64117472e-02 -3.58187662e-02 3.21078764e+02] [ 7.64013789e-02 9.97075761e-01 -1.66012292e-03 1.19165926e+01] [ 3.58408764e-02 -1.08240224e-03 9.99356923e-01 1.13273750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.11, Y:11.92, Z:11.33 [[ 9.96364502e-01 -7.72967522e-02 -3.58188566e-02 3.21110465e+02] [ 7.72870251e-02 9.97007506e-01 -1.65816880e-03 1.19163889e+01] [ 3.58398400e-02 -1.11619235e-03 9.99356923e-01 1.13271478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.14, Y:11.92, Z:11.33 [[ 9.96298681e-01 -7.81405203e-02 -3.58189451e-02 3.21143155e+02] [ 7.81314065e-02 9.96941693e-01 -1.65625634e-03 1.19153036e+01] [ 3.58388205e-02 -1.14845855e-03 9.99356923e-01 1.13268313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.18, Y:11.92, Z:11.33 [[ 9.96311112e-01 -7.79818063e-02 -3.58190619e-02 3.21175356e+02] [ 7.79726810e-02 9.96954124e-01 -1.65372481e-03 1.19160434e+01] [ 3.58389220e-02 -1.14528388e-03 9.99356923e-01 1.13279732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:11.92, Z:11.33 [[ 9.96335075e-01 -7.76749890e-02 -3.58191785e-02 3.21207686e+02] [ 7.76657565e-02 9.96978086e-01 -1.65119669e-03 1.19172486e+01] [ 3.58391927e-02 -1.13677841e-03 9.99356923e-01 1.13295588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.24, Y:11.92, Z:11.33 [[ 9.96389507e-01 -7.69735607e-02 -3.58192963e-02 3.21238965e+02] [ 7.69639674e-02 9.97032512e-01 -1.64863646e-03 1.19183592e+01] [ 3.58399044e-02 -1.11411108e-03 9.99356923e-01 1.13300260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.27, Y:11.92, Z:11.33 [[ 9.96530478e-01 -7.51264110e-02 -3.58193839e-02 3.21270680e+02] [ 7.51156943e-02 9.97173466e-01 -1.64673075e-03 1.19194162e+01] [ 3.58418522e-02 -1.04958051e-03 9.99356923e-01 1.13300562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.30, Y:11.92, Z:11.33 [[ 9.96574907e-01 -7.45346831e-02 -3.58194980e-02 3.21301757e+02] [ 7.45236738e-02 9.97217889e-01 -1.64424612e-03 1.19210324e+01] [ 3.58423975e-02 -1.03078616e-03 9.99356923e-01 1.13313047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.33, Y:11.92, Z:11.33 [[ 9.96594607e-01 -7.42707854e-02 -3.58195553e-02 3.21332824e+02] [ 7.42596507e-02 9.97237587e-01 -1.64299577e-03 1.19228716e+01] [ 3.58426335e-02 -1.02254695e-03 9.99356923e-01 1.13328100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.36, Y:11.92, Z:11.34 [[ 9.96580532e-01 -7.44593813e-02 -3.58196130e-02 3.21364300e+02] [ 7.44484136e-02 9.97223515e-01 -1.64173742e-03 1.19248124e+01] [ 3.58424031e-02 -1.03058981e-03 9.99356923e-01 1.13350915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.40, Y:11.93, Z:11.34 [[ 9.96545482e-01 -7.49269863e-02 -3.58196720e-02 3.21395305e+02] [ 7.49163665e-02 9.97188471e-01 -1.64044930e-03 1.19263007e+01] [ 3.58418779e-02 -1.04869734e-03 9.99356923e-01 1.13370380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:11.93, Z:11.34 [[ 9.96420442e-01 -7.65718630e-02 -3.58197318e-02 3.21426839e+02] [ 7.65623515e-02 9.97063448e-01 -1.63914368e-03 1.19280588e+01] [ 3.58400575e-02 -1.10916663e-03 9.99356923e-01 1.13383451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:11.93, Z:11.34 [[ 9.96324725e-01 -7.78073387e-02 -3.58198210e-02 3.21459430e+02] [ 7.77986945e-02 9.96967744e-01 -1.63719221e-03 1.19297428e+01] [ 3.58385917e-02 -1.15556023e-03 9.99356923e-01 1.13394853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.49, Y:11.93, Z:11.34 [[ 9.96215880e-01 -7.91887202e-02 -3.58199370e-02 3.21491456e+02] [ 7.91810590e-02 9.96858911e-01 -1.63465034e-03 1.19313047e+01] [ 3.58368692e-02 -1.20779592e-03 9.99356923e-01 1.13408953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.52, Y:11.93, Z:11.34 [[ 9.95880419e-01 -8.33013539e-02 -3.58200528e-02 3.21523442e+02] [ 8.32964390e-02 9.96523477e-01 -1.63210846e-03 1.19332933e+01] [ 3.58314804e-02 -1.35829799e-03 9.99356923e-01 1.13431555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.56, Y:11.94, Z:11.35 [[ 9.95680919e-01 -8.56529238e-02 -3.58201693e-02 3.21555020e+02] [ 8.56496195e-02 9.96323987e-01 -1.62954682e-03 1.19353041e+01] [ 3.58280693e-02 -1.44547520e-03 9.99356923e-01 1.13453901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:11.94, Z:11.35 [[ 9.95477669e-01 -8.79836180e-02 -3.58202862e-02 3.21586522e+02] [ 8.79819117e-02 9.96120744e-01 -1.62697327e-03 1.19370853e+01] [ 3.58244771e-02 -1.53192170e-03 9.99356923e-01 1.13472471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.62, Y:11.94, Z:11.35 [[ 9.95011637e-01 -9.31060397e-02 -3.58204812e-02 3.21618965e+02] [ 9.31077978e-02 9.95654712e-01 -1.62266929e-03 1.19393151e+01] [ 3.58159112e-02 -1.72059129e-03 9.99356923e-01 1.13492323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.65, Y:11.94, Z:11.35 [[ 9.94820742e-01 -9.51240016e-02 -3.58205957e-02 3.21651603e+02] [ 9.51271549e-02 9.95463811e-01 -1.62013766e-03 1.19408434e+01] [ 3.58122207e-02 -1.79576481e-03 9.99356923e-01 1.13504584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.68, Y:11.94, Z:11.35 [[ 9.94609308e-01 -9.73098133e-02 -3.58207378e-02 3.21684751e+02] [ 9.73144928e-02 9.95252367e-01 -1.61699017e-03 1.19430526e+01] [ 3.58080231e-02 -1.87760346e-03 9.99356923e-01 1.13515786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.72, Y:11.95, Z:11.35 [[ 9.94411290e-01 -9.93128794e-02 -3.58209080e-02 3.21717109e+02] [ 9.93189899e-02 9.95054338e-01 -1.61320931e-03 1.19453655e+01] [ 3.58039624e-02 -1.95350285e-03 9.99356923e-01 1.13530156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:11.95, Z:11.36 [[ 9.94106206e-01 -1.02321566e-01 -3.58210488e-02 3.21748643e+02] [ 1.02329735e-01 9.94749231e-01 -1.61007707e-03 1.19487292e+01] [ 3.57977064e-02 -2.06497083e-03 9.99356923e-01 1.13568107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.78, Y:11.95, Z:11.36 [[ 9.93992521e-01 -1.03420078e-01 -3.58211675e-02 3.21780023e+02] [ 1.03429052e-01 9.94635535e-01 -1.60743233e-03 1.19511691e+01] [ 3.57952469e-02 -2.10717368e-03 9.99356923e-01 1.13576082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.81, Y:11.95, Z:11.36 [[ 9.93909389e-01 -1.04215952e-01 -3.58212559e-02 3.21811460e+02] [ 1.04225512e-01 9.94552394e-01 -1.60546081e-03 1.19536494e+01] [ 3.57934304e-02 -2.13780616e-03 9.99356923e-01 1.13591129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.84, Y:11.96, Z:11.36 [[ 9.93742840e-01 -1.05792252e-01 -3.58213392e-02 3.21843867e+02] [ 1.05802898e-01 9.94385828e-01 -1.60359862e-03 1.19572120e+01] [ 3.57898804e-02 -2.19643687e-03 9.99356923e-01 1.13621051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.88, Y:11.96, Z:11.36 [[ 9.93681855e-01 -1.06363501e-01 -3.58214561e-02 3.21876508e+02] [ 1.06374612e-01 9.94324836e-01 -1.60098446e-03 1.19595825e+01] [ 3.57884497e-02 -2.21962427e-03 9.99356923e-01 1.13633610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.91, Y:11.96, Z:11.36 [[ 9.93624869e-01 -1.06894481e-01 -3.58216333e-02 3.21909011e+02] [ 1.06906078e-01 9.94267841e-01 -1.59700925e-03 1.19620834e+01] [ 3.57870095e-02 -2.24272222e-03 9.99356923e-01 1.13642780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.94, Y:11.97, Z:11.36 [[ 9.93505419e-01 -1.07998986e-01 -3.58218094e-02 3.21939754e+02] [ 1.08011440e-01 9.94148375e-01 -1.59304861e-03 1.19656736e+01] [ 3.57842412e-02 -2.28646277e-03 9.99356923e-01 1.13625626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.97, Y:11.97, Z:11.36 [[ 9.93426532e-01 -1.08722199e-01 -3.58218965e-02 3.21971893e+02] [ 1.08735192e-01 9.94069478e-01 -1.59108804e-03 1.19676466e+01] [ 3.57824405e-02 -2.31447170e-03 9.99356923e-01 1.13634179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.00, Y:11.97, Z:11.36 [[ 9.93272056e-01 -1.10124505e-01 -3.58220120e-02 3.22004149e+02] [ 1.10138498e-01 9.93914980e-01 -1.58848221e-03 1.19703264e+01] [ 3.57789652e-02 -2.36758762e-03 9.99356923e-01 1.13632128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.04, Y:11.97, Z:11.36 [[ 9.93237515e-01 -1.10435568e-01 -3.58221278e-02 3.22036851e+02] [ 1.10449857e-01 9.93880433e-01 -1.58586800e-03 1.19725965e+01] [ 3.57780481e-02 -2.38140529e-03 9.99356923e-01 1.13643439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.07, Y:11.98, Z:11.37 [[ 9.93217928e-01 -1.10611529e-01 -3.58223040e-02 3.22069092e+02] [ 1.10626074e-01 9.93860840e-01 -1.58187801e-03 1.19751238e+01] [ 3.57773591e-02 -2.39173126e-03 9.99356923e-01 1.13650677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.10, Y:11.98, Z:11.37 [[ 9.93229775e-01 -1.10505001e-01 -3.58225931e-02 3.22102582e+02] [ 1.10519713e-01 9.93872684e-01 -1.57530405e-03 1.19765038e+01] [ 3.57771757e-02 -2.39446383e-03 9.99356923e-01 1.13662682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.14, Y:11.98, Z:11.37 [[ 9.93323525e-01 -1.09659040e-01 -3.58227614e-02 3.22135167e+02] [ 1.09673343e-01 9.93966442e-01 -1.57146790e-03 1.19804174e+01] [ 3.57789483e-02 -2.36782596e-03 9.99356923e-01 1.13679037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.17, Y:11.98, Z:11.37 [[ 9.93430754e-01 -1.08683278e-01 -3.58229293e-02 3.22168286e+02] [ 1.08697087e-01 9.94073682e-01 -1.56762969e-03 1.19831339e+01] [ 3.57810064e-02 -2.33651651e-03 9.99356923e-01 1.13695445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.20, Y:11.99, Z:11.37 [[ 9.93605532e-01 -1.07073581e-01 -3.58230964e-02 3.22200421e+02] [ 1.07086486e-01 9.94248479e-01 -1.56380190e-03 1.19872834e+01] [ 3.57845010e-02 -2.28236730e-03 9.99356923e-01 1.13718065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:11.99, Z:11.37 [[ 9.93617281e-01 -1.06964467e-01 -3.58232104e-02 3.22233913e+02] [ 1.06977395e-01 9.94260227e-01 -1.56118537e-03 1.19886562e+01] [ 3.57845847e-02 -2.28105297e-03 9.99356923e-01 1.13730084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.27, Y:11.99, Z:11.37 [[ 9.93738820e-01 -1.05829312e-01 -3.58233814e-02 3.22265981e+02] [ 1.05841647e-01 9.94381778e-01 -1.55725224e-03 1.19914293e+01] [ 3.57869206e-02 -2.24410367e-03 9.99356923e-01 1.13746021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.30, Y:11.99, Z:11.38 [[ 9.93832044e-01 -1.04950148e-01 -3.58236621e-02 3.22297548e+02] [ 1.04962147e-01 9.94475009e-01 -1.55076892e-03 1.19939586e+01] [ 3.57884901e-02 -2.21892466e-03 9.99356923e-01 1.13766593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.33, Y:12.00, Z:11.38 [[ 9.93949097e-01 -1.03835692e-01 -3.58237461e-02 3.22330279e+02] [ 1.03847039e-01 9.94592074e-01 -1.54882532e-03 1.19965279e+01] [ 3.57908373e-02 -2.18073645e-03 9.99356923e-01 1.13786112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.36, Y:12.00, Z:11.38 [[ 9.94098260e-01 -1.02397736e-01 -3.58239150e-02 3.22362619e+02] [ 1.02408294e-01 9.94741250e-01 -1.54490899e-03 1.20003363e+01] [ 3.57937212e-02 -2.13287469e-03 9.99356923e-01 1.13802795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:12.00, Z:11.38 [[ 9.94171622e-01 -1.01682950e-01 -3.58240545e-02 3.22395672e+02] [ 1.01693162e-01 9.94814618e-01 -1.54166696e-03 1.20024744e+01] [ 3.57950543e-02 -2.11037985e-03 9.99356923e-01 1.13815588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:12.01, Z:11.38 [[ 9.94228647e-01 -1.01123803e-01 -3.58242216e-02 3.22429046e+02] [ 1.01133793e-01 9.94871646e-01 -1.53777392e-03 1.20052781e+01] [ 3.57960079e-02 -2.09414054e-03 9.99356923e-01 1.13830890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.46, Y:12.01, Z:11.38 [[ 9.94249208e-01 -1.00921387e-01 -3.58243888e-02 3.22461496e+02] [ 1.00931387e-01 9.94892206e-01 -1.53387007e-03 1.20070050e+01] [ 3.57962055e-02 -2.09075614e-03 9.99356923e-01 1.13836608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.49, Y:12.01, Z:11.38 [[ 9.94260480e-01 -1.00810223e-01 -3.58245271e-02 3.22494543e+02] [ 1.00820267e-01 9.94903478e-01 -1.53063246e-03 1.20087366e+01] [ 3.57962500e-02 -2.08999102e-03 9.99356923e-01 1.13842977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:12.01, Z:11.38 [[ 9.94278269e-01 -1.00634561e-01 -3.58246896e-02 3.22526254e+02] [ 1.00644628e-01 9.94921267e-01 -1.52682049e-03 1.20104528e+01] [ 3.57963964e-02 -2.08747813e-03 9.99356923e-01 1.13841561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:12.01, Z:11.38 [[ 9.94438606e-01 -9.90375858e-02 -3.58247966e-02 3.22557357e+02] [ 9.90467110e-02 9.95081618e-01 -1.52430449e-03 1.20132496e+01] [ 3.57995600e-02 -2.03250104e-03 9.99356923e-01 1.13824628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:12.02, Z:11.38 [[ 9.94570644e-01 -9.77026710e-02 -3.58248762e-02 3.22589584e+02] [ 9.77110003e-02 9.95213667e-01 -1.52243069e-03 1.20158542e+01] [ 3.58021520e-02 -1.98631963e-03 9.99356923e-01 1.13828871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:12.02, Z:11.38 [[ 9.94975004e-01 -9.34949891e-02 -3.58249806e-02 3.22619223e+02] [ 9.35006869e-02 9.95618055e-01 -1.51997048e-03 1.20178526e+01] [ 3.58101072e-02 -1.83732766e-03 9.99356923e-01 1.13840488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:12.02, Z:11.39 [[ 9.95341275e-01 -8.95163529e-02 -3.58129726e-02 3.22652583e+02] [ 8.95093391e-02 9.95984352e-01 -1.80233837e-03 1.20226137e+01] [ 3.58304991e-02 -1.41165374e-03 9.99356884e-01 1.13872811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:12.03, Z:11.39 [[ 9.95735287e-01 -8.50164430e-02 -3.58251663e-02 3.22684002e+02] [ 8.50168844e-02 9.96378361e-01 -1.51380314e-03 1.20253030e+01] [ 3.58241186e-02 -1.53839681e-03 9.99356926e-01 1.13898714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.72, Y:12.03, Z:11.39 [[ 9.96338573e-01 -7.76291385e-02 -3.58212853e-02 3.22717037e+02] [ 7.76215079e-02 9.96981606e-01 -1.60576919e-03 1.20296654e+01] [ 3.58378170e-02 -1.18061239e-03 9.99356922e-01 1.13938407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.75, Y:12.03, Z:11.40 [[ 9.96668507e-01 -7.32695790e-02 -3.58253610e-02 3.22747753e+02] [ 7.32626099e-02 9.97311543e-01 -1.50901156e-03 1.20322257e+01] [ 3.58396107e-02 -1.12067515e-03 9.99356926e-01 1.13955298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.78, Y:12.03, Z:11.40 [[ 9.96972307e-01 -6.90126714e-02 -3.58255411e-02 3.22780246e+02] [ 6.90031102e-02 9.97615310e-01 -1.50472421e-03 1.20348299e+01] [ 3.58439533e-02 -9.71905392e-04 9.99356926e-01 1.13970931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:12.04, Z:11.40 [[ 9.97254019e-01 -6.48146906e-02 -3.58256476e-02 3.22812168e+02] [ 6.48025136e-02 9.97896977e-01 -1.50218404e-03 1.20373166e+01] [ 3.58476690e-02 -8.23532940e-04 9.99356926e-01 1.13985569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.84, Y:12.04, Z:11.40 [[ 9.97698794e-01 -5.75641472e-02 -3.58257539e-02 3.22844760e+02] [ 5.75473882e-02 9.98341650e-01 -1.49964414e-03 1.20398615e+01] [ 3.58526680e-02 -5.65485413e-04 9.99356926e-01 1.13991759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:12.04, Z:11.40 [[ 9.97870921e-01 -5.44989224e-02 -3.58258598e-02 3.22876351e+02] [ 5.44802795e-02 9.98513724e-01 -1.49711082e-03 1.20412662e+01] [ 3.58542036e-02 -4.57879498e-04 9.99356926e-01 1.13999903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:12.04, Z:11.40 [[ 9.98009646e-01 -5.18965411e-02 -3.58259125e-02 3.22907108e+02] [ 5.18762674e-02 9.98652400e-01 -1.49584717e-03 1.20424730e+01] [ 3.58552628e-02 -3.65644710e-04 9.99356926e-01 1.14006123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:12.04, Z:11.40 [[ 9.98247161e-01 -4.71074277e-02 -3.58259125e-02 3.22936862e+02] [ 4.70840702e-02 9.98889810e-01 -1.49584717e-03 1.20434552e+01] [ 3.58566045e-02 -1.93604588e-04 9.99356926e-01 1.14008574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:12.04, Z:11.40 [[ 9.98371298e-01 -4.43988423e-02 -3.58258863e-02 3.22966859e+02] [ 4.43737188e-02 9.99013881e-01 -1.49647582e-03 1.20445996e+01] [ 3.58569995e-02 -9.56892907e-05 9.99356926e-01 1.14024080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:12.05, Z:11.40 [[ 9.98464911e-01 -4.22413483e-02 -3.58258324e-02 3.22995154e+02] [ 4.22147900e-02 9.99107436e-01 -1.49776463e-03 1.20458913e+01] [ 3.58571231e-02 -1.69145636e-05 9.99356926e-01 1.14034664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:12.05, Z:11.40 [[ 9.98670925e-01 -3.70529343e-02 -3.58254526e-02 3.23022565e+02] [ 3.70227140e-02 9.99313288e-01 -1.50679386e-03 1.20467566e+01] [ 3.58566820e-02 1.78435728e-04 9.99356926e-01 1.14044152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.05, Y:12.05, Z:11.40 [[ 9.98749696e-01 -3.48656303e-02 -3.58250155e-02 3.23049661e+02] [ 3.48336330e-02 9.99391973e-01 -1.51711615e-03 1.20473953e+01] [ 3.58561281e-02 2.67303852e-04 9.99356927e-01 1.14043383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:12.05, Z:11.41 [[ 9.98825597e-01 -3.26192556e-02 -3.58247140e-02 3.23077813e+02] [ 3.25855597e-02 9.99467787e-01 -1.52420185e-03 1.20476829e+01] [ 3.58553660e-02 3.55043462e-04 9.99356927e-01 1.14063712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.10, Y:12.05, Z:11.40 [[ 9.98792808e-01 -3.36087400e-02 -3.58242713e-02 3.23100872e+02] [ 3.35753096e-02 9.99435012e-01 -1.53453814e-03 1.20521829e+01] [ 3.58556049e-02 3.29874656e-04 9.99356927e-01 1.14042280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.13, Y:12.05, Z:11.41 [[ 9.98910206e-01 -2.99472694e-02 -3.57988998e-02 3.23131682e+02] [ 2.98902746e-02 9.99550924e-01 -2.12633422e-03 1.20500583e+01] [ 3.58465013e-02 1.05397801e-03 9.99356752e-01 1.14089290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.16, Y:12.05, Z:11.41 [[ 9.99024991e-01 -2.58250541e-02 -3.58068971e-02 3.23163391e+02] [ 2.57722344e-02 9.99665966e-01 -1.93597900e-03 1.20455515e+01] [ 3.58449332e-02 1.01126766e-03 9.99356852e-01 1.14108135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.19, Y:12.04, Z:11.41 [[ 9.99031079e-01 -2.55627990e-02 -3.58252216e-02 3.23190908e+02] [ 2.55255161e-02 9.99673049e-01 -1.49775267e-03 1.20433625e+01] [ 3.58517953e-02 5.81844197e-04 9.99356948e-01 1.14122624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.22, Y:12.04, Z:11.41 [[ 9.99004123e-01 -2.65956605e-02 -3.58250224e-02 3.23219126e+02] [ 2.65588711e-02 9.99646122e-01 -1.50250230e-03 1.20425042e+01] [ 3.58523048e-02 5.49533842e-04 9.99356948e-01 1.14138586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.24, Y:12.05, Z:11.41 [[ 9.98859251e-01 -3.15720757e-02 -3.58245838e-02 3.23243988e+02] [ 3.15381124e-02 9.99501405e-01 -1.51288945e-03 1.20453013e+01] [ 3.58544869e-02 3.81323868e-04 9.99356948e-01 1.14130659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:12.04, Z:11.41 [[ 9.98874749e-01 -3.10979439e-02 -3.58071688e-02 3.23275653e+02] [ 3.10490962e-02 9.99516017e-01 -1.91958296e-03 1.20400186e+01] [ 3.58495338e-02 8.05642723e-04 9.99356874e-01 1.14146457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:12.03, Z:11.41 [[ 9.98636361e-01 -3.79745059e-02 -3.58239499e-02 3.23304324e+02] [ 3.79442041e-02 9.99278695e-01 -1.52559501e-03 1.20344068e+01] [ 3.58560436e-02 1.64203387e-04 9.99356952e-01 1.14139602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:12.03, Z:11.41 [[ 9.98465774e-01 -4.22229202e-02 -3.58235048e-02 3.23331524e+02] [ 4.21949790e-02 9.99108215e-01 -1.53597658e-03 1.20320638e+01] [ 3.58564113e-02 2.20480142e-05 9.99356952e-01 1.14128215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:12.03, Z:11.41 [[ 9.98258208e-01 -4.68747243e-02 -3.58233113e-02 3.23359814e+02] [ 4.68496154e-02 9.98900766e-01 -1.54047589e-03 1.20296787e+01] [ 3.58561425e-02 -1.40515651e-04 9.99356952e-01 1.14149389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.39, Y:12.02, Z:11.41 [[ 9.97792577e-01 -5.59168609e-02 -3.58228635e-02 3.23388152e+02] [ 5.58972031e-02 9.98435325e-01 -1.55081961e-03 1.20240586e+01] [ 3.58535293e-02 -4.55001585e-04 9.99356952e-01 1.14149527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:12.02, Z:11.42 [[ 9.97557157e-01 -5.99704205e-02 -3.58227249e-02 3.23417658e+02] [ 5.99532596e-02 9.98199976e-01 -1.55401571e-03 1.20220614e+01] [ 3.58514381e-02 -5.97469632e-04 9.99356952e-01 1.14152727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:12.02, Z:11.42 [[ 9.97343182e-01 -6.34295824e-02 -3.58226974e-02 3.23448154e+02] [ 6.34146282e-02 9.97986056e-01 -1.55464966e-03 1.20203000e+01] [ 3.58491632e-02 -7.21163792e-04 9.99356952e-01 1.14160737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:12.02, Z:11.42 [[ 9.96984685e-01 -6.88351158e-02 -3.58226974e-02 3.23477727e+02] [ 6.88236467e-02 9.97627630e-01 -1.55464966e-03 1.20165582e+01] [ 3.58447272e-02 -9.15486764e-04 9.99356952e-01 1.14160841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:12.02, Z:11.42 [[ 9.96847114e-01 -7.07994749e-02 -3.58227024e-02 3.23508620e+02] [ 7.07892769e-02 9.97490081e-01 -1.55453448e-03 1.20159258e+01] [ 3.58428505e-02 -9.86229982e-04 9.99356952e-01 1.14171473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.54, Y:12.01, Z:11.42 [[ 9.96571213e-01 -7.45824895e-02 -3.58227568e-02 3.23539937e+02] [ 7.45747770e-02 9.97214215e-01 -1.55327888e-03 1.20139330e+01] [ 3.58388097e-02 -1.12352109e-03 9.99356952e-01 1.14183214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.57, Y:12.02, Z:11.42 [[ 9.96573851e-01 -7.45472098e-02 -3.58228115e-02 3.23571732e+02] [ 7.45395199e-02 9.97216853e-01 -1.55201534e-03 1.20152805e+01] [ 3.58388098e-02 -1.12351727e-03 9.99356952e-01 1.14194629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.60, Y:12.01, Z:11.42 [[ 9.96282497e-01 -7.83448064e-02 -3.58228664e-02 3.23603907e+02] [ 7.83396127e-02 9.96925524e-01 -1.55074798e-03 1.20134947e+01] [ 3.58342229e-02 -1.26136641e-03 9.99356952e-01 1.14213764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:12.01, Z:11.42 [[ 9.96104193e-01 -8.05800869e-02 -3.58229784e-02 3.23635069e+02] [ 8.05764292e-02 9.96747231e-01 -1.54815537e-03 1.20134131e+01] [ 3.58312051e-02 -1.34436362e-03 9.99356952e-01 1.14216291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:12.01, Z:11.42 [[ 9.95918056e-01 -8.28488633e-02 -3.58230618e-02 3.23666743e+02] [ 8.28467397e-02 9.96561100e-01 -1.54622411e-03 1.20133598e+01] [ 3.58279728e-02 -1.42791136e-03 9.99356952e-01 1.14233374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:12.01, Z:11.42 [[ 9.95514810e-01 -8.75612109e-02 -3.58231436e-02 3.23697212e+02] [ 8.75621986e-02 9.96157857e-01 -1.54432768e-03 1.20123392e+01] [ 3.58207291e-02 -1.59935214e-03 9.99356952e-01 1.14244775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:12.01, Z:11.43 [[ 9.95277284e-01 -9.02216502e-02 -3.58215222e-02 3.23729662e+02] [ 9.02230071e-02 9.95920331e-01 -1.58190666e-03 1.20128113e+01] [ 3.58181045e-02 -1.65748969e-03 9.99356951e-01 1.14259808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.76, Y:12.01, Z:11.43 [[ 9.94888626e-01 -9.44104335e-02 -3.58230675e-02 3.23760733e+02] [ 9.44157830e-02 9.95531652e-01 -1.54610419e-03 1.20124653e+01] [ 3.58089659e-02 -1.84406149e-03 9.99356952e-01 1.14259729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.79, Y:12.01, Z:11.43 [[ 9.94747844e-01 -9.58823736e-02 -3.58231487e-02 3.23793214e+02] [ 9.58887421e-02 9.95390860e-01 -1.54421947e-03 1.20131149e+01] [ 3.58060983e-02 -1.89892768e-03 9.99356952e-01 1.14267562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.83, Y:12.01, Z:11.43 [[ 9.94600348e-01 -9.74004214e-02 -3.58232584e-02 3.23825661e+02] [ 9.74078629e-02 9.95243353e-01 -1.54167019e-03 1.20141423e+01] [ 3.58030192e-02 -1.95612134e-03 9.99356952e-01 1.14274300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.86, Y:12.01, Z:11.43 [[ 9.94522605e-01 -9.81910051e-02 -3.58233690e-02 3.23856946e+02] [ 9.81990502e-02 9.95165603e-01 -1.53909670e-03 1.20149305e+01] [ 3.58013101e-02 -1.98715435e-03 9.99356952e-01 1.14271568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.89, Y:12.02, Z:11.43 [[ 9.94445783e-01 -9.89659753e-02 -3.58234512e-02 3.23889536e+02] [ 9.89745902e-02 9.95088774e-01 -1.53718039e-03 1.20161280e+01] [ 3.57996427e-02 -2.01696885e-03 9.99356952e-01 1.14282842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.92, Y:12.02, Z:11.43 [[ 9.94469370e-01 -9.87286412e-02 -3.58235593e-02 3.23921444e+02] [ 9.87371932e-02 9.95112361e-01 -1.53465771e-03 1.20177709e+01] [ 3.57999814e-02 -2.01094761e-03 9.99356952e-01 1.14299281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:12.02, Z:11.43 [[ 9.94547048e-01 -9.79430132e-02 -3.58236693e-02 3.23953659e+02] [ 9.79511497e-02 9.95190045e-01 -1.53208529e-03 1.20194774e+01] [ 3.58014161e-02 -1.98523870e-03 9.99356952e-01 1.14313795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.99, Y:12.02, Z:11.43 [[ 9.94852267e-01 -9.47925295e-02 -3.58237793e-02 3.23985247e+02] [ 9.47987219e-02 9.95495285e-01 -1.52950824e-03 1.20224697e+01] [ 3.58073894e-02 -1.87441376e-03 9.99356952e-01 1.14328508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.02, Y:12.02, Z:11.43 [[ 9.95100109e-01 -9.21543423e-02 -3.58238906e-02 3.24016773e+02] [ 9.21589235e-02 9.95743140e-01 -1.52689753e-03 1.20249901e+01] [ 3.58121036e-02 -1.78207529e-03 9.99356952e-01 1.14337243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.05, Y:12.03, Z:11.43 [[ 9.95383311e-01 -8.90432831e-02 -3.58239734e-02 3.24048087e+02] [ 8.90459240e-02 9.96026354e-01 -1.52495288e-03 1.20277365e+01] [ 3.58174084e-02 -1.67206617e-03 9.99356952e-01 1.14338316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:12.03, Z:11.44 [[ 9.95389375e-01 -8.89754419e-02 -3.58240553e-02 3.24080729e+02] [ 8.89781082e-02 9.96032417e-01 -1.52302685e-03 1.20290605e+01] [ 3.58174324e-02 -1.67155193e-03 9.99356952e-01 1.14350032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:12.03, Z:11.44 [[ 9.96068760e-01 -8.10163885e-02 -3.58241589e-02 3.24112844e+02] [ 8.10140025e-02 9.96711804e-01 -1.52058615e-03 1.20342504e+01] [ 3.58295544e-02 -1.38765014e-03 9.99356952e-01 1.14377347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:12.04, Z:11.44 [[ 9.96809630e-01 -7.13244991e-02 -3.58242668e-02 3.24145125e+02] [ 7.13159502e-02 9.97452621e-01 -1.51803946e-03 1.20399252e+01] [ 3.58412822e-02 -1.04164528e-03 9.99356952e-01 1.14401695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.17, Y:12.04, Z:11.44 [[ 9.97155247e-01 -6.63176262e-02 -3.58243753e-02 3.24174995e+02] [ 6.63059403e-02 9.97798189e-01 -1.51547509e-03 1.20435545e+01] [ 3.58459995e-02 -8.64204951e-04 9.99356952e-01 1.14415034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:12.05, Z:11.44 [[ 9.97474460e-01 -6.13295132e-02 -3.58244633e-02 3.24206349e+02] [ 6.13146866e-02 9.98117337e-01 -1.51339230e-03 1.20468323e+01] [ 3.58498335e-02 -6.86995571e-04 9.99356952e-01 1.14433129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.24, Y:12.05, Z:11.44 [[ 9.97984577e-01 -5.23773595e-02 -3.58245173e-02 3.24236438e+02] [ 5.23568114e-02 9.98627297e-01 -1.51211091e-03 1.20515967e+01] [ 3.58545413e-02 -3.66594128e-04 9.99356952e-01 1.14448968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:12.05, Z:11.45 [[ 9.98165531e-01 -4.88075415e-02 -3.58245173e-02 3.24265251e+02] [ 4.87846947e-02 9.98808173e-01 -1.51211091e-03 1.20543476e+01] [ 3.58556231e-02 -2.38351149e-04 9.99356952e-01 1.14462301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:12.06, Z:11.45 [[ 9.98452623e-01 -4.25322336e-02 -3.58241357e-02 3.24292399e+02] [ 4.25050252e-02 9.99095095e-01 -1.52109866e-03 1.20581555e+01] [ 3.58564140e-02 -3.96084806e-06 9.99356952e-01 1.14476329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:12.06, Z:11.45 [[ 9.98540998e-01 -4.04044176e-02 -3.58240005e-02 3.24319880e+02] [ 4.03757262e-02 9.99183405e-01 -1.52427590e-03 1.20602090e+01] [ 3.58563343e-02 7.56319431e-05 9.99356952e-01 1.14481538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.35, Y:12.06, Z:11.45 [[ 9.98529593e-01 -4.06856670e-02 -3.58235684e-02 3.24348227e+02] [ 4.06567946e-02 9.99171993e-01 -1.53436451e-03 1.20614916e+01] [ 3.58563329e-02 7.56369088e-05 9.99356952e-01 1.14491751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.38, Y:12.06, Z:11.45 [[ 9.98589111e-01 -3.91980892e-02 -3.58231337e-02 3.24375874e+02] [ 3.91678981e-02 9.99231450e-01 -1.54444803e-03 1.20632663e+01] [ 3.58561412e-02 1.39152136e-04 9.99356952e-01 1.14492032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.40, Y:12.07, Z:11.45 [[ 9.98662551e-01 -3.72806189e-02 -3.58226977e-02 3.24403377e+02] [ 3.72488341e-02 9.99304812e-01 -1.55449589e-03 1.20650435e+01] [ 3.58557468e-02 2.18063102e-04 9.99356952e-01 1.14496643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.43, Y:12.07, Z:11.45 [[ 9.98667888e-01 -3.71377935e-02 -3.58222448e-02 3.24429973e+02] [ 3.71055450e-02 9.99310127e-01 -1.56486275e-03 1.20660568e+01] [ 3.58556476e-02 2.33574265e-04 9.99356952e-01 1.14501053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.46, Y:12.07, Z:11.45 [[ 9.98630070e-01 -3.81413811e-02 -3.58220484e-02 3.24457697e+02] [ 3.81096172e-02 9.99272332e-01 -1.56934538e-03 1.20663739e+01] [ 3.58558389e-02 2.02030930e-04 9.99356952e-01 1.14518766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.49, Y:12.07, Z:11.45 [[ 9.98594830e-01 -3.90535524e-02 -3.58215882e-02 3.24485419e+02] [ 3.90220009e-02 9.99237103e-01 -1.57978147e-03 1.20672051e+01] [ 3.58559561e-02 1.79731566e-04 9.99356952e-01 1.14530933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.51, Y:12.07, Z:11.45 [[ 9.98530462e-01 -4.06662046e-02 -3.58214455e-02 3.24513064e+02] [ 4.06355745e-02 9.99172780e-01 -1.58300960e-03 1.20678869e+01] [ 3.58561883e-02 1.25058293e-04 9.99356952e-01 1.14546855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:12.07, Z:11.46 [[ 9.98440904e-01 -4.28090899e-02 -3.58209937e-02 3.24540228e+02] [ 4.27794740e-02 9.99083269e-01 -1.59316825e-03 1.20684541e+01] [ 3.58563576e-02 5.82810791e-05 9.99356952e-01 1.14556231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.57, Y:12.07, Z:11.46 [[ 9.98185976e-01 -4.83904543e-02 -3.58206815e-02 3.24567901e+02] [ 4.83641793e-02 9.98828487e-01 -1.60015721e-03 1.20672853e+01] [ 3.58561494e-02 -1.35183375e-04 9.99356952e-01 1.14560620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.60, Y:12.07, Z:11.46 [[ 9.98013421e-01 -5.18278140e-02 -3.58202247e-02 3.24595739e+02] [ 5.18033872e-02 9.98656005e-01 -1.61031816e-03 1.20669237e+01] [ 3.58555418e-02 -2.48489836e-04 9.99356952e-01 1.14568132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:12.06, Z:11.46 [[ 9.97592626e-01 -5.93792590e-02 -3.58197615e-02 3.24623691e+02] [ 5.93593284e-02 9.98235365e-01 -1.62055705e-03 1.20643439e+01] [ 3.58527802e-02 -5.09581219e-04 9.99356952e-01 1.14575269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.65, Y:12.06, Z:11.46 [[ 9.97357627e-01 -6.32038355e-02 -3.58195446e-02 3.24653067e+02] [ 6.31861978e-02 9.98000432e-01 -1.62533776e-03 1.20636868e+01] [ 3.58506486e-02 -6.42257816e-04 9.99356952e-01 1.14587110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.68, Y:12.06, Z:11.46 [[ 9.97113636e-01 -6.69429731e-02 -3.58194863e-02 3.24683954e+02] [ 6.69276997e-02 9.97756502e-01 -1.62662051e-03 1.20629368e+01] [ 3.58480162e-02 -7.75390335e-04 9.99356952e-01 1.14597608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.71, Y:12.06, Z:11.46 [[ 9.96861194e-01 -7.06025772e-02 -3.58194863e-02 3.24714173e+02] [ 7.05896636e-02 9.97504112e-01 -1.62662051e-03 1.20620622e+01] [ 3.58449285e-02 -9.06970628e-04 9.99356952e-01 1.14606714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:12.06, Z:11.46 [[ 9.96348504e-01 -7.75023924e-02 -3.58195153e-02 3.24745797e+02] [ 7.74939532e-02 9.96991496e-01 -1.62598148e-03 1.20594765e+01] [ 3.58377696e-02 -1.15575163e-03 9.99356952e-01 1.14620052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.78, Y:12.06, Z:11.46 [[ 9.96131279e-01 -8.02460758e-02 -3.58195744e-02 3.24778253e+02] [ 8.02394542e-02 9.96774293e-01 -1.62467906e-03 1.20587226e+01] [ 3.58344051e-02 -1.25574947e-03 9.99356952e-01 1.14627668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:12.06, Z:11.46 [[ 9.95932015e-01 -8.26823460e-02 -3.58196926e-02 3.24810455e+02] [ 8.26773909e-02 9.96575044e-01 -1.62206895e-03 1.20579709e+01] [ 3.58311282e-02 -1.34600833e-03 9.99356953e-01 1.14631393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:12.06, Z:11.46 [[ 9.95591125e-01 -8.66905623e-02 -3.58198101e-02 3.24842846e+02] [ 8.66882889e-02 9.96234168e-01 -1.61947050e-03 1.20555704e+01] [ 3.58253115e-02 -1.49282759e-03 9.99356953e-01 1.14637105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.87, Y:12.06, Z:11.46 [[ 9.95474794e-01 -8.80162919e-02 -3.58199274e-02 3.24874427e+02] [ 8.80149682e-02 9.96117840e-01 -1.61687093e-03 1.20555256e+01] [ 3.58231797e-02 -1.54313552e-03 9.99356953e-01 1.14644587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.91, Y:12.06, Z:11.47 [[ 9.95346439e-01 -8.94560512e-02 -3.58201223e-02 3.24906710e+02] [ 8.94558131e-02 9.95989487e-01 -1.61254212e-03 1.20556244e+01] [ 3.58207169e-02 -1.59928011e-03 9.99356953e-01 1.14656394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:12.05, Z:11.47 [[ 9.95138078e-01 -9.17448465e-02 -3.58202377e-02 3.24938053e+02] [ 9.17461795e-02 9.95781124e-01 -1.60997561e-03 1.20548443e+01] [ 3.58168235e-02 -1.68422191e-03 9.99356953e-01 1.14674022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.97, Y:12.06, Z:11.47 [[ 9.95102948e-01 -9.21250668e-02 -3.58203237e-02 3.24970031e+02] [ 9.21267142e-02 9.95745993e-01 -1.60805947e-03 1.20553111e+01] [ 3.58160864e-02 -1.69982401e-03 9.99356953e-01 1.14679192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.00, Y:12.06, Z:11.47 [[ 9.95052154e-01 -9.26720409e-02 -3.58204399e-02 3.25002222e+02] [ 9.26741349e-02 9.95695198e-01 -1.60546733e-03 1.20559931e+01] [ 3.58150219e-02 -1.72210455e-03 9.99356953e-01 1.14683453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.03, Y:12.06, Z:11.47 [[ 9.95023229e-01 -9.29820451e-02 -3.58205565e-02 3.25033364e+02] [ 9.29844331e-02 9.95666272e-01 -1.60286078e-03 1.20570324e+01] [ 3.58143572e-02 -1.73587043e-03 9.99356953e-01 1.14694197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:12.06, Z:11.47 [[ 9.94992831e-01 -9.33067426e-02 -3.58206433e-02 3.25065067e+02] [ 9.33094101e-02 9.95635873e-01 -1.60091921e-03 1.20587069e+01] [ 3.58136940e-02 -1.74949996e-03 9.99356953e-01 1.14706543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.10, Y:12.06, Z:11.47 [[ 9.94978466e-01 -9.34597526e-02 -3.58207587e-02 3.25097432e+02] [ 9.34626120e-02 9.95621507e-01 -1.59833144e-03 1.20603157e+01] [ 3.58132975e-02 -1.75759631e-03 9.99356953e-01 1.14718122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:12.06, Z:11.47 [[ 9.94961835e-01 -9.36365903e-02 -3.58208736e-02 3.25128446e+02] [ 9.36396565e-02 9.95604876e-01 -1.59575323e-03 1.20618180e+01] [ 3.58128573e-02 -1.76654074e-03 9.99356953e-01 1.14719990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.16, Y:12.06, Z:11.47 [[ 9.94839334e-01 -9.49292314e-02 -3.58209590e-02 3.25159482e+02] [ 9.49332021e-02 9.95482369e-01 -1.59383364e-03 1.20634021e+01] [ 3.58104345e-02 -1.81498995e-03 9.99356953e-01 1.14716478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:12.07, Z:11.47 [[ 9.94777344e-01 -9.55765741e-02 -3.58211541e-02 3.25191390e+02] [ 9.55811211e-02 9.95420375e-01 -1.58943755e-03 1.20650716e+01] [ 3.58090196e-02 -1.84268960e-03 9.99356953e-01 1.14736607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:12.07, Z:11.48 [[ 9.94705087e-01 -9.63256275e-02 -3.58212687e-02 3.25223255e+02] [ 9.63307516e-02 9.95348114e-01 -1.58685002e-03 1.20670753e+01] [ 3.58074866e-02 -1.87224195e-03 9.99356953e-01 1.14752398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:12.07, Z:11.48 [[ 9.94613734e-01 -9.72643239e-02 -3.58213834e-02 3.25254912e+02] [ 9.72701481e-02 9.95256755e-01 -1.58425533e-03 1.20701121e+01] [ 3.58055654e-02 -1.90862916e-03 9.99356953e-01 1.14781745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.29, Y:12.07, Z:11.48 [[ 9.94594994e-01 -9.74557210e-02 -3.58214987e-02 3.25287433e+02] [ 9.74617626e-02 9.95238013e-01 -1.58164591e-03 1.20726445e+01] [ 3.58050576e-02 -1.91812929e-03 9.99356953e-01 1.14805754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.32, Y:12.08, Z:11.48 [[ 9.94687678e-01 -9.65051044e-02 -3.58216133e-02 3.25318139e+02] [ 9.65106248e-02 9.95330702e-01 -1.57904622e-03 1.20765623e+01] [ 3.58067375e-02 -1.88650846e-03 9.99356953e-01 1.14828900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.35, Y:12.08, Z:11.48 [[ 9.94808966e-01 -9.52466636e-02 -3.58216985e-02 3.25348860e+02] [ 9.52514401e-02 9.95451996e-01 -1.57711075e-03 1.20789782e+01] [ 3.58089958e-02 -1.84314445e-03 9.99356953e-01 1.14840315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.38, Y:12.08, Z:11.49 [[ 9.94959248e-01 -9.36637323e-02 -3.58217829e-02 3.25380511e+02] [ 9.36675546e-02 9.95602284e-01 -1.57519010e-03 1.20815048e+01] [ 3.58117871e-02 -1.78808885e-03 9.99356953e-01 1.14867546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:12.08, Z:11.49 [[ 9.95138144e-01 -9.17434814e-02 -3.58218985e-02 3.25411151e+02] [ 9.17461573e-02 9.95781186e-01 -1.57255786e-03 1.20840134e+01] [ 3.58150445e-02 -1.72160922e-03 9.99356953e-01 1.14877232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.44, Y:12.09, Z:11.49 [[ 9.95327454e-01 -8.96662984e-02 -3.58219843e-02 3.25443345e+02] [ 8.96677025e-02 9.95970500e-01 -1.57059979e-03 1.20868713e+01] [ 3.58184695e-02 -1.64881394e-03 9.99356953e-01 1.14901445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:12.09, Z:11.49 [[ 9.95754398e-01 -8.47936063e-02 -3.58220968e-02 3.25475111e+02] [ 8.47919553e-02 9.96397444e-01 -1.56803100e-03 1.20911971e+01] [ 3.58260046e-02 -1.47605186e-03 9.99356953e-01 1.14922101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.51, Y:12.09, Z:11.49 [[ 9.95989326e-01 -8.19880005e-02 -3.58222111e-02 3.25506265e+02] [ 8.19846319e-02 9.96632364e-01 -1.56541426e-03 1.20938091e+01] [ 3.58299201e-02 -1.37773490e-03 9.99356953e-01 1.14929818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:12.10, Z:11.49 [[ 9.96206691e-01 -7.93031658e-02 -3.58222961e-02 3.25537954e+02] [ 7.92981339e-02 9.96849719e-01 -1.56346700e-03 1.20964844e+01] [ 3.58334337e-02 -1.28310494e-03 9.99356953e-01 1.14942558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.57, Y:12.10, Z:11.49 [[ 9.96689680e-01 -7.29824368e-02 -3.58224081e-02 3.25566656e+02] [ 7.29734185e-02 9.97332665e-01 -1.56089603e-03 1.21003443e+01] [ 3.58407757e-02 -1.05835461e-03 9.99356953e-01 1.14949987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:12.10, Z:11.50 [[ 9.96792051e-01 -7.15743377e-02 -3.58150987e-02 3.25599429e+02] [ 7.15583716e-02 9.97434915e-01 -1.72908750e-03 1.21027153e+01] [ 3.58469882e-02 -8.39329465e-04 9.99356938e-01 1.14964328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.63, Y:12.11, Z:11.50 [[ 9.97108862e-01 -6.70122320e-02 -3.58228676e-02 3.25630275e+02] [ 6.69997726e-02 9.97751788e-01 -1.54949053e-03 1.21058243e+01] [ 3.58461650e-02 -8.55113239e-04 9.99356954e-01 1.14971795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.66, Y:12.11, Z:11.50 [[ 9.97271006e-01 -6.45542998e-02 -3.58229519e-02 3.25661854e+02] [ 6.45403259e-02 9.97913900e-01 -1.54753806e-03 1.21081183e+01] [ 3.58481219e-02 -7.68710149e-04 9.99356954e-01 1.14983021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.69, Y:12.11, Z:11.50 [[ 9.97402968e-01 -6.24822469e-02 -3.58230069e-02 3.25692299e+02] [ 6.24669831e-02 9.98045833e-01 -1.54626423e-03 1.21104006e+01] [ 3.58496168e-02 -6.95506638e-04 9.99356954e-01 1.14997845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.72, Y:12.11, Z:11.50 [[ 9.97529988e-01 -6.04204809e-02 -3.58230069e-02 3.25721707e+02] [ 6.04038883e-02 9.98172820e-01 -1.54626423e-03 1.21124204e+01] [ 3.58509779e-02 -6.21403973e-04 9.99356954e-01 1.15005693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.75, Y:12.12, Z:11.50 [[ 9.97743460e-01 -5.67864663e-02 -3.58229794e-02 3.25750951e+02] [ 5.67675094e-02 9.98386226e-01 -1.54690223e-03 1.21151511e+01] [ 3.58530123e-02 -4.90169733e-04 9.99356954e-01 1.15018745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.78, Y:12.12, Z:11.50 [[ 9.97830027e-01 -5.52444779e-02 -3.58229527e-02 3.25780913e+02] [ 5.52245055e-02 9.98472763e-01 -1.54751901e-03 1.21169826e+01] [ 3.58537345e-02 -4.34143916e-04 9.99356954e-01 1.15036531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.81, Y:12.12, Z:11.50 [[ 9.97911288e-01 -5.37566868e-02 -3.58228965e-02 3.25809407e+02] [ 5.37357094e-02 9.98553992e-01 -1.54881966e-03 1.21185753e+01] [ 3.58543557e-02 -3.79384135e-04 9.99356954e-01 1.15043193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.84, Y:12.12, Z:11.50 [[ 9.97895335e-01 -5.40520796e-02 -3.58227900e-02 3.25838379e+02] [ 5.40312042e-02 9.98538043e-01 -1.55127796e-03 1.21196773e+01] [ 3.58542684e-02 -3.87535440e-04 9.99356954e-01 1.15049566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.87, Y:12.12, Z:11.51 [[ 9.97835148e-01 -5.51520824e-02 -3.58226858e-02 3.25867241e+02] [ 5.51318293e-02 9.98477875e-01 -1.55368018e-03 1.21206142e+01] [ 3.58538479e-02 -4.24653508e-04 9.99356954e-01 1.15058083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.90, Y:12.12, Z:11.51 [[ 9.97604430e-01 -5.91790939e-02 -3.58222981e-02 3.25896310e+02] [ 5.91611160e-02 9.98247224e-01 -1.56257015e-03 1.21206387e+01] [ 3.58519811e-02 -5.60460224e-04 9.99356954e-01 1.15055841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:12.12, Z:11.51 [[ 9.97245046e-01 -6.49546693e-02 -3.58219097e-02 3.25926455e+02] [ 6.49400959e-02 9.97887927e-01 -1.57142408e-03 1.21203734e+01] [ 3.58483225e-02 -7.59183366e-04 9.99356954e-01 1.15056738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:12.12, Z:11.51 [[ 9.97017726e-01 -6.83553200e-02 -3.58218527e-02 3.25957015e+02] [ 6.83428925e-02 9.97660652e-01 -1.57272179e-03 1.21208342e+01] [ 3.58455568e-02 -8.80137530e-04 9.99356954e-01 1.15058089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:12.12, Z:11.51 [[ 9.97020156e-01 -6.83198516e-02 -3.58218810e-02 3.25988811e+02] [ 6.83074244e-02 9.97663082e-01 -1.57207690e-03 1.21222004e+01] [ 3.58455722e-02 -8.79508071e-04 9.99356954e-01 1.15069506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.02, Y:12.12, Z:11.51 [[ 9.96585503e-01 -7.43916888e-02 -3.58219369e-02 3.26020461e+02] [ 7.43832239e-02 9.97228494e-01 -1.57080257e-03 1.21214317e+01] [ 3.58395108e-02 -1.09911208e-03 9.99356954e-01 1.15061088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.12, Z:11.51 [[ 9.96588137e-01 -7.43563720e-02 -3.58219924e-02 3.26052257e+02] [ 7.43479297e-02 9.97231128e-01 -1.56953511e-03 1.21227950e+01] [ 3.58395108e-02 -1.09911090e-03 9.99356954e-01 1.15072503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.08, Y:12.12, Z:11.51 [[ 9.96384668e-01 -7.70348934e-02 -3.58220479e-02 3.26084286e+02] [ 7.70282251e-02 9.97027679e-01 -1.56826648e-03 1.21230428e+01] [ 3.58363846e-02 -1.19671210e-03 9.99356954e-01 1.15077050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.12, Y:12.12, Z:11.51 [[ 9.96179892e-01 -7.96391603e-02 -3.58221634e-02 3.26115311e+02] [ 7.96342677e-02 9.96822919e-01 -1.56562538e-03 1.21234323e+01] [ 3.58330385e-02 -1.29302723e-03 9.99356954e-01 1.15084105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.15, Y:12.12, Z:11.51 [[ 9.95780403e-01 -8.44875697e-02 -3.58223443e-02 3.26146295e+02] [ 8.44859565e-02 9.96423447e-01 -1.56147378e-03 1.21234688e+01] [ 3.58261489e-02 -1.47160004e-03 9.99356954e-01 1.15092236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.18, Y:12.12, Z:11.51 [[ 9.95621120e-01 -8.63443084e-02 -3.58224273e-02 3.26177244e+02] [ 8.63439627e-02 9.96264166e-01 -1.55956710e-03 1.21242112e+01] [ 3.58232604e-02 -1.54031238e-03 9.99356954e-01 1.15101213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.21, Y:12.13, Z:11.51 [[ 9.95492147e-01 -8.78187557e-02 -3.58225095e-02 3.26209445e+02] [ 8.78194303e-02 9.96135192e-01 -1.55767756e-03 1.21250241e+01] [ 3.58208557e-02 -1.59525660e-03 9.99356954e-01 1.15107747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.24, Y:12.13, Z:11.51 [[ 9.95415796e-01 -8.86799419e-02 -3.58226226e-02 3.26240864e+02] [ 8.86812664e-02 9.96058841e-01 -1.55507308e-03 1.21257863e+01] [ 3.58193437e-02 -1.62885122e-03 9.99356954e-01 1.15110064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.27, Y:12.13, Z:11.51 [[ 9.95319432e-01 -8.97549673e-02 -3.58228104e-02 3.26272820e+02] [ 8.97571421e-02 9.95962475e-01 -1.55073429e-03 1.21267801e+01] [ 3.58173610e-02 -1.67187711e-03 9.99356954e-01 1.15109770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.30, Y:12.13, Z:11.51 [[ 9.95307674e-01 -8.98852203e-02 -3.58229218e-02 3.26304576e+02] [ 8.98875717e-02 9.95950715e-01 -1.54815730e-03 1.21276709e+01] [ 3.58170210e-02 -1.67914261e-03 9.99356954e-01 1.15115678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.34, Y:12.13, Z:11.51 [[ 9.95302673e-01 -8.99405359e-02 -3.58230347e-02 3.26335493e+02] [ 8.99430171e-02 9.95945714e-01 -1.54554049e-03 1.21287164e+01] [ 3.58168046e-02 -1.68375123e-03 9.99356954e-01 1.15119505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.37, Y:12.13, Z:11.51 [[ 9.95283069e-01 -9.01571385e-02 -3.58232219e-02 3.26367654e+02] [ 9.01599160e-02 9.95926109e-01 -1.54118708e-03 1.21300593e+01] [ 3.58162311e-02 -1.69590127e-03 9.99356954e-01 1.15120159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.40, Y:12.13, Z:11.51 [[ 9.95282544e-01 -9.01628899e-02 -3.58233325e-02 3.26399975e+02] [ 9.01657635e-02 9.95925583e-01 -1.53861251e-03 1.21309473e+01] [ 3.58160991e-02 -1.69868395e-03 9.99356954e-01 1.15123763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.43, Y:12.13, Z:11.51 [[ 9.95175154e-01 -9.13405352e-02 -3.58234422e-02 3.26431008e+02] [ 9.13442615e-02 9.95818189e-01 -1.53605520e-03 1.21310089e+01] [ 3.58139394e-02 -1.74362190e-03 9.99356954e-01 1.15119386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.46, Y:12.13, Z:11.51 [[ 9.95135267e-01 -9.17740434e-02 -3.58235238e-02 3.26463531e+02] [ 9.17781183e-02 9.95778300e-01 -1.53415026e-03 1.21317713e+01] [ 3.58130828e-02 -1.76112857e-03 9.99356954e-01 1.15121945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.50, Y:12.13, Z:11.51 [[ 9.95135134e-01 -9.17754489e-02 -3.58236307e-02 3.26496077e+02] [ 9.17796146e-02 9.95778166e-01 -1.53164852e-03 1.21328038e+01] [ 3.58129570e-02 -1.76368176e-03 9.99356954e-01 1.15125171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.53, Y:12.13, Z:11.51 [[ 9.95215737e-01 -9.08971792e-02 -3.58237413e-02 3.26528082e+02] [ 9.09008704e-02 9.95858772e-01 -1.52905834e-03 1.21340776e+01] [ 3.58143741e-02 -1.73466634e-03 9.99356954e-01 1.15138124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.56, Y:12.14, Z:11.51 [[ 9.95373954e-01 -8.91478720e-02 -3.58238531e-02 3.26559119e+02] [ 8.91505273e-02 9.96016995e-01 -1.52643303e-03 1.21356802e+01] [ 3.58172448e-02 -1.67434371e-03 9.99356954e-01 1.15147638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.59, Y:12.14, Z:11.52 [[ 9.95599460e-01 -8.65930758e-02 -3.58239364e-02 3.26590686e+02] [ 8.65941511e-02 9.96242505e-01 -1.52447674e-03 1.21374209e+01] [ 3.58213373e-02 -1.58437514e-03 9.99356954e-01 1.15160736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.62, Y:12.14, Z:11.52 [[ 9.96224059e-01 -7.90839084e-02 -3.58240171e-02 3.26622656e+02] [ 7.90802034e-02 9.96867094e-01 -1.52257671e-03 1.21403709e+01] [ 3.58321952e-02 -1.31614301e-03 9.99356954e-01 1.15177516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.65, Y:12.14, Z:11.52 [[ 9.96593508e-01 -7.42833158e-02 -3.58241242e-02 3.26653528e+02] [ 7.42766033e-02 9.97236519e-01 -1.52005269e-03 1.21424170e+01] [ 3.58380395e-02 -1.14601962e-03 9.99356954e-01 1.15189633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.69, Y:12.14, Z:11.52 [[ 9.96958246e-01 -6.92162071e-02 -3.58241774e-02 3.26685028e+02] [ 6.92062711e-02 9.97601216e-01 -1.51879871e-03 1.21448374e+01] [ 3.58433684e-02 -9.65078836e-04 9.99356954e-01 1.15202356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.72, Y:12.15, Z:11.52 [[ 9.97310438e-01 -6.39415016e-02 -3.58242315e-02 3.26715326e+02] [ 6.39282103e-02 9.97953346e-01 -1.51752256e-03 1.21475959e+01] [ 3.58479443e-02 -7.76737914e-04 9.99356954e-01 1.15214972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.74, Y:12.15, Z:11.52 [[ 9.97904560e-01 -5.38804880e-02 -3.58243207e-02 3.26744477e+02] [ 5.38607894e-02 9.98547304e-01 -1.51541413e-03 1.21519628e+01] [ 3.58539301e-02 -4.17287520e-04 9.99356954e-01 1.15231747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.77, Y:12.15, Z:11.52 [[ 9.98120932e-01 -4.97114157e-02 -3.58242942e-02 3.26771921e+02] [ 4.96890099e-02 9.98763588e-01 -1.51603806e-03 1.21541538e+01] [ 3.58553650e-02 -2.66884394e-04 9.99356954e-01 1.15234087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.80, Y:12.16, Z:11.52 [[ 9.98296270e-01 -4.60563996e-02 -3.58241032e-02 3.26800172e+02] [ 4.60314793e-02 9.98938832e-01 -1.52053881e-03 1.21556725e+01] [ 3.58561184e-02 -1.31088248e-04 9.99356954e-01 1.15242976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.83, Y:12.16, Z:11.53 [[ 9.98499541e-01 -4.14165409e-02 -3.58236816e-02 3.26827539e+02] [ 4.13882807e-02 9.99141966e-01 -1.53040687e-03 1.21576761e+01] [ 3.58563279e-02 4.54299653e-05 9.99356954e-01 1.15259080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.85, Y:12.16, Z:11.53 [[ 9.98547011e-01 -4.02562165e-02 -3.58232351e-02 3.26854339e+02] [ 4.02268373e-02 9.99189385e-01 -1.54078836e-03 1.21591047e+01] [ 3.58562226e-02 9.74941579e-05 9.99356954e-01 1.15270245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.88, Y:12.16, Z:11.53 [[ 9.98536622e-01 -4.05132619e-02 -3.58230415e-02 3.26882528e+02] [ 4.04838871e-02 9.99178996e-01 -1.54527723e-03 1.21601999e+01] [ 3.58562349e-02 9.27599431e-05 9.99356954e-01 1.15287199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.91, Y:12.16, Z:11.53 [[ 9.98489598e-01 -4.16565167e-02 -3.58225946e-02 3.26909466e+02] [ 4.16275082e-02 9.99131989e-01 -1.55556794e-03 1.21610864e+01] [ 3.58562998e-02 6.20130541e-05 9.99356954e-01 1.15298160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.94, Y:12.16, Z:11.53 [[ 9.98415353e-01 -4.33998538e-02 -3.58222863e-02 3.26937025e+02] [ 4.33717134e-02 9.99057782e-01 -1.56263568e-03 1.21618184e+01] [ 3.58563521e-02 6.48551985e-06 9.99356954e-01 1.15310279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.96, Y:12.16, Z:11.53 [[ 9.98188500e-01 -4.83375051e-02 -3.58218403e-02 3.26964860e+02] [ 4.83121780e-02 9.98831047e-01 -1.57279457e-03 1.21616552e+01] [ 3.58559912e-02 -1.60685676e-04 9.99356954e-01 1.15317112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.99, Y:12.16, Z:11.53 [[ 9.98028842e-01 -5.15292009e-02 -3.58213950e-02 3.26991675e+02] [ 5.15055669e-02 9.98671453e-01 -1.58287150e-03 1.21620265e+01] [ 3.58553687e-02 -2.65249844e-04 9.99356954e-01 1.15325396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.02, Y:12.17, Z:11.53 [[ 9.97712714e-01 -5.73252258e-02 -3.58212014e-02 3.27019420e+02] [ 5.73051679e-02 9.98355447e-01 -1.58724071e-03 1.21658673e+01] [ 3.58532805e-02 -4.69129719e-04 9.99356954e-01 1.15348624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.025099893 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:327.05, Y:12.16, Z:11.53 [[ 9.97368583e-01 -6.30373230e-02 -3.58078927e-02 3.27048431e+02] [ 6.30104753e-02 9.98011097e-01 -1.87889672e-03 1.21633442e+01] [ 3.58551149e-02 -3.82319780e-04 9.99356926e-01 1.15341413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.08, Y:12.16, Z:11.54 [[ 9.97064119e-01 -6.76797068e-02 -3.58133905e-02 3.27078354e+02] [ 6.76601528e-02 9.97706876e-01 -1.75906559e-03 1.21640701e+01] [ 3.58503190e-02 -6.69238295e-04 9.99356947e-01 1.15362008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.11, Y:12.16, Z:11.54 [[ 9.96801085e-01 -7.14466950e-02 -3.58185216e-02 3.27108225e+02] [ 7.14335754e-02 9.97443998e-01 -1.64751721e-03 1.21644594e+01] [ 3.58446790e-02 -9.16398117e-04 9.99356953e-01 1.15372866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.14, Y:12.16, Z:11.54 [[ 9.96569934e-01 -7.46016232e-02 -3.58184923e-02 3.27138203e+02] [ 7.45905160e-02 9.97212885e-01 -1.64815314e-03 1.21647925e+01] [ 3.58416170e-02 -1.02921996e-03 9.99356953e-01 1.15389013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.17, Y:12.16, Z:11.54 [[ 9.95965870e-01 -8.22758880e-02 -3.58143065e-02 3.27170225e+02] [ 8.22664659e-02 9.96608852e-01 -1.73913882e-03 1.21636398e+01] [ 3.58359441e-02 -1.21419352e-03 9.99356949e-01 1.15403093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.20, Y:12.16, Z:11.54 [[ 9.95685749e-01 -8.55974529e-02 -3.58184965e-02 3.27202239e+02] [ 8.55934460e-02 9.96328784e-01 -1.64807832e-03 1.21639246e+01] [ 3.58280704e-02 -1.42486045e-03 9.99356953e-01 1.15412078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.23, Y:12.16, Z:11.54 [[ 9.95436397e-01 -8.84500236e-02 -3.58186176e-02 3.27233911e+02] [ 8.84479538e-02 9.96079441e-01 -1.64544377e-03 1.21644740e+01] [ 3.58237281e-02 -1.53014882e-03 9.99356953e-01 1.15412929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.27, Y:12.17, Z:11.54 [[ 9.95175661e-01 -9.13368270e-02 -3.58188070e-02 3.27266090e+02] [ 9.13367708e-02 9.95818709e-01 -1.64131016e-03 1.21652853e+01] [ 3.58189502e-02 -1.63818224e-03 9.99356953e-01 1.15433074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.30, Y:12.17, Z:11.55 [[ 9.94734771e-01 -9.60194794e-02 -3.58189268e-02 3.27296785e+02] [ 9.60225438e-02 9.95377811e-01 -1.63869029e-03 1.21661785e+01] [ 3.58107112e-02 -1.80936226e-03 9.99356953e-01 1.15451389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.33, Y:12.17, Z:11.55 [[ 9.94570310e-01 -9.77081892e-02 -3.58191179e-02 3.27328484e+02] [ 9.77124957e-02 9.95213342e-01 -1.63450214e-03 1.21676337e+01] [ 3.58073683e-02 -1.87434811e-03 9.99356953e-01 1.15470331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.36, Y:12.17, Z:11.55 [[ 9.94422425e-01 -9.92019274e-02 -3.58192381e-02 3.27359536e+02] [ 9.92072945e-02 9.95065450e-01 -1.63186383e-03 1.21691263e+01] [ 3.58043704e-02 -1.93076772e-03 9.99356953e-01 1.15480890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.39, Y:12.17, Z:11.55 [[ 9.94278384e-01 -1.00635334e-01 -3.58193276e-02 3.27390688e+02] [ 1.00641698e-01 9.94921400e-01 -1.62989793e-03 1.21710311e+01] [ 3.58014409e-02 -1.98434568e-03 9.99356953e-01 1.15483240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.42, Y:12.17, Z:11.55 [[ 9.94274652e-01 -1.00672170e-01 -3.58194132e-02 3.27423489e+02] [ 1.00678626e-01 9.94917667e-01 -1.62801340e-03 1.21732266e+01] [ 3.58012627e-02 -1.98755685e-03 9.99356953e-01 1.15518680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.46, Y:12.18, Z:11.55 [[ 9.94285649e-01 -1.00563437e-01 -3.58195920e-02 3.27456721e+02] [ 1.00569965e-01 9.94928663e-01 -1.62407013e-03 1.21765698e+01] [ 3.58012609e-02 -1.98758549e-03 9.99356953e-01 1.15545102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.49, Y:12.18, Z:11.56 [[ 9.94316415e-01 -1.00258718e-01 -3.58197699e-02 3.27488491e+02] [ 1.00265190e-01 9.94959430e-01 -1.62013739e-03 1.21789418e+01] [ 3.58016507e-02 -1.98054684e-03 9.99356953e-01 1.15558548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.52, Y:12.18, Z:11.56 [[ 9.94381195e-01 -9.96141275e-02 -3.58198873e-02 3.27520001e+02] [ 9.96202756e-02 9.95024213e-01 -1.61753893e-03 1.21809879e+01] [ 3.58027849e-02 -1.95993675e-03 9.99356953e-01 1.15564162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.55, Y:12.18, Z:11.56 [[ 9.94471176e-01 -9.87117456e-02 -3.58199746e-02 3.27551967e+02] [ 9.87173798e-02 9.95114199e-01 -1.61560273e-03 1.21839875e+01] [ 3.58044443e-02 -1.92938369e-03 9.99356953e-01 1.15568489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.58, Y:12.19, Z:11.56 [[ 9.94525041e-01 -9.81675339e-02 -3.58200899e-02 3.27584266e+02] [ 9.81729082e-02 9.95168065e-01 -1.61304245e-03 1.21862170e+01] [ 3.58053579e-02 -1.91235129e-03 9.99356953e-01 1.15585184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.62, Y:12.19, Z:11.56 [[ 9.94588720e-01 -9.75202045e-02 -3.58202088e-02 3.27615581e+02] [ 9.75252553e-02 9.95231747e-01 -1.61039633e-03 1.21896277e+01] [ 3.58064552e-02 -1.89169298e-03 9.99356953e-01 1.15595407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.65, Y:12.19, Z:11.56 [[ 9.94661974e-01 -9.67701633e-02 -3.58202972e-02 3.27646629e+02] [ 9.67747999e-02 9.95305004e-01 -1.60842762e-03 1.21920022e+01] [ 3.58077689e-02 -1.86666030e-03 9.99356953e-01 1.15602828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.68, Y:12.19, Z:11.56 [[ 9.94752820e-01 -9.58317603e-02 -3.58203842e-02 3.27677825e+02] [ 9.58358598e-02 9.95395855e-01 -1.60648956e-03 1.21944639e+01] [ 3.58094146e-02 -1.83481730e-03 9.99356953e-01 1.15605922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.71, Y:12.20, Z:11.56 [[ 9.95016997e-01 -9.30487538e-02 -3.58204698e-02 3.27709990e+02] [ 9.30511232e-02 9.95660039e-01 -1.60457781e-03 1.21987583e+01] [ 3.58143143e-02 -1.73655275e-03 9.99356953e-01 1.15625001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.74, Y:12.20, Z:11.56 [[ 9.95204035e-01 -9.10264493e-02 -3.58205841e-02 3.27742210e+02] [ 9.10276037e-02 9.95847081e-01 -1.60202205e-03 1.22016664e+01] [ 3.58176505e-02 -1.66632313e-03 9.99356953e-01 1.15636982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.77, Y:12.21, Z:11.57 [[ 9.95643402e-01 -8.60877069e-02 -3.58206976e-02 3.27774478e+02] [ 8.60857621e-02 9.96286446e-01 -1.59948118e-03 1.22057325e+01] [ 3.58253711e-02 -1.49113917e-03 9.99356953e-01 1.15668185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.81, Y:12.21, Z:11.57 [[ 9.95649646e-01 -8.60154110e-02 -3.58208133e-02 3.27807116e+02] [ 8.60135128e-02 9.96292691e-01 -1.59688514e-03 1.22071291e+01] [ 3.58253712e-02 -1.49113585e-03 9.99356953e-01 1.15679898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.84, Y:12.21, Z:11.57 [[ 9.96109920e-01 -8.05101693e-02 -3.58209290e-02 3.27837784e+02] [ 8.05048097e-02 9.96752945e-01 -1.59428579e-03 1.22113551e+01] [ 3.58329727e-02 -1.29567318e-03 9.99356953e-01 1.15692082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.87, Y:12.21, Z:11.57 [[ 9.96351936e-01 -7.74575703e-02 -3.58210151e-02 3.27870296e+02] [ 7.74503099e-02 9.96994942e-01 -1.59234954e-03 1.22138694e+01] [ 3.58367103e-02 -1.18780817e-03 9.99356953e-01 1.15707068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.90, Y:12.22, Z:11.57 [[ 9.96594188e-01 -7.42756394e-02 -3.58211246e-02 3.27902289e+02] [ 7.42664145e-02 9.97237169e-01 -1.58988214e-03 1.22165249e+01] [ 3.58402464e-02 -1.07583919e-03 9.99356953e-01 1.15741379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.93, Y:12.22, Z:11.58 [[ 9.97020506e-01 -6.83150768e-02 -3.58212405e-02 3.27934071e+02] [ 6.83021012e-02 9.97663422e-01 -1.58726575e-03 1.22200554e+01] [ 3.58459756e-02 -8.64129493e-04 9.99356953e-01 1.15760375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.97, Y:12.22, Z:11.58 [[ 9.97022976e-01 -6.82789548e-02 -3.58213554e-02 3.27965864e+02] [ 6.82660492e-02 9.97665894e-01 -1.58466747e-03 1.22214326e+01] [ 3.58459440e-02 -8.65432536e-04 9.99356953e-01 1.15771784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.00, Y:12.22, Z:11.58 [[ 9.97221107e-01 -6.53214360e-02 -3.58214127e-02 3.27996517e+02] [ 6.53066701e-02 9.97863985e-01 -1.58337217e-03 1.22237716e+01] [ 3.58483258e-02 -7.60405028e-04 9.99356953e-01 1.15783593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.03, Y:12.23, Z:11.58 [[ 9.97550631e-01 -6.00796123e-02 -3.58214982e-02 3.28026760e+02] [ 6.00615374e-02 9.98193424e-01 -1.58143590e-03 1.22261951e+01] [ 3.58517960e-02 -5.73931874e-04 9.99356953e-01 1.15800004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.06, Y:12.23, Z:11.58 [[ 9.97689194e-01 -5.77328925e-02 -3.58215877e-02 3.28057455e+02] [ 5.77133784e-02 9.98331945e-01 -1.57940493e-03 1.22279606e+01] [ 3.58530189e-02 -4.91629622e-04 9.99356953e-01 1.15818381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.09, Y:12.23, Z:11.58 [[ 9.97799768e-01 -5.57892116e-02 -3.58215877e-02 3.28086955e+02] [ 5.57684455e-02 9.98442480e-01 -1.57940493e-03 1.22295422e+01] [ 3.58539086e-02 -4.21784395e-04 9.99356953e-01 1.15819735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.12, Y:12.23, Z:11.58 [[ 9.97963393e-01 -5.27814305e-02 -3.58215948e-02 3.28116702e+02] [ 5.27587330e-02 9.98606039e-01 -1.57924479e-03 1.22313833e+01] [ 3.58550157e-02 -3.13873467e-04 9.99356953e-01 1.15842873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.15, Y:12.23, Z:11.59 [[ 9.98019215e-01 -5.17152157e-02 -3.58215388e-02 3.28145942e+02] [ 5.16917861e-02 9.98661835e-01 -1.58051439e-03 1.22324773e+01] [ 3.58553403e-02 -2.74295592e-04 9.99356953e-01 1.15857596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.18, Y:12.23, Z:11.59 [[ 9.98048745e-01 -5.11422006e-02 -3.58214821e-02 3.28175130e+02] [ 5.11183560e-02 9.98691350e-01 -1.58179666e-03 1.22334254e+01] [ 3.58555009e-02 -2.52425102e-04 9.99356953e-01 1.15864381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.20, Y:12.23, Z:11.59 [[ 9.98123263e-01 -4.96669186e-02 -3.58210831e-02 3.28204323e+02] [ 4.96418018e-02 9.98765819e-01 -1.59078160e-03 1.22333709e+01] [ 3.58558827e-02 -1.90426984e-04 9.99356953e-01 1.15859639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.23, Y:12.23, Z:11.59 [[ 9.98142953e-01 -4.92696758e-02 -3.58209983e-02 3.28233012e+02] [ 4.92442347e-02 9.98785497e-01 -1.59268951e-03 1.22337871e+01] [ 3.58559649e-02 -1.74245833e-04 9.99356953e-01 1.15884012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.26, Y:12.23, Z:11.59 [[ 9.98177842e-01 -4.85580157e-02 -3.58205969e-02 3.28260768e+02] [ 4.85317944e-02 9.98820354e-01 -1.60166612e-03 1.22335295e+01] [ 3.58561150e-02 -1.39690210e-04 9.99356953e-01 1.15890448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.29, Y:12.23, Z:11.59 [[ 9.98163743e-01 -4.88473230e-02 -3.58201298e-02 3.28289108e+02] [ 4.88209154e-02 9.98806247e-01 -1.61204671e-03 1.22348626e+01] [ 3.58561136e-02 -1.39684944e-04 9.99356953e-01 1.15900660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.32, Y:12.23, Z:11.59 [[ 9.98185440e-01 -4.84022679e-02 -3.58196598e-02 3.28316469e+02] [ 4.83752015e-02 9.98827917e-01 -1.62242191e-03 1.22345551e+01] [ 3.58562051e-02 -1.13305335e-04 9.99356953e-01 1.15900469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.34, Y:12.23, Z:11.59 [[ 9.98171439e-01 -4.86903119e-02 -3.58194397e-02 3.28344089e+02] [ 4.86632570e-02 9.98813916e-01 -1.62726836e-03 1.22345713e+01] [ 3.58561870e-02 -1.18797796e-04 9.99356953e-01 1.15912495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.37, Y:12.23, Z:11.59 [[ 9.98133064e-01 -4.94710740e-02 -3.58189736e-02 3.28371668e+02] [ 4.94441559e-02 9.98775547e-01 -1.63746276e-03 1.22344112e+01] [ 3.58561220e-02 -1.36633189e-04 9.99356953e-01 1.15924573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.40, Y:12.23, Z:11.59 [[ 9.98052182e-01 -5.10771706e-02 -3.58184981e-02 3.28399738e+02] [ 5.10509154e-02 9.98694692e-01 -1.64780000e-03 1.22321547e+01] [ 3.58559089e-02 -1.83976732e-04 9.99356953e-01 1.15926599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.43, Y:12.23, Z:11.59 [[ 9.98001707e-01 -5.20541830e-02 -3.58183507e-02 3.28428371e+02] [ 5.20284420e-02 9.98644239e-01 -1.65099705e-03 1.22316664e+01] [ 3.58557309e-02 -2.15875106e-04 9.99356953e-01 1.15936485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.46, Y:12.23, Z:11.59 [[ 9.97960013e-01 -5.28477677e-02 -3.58179449e-02 3.28456012e+02] [ 5.28222234e-02 9.98602553e-01 -1.65975362e-03 1.22313237e+01] [ 3.58556055e-02 -2.35615745e-04 9.99356953e-01 1.15948890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.48, Y:12.23, Z:11.60 [[ 9.97932423e-01 -5.33665312e-02 -3.58174806e-02 3.28484895e+02] [ 5.33409634e-02 9.98574961e-01 -1.66971513e-03 1.22296055e+01] [ 3.58555462e-02 -2.44276060e-04 9.99356953e-01 1.15958235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.51, Y:12.23, Z:11.60 [[ 9.97939682e-01 -5.32308917e-02 -3.58170705e-02 3.28513584e+02] [ 5.32049225e-02 9.98582204e-01 -1.67846561e-03 1.22294349e+01] [ 3.58556354e-02 -2.30637024e-04 9.99356953e-01 1.15973554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.54, Y:12.23, Z:11.60 [[ 9.98021718e-01 -5.16702923e-02 -3.58166423e-02 3.28541817e+02] [ 5.16429923e-02 9.98664185e-01 -1.68755300e-03 1.22276691e+01] [ 3.58559943e-02 -1.65464037e-04 9.99356953e-01 1.15974664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.57, Y:12.23, Z:11.60 [[ 9.98071390e-01 -5.07018617e-02 -3.58164905e-02 3.28568398e+02] [ 5.06738228e-02 9.98713825e-01 -1.69077047e-03 1.22274553e+01] [ 3.58561494e-02 -1.27448860e-04 9.99356953e-01 1.15982788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.60, Y:12.23, Z:11.60 [[ 9.98130292e-01 -4.95289246e-02 -3.58162821e-02 3.28596541e+02] [ 4.94999729e-02 9.98772686e-01 -1.69517197e-03 1.22273998e+01] [ 3.58562844e-02 -8.09024991e-05 9.99356953e-01 1.15991193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.62, Y:12.23, Z:11.60 [[ 9.98191594e-01 -4.82780456e-02 -3.58158036e-02 3.28624156e+02] [ 4.82479282e-02 9.98833935e-01 -1.70522282e-03 1.22271030e+01] [ 3.58563649e-02 -2.58992314e-05 9.99356953e-01 1.15994063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.65, Y:12.23, Z:11.60 [[ 9.98335128e-01 -4.52132045e-02 -3.58153248e-02 3.28652520e+02] [ 4.51807565e-02 9.98977356e-01 -1.71521999e-03 1.22253319e+01] [ 3.58562491e-02 9.42009025e-05 9.99356954e-01 1.16007953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:12.23, Z:11.60 [[ 9.98384661e-01 -4.41063143e-02 -3.58148374e-02 3.28680164e+02] [ 4.40727913e-02 9.99026833e-01 -1.72533832e-03 1.22251769e+01] [ 3.58560819e-02 1.44091464e-04 9.99356954e-01 1.16018914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.71, Y:12.22, Z:11.60 [[ 9.98438755e-01 -4.28647265e-02 -3.58143476e-02 3.28707882e+02] [ 4.28300424e-02 9.99080865e-01 -1.73544652e-03 1.22249143e+01] [ 3.58558188e-02 1.98807041e-04 9.99356954e-01 1.16034518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.74, Y:12.22, Z:11.60 [[ 9.98485109e-01 -4.17714751e-02 -3.58138500e-02 3.28735983e+02] [ 4.17357217e-02 9.99127160e-01 -1.74565587e-03 1.22244721e+01] [ 3.58555088e-02 2.48294519e-04 9.99356954e-01 1.16047570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.76, Y:12.22, Z:11.60 [[ 9.98554697e-01 -4.00739614e-02 -3.58133385e-02 3.28763197e+02] [ 4.00367425e-02 9.99196665e-01 -1.75608691e-03 1.22220976e+01] [ 3.58549417e-02 3.19699421e-04 9.99356954e-01 1.16048976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.79, Y:12.22, Z:11.61 [[ 9.98563220e-01 -3.98612197e-02 -3.58131167e-02 3.28790770e+02] [ 3.98237022e-02 9.99205171e-01 -1.76059921e-03 1.22216569e+01] [ 3.58548310e-02 3.31858723e-04 9.99356954e-01 1.16060679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.82, Y:12.22, Z:11.61 [[ 9.98570096e-01 -3.96890583e-02 -3.58126025e-02 3.28818905e+02] [ 3.96510572e-02 9.99212018e-01 -1.77099727e-03 1.22189265e+01] [ 3.58546720e-02 3.48457364e-04 9.99356954e-01 1.16063585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.85, Y:12.22, Z:11.61 [[ 9.98551346e-01 -4.01584856e-02 -3.58120860e-02 3.28846240e+02] [ 4.01204139e-02 9.99193264e-01 -1.78138079e-03 1.22183300e+01] [ 3.58547326e-02 3.42004477e-04 9.99356954e-01 1.16068893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.87, Y:12.22, Z:11.61 [[ 9.98509042e-01 -4.11971228e-02 -3.58118620e-02 3.28874490e+02] [ 4.11595578e-02 9.99150990e-01 -1.78587251e-03 1.22175828e+01] [ 3.58550302e-02 3.09209450e-04 9.99356954e-01 1.16087365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.90, Y:12.22, Z:11.61 [[ 9.98454891e-01 -4.24897574e-02 -3.58113394e-02 3.28902381e+02] [ 4.24526498e-02 9.99096865e-01 -1.79629114e-03 1.22169129e+01] [ 3.58553209e-02 2.73229422e-04 9.99356954e-01 1.16100235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.93, Y:12.21, Z:11.61 [[ 9.98312016e-01 -4.57242141e-02 -3.58108145e-02 3.28929025e+02] [ 4.56888133e-02 9.98954087e-01 -1.80669517e-03 1.22138591e+01] [ 3.58559692e-02 1.67491879e-04 9.99356954e-01 1.16116802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.96, Y:12.21, Z:11.61 [[ 9.98078965e-01 -5.05568072e-02 -3.58104521e-02 3.28956764e+02] [ 5.05242586e-02 9.98721187e-01 -1.81384962e-03 1.22107006e+01] [ 3.58563597e-02 1.06860658e-06 9.99356954e-01 1.16126714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.98, Y:12.21, Z:11.61 [[ 9.97923252e-01 -5.35428143e-02 -3.58099284e-02 3.28984324e+02] [ 5.35118184e-02 9.98565550e-01 -1.82413034e-03 1.22099105e+01] [ 3.58562299e-02 -9.59123064e-05 9.99356954e-01 1.16136276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.01, Y:12.21, Z:11.61 [[ 9.97772709e-01 -5.62788432e-02 -3.58093951e-02 3.29011105e+02] [ 5.62492350e-02 9.98415073e-01 -1.83453925e-03 1.22091528e+01] [ 3.58558856e-02 -1.83797892e-04 9.99356954e-01 1.16144510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:12.21, Z:11.62 [[ 9.97596232e-01 -5.93250597e-02 -3.58091635e-02 3.29039508e+02] [ 5.92972511e-02 9.98238676e-01 -1.83904913e-03 1.22083328e+01] [ 3.58551937e-02 -2.88756474e-04 9.99356954e-01 1.16150828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.07, Y:12.21, Z:11.62 [[ 9.97409529e-01 -6.23856812e-02 -3.58086282e-02 3.29067302e+02] [ 6.23594719e-02 9.98052041e-01 -1.84941469e-03 1.22074681e+01] [ 3.58542514e-02 -3.88383311e-04 9.99356954e-01 1.16158338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.09, Y:12.20, Z:11.62 [[ 9.97066800e-01 -6.76430117e-02 -3.58080917e-02 3.29094810e+02] [ 6.76198191e-02 9.97709427e-01 -1.85974370e-03 1.22043787e+01] [ 3.58518694e-02 -5.67047984e-04 9.99356954e-01 1.16167546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.12, Y:12.20, Z:11.62 [[ 9.96879396e-01 -7.03509948e-02 -3.58079254e-02 3.29122900e+02] [ 7.03294329e-02 9.97522080e-01 -1.86294117e-03 1.22036491e+01] [ 3.58502560e-02 -6.61223417e-04 9.99356954e-01 1.16178746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.15, Y:12.20, Z:11.62 [[ 9.96509919e-01 -7.54043230e-02 -3.58073907e-02 3.29151876e+02] [ 7.53856527e-02 9.97152694e-01 -1.87316258e-03 1.22013782e+01] [ 3.58466806e-02 -8.32738423e-04 9.99356954e-01 1.16198627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.18, Y:12.20, Z:11.62 [[ 9.96326801e-01 -7.77866957e-02 -3.58069234e-02 3.29181207e+02] [ 7.77692431e-02 9.96969610e-01 -1.88205273e-03 1.22011547e+01] [ 3.58448131e-02 -9.09537753e-04 9.99356954e-01 1.16209145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.21, Y:12.20, Z:11.62 [[ 9.96148097e-01 -8.00427211e-02 -3.58068569e-02 3.29210786e+02] [ 8.00266788e-02 9.96790943e-01 -1.88331720e-03 1.22007658e+01] [ 3.58426965e-02 -9.89440985e-04 9.99356954e-01 1.16216815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:12.20, Z:11.62 [[ 9.95742448e-01 -8.49402764e-02 -3.58067903e-02 3.29240426e+02] [ 8.49273499e-02 9.96385364e-01 -1.88458286e-03 1.21994961e+01] [ 3.58374388e-02 -1.16441666e-03 9.99356954e-01 1.16235062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.27, Y:12.20, Z:11.62 [[ 9.95565436e-01 -8.69904651e-02 -3.58067223e-02 3.29270010e+02] [ 8.69788162e-02 9.96208376e-01 -1.88587452e-03 1.21992930e+01] [ 3.58350097e-02 -1.23691482e-03 9.99356954e-01 1.16247570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.30, Y:12.20, Z:11.63 [[ 9.95379662e-01 -8.90910162e-02 -3.58066885e-02 3.29299874e+02] [ 8.90807008e-02 9.96022625e-01 -1.88651545e-03 1.21992833e+01] [ 3.58323434e-02 -1.31188579e-03 9.99356954e-01 1.16257990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.33, Y:12.20, Z:11.63 [[ 9.95002984e-01 -9.32037977e-02 -3.58066212e-02 3.29329448e+02] [ 9.31960938e-02 9.95645983e-01 -1.88779130e-03 1.21988037e+01] [ 3.58266679e-02 -1.45867926e-03 9.99356954e-01 1.16258953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.36, Y:12.20, Z:11.63 [[ 9.94858726e-01 -9.47312337e-02 -3.58065540e-02 3.29360248e+02] [ 9.47244711e-02 9.95501736e-01 -1.88906554e-03 1.22000219e+01] [ 3.58244402e-02 -1.51240356e-03 9.99356954e-01 1.16266837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.39, Y:12.20, Z:11.63 [[ 9.94725050e-01 -9.61247391e-02 -3.58065540e-02 3.29390630e+02] [ 9.61188772e-02 9.95368069e-01 -1.88906554e-03 1.22014220e+01] [ 3.58222864e-02 -1.56258496e-03 9.99356954e-01 1.16277337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.42, Y:12.20, Z:11.63 [[ 9.94568330e-01 -9.77329447e-02 -3.58065540e-02 3.29420681e+02] [ 9.77281226e-02 9.95211357e-01 -1.88906554e-03 1.22028679e+01] [ 3.58197131e-02 -1.62050254e-03 9.99356954e-01 1.16275797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.45, Y:12.20, Z:11.63 [[ 9.94527535e-01 -9.81471914e-02 -3.58065880e-02 3.29452294e+02] [ 9.81426603e-02 9.95170564e-01 -1.88842065e-03 1.22047015e+01] [ 3.58190056e-02 -1.63606747e-03 9.99356954e-01 1.16285015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:12.21, Z:11.63 [[ 9.94510388e-01 -9.83207562e-02 -3.58066557e-02 3.29483395e+02] [ 9.83163834e-02 9.95153419e-01 -1.88713653e-03 1.22068870e+01] [ 3.58186605e-02 -1.64360401e-03 9.99356954e-01 1.16294489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.51, Y:12.21, Z:11.63 [[ 9.94594081e-01 -9.74704738e-02 -3.58067238e-02 3.29514033e+02] [ 9.74655977e-02 9.95237108e-01 -1.88584410e-03 1.22091963e+01] [ 3.58199943e-02 -1.61427435e-03 9.99356954e-01 1.16297703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.55, Y:12.21, Z:11.63 [[ 9.94687154e-01 -9.65160216e-02 -3.58067575e-02 3.29545583e+02] [ 9.65105515e-02 9.95330176e-01 -1.88520274e-03 1.22115996e+01] [ 3.58214985e-02 -1.58054297e-03 9.99356954e-01 1.16317443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.58, Y:12.22, Z:11.63 [[ 9.94920692e-01 -9.40780964e-02 -3.58068254e-02 3.29576608e+02] [ 9.40710969e-02 9.95563699e-01 -1.88391263e-03 1.22157514e+01] [ 3.58252105e-02 -1.49404368e-03 9.99356954e-01 1.16337980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.61, Y:12.22, Z:11.63 [[ 9.94924056e-01 -9.40424902e-02 -3.58068927e-02 3.29608389e+02] [ 9.40355137e-02 9.95567063e-01 -1.88263242e-03 1.22173926e+01] [ 3.58252105e-02 -1.49404327e-03 9.99356954e-01 1.16349395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.64, Y:12.22, Z:11.64 [[ 9.95201572e-01 -9.10587277e-02 -3.58069600e-02 3.29637673e+02] [ 9.10498690e-02 9.95844557e-01 -1.88135179e-03 1.22206561e+01] [ 3.58294797e-02 -1.38789476e-03 9.99356954e-01 1.16360532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.67, Y:12.22, Z:11.64 [[ 9.95330168e-01 -8.96421839e-02 -3.58069266e-02 3.29668484e+02] [ 8.96323873e-02 9.95973139e-01 -1.88198718e-03 1.22233415e+01] [ 3.58314425e-02 -1.33626170e-03 9.99356954e-01 1.16373655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.70, Y:12.23, Z:11.64 [[ 9.95542656e-01 -8.72506935e-02 -3.58069266e-02 3.29697810e+02] [ 8.72393522e-02 9.96185602e-01 -1.88198718e-03 1.22273981e+01] [ 3.58345494e-02 -1.25017456e-03 9.99356954e-01 1.16389294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.73, Y:12.23, Z:11.64 [[ 9.95649658e-01 -8.60210534e-02 -3.58069285e-02 3.29728165e+02] [ 8.60089194e-02 9.96292590e-01 -1.88195074e-03 1.22305046e+01] [ 3.58360649e-02 -1.20595162e-03 9.99356954e-01 1.16406962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.76, Y:12.23, Z:11.64 [[ 9.95791659e-01 -8.43613419e-02 -3.58069285e-02 3.29758392e+02] [ 8.43481362e-02 9.96434569e-01 -1.88195074e-03 1.22336229e+01] [ 3.58380253e-02 -1.14621684e-03 9.99356954e-01 1.16413318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.79, Y:12.24, Z:11.64 [[ 9.95788774e-01 -8.43953737e-02 -3.58069623e-02 3.29788485e+02] [ 8.43822130e-02 9.96431685e-01 -1.88130816e-03 1.22352347e+01] [ 3.58379655e-02 -1.14808517e-03 9.99356954e-01 1.16424129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.82, Y:12.24, Z:11.64 [[ 9.96051900e-01 -8.12310152e-02 -3.58068979e-02 3.29818683e+02] [ 8.12157679e-02 9.96694765e-01 -1.88253350e-03 1.22397779e+01] [ 3.58414678e-02 -1.03298364e-03 9.99356954e-01 1.16433419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.85, Y:12.24, Z:11.64 [[ 9.96164331e-01 -7.98404106e-02 -3.58068979e-02 3.29848886e+02] [ 7.98242659e-02 9.96807174e-01 -1.88253350e-03 1.22427396e+01] [ 3.58428749e-02 -9.82946610e-04 9.99356954e-01 1.16443639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.88, Y:12.25, Z:11.65 [[ 9.96274907e-01 -7.84485502e-02 -3.58068979e-02 3.29878393e+02] [ 7.84315073e-02 9.96917727e-01 -1.88253350e-03 1.22455179e+01] [ 3.58442132e-02 -9.32868082e-04 9.99356954e-01 1.16459561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.91, Y:12.25, Z:11.65 [[ 9.96502621e-01 -7.55009797e-02 -3.58068297e-02 3.29907941e+02] [ 7.54819888e-02 9.97145386e-01 -1.88382887e-03 1.22499382e+01] [ 3.58468459e-02 -8.25530315e-04 9.99356954e-01 1.16473557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.94, Y:12.25, Z:11.65 [[ 9.96626637e-01 -7.38459391e-02 -3.58067620e-02 3.29937038e+02] [ 7.38258345e-02 9.97269368e-01 -1.88511522e-03 1.22526209e+01] [ 3.58481950e-02 -7.64708047e-04 9.99356954e-01 1.16478905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:12.26, Z:11.65 [[ 9.96809485e-01 -7.13353491e-02 -3.58066946e-02 3.29965413e+02] [ 7.13135797e-02 9.97452162e-01 -1.88639401e-03 1.22564168e+01] [ 3.58500315e-02 -6.73128130e-04 9.99356954e-01 1.16484696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.99, Y:12.26, Z:11.65 [[ 9.96871069e-01 -7.04695587e-02 -3.58065942e-02 3.29994133e+02] [ 7.04471628e-02 9.97513725e-01 -1.88829758e-03 1.22590694e+01] [ 3.58506367e-02 -6.40083741e-04 9.99356954e-01 1.16486996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.02, Y:12.26, Z:11.65 [[ 9.96932187e-01 -6.95996302e-02 -3.58064956e-02 3.30023613e+02] [ 6.95766064e-02 9.97574821e-01 -1.89016672e-03 1.22614011e+01] [ 3.58512133e-02 -6.06926409e-04 9.99356954e-01 1.16505207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.05, Y:12.26, Z:11.65 [[ 9.96976176e-01 -6.89666941e-02 -3.58064278e-02 3.30053262e+02] [ 6.89432162e-02 9.97618793e-01 -1.89144912e-03 1.22636003e+01] [ 3.58516123e-02 -5.82880580e-04 9.99356954e-01 1.16509379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.08, Y:12.27, Z:11.65 [[ 9.96978767e-01 -6.89292615e-02 -3.58063603e-02 3.30082974e+02] [ 6.89057137e-02 9.97621381e-01 -1.89272563e-03 1.22656867e+01] [ 3.58516548e-02 -5.80255552e-04 9.99356954e-01 1.16508664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.11, Y:12.27, Z:11.65 [[ 9.96917108e-01 -6.98154003e-02 -3.58062914e-02 3.30111518e+02] [ 6.97923769e-02 9.97559741e-01 -1.89402873e-03 1.22673951e+01] [ 3.58511472e-02 -6.10816544e-04 9.99356954e-01 1.16509949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.14, Y:12.27, Z:11.65 [[ 9.96676660e-01 -7.31679761e-02 -3.58061888e-02 3.30140215e+02] [ 7.31470446e-02 9.97319365e-01 -1.89596738e-03 1.22693120e+01] [ 3.58489295e-02 -7.29450445e-04 9.99356954e-01 1.16513925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.17, Y:12.27, Z:11.65 [[ 9.96508384e-01 -7.54252316e-02 -3.58060879e-02 3.30169800e+02] [ 7.54056875e-02 9.97151132e-01 -1.89787093e-03 1.22707653e+01] [ 3.58472284e-02 -8.08738376e-04 9.99356954e-01 1.16529964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.20, Y:12.27, Z:11.65 [[ 9.96268625e-01 -7.85286896e-02 -3.58060213e-02 3.30199668e+02] [ 7.85111024e-02 9.96911430e-01 -1.89912639e-03 1.22717594e+01] [ 3.58445678e-02 -9.19130164e-04 9.99356954e-01 1.16547397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.23, Y:12.27, Z:11.65 [[ 9.95795413e-01 -8.43174305e-02 -3.58059539e-02 3.30229825e+02] [ 8.43035339e-02 9.96438309e-01 -1.90039531e-03 1.22724208e+01] [ 3.58386606e-02 -1.12616352e-03 9.99356954e-01 1.16544164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.26, Y:12.27, Z:11.65 [[ 9.95534470e-01 -8.73444470e-02 -3.58059539e-02 3.30260295e+02] [ 8.73325050e-02 9.96177405e-01 -1.90039531e-03 1.22737157e+01] [ 3.58350712e-02 -1.23511461e-03 9.99356954e-01 1.16538782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.29, Y:12.28, Z:11.66 [[ 9.95057171e-01 -9.26237468e-02 -3.58059884e-02 3.30291229e+02] [ 9.26152386e-02 9.95700160e-01 -1.89974591e-03 1.22751504e+01] [ 3.58279899e-02 -1.42582437e-03 9.99356954e-01 1.16554943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.32, Y:12.28, Z:11.66 [[ 9.94820793e-01 -9.51289423e-02 -3.58060582e-02 3.30322653e+02] [ 9.51221004e-02 9.95463802e-01 -1.89842922e-03 1.22770901e+01] [ 3.58242304e-02 -1.51735060e-03 9.99356954e-01 1.16567897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.35, Y:12.28, Z:11.66 [[ 9.94657906e-01 -9.68172068e-02 -3.58061275e-02 3.30353271e+02] [ 9.68115033e-02 9.95300926e-01 -1.89712045e-03 1.22793242e+01] [ 3.58215458e-02 -1.57945918e-03 9.99356954e-01 1.16582670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:12.28, Z:11.66 [[ 9.94571070e-01 -9.77051675e-02 -3.58062312e-02 3.30385278e+02] [ 9.77001083e-02 9.95214096e-01 -1.89516241e-03 1.22825660e+01] [ 3.58200331e-02 -1.61339896e-03 9.99356954e-01 1.16596352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.42, Y:12.29, Z:11.66 [[ 9.94624939e-01 -9.71552046e-02 -3.58063700e-02 3.30415922e+02] [ 9.71498843e-02 9.95267963e-01 -1.89253500e-03 1.22852366e+01] [ 3.58208026e-02 -1.59622220e-03 9.99356954e-01 1.16605685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.45, Y:12.29, Z:11.66 [[ 9.94859849e-01 -9.47194715e-02 -3.58064734e-02 3.30448022e+02] [ 9.47126470e-02 9.95502858e-01 -1.89057694e-03 1.22890469e+01] [ 3.58245211e-02 -1.51046679e-03 9.99356954e-01 1.16614495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.48, Y:12.29, Z:11.66 [[ 9.95034843e-01 -9.28630641e-02 -3.58066100e-02 3.30478765e+02] [ 9.28551330e-02 9.95677839e-01 -1.88798662e-03 1.22917419e+01] [ 3.58271723e-02 -1.44621507e-03 9.99356954e-01 1.16627789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:12.29, Z:11.66 [[ 9.95218703e-01 -9.08713539e-02 -3.58068353e-02 3.30509493e+02] [ 9.08622897e-02 9.95861685e-01 -1.88370395e-03 1.22944508e+01] [ 3.58298301e-02 -1.37879364e-03 9.99356954e-01 1.16645061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.54, Y:12.30, Z:11.67 [[ 9.95598334e-01 -8.66130620e-02 -3.58069026e-02 3.30541554e+02] [ 8.66012932e-02 9.96241272e-01 -1.88242333e-03 1.22989039e+01] [ 3.58353567e-02 -1.22678655e-03 9.99356954e-01 1.16670545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.57, Y:12.30, Z:11.67 [[ 9.95773257e-01 -8.45782250e-02 -3.58070420e-02 3.30572187e+02] [ 8.45652378e-02 9.96416172e-01 -1.87976840e-03 1.23020942e+01] [ 3.58377032e-02 -1.15620792e-03 9.99356954e-01 1.16684114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.60, Y:12.30, Z:11.67 [[ 9.95955833e-01 -8.24004082e-02 -3.58071456e-02 3.30603655e+02] [ 8.23860859e-02 9.96598719e-01 -1.87779297e-03 1.23049592e+01] [ 3.58400863e-02 -1.07981171e-03 9.99356954e-01 1.16695464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:12.31, Z:11.67 [[ 9.96192430e-01 -7.94889005e-02 -3.58072136e-02 3.30633379e+02] [ 7.94727458e-02 9.96835273e-01 -1.87649447e-03 1.23082171e+01] [ 3.58430541e-02 -9.76348001e-04 9.99356954e-01 1.16698680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.67, Y:12.31, Z:11.67 [[ 9.96195255e-01 -7.94534799e-02 -3.58072473e-02 3.30665162e+02] [ 7.94373255e-02 9.96838097e-01 -1.87585128e-03 1.23098527e+01] [ 3.58430712e-02 -9.75717818e-04 9.99356954e-01 1.16710097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.70, Y:12.31, Z:11.67 [[ 9.96320824e-01 -7.78630345e-02 -3.58073140e-02 3.30695960e+02] [ 7.78458995e-02 9.96963641e-01 -1.87457813e-03 1.23129997e+01] [ 3.58445505e-02 -9.19771344e-04 9.99356954e-01 1.16714144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.73, Y:12.32, Z:11.67 [[ 9.96301294e-01 -7.81124997e-02 -3.58073804e-02 3.30726111e+02] [ 7.80955712e-02 9.96944117e-01 -1.87330895e-03 1.23155391e+01] [ 3.58442861e-02 -9.30017696e-04 9.99356954e-01 1.16717110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.76, Y:12.32, Z:11.67 [[ 9.96238616e-01 -7.89078122e-02 -3.58074921e-02 3.30756775e+02] [ 7.88914738e-02 9.96881454e-01 -1.87117065e-03 1.23176487e+01] [ 3.58434748e-02 -9.60773366e-04 9.99356954e-01 1.16725691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.79, Y:12.32, Z:11.67 [[ 9.96176342e-01 -7.96901288e-02 -3.58075247e-02 3.30787952e+02] [ 7.96743175e-02 9.96819193e-01 -1.87054712e-03 1.23201155e+01] [ 3.58426920e-02 -9.89545302e-04 9.99356954e-01 1.16742150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.82, Y:12.32, Z:11.67 [[ 9.96064043e-01 -8.10816729e-02 -3.58075922e-02 3.30817922e+02] [ 8.10668062e-02 9.96706917e-01 -1.86925466e-03 1.23228222e+01] [ 3.58412371e-02 -1.04090978e-03 9.99356954e-01 1.16745482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.85, Y:12.32, Z:11.68 [[ 9.96031549e-01 -8.14798599e-02 -3.58076256e-02 3.30849666e+02] [ 8.14652731e-02 9.96674429e-01 -1.86861383e-03 1.23247818e+01] [ 3.58407992e-02 -1.05587967e-03 9.99356954e-01 1.16760440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.88, Y:12.33, Z:11.68 [[ 9.96034496e-01 -8.14437973e-02 -3.58076929e-02 3.30880341e+02] [ 8.14292337e-02 9.96677377e-01 -1.86732369e-03 1.23280200e+01] [ 3.58407993e-02 -1.05587418e-03 9.99356954e-01 1.16784894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.91, Y:12.33, Z:11.68 [[ 9.96094812e-01 -8.07027237e-02 -3.58077609e-02 3.30911136e+02] [ 8.06877286e-02 9.96737683e-01 -1.86601864e-03 1.23307545e+01] [ 3.58415374e-02 -1.03051541e-03 9.99356954e-01 1.16800582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.94, Y:12.33, Z:11.68 [[ 9.96184176e-01 -7.95919908e-02 -3.58078625e-02 3.30942603e+02] [ 7.95763490e-02 9.96827031e-01 -1.86406699e-03 1.23337279e+01] [ 3.58426101e-02 -9.92504923e-04 9.99356954e-01 1.16819449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.97, Y:12.34, Z:11.68 [[ 9.96301832e-01 -7.81053844e-02 -3.58079296e-02 3.30974225e+02] [ 7.80888297e-02 9.96944665e-01 -1.86277739e-03 1.23367881e+01] [ 3.58440173e-02 -9.40310785e-04 9.99356954e-01 1.16837612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.01, Y:12.34, Z:11.69 [[ 9.96574255e-01 -7.45489261e-02 -3.58079965e-02 3.31005545e+02] [ 7.45301233e-02 9.97217025e-01 -1.86149011e-03 1.23411905e+01] [ 3.58471158e-02 -8.13661277e-04 9.99356954e-01 1.16867565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.04, Y:12.34, Z:11.69 [[ 9.96851249e-01 -7.07486347e-02 -3.58080645e-02 3.31035519e+02] [ 7.07274283e-02 9.97493945e-01 -1.86018140e-03 1.23442131e+01] [ 3.58499328e-02 -6.78288160e-04 9.99356954e-01 1.16879756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.07, Y:12.35, Z:11.69 [[ 9.96965201e-01 -6.91242610e-02 -3.58081752e-02 3.31066408e+02] [ 6.91020840e-02 9.97607864e-01 -1.85804770e-03 1.23462848e+01] [ 3.58509533e-02 -6.22010638e-04 9.99356954e-01 1.16897407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.10, Y:12.35, Z:11.69 [[ 9.97131178e-01 -6.66872436e-02 -3.58081752e-02 3.31096793e+02] [ 6.66634959e-02 9.97773785e-01 -1.85804770e-03 1.23490425e+01] [ 3.58523666e-02 -5.34380853e-04 9.99356954e-01 1.16924891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.13, Y:12.35, Z:11.69 [[ 9.97182976e-01 -6.59081516e-02 -3.58082083e-02 3.31126639e+02] [ 6.58839247e-02 9.97825565e-01 -1.85741034e-03 1.23508644e+01] [ 3.58527641e-02 -5.07007330e-04 9.99356954e-01 1.16940642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.16, Y:12.35, Z:11.69 [[ 9.97187588e-01 -6.58383782e-02 -3.58081412e-02 3.31155721e+02] [ 6.58140599e-02 9.97830173e-01 -1.85870150e-03 1.23520964e+01] [ 3.58528177e-02 -5.03205086e-04 9.99356954e-01 1.16944779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.19, Y:12.35, Z:11.69 [[ 9.97102686e-01 -6.71119469e-02 -3.58081080e-02 3.31186021e+02] [ 6.70884264e-02 9.97745301e-01 -1.85934131e-03 1.23524765e+01] [ 3.58521555e-02 -5.48355402e-04 9.99356954e-01 1.16944254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.22, Y:12.35, Z:11.69 [[ 9.97048807e-01 -6.79076958e-02 -3.58081080e-02 3.31216448e+02] [ 6.78846882e-02 9.97691441e-01 -1.85934131e-03 1.23533734e+01] [ 3.58517065e-02 -5.76968207e-04 9.99356954e-01 1.16949774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.25, Y:12.35, Z:11.70 [[ 9.97048807e-01 -6.79076958e-02 -3.58081080e-02 3.31247386e+02] [ 6.78846882e-02 9.97691441e-01 -1.85934131e-03 1.23549798e+01] [ 3.58517065e-02 -5.76968206e-04 9.99356954e-01 1.16960889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.28, Y:12.36, Z:11.70 [[ 9.96978525e-01 -6.89318493e-02 -3.58081080e-02 3.31277397e+02] [ 6.89095018e-02 9.97621182e-01 -1.85934131e-03 1.23557523e+01] [ 3.58510949e-02 -6.13795524e-04 9.99356954e-01 1.16957945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.31, Y:12.36, Z:11.70 [[ 9.96895039e-01 -7.01288976e-02 -3.58080741e-02 3.31307681e+02] [ 7.01072984e-02 9.97537722e-01 -1.85999442e-03 1.23565563e+01] [ 3.58503440e-02 -6.56188120e-04 9.99356954e-01 1.16964209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.34, Y:12.36, Z:11.70 [[ 9.96732067e-01 -7.24083417e-02 -3.58080741e-02 3.31338115e+02] [ 7.23882122e-02 9.97374798e-01 -1.85999442e-03 1.23564745e+01] [ 3.58487498e-02 -7.38166377e-04 9.99356954e-01 1.16968385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.37, Y:12.36, Z:11.70 [[ 9.96642651e-01 -7.36288581e-02 -3.58080741e-02 3.31368871e+02] [ 7.36095156e-02 9.97285405e-01 -1.85999442e-03 1.23576006e+01] [ 3.58478190e-02 -7.82065215e-04 9.99356954e-01 1.16968471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.40, Y:12.36, Z:11.70 [[ 9.96584319e-01 -7.44142128e-02 -3.58081079e-02 3.31399371e+02] [ 7.43954003e-02 9.97227089e-01 -1.85934262e-03 1.23586930e+01] [ 3.58471768e-02 -8.10966826e-04 9.99356954e-01 1.16983932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.43, Y:12.36, Z:11.70 [[ 9.96456811e-01 -7.61025863e-02 -3.58081079e-02 3.31430182e+02] [ 7.60848628e-02 9.97099612e-01 -1.85934262e-03 1.23594246e+01] [ 3.58457513e-02 -8.71700361e-04 9.99356954e-01 1.17006994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.46, Y:12.36, Z:11.70 [[ 9.96386516e-01 -7.70174385e-02 -3.58081748e-02 3.31461316e+02] [ 7.70003515e-02 9.97029334e-01 -1.85805356e-03 1.23605675e+01] [ 3.58449032e-02 -9.05902534e-04 9.99356954e-01 1.17026003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.49, Y:12.36, Z:11.70 [[ 9.96314265e-01 -7.79464916e-02 -3.58082430e-02 3.31491484e+02] [ 7.79300512e-02 9.96957100e-01 -1.85673935e-03 1.23620088e+01] [ 3.58440084e-02 -9.40642314e-04 9.99356954e-01 1.17039969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.52, Y:12.36, Z:11.71 [[ 9.96052743e-01 -8.12200719e-02 -3.58082768e-02 3.31522415e+02] [ 8.12057674e-02 9.96695630e-01 -1.85608726e-03 1.23631665e+01] [ 3.58407045e-02 -1.05907779e-03 9.99356954e-01 1.17067130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.55, Y:12.36, Z:11.71 [[ 9.95875000e-01 -8.33711446e-02 -3.58083443e-02 3.31553598e+02] [ 8.33582755e-02 9.96517916e-01 -1.85478386e-03 1.23641725e+01] [ 3.58382921e-02 -1.13778895e-03 9.99356954e-01 1.17081258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.58, Y:12.37, Z:11.71 [[ 9.95653401e-01 -8.59771020e-02 -3.58084116e-02 3.31584937e+02] [ 8.59659622e-02 9.96296350e-01 -1.85348352e-03 1.23653071e+01] [ 3.58351469e-02 -1.23287739e-03 9.99356954e-01 1.17093496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.62, Y:12.37, Z:11.71 [[ 9.95129608e-01 -9.18412418e-02 -3.58085122e-02 3.31615890e+02] [ 9.18339598e-02 9.95772612e-01 -1.85153888e-03 1.23657842e+01] [ 3.58271833e-02 -1.44591630e-03 9.99356954e-01 1.17111436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.65, Y:12.37, Z:11.71 [[ 9.94820975e-01 -9.51260758e-02 -3.58086112e-02 3.31647809e+02] [ 9.51209855e-02 9.95464001e-01 -1.84962155e-03 1.23667643e+01] [ 3.58221306e-02 -1.56610807e-03 9.99356954e-01 1.17127547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.68, Y:12.37, Z:11.71 [[ 9.94239559e-01 -1.01021946e-01 -3.58087460e-02 3.31679755e+02] [ 1.01020762e-01 9.94882603e-01 -1.84700720e-03 1.23672855e+01] [ 3.58120867e-02 -1.78105918e-03 9.99356954e-01 1.17137065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.71, Y:12.37, Z:11.71 [[ 9.93965439e-01 -1.03684279e-01 -3.58088808e-02 3.31710544e+02] [ 1.03684911e-01 9.94608484e-01 -1.84439031e-03 1.23688068e+01] [ 3.58070510e-02 -1.87958041e-03 9.99356954e-01 1.17145406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.74, Y:12.37, Z:11.72 [[ 9.93972915e-01 -1.03612556e-01 -3.58089812e-02 3.31743172e+02] [ 1.03613211e-01 9.94615960e-01 -1.84243943e-03 1.23704268e+01] [ 3.58070841e-02 -1.87894864e-03 9.99356954e-01 1.17157122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.78, Y:12.37, Z:11.72 [[ 9.93781732e-01 -1.05430437e-01 -3.58091139e-02 3.31775112e+02] [ 1.05432361e-01 9.94424774e-01 -1.83985634e-03 1.23722721e+01] [ 3.58034469e-02 -1.94702382e-03 9.99356954e-01 1.17168206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:12.37, Z:11.72 [[ 9.93581686e-01 -1.07299256e-01 -3.58092461e-02 3.31807132e+02] [ 1.07302483e-01 9.94224724e-01 -1.83728006e-03 1.23748840e+01] [ 3.57995766e-02 -2.01693320e-03 9.99356954e-01 1.17178917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.84, Y:12.38, Z:11.72 [[ 9.93573671e-01 -1.07373412e-01 -3.58093776e-02 3.31839453e+02] [ 1.07376779e-01 9.94216707e-01 -1.83471433e-03 1.23771824e+01] [ 3.57992810e-02 -2.02217175e-03 9.99356954e-01 1.17191019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.87, Y:12.38, Z:11.72 [[ 9.93636327e-01 -1.06791989e-01 -3.58095092e-02 3.31871945e+02] [ 1.06795071e-01 9.94279365e-01 -1.83214156e-03 1.23797716e+01] [ 3.58003141e-02 -2.00379668e-03 9.99356954e-01 1.17205703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.90, Y:12.38, Z:11.72 [[ 9.93755644e-01 -1.05675874e-01 -3.58096431e-02 3.31903988e+02] [ 1.05678329e-01 9.94398684e-01 -1.82952096e-03 1.23823283e+01] [ 3.58023982e-02 -1.96620645e-03 9.99356954e-01 1.17210276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.94, Y:12.39, Z:11.72 [[ 9.94137564e-01 -1.02020392e-01 -3.58098094e-02 3.31936364e+02] [ 1.02020599e-01 9.94780610e-01 -1.82626044e-03 1.23867857e+01] [ 3.58092198e-02 -1.83778411e-03 9.99356954e-01 1.17212221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.97, Y:12.39, Z:11.72 [[ 9.94379739e-01 -9.96322423e-02 -3.58099404e-02 3.31968174e+02] [ 9.96309971e-02 9.95022783e-01 -1.82368763e-03 1.23903093e+01] [ 3.58134046e-02 -1.75434203e-03 9.99356954e-01 1.17222159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.00, Y:12.40, Z:11.72 [[ 9.95006362e-01 -9.31664004e-02 -3.58100733e-02 3.32000308e+02] [ 9.31610692e-02 9.95649386e-01 -1.82107459e-03 1.23963852e+01] [ 3.58239404e-02 -1.52412391e-03 9.99356954e-01 1.17231439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.03, Y:12.40, Z:11.72 [[ 9.95339244e-01 -8.95400443e-02 -3.58102052e-02 3.32032651e+02] [ 8.95324633e-02 9.95982244e-01 -1.81847683e-03 1.24000688e+01] [ 3.58291550e-02 -1.39617453e-03 9.99356954e-01 1.17244733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.06, Y:12.41, Z:11.73 [[ 9.95977279e-01 -8.21393886e-02 -3.58103359e-02 3.32064836e+02] [ 8.21271211e-02 9.96620208e-01 -1.81589830e-03 1.24054663e+01] [ 3.58384612e-02 -1.13240635e-03 9.99356954e-01 1.17265001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.10, Y:12.41, Z:11.73 [[ 9.96288563e-01 -7.82732986e-02 -3.58104680e-02 3.32096318e+02] [ 7.82586295e-02 9.96931441e-01 -1.81329108e-03 1.24089955e+01] [ 3.58425137e-02 -9.95916976e-04 9.99356954e-01 1.17275745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.13, Y:12.41, Z:11.73 [[ 9.96571832e-01 -7.45800140e-02 -3.58106850e-02 3.32128574e+02] [ 7.45631165e-02 9.97214656e-01 -1.80899381e-03 1.24123994e+01] [ 3.58458547e-02 -8.67364008e-04 9.99356954e-01 1.17299248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.16, Y:12.42, Z:11.73 [[ 9.97101778e-01 -6.71239886e-02 -3.58108174e-02 3.32159957e+02] [ 6.71023778e-02 9.97744460e-01 -1.80637058e-03 1.24176649e+01] [ 3.58512954e-02 -6.01855677e-04 9.99356954e-01 1.17316132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.19, Y:12.42, Z:11.73 [[ 9.97334504e-01 -6.35724537e-02 -3.58110332e-02 3.32190226e+02] [ 6.35487081e-02 9.97977111e-01 -1.80208050e-03 1.24206052e+01] [ 3.58531542e-02 -4.78467839e-04 9.99356954e-01 1.17322742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.22, Y:12.42, Z:11.73 [[ 9.97504206e-01 -6.08516705e-02 -3.58110653e-02 3.32220163e+02] [ 6.08261951e-02 9.98146747e-01 -1.80144249e-03 1.24235638e+01] [ 3.58543192e-02 -3.81304386e-04 9.99356954e-01 1.17339425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.25, Y:12.43, Z:11.73 [[ 9.97671176e-01 -5.80499155e-02 -3.58110653e-02 3.32249608e+02] [ 5.80226355e-02 9.98313642e-01 -1.80144249e-03 1.24258174e+01] [ 3.58552487e-02 -2.80605146e-04 9.99356954e-01 1.17347868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.28, Y:12.43, Z:11.74 [[ 9.97876393e-01 -5.44083673e-02 -3.58110724e-02 3.32279431e+02] [ 5.43787478e-02 9.98518757e-01 -1.80130115e-03 1.24283784e+01] [ 3.58560334e-02 -1.49885380e-04 9.99356954e-01 1.17361630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.31, Y:12.43, Z:11.74 [[ 9.97914139e-01 -5.37116633e-02 -3.58110085e-02 3.32308261e+02] [ 5.36815497e-02 9.98556479e-01 -1.80257197e-03 1.24297211e+01] [ 3.58561337e-02 -1.23578377e-04 9.99356954e-01 1.17370610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.34, Y:12.43, Z:11.74 [[ 9.97905128e-01 -5.38791180e-02 -3.58105502e-02 3.32337366e+02] [ 5.38487871e-02 9.98547458e-01 -1.81163067e-03 1.24310236e+01] [ 3.58561429e-02 -1.20519157e-04 9.99356954e-01 1.17363305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.37, Y:12.43, Z:11.74 [[ 9.97869545e-01 -5.45342496e-02 -3.58104292e-02 3.32365987e+02] [ 5.45042547e-02 9.98511891e-01 -1.81401943e-03 1.24323525e+01] [ 3.58560656e-02 -1.41666008e-04 9.99356954e-01 1.17368769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.39, Y:12.43, Z:11.74 [[ 9.97788712e-01 -5.59938015e-02 -3.58103337e-02 3.32394990e+02] [ 5.59646787e-02 9.98431098e-01 -1.81590282e-03 1.24335039e+01] [ 3.58558301e-02 -1.92226480e-04 9.99356954e-01 1.17387345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.42, Y:12.43, Z:11.74 [[ 9.97608484e-01 -5.91182317e-02 -3.58098789e-02 3.32423551e+02] [ 5.90908004e-02 9.98250944e-01 -1.82482795e-03 1.24334176e+01] [ 3.58551260e-02 -2.95570557e-04 9.99356955e-01 1.17399888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.45, Y:12.43, Z:11.74 [[ 9.97494435e-01 -6.10123956e-02 -3.58097821e-02 3.32453598e+02] [ 6.09861161e-02 9.98136943e-01 -1.82672577e-03 1.24342130e+01] [ 3.58545193e-02 -3.61750739e-04 9.99356955e-01 1.17414045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.48, Y:12.43, Z:11.74 [[ 9.97282357e-01 -6.43860630e-02 -3.58097179e-02 3.32482879e+02] [ 6.43619118e-02 9.97924948e-01 -1.82798292e-03 1.24336643e+01] [ 3.58531075e-02 -4.81766792e-04 9.99356955e-01 1.17420893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.51, Y:12.43, Z:11.74 [[ 9.97161237e-01 -6.62354392e-02 -3.58096860e-02 3.32513475e+02] [ 6.62124573e-02 9.97803872e-01 -1.82860685e-03 1.24345941e+01] [ 3.58521620e-02 -5.47631441e-04 9.99356955e-01 1.17430642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:12.44, Z:11.74 [[ 9.97035907e-01 -6.80960106e-02 -3.58096860e-02 3.32543914e+02] [ 6.80742279e-02 9.97678583e-01 -1.82860685e-03 1.24354941e+01] [ 3.58510777e-02 -6.14530043e-04 9.99356955e-01 1.17446239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.58, Y:12.44, Z:11.75 [[ 9.96810922e-01 -7.13137605e-02 -3.58096860e-02 3.32575196e+02] [ 7.12940522e-02 9.97453665e-01 -1.82860685e-03 1.24359669e+01] [ 3.58489074e-02 -7.30242350e-04 9.99356955e-01 1.17469567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.61, Y:12.44, Z:11.75 [[ 9.96727059e-01 -7.24764169e-02 -3.58097518e-02 3.32606974e+02] [ 7.24575047e-02 9.97369827e-01 -1.82731773e-03 1.24367980e+01] [ 3.58480034e-02 -7.73348234e-04 9.99356955e-01 1.17486475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.64, Y:12.44, Z:11.75 [[ 9.96653264e-01 -7.34842036e-02 -3.58098174e-02 3.32638199e+02] [ 7.34659875e-02 9.97296051e-01 -1.82603227e-03 1.24375902e+01] [ 3.58471740e-02 -8.10882567e-04 9.99356955e-01 1.17499281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.67, Y:12.44, Z:11.75 [[ 9.96543582e-01 -7.49569326e-02 -3.58098824e-02 3.32668415e+02] [ 7.49397122e-02 9.97186397e-01 -1.82475664e-03 1.24372151e+01] [ 3.58459057e-02 -8.65132764e-04 9.99356955e-01 1.17511906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.70, Y:12.44, Z:11.75 [[ 9.96537141e-01 -7.50424966e-02 -3.58099146e-02 3.32700234e+02] [ 7.50253542e-02 9.97179958e-01 -1.82412328e-03 1.24376998e+01] [ 3.58458159e-02 -8.68844925e-04 9.99356955e-01 1.17524938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.73, Y:12.44, Z:11.75 [[ 9.96581060e-01 -7.44569474e-02 -3.58099810e-02 3.32731193e+02] [ 7.44394740e-02 9.97223868e-01 -1.82281927e-03 1.24378401e+01] [ 3.58462893e-02 -8.49088992e-04 9.99356955e-01 1.17533097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.76, Y:12.44, Z:11.75 [[ 9.96645473e-01 -7.35896141e-02 -3.58102045e-02 3.32761727e+02] [ 7.35717394e-02 9.97288270e-01 -1.81841793e-03 1.24388954e+01] [ 3.58469136e-02 -8.22301035e-04 9.99356955e-01 1.17538210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.79, Y:12.44, Z:11.75 [[ 9.96722539e-01 -7.25383173e-02 -3.58102371e-02 3.32793295e+02] [ 7.25197876e-02 9.97365317e-01 -1.81777645e-03 1.24398493e+01] [ 3.58477469e-02 -7.85132032e-04 9.99356955e-01 1.17548032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.82, Y:12.44, Z:11.76 [[ 9.96953240e-01 -6.92954478e-02 -3.58103026e-02 3.32824195e+02] [ 6.92748735e-02 9.97595956e-01 -1.81648554e-03 1.24406520e+01] [ 3.58500872e-02 -6.69803040e-04 9.99356955e-01 1.17550908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.85, Y:12.44, Z:11.76 [[ 9.97120855e-01 -6.68402381e-02 -3.58103675e-02 3.32854679e+02] [ 6.68181272e-02 9.97763521e-01 -1.81520344e-03 1.24419313e+01] [ 3.58516070e-02 -5.82804482e-04 9.99356955e-01 1.17553777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.89, Y:12.44, Z:11.76 [[ 9.97296101e-01 -6.41724436e-02 -3.58103997e-02 3.32885235e+02] [ 6.41486363e-02 9.97938705e-01 -1.81456804e-03 1.24432941e+01] [ 3.58530292e-02 -4.87526679e-04 9.99356955e-01 1.17564346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.91, Y:12.44, Z:11.76 [[ 9.97683013e-01 -5.78465283e-02 -3.58103997e-02 3.32914214e+02] [ 5.78186463e-02 9.98325454e-01 -1.81456804e-03 1.24444168e+01] [ 3.58554000e-02 -2.60145128e-04 9.99356955e-01 1.17571676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.94, Y:12.45, Z:11.76 [[ 9.97855024e-01 -5.47993465e-02 -3.58103676e-02 3.32942790e+02] [ 5.47694799e-02 9.98497376e-01 -1.81520210e-03 1.24459814e+01] [ 3.58560300e-02 -1.50006669e-04 9.99356955e-01 1.17586338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.97, Y:12.45, Z:11.76 [[ 9.98144702e-01 -4.92422993e-02 -3.58099081e-02 3.32971531e+02] [ 4.92085328e-02 9.98786860e-01 -1.82422125e-03 1.24471010e+01] [ 3.58562946e-02 5.86837412e-05 9.99356955e-01 1.17595701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.00, Y:12.45, Z:11.76 [[ 9.98227010e-01 -4.75449244e-02 -3.58094488e-02 3.32997981e+02] [ 4.75097440e-02 9.98869092e-01 -1.83319507e-03 1.24480351e+01] [ 3.58561107e-02 1.28647089e-04 9.99356955e-01 1.17600486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:12.45, Z:11.76 [[ 9.98261819e-01 -4.68085554e-02 -3.58092208e-02 3.33026103e+02] [ 4.67727421e-02 9.98903866e-01 -1.83763739e-03 1.24488062e+01] [ 3.58559862e-02 1.59547793e-04 9.99356955e-01 1.17611904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.05, Y:12.45, Z:11.76 [[ 9.98275420e-01 -4.65180000e-02 -3.58086870e-02 3.33052969e+02] [ 4.64816288e-02 9.98917436e-01 -1.84798081e-03 1.24491593e+01] [ 3.58558862e-02 1.80347726e-04 9.99356955e-01 1.17612794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.08, Y:12.45, Z:11.76 [[ 9.98186912e-01 -4.83803085e-02 -3.58083146e-02 3.33080732e+02] [ 4.83448773e-02 9.98828980e-01 -1.85516838e-03 1.24477958e+01] [ 3.58561360e-02 1.20656214e-04 9.99356955e-01 1.17614555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.11, Y:12.45, Z:11.76 [[ 9.97936973e-01 -5.32878984e-02 -3.58077775e-02 3.33109947e+02] [ 5.32552548e-02 9.98579190e-01 -1.86547932e-03 1.24459318e+01] [ 3.58563089e-02 -4.53215245e-05 9.99356955e-01 1.17615946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.14, Y:12.45, Z:11.76 [[ 9.97759948e-01 -5.65059622e-02 -3.58072976e-02 3.33138126e+02] [ 5.64750609e-02 9.98402250e-01 -1.87464463e-03 1.24457163e+01] [ 3.58560151e-02 -1.51773981e-04 9.99356955e-01 1.17628142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:12.45, Z:11.76 [[ 9.97538571e-01 -6.02882744e-02 -3.58067430e-02 3.33166456e+02] [ 6.02594304e-02 9.98180969e-01 -1.88517892e-03 1.24455389e+01] [ 3.58552636e-02 -2.77155251e-04 9.99356955e-01 1.17643224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.20, Y:12.44, Z:11.77 [[ 9.97320071e-01 -6.38012070e-02 -3.58061862e-02 3.33195332e+02] [ 6.37742481e-02 9.97962550e-01 -1.89569557e-03 1.24449927e+01] [ 3.58541806e-02 -3.92897360e-04 9.99356955e-01 1.17657041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.22, Y:12.44, Z:11.77 [[ 9.96802518e-01 -7.14329564e-02 -3.58060590e-02 3.33224725e+02] [ 7.14108298e-02 9.97445182e-01 -1.89809563e-03 1.24426558e+01] [ 3.58501676e-02 -6.64913886e-04 9.99356955e-01 1.17684081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.26, Y:12.44, Z:11.77 [[ 9.96212721e-01 -7.92347564e-02 -3.58059894e-02 3.33255116e+02] [ 7.92176147e-02 9.96855537e-01 -1.89940670e-03 1.24401351e+01] [ 3.58438979e-02 -9.44251961e-04 9.99356955e-01 1.17704801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.29, Y:12.44, Z:11.77 [[ 9.95904809e-01 -8.30152991e-02 -3.58060239e-02 3.33285802e+02] [ 8.30006207e-02 9.96547687e-01 -1.89875612e-03 1.24399321e+01] [ 3.58400361e-02 -1.08094186e-03 9.99356955e-01 1.17717722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.32, Y:12.44, Z:11.77 [[ 9.95604112e-01 -8.65469779e-02 -3.58060581e-02 3.33317393e+02] [ 8.65346028e-02 9.96247037e-01 -1.89811240e-03 1.24398997e+01] [ 3.58359552e-02 -1.20869450e-03 9.99356955e-01 1.17734509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.35, Y:12.44, Z:11.77 [[ 9.95283320e-01 -9.01611578e-02 -3.58061262e-02 3.33348306e+02] [ 9.01511633e-02 9.95926287e-01 -1.89682640e-03 1.24397381e+01] [ 3.58312824e-02 -1.34008425e-03 9.99356955e-01 1.17745845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.38, Y:12.44, Z:11.78 [[ 9.94988612e-01 -9.33572628e-02 -3.58061942e-02 3.33380975e+02] [ 9.33493796e-02 9.95631609e-01 -1.89554229e-03 1.24399411e+01] [ 3.58267413e-02 -1.45644301e-03 9.99356955e-01 1.17760571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.41, Y:12.44, Z:11.78 [[ 9.94448490e-01 -9.89449739e-02 -3.58063318e-02 3.33413164e+02] [ 9.89407963e-02 9.95091521e-01 -1.89293900e-03 1.24396839e+01] [ 3.58178740e-02 -1.66027665e-03 9.99356955e-01 1.17776679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.44, Y:12.44, Z:11.78 [[ 9.94237008e-01 -1.01047856e-01 -3.58064702e-02 3.33444890e+02] [ 1.01045132e-01 9.94880047e-01 -1.89031751e-03 1.24408276e+01] [ 3.58141553e-02 -1.73864590e-03 9.99356955e-01 1.17789975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.48, Y:12.44, Z:11.78 [[ 9.93884587e-01 -1.04457237e-01 -3.58066079e-02 3.33476604e+02] [ 1.04456813e-01 9.94527632e-01 -1.88770554e-03 1.24415055e+01] [ 3.58078455e-02 -1.86408270e-03 9.99356955e-01 1.17799032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.51, Y:12.44, Z:11.78 [[ 9.93748383e-01 -1.05745110e-01 -3.58067452e-02 3.33508050e+02] [ 1.05745613e-01 9.94391428e-01 -1.88509720e-03 1.24430616e+01] [ 3.58052603e-02 -1.91309392e-03 9.99356955e-01 1.17808268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.54, Y:12.45, Z:11.78 [[ 9.93555957e-01 -1.07538040e-01 -3.58068475e-02 3.33540246e+02] [ 1.07539773e-01 9.94199000e-01 -1.88315266e-03 1.24450031e+01] [ 3.58016425e-02 -1.97964271e-03 9.99356955e-01 1.17821753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.57, Y:12.45, Z:11.78 [[ 9.93460842e-01 -1.08413168e-01 -3.58069851e-02 3.33571494e+02] [ 1.08415561e-01 9.94103883e-01 -1.88053254e-03 1.24468023e+01] [ 3.57997374e-02 -2.01379894e-03 9.99356955e-01 1.17823683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.60, Y:12.45, Z:11.78 [[ 9.93303121e-01 -1.09848820e-01 -3.58070875e-02 3.33603403e+02] [ 1.09852213e-01 9.93946157e-01 -1.87858094e-03 1.24489696e+01] [ 3.57966769e-02 -2.06748748e-03 9.99356955e-01 1.17818189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.64, Y:12.45, Z:11.78 [[ 9.93301298e-01 -1.09865255e-01 -3.58072228e-02 3.33635287e+02] [ 1.09868752e-01 9.93944333e-01 -1.87599770e-03 1.24513827e+01] [ 3.57964932e-02 -2.07066392e-03 9.99356955e-01 1.17825105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.67, Y:12.45, Z:11.78 [[ 9.93309178e-01 -1.09793942e-01 -3.58073573e-02 3.33667913e+02] [ 1.09797484e-01 9.93952213e-01 -1.87342753e-03 1.24530296e+01] [ 3.57964930e-02 -2.07066499e-03 9.99356955e-01 1.17836819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.70, Y:12.46, Z:11.78 [[ 9.93373983e-01 -1.09206015e-01 -3.58074915e-02 3.33699861e+02] [ 1.09209269e-01 9.94017020e-01 -1.87085843e-03 1.24556013e+01] [ 3.57975650e-02 -2.05204789e-03 9.99356955e-01 1.17845161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.73, Y:12.46, Z:11.79 [[ 9.93711876e-01 -1.06087330e-01 -3.58076276e-02 3.33731853e+02] [ 1.06088659e-01 9.94354920e-01 -1.86825002e-03 1.24602860e+01] [ 3.58036883e-02 -1.94228098e-03 9.99356955e-01 1.17860122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.76, Y:12.47, Z:11.79 [[ 9.94265568e-01 -1.00765989e-01 -3.58077628e-02 3.33764144e+02] [ 1.00763969e-01 9.94908610e-01 -1.86565493e-03 1.24661414e+01] [ 3.58134461e-02 -1.75317583e-03 9.99356955e-01 1.17879408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.80, Y:12.47, Z:11.79 [[ 9.94611422e-01 -9.72929317e-02 -3.58078980e-02 3.33796014e+02] [ 9.72887595e-02 9.95254453e-01 -1.86305763e-03 1.24700906e+01] [ 3.58192322e-02 -1.63068758e-03 9.99356955e-01 1.17894322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.83, Y:12.47, Z:11.79 [[ 9.94948262e-01 -9.37856101e-02 -3.58080338e-02 3.33827892e+02] [ 9.37792647e-02 9.95591276e-01 -1.86044221e-03 1.24744712e+01] [ 3.58246488e-02 -1.50700734e-03 9.99356955e-01 1.17912024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.86, Y:12.48, Z:11.79 [[ 9.95649437e-01 -8.60230929e-02 -3.58081718e-02 3.33859799e+02] [ 8.60118283e-02 9.96292384e-01 -1.85778343e-03 1.24812241e+01] [ 3.58352211e-02 -1.23022529e-03 9.99356955e-01 1.17924278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.89, Y:12.49, Z:11.79 [[ 9.95987614e-01 -8.20148683e-02 -3.58083090e-02 3.33891682e+02] [ 8.20011111e-02 9.96630511e-01 -1.85513446e-03 1.24851675e+01] [ 3.58398019e-02 -1.08863018e-03 9.99356955e-01 1.17934712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.92, Y:12.49, Z:11.79 [[ 9.96591060e-01 -7.43237137e-02 -3.58084455e-02 3.33922839e+02] [ 7.43050886e-02 9.97233835e-01 -1.85249695e-03 1.24905942e+01] [ 3.58470779e-02 -8.14567812e-04 9.99356955e-01 1.17945355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.95, Y:12.49, Z:11.80 [[ 9.96846752e-01 -7.08117494e-02 -3.58085132e-02 3.33953456e+02] [ 7.07909066e-02 9.97489459e-01 -1.85118753e-03 1.24936345e+01] [ 3.58497002e-02 -6.89566835e-04 9.99356955e-01 1.17953649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.98, Y:12.50, Z:11.80 [[ 9.97089034e-01 -6.73142355e-02 -3.58085466e-02 3.33984470e+02] [ 6.72911614e-02 9.97731665e-01 -1.85053960e-03 1.24965701e+01] [ 3.58518885e-02 -5.64445953e-04 9.99356955e-01 1.17965775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.02, Y:12.50, Z:11.80 [[ 9.97485087e-01 -6.11657048e-02 -3.58086144e-02 3.34015078e+02] [ 6.11387164e-02 9.98127566e-01 -1.84922721e-03 1.25004574e+01] [ 3.58546744e-02 -3.44716157e-04 9.99356955e-01 1.17973881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.04, Y:12.50, Z:11.80 [[ 9.97649491e-01 -5.84229133e-02 -3.58086144e-02 3.34043368e+02] [ 5.83941584e-02 9.98291893e-01 -1.84922721e-03 1.25028945e+01] [ 3.58554867e-02 -2.46133321e-04 9.99356955e-01 1.17978668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.07, Y:12.51, Z:11.80 [[ 9.97878825e-01 -5.43654424e-02 -3.58085144e-02 3.34073273e+02] [ 5.43340060e-02 9.98521101e-01 -1.85116148e-03 1.25055221e+01] [ 3.58561965e-02 -9.83851942e-05 9.99356955e-01 1.17980286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.10, Y:12.51, Z:11.80 [[ 9.97946003e-01 -5.31180747e-02 -3.58084477e-02 3.34102103e+02] [ 5.30857892e-02 9.98588237e-01 -1.85245101e-03 1.25071673e+01] [ 3.58562933e-02 -5.22736201e-05 9.99356955e-01 1.17990250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.13, Y:12.51, Z:11.80 [[ 9.97987393e-01 -5.23349951e-02 -3.58079715e-02 3.34130140e+02] [ 5.23018771e-02 9.98629585e-01 -1.86161015e-03 1.25085696e+01] [ 3.58563271e-02 -1.49606649e-05 9.99356955e-01 1.17991255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.16, Y:12.51, Z:11.80 [[ 9.98002688e-01 -5.20426437e-02 -3.58078028e-02 3.34157784e+02] [ 5.20092213e-02 9.98644863e-01 -1.86485043e-03 1.25098360e+01] [ 3.58563301e-02 -1.21019982e-06 9.99356955e-01 1.18000501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.19, Y:12.51, Z:11.80 [[ 9.97967133e-01 -5.27204018e-02 -3.58072693e-02 3.34185873e+02] [ 5.26870499e-02 9.98609313e-01 -1.87503896e-03 1.25098926e+01] [ 3.58563254e-02 -1.53521238e-05 9.99356955e-01 1.18004549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.21, Y:12.51, Z:11.80 [[ 9.97916343e-01 -5.36735535e-02 -3.58067306e-02 3.34213528e+02] [ 5.36404479e-02 9.98558535e-01 -1.88526902e-03 1.25102309e+01] [ 3.58563056e-02 -3.93483084e-05 9.99356955e-01 1.18013310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.24, Y:12.51, Z:11.80 [[ 9.97748529e-01 -5.67079368e-02 -3.58061924e-02 3.34241760e+02] [ 5.66764193e-02 9.98390801e-01 -1.89543722e-03 1.25091952e+01] [ 3.58560594e-02 -1.38197073e-04 9.99356955e-01 1.18030167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.27, Y:12.51, Z:11.80 [[ 9.97632462e-01 -5.87148027e-02 -3.58056371e-02 3.34269372e+02] [ 5.86842029e-02 9.98274778e-01 -1.90586867e-03 1.25089376e+01] [ 3.58557672e-02 -1.99868821e-04 9.99356955e-01 1.18041653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.30, Y:12.51, Z:11.81 [[ 9.97342101e-01 -6.34563482e-02 -3.58053774e-02 3.34298339e+02] [ 6.34286273e-02 9.97984548e-01 -1.91073571e-03 1.25062816e+01] [ 3.58544617e-02 -3.65428769e-04 9.99356955e-01 1.18061047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.33, Y:12.51, Z:11.81 [[ 9.97187404e-01 -6.58429216e-02 -3.58048952e-02 3.34328055e+02] [ 6.58164153e-02 9.97829902e-01 -1.91972890e-03 1.25055685e+01] [ 3.58535957e-02 -4.42220381e-04 9.99356955e-01 1.18072345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.36, Y:12.50, Z:11.81 [[ 9.96985994e-01 -6.88254502e-02 -3.58048262e-02 3.34357968e+02] [ 6.88008197e-02 9.97628567e-01 -1.92101518e-03 1.25048332e+01] [ 3.58521322e-02 -5.48176167e-04 9.99356955e-01 1.18078779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.39, Y:12.50, Z:11.81 [[ 9.96566000e-01 -7.46607319e-02 -3.58047920e-02 3.34387442e+02] [ 7.46398406e-02 9.97208705e-01 -1.92165319e-03 1.25009320e+01] [ 3.58483223e-02 -7.57409735e-04 9.99356955e-01 1.18075993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:12.50, Z:11.81 [[ 9.96336671e-01 -7.76611723e-02 -3.58047584e-02 3.34417648e+02] [ 7.76421939e-02 9.96979435e-01 -1.92227870e-03 1.24999114e+01] [ 3.58458942e-02 -8.64723237e-04 9.99356955e-01 1.18085244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.45, Y:12.50, Z:11.81 [[ 9.95883404e-01 -8.32722672e-02 -3.58046914e-02 3.34447003e+02] [ 8.32568650e-02 9.96526264e-01 -1.92352576e-03 1.24966988e+01] [ 3.58404917e-02 -1.06537897e-03 9.99356955e-01 1.18093835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.48, Y:12.50, Z:11.81 [[ 9.95650056e-01 -8.60174014e-02 -3.58046581e-02 3.34478188e+02] [ 8.60037492e-02 9.96292955e-01 -1.92414492e-03 1.24961978e+01] [ 3.58374386e-02 -1.16355984e-03 9.99356955e-01 1.18103336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.51, Y:12.49, Z:11.81 [[ 9.95207843e-01 -9.09910438e-02 -3.58047240e-02 3.34509890e+02] [ 9.09806481e-02 9.95850804e-01 -1.92291847e-03 1.24931896e+01] [ 3.58311315e-02 -1.34383345e-03 9.99356955e-01 1.18104316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.54, Y:12.49, Z:11.81 [[ 9.95027874e-01 -9.29384034e-02 -3.58047897e-02 3.34541114e+02] [ 9.29293099e-02 9.95670854e-01 -1.92169473e-03 1.24926355e+01] [ 3.58283848e-02 -1.41517458e-03 9.99356955e-01 1.18101159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.57, Y:12.49, Z:11.81 [[ 9.94882202e-01 -9.44850044e-02 -3.58048603e-02 3.34572131e+02] [ 9.44769577e-02 9.95525196e-01 -1.92037752e-03 1.24925836e+01] [ 3.58260875e-02 -1.47218486e-03 9.99356955e-01 1.18102027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.60, Y:12.49, Z:11.81 [[ 9.94753639e-01 -9.58289794e-02 -3.58050958e-02 3.34604401e+02] [ 9.58219594e-02 9.95396645e-01 -1.91597792e-03 1.24929534e+01] [ 3.58238784e-02 -1.52498842e-03 9.99356955e-01 1.18105556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.64, Y:12.49, Z:11.81 [[ 9.94624995e-01 -9.71550481e-02 -3.58052369e-02 3.34636553e+02] [ 9.71489803e-02 9.95268012e-01 -1.91333693e-03 1.24935435e+01] [ 3.58216973e-02 -1.57538951e-03 9.99356955e-01 1.18111841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.67, Y:12.49, Z:11.81 [[ 9.94411404e-01 -9.93173463e-02 -3.58053768e-02 3.34667698e+02] [ 9.93127708e-02 9.95054432e-01 -1.91071440e-03 1.24932782e+01] [ 3.58180660e-02 -1.65589500e-03 9.99356955e-01 1.18117820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.70, Y:12.49, Z:11.81 [[ 9.94348086e-01 -9.99492471e-02 -3.58054810e-02 3.34700025e+02] [ 9.99451504e-02 9.94991117e-01 -1.90876017e-03 1.24939892e+01] [ 3.58169147e-02 -1.68061216e-03 9.99356955e-01 1.18124571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.73, Y:12.49, Z:11.81 [[ 9.94281679e-01 -1.00607652e-01 -3.58056204e-02 3.34731596e+02] [ 1.00604075e-01 9.94924714e-01 -1.90614127e-03 1.24949888e+01] [ 3.58156691e-02 -1.70694999e-03 9.99356955e-01 1.18128504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.76, Y:12.50, Z:11.81 [[ 9.94148303e-01 -1.01917134e-01 -3.58057242e-02 3.34764065e+02] [ 1.01914475e-01 9.94791342e-01 -1.90419057e-03 1.24965292e+01] [ 3.58132940e-02 -1.75607374e-03 9.99356955e-01 1.18127996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.80, Y:12.50, Z:11.81 [[ 9.94094431e-01 -1.02441212e-01 -3.58058629e-02 3.34795014e+02] [ 1.02438985e-01 9.94737472e-01 -1.90157866e-03 1.24986874e+01] [ 3.58122335e-02 -1.77756750e-03 9.99356955e-01 1.18137868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.83, Y:12.50, Z:11.81 [[ 9.94019146e-01 -1.03169091e-01 -3.58060932e-02 3.34827168e+02] [ 1.03167491e-01 9.94662189e-01 -1.89723219e-03 1.25018709e+01] [ 3.58107027e-02 -1.80813968e-03 9.99356955e-01 1.18146334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.86, Y:12.50, Z:11.82 [[ 9.93986419e-01 -1.03483874e-01 -3.58062306e-02 3.34858787e+02] [ 1.03482571e-01 9.94629463e-01 -1.89463611e-03 1.25042171e+01] [ 3.58099961e-02 -1.82207824e-03 9.99356955e-01 1.18152780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.89, Y:12.51, Z:11.82 [[ 9.93958133e-01 -1.03755165e-01 -3.58063684e-02 3.34891253e+02] [ 1.03754131e-01 9.94601177e-01 -1.89202780e-03 1.25064397e+01] [ 3.58093638e-02 -1.83446222e-03 9.99356955e-01 1.18158734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.92, Y:12.51, Z:11.82 [[ 9.93870884e-01 -1.04587567e-01 -3.58065073e-02 3.34922925e+02] [ 1.04587166e-01 9.94513929e-01 -1.88939527e-03 1.25090161e+01] [ 3.58076775e-02 -1.86708619e-03 9.99356955e-01 1.18157573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.95, Y:12.51, Z:11.82 [[ 9.93795574e-01 -1.05300722e-01 -3.58066461e-02 3.34953620e+02] [ 1.05300878e-01 9.94438618e-01 -1.88676046e-03 1.25113548e+01] [ 3.58061889e-02 -1.89541708e-03 9.99356955e-01 1.18164631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.98, Y:12.51, Z:11.82 [[ 9.93715426e-01 -1.06054369e-01 -3.58067495e-02 3.34984542e+02] [ 1.06055083e-01 9.94358470e-01 -1.88479608e-03 1.25137279e+01] [ 3.58046355e-02 -1.92453686e-03 9.99356955e-01 1.18173302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.02, Y:12.52, Z:11.82 [[ 9.93588345e-01 -1.07238383e-01 -3.58068495e-02 3.35017046e+02] [ 1.07239931e-01 9.94231388e-01 -1.88289439e-03 1.25173287e+01] [ 3.58022122e-02 -1.96910215e-03 9.99356955e-01 1.18191968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.05, Y:12.52, Z:11.82 [[ 9.93535206e-01 -1.07729537e-01 -3.58070139e-02 3.35048838e+02] [ 1.07731515e-01 9.94178247e-01 -1.87976362e-03 1.25199191e+01] [ 3.58010604e-02 -1.98993253e-03 9.99356955e-01 1.18207157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.08, Y:12.52, Z:11.82 [[ 9.93530692e-01 -1.07771112e-01 -3.58071469e-02 3.35081297e+02] [ 1.07773209e-01 9.94173733e-01 -1.87722582e-03 1.25225156e+01] [ 3.58008356e-02 -1.99396966e-03 9.99356955e-01 1.18222051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.11, Y:12.53, Z:11.82 [[ 9.93624997e-01 -1.06898105e-01 -3.58072807e-02 3.35113579e+02] [ 1.06899728e-01 9.94268039e-01 -1.87467073e-03 1.25267456e+01] [ 3.58024335e-02 -1.96506888e-03 9.99356955e-01 1.18242889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.14, Y:12.53, Z:11.83 [[ 9.93769898e-01 -1.05542494e-01 -3.58074147e-02 3.35144684e+02] [ 1.05543333e-01 9.94412942e-01 -1.87210785e-03 1.25299497e+01] [ 3.58049435e-02 -1.91878945e-03 9.99356955e-01 1.18255690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:12.53, Z:11.83 [[ 9.93955910e-01 -1.03776023e-01 -3.58076337e-02 3.35176375e+02] [ 1.03775869e-01 9.94598954e-01 -1.86790963e-03 1.25333521e+01] [ 3.58080793e-02 -1.85934849e-03 9.99356955e-01 1.18271237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.21, Y:12.54, Z:11.83 [[ 9.94399270e-01 -9.94379027e-02 -3.58077633e-02 3.35207909e+02] [ 9.94350324e-02 9.95042308e-01 -1.86542226e-03 1.25389619e+01] [ 3.58157331e-02 -1.70557157e-03 9.99356955e-01 1.18302771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.24, Y:12.54, Z:11.83 [[ 9.94667506e-01 -9.67178762e-02 -3.58078964e-02 3.35239406e+02] [ 9.67133391e-02 9.95310534e-01 -1.86286392e-03 1.25423559e+01] [ 3.58201487e-02 -1.61017102e-03 9.99356955e-01 1.18321297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.27, Y:12.55, Z:11.83 [[ 9.95219397e-01 -9.08632977e-02 -3.58079953e-02 3.35271337e+02] [ 9.08550453e-02 9.95862389e-01 -1.86096059e-03 1.25476112e+01] [ 3.58289287e-02 -1.40127295e-03 9.99356955e-01 1.18339278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.30, Y:12.55, Z:11.83 [[ 9.95509190e-01 -8.76312169e-02 -3.58081260e-02 3.35302999e+02] [ 8.76209671e-02 9.96152153e-01 -1.85844239e-03 1.25507782e+01] [ 3.58331994e-02 -1.28744615e-03 9.99356955e-01 1.18349156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:12.55, Z:11.84 [[ 9.95798289e-01 -8.42824768e-02 -3.58082621e-02 3.35335234e+02] [ 8.42701590e-02 9.96441216e-01 -1.85581568e-03 1.25539952e+01] [ 3.58372410e-02 -1.16954987e-03 9.99356955e-01 1.18360841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.37, Y:12.56, Z:11.84 [[ 9.96334392e-01 -7.76887222e-02 -3.58083989e-02 3.35365977e+02] [ 7.76722435e-02 9.96977226e-01 -1.85317302e-03 1.25594907e+01] [ 3.58441288e-02 -9.34938665e-04 9.99356955e-01 1.18372519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.40, Y:12.56, Z:11.84 [[ 9.96572920e-01 -7.45664573e-02 -3.58086258e-02 3.35397345e+02] [ 7.45481223e-02 9.97215704e-01 -1.84877796e-03 1.25629883e+01] [ 3.58467808e-02 -8.27023761e-04 9.99356955e-01 1.18383519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.43, Y:12.57, Z:11.84 [[ 9.96921915e-01 -6.97454829e-02 -3.58086925e-02 3.35428047e+02] [ 6.97240856e-02 9.97564604e-01 -1.84748533e-03 1.25673761e+01] [ 3.58503379e-02 -6.54929724e-04 9.99356955e-01 1.18380195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.46, Y:12.57, Z:11.84 [[ 9.97028510e-01 -6.82047105e-02 -3.58087596e-02 3.35457478e+02] [ 6.81823668e-02 9.97671167e-01 -1.84618386e-03 1.25699419e+01] [ 3.58512854e-02 -6.00828032e-04 9.99356955e-01 1.18379203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.49, Y:12.57, Z:11.84 [[ 9.97101428e-01 -6.71302982e-02 -3.58087263e-02 3.35486635e+02] [ 6.71072387e-02 9.97744059e-01 -1.84682952e-03 1.25723113e+01] [ 3.58519221e-02 -5.61548396e-04 9.99356955e-01 1.18391362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.52, Y:12.58, Z:11.84 [[ 9.97120847e-01 -6.68412722e-02 -3.58086598e-02 3.35516650e+02] [ 6.68179803e-02 9.97763470e-01 -1.84811716e-03 1.25757030e+01] [ 3.58521032e-02 -5.49866181e-04 9.99356955e-01 1.18397166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.55, Y:12.58, Z:11.84 [[ 9.97074046e-01 -6.75358173e-02 -3.58086598e-02 3.35546147e+02] [ 6.75129730e-02 9.97716685e-01 -1.84811716e-03 1.25784060e+01] [ 3.58517115e-02 -5.74839435e-04 9.99356955e-01 1.18406655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.58, Y:12.58, Z:11.84 [[ 9.97044035e-01 -6.79774610e-02 -3.58086265e-02 3.35576456e+02] [ 6.79548782e-02 9.97686683e-01 -1.84876219e-03 1.25806345e+01] [ 3.58514640e-02 -5.90073538e-04 9.99356955e-01 1.18419369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.61, Y:12.58, Z:11.84 [[ 9.97041580e-01 -6.80134576e-02 -3.58086265e-02 3.35606548e+02] [ 6.79908980e-02 9.97684229e-01 -1.84876219e-03 1.25822161e+01] [ 3.58514426e-02 -5.91367898e-04 9.99356955e-01 1.18430181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.64, Y:12.58, Z:11.84 [[ 9.96993742e-01 -6.87111789e-02 -3.58085597e-02 3.35636567e+02] [ 6.86890226e-02 9.97636404e-01 -1.85005583e-03 1.25842427e+01] [ 3.58510423e-02 -6.15160877e-04 9.99356955e-01 1.18442360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.67, Y:12.59, Z:11.85 [[ 9.96959444e-01 -6.92070365e-02 -3.58085597e-02 3.35667053e+02] [ 6.91851998e-02 9.97602118e-01 -1.85005583e-03 1.25862955e+01] [ 3.58507319e-02 -6.32991720e-04 9.99356955e-01 1.18451862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.70, Y:12.59, Z:11.85 [[ 9.96879360e-01 -7.03511822e-02 -3.58085597e-02 3.35696882e+02] [ 7.03300831e-02 9.97522058e-01 -1.85005583e-03 1.25884999e+01] [ 3.58499818e-02 -6.74136503e-04 9.99356955e-01 1.18463178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.73, Y:12.59, Z:11.85 [[ 9.96867486e-01 -7.05192584e-02 -3.58085264e-02 3.35727313e+02] [ 7.04982446e-02 9.97510187e-01 -1.85070059e-03 1.25903892e+01] [ 3.58498799e-02 -6.79535001e-04 9.99356955e-01 1.18467518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.76, Y:12.59, Z:11.85 [[ 9.96801056e-01 -7.14520915e-02 -3.58085592e-02 3.35757951e+02] [ 7.14317020e-02 9.97443777e-01 -1.85006436e-03 1.25937268e+01] [ 3.58492156e-02 -7.13720222e-04 9.99356955e-01 1.18478379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.79, Y:12.60, Z:11.85 [[ 9.96797102e-01 -7.15072391e-02 -3.58085592e-02 3.35788320e+02] [ 7.14868850e-02 9.97439824e-01 -1.85006436e-03 1.25960152e+01] [ 3.58491760e-02 -7.15703566e-04 9.99356955e-01 1.18487286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.82, Y:12.60, Z:11.85 [[ 9.96760623e-01 -7.20138799e-02 -3.58086680e-02 3.35819130e+02] [ 7.19939282e-02 9.97403358e-01 -1.84795742e-03 1.25982436e+01] [ 3.58487643e-02 -7.36035485e-04 9.99356955e-01 1.18500040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.85, Y:12.60, Z:11.85 [[ 9.96760567e-01 -7.20146235e-02 -3.58087331e-02 3.35850164e+02] [ 7.19947177e-02 9.97403304e-01 -1.84669397e-03 1.26010538e+01] [ 3.58487377e-02 -7.37327900e-04 9.99356955e-01 1.18521620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.88, Y:12.60, Z:11.85 [[ 9.96766386e-01 -7.19340056e-02 -3.58088006e-02 3.35881445e+02] [ 7.19140947e-02 9.97409122e-01 -1.84538510e-03 1.26035681e+01] [ 3.58487703e-02 -7.35739637e-04 9.99356955e-01 1.18533277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.91, Y:12.61, Z:11.85 [[ 9.96824444e-01 -7.11249143e-02 -3.58088678e-02 3.35911241e+02] [ 7.11045286e-02 9.97467165e-01 -1.84408057e-03 1.26071425e+01] [ 3.58493299e-02 -7.07948075e-04 9.99356955e-01 1.18547650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.94, Y:12.61, Z:11.85 [[ 9.96879294e-01 -7.03519416e-02 -3.58089011e-02 3.35941618e+02] [ 7.03310808e-02 9.97522000e-01 -1.84343325e-03 1.26097587e+01] [ 3.58498557e-02 -6.80798280e-04 9.99356955e-01 1.18549963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.97, Y:12.61, Z:11.86 [[ 9.96938871e-01 -6.95025702e-02 -3.58089337e-02 3.35973162e+02] [ 6.94811846e-02 9.97581560e-01 -1.84279959e-03 1.26126938e+01] [ 3.58504112e-02 -6.50888592e-04 9.99356955e-01 1.18570983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.00, Y:12.62, Z:11.86 [[ 9.97156462e-01 -6.63076633e-02 -3.58090013e-02 3.36003565e+02] [ 6.62842656e-02 9.97799081e-01 -1.84148407e-03 1.26168308e+01] [ 3.58522931e-02 -5.37325617e-04 9.99356955e-01 1.18581380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.03, Y:12.62, Z:11.86 [[ 9.97280256e-01 -6.44189347e-02 -3.58091120e-02 3.36034342e+02] [ 6.43943973e-02 9.97922832e-01 -1.83932961e-03 1.26198819e+01] [ 3.58532181e-02 -4.71579076e-04 9.99356955e-01 1.18598278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.06, Y:12.62, Z:11.86 [[ 9.97419320e-01 -6.22286670e-02 -3.58091120e-02 3.36063790e+02] [ 6.22027185e-02 9.98061841e-01 -1.83932961e-03 1.26225411e+01] [ 3.58541673e-02 -3.92841220e-04 9.99356955e-01 1.18613121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.09, Y:12.63, Z:11.86 [[ 9.97704545e-01 -5.74747915e-02 -3.58090793e-02 3.36093393e+02] [ 5.74457585e-02 9.98346933e-01 -1.83996684e-03 1.26261478e+01] [ 3.58556362e-02 -2.21336446e-04 9.99356955e-01 1.18631102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.12, Y:12.63, Z:11.86 [[ 9.97836120e-01 -5.51433530e-02 -3.58090470e-02 3.36123196e+02] [ 5.51127965e-02 9.98478438e-01 -1.84059545e-03 1.26286142e+01] [ 3.58560579e-02 -1.36924093e-04 9.99356955e-01 1.18649852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.15, Y:12.63, Z:11.87 [[ 9.97935069e-01 -5.33227350e-02 -3.58089810e-02 3.36152080e+02] [ 5.32909607e-02 9.98577329e-01 -1.84187836e-03 1.26311693e+01] [ 3.58562505e-02 -7.02199824e-05 9.99356955e-01 1.18661751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.18, Y:12.63, Z:11.87 [[ 9.98090224e-01 -5.03354171e-02 -3.58085192e-02 3.36180789e+02] [ 5.03013998e-02 9.98732368e-01 -1.85081329e-03 1.26342897e+01] [ 3.58562886e-02 4.60600122e-05 9.99356955e-01 1.18679185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.21, Y:12.64, Z:11.87 [[ 9.98124219e-01 -4.96568366e-02 -3.58084210e-02 3.36208699e+02] [ 4.96223148e-02 9.98766336e-01 -1.85270946e-03 1.26360523e+01] [ 3.58562452e-02 7.23374372e-05 9.99356955e-01 1.18696307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.24, Y:12.64, Z:11.87 [[ 9.98135751e-01 -4.94248817e-02 -3.58078784e-02 3.36236501e+02] [ 4.93898365e-02 9.98777840e-01 -1.86313890e-03 1.26371264e+01] [ 3.58562008e-02 9.11202851e-05 9.99356956e-01 1.18704778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.26, Y:12.64, Z:11.87 [[ 9.98092668e-01 -5.02877870e-02 -3.58073267e-02 3.36263339e+02] [ 5.02529187e-02 9.98734766e-01 -1.87368149e-03 1.26381217e+01] [ 3.58562454e-02 7.06850831e-05 9.99356956e-01 1.18712323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.29, Y:12.64, Z:11.87 [[ 9.98017951e-01 -5.17496127e-02 -3.58070869e-02 3.36291306e+02] [ 5.17155208e-02 9.98660091e-01 -1.87825346e-03 1.26391645e+01] [ 3.58563076e-02 2.27485237e-05 9.99356956e-01 1.18725449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.32, Y:12.64, Z:11.87 [[ 9.97851452e-01 -5.48668507e-02 -3.58065402e-02 3.36319543e+02] [ 5.48343929e-02 9.98493677e-01 -1.88861841e-03 1.26394540e+01] [ 3.58562265e-02 -7.88692746e-05 9.99356956e-01 1.18734420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.35, Y:12.64, Z:11.87 [[ 9.97718575e-01 -5.72324108e-02 -3.58063708e-02 3.36348334e+02] [ 5.72013607e-02 9.98360869e-01 -1.89182448e-03 1.26400456e+01] [ 3.58559532e-02 -1.60664704e-04 9.99356956e-01 1.18741613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.38, Y:12.64, Z:11.87 [[ 9.97570720e-01 -5.97544764e-02 -3.58058953e-02 3.36376697e+02] [ 5.97247286e-02 9.98213075e-01 -1.90078111e-03 1.26404848e+01] [ 3.58554931e-02 -2.42333800e-04 9.99356956e-01 1.18749729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.41, Y:12.64, Z:11.88 [[ 9.97181776e-01 -6.59276278e-02 -3.58057678e-02 3.36406762e+02] [ 6.59017701e-02 9.97824300e-01 -1.90318114e-03 1.26392648e+01] [ 3.58533374e-02 -4.61845927e-04 9.99356956e-01 1.18767166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.44, Y:12.64, Z:11.88 [[ 9.96963036e-01 -6.91567407e-02 -3.58057339e-02 3.36437219e+02] [ 6.91329412e-02 9.97605639e-01 -1.90381797e-03 1.26391749e+01] [ 3.58516639e-02 -5.77319552e-04 9.99356956e-01 1.18780232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.47, Y:12.64, Z:11.88 [[ 9.96719823e-01 -7.25778420e-02 -3.58057339e-02 3.36468956e+02] [ 7.25562480e-02 9.97362505e-01 -1.90381797e-03 1.26390966e+01] [ 3.58494715e-02 -7.00356598e-04 9.99356956e-01 1.18797821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.50, Y:12.64, Z:11.88 [[ 9.96200331e-01 -7.93904554e-02 -3.58058015e-02 3.36500608e+02] [ 7.93733014e-02 9.96843147e-01 -1.90254660e-03 1.26371682e+01] [ 3.58438119e-02 -9.46707121e-04 9.99356956e-01 1.18820508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.53, Y:12.64, Z:11.88 [[ 9.95925549e-01 -8.27661109e-02 -3.58060200e-02 3.36533092e+02] [ 8.27512836e-02 9.96568423e-01 -1.89842535e-03 1.26371164e+01] [ 3.58402741e-02 -1.07230381e-03 9.99356956e-01 1.18837592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.57, Y:12.64, Z:11.89 [[ 9.95320086e-01 -8.97543663e-02 -3.58061579e-02 3.36565655e+02] [ 8.97441452e-02 9.95963049e-01 -1.89581985e-03 1.26356896e+01] [ 3.58317683e-02 -1.32644546e-03 9.99356956e-01 1.18859556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.60, Y:12.64, Z:11.89 [[ 9.95001504e-01 -9.32197179e-02 -3.58062970e-02 3.36596737e+02] [ 9.32118302e-02 9.95644500e-01 -1.89318876e-03 1.26358963e+01] [ 3.58268252e-02 -1.45384482e-03 9.99356956e-01 1.18872785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:12.64, Z:11.89 [[ 9.94690138e-01 -9.64853894e-02 -3.58064006e-02 3.36629357e+02] [ 9.64796829e-02 9.95333157e-01 -1.89122881e-03 1.26360590e+01] [ 3.58217737e-02 -1.57340352e-03 9.99356956e-01 1.18885095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.66, Y:12.64, Z:11.89 [[ 9.94174264e-01 -1.01663291e-01 -3.58065365e-02 3.36661527e+02] [ 1.01661026e-01 9.94817304e-01 -1.88865164e-03 1.26356354e+01] [ 3.58129687e-02 -1.76248038e-03 9.99356956e-01 1.18897587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:12.64, Z:11.89 [[ 9.93998780e-01 -1.03364921e-01 -3.58066741e-02 3.36693524e+02] [ 1.03363850e-01 9.94641824e-01 -1.88603996e-03 1.26368872e+01] [ 3.58097660e-02 -1.82639426e-03 9.99356956e-01 1.18908212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.73, Y:12.64, Z:11.89 [[ 9.93791454e-01 -1.05339476e-01 -3.58070003e-02 3.36725199e+02] [ 1.05339905e-01 9.94434498e-01 -1.87982657e-03 1.26378342e+01] [ 3.58057363e-02 -1.90375043e-03 9.99356956e-01 1.18919335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.76, Y:12.64, Z:11.89 [[ 9.93769319e-01 -1.05548031e-01 -3.58071696e-02 3.36758647e+02] [ 1.05548712e-01 9.94412363e-01 -1.87659635e-03 1.26393689e+01] [ 3.58051631e-02 -1.91449675e-03 9.99356956e-01 1.18929689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.79, Y:12.64, Z:11.89 [[ 9.93800938e-01 -1.05249833e-01 -3.58073771e-02 3.36791046e+02] [ 1.05250463e-01 9.94443982e-01 -1.87262833e-03 1.26408463e+01] [ 3.58055245e-02 -1.90772322e-03 9.99356956e-01 1.18934244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.82, Y:12.64, Z:11.89 [[ 9.93852291e-01 -1.04763745e-01 -3.58075485e-02 3.36824398e+02] [ 1.04764178e-01 9.94495336e-01 -1.86934379e-03 1.26424706e+01] [ 3.58062795e-02 -1.89349680e-03 9.99356956e-01 1.18943766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.86, Y:12.64, Z:11.89 [[ 9.93989958e-01 -1.03449349e-01 -3.58077563e-02 3.36855115e+02] [ 1.03449075e-01 9.94633002e-01 -1.86535542e-03 1.26445674e+01] [ 3.58085460e-02 -1.85013473e-03 9.99356956e-01 1.18944583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.89, Y:12.65, Z:11.90 [[ 9.94064987e-01 -1.02725839e-01 -3.58078592e-02 3.36887122e+02] [ 1.02725169e-01 9.94708031e-01 -1.86337887e-03 1.26469300e+01] [ 3.58097823e-02 -1.82604868e-03 9.99356956e-01 1.18952341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.92, Y:12.65, Z:11.90 [[ 9.94197060e-01 -1.01439605e-01 -3.58079946e-02 3.36918640e+02] [ 1.01438196e-01 9.94840103e-01 -1.86077324e-03 1.26507576e+01] [ 3.58119851e-02 -1.78232310e-03 9.99356956e-01 1.18952948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.95, Y:12.65, Z:11.90 [[ 9.94240308e-01 -1.01014806e-01 -3.58080952e-02 3.36949385e+02] [ 1.01013192e-01 9.94883350e-01 -1.85883480e-03 1.26535857e+01] [ 3.58126475e-02 -1.76896152e-03 9.99356956e-01 1.18959363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.98, Y:12.66, Z:11.90 [[ 9.94285847e-01 -1.00565543e-01 -3.58081945e-02 3.36982184e+02] [ 1.00563707e-01 9.94928888e-01 -1.85691931e-03 1.26564483e+01] [ 3.58133493e-02 -1.75469620e-03 9.99356956e-01 1.18974172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.01, Y:12.66, Z:11.90 [[ 9.94342842e-01 -1.00000357e-01 -3.58083972e-02 3.37014877e+02] [ 9.99982969e-02 9.94985883e-01 -1.85300256e-03 1.26608123e+01] [ 3.58141506e-02 -1.73825891e-03 9.99356956e-01 1.18988054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.05, Y:12.66, Z:11.90 [[ 9.94416122e-01 -9.92689330e-02 -3.58085996e-02 3.37045631e+02] [ 9.92665404e-02 9.95059161e-01 -1.84908246e-03 1.26637614e+01] [ 3.58152316e-02 -1.71583840e-03 9.99356956e-01 1.19002076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.08, Y:12.67, Z:11.90 [[ 9.94625122e-01 -9.71524371e-02 -3.58088208e-02 3.37077177e+02] [ 9.71488303e-02 9.95268156e-01 -1.84478950e-03 1.26685129e+01] [ 3.58186048e-02 -1.64391108e-03 9.99356956e-01 1.19026471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.11, Y:12.67, Z:11.90 [[ 9.94775358e-01 -9.56018147e-02 -3.58089530e-02 3.37109588e+02] [ 9.55972978e-02 9.95418386e-01 -1.84221949e-03 1.26718390e+01] [ 3.58210097e-02 -1.59064459e-03 9.99356956e-01 1.19046808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.14, Y:12.68, Z:11.91 [[ 9.95137062e-01 -9.17601909e-02 -3.58091525e-02 3.37140602e+02] [ 9.17533309e-02 9.95780070e-01 -1.83833346e-03 1.26765815e+01] [ 3.58267262e-02 -1.45621526e-03 9.99356956e-01 1.19071679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.17, Y:12.68, Z:11.91 [[ 9.95313223e-01 -8.98291537e-02 -3.58093659e-02 3.37172900e+02] [ 8.98211957e-02 9.95956218e-01 -1.83416849e-03 1.26797428e+01] [ 3.58293224e-02 -1.39086791e-03 9.99356956e-01 1.19079731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.20, Y:12.68, Z:11.91 [[ 9.95521714e-01 -8.74882684e-02 -3.58094993e-02 3.37204473e+02] [ 8.74788920e-02 9.96164690e-01 -1.83155995e-03 1.26824391e+01] [ 3.58323987e-02 -1.30921762e-03 9.99356956e-01 1.19089228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.24, Y:12.69, Z:11.91 [[ 9.95896841e-01 -8.31092911e-02 -3.58095985e-02 3.37236789e+02] [ 8.30971569e-02 9.96539771e-01 -1.82961712e-03 1.26866523e+01] [ 3.58377473e-02 -1.15356592e-03 9.99356956e-01 1.19093029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.27, Y:12.69, Z:11.91 [[ 9.96097969e-01 -8.06628696e-02 -3.58097313e-02 3.37268877e+02] [ 8.06492496e-02 9.96740869e-01 -1.82701579e-03 1.26892657e+01] [ 3.58403950e-02 -1.06814123e-03 9.99356956e-01 1.19100361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.30, Y:12.69, Z:11.91 [[ 9.96299286e-01 -7.81369654e-02 -3.58098657e-02 3.37299658e+02] [ 7.81218102e-02 9.96942152e-01 -1.82437674e-03 1.26920026e+01] [ 3.58429158e-02 -9.79906285e-04 9.99356956e-01 1.19107589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.33, Y:12.69, Z:11.91 [[ 9.96513100e-01 -7.53609977e-02 -3.58100898e-02 3.37331067e+02] [ 7.53442098e-02 9.97155925e-01 -1.81996837e-03 1.26944794e+01] [ 3.58453978e-02 -8.84460595e-04 9.99356956e-01 1.19116465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.36, Y:12.70, Z:11.91 [[ 9.96954990e-01 -6.92703274e-02 -3.58101885e-02 3.37363034e+02] [ 6.92496817e-02 9.97597703e-01 -1.81802282e-03 1.26982185e+01] [ 3.58500968e-02 -6.67357234e-04 9.99356956e-01 1.19129473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.39, Y:12.70, Z:11.91 [[ 9.97349101e-01 -6.33434383e-02 -3.58103238e-02 3.37393877e+02] [ 6.33190686e-02 9.97991683e-01 -1.81535517e-03 1.27014279e+01] [ 3.58533961e-02 -4.56933505e-04 9.99356956e-01 1.19140815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:12.70, Z:11.92 [[ 9.97510952e-01 -6.07412953e-02 -3.58105466e-02 3.37423964e+02] [ 6.07154075e-02 9.98153475e-01 -1.81094834e-03 1.27035417e+01] [ 3.58544209e-02 -3.67811128e-04 9.99356956e-01 1.19153440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.45, Y:12.71, Z:11.92 [[ 9.97640044e-01 -5.85828024e-02 -3.58105794e-02 3.37454612e+02] [ 5.85555477e-02 9.98282510e-01 -1.81030071e-03 1.27052559e+01] [ 3.58551275e-02 -2.90879603e-04 9.99356956e-01 1.19171498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.49, Y:12.71, Z:11.92 [[ 9.97720907e-01 -5.71891139e-02 -3.58105794e-02 3.37485137e+02] [ 5.71609617e-02 9.98363334e-01 -1.81030071e-03 1.27072531e+01] [ 3.58554989e-02 -2.40792286e-04 9.99356956e-01 1.19191954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:12.71, Z:11.92 [[ 9.97775348e-01 -5.62312844e-02 -3.58105794e-02 3.37514876e+02] [ 5.62025155e-02 9.98417748e-01 -1.81030071e-03 1.27088200e+01] [ 3.58557135e-02 -2.06371217e-04 9.99356956e-01 1.19210278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.54, Y:12.71, Z:11.92 [[ 9.97661730e-01 -5.82123413e-02 -3.58105470e-02 3.37544586e+02] [ 5.81848249e-02 9.98304185e-01 -1.81094084e-03 1.27099695e+01] [ 3.58552380e-02 -2.76924038e-04 9.99356956e-01 1.19211675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.58, Y:12.71, Z:11.92 [[ 9.97661730e-01 -5.82123869e-02 -3.58104826e-02 3.37575526e+02] [ 5.81848249e-02 9.98304183e-01 -1.81221349e-03 1.27115359e+01] [ 3.58552478e-02 -2.75650616e-04 9.99356956e-01 1.19222794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.61, Y:12.71, Z:11.92 [[ 9.97661730e-01 -5.82123869e-02 -3.58104826e-02 3.37606467e+02] [ 5.81848249e-02 9.98304183e-01 -1.81221349e-03 1.27131016e+01] [ 3.58552478e-02 -2.75650616e-04 9.99356956e-01 1.19233910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.64, Y:12.71, Z:11.92 [[ 9.97406408e-01 -6.24344984e-02 -3.58104826e-02 3.37636654e+02] [ 6.24096559e-02 9.98048972e-01 -1.81221349e-03 1.27136126e+01] [ 3.58537600e-02 -4.27406549e-04 9.99356956e-01 1.19239345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.67, Y:12.71, Z:11.92 [[ 9.97193849e-01 -6.57422040e-02 -3.58104826e-02 3.37667264e+02] [ 6.57194928e-02 9.97836492e-01 -1.81221349e-03 1.27144195e+01] [ 3.58521452e-02 -5.46318608e-04 9.99356956e-01 1.19247340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.70, Y:12.71, Z:11.93 [[ 9.96957313e-01 -6.92367308e-02 -3.58104826e-02 3.37698171e+02] [ 6.92162720e-02 9.97600032e-01 -1.81221349e-03 1.27144776e+01] [ 3.58500103e-02 -6.71968613e-04 9.99356956e-01 1.19254685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.73, Y:12.71, Z:11.93 [[ 9.96672093e-01 -7.32280230e-02 -3.58105476e-02 3.37730153e+02] [ 7.32101841e-02 9.97314890e-01 -1.81092733e-03 1.27144928e+01] [ 3.58470030e-02 -8.16796049e-04 9.99356956e-01 1.19263102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.76, Y:12.71, Z:11.92 [[ 9.96176218e-01 -7.96902640e-02 -3.58106778e-02 3.37763737e+02] [ 7.96766869e-02 9.96819119e-01 -1.80834877e-03 1.27104733e+01] [ 3.58408761e-02 -1.05184212e-03 9.99356956e-01 1.19242574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.79, Y:12.71, Z:11.93 [[ 9.95364390e-01 -8.92556146e-02 -3.58213096e-02 3.37793066e+02] [ 8.92557981e-02 9.96007456e-01 -1.59722018e-03 1.27110986e+01] [ 3.58208523e-02 -1.60744348e-03 9.99356935e-01 1.19255944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.83, Y:12.71, Z:11.93 [[ 9.95132059e-01 -9.18138020e-02 -3.58107720e-02 3.37825440e+02] [ 9.18081323e-02 9.95775077e-01 -1.80616336e-03 1.27117428e+01] [ 3.58253050e-02 -1.49034904e-03 9.99356956e-01 1.19261542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:12.71, Z:11.93 [[ 9.94926874e-01 -9.40111422e-02 -3.58109031e-02 3.37856555e+02] [ 9.40069860e-02 9.95569904e-01 -1.80356113e-03 1.27127107e+01] [ 3.58218122e-02 -1.57206363e-03 9.99356956e-01 1.19266679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.89, Y:12.71, Z:11.93 [[ 9.94817137e-01 -9.51652653e-02 -3.58111077e-02 3.37887943e+02] [ 9.51620013e-02 9.95460173e-01 -1.79948861e-03 1.27137558e+01] [ 3.58197803e-02 -1.61769457e-03 9.99356956e-01 1.19280605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.92, Y:12.72, Z:11.93 [[ 9.94665411e-01 -9.67387595e-02 -3.58096813e-02 3.37920059e+02] [ 9.67354932e-02 9.95308446e-01 -1.82786670e-03 1.27151137e+01] [ 3.58185038e-02 -1.64595140e-03 9.99356956e-01 1.19291940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.95, Y:12.72, Z:11.93 [[ 9.94765911e-01 -9.56992565e-02 -3.58111092e-02 3.37952800e+02] [ 9.56963390e-02 9.95408947e-01 -1.79945061e-03 1.27169493e+01] [ 3.58189046e-02 -1.63695992e-03 9.99356956e-01 1.19305734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.98, Y:12.72, Z:11.93 [[ 9.94856234e-01 -9.47555986e-02 -3.58113089e-02 3.37984644e+02] [ 9.47522143e-02 9.95499269e-01 -1.79546749e-03 1.27188086e+01] [ 3.58202624e-02 -1.60696879e-03 9.99356956e-01 1.19315592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:12.72, Z:11.93 [[ 9.94967826e-01 -9.35764524e-02 -3.58116236e-02 3.38017281e+02] [ 9.35725323e-02 9.95610858e-01 -1.78916865e-03 1.27207894e+01] [ 3.58218653e-02 -1.57081907e-03 9.99356956e-01 1.19326831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.05, Y:12.72, Z:11.93 [[ 9.95273551e-01 -9.02666773e-02 -3.58118169e-02 3.38049224e+02] [ 9.02607577e-02 9.95916567e-01 -1.78529140e-03 1.27237138e+01] [ 3.58267341e-02 -1.45554841e-03 9.99356956e-01 1.19326962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.08, Y:12.73, Z:11.93 [[ 9.95522179e-01 -8.74822962e-02 -3.58111652e-02 3.38080914e+02] [ 8.74741073e-02 9.96165170e-01 -1.79839532e-03 1.27268291e+01] [ 3.58311633e-02 -1.34220728e-03 9.99356956e-01 1.19339055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.11, Y:12.73, Z:11.93 [[ 9.95687638e-01 -8.55781465e-02 -3.58121214e-02 3.38112924e+02] [ 8.55694192e-02 9.96330622e-01 -1.77914923e-03 1.27290715e+01] [ 3.58329695e-02 -1.29294553e-03 9.99356957e-01 1.19343458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.15, Y:12.73, Z:11.93 [[ 9.95878820e-01 -8.33238227e-02 -3.58122510e-02 3.38145402e+02] [ 8.33137336e-02 9.96521784e-01 -1.77653686e-03 1.27313574e+01] [ 3.58357161e-02 -1.21443691e-03 9.99356957e-01 1.19346287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.18, Y:12.73, Z:11.93 [[ 9.96288177e-01 -7.82773367e-02 -3.58123801e-02 3.38176212e+02] [ 7.82640839e-02 9.96931084e-01 -1.77393062e-03 1.27345157e+01] [ 3.58413335e-02 -1.03547702e-03 9.99356957e-01 1.19335326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.21, Y:12.74, Z:11.93 [[ 9.96510073e-01 -7.53998695e-02 -3.58124761e-02 3.38207496e+02] [ 7.53848298e-02 9.97152941e-01 -1.77199031e-03 1.27373093e+01] [ 3.58441237e-02 -9.33911221e-04 9.99356957e-01 1.19338578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.24, Y:12.74, Z:11.93 [[ 9.96718101e-01 -7.25980609e-02 -3.58126871e-02 3.38239906e+02] [ 7.25813675e-02 9.97360928e-01 -1.76771571e-03 1.27403475e+01] [ 3.58465075e-02 -8.37419555e-04 9.99356957e-01 1.19344857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.27, Y:12.74, Z:11.94 [[ 9.96931912e-01 -6.96003329e-02 -3.58128108e-02 3.38271342e+02] [ 6.95817965e-02 9.97574688e-01 -1.76520469e-03 1.27432622e+01] [ 3.58488124e-02 -7.32130835e-04 9.99356957e-01 1.19352503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.30, Y:12.75, Z:11.94 [[ 9.97313857e-01 -6.38945174e-02 -3.58128724e-02 3.38302721e+02] [ 6.38723481e-02 9.97956518e-01 -1.76395444e-03 1.27475439e+01] [ 3.58523965e-02 -5.28236044e-04 9.99356957e-01 1.19363142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.33, Y:12.75, Z:11.94 [[ 9.97478406e-01 -6.12720475e-02 -3.58129349e-02 3.38332525e+02] [ 6.12482342e-02 9.98121008e-01 -1.76268441e-03 1.27503838e+01] [ 3.58536460e-02 -4.35239388e-04 9.99356957e-01 1.19372720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.36, Y:12.75, Z:11.94 [[ 9.97639223e-01 -5.85953187e-02 -3.58129659e-02 3.38361787e+02] [ 5.85698037e-02 9.98281760e-01 -1.76205467e-03 1.27530410e+01] [ 3.58546788e-02 -3.39663531e-04 9.99356957e-01 1.19380279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.39, Y:12.76, Z:11.94 [[ 9.97900752e-01 -5.39585010e-02 -3.58129728e-02 3.38391800e+02] [ 5.39300053e-02 9.98543164e-01 -1.76191565e-03 1.27567138e+01] [ 3.58558695e-02 -1.73176861e-04 9.99356957e-01 1.19384475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.42, Y:12.76, Z:11.94 [[ 9.98021853e-01 -5.16702654e-02 -3.58129098e-02 3.38421182e+02] [ 5.16402509e-02 9.98664196e-01 -1.76319466e-03 1.27592906e+01] [ 3.58561755e-02 -8.96808445e-05 9.99356957e-01 1.19396475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.45, Y:12.76, Z:11.94 [[ 9.98118789e-01 -4.97626705e-02 -3.58128472e-02 3.38448475e+02] [ 4.97313827e-02 9.98761071e-01 -1.76446567e-03 1.27618439e+01] [ 3.58562821e-02 -1.98760714e-05 9.99356957e-01 1.19406583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.48, Y:12.77, Z:11.94 [[ 9.98253271e-01 -4.69878457e-02 -3.58126917e-02 3.38475825e+02] [ 4.69546596e-02 9.98895458e-01 -1.76761500e-03 1.27654424e+01] [ 3.58561915e-02 8.29547100e-05 9.99356957e-01 1.19421911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.50, Y:12.77, Z:11.94 [[ 9.98261304e-01 -4.68169850e-02 -3.58125385e-02 3.38503588e+02] [ 4.67835778e-02 9.98903480e-01 -1.77071438e-03 1.27684363e+01] [ 3.58561688e-02 9.21969675e-05 9.99356957e-01 1.19433265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.53, Y:12.77, Z:11.94 [[ 9.98214503e-01 -4.78048576e-02 -3.58120315e-02 3.38530251e+02] [ 4.77717202e-02 9.98856692e-01 -1.78090935e-03 1.27702865e+01] [ 3.58562234e-02 6.69271895e-05 9.99356957e-01 1.19439398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.56, Y:12.77, Z:11.94 [[ 9.98016791e-01 -5.17687058e-02 -3.58118108e-02 3.38558511e+02] [ 5.17379602e-02 9.98659099e-01 -1.78533631e-03 1.27724407e+01] [ 3.58562152e-02 -7.10344278e-05 9.99356957e-01 1.19446820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.59, Y:12.77, Z:11.95 [[ 9.98003973e-01 -5.20155833e-02 -3.58113037e-02 3.38587691e+02] [ 5.19846336e-02 9.98646271e-01 -1.79545114e-03 1.27739430e+01] [ 3.58562163e-02 -6.97701296e-05 9.99356957e-01 1.19457337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.62, Y:12.78, Z:11.95 [[ 9.97679002e-01 -5.79153811e-02 -3.58108577e-02 3.38616712e+02] [ 5.78879118e-02 9.98321458e-01 -1.80430234e-03 1.27754573e+01] [ 3.58552446e-02 -2.72901216e-04 9.99356957e-01 1.19474383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.65, Y:12.78, Z:11.95 [[ 9.97484533e-01 -6.11737046e-02 -3.58103976e-02 3.38646949e+02] [ 6.11480078e-02 9.98127062e-01 -1.81338815e-03 1.27764710e+01] [ 3.58542587e-02 -3.80907844e-04 9.99356957e-01 1.19487406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.68, Y:12.78, Z:11.95 [[ 9.97274710e-01 -6.45040060e-02 -3.58104302e-02 3.38678734e+02] [ 6.44804778e-02 9.97917322e-01 -1.81274463e-03 1.27774772e+01] [ 3.58527779e-02 -5.01269281e-04 9.99356957e-01 1.19500175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.71, Y:12.78, Z:11.95 [[ 9.96857016e-01 -7.06660968e-02 -3.58104957e-02 3.38708683e+02] [ 7.06465870e-02 9.97499764e-01 -1.81144904e-03 1.27779058e+01] [ 3.58489691e-02 -7.24133616e-04 9.99356957e-01 1.19511664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.74, Y:12.78, Z:11.95 [[ 9.96679499e-01 -7.31271316e-02 -3.58106043e-02 3.38740528e+02] [ 7.31092860e-02 9.97322294e-01 -1.80930030e-03 1.27789071e+01] [ 3.58470230e-02 -8.14795195e-04 9.99356957e-01 1.19522239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.77, Y:12.78, Z:11.95 [[ 9.96536962e-01 -7.50444857e-02 -3.58107328e-02 3.38772588e+02] [ 7.50279683e-02 9.97179793e-01 -1.80675324e-03 1.27802250e+01] [ 3.58453260e-02 -8.86310138e-04 9.99356957e-01 1.19532837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.80, Y:12.78, Z:11.95 [[ 9.96292211e-01 -7.82266678e-02 -3.58108614e-02 3.38804842e+02] [ 7.82122951e-02 9.96935094e-01 -1.80420165e-03 1.27811246e+01] [ 3.58422411e-02 -1.00333761e-03 9.99356957e-01 1.19543781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.84, Y:12.78, Z:11.96 [[ 9.96208234e-01 -7.92888888e-02 -3.58109915e-02 3.38837292e+02] [ 7.92752944e-02 9.96851133e-01 -1.80161458e-03 1.27822829e+01] [ 3.58410755e-02 -1.04414362e-03 9.99356957e-01 1.19555704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.87, Y:12.78, Z:11.95 [[ 9.96136880e-01 -8.01802974e-02 -3.58111208e-02 3.38868812e+02] [ 8.01673708e-02 9.96779793e-01 -1.79904061e-03 1.27832948e+01] [ 3.58400492e-02 -1.07879270e-03 9.99356957e-01 1.19549462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.90, Y:12.78, Z:11.96 [[ 9.96146304e-01 -8.00630825e-02 -3.58112171e-02 3.38901383e+02] [ 8.00501491e-02 9.96789217e-01 -1.79712234e-03 1.27847726e+01] [ 3.58401182e-02 -1.07649649e-03 9.99356957e-01 1.19550767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.93, Y:12.79, Z:11.96 [[ 9.96207494e-01 -7.92980273e-02 -3.58113440e-02 3.38933858e+02] [ 7.92846912e-02 9.96850399e-01 -1.79458899e-03 1.27868340e+01] [ 3.58408599e-02 -1.05150835e-03 9.99356957e-01 1.19552552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.97, Y:12.79, Z:11.96 [[ 9.96259470e-01 -7.86422768e-02 -3.58114724e-02 3.38965022e+02] [ 7.86286096e-02 9.96902368e-01 -1.79202312e-03 1.27884816e+01] [ 3.58414704e-02 -1.03048628e-03 9.99356957e-01 1.19563124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.00, Y:12.79, Z:11.96 [[ 9.96341320e-01 -7.75983023e-02 -3.58116852e-02 3.38996855e+02] [ 7.75841146e-02 9.96984207e-01 -1.78776010e-03 1.27900589e+01] [ 3.58424118e-02 -9.97198636e-04 9.99356957e-01 1.19570413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.03, Y:12.79, Z:11.96 [[ 9.96431658e-01 -7.64294741e-02 -3.58118147e-02 3.39028477e+02] [ 7.64146255e-02 9.97074530e-01 -1.78516361e-03 1.27916943e+01] [ 3.58434874e-02 -9.57752872e-04 9.99356957e-01 1.19576291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.06, Y:12.79, Z:11.96 [[ 9.96553668e-01 -7.48217478e-02 -3.58119111e-02 3.39059671e+02] [ 7.48059315e-02 9.97196517e-01 -1.78322785e-03 1.27934361e+01] [ 3.58449372e-02 -9.01861109e-04 9.99356957e-01 1.19583831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.09, Y:12.80, Z:11.96 [[ 9.96840804e-01 -7.08936608e-02 -3.58120064e-02 3.39091980e+02] [ 7.08753800e-02 9.97483588e-01 -1.78131034e-03 1.27965163e+01] [ 3.58481723e-02 -7.62506732e-04 9.99356957e-01 1.19578859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.12, Y:12.80, Z:11.96 [[ 9.96992287e-01 -6.87304277e-02 -3.58121321e-02 3.39124170e+02] [ 6.87108430e-02 9.97635031e-01 -1.77878036e-03 1.27992644e+01] [ 3.58496939e-02 -6.87251494e-04 9.99356957e-01 1.19588349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.16, Y:12.80, Z:11.96 [[ 9.97281110e-01 -6.44039585e-02 -3.58122589e-02 3.39155376e+02] [ 6.43816769e-02 9.97923767e-01 -1.77622491e-03 1.28030102e+01] [ 3.58523002e-02 -5.34257730e-04 9.99356957e-01 1.19598464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.19, Y:12.81, Z:11.96 [[ 9.97395535e-01 -6.26069084e-02 -3.58123216e-02 3.39185795e+02] [ 6.25835144e-02 9.98038152e-01 -1.77495846e-03 1.28053864e+01] [ 3.58531880e-02 -4.70925308e-04 9.99356957e-01 1.19608820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.22, Y:12.81, Z:11.96 [[ 9.97493963e-01 -6.10185520e-02 -3.58124249e-02 3.39216376e+02] [ 6.09942096e-02 9.98136545e-01 -1.77287155e-03 1.28075676e+01] [ 3.58538682e-02 -4.15921887e-04 9.99356957e-01 1.19619193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.25, Y:12.81, Z:11.96 [[ 9.97597742e-01 -5.92976889e-02 -3.58124249e-02 3.39246687e+02] [ 5.92722380e-02 9.98240281e-01 -1.77287155e-03 1.28103000e+01] [ 3.58545323e-02 -3.54069924e-04 9.99356957e-01 1.19623287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.28, Y:12.81, Z:11.96 [[ 9.97595040e-01 -5.93431173e-02 -3.58124249e-02 3.39277435e+02] [ 5.93176957e-02 9.98237581e-01 -1.77287155e-03 1.28121309e+01] [ 3.58545162e-02 -3.55702662e-04 9.99356957e-01 1.19633543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.31, Y:12.81, Z:11.96 [[ 9.97458045e-01 -6.16029089e-02 -3.58124249e-02 3.39306666e+02] [ 6.15789429e-02 9.98100642e-01 -1.77287155e-03 1.28142671e+01] [ 3.58536183e-02 -4.36926284e-04 9.99356957e-01 1.19643644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.34, Y:12.82, Z:11.97 [[ 9.97348821e-01 -6.33466760e-02 -3.58123932e-02 3.39337180e+02] [ 6.33238106e-02 9.97991458e-01 -1.77351224e-03 1.28159132e+01] [ 3.58528086e-02 -4.98966857e-04 9.99356957e-01 1.19655698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.37, Y:12.82, Z:11.97 [[ 9.97205711e-01 -6.55609801e-02 -3.58123932e-02 3.39367723e+02] [ 6.55395416e-02 9.97848397e-01 -1.77351224e-03 1.28173595e+01] [ 3.58516124e-02 -5.78571294e-04 9.99356957e-01 1.19663689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.40, Y:12.82, Z:11.97 [[ 9.97051715e-01 -6.78627117e-02 -3.58124248e-02 3.39399294e+02] [ 6.78427797e-02 9.97694449e-01 -1.77287334e-03 1.28187436e+01] [ 3.58501695e-02 -6.61968044e-04 9.99356957e-01 1.19674131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.43, Y:12.82, Z:11.97 [[ 9.96699651e-01 -7.28510245e-02 -3.58124875e-02 3.39430807e+02] [ 7.28343544e-02 9.97342478e-01 -1.77160741e-03 1.28200199e+01] [ 3.58463784e-02 -8.42618918e-04 9.99356957e-01 1.19679247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.46, Y:12.82, Z:11.97 [[ 9.96704765e-01 -7.27809213e-02 -3.58126927e-02 3.39463443e+02] [ 7.27643554e-02 9.97347595e-01 -1.76744780e-03 1.28215693e+01] [ 3.58463395e-02 -8.44263856e-04 9.99356957e-01 1.19690956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.50, Y:12.82, Z:11.97 [[ 9.96357572e-01 -7.73888285e-02 -3.58128167e-02 3.39495234e+02] [ 7.73753255e-02 9.97000473e-01 -1.76493265e-03 1.28235271e+01] [ 3.58419813e-02 -1.01252435e-03 9.99356957e-01 1.19702856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.53, Y:12.83, Z:11.97 [[ 9.96363184e-01 -7.73164809e-02 -3.58129444e-02 3.39527870e+02] [ 7.73030244e-02 9.97006087e-01 -1.76233857e-03 1.28250754e+01] [ 3.58419813e-02 -1.01251965e-03 9.99356957e-01 1.19714571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.56, Y:12.83, Z:11.97 [[ 9.96186523e-01 -7.95602563e-02 -3.58130720e-02 3.39558557e+02] [ 7.95483411e-02 9.96829456e-01 -1.75973978e-03 1.28272298e+01] [ 3.58395305e-02 -1.09584141e-03 9.99356957e-01 1.19730561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.59, Y:12.83, Z:11.98 [[ 9.96048013e-01 -8.12759109e-02 -3.58131671e-02 3.39590277e+02] [ 8.12651726e-02 9.96690966e-01 -1.75780396e-03 1.28292417e+01] [ 3.58375272e-02 -1.15950607e-03 9.99356957e-01 1.19750814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.62, Y:12.83, Z:11.98 [[ 9.95833531e-01 -8.38628981e-02 -3.58132942e-02 3.39621800e+02] [ 8.38539231e-02 9.96476512e-01 -1.75520957e-03 1.28316256e+01] [ 3.58343035e-02 -1.25518868e-03 9.99356957e-01 1.19765634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.65, Y:12.83, Z:11.98 [[ 9.95792978e-01 -8.43430259e-02 -3.58133888e-02 3.39654362e+02] [ 8.43344303e-02 9.96435964e-01 -1.75327801e-03 1.28335354e+01] [ 3.58336253e-02 -1.27439980e-03 9.99356957e-01 1.19778985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.69, Y:12.84, Z:11.98 [[ 9.95793062e-01 -8.43419859e-02 -3.58135106e-02 3.39686119e+02] [ 8.43334791e-02 9.96436049e-01 -1.75078619e-03 1.28358229e+01] [ 3.58335378e-02 -1.27685720e-03 9.99356957e-01 1.19794962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.72, Y:12.84, Z:11.98 [[ 9.95950309e-01 -8.24643248e-02 -3.58136319e-02 3.39719203e+02] [ 8.24546949e-02 9.96593281e-01 -1.74830197e-03 1.28390559e+01] [ 3.58357974e-02 -1.21178020e-03 9.99356957e-01 1.19812573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.75, Y:12.84, Z:11.98 [[ 9.96083495e-01 -8.08396011e-02 -3.58138230e-02 3.39751006e+02] [ 8.08290634e-02 9.96726452e-01 -1.74437750e-03 1.28417071e+01] [ 3.58375995e-02 -1.15725214e-03 9.99356957e-01 1.19827506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.78, Y:12.84, Z:11.98 [[ 9.96401384e-01 -7.68220697e-02 -3.58141286e-02 3.39782113e+02] [ 7.68091653e-02 9.97044298e-01 -1.73808150e-03 1.28449801e+01] [ 3.58417957e-02 -1.01902651e-03 9.99356957e-01 1.19841457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.81, Y:12.85, Z:11.99 [[ 9.96566505e-01 -7.46494654e-02 -3.58142218e-02 3.39813787e+02] [ 7.46352284e-02 9.97209390e-01 -1.73615863e-03 1.28473609e+01] [ 3.58438816e-02 -9.42805083e-04 9.99356957e-01 1.19854481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.85, Y:12.85, Z:11.99 [[ 9.96749665e-01 -7.21625862e-02 -3.58143462e-02 3.39845049e+02] [ 7.21468374e-02 9.97392515e-01 -1.73358904e-03 1.28497140e+01] [ 3.58460610e-02 -8.55937515e-04 9.99356957e-01 1.19864130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:12.85, Z:11.99 [[ 9.97027951e-01 -6.82099064e-02 -3.58144389e-02 3.39877241e+02] [ 6.81916777e-02 9.97670735e-01 -1.73167140e-03 1.28528742e+01] [ 3.58491347e-02 -7.15721888e-04 9.99356957e-01 1.19870110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:12.85, Z:11.99 [[ 9.97153318e-01 -6.63519181e-02 -3.58145626e-02 3.39908055e+02] [ 6.63325836e-02 9.97796071e-01 -1.72910908e-03 1.28548424e+01] [ 3.58503595e-02 -6.51485606e-04 9.99356957e-01 1.19877409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.94, Y:12.86, Z:11.99 [[ 9.97297269e-01 -6.41519062e-02 -3.58146545e-02 3.39939538e+02] [ 6.41312222e-02 9.97939980e-01 -1.72720283e-03 1.28578793e+01] [ 3.58516790e-02 -5.74302905e-04 9.99356957e-01 1.19875685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:12.86, Z:11.99 [[ 9.97345017e-01 -6.34051492e-02 -3.58148643e-02 3.39971049e+02] [ 6.33841405e-02 9.97987717e-01 -1.72284267e-03 1.28597250e+01] [ 3.58520317e-02 -5.51825841e-04 9.99356957e-01 1.19881792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.00, Y:12.86, Z:11.99 [[ 9.97371032e-01 -6.29945715e-02 -3.58149240e-02 3.40002247e+02] [ 6.29733429e-02 9.98013724e-01 -1.72160012e-03 1.28613546e+01] [ 3.58522371e-02 -5.38311399e-04 9.99356957e-01 1.19887196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.03, Y:12.86, Z:11.99 [[ 9.97386415e-01 -6.27505026e-02 -3.58149835e-02 3.40033277e+02] [ 6.27291612e-02 9.98029104e-01 -1.72036199e-03 1.28630340e+01] [ 3.58523494e-02 -5.30778194e-04 9.99356957e-01 1.19893025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.06, Y:12.86, Z:11.99 [[ 9.97379199e-01 -6.28650701e-02 -3.58150425e-02 3.40064274e+02] [ 6.28438467e-02 9.98021891e-01 -1.71913135e-03 1.28647657e+01] [ 3.58522698e-02 -5.36129192e-04 9.99356957e-01 1.19901690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.10, Y:12.87, Z:11.99 [[ 9.97284484e-01 -6.43501119e-02 -3.58151014e-02 3.40096175e+02] [ 6.43298895e-02 9.97927209e-01 -1.71790393e-03 1.28667846e+01] [ 3.58514115e-02 -5.90742579e-04 9.99356957e-01 1.19930574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.13, Y:12.87, Z:11.99 [[ 9.97187498e-01 -6.58358893e-02 -3.58152274e-02 3.40127597e+02] [ 6.58167190e-02 9.97830255e-01 -1.71527332e-03 1.28684253e+01] [ 3.58504440e-02 -6.46791649e-04 9.99356957e-01 1.19940897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.16, Y:12.87, Z:11.99 [[ 9.97062488e-01 -6.77027108e-02 -3.58153211e-02 3.40159208e+02] [ 6.76848143e-02 9.97705282e-01 -1.71331394e-03 1.28700528e+01] [ 3.58491311e-02 -7.15872295e-04 9.99356957e-01 1.19945791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.19, Y:12.87, Z:12.00 [[ 9.96893206e-01 -7.01512109e-02 -3.58154136e-02 3.40191526e+02] [ 7.01349626e-02 9.97536044e-01 -1.71137778e-03 1.28716929e+01] [ 3.58472212e-02 -8.05851814e-04 9.99356957e-01 1.19959674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.22, Y:12.87, Z:11.99 [[ 9.96683818e-01 -7.30658235e-02 -3.58155388e-02 3.40223133e+02] [ 7.30515491e-02 9.97326702e-01 -1.70875450e-03 1.28732888e+01] [ 3.58446448e-02 -9.13292636e-04 9.99356957e-01 1.19945411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:12.87, Z:12.00 [[ 9.96151473e-01 -7.99967715e-02 -3.58156318e-02 3.40254959e+02] [ 7.99870394e-02 9.96794442e-01 -1.70680243e-03 1.28745636e+01] [ 3.58373614e-02 -1.16455260e-03 9.99356957e-01 1.19967562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.29, Y:12.88, Z:12.00 [[ 9.95867563e-01 -8.34567502e-02 -3.58157520e-02 3.40287168e+02] [ 8.34493424e-02 9.96510563e-01 -1.70427691e-03 1.28763022e+01] [ 3.58330086e-02 -1.29156686e-03 9.99356957e-01 1.19985491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.32, Y:12.88, Z:12.00 [[ 9.95341994e-01 -8.95071990e-02 -3.58158753e-02 3.40317967e+02] [ 8.95037921e-02 9.95985028e-01 -1.70168233e-03 1.28786302e+01] [ 3.58243883e-02 -1.51190077e-03 9.99356957e-01 1.20008535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.35, Y:12.88, Z:12.00 [[ 9.95165503e-01 -9.14485568e-02 -3.58159672e-02 3.40349544e+02] [ 9.14464737e-02 9.95808543e-01 -1.69974635e-03 1.28805388e+01] [ 3.58212854e-02 -1.58371496e-03 9.99356957e-01 1.20016588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.38, Y:12.88, Z:12.00 [[ 9.94997272e-01 -9.32611302e-02 -3.58160581e-02 3.40381524e+02] [ 9.32602874e-02 9.95640315e-01 -1.69782702e-03 1.28823717e+01] [ 3.58182527e-02 -1.65088262e-03 9.99356957e-01 1.20039538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.41, Y:12.88, Z:12.00 [[ 9.94926890e-01 -9.40089575e-02 -3.58161794e-02 3.40412334e+02] [ 9.40086901e-02 9.95569933e-01 -1.69526459e-03 1.28833096e+01] [ 3.58168814e-02 -1.68036778e-03 9.99356957e-01 1.20045181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.45, Y:12.88, Z:12.01 [[ 9.94936872e-01 -9.39032214e-02 -3.58162694e-02 3.40445822e+02] [ 9.39029540e-02 9.95579915e-01 -1.69336162e-03 1.28848022e+01] [ 3.58169706e-02 -1.67846559e-03 9.99356957e-01 1.20057202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.48, Y:12.89, Z:12.01 [[ 9.95067420e-01 -9.25095268e-02 -3.58164489e-02 3.40478045e+02] [ 9.25084954e-02 9.95710462e-01 -1.68955524e-03 1.28851260e+01] [ 3.58191129e-02 -1.63210443e-03 9.99356957e-01 1.20075901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.51, Y:12.89, Z:12.01 [[ 9.95133668e-01 -9.17940918e-02 -3.58165698e-02 3.40511197e+02] [ 9.17926902e-02 9.95776710e-01 -1.68698928e-03 1.28865077e+01] [ 3.58201617e-02 -1.60891947e-03 9.99356957e-01 1.20088149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.54, Y:12.89, Z:12.01 [[ 9.95172651e-01 -9.13704279e-02 -3.58167508e-02 3.40543356e+02] [ 9.13688909e-02 9.95815692e-01 -1.68313803e-03 1.28881531e+01] [ 3.58206715e-02 -1.59752386e-03 9.99356957e-01 1.20101566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.57, Y:12.89, Z:12.01 [[ 9.95215869e-01 -9.08984393e-02 -3.58168742e-02 3.40574986e+02] [ 9.08966918e-02 9.95858909e-01 -1.68050842e-03 1.28893511e+01] [ 3.58213088e-02 -1.58316672e-03 9.99356957e-01 1.20106785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.61, Y:12.89, Z:12.01 [[ 9.95223211e-01 -9.08179586e-02 -3.58170277e-02 3.40605758e+02] [ 9.08162769e-02 9.95866251e-01 -1.67722940e-03 1.28904221e+01] [ 3.58212917e-02 -1.58355148e-03 9.99356957e-01 1.20109590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.64, Y:12.89, Z:12.01 [[ 9.95377470e-01 -8.91113095e-02 -3.58171173e-02 3.40638066e+02] [ 8.91085939e-02 9.96020508e-01 -1.67531523e-03 1.28909890e+01] [ 3.58238728e-02 -1.52404192e-03 9.99356957e-01 1.20110420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:12.89, Z:12.01 [[ 9.95467163e-01 -8.81036518e-02 -3.58172388e-02 3.40668895e+02] [ 8.81003787e-02 9.96110197e-01 -1.67271365e-03 1.28921660e+01] [ 3.58252889e-02 -1.49038079e-03 9.99356957e-01 1.20110963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.70, Y:12.89, Z:12.01 [[ 9.95660437e-01 -8.58918696e-02 -3.58173291e-02 3.40700793e+02] [ 8.58872375e-02 9.96303463e-01 -1.67077657e-03 1.28942384e+01] [ 3.58284352e-02 -1.41272533e-03 9.99356957e-01 1.20124187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.73, Y:12.90, Z:12.01 [[ 9.95749667e-01 -8.48511106e-02 -3.58174476e-02 3.40732998e+02] [ 8.48458977e-02 9.96392689e-01 -1.66823248e-03 1.28963584e+01] [ 3.58297943e-02 -1.37782156e-03 9.99356957e-01 1.20144036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.77, Y:12.90, Z:12.02 [[ 9.95827322e-01 -8.39347813e-02 -3.58175668e-02 3.40765962e+02] [ 8.39290688e-02 9.96470339e-01 -1.66566888e-03 1.28984955e+01] [ 3.58309505e-02 -1.34741645e-03 9.99356957e-01 1.20162323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.80, Y:12.90, Z:12.02 [[ 9.95859102e-01 -8.35567996e-02 -3.58177471e-02 3.40797917e+02] [ 8.35509826e-02 9.96502118e-01 -1.66178401e-03 1.29001396e+01] [ 3.58313142e-02 -1.33770523e-03 9.99356957e-01 1.20171350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.83, Y:12.90, Z:12.02 [[ 9.95856460e-01 -8.35882116e-02 -3.58178961e-02 3.40830616e+02] [ 8.35825305e-02 9.96499478e-01 -1.65856478e-03 1.29008761e+01] [ 3.58311513e-02 -1.34205795e-03 9.99356957e-01 1.20178759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.86, Y:12.90, Z:12.02 [[ 9.95817859e-01 -8.40467713e-02 -3.58180426e-02 3.40862262e+02] [ 8.40415002e-02 9.96460880e-01 -1.65539495e-03 1.29019364e+01] [ 3.58304089e-02 -1.36173018e-03 9.99356957e-01 1.20183237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.90, Y:12.90, Z:12.02 [[ 9.95759068e-01 -8.47403987e-02 -3.58181881e-02 3.40895104e+02] [ 8.47356887e-02 9.96402094e-01 -1.65224191e-03 1.29032302e+01] [ 3.58293292e-02 -1.38984397e-03 9.99356957e-01 1.20193768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:12.90, Z:12.02 [[ 9.95511690e-01 -8.75986359e-02 -3.58183608e-02 3.40927396e+02] [ 8.75959067e-02 9.96154727e-01 -1.64848807e-03 1.29043131e+01] [ 3.58250348e-02 -1.49645265e-03 9.99356957e-01 1.20205205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:12.91, Z:12.02 [[ 9.95380264e-01 -8.90795531e-02 -3.58184778e-02 3.40959105e+02] [ 8.90778719e-02 9.96023305e-01 -1.64594391e-03 1.29056661e+01] [ 3.58226585e-02 -1.55229368e-03 9.99356957e-01 1.20215687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:12.91, Z:12.02 [[ 9.95262565e-01 -9.03850237e-02 -3.58186234e-02 3.40992494e+02] [ 9.03843000e-02 9.95905608e-01 -1.64276820e-03 1.29071000e+01] [ 3.58204496e-02 -1.60245551e-03 9.99356957e-01 1.20232610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.03, Y:12.91, Z:12.02 [[ 9.95186465e-01 -9.12190386e-02 -3.58187980e-02 3.41025524e+02] [ 9.12189908e-02 9.95829508e-01 -1.63895283e-03 1.29085167e+01] [ 3.58189197e-02 -1.63629093e-03 9.99356957e-01 1.20246226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.06, Y:12.91, Z:12.03 [[ 9.95177247e-01 -9.13194886e-02 -3.58189711e-02 3.41056249e+02] [ 9.13196419e-02 9.95820290e-01 -1.63516000e-03 1.29090763e+01] [ 3.58185802e-02 -1.64370159e-03 9.99356957e-01 1.20259130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.09, Y:12.91, Z:12.03 [[ 9.95238431e-01 -9.06502104e-02 -3.58190567e-02 3.41087344e+02] [ 9.06499987e-02 9.95881474e-01 -1.63328401e-03 1.29111191e+01] [ 3.58195925e-02 -1.62149043e-03 9.99356957e-01 1.20284602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.12, Y:12.91, Z:12.03 [[ 9.95319103e-01 -8.97633963e-02 -3.58108320e-02 3.41120986e+02] [ 8.97561421e-02 9.95962121e-01 -1.81340991e-03 1.29112328e+01] [ 3.58290100e-02 -1.40932060e-03 9.99356941e-01 1.20298710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.15, Y:12.91, Z:12.03 [[ 9.95450127e-01 -8.82950579e-02 -3.58193650e-02 3.41152218e+02] [ 8.82936086e-02 9.96093167e-01 -1.62537577e-03 1.29124656e+01] [ 3.58229374e-02 -1.54464048e-03 9.99356959e-01 1.20300956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.18, Y:12.91, Z:12.03 [[ 9.95495719e-01 -8.77827542e-02 -3.58114837e-02 3.41184502e+02] [ 8.77747528e-02 9.96138724e-01 -1.79858884e-03 1.29131361e+01] [ 3.58310908e-02 -1.35285664e-03 9.99356945e-01 1.20309904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.22, Y:12.91, Z:12.04 [[ 9.95403230e-01 -8.88243467e-02 -3.58140494e-02 3.41216190e+02] [ 8.88190569e-02 9.96046255e-01 -1.74182556e-03 1.29136519e+01] [ 3.58271663e-02 -1.44715130e-03 9.99356953e-01 1.20361078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.25, Y:12.91, Z:12.04 [[ 9.95317986e-01 -8.97721771e-02 -3.58198593e-02 3.41247212e+02] [ 8.97721337e-02 9.95961025e-01 -1.61279530e-03 1.29129259e+01] [ 3.58199680e-02 -1.61038103e-03 9.99356962e-01 1.20372767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.28, Y:12.91, Z:12.04 [[ 9.95253716e-01 -9.04818845e-02 -3.58199471e-02 3.41280085e+02] [ 9.04823698e-02 9.95896755e-01 -1.61084466e-03 1.29131295e+01] [ 3.58187213e-02 -1.63787456e-03 9.99356962e-01 1.20385821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.31, Y:12.91, Z:12.04 [[ 9.95217809e-01 -9.08759178e-02 -3.58201215e-02 3.41312623e+02] [ 9.08767973e-02 9.95860846e-01 -1.60695744e-03 1.29132004e+01] [ 3.58178902e-02 -1.65594526e-03 9.99356962e-01 1.20399219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.34, Y:12.91, Z:12.04 [[ 9.95180400e-01 -9.12846077e-02 -3.58202677e-02 3.41344326e+02] [ 9.12858685e-02 9.95823437e-01 -1.60369181e-03 1.29130057e+01] [ 3.58170544e-02 -1.67392159e-03 9.99356962e-01 1.20406478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.37, Y:12.91, Z:12.04 [[ 9.95182911e-01 -9.12571766e-02 -3.58204122e-02 3.41374452e+02] [ 9.12585358e-02 9.95825948e-01 -1.60045730e-03 1.29145587e+01] [ 3.58169491e-02 -1.67617061e-03 9.99356962e-01 1.20385751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:12.91, Z:12.04 [[ 9.95160094e-01 -9.15101302e-02 -3.58089911e-02 3.41407553e+02] [ 9.15025102e-02 9.95803118e-01 -1.85501974e-03 1.29140478e+01] [ 3.58284580e-02 -1.43057095e-03 9.99356931e-01 1.20428727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:12.91, Z:12.04 [[ 9.95095188e-01 -9.22087455e-02 -3.58205815e-02 3.41440913e+02] [ 9.22109263e-02 9.95738220e-01 -1.59469876e-03 1.29130975e+01] [ 3.58149673e-02 -1.71617195e-03 9.99356965e-01 1.20441135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.47, Y:12.91, Z:12.05 [[ 9.95068070e-01 -9.25008689e-02 -3.58207514e-02 3.41474130e+02] [ 9.25033759e-02 9.95711100e-01 -1.59087324e-03 1.29131058e+01] [ 3.58142770e-02 -1.73051326e-03 9.99356965e-01 1.20452788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.51, Y:12.91, Z:12.05 [[ 9.95061786e-01 -9.25683686e-02 -3.58209258e-02 3.41506660e+02] [ 9.25710605e-02 9.95704816e-01 -1.58693702e-03 1.29133528e+01] [ 3.58139685e-02 -1.73688071e-03 9.99356965e-01 1.20456413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.54, Y:12.91, Z:12.05 [[ 9.95135714e-01 -9.17701562e-02 -3.58210703e-02 3.41538720e+02] [ 9.17724498e-02 9.95778745e-01 -1.58366816e-03 1.29128792e+01] [ 3.58151939e-02 -1.71142264e-03 9.99356965e-01 1.20457184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.57, Y:12.91, Z:12.05 [[ 9.95145900e-01 -9.16595911e-02 -3.58211870e-02 3.41572212e+02] [ 9.16619081e-02 9.95788931e-01 -1.58102569e-03 1.29142731e+01] [ 3.58152576e-02 -1.71008711e-03 9.99356965e-01 1.20469202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.60, Y:12.92, Z:12.05 [[ 9.95223213e-01 -9.08162198e-02 -3.58213621e-02 3.41602999e+02] [ 9.08181348e-02 9.95866246e-01 -1.57704661e-03 1.29150451e+01] [ 3.58165068e-02 -1.68371590e-03 9.99356965e-01 1.20465554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.64, Y:12.92, Z:12.05 [[ 9.95325102e-01 -8.96926155e-02 -3.58214487e-02 3.41635556e+02] [ 8.96938753e-02 9.95968136e-01 -1.57507761e-03 1.29161003e+01] [ 3.58182943e-02 -1.64525027e-03 9.99356965e-01 1.20477573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.67, Y:12.92, Z:12.05 [[ 9.95461874e-01 -8.81616087e-02 -3.58216135e-02 3.41668311e+02] [ 8.81620143e-02 9.96104909e-01 -1.57132190e-03 1.29175112e+01] [ 3.58206153e-02 -1.59391455e-03 9.99356965e-01 1.20492171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.70, Y:12.92, Z:12.05 [[ 9.95731961e-01 -8.50568180e-02 -3.58217844e-02 3.41699891e+02] [ 8.50553585e-02 9.96374994e-01 -1.56741622e-03 1.29184306e+01] [ 3.58252496e-02 -1.48610828e-03 9.99356965e-01 1.20497863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.73, Y:12.92, Z:12.05 [[ 9.95901262e-01 -8.30509901e-02 -3.58219257e-02 3.41730992e+02] [ 8.30483517e-02 9.96544291e-01 -1.56417886e-03 1.29196695e+01] [ 3.58280422e-02 -1.41718419e-03 9.99356965e-01 1.20500976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.76, Y:12.92, Z:12.05 [[ 9.96038826e-01 -8.13845221e-02 -3.58220089e-02 3.41763177e+02] [ 8.13808762e-02 9.96681851e-01 -1.56227121e-03 1.29212656e+01] [ 3.58302909e-02 -1.35914369e-03 9.99356965e-01 1.20521179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.80, Y:12.92, Z:12.05 [[ 9.96247348e-01 -7.87908494e-02 -3.58221186e-02 3.41795463e+02] [ 7.87856197e-02 9.96890362e-01 -1.55975306e-03 1.29229469e+01] [ 3.58336190e-02 -1.26836796e-03 9.99356965e-01 1.20536284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.83, Y:12.92, Z:12.05 [[ 9.96285963e-01 -7.83010107e-02 -3.58222309e-02 3.41826761e+02] [ 7.82955577e-02 9.96928975e-01 -1.55716793e-03 1.29242734e+01] [ 3.58341478e-02 -1.25333700e-03 9.99356965e-01 1.20543069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.86, Y:12.93, Z:12.06 [[ 9.96286458e-01 -7.82946651e-02 -3.58223145e-02 3.41859400e+02] [ 7.82892771e-02 9.96929471e-01 -1.55524301e-03 1.29255347e+01] [ 3.58340883e-02 -1.25503555e-03 9.99356965e-01 1.20550580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.89, Y:12.93, Z:12.05 [[ 9.96239544e-01 -7.88893233e-02 -3.58224256e-02 3.41890341e+02] [ 7.88844112e-02 9.96882560e-01 -1.55268014e-03 1.29262075e+01] [ 3.58332412e-02 -1.27898960e-03 9.99356965e-01 1.20538949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.92, Y:12.93, Z:12.05 [[ 9.96200708e-01 -7.93781935e-02 -3.58225082e-02 3.41923054e+02] [ 7.93736655e-02 9.96843727e-01 -1.55077167e-03 1.29269865e+01] [ 3.58325401e-02 -1.29848395e-03 9.99356965e-01 1.20540897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.95, Y:12.93, Z:12.06 [[ 9.96161359e-01 -7.98704236e-02 -3.58226441e-02 3.41954878e+02] [ 7.98663262e-02 9.96804381e-01 -1.54762693e-03 1.29280817e+01] [ 3.58317782e-02 -1.31933683e-03 9.99356965e-01 1.20551995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.99, Y:12.93, Z:12.06 [[ 9.96157497e-01 -7.99185368e-02 -3.58227524e-02 3.41987066e+02] [ 7.99145607e-02 9.96800519e-01 -1.54511521e-03 1.29299453e+01] [ 3.58316216e-02 -1.32358142e-03 9.99356965e-01 1.20575674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.02, Y:12.93, Z:12.06 [[ 9.96185475e-01 -7.95689787e-02 -3.58228648e-02 3.42018617e+02] [ 7.95648707e-02 9.96828497e-01 -1.54250458e-03 1.29321860e+01] [ 3.58319880e-02 -1.31362095e-03 9.99356965e-01 1.20590429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.05, Y:12.93, Z:12.06 [[ 9.96284900e-01 -7.83142066e-02 -3.58229484e-02 3.42051035e+02] [ 7.83093585e-02 9.96927917e-01 -1.54056020e-03 1.29349184e+01] [ 3.58335451e-02 -1.27043525e-03 9.99356965e-01 1.20619386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.08, Y:12.94, Z:12.06 [[ 9.96342933e-01 -7.75723422e-02 -3.58230571e-02 3.42082678e+02] [ 7.75671062e-02 9.96985947e-01 -1.53802945e-03 1.29365559e+01] [ 3.58343930e-02 -1.24628610e-03 9.99356965e-01 1.20635979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.11, Y:12.94, Z:12.07 [[ 9.96406067e-01 -7.67570802e-02 -3.58231681e-02 3.42113750e+02] [ 7.67514112e-02 9.97049078e-01 -1.53543931e-03 1.29378692e+01] [ 3.58353126e-02 -1.21955766e-03 9.99356965e-01 1.20650863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.15, Y:12.94, Z:12.07 [[ 9.96433709e-01 -7.63973694e-02 -3.58232507e-02 3.42146210e+02] [ 7.63915375e-02 9.97076718e-01 -1.53350987e-03 1.29392844e+01] [ 3.58356854e-02 -1.20855227e-03 9.99356965e-01 1.20660728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.18, Y:12.94, Z:12.07 [[ 9.96443270e-01 -7.62725111e-02 -3.58233599e-02 3.42178547e+02] [ 7.62666904e-02 9.97086279e-01 -1.53095391e-03 1.29408616e+01] [ 3.58357504e-02 -1.20662038e-03 9.99356965e-01 1.20674496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.21, Y:12.94, Z:12.07 [[ 9.96439803e-01 -7.63177392e-02 -3.58234730e-02 3.42209574e+02] [ 7.63120429e-02 9.97082813e-01 -1.52830267e-03 1.29433319e+01] [ 3.58356059e-02 -1.21090080e-03 9.99356965e-01 1.20677105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.24, Y:12.95, Z:12.07 [[ 9.96426007e-01 -7.64976129e-02 -3.58235572e-02 3.42241420e+02] [ 7.64921036e-02 9.97069019e-01 -1.52632718e-03 1.29451068e+01] [ 3.58353194e-02 -1.21934715e-03 9.99356965e-01 1.20686035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.27, Y:12.95, Z:12.07 [[ 9.96378350e-01 -7.71158157e-02 -3.58236684e-02 3.42272179e+02] [ 7.71107992e-02 9.97021365e-01 -1.52371397e-03 1.29469451e+01] [ 3.58344652e-02 -1.24419608e-03 9.99356965e-01 1.20692717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.30, Y:12.95, Z:12.07 [[ 9.96313172e-01 -7.79532877e-02 -3.58238430e-02 3.42303355e+02] [ 7.79489596e-02 9.96956193e-01 -1.51959625e-03 1.29488818e+01] [ 3.58332597e-02 -1.27843754e-03 9.99356965e-01 1.20701942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.34, Y:12.95, Z:12.07 [[ 9.96129387e-01 -8.02675769e-02 -3.58240302e-02 3.42335557e+02] [ 8.02649014e-02 9.96772416e-01 -1.51517175e-03 1.29508007e+01] [ 3.58300243e-02 -1.36610514e-03 9.99356965e-01 1.20716100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.37, Y:12.95, Z:12.07 [[ 9.96034765e-01 -8.14332725e-02 -3.58241381e-02 3.42368106e+02] [ 8.14314414e-02 9.96677798e-01 -1.51261546e-03 1.29524915e+01] [ 3.58283003e-02 -1.41059362e-03 9.99356965e-01 1.20723277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.40, Y:12.95, Z:12.07 [[ 9.95930290e-01 -8.27011510e-02 -3.58242468e-02 3.42400525e+02] [ 8.27002310e-02 9.96573325e-01 -1.51003592e-03 1.29544271e+01] [ 3.58263705e-02 -1.45878298e-03 9.99356965e-01 1.20730386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.43, Y:12.96, Z:12.07 [[ 9.95833224e-01 -8.38618187e-02 -3.58243556e-02 3.42432760e+02] [ 8.38617410e-02 9.96476260e-01 -1.50745173e-03 1.29564852e+01] [ 3.58245375e-02 -1.50312231e-03 9.99356965e-01 1.20740849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.46, Y:12.96, Z:12.08 [[ 9.95708932e-01 -8.53248506e-02 -3.58244655e-02 3.42464939e+02] [ 8.53258116e-02 9.96351967e-01 -1.50483511e-03 1.29601567e+01] [ 3.58221765e-02 -1.55837383e-03 9.99356965e-01 1.20758492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.50, Y:12.96, Z:12.08 [[ 9.95705558e-01 -8.53641618e-02 -3.58246021e-02 3.42497003e+02] [ 8.53652653e-02 9.96348592e-01 -1.50157639e-03 1.29625976e+01] [ 3.58219726e-02 -1.56304870e-03 9.99356965e-01 1.20770915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.53, Y:12.97, Z:12.08 [[ 9.95768093e-01 -8.46315155e-02 -3.58247353e-02 3.42530021e+02] [ 8.46322602e-02 9.96411128e-01 -1.49839019e-03 1.29650345e+01] [ 3.58229760e-02 -1.53987918e-03 9.99356965e-01 1.20791031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.56, Y:12.97, Z:12.08 [[ 9.95824452e-01 -8.39656885e-02 -3.58248954e-02 3.42562374e+02] [ 8.39661410e-02 9.96467487e-01 -1.49455381e-03 1.29676636e+01] [ 3.58238347e-02 -1.51976499e-03 9.99356965e-01 1.20806309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.59, Y:12.97, Z:12.08 [[ 9.96007504e-01 -8.17656388e-02 -3.58250278e-02 3.42593977e+02] [ 8.17647851e-02 9.96650538e-01 -1.49137190e-03 1.29713370e+01] [ 3.58269763e-02 -1.44380810e-03 9.99356965e-01 1.20814153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.63, Y:12.97, Z:12.08 [[ 9.96096512e-01 -8.06740285e-02 -3.58251322e-02 3.42625913e+02] [ 8.06725603e-02 9.96739545e-01 -1.48886028e-03 1.29738917e+01] [ 3.58284384e-02 -1.40705661e-03 9.99356965e-01 1.20823060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.66, Y:12.98, Z:12.08 [[ 9.96184428e-01 -7.95810096e-02 -3.58252360e-02 3.42657759e+02] [ 7.95789255e-02 9.96827460e-01 -1.48635972e-03 1.29763173e+01] [ 3.58298650e-02 -1.37024538e-03 9.99356965e-01 1.20843399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.69, Y:12.98, Z:12.09 [[ 9.96265829e-01 -7.85553429e-02 -3.58253428e-02 3.42689125e+02] [ 7.85526894e-02 9.96908859e-01 -1.48378147e-03 1.29804803e+01] [ 3.58311605e-02 -1.33593625e-03 9.99356965e-01 1.20853143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.72, Y:12.98, Z:12.09 [[ 9.96281843e-01 -7.83519472e-02 -3.58254221e-02 3.42721390e+02] [ 7.83492313e-02 9.96924873e-01 -1.48186345e-03 1.29832610e+01] [ 3.58313613e-02 -1.33054063e-03 9.99356965e-01 1.20881146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.75, Y:12.99, Z:12.09 [[ 9.96333718e-01 -7.76894650e-02 -3.58255278e-02 3.42753709e+02] [ 7.76864134e-02 9.96976746e-01 -1.47930385e-03 1.29855429e+01] [ 3.58321445e-02 -1.30927646e-03 9.99356965e-01 1.20896506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.79, Y:12.99, Z:12.09 [[ 9.96393991e-01 -7.69125398e-02 -3.58256331e-02 3.42786073e+02] [ 7.69090786e-02 9.97037017e-01 -1.47675013e-03 1.29873647e+01] [ 3.58330629e-02 -1.28389147e-03 9.99356965e-01 1.20906294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.82, Y:12.99, Z:12.09 [[ 9.96535344e-01 -7.50588117e-02 -3.58257393e-02 3.42817726e+02] [ 7.50542470e-02 9.97178363e-01 -1.47416831e-03 1.29886839e+01] [ 3.58353014e-02 -1.21981306e-03 9.99356965e-01 1.20904425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.85, Y:12.99, Z:12.09 [[ 9.96614007e-01 -7.40069767e-02 -3.58258183e-02 3.42850000e+02] [ 7.40018024e-02 9.97257021e-01 -1.47224583e-03 1.29902082e+01] [ 3.58365053e-02 -1.18391431e-03 9.99356965e-01 1.20925545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.88, Y:12.99, Z:12.09 [[ 9.96741650e-01 -7.22674630e-02 -3.58259234e-02 3.42881377e+02] [ 7.22612584e-02 9.97384655e-01 -1.46968243e-03 1.29918916e+01] [ 3.58384365e-02 -1.12393262e-03 9.99356965e-01 1.20932532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.91, Y:12.99, Z:12.09 [[ 9.96789805e-01 -7.16001017e-02 -3.58261005e-02 3.42913968e+02] [ 7.15936220e-02 9.97432808e-01 -1.46535416e-03 1.29932879e+01] [ 3.58390475e-02 -1.10427021e-03 9.99356965e-01 1.20946419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.95, Y:12.99, Z:12.10 [[ 9.96815761e-01 -7.12377780e-02 -3.58262047e-02 3.42946385e+02] [ 7.12311563e-02 9.97458762e-01 -1.46280119e-03 1.29946654e+01] [ 3.58393685e-02 -1.09379870e-03 9.99356965e-01 1.20966571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.98, Y:13.00, Z:12.10 [[ 9.96798549e-01 -7.14781685e-02 -3.58263121e-02 3.42977429e+02] [ 7.14717964e-02 9.97441552e-01 -1.46016578e-03 1.29962198e+01] [ 3.58390224e-02 -1.10507976e-03 9.99356965e-01 1.20968289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.01, Y:13.00, Z:12.10 [[ 9.96765899e-01 -7.19319923e-02 -3.58263920e-02 3.43009969e+02] [ 7.19259834e-02 9.97408906e-01 -1.45820474e-03 1.29975144e+01] [ 3.58384540e-02 -1.12335972e-03 9.99356965e-01 1.20977383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.04, Y:13.00, Z:12.10 [[ 9.96633252e-01 -7.37470280e-02 -3.58264965e-02 3.43042508e+02] [ 7.37422825e-02 9.97276269e-01 -1.45563103e-03 1.29993996e+01] [ 3.58362632e-02 -1.19119735e-03 9.99356965e-01 1.20997289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.07, Y:13.00, Z:12.10 [[ 9.96511506e-01 -7.53742187e-02 -3.58266002e-02 3.43070509e+02] [ 7.53706149e-02 9.97154531e-01 -1.45307483e-03 1.30032904e+01] [ 3.58341811e-02 -1.25226710e-03 9.99356965e-01 1.21002522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.10, Y:13.00, Z:12.10 [[ 9.96522378e-01 -7.52384942e-02 -3.58094853e-02 3.43104174e+02] [ 7.52197307e-02 9.97165224e-01 -1.87283086e-03 1.30041546e+01] [ 3.58488824e-02 -8.27261980e-04 9.99356880e-01 1.21018929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.14, Y:13.00, Z:12.10 [[ 9.96514790e-01 -7.53375335e-02 -3.58124216e-02 3.43138829e+02] [ 7.53214494e-02 9.97157680e-01 -1.79998384e-03 1.30021706e+01] [ 3.58462376e-02 -9.03732988e-04 9.99356908e-01 1.21042155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.17, Y:13.00, Z:12.11 [[ 9.96528266e-01 -7.51519634e-02 -3.58273191e-02 3.43170955e+02] [ 7.51491997e-02 9.97171282e-01 -1.42567181e-03 1.30024848e+01] [ 3.58331157e-02 -1.27167210e-03 9.99356979e-01 1.21051800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.20, Y:13.00, Z:12.11 [[ 9.96534921e-01 -7.50636252e-02 -3.58274213e-02 3.43201643e+02] [ 7.50608969e-02 9.97177936e-01 -1.42309803e-03 1.30029665e+01] [ 3.58331369e-02 -1.27107149e-03 9.99356979e-01 1.21073179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.23, Y:13.01, Z:12.11 [[ 9.96548981e-01 -7.48766923e-02 -3.58274974e-02 3.43230411e+02] [ 7.48739123e-02 9.97191996e-01 -1.42117990e-03 1.30059461e+01] [ 3.58333069e-02 -1.26626951e-03 9.99356979e-01 1.21085448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.26, Y:13.01, Z:12.11 [[ 9.96623528e-01 -7.38857351e-02 -3.58111877e-02 3.43264752e+02] [ 7.38676538e-02 9.97266375e-01 -1.82952614e-03 1.30051687e+01] [ 3.58484693e-02 -8.21939622e-04 9.99356899e-01 1.21109462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.30, Y:13.01, Z:12.11 [[ 9.96670604e-01 -7.32399680e-02 -3.58275560e-02 3.43296013e+02] [ 7.32363455e-02 9.97313609e-01 -1.41522866e-03 1.30059640e+01] [ 3.58349605e-02 -1.21336247e-03 9.99356985e-01 1.21111398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.33, Y:13.01, Z:12.11 [[ 9.96741382e-01 -7.22703140e-02 -3.58276326e-02 3.43328119e+02] [ 7.22661356e-02 9.97384383e-01 -1.41328671e-03 1.30067156e+01] [ 3.58360600e-02 -1.18044321e-03 9.99356985e-01 1.21130034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.36, Y:13.01, Z:12.11 [[ 9.96775958e-01 -7.17918050e-02 -3.58277310e-02 3.43360553e+02] [ 7.17874076e-02 9.97418958e-01 -1.41078828e-03 1.30076387e+01] [ 3.58365412e-02 -1.16574009e-03 9.99356985e-01 1.21146857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.39, Y:13.01, Z:12.12 [[ 9.96829403e-01 -7.10458085e-02 -3.58278304e-02 3.43393001e+02] [ 7.10410207e-02 9.97472401e-01 -1.40826059e-03 1.30077554e+01] [ 3.58373230e-02 -1.14145007e-03 9.99356985e-01 1.21154855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.43, Y:13.01, Z:12.12 [[ 9.96870108e-01 -7.04723172e-02 -3.58279305e-02 3.43425517e+02] [ 7.04672511e-02 9.97513103e-01 -1.40570751e-03 1.30082060e+01] [ 3.58378936e-02 -1.12338798e-03 9.99356985e-01 1.21162847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.46, Y:13.01, Z:12.12 [[ 9.96917213e-01 -6.98027354e-02 -3.58280323e-02 3.43457953e+02] [ 6.97973307e-02 9.97560206e-01 -1.40310874e-03 1.30088451e+01] [ 3.58385601e-02 -1.10191776e-03 9.99356985e-01 1.21168413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.49, Y:13.01, Z:12.12 [[ 9.96962706e-01 -6.91498973e-02 -3.58281334e-02 3.43489004e+02] [ 6.91441645e-02 9.97605695e-01 -1.40052291e-03 1.30096554e+01] [ 3.58391959e-02 -1.08103724e-03 9.99356985e-01 1.21171808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.52, Y:13.01, Z:12.12 [[ 9.97032999e-01 -6.81288332e-02 -3.58282085e-02 3.43521101e+02] [ 6.81225109e-02 9.97675983e-01 -1.39859950e-03 1.30108237e+01] [ 3.58402281e-02 -1.04625767e-03 9.99356985e-01 1.21186133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.55, Y:13.01, Z:12.12 [[ 9.97220473e-01 -6.53273297e-02 -3.58283093e-02 3.43551986e+02] [ 6.53192937e-02 9.97863438e-01 -1.39601256e-03 1.30121011e+01] [ 3.58429576e-02 -9.48147555e-04 9.99356985e-01 1.21197036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.58, Y:13.01, Z:12.12 [[ 9.97225089e-01 -6.52567902e-02 -3.58283843e-02 3.43584637e+02] [ 6.52487780e-02 9.97868054e-01 -1.39408549e-03 1.30133124e+01] [ 3.58429736e-02 -9.47541267e-04 9.99356985e-01 1.21208752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.62, Y:13.01, Z:12.12 [[ 9.97352953e-01 -6.32724825e-02 -3.58284827e-02 3.43616879e+02] [ 6.32632820e-02 9.97995902e-01 -1.39155198e-03 1.30144894e+01] [ 3.58447258e-02 -8.78758926e-04 9.99356985e-01 1.21221081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.65, Y:13.02, Z:12.12 [[ 9.97597063e-01 -5.92993436e-02 -3.58285801e-02 3.43647900e+02] [ 5.92876724e-02 9.98239972e-01 -1.38903882e-03 1.30151721e+01] [ 3.58478899e-02 -7.38492074e-04 9.99356985e-01 1.21234157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.68, Y:13.02, Z:12.13 [[ 9.97728654e-01 -5.70424682e-02 -3.58286288e-02 3.43678750e+02] [ 5.70293878e-02 9.98371536e-01 -1.38778197e-03 1.30159468e+01] [ 3.58494456e-02 -6.58654931e-04 9.99356985e-01 1.21250096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.71, Y:13.02, Z:12.13 [[ 9.97840418e-01 -5.50527595e-02 -3.58286773e-02 3.43708866e+02] [ 5.50384421e-02 9.98483273e-01 -1.38652731e-03 1.30167733e+01] [ 3.58506672e-02 -5.88421589e-04 9.99356985e-01 1.21271153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.74, Y:13.02, Z:12.13 [[ 9.97933887e-01 -5.33316283e-02 -3.58286773e-02 3.43737852e+02] [ 5.33162022e-02 9.98576717e-01 -1.38652731e-03 1.30177389e+01] [ 3.58516287e-02 -5.26586415e-04 9.99356985e-01 1.21276792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.77, Y:13.02, Z:12.13 [[ 9.98002849e-01 -5.20251942e-02 -3.58286525e-02 3.43767968e+02] [ 5.20089035e-02 9.98645658e-01 -1.38716924e-03 1.30187974e+01] [ 3.58522960e-02 -4.79010074e-04 9.99356985e-01 1.21296357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.80, Y:13.02, Z:12.13 [[ 9.98080899e-01 -5.05057134e-02 -3.58286525e-02 3.43797256e+02] [ 5.04884440e-02 9.98723682e-01 -1.38716924e-03 1.30190412e+01] [ 3.58529837e-02 -4.24425791e-04 9.99356985e-01 1.21314074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.83, Y:13.02, Z:12.13 [[ 9.98093005e-01 -5.02659418e-02 -3.58286037e-02 3.43826404e+02] [ 5.02484729e-02 9.98735783e-01 -1.38842834e-03 1.30188515e+01] [ 3.58530992e-02 -4.14552002e-04 9.99356985e-01 1.21333986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.85, Y:13.02, Z:12.13 [[ 9.98069900e-01 -5.07226665e-02 -3.58285535e-02 3.43854846e+02] [ 5.07054452e-02 9.98712685e-01 -1.38972216e-03 1.30186247e+01] [ 3.58529213e-02 -4.29662901e-04 9.99356985e-01 1.21344942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.88, Y:13.02, Z:12.14 [[ 9.97992880e-01 -5.22162017e-02 -3.58284787e-02 3.43884828e+02] [ 5.21998733e-02 9.98635688e-01 -1.39164793e-03 1.30161923e+01] [ 3.58522640e-02 -4.81387318e-04 9.99356985e-01 1.21355429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.91, Y:13.02, Z:12.14 [[ 9.97921269e-01 -5.35673819e-02 -3.58284302e-02 3.43914963e+02] [ 5.35518791e-02 9.98564097e-01 -1.39289519e-03 1.30156334e+01] [ 3.58515978e-02 -5.28680024e-04 9.99356985e-01 1.21369302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.94, Y:13.02, Z:12.14 [[ 9.97852832e-01 -5.48274886e-02 -3.58283808e-02 3.43944736e+02] [ 5.48127519e-02 9.98495678e-01 -1.39416503e-03 1.30151524e+01] [ 3.58509219e-02 -5.72680620e-04 9.99356985e-01 1.21379170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.98, Y:13.01, Z:12.14 [[ 9.97630311e-01 -5.87375016e-02 -3.58283305e-02 3.43975571e+02] [ 5.87252379e-02 9.98273209e-01 -1.39545570e-03 1.30139163e+01] [ 3.58484281e-02 -7.11878331e-04 9.99356985e-01 1.21385983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.00, Y:13.01, Z:12.14 [[ 9.97484251e-01 -6.11678010e-02 -3.58283305e-02 3.44004710e+02] [ 6.11571036e-02 9.98127177e-01 -1.39545570e-03 1.30141293e+01] [ 3.58465874e-02 -7.99211837e-04 9.99356985e-01 1.21378335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.04, Y:13.01, Z:12.14 [[ 9.97332700e-01 -6.35910247e-02 -3.58283055e-02 3.44035077e+02] [ 6.35818663e-02 9.97975650e-01 -1.39609668e-03 1.30140449e+01] [ 3.58445557e-02 -8.85657660e-04 9.99356985e-01 1.21396238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.07, Y:13.01, Z:12.14 [[ 9.96986860e-01 -6.88006826e-02 -3.58283055e-02 3.44065320e+02] [ 6.87948835e-02 9.97629849e-01 -1.39609668e-03 1.30123354e+01] [ 3.58394394e-02 -1.07291406e-03 9.99356985e-01 1.21383518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.10, Y:13.01, Z:12.14 [[ 9.96790777e-01 -7.15854611e-02 -3.58283304e-02 3.44096505e+02] [ 7.15814810e-02 9.97433779e-01 -1.39545983e-03 1.30122658e+01] [ 3.58362816e-02 -1.17366346e-03 9.99356985e-01 1.21394121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.13, Y:13.01, Z:12.14 [[ 9.96592708e-01 -7.42920005e-02 -3.58283794e-02 3.44129040e+02] [ 7.42898116e-02 9.97235719e-01 -1.39420066e-03 1.30123987e+01] [ 3.58329176e-02 -1.27223335e-03 9.99356985e-01 1.21404817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.16, Y:13.01, Z:12.14 [[ 9.96220005e-01 -7.91329443e-02 -3.58284768e-02 3.44161374e+02] [ 7.91339696e-02 9.96863019e-01 -1.39169189e-03 1.30123583e+01] [ 3.58262122e-02 -1.44881829e-03 9.99356985e-01 1.21423373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.19, Y:13.01, Z:12.14 [[ 9.96038484e-01 -8.13858233e-02 -3.58285739e-02 3.44193502e+02] [ 8.13883927e-02 9.96681494e-01 -1.38918673e-03 1.30132016e+01] [ 3.58227367e-02 -1.53234660e-03 9.99356985e-01 1.21446953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.22, Y:13.01, Z:12.15 [[ 9.95908819e-01 -8.29574057e-02 -3.58286722e-02 3.44224436e+02] [ 8.29610809e-02 9.96551823e-01 -1.38664873e-03 1.30140689e+01] [ 3.58201613e-02 -1.59140967e-03 9.99356985e-01 1.21463886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.26, Y:13.01, Z:12.15 [[ 9.95702855e-01 -8.53939438e-02 -3.58287453e-02 3.44256293e+02] [ 8.53992603e-02 9.96345848e-01 -1.38475534e-03 1.30148416e+01] [ 3.58160714e-02 -1.68094351e-03 9.99356985e-01 1.21483620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.29, Y:13.02, Z:12.15 [[ 9.95625942e-01 -8.62860163e-02 -3.58288447e-02 3.44287297e+02] [ 8.62920013e-02 9.96268930e-01 -1.38218037e-03 1.30159694e+01] [ 3.58144276e-02 -1.71560808e-03 9.99356985e-01 1.21493357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.32, Y:13.02, Z:12.15 [[ 9.95490931e-01 -8.78298885e-02 -3.58289980e-02 3.44319386e+02] [ 8.78370138e-02 9.96133906e-01 -1.37819427e-03 1.30167178e+01] [ 3.58115264e-02 -1.77513229e-03 9.99356985e-01 1.21511769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.35, Y:13.02, Z:12.15 [[ 9.95410465e-01 -8.87371542e-02 -3.58290964e-02 3.44350874e+02] [ 8.87449575e-02 9.96053432e-01 -1.37563064e-03 1.30174073e+01] [ 3.58097640e-02 -1.81033451e-03 9.99356985e-01 1.21526151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.38, Y:13.02, Z:12.15 [[ 9.95419924e-01 -8.86309481e-02 -3.58291696e-02 3.44384370e+02] [ 8.86387513e-02 9.96062892e-01 -1.37372261e-03 1.30186018e+01] [ 3.58098606e-02 -1.80842200e-03 9.99356985e-01 1.21538170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.42, Y:13.02, Z:12.16 [[ 9.95210069e-01 -9.09570172e-02 -3.58293157e-02 3.44416095e+02] [ 9.09664602e-02 9.95853015e-01 -1.36989979e-03 1.30191223e+01] [ 3.58053341e-02 -1.89592796e-03 9.99356985e-01 1.21562248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.45, Y:13.02, Z:12.16 [[ 9.95071402e-01 -9.24616545e-02 -3.58294155e-02 3.44447813e+02] [ 9.24721636e-02 9.95714331e-01 -1.36728505e-03 1.30196220e+01] [ 3.58022840e-02 -1.95267732e-03 9.99356985e-01 1.21564006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.48, Y:13.02, Z:12.16 [[ 9.94726751e-01 -9.60985727e-02 -3.58295398e-02 3.44480983e+02] [ 9.61115491e-02 9.95369635e-01 -1.36402134e-03 1.30196718e+01] [ 3.57947164e-02 -2.08680405e-03 9.99356985e-01 1.21584308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.51, Y:13.02, Z:12.16 [[ 9.94604336e-01 -9.73573215e-02 -3.58296889e-02 3.44512522e+02] [ 9.73712525e-02 9.95247200e-01 -1.36009300e-03 1.30202857e+01] [ 3.57918126e-02 -2.13602729e-03 9.99356985e-01 1.21579443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.54, Y:13.02, Z:12.16 [[ 9.94456126e-01 -9.88597049e-02 -3.58297627e-02 3.44544282e+02] [ 9.88746769e-02 9.95098967e-01 -1.35814721e-03 1.30212732e+01] [ 3.57884258e-02 -2.19203839e-03 9.99356985e-01 1.21580225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.58, Y:13.02, Z:12.16 [[ 9.94209844e-01 -1.01306501e-01 -3.58298612e-02 3.44576037e+02] [ 1.01323149e-01 9.94852643e-01 -1.35554221e-03 1.30218186e+01] [ 3.57827574e-02 -2.28270094e-03 9.99356985e-01 1.21576185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.61, Y:13.02, Z:12.16 [[ 9.94121288e-01 -1.02171810e-01 -3.58299587e-02 3.44608065e+02] [ 1.02189110e-01 9.94764070e-01 -1.35296117e-03 1.30229012e+01] [ 3.57805900e-02 -2.31642408e-03 9.99356985e-01 1.21586155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.64, Y:13.02, Z:12.16 [[ 9.94060197e-01 -1.02764448e-01 -3.58300557e-02 3.44638807e+02] [ 1.02782223e-01 9.94702966e-01 -1.35038612e-03 1.30240755e+01] [ 3.57790344e-02 -2.34032770e-03 9.99356985e-01 1.21589293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.67, Y:13.03, Z:12.16 [[ 9.94106648e-01 -1.02314097e-01 -3.58301279e-02 3.44672140e+02] [ 1.02331649e-01 9.94749423e-01 -1.34846865e-03 1.30253087e+01] [ 3.57799664e-02 -2.32603443e-03 9.99356985e-01 1.21611012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.70, Y:13.03, Z:12.16 [[ 9.94182698e-01 -1.01572408e-01 -3.58302727e-02 3.44704346e+02] [ 1.01589620e-01 9.94825483e-01 -1.34461066e-03 1.30267424e+01] [ 3.57814436e-02 -2.30319512e-03 9.99356985e-01 1.21633995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.74, Y:13.03, Z:12.17 [[ 9.94275324e-01 -1.00661630e-01 -3.58303702e-02 3.44735648e+02] [ 1.00678346e-01 9.94918122e-01 -1.34200562e-03 1.30283998e+01] [ 3.57833731e-02 -2.27301933e-03 9.99356985e-01 1.21651396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.77, Y:13.03, Z:12.17 [[ 9.94609233e-01 -9.73070007e-02 -3.58304430e-02 3.44767447e+02] [ 9.73216182e-02 9.95252082e-01 -1.34006084e-03 1.30309997e+01] [ 3.57907203e-02 -2.15423981e-03 9.99356985e-01 1.21670264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.80, Y:13.03, Z:12.17 [[ 9.94764324e-01 -9.57084733e-02 -3.58305391e-02 3.44800599e+02] [ 9.57221501e-02 9.95407194e-01 -1.33748656e-03 1.30328864e+01] [ 3.57939851e-02 -2.09929233e-03 9.99356985e-01 1.21688409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.83, Y:13.03, Z:12.17 [[ 9.94938475e-01 -9.38807423e-02 -3.58306846e-02 3.44832436e+02] [ 9.38933783e-02 9.95581365e-01 -1.33357659e-03 1.30343868e+01] [ 3.57975590e-02 -2.03743736e-03 9.99356985e-01 1.21695707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.87, Y:13.04, Z:12.17 [[ 9.95194044e-01 -9.11315955e-02 -3.58308049e-02 3.44865762e+02] [ 9.11425716e-02 9.95836966e-01 -1.33033706e-03 1.30356619e+01] [ 3.58028757e-02 -1.94176818e-03 9.99356985e-01 1.21715755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.90, Y:13.04, Z:12.17 [[ 9.95297015e-01 -8.99999684e-02 -3.58309503e-02 3.44897514e+02] [ 9.00103546e-02 9.95939946e-01 -1.32640737e-03 1.30364016e+01] [ 3.58048514e-02 -1.90498725e-03 9.99356985e-01 1.21710231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.93, Y:13.04, Z:12.17 [[ 9.95461986e-01 -8.81565063e-02 -3.58310702e-02 3.44929929e+02] [ 8.81658183e-02 9.96104933e-01 -1.32316159e-03 1.30369639e+01] [ 3.58081511e-02 -1.84191856e-03 9.99356985e-01 1.21725388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.96, Y:13.04, Z:12.17 [[ 9.95541913e-01 -8.72492213e-02 -3.58311632e-02 3.44961687e+02] [ 8.72580379e-02 9.96184868e-01 -1.32063838e-03 1.30381432e+01] [ 3.58096872e-02 -1.81180614e-03 9.99356985e-01 1.21742276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.99, Y:13.04, Z:12.18 [[ 9.95606438e-01 -8.65097814e-02 -3.58312567e-02 3.44993344e+02] [ 8.65182116e-02 9.96249397e-01 -1.31809676e-03 1.30392777e+01] [ 3.58108962e-02 -1.78775063e-03 9.99356985e-01 1.21754843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.02, Y:13.04, Z:12.18 [[ 9.95656903e-01 -8.59269856e-02 -3.58313498e-02 3.45024143e+02] [ 8.59351306e-02 9.96299866e-01 -1.31555962e-03 1.30402375e+01] [ 3.58118111e-02 -1.76932571e-03 9.99356985e-01 1.21765132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.06, Y:13.04, Z:12.18 [[ 9.95674681e-01 -8.57207006e-02 -3.58314192e-02 3.45056630e+02] [ 8.57287803e-02 9.96317645e-01 -1.31366785e-03 1.30410002e+01] [ 3.58120837e-02 -1.76379805e-03 9.99356985e-01 1.21776327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.09, Y:13.04, Z:12.18 [[ 9.95646055e-01 -8.60525223e-02 -3.58315109e-02 3.45088563e+02] [ 8.60609062e-02 9.96289015e-01 -1.31116222e-03 1.30420275e+01] [ 3.58113695e-02 -1.77823881e-03 9.99356985e-01 1.21798766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.12, Y:13.04, Z:12.18 [[ 9.95629381e-01 -8.62451793e-02 -3.58316054e-02 3.45120640e+02] [ 8.62537806e-02 9.96272339e-01 -1.30857366e-03 1.30429986e+01] [ 3.58108955e-02 -1.78775704e-03 9.99356985e-01 1.21813095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.15, Y:13.04, Z:12.18 [[ 9.95615166e-01 -8.64090915e-02 -3.58317012e-02 3.45152784e+02] [ 8.64178930e-02 9.96258120e-01 -1.30594523e-03 1.30440971e+01] [ 3.58104688e-02 -1.79628124e-03 9.99356985e-01 1.21817151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.18, Y:13.05, Z:12.18 [[ 9.95612485e-01 -8.64398740e-02 -3.58319338e-02 3.45184668e+02] [ 8.64489256e-02 9.96255436e-01 -1.29953159e-03 1.30452287e+01] [ 3.58100902e-02 -1.80380230e-03 9.99356985e-01 1.21839035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.22, Y:13.05, Z:12.18 [[ 9.95630722e-01 -8.62295214e-02 -3.58320283e-02 3.45215842e+02] [ 8.62385308e-02 9.96273674e-01 -1.29692281e-03 1.30464776e+01] [ 3.58103395e-02 -1.79884528e-03 9.99356985e-01 1.21840111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.25, Y:13.05, Z:12.19 [[ 9.95704869e-01 -8.53690108e-02 -3.58321894e-02 3.45248068e+02] [ 8.53776249e-02 9.96347826e-01 -1.29245402e-03 1.30483783e+01] [ 3.58116596e-02 -1.77236447e-03 9.99356985e-01 1.21869566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.28, Y:13.05, Z:12.19 [[ 9.95759981e-01 -8.47237148e-02 -3.58322811e-02 3.45280530e+02] [ 8.47320037e-02 9.96402942e-01 -1.28990755e-03 1.30500503e+01] [ 3.58126761e-02 -1.75170266e-03 9.99356985e-01 1.21892300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.31, Y:13.05, Z:12.19 [[ 9.95887814e-01 -8.32075930e-02 -3.58323732e-02 3.45312876e+02] [ 8.32149950e-02 9.96530786e-01 -1.28734396e-03 1.30512909e+01] [ 3.58151798e-02 -1.69974060e-03 9.99356985e-01 1.21917114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.35, Y:13.05, Z:12.19 [[ 9.95893792e-01 -8.31359659e-02 -3.58324656e-02 3.45345528e+02] [ 8.31434141e-02 9.96536764e-01 -1.28476846e-03 1.30524027e+01] [ 3.58151797e-02 -1.69974059e-03 9.99356985e-01 1.21928828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.38, Y:13.05, Z:12.19 [[ 9.95990079e-01 -8.19743298e-02 -3.58325577e-02 3.45377445e+02] [ 8.19811205e-02 9.96633058e-01 -1.28219295e-03 1.30539266e+01] [ 3.58170185e-02 -1.66054178e-03 9.99356985e-01 1.21941912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.41, Y:13.06, Z:12.20 [[ 9.96005385e-01 -8.17881011e-02 -3.58326493e-02 3.45409567e+02] [ 8.17948636e-02 9.96648365e-01 -1.27962934e-03 1.30554576e+01] [ 3.58172097e-02 -1.65640895e-03 9.99356985e-01 1.21960529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.44, Y:13.06, Z:12.20 [[ 9.96014087e-01 -8.16820224e-02 -3.58327423e-02 3.45441006e+02] [ 8.16888102e-02 9.96657066e-01 -1.27701799e-03 1.30562861e+01] [ 3.58172653e-02 -1.65520618e-03 9.99356985e-01 1.21963355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.47, Y:13.06, Z:12.20 [[ 9.95849923e-01 -8.36596756e-02 -3.58328116e-02 3.45468919e+02] [ 8.36678100e-02 9.96492886e-01 -1.27507203e-03 1.30598359e+01] [ 3.58138139e-02 -1.72827249e-03 9.99356985e-01 1.21967680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.50, Y:13.06, Z:12.20 [[ 9.95998277e-01 -8.18815985e-02 -3.58166956e-02 3.45502872e+02] [ 8.18725265e-02 9.96641321e-01 -1.72235759e-03 1.30577957e+01] [ 3.58374282e-02 -1.21693816e-03 9.99356892e-01 1.21984310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.53, Y:13.06, Z:12.20 [[ 9.96012052e-01 -8.17069100e-02 -3.58325616e-02 3.45534819e+02] [ 8.17137000e-02 9.96655025e-01 -1.27739527e-03 1.30587155e+01] [ 3.58170746e-02 -1.65571011e-03 9.99356991e-01 1.21987824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.57, Y:13.06, Z:12.20 [[ 9.96029075e-01 -8.14991020e-02 -3.58326494e-02 3.45567353e+02] [ 8.15058465e-02 9.96672048e-01 -1.27492832e-03 1.30604651e+01] [ 3.58173056e-02 -1.65070475e-03 9.99356991e-01 1.21996445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.60, Y:13.06, Z:12.20 [[ 9.96034805e-01 -8.14290036e-02 -3.58327388e-02 3.45600004e+02] [ 8.14357932e-02 9.96677778e-01 -1.27241150e-03 1.30615634e+01] [ 3.58173057e-02 -1.65070137e-03 9.99356991e-01 1.22008158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.63, Y:13.06, Z:12.20 [[ 9.96040530e-01 -8.13589046e-02 -3.58328281e-02 3.45632656e+02] [ 8.13657394e-02 9.96683502e-01 -1.26989129e-03 1.30626593e+01] [ 3.58173056e-02 -1.65070136e-03 9.99356991e-01 1.22019872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.66, Y:13.06, Z:12.20 [[ 9.96064852e-01 -8.10605507e-02 -3.58329172e-02 3.45664873e+02] [ 8.10672834e-02 9.96707825e-01 -1.26737107e-03 1.30644753e+01] [ 3.58176828e-02 -1.64249347e-03 9.99356991e-01 1.22031499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.70, Y:13.07, Z:12.20 [[ 9.96090470e-01 -8.07451030e-02 -3.58330081e-02 3.45697113e+02] [ 8.07517245e-02 9.96733444e-01 -1.26479661e-03 1.30655904e+01] [ 3.58180837e-02 -1.63372534e-03 9.99356991e-01 1.22038231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.73, Y:13.07, Z:12.20 [[ 9.96114752e-01 -8.04449542e-02 -3.58330991e-02 3.45728378e+02] [ 8.04514747e-02 9.96757727e-01 -1.26221289e-03 1.30669633e+01] [ 3.58184571e-02 -1.62551679e-03 9.99356991e-01 1.22043103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.76, Y:13.07, Z:12.20 [[ 9.96237489e-01 -7.89103845e-02 -3.58331668e-02 3.45759084e+02] [ 7.89159836e-02 9.96880474e-01 -1.26028921e-03 1.30689482e+01] [ 3.58208342e-02 -1.57226224e-03 9.99356991e-01 1.22044689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.79, Y:13.07, Z:12.21 [[ 9.96329487e-01 -7.77401261e-02 -3.58333177e-02 3.45791517e+02] [ 7.77451245e-02 9.96972476e-01 -1.25598192e-03 1.30708457e+01] [ 3.58224717e-02 -1.53449393e-03 9.99356991e-01 1.22057455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.82, Y:13.07, Z:12.21 [[ 9.96532378e-01 -7.50945139e-02 -3.58334063e-02 3.45822110e+02] [ 7.50978959e-02 9.97175378e-01 -1.25345148e-03 1.30734074e+01] [ 3.58263178e-02 -1.44190843e-03 9.99356991e-01 1.22071626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.85, Y:13.08, Z:12.21 [[ 9.96656378e-01 -7.34304307e-02 -3.58334502e-02 3.45853796e+02] [ 7.34327843e-02 9.97299382e-01 -1.25219325e-03 1.30754551e+01] [ 3.58286269e-02 -1.38334363e-03 9.99356991e-01 1.22092271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.89, Y:13.08, Z:12.21 [[ 9.96817842e-01 -7.12049668e-02 -3.58335381e-02 3.45885337e+02] [ 7.12059752e-02 9.97460850e-01 -1.24967326e-03 1.30771481e+01] [ 3.58315343e-02 -1.30586542e-03 9.99356991e-01 1.22100498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.92, Y:13.08, Z:12.21 [[ 9.96949702e-01 -6.93342521e-02 -3.58336807e-02 3.45916920e+02] [ 6.93342011e-02 9.97592711e-01 -1.24557097e-03 1.30791043e+01] [ 3.58337794e-02 -1.24272802e-03 9.99356991e-01 1.22126580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.95, Y:13.08, Z:12.21 [[ 9.97098112e-01 -6.71661992e-02 -3.58337469e-02 3.45948233e+02] [ 6.71648185e-02 9.97741119e-01 -1.24366269e-03 1.30808063e+01] [ 3.58363349e-02 -1.16671339e-03 9.99356991e-01 1.22134775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.98, Y:13.08, Z:12.22 [[ 9.97221752e-01 -6.53047848e-02 -3.58338124e-02 3.45980268e+02] [ 6.53022716e-02 9.97864756e-01 -1.24177333e-03 1.30823499e+01] [ 3.58383922e-02 -1.10170597e-03 9.99356991e-01 1.22156168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.01, Y:13.08, Z:12.22 [[ 9.97378898e-01 -6.28590839e-02 -3.58339010e-02 3.46010628e+02] [ 6.28550858e-02 9.98021895e-01 -1.23921206e-03 1.30845139e+01] [ 3.58409135e-02 -1.01637896e-03 9.99356991e-01 1.22160982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.04, Y:13.09, Z:12.22 [[ 9.97409515e-01 -6.23713845e-02 -3.58339229e-02 3.46041771e+02] [ 6.23670947e-02 9.98052509e-01 -1.23857854e-03 1.30858545e+01] [ 3.58413885e-02 -9.99487637e-04 9.99356991e-01 1.22180391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.07, Y:13.09, Z:12.22 [[ 9.97410568e-01 -6.23545238e-02 -3.58339655e-02 3.46073414e+02] [ 6.23502674e-02 9.98053562e-01 -1.23734464e-03 1.30867671e+01] [ 3.58413709e-02 -1.00011671e-03 9.99356991e-01 1.22196873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.10, Y:13.09, Z:12.22 [[ 9.97167471e-01 -6.61283430e-02 -3.58340088e-02 3.46100418e+02] [ 6.61265649e-02 9.97810478e-01 -1.23609032e-03 1.30910943e+01] [ 3.58372900e-02 -1.13699085e-03 9.99356991e-01 1.22196357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.13, Y:13.09, Z:12.22 [[ 9.97304748e-01 -6.40333516e-02 -3.58185756e-02 3.46132850e+02] [ 6.40143596e-02 9.97947567e-01 -1.67797513e-03 1.30879059e+01] [ 3.58525067e-02 -6.19450616e-04 9.99356900e-01 1.22218484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.16, Y:13.09, Z:12.22 [[ 9.97264506e-01 -6.46486609e-02 -3.58337255e-02 3.46164552e+02] [ 6.46457731e-02 9.97907503e-01 -1.24041793e-03 1.30882729e+01] [ 3.58389349e-02 -1.07947412e-03 9.99356996e-01 1.22234677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.20, Y:13.09, Z:12.22 [[ 9.97237663e-01 -6.50613857e-02 -3.58337702e-02 3.46195866e+02] [ 6.50588105e-02 9.97880662e-01 -1.23912452e-03 1.30892433e+01] [ 3.58384455e-02 -1.09560082e-03 9.99356996e-01 1.22245340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.23, Y:13.09, Z:12.22 [[ 9.97259620e-01 -6.47239437e-02 -3.58338146e-02 3.46225856e+02] [ 6.47211970e-02 9.97902618e-01 -1.23784118e-03 1.30902553e+01] [ 3.58387753e-02 -1.08475834e-03 9.99356996e-01 1.22243452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.26, Y:13.09, Z:12.23 [[ 9.97293084e-01 -6.42062354e-02 -3.58338365e-02 3.46257041e+02] [ 6.42031777e-02 9.97936081e-01 -1.23720456e-03 1.30915598e+01] [ 3.58393146e-02 -1.06679062e-03 9.99356996e-01 1.22258746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.29, Y:13.09, Z:12.23 [[ 9.97346279e-01 -6.33745486e-02 -3.58338803e-02 3.46287098e+02] [ 6.33710003e-02 9.97989273e-01 -1.23593616e-03 1.30925656e+01] [ 3.58401550e-02 -1.03817251e-03 9.99356996e-01 1.22262653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.32, Y:13.09, Z:12.23 [[ 9.97450361e-01 -6.17147038e-02 -3.58339528e-02 3.46318563e+02] [ 6.17101610e-02 9.98093349e-01 -1.23383003e-03 1.30932901e+01] [ 3.58417754e-02 -9.80634785e-04 9.99356996e-01 1.22288768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:13.09, Z:12.23 [[ 9.97514037e-01 -6.06767710e-02 -3.58339966e-02 3.46349924e+02] [ 6.06716049e-02 9.98157020e-01 -1.23255700e-03 1.30943525e+01] [ 3.58427428e-02 -9.44613175e-04 9.99356996e-01 1.22309135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:13.10, Z:12.23 [[ 9.97590385e-01 -5.94082982e-02 -3.58340410e-02 3.46380798e+02] [ 5.94023609e-02 9.98233361e-01 -1.23126345e-03 1.30955744e+01] [ 3.58438825e-02 -9.00330057e-04 9.99356996e-01 1.22326845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.41, Y:13.10, Z:12.24 [[ 9.97787512e-01 -5.59999934e-02 -3.58340852e-02 3.46411385e+02] [ 5.59919057e-02 9.98430465e-01 -1.22997713e-03 1.30970174e+01] [ 3.58467210e-02 -7.79162904e-04 9.99356996e-01 1.22355842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.44, Y:13.10, Z:12.24 [[ 9.97886158e-01 -5.42137642e-02 -3.58341071e-02 3.46440329e+02] [ 5.42045485e-02 9.98529096e-01 -1.22933877e-03 1.30982106e+01] [ 3.58480456e-02 -7.15631456e-04 9.99356996e-01 1.22375558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.47, Y:13.10, Z:12.24 [[ 9.97975104e-01 -5.25510026e-02 -3.58341052e-02 3.46470347e+02] [ 5.25407136e-02 9.98618026e-01 -1.22939463e-03 1.30992577e+01] [ 3.58491893e-02 -6.55844221e-04 9.99356996e-01 1.22393306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.50, Y:13.10, Z:12.24 [[ 9.98052175e-01 -5.10663662e-02 -3.58341052e-02 3.46499522e+02] [ 5.10551209e-02 9.98695080e-01 -1.22939463e-03 1.30998831e+01] [ 3.58501253e-02 -6.02514583e-04 9.99356996e-01 1.22407919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.53, Y:13.10, Z:12.24 [[ 9.98139490e-01 -4.93302926e-02 -3.58340619e-02 3.46529475e+02] [ 4.93178839e-02 9.98782375e-01 -1.23065393e-03 1.30998501e+01] [ 3.58511380e-02 -5.38895821e-04 9.99356996e-01 1.22416933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.56, Y:13.10, Z:12.24 [[ 9.98135326e-01 -4.94145055e-02 -3.58340188e-02 3.46558168e+02] [ 4.94021059e-02 9.98778211e-01 -1.23190921e-03 1.30992833e+01] [ 3.58511113e-02 -5.40663893e-04 9.99356996e-01 1.22419539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.59, Y:13.10, Z:12.24 [[ 9.98078324e-01 -5.05529807e-02 -3.58337066e-02 3.46586626e+02] [ 5.05409909e-02 9.98721217e-01 -1.24092402e-03 1.30991244e+01] [ 3.58506154e-02 -5.72531672e-04 9.99356996e-01 1.22424302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.62, Y:13.10, Z:12.24 [[ 9.97989621e-01 -5.22750803e-02 -3.58333899e-02 3.46615584e+02] [ 5.22638739e-02 9.98632528e-01 -1.25000310e-03 1.30985764e+01] [ 3.58497327e-02 -6.25301651e-04 9.99356996e-01 1.22429374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.64, Y:13.10, Z:12.24 [[ 9.97707957e-01 -5.74005587e-02 -3.58330722e-02 3.46641855e+02] [ 5.73923301e-02 9.98350908e-01 -1.25904462e-03 1.31031077e+01] [ 3.58462500e-02 -8.00384676e-04 9.99356996e-01 1.22442950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.68, Y:13.10, Z:12.25 [[ 9.97775030e-01 -5.62355503e-02 -3.58127328e-02 3.46675092e+02] [ 5.62060687e-02 9.98417512e-01 -1.83025023e-03 1.30980493e+01] [ 3.58589847e-02 -1.86714938e-04 9.99356842e-01 1.22451711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.70, Y:13.10, Z:12.25 [[ 9.97302212e-01 -6.40648855e-02 -3.58327788e-02 3.46699760e+02] [ 6.40608963e-02 9.97945195e-01 -1.26060684e-03 1.31022709e+01] [ 3.58399101e-02 -1.03827393e-03 9.99357005e-01 1.22458928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.74, Y:13.10, Z:12.25 [[ 9.97460124e-01 -6.15707541e-02 -3.58098280e-02 3.46735737e+02] [ 6.15419949e-02 9.98102675e-01 -1.90586075e-03 1.30960589e+01] [ 3.58592304e-02 -3.02788156e-04 9.99356805e-01 1.22470770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.77, Y:13.10, Z:12.25 [[ 9.97359172e-01 -6.31720114e-02 -3.58326581e-02 3.46766156e+02] [ 6.31677046e-02 9.98002139e-01 -1.25340831e-03 1.30956531e+01] [ 3.58402498e-02 -1.01336849e-03 9.99357018e-01 1.22469170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.79, Y:13.10, Z:12.25 [[ 9.96845221e-01 -7.08210696e-02 -3.58326805e-02 3.46790117e+02] [ 7.08217182e-02 9.97488203e-01 -1.25276791e-03 1.31015838e+01] [ 3.58313984e-02 -1.28891630e-03 9.99357018e-01 1.22475381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.83, Y:13.09, Z:12.25 [[ 9.97063260e-01 -6.76953836e-02 -3.58076969e-02 3.46826437e+02] [ 6.76688431e-02 9.97705923e-01 -1.95399124e-03 1.30949646e+01] [ 3.58578274e-02 -4.74812548e-04 9.99356789e-01 1.22491170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.86, Y:13.09, Z:12.25 [[ 9.96965646e-01 -6.91053665e-02 -3.58322230e-02 3.46857842e+02] [ 6.91049107e-02 9.97608612e-01 -1.25269448e-03 1.30947753e+01] [ 3.58331022e-02 -1.22728921e-03 9.99357035e-01 1.22504636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.89, Y:13.09, Z:12.25 [[ 9.96809755e-01 -7.13187296e-02 -3.58322682e-02 3.46888738e+02] [ 7.13197478e-02 9.97452719e-01 -1.25139934e-03 1.30940925e+01] [ 3.58302416e-02 -1.30814126e-03 9.99357035e-01 1.22512929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.92, Y:13.09, Z:12.25 [[ 9.96762267e-01 -7.19793492e-02 -3.58323359e-02 3.46920221e+02] [ 7.19808631e-02 9.97405231e-01 -1.24946063e-03 1.30943683e+01] [ 3.58292946e-02 -1.33382725e-03 9.99357035e-01 1.22528596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.95, Y:13.09, Z:12.25 [[ 9.96743381e-01 -7.22403887e-02 -3.58323803e-02 3.46951172e+02] [ 7.22421167e-02 9.97386344e-01 -1.24818593e-03 1.30945694e+01] [ 3.58288962e-02 -1.34448594e-03 9.99357035e-01 1.22541186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.98, Y:13.09, Z:12.26 [[ 9.96734635e-01 -7.23609203e-02 -3.58324466e-02 3.46982802e+02] [ 7.23627946e-02 9.97377598e-01 -1.24627772e-03 1.30947359e+01] [ 3.58286613e-02 -1.35072781e-03 9.99357035e-01 1.22569372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.01, Y:13.10, Z:12.26 [[ 9.96757436e-01 -7.20461311e-02 -3.58325144e-02 3.47014186e+02] [ 7.20478725e-02 9.97400399e-01 -1.24432473e-03 1.30957202e+01] [ 3.58290130e-02 -1.34136650e-03 9.99357035e-01 1.22582659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.04, Y:13.10, Z:12.26 [[ 9.96832271e-01 -7.10031218e-02 -3.58326650e-02 3.47044439e+02] [ 7.10043466e-02 9.97475235e-01 -1.23997293e-03 1.30964458e+01] [ 3.58302379e-02 -1.30822993e-03 9.99357035e-01 1.22605002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.08, Y:13.10, Z:12.26 [[ 9.96801238e-01 -7.14390553e-02 -3.58295016e-02 3.47075474e+02] [ 7.14372895e-02 9.97444205e-01 -1.33111442e-03 1.30968275e+01] [ 3.58330223e-02 -1.23270598e-03 9.99357031e-01 1.22606848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.11, Y:13.10, Z:12.26 [[ 9.96787090e-01 -7.16346621e-02 -3.58325545e-02 3.47106559e+02] [ 7.16361813e-02 9.97430054e-01 -1.24312009e-03 1.30974306e+01] [ 3.58295173e-02 -1.32778131e-03 9.99357035e-01 1.22616821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.14, Y:13.10, Z:12.26 [[ 9.96745754e-01 -7.22075279e-02 -3.58325981e-02 3.47137991e+02] [ 7.22094617e-02 9.97388716e-01 -1.24186362e-03 1.30974986e+01] [ 3.58287009e-02 -1.34963033e-03 9.99357035e-01 1.22622908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.17, Y:13.10, Z:12.26 [[ 9.96721405e-01 -7.25428313e-02 -3.58326417e-02 3.47169352e+02] [ 7.25450266e-02 9.97364367e-01 -1.24060430e-03 1.30979224e+01] [ 3.58281969e-02 -1.36294308e-03 9.99357035e-01 1.22633232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.20, Y:13.10, Z:12.26 [[ 9.96709605e-01 -7.27047597e-02 -3.58326852e-02 3.47200861e+02] [ 7.27071047e-02 9.97352566e-01 -1.23934679e-03 1.30985832e+01] [ 3.58279269e-02 -1.37002194e-03 9.99357035e-01 1.22645235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.23, Y:13.10, Z:12.27 [[ 9.96672796e-01 -7.32075984e-02 -3.58327297e-02 3.47232119e+02] [ 7.32103140e-02 9.97315756e-01 -1.23805820e-03 1.30996782e+01] [ 3.58271812e-02 -1.38938646e-03 9.99357035e-01 1.22650474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.26, Y:13.10, Z:12.27 [[ 9.96662360e-01 -7.33495222e-02 -3.58327738e-02 3.47264452e+02] [ 7.33523752e-02 9.97305319e-01 -1.23677947e-03 1.31008663e+01] [ 3.58269331e-02 -1.39576752e-03 9.99357035e-01 1.22657854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.30, Y:13.10, Z:12.27 [[ 9.96632382e-01 -7.37556825e-02 -3.58328627e-02 3.47295804e+02] [ 7.37588901e-02 9.97275340e-01 -1.23419931e-03 1.31021932e+01] [ 3.58262595e-02 -1.41294918e-03 9.99357035e-01 1.22664889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.33, Y:13.10, Z:12.27 [[ 9.96600921e-01 -7.41795470e-02 -3.58329289e-02 3.47327529e+02] [ 7.41830972e-02 9.97243877e-01 -1.23227463e-03 1.31035063e+01] [ 3.58255785e-02 -1.43011161e-03 9.99357035e-01 1.22678231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.36, Y:13.11, Z:12.27 [[ 9.96550159e-01 -7.48583645e-02 -3.58330192e-02 3.47359025e+02] [ 7.48624472e-02 9.97193112e-01 -1.22964271e-03 1.31053248e+01] [ 3.58244890e-02 -1.45714687e-03 9.99357035e-01 1.22668628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:13.11, Z:12.27 [[ 9.96550104e-01 -7.48590745e-02 -3.58330863e-02 3.47391360e+02] [ 7.48632279e-02 9.97193055e-01 -1.22768320e-03 1.31066988e+01] [ 3.58244081e-02 -1.45913269e-03 9.99357035e-01 1.22674744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.42, Y:13.11, Z:12.27 [[ 9.96548095e-01 -7.48857635e-02 -3.58331724e-02 3.47422902e+02] [ 7.48900245e-02 9.97191046e-01 -1.22516661e-03 1.31085422e+01] [ 3.58242662e-02 -1.46260971e-03 9.99357035e-01 1.22687813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.46, Y:13.11, Z:12.27 [[ 9.96536238e-01 -7.50433229e-02 -3.58333124e-02 3.47455394e+02] [ 7.50478331e-02 9.97179187e-01 -1.22105612e-03 1.31104899e+01] [ 3.58238655e-02 -1.47238578e-03 9.99357035e-01 1.22713028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.49, Y:13.11, Z:12.27 [[ 9.96457334e-01 -7.60838254e-02 -3.58333992e-02 3.47486479e+02] [ 7.60890985e-02 9.97100278e-01 -1.21850532e-03 1.31134351e+01] [ 3.58222008e-02 -1.51234247e-03 9.99357035e-01 1.22742063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.52, Y:13.12, Z:12.28 [[ 9.96311488e-01 -7.79703588e-02 -3.58335251e-02 3.47518411e+02] [ 7.79769826e-02 9.96954419e-01 -1.21479123e-03 1.31161580e+01] [ 3.58191089e-02 -1.58387970e-03 9.99357035e-01 1.22768312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.55, Y:13.12, Z:12.28 [[ 9.96316950e-01 -7.79004933e-02 -3.58336098e-02 3.47551065e+02] [ 7.79071618e-02 9.96959881e-01 -1.21228879e-03 1.31172007e+01] [ 3.58191092e-02 -1.58387096e-03 9.99357035e-01 1.22780026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.58, Y:13.12, Z:12.28 [[ 9.96231024e-01 -7.89917330e-02 -3.58336945e-02 3.47582713e+02] [ 7.89991958e-02 9.96873946e-01 -1.20977760e-03 1.31190186e+01] [ 3.58172389e-02 -1.62561507e-03 9.99357035e-01 1.22789038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.61, Y:13.12, Z:12.28 [[ 9.96110864e-01 -8.04927715e-02 -3.58337785e-02 3.47614752e+02] [ 8.05012925e-02 9.96753773e-01 -1.20728640e-03 1.31208569e+01] [ 3.58146317e-02 -1.68207438e-03 9.99357035e-01 1.22802592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.65, Y:13.12, Z:12.28 [[ 9.95966504e-01 -8.22596962e-02 -3.58338643e-02 3.47646746e+02] [ 8.22694494e-02 9.96609395e-01 -1.20473210e-03 1.31227968e+01] [ 3.58114668e-02 -1.74815947e-03 9.99357035e-01 1.22816819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.68, Y:13.12, Z:12.28 [[ 9.95785442e-01 -8.44232229e-02 -3.58339507e-02 3.47677814e+02] [ 8.44344652e-02 9.96428309e-01 -1.20215677e-03 1.31244842e+01] [ 3.58074529e-02 -1.82853026e-03 9.99357035e-01 1.22827908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.71, Y:13.13, Z:12.28 [[ 9.95607547e-01 -8.64958718e-02 -3.58340150e-02 3.47709835e+02] [ 8.65085211e-02 9.96250388e-01 -1.20023909e-03 1.31257861e+01] [ 3.58034670e-02 -1.90498054e-03 9.99357035e-01 1.22840251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.74, Y:13.13, Z:12.29 [[ 9.95221718e-01 -9.08275825e-02 -3.58340988e-02 3.47741689e+02] [ 9.08431190e-02 9.95864495e-01 -1.19773226e-03 1.31269204e+01] [ 3.57946938e-02 -2.06327215e-03 9.99357035e-01 1.22851043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.77, Y:13.13, Z:12.29 [[ 9.95058166e-01 -9.26021466e-02 -3.58341836e-02 3.47773807e+02] [ 9.26189206e-02 9.95700912e-01 -1.19518804e-03 1.31282026e+01] [ 3.57908063e-02 -2.12964179e-03 9.99357035e-01 1.22856053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.81, Y:13.13, Z:12.29 [[ 9.94937772e-01 -9.38868129e-02 -3.58342895e-02 3.47806797e+02] [ 9.39045309e-02 9.95580493e-01 -1.19200531e-03 1.31296652e+01] [ 3.57878332e-02 -2.17903103e-03 9.99357035e-01 1.22865173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.84, Y:13.13, Z:12.29 [[ 9.94810670e-01 -9.52240788e-02 -3.58344154e-02 3.47839498e+02] [ 9.52427970e-02 9.95453363e-01 -1.18820930e-03 1.31325028e+01] [ 3.57846354e-02 -2.23092666e-03 9.99357035e-01 1.22874334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.87, Y:13.13, Z:12.29 [[ 9.94815130e-01 -9.51774289e-02 -3.58345436e-02 3.47872099e+02] [ 9.51962561e-02 9.95457819e-01 -1.18432914e-03 1.31346853e+01] [ 3.57844980e-02 -2.23312584e-03 9.99357035e-01 1.22887460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.90, Y:13.14, Z:12.29 [[ 9.94860057e-01 -9.47066129e-02 -3.58346707e-02 3.47904716e+02] [ 9.47252745e-02 9.95502752e-01 -1.18047024e-03 1.31367463e+01] [ 3.57853117e-02 -2.22004633e-03 9.99357035e-01 1.22902099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.94, Y:13.14, Z:12.29 [[ 9.95096166e-01 -9.21926613e-02 -3.58347977e-02 3.47936059e+02] [ 9.22098376e-02 9.95738902e-01 -1.17660441e-03 1.31396269e+01] [ 3.57905764e-02 -2.13348634e-03 9.99357035e-01 1.22916115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.97, Y:13.14, Z:12.29 [[ 9.95073235e-01 -9.24420079e-02 -3.58291973e-02 3.47970606e+02] [ 9.24532313e-02 9.95716117e-01 -1.34697788e-03 1.31415846e+01] [ 3.58002265e-02 -1.97218343e-03 9.99357020e-01 1.22927672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.00, Y:13.14, Z:12.29 [[ 9.95131662e-01 -9.18086482e-02 -3.58350072e-02 3.48002324e+02] [ 9.18258538e-02 9.95774395e-01 -1.16887581e-03 1.31438502e+01] [ 3.57908956e-02 -2.12739480e-03 9.99357036e-01 1.22937961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.03, Y:13.15, Z:12.29 [[ 9.95233376e-01 -9.06993544e-02 -3.58350898e-02 3.48033861e+02] [ 9.07159345e-02 9.95876126e-01 -1.16633974e-03 1.31461221e+01] [ 3.57930967e-02 -2.09003342e-03 9.99357036e-01 1.22941551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.07, Y:13.15, Z:12.29 [[ 9.95383894e-01 -8.90322482e-02 -3.58352227e-02 3.48065966e+02] [ 8.90478988e-02 9.96026667e-01 -1.16224080e-03 1.31496092e+01] [ 3.57963144e-02 -2.03417551e-03 9.99357036e-01 1.22947797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.10, Y:13.15, Z:12.30 [[ 9.95457648e-01 -8.82037521e-02 -3.58353066e-02 3.48097648e+02] [ 8.82189608e-02 9.96100432e-01 -1.15964840e-03 1.31519544e+01] [ 3.57978497e-02 -2.00697264e-03 9.99357036e-01 1.22953412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.13, Y:13.15, Z:12.30 [[ 9.95513111e-01 -8.75755017e-02 -3.58354107e-02 3.48130324e+02] [ 8.75904205e-02 9.96155902e-01 -1.15642182e-03 1.31539029e+01] [ 3.57989301e-02 -1.98760561e-03 9.99357036e-01 1.22973995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.16, Y:13.16, Z:12.30 [[ 9.95590297e-01 -8.66935738e-02 -3.58355360e-02 3.48162459e+02] [ 8.67080630e-02 9.96233097e-01 -1.15252545e-03 1.31562869e+01] [ 3.58004636e-02 -1.95978676e-03 9.99357036e-01 1.22984515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.19, Y:13.16, Z:12.30 [[ 9.95650775e-01 -8.59961733e-02 -3.58356395e-02 3.48194317e+02] [ 8.60103280e-02 9.96293583e-01 -1.14930020e-03 1.31580754e+01] [ 3.58016531e-02 -1.93793348e-03 9.99357036e-01 1.22991053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.23, Y:13.16, Z:12.30 [[ 9.95785844e-01 -8.44177347e-02 -3.58357212e-02 3.48225022e+02] [ 8.44309620e-02 9.96428672e-01 -1.14674683e-03 1.31611159e+01] [ 3.58045458e-02 -1.88373015e-03 9.99357036e-01 1.22978938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.26, Y:13.16, Z:12.30 [[ 9.95852728e-01 -8.36250073e-02 -3.58357819e-02 3.48257471e+02] [ 8.36377910e-02 9.96495564e-01 -1.14484795e-03 1.31631844e+01] [ 3.58059356e-02 -1.85712568e-03 9.99357036e-01 1.22989001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.29, Y:13.17, Z:12.30 [[ 9.95923993e-01 -8.27719219e-02 -3.58358575e-02 3.48290805e+02] [ 8.27842401e-02 9.96566839e-01 -1.14247528e-03 1.31651547e+01] [ 3.58073921e-02 -1.82882569e-03 9.99357036e-01 1.23020121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.32, Y:13.17, Z:12.30 [[ 9.95948214e-01 -8.24799244e-02 -3.58359810e-02 3.48321666e+02] [ 8.24921936e-02 9.96591060e-01 -1.13858843e-03 1.31671079e+01] [ 3.58077290e-02 -1.82221357e-03 9.99357036e-01 1.23024974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.35, Y:13.17, Z:12.31 [[ 9.95955519e-01 -8.23916405e-02 -3.58360420e-02 3.48353303e+02] [ 8.24039218e-02 9.96598365e-01 -1.13666460e-03 1.31690191e+01] [ 3.58077926e-02 -1.82096302e-03 9.99357036e-01 1.23064328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.39, Y:13.17, Z:12.31 [[ 9.95991329e-01 -8.19575807e-02 -3.58361236e-02 3.48385699e+02] [ 8.19696743e-02 9.96634179e-01 -1.13408638e-03 1.31701358e+01] [ 3.58084526e-02 -1.80793518e-03 9.99357036e-01 1.23074444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.42, Y:13.17, Z:12.31 [[ 9.96046805e-01 -8.12805097e-02 -3.58363192e-02 3.48417640e+02] [ 8.12923894e-02 9.96689658e-01 -1.12787110e-03 1.31717212e+01] [ 3.58093627e-02 -1.78980761e-03 9.99357036e-01 1.23075104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.45, Y:13.17, Z:12.31 [[ 9.96086562e-01 -8.07917788e-02 -3.58364188e-02 3.48450528e+02] [ 8.08034569e-02 9.96729420e-01 -1.12469810e-03 1.31735832e+01] [ 3.58100793e-02 -1.77540986e-03 9.99357036e-01 1.23084534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.48, Y:13.18, Z:12.31 [[ 9.96138641e-01 -8.01470557e-02 -3.58365373e-02 3.48483379e+02] [ 8.01584537e-02 9.96781504e-01 -1.12091008e-03 1.31755831e+01] [ 3.58110352e-02 -1.75601957e-03 9.99357036e-01 1.23095389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.51, Y:13.18, Z:12.31 [[ 9.96183059e-01 -7.95930031e-02 -3.58366564e-02 3.48514086e+02] [ 7.96041807e-02 9.96825926e-01 -1.11708965e-03 1.31775235e+01] [ 3.58118207e-02 -1.73992189e-03 9.99357036e-01 1.23103484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.55, Y:13.18, Z:12.31 [[ 9.96216449e-01 -7.91739635e-02 -3.58367152e-02 3.48545909e+02] [ 7.91849386e-02 9.96859319e-01 -1.11519837e-03 1.31796362e+01] [ 3.58124582e-02 -1.72674913e-03 9.99357036e-01 1.23102847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.58, Y:13.18, Z:12.31 [[ 9.96197259e-01 -7.94150233e-02 -3.58367936e-02 3.48578242e+02] [ 7.94262445e-02 9.96840124e-01 -1.11267476e-03 1.31808514e+01] [ 3.58119169e-02 -1.73793838e-03 9.99357036e-01 1.23110556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.61, Y:13.18, Z:12.31 [[ 9.96147633e-01 -8.00350730e-02 -3.58368718e-02 3.48610890e+02] [ 8.00467849e-02 9.96790489e-01 -1.11015088e-03 1.31818174e+01] [ 3.58107040e-02 -1.76275219e-03 9.99357036e-01 1.23120291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.64, Y:13.18, Z:12.31 [[ 9.96121058e-01 -8.03651046e-02 -3.58369513e-02 3.48643396e+02] [ 8.03771218e-02 9.96763910e-01 -1.10757750e-03 1.31825010e+01] [ 3.58099903e-02 -1.77718973e-03 9.99357036e-01 1.23123099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.67, Y:13.18, Z:12.31 [[ 9.96050730e-01 -8.12320670e-02 -3.58370504e-02 3.48674611e+02] [ 8.12447592e-02 9.96693569e-01 -1.10436230e-03 1.31830530e+01] [ 3.58082673e-02 -1.81157165e-03 9.99357036e-01 1.23125676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.71, Y:13.18, Z:12.31 [[ 9.96114416e-01 -8.04472898e-02 -3.58371896e-02 3.48707655e+02] [ 8.04596383e-02 9.96757261e-01 -1.09982490e-03 1.31841815e+01] [ 3.58094569e-02 -1.78789588e-03 9.99357036e-01 1.23136171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.74, Y:13.19, Z:12.32 [[ 9.96267975e-01 -7.85226648e-02 -3.58373051e-02 3.48739686e+02] [ 7.85339068e-02 9.96910841e-01 -1.09605048e-03 1.31859924e+01] [ 3.58126627e-02 -1.72248359e-03 9.99357036e-01 1.23163323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.77, Y:13.19, Z:12.32 [[ 9.96387041e-01 -7.69970497e-02 -3.58373826e-02 3.48771835e+02] [ 7.70073984e-02 9.97029922e-01 -1.09350842e-03 1.31873959e+01] [ 3.58151397e-02 -1.67018598e-03 9.99357036e-01 1.23188510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.80, Y:13.19, Z:12.32 [[ 9.96499062e-01 -7.55334090e-02 -3.58374617e-02 3.48802917e+02] [ 7.55429066e-02 9.97141955e-01 -1.09091147e-03 1.31886003e+01] [ 3.58174369e-02 -1.62017377e-03 9.99357036e-01 1.23205312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.83, Y:13.19, Z:12.32 [[ 9.96643477e-01 -7.36033436e-02 -3.58375206e-02 3.48834203e+02] [ 7.36116658e-02 9.97286387e-01 -1.08897144e-03 1.31894871e+01] [ 3.58204234e-02 -1.55274331e-03 9.99357036e-01 1.23226549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.87, Y:13.19, Z:12.32 [[ 9.96691066e-01 -7.29560560e-02 -3.58375784e-02 3.48865866e+02] [ 7.29640289e-02 9.97333981e-01 -1.08706833e-03 1.31901627e+01] [ 3.58213429e-02 -1.53138281e-03 9.99357036e-01 1.23245235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.90, Y:13.19, Z:12.33 [[ 9.96709484e-01 -7.27039444e-02 -3.58376976e-02 3.48896968e+02] [ 7.27118964e-02 9.97352399e-01 -1.08312165e-03 1.31905675e+01] [ 3.58215609e-02 -1.52626934e-03 9.99357036e-01 1.23253844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.93, Y:13.19, Z:12.33 [[ 9.96699223e-01 -7.28444575e-02 -3.58377553e-02 3.48928598e+02] [ 7.28525686e-02 9.97342135e-01 -1.08121157e-03 1.31910667e+01] [ 3.58212636e-02 -1.53322979e-03 9.99357036e-01 1.23263826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.96, Y:13.19, Z:12.33 [[ 9.96622768e-01 -7.38830836e-02 -3.58378121e-02 3.48961008e+02] [ 7.38919325e-02 9.97265670e-01 -1.07932531e-03 1.31904203e+01] [ 3.58195636e-02 -1.57244502e-03 9.99357036e-01 1.23264267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.99, Y:13.19, Z:12.32 [[ 9.96440412e-01 -7.63030197e-02 -3.58378874e-02 3.48992466e+02] [ 7.63135197e-02 9.97083290e-01 -1.07681950e-03 1.31890353e+01] [ 3.58155232e-02 -1.66192886e-03 9.99357036e-01 1.23245440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.03, Y:13.19, Z:12.32 [[ 9.96348308e-01 -7.74963996e-02 -3.58379434e-02 3.49025051e+02] [ 7.75077365e-02 9.96991171e-01 -1.07495171e-03 1.31886958e+01] [ 3.58134180e-02 -1.70669156e-03 9.99357036e-01 1.23246368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.06, Y:13.19, Z:12.32 [[ 9.96144949e-01 -8.00679551e-02 -3.58380196e-02 3.49056021e+02] [ 8.00810429e-02 9.96787779e-01 -1.07240377e-03 1.31877309e+01] [ 3.58087652e-02 -1.80167639e-03 9.99357036e-01 1.23229939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.09, Y:13.19, Z:12.32 [[ 9.96069204e-01 -8.10047355e-02 -3.58381461e-02 3.49088452e+02] [ 8.10185800e-02 9.96712019e-01 -1.06816085e-03 1.31880788e+01] [ 3.58068370e-02 -1.83959358e-03 9.99357036e-01 1.23242824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.12, Y:13.19, Z:12.32 [[ 9.96006981e-01 -8.17662248e-02 -3.58382238e-02 3.49119646e+02] [ 8.17806545e-02 9.96649783e-01 -1.06554910e-03 1.31887254e+01] [ 3.58052838e-02 -1.86957905e-03 9.99357036e-01 1.23248368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.15, Y:13.19, Z:12.33 [[ 9.96012719e-01 -8.16962786e-02 -3.58382814e-02 3.49152304e+02] [ 8.17107328e-02 9.96655520e-01 -1.06360740e-03 1.31896333e+01] [ 3.58053137e-02 -1.86900574e-03 9.99357036e-01 1.23260083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.18, Y:13.19, Z:12.33 [[ 9.96025204e-01 -8.15438895e-02 -3.58383559e-02 3.49183941e+02] [ 8.15583356e-02 9.96668005e-01 -1.06109148e-03 1.31905435e+01] [ 3.58054682e-02 -1.86604280e-03 9.99357036e-01 1.23293215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.22, Y:13.19, Z:12.33 [[ 9.96124876e-01 -8.03170860e-02 -3.58384904e-02 3.49215240e+02] [ 8.03309041e-02 9.96767691e-01 -1.05652927e-03 1.31914195e+01] [ 3.58075066e-02 -1.82650325e-03 9.99357036e-01 1.23322134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.25, Y:13.19, Z:12.33 [[ 9.96228744e-01 -7.90182768e-02 -3.58385479e-02 3.49246323e+02] [ 7.90313269e-02 9.96871575e-01 -1.05457490e-03 1.31923500e+01] [ 3.58097604e-02 -1.78177017e-03 9.99357036e-01 1.23336687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.28, Y:13.19, Z:12.34 [[ 9.96393056e-01 -7.69186117e-02 -3.58386047e-02 3.49278713e+02] [ 7.69303765e-02 9.97035912e-01 -1.05264014e-03 1.31932340e+01] [ 3.58133435e-02 -1.70823403e-03 9.99357036e-01 1.23352250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.31, Y:13.19, Z:12.34 [[ 9.96580135e-01 -7.44555097e-02 -3.58386793e-02 3.49310997e+02] [ 7.44657768e-02 9.97223017e-01 -1.05009561e-03 1.31942471e+01] [ 3.58173413e-02 -1.62225067e-03 9.99357036e-01 1.23368186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.34, Y:13.20, Z:12.34 [[ 9.96920093e-01 -6.97560940e-02 -3.58387560e-02 3.49342678e+02] [ 6.97634242e-02 9.97563014e-01 -1.04747063e-03 1.31952650e+01] [ 3.58244849e-02 -1.45598982e-03 9.99357036e-01 1.23374691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.38, Y:13.20, Z:12.34 [[ 9.97085984e-01 -6.73432592e-02 -3.58388820e-02 3.49375020e+02] [ 6.73491889e-02 9.97728920e-01 -1.04314204e-03 1.31962004e+01] [ 3.58277376e-02 -1.37361732e-03 9.99357036e-01 1.23385021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.41, Y:13.20, Z:12.34 [[ 9.97228651e-01 -6.51965181e-02 -3.58389573e-02 3.49405696e+02] [ 6.52011567e-02 9.97871598e-01 -1.04054828e-03 1.31968795e+01] [ 3.58305177e-02 -1.29907691e-03 9.99357036e-01 1.23390365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.44, Y:13.20, Z:12.34 [[ 9.97370074e-01 -6.29960506e-02 -3.58389947e-02 3.49437641e+02] [ 6.29993169e-02 9.98013029e-01 -1.03925628e-03 1.31974535e+01] [ 3.58332527e-02 -1.22130908e-03 9.99357036e-01 1.23406552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.47, Y:13.20, Z:12.34 [[ 9.97436974e-01 -6.19277370e-02 -3.58390703e-02 3.49467690e+02] [ 6.19304084e-02 9.98079932e-01 -1.03664587e-03 1.31979514e+01] [ 3.58344539e-02 -1.18553934e-03 9.99357037e-01 1.23405325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.50, Y:13.20, Z:12.34 [[ 9.97499660e-01 -6.09096773e-02 -3.58390889e-02 3.49498885e+02] [ 6.09117156e-02 9.98142620e-01 -1.03600183e-03 1.31982424e+01] [ 3.58356246e-02 -1.14960891e-03 9.99357037e-01 1.23416765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.53, Y:13.20, Z:12.34 [[ 9.97582092e-01 -5.95443306e-02 -3.58391263e-02 3.49528840e+02] [ 5.95455353e-02 9.98225054e-01 -1.03470645e-03 1.31980136e+01] [ 3.58371247e-02 -1.10185533e-03 9.99357037e-01 1.23417966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.56, Y:13.20, Z:12.34 [[ 9.97611512e-01 -5.90493305e-02 -3.58391897e-02 3.49559195e+02] [ 5.90502952e-02 9.98254475e-01 -1.03250387e-03 1.31984344e+01] [ 3.58376002e-02 -1.08627699e-03 9.99357037e-01 1.23430309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.59, Y:13.20, Z:12.34 [[ 9.97611512e-01 -5.90493305e-02 -3.58391897e-02 3.49590161e+02] [ 5.90502952e-02 9.98254475e-01 -1.03250387e-03 1.31993265e+01] [ 3.58376002e-02 -1.08627699e-03 9.99357037e-01 1.23441423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.62, Y:13.20, Z:12.35 [[ 9.97636832e-01 -5.86200043e-02 -3.58391897e-02 3.49620521e+02] [ 5.86206923e-02 9.98279795e-01 -1.03250387e-03 1.31999078e+01] [ 3.58380643e-02 -1.07085423e-03 9.99357037e-01 1.23453332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.65, Y:13.20, Z:12.35 [[ 9.97629975e-01 -5.87365731e-02 -3.58391897e-02 3.49648868e+02] [ 5.87373363e-02 9.98272938e-01 -1.03250387e-03 1.32024376e+01] [ 3.58379390e-02 -1.07504173e-03 9.99357037e-01 1.23452301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.68, Y:13.20, Z:12.35 [[ 9.97781767e-01 -5.61047380e-02 -3.58301992e-02 3.49679726e+02] [ 5.60927336e-02 9.98424663e-01 -1.34097083e-03 1.32015332e+01] [ 3.58489894e-02 -6.71817572e-04 9.99356993e-01 1.23470077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.71, Y:13.20, Z:12.35 [[ 9.97916422e-01 -5.36506063e-02 -3.58389066e-02 3.49709150e+02] [ 5.36477744e-02 9.98559378e-01 -1.04135435e-03 1.32019987e+01] [ 3.58431456e-02 -8.83492967e-04 9.99357037e-01 1.23483982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.74, Y:13.20, Z:12.35 [[ 9.97969387e-01 -5.26562082e-02 -3.58388883e-02 3.49738682e+02] [ 5.26527130e-02 9.98612340e-01 -1.04198551e-03 1.32027153e+01] [ 3.58440231e-02 -8.47145058e-04 9.99357037e-01 1.23496566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.77, Y:13.20, Z:12.35 [[ 9.98048015e-01 -5.11442802e-02 -3.58388519e-02 3.49767796e+02] [ 5.11397661e-02 9.98690961e-01 -1.04323479e-03 1.32035270e+01] [ 3.58452930e-02 -7.91592093e-04 9.99357037e-01 1.23528807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.80, Y:13.20, Z:12.35 [[ 9.98046136e-01 -5.11809469e-02 -3.58388136e-02 3.49797915e+02] [ 5.11764093e-02 9.98689083e-01 -1.04454877e-03 1.32044329e+01] [ 3.58452929e-02 -7.91593933e-04 9.99357037e-01 1.23539622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.83, Y:13.21, Z:12.36 [[ 9.98061389e-01 -5.08826719e-02 -3.58387752e-02 3.49826109e+02] [ 5.08778949e-02 9.98704334e-01 -1.04586458e-03 1.32052410e+01] [ 3.58455565e-02 -7.79564381e-04 9.99357037e-01 1.23550244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.86, Y:13.21, Z:12.36 [[ 9.98023861e-01 -5.16135505e-02 -3.58387180e-02 3.49856096e+02] [ 5.16091740e-02 9.98666809e-01 -1.04782202e-03 1.32061082e+01] [ 3.58450200e-02 -8.03855258e-04 9.99357037e-01 1.23555975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.89, Y:13.21, Z:12.36 [[ 9.97929343e-01 -5.34098804e-02 -3.58386798e-02 3.49886091e+02] [ 5.34066145e-02 9.98572297e-01 -1.04912560e-03 1.32054107e+01] [ 3.58435465e-02 -8.67069332e-04 9.99357037e-01 1.23552180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.92, Y:13.20, Z:12.36 [[ 9.97846230e-01 -5.49408148e-02 -3.58386413e-02 3.49915725e+02] [ 5.49384881e-02 9.98489188e-01 -1.05044028e-03 1.32049761e+01] [ 3.58422079e-02 -9.20742897e-04 9.99357037e-01 1.23551551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.95, Y:13.20, Z:12.36 [[ 9.97762712e-01 -5.64372557e-02 -3.58386222e-02 3.49945629e+02] [ 5.64358699e-02 9.98405673e-01 -1.05109213e-03 1.32043211e+01] [ 3.58408045e-02 -9.73843283e-04 9.99357037e-01 1.23553664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.98, Y:13.20, Z:12.36 [[ 9.97667160e-01 -5.81019189e-02 -3.58386032e-02 3.49976655e+02] [ 5.81015826e-02 9.98310122e-01 -1.05173860e-03 1.32036730e+01] [ 3.58391484e-02 -1.03299451e-03 9.99357037e-01 1.23558361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.01, Y:13.20, Z:12.36 [[ 9.97474496e-01 -6.13206678e-02 -3.58386032e-02 3.50006692e+02] [ 6.13224061e-02 9.98117456e-01 -1.05173860e-03 1.32025342e+01] [ 3.58356288e-02 -1.14862695e-03 9.99357037e-01 1.23553994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.04, Y:13.20, Z:12.36 [[ 9.97401540e-01 -6.24960897e-02 -3.58386222e-02 3.50037526e+02] [ 6.24986089e-02 9.98044498e-01 -1.05109252e-03 1.32030694e+01] [ 3.58342288e-02 -1.19150273e-03 9.99357037e-01 1.23562752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.07, Y:13.20, Z:12.36 [[ 9.97358705e-01 -6.31759938e-02 -3.58386222e-02 3.50067583e+02] [ 6.31789512e-02 9.98001661e-01 -1.05109252e-03 1.32033544e+01] [ 3.58334083e-02 -1.21593029e-03 9.99357037e-01 1.23563234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.10, Y:13.20, Z:12.36 [[ 9.97276447e-01 -6.44614601e-02 -3.58386408e-02 3.50098596e+02] [ 6.44652691e-02 9.97919398e-01 -1.05045840e-03 1.32034282e+01] [ 3.58317889e-02 -1.26275020e-03 9.99357037e-01 1.23583762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.13, Y:13.20, Z:12.36 [[ 9.97274098e-01 -6.44977684e-02 -3.58386786e-02 3.50130074e+02] [ 6.45016472e-02 9.97917049e-01 -1.04916481e-03 1.32035584e+01] [ 3.58316972e-02 -1.26534891e-03 9.99357037e-01 1.23597113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.16, Y:13.20, Z:12.36 [[ 9.97284314e-01 -6.43395977e-02 -3.58387164e-02 3.50160771e+02] [ 6.43434209e-02 9.97927265e-01 -1.04787178e-03 1.32036348e+01] [ 3.58318519e-02 -1.26095953e-03 9.99357037e-01 1.23606801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.19, Y:13.20, Z:12.36 [[ 9.97317208e-01 -6.38276767e-02 -3.58387352e-02 3.50192159e+02] [ 6.38311929e-02 9.97960161e-01 -1.04723012e-03 1.32038706e+01] [ 3.58324722e-02 -1.24320860e-03 9.99357037e-01 1.23622933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.22, Y:13.20, Z:12.36 [[ 9.97363024e-01 -6.31076842e-02 -3.58387723e-02 3.50222256e+02] [ 6.31107819e-02 9.98005980e-01 -1.04595864e-03 1.32046402e+01] [ 3.58333171e-02 -1.21861247e-03 9.99357037e-01 1.23634110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.25, Y:13.21, Z:12.37 [[ 9.97530205e-01 -6.04075385e-02 -3.58387907e-02 3.50253287e+02] [ 6.04089183e-02 9.98173166e-01 -1.04532786e-03 1.32057798e+01] [ 3.58364649e-02 -1.12223646e-03 9.99357037e-01 1.23656498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.28, Y:13.21, Z:12.37 [[ 9.97645272e-01 -5.84764000e-02 -3.58388286e-02 3.50283162e+02] [ 5.84765820e-02 9.98288235e-01 -1.04402461e-03 1.32068622e+01] [ 3.58385318e-02 -1.05416599e-03 9.99357037e-01 1.23667321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.31, Y:13.21, Z:12.37 [[ 9.97767505e-01 -5.63523125e-02 -3.58388327e-02 3.50313236e+02] [ 5.63511307e-02 9.98410467e-01 -1.04388437e-03 1.32079554e+01] [ 3.58406910e-02 -9.78004844e-04 9.99357037e-01 1.23677510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.34, Y:13.21, Z:12.37 [[ 9.97883599e-01 -5.42577517e-02 -3.58387955e-02 3.50343402e+02] [ 5.42551743e-02 9.98526556e-01 -1.04516256e-03 1.32092054e+01] [ 3.58426972e-02 -9.01489513e-04 9.99357037e-01 1.23690933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.37, Y:13.21, Z:12.37 [[ 9.98143897e-01 -4.92376129e-02 -3.58387955e-02 3.50372302e+02] [ 4.92318014e-02 9.98786833e-01 -1.04516256e-03 1.32106217e+01] [ 3.58467783e-02 -7.21185825e-04 9.99357037e-01 1.23696590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.40, Y:13.21, Z:12.37 [[ 9.98246218e-01 -4.71176485e-02 -3.58387388e-02 3.50400865e+02] [ 4.71104019e-02 9.98889140e-01 -1.04710298e-03 1.32117470e+01] [ 3.58482640e-02 -6.43110794e-04 9.99357037e-01 1.23709046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.43, Y:13.21, Z:12.37 [[ 9.98464802e-01 -4.22331999e-02 -3.58384675e-02 3.50428780e+02] [ 4.22224777e-02 9.99107675e-01 -1.05630630e-03 1.32130312e+01] [ 3.58510991e-02 -4.58504228e-04 9.99357038e-01 1.23716244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.46, Y:13.21, Z:12.37 [[ 9.98551842e-01 -4.01226765e-02 -3.58383713e-02 3.50456618e+02] [ 4.01104786e-02 9.99194689e-01 -1.05956112e-03 1.32142907e+01] [ 3.58520227e-02 -3.79467516e-04 9.99357038e-01 1.23721887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.48, Y:13.22, Z:12.37 [[ 9.98651879e-01 -3.75507378e-02 -3.58380629e-02 3.50484138e+02] [ 3.75365136e-02 9.99294684e-01 -1.06988977e-03 1.32154938e+01] [ 3.58529609e-02 -2.76788504e-04 9.99357038e-01 1.23720591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.51, Y:13.22, Z:12.37 [[ 9.98746248e-01 -3.49509929e-02 -3.58379672e-02 3.50511898e+02] [ 3.49349808e-02 9.99389011e-01 -1.07308557e-03 1.32168143e+01] [ 3.58535761e-02 -1.80258512e-04 9.99357038e-01 1.23714920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.54, Y:13.22, Z:12.37 [[ 9.98838388e-01 -3.22105747e-02 -3.58378732e-02 3.50539725e+02] [ 3.21926867e-02 9.99481102e-01 -1.07621868e-03 1.32180766e+01] [ 3.58539426e-02 -7.87488917e-05 9.99357038e-01 1.23727321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.57, Y:13.22, Z:12.37 [[ 9.98930673e-01 -2.92092498e-02 -3.58375650e-02 3.50567349e+02] [ 2.91890660e-02 9.99573318e-01 -1.08638454e-03 1.32194459e+01] [ 3.58540062e-02 3.91577918e-05 9.99357038e-01 1.23740383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.60, Y:13.22, Z:12.38 [[ 9.99091887e-01 -2.30454486e-02 -3.58372479e-02 3.50595509e+02] [ 2.30209285e-02 9.99734382e-01 -1.09674669e-03 1.32214024e+01] [ 3.58530039e-02 2.70743996e-04 9.99357038e-01 1.23756686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.62, Y:13.22, Z:12.38 [[ 9.99151582e-01 -2.02932030e-02 -3.58371495e-02 3.50622833e+02] [ 2.02667982e-02 9.99794002e-01 -1.09995114e-03 1.32226040e+01] [ 3.58520887e-02 3.72713641e-04 9.99357038e-01 1.23777628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.65, Y:13.22, Z:12.38 [[ 9.99219546e-01 -1.66138900e-02 -3.58368322e-02 3.50650483e+02] [ 1.65847525e-02 9.99861847e-01 -1.11019491e-03 1.32240350e+01] [ 3.58503259e-02 5.14983459e-04 9.99357038e-01 1.23788038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.68, Y:13.22, Z:12.38 [[ 9.99228301e-01 -1.60788759e-02 -3.58367338e-02 3.50678271e+02] [ 1.60492809e-02 9.99870582e-01 -1.11336205e-03 1.32249913e+01] [ 3.58499975e-02 5.37349067e-04 9.99357038e-01 1.23798578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.71, Y:13.23, Z:12.38 [[ 9.99224512e-01 -1.63133554e-02 -3.58364200e-02 3.50706089e+02] [ 1.62835523e-02 9.99866783e-01 -1.12337111e-03 1.32256410e+01] [ 3.58499720e-02 5.38955730e-04 9.99357038e-01 1.23813528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.73, Y:13.23, Z:12.38 [[ 9.99210671e-01 -1.71408506e-02 -3.58361003e-02 3.50734256e+02] [ 1.71112169e-02 9.99852950e-01 -1.13347932e-03 1.32261537e+01] [ 3.58502594e-02 5.19385348e-04 9.99357038e-01 1.23830841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:13.23, Z:12.38 [[ 9.99188963e-01 -1.83634068e-02 -3.58357687e-02 3.50760902e+02] [ 1.83341865e-02 9.99831260e-01 -1.14386971e-03 1.32262128e+01] [ 3.58507271e-02 4.85922326e-04 9.99357038e-01 1.23839319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.79, Y:13.22, Z:12.39 [[ 9.99103234e-01 -2.25507527e-02 -3.58356242e-02 3.50788219e+02] [ 2.25240628e-02 9.99745642e-01 -1.14837628e-03 1.32248150e+01] [ 3.58524059e-02 3.40182609e-04 9.99357038e-01 1.23852511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.82, Y:13.22, Z:12.39 [[ 9.99030994e-01 -2.55517205e-02 -3.58354816e-02 3.50816198e+02] [ 2.55268013e-02 9.99673473e-01 -1.15280986e-03 1.32244186e+01] [ 3.58532366e-02 2.36927565e-04 9.99357038e-01 1.23866471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.84, Y:13.22, Z:12.39 [[ 9.98939080e-01 -2.89232898e-02 -3.58351480e-02 3.50844505e+02] [ 2.89001703e-02 9.99581626e-01 -1.16309008e-03 1.32238667e+01] [ 3.58537959e-02 1.26214255e-04 9.99357038e-01 1.23876419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.87, Y:13.22, Z:12.39 [[ 9.98712382e-01 -3.59088292e-02 -3.58348113e-02 3.50871392e+02] [ 3.58898350e-02 9.99355064e-01 -1.17337278e-03 1.32214896e+01] [ 3.58538345e-02 -1.14243541e-04 9.99357038e-01 1.23879970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.90, Y:13.22, Z:12.39 [[ 9.98577129e-01 -3.94916902e-02 -3.58346648e-02 3.50898806e+02] [ 3.94748421e-02 9.99219870e-01 -1.17782845e-03 1.32207213e+01] [ 3.58532236e-02 -2.38415179e-04 9.99357038e-01 1.23897654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.93, Y:13.22, Z:12.39 [[ 9.98440075e-01 -4.28171660e-02 -3.58344295e-02 3.50925802e+02] [ 4.28022032e-02 9.99082863e-01 -1.18494359e-03 1.32198568e+01] [ 3.58523004e-02 -3.50697370e-04 9.99357038e-01 1.23908817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.95, Y:13.22, Z:12.39 [[ 9.98282016e-01 -4.63564571e-02 -3.58342801e-02 3.50953727e+02] [ 4.63436116e-02 9.98924849e-01 -1.18944618e-03 1.32192675e+01] [ 3.58508913e-02 -4.73287228e-04 9.99357038e-01 1.23925292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.98, Y:13.22, Z:12.39 [[ 9.98012279e-01 -5.18403243e-02 -3.58339392e-02 3.50981747e+02] [ 5.18306452e-02 9.98655168e-01 -1.19962848e-03 1.32171758e+01] [ 3.58479377e-02 -6.60052238e-04 9.99357038e-01 1.23940458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.01, Y:13.22, Z:12.39 [[ 9.97885495e-01 -5.42263105e-02 -3.58335914e-02 3.51010483e+02] [ 5.42177988e-02 9.98528400e-01 -1.20993010e-03 1.32166732e+01] [ 3.58464687e-02 -7.35446746e-04 9.99357038e-01 1.23948886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.04, Y:13.21, Z:12.40 [[ 9.97678839e-01 -5.79043218e-02 -3.58332841e-02 3.51039057e+02] [ 5.78978557e-02 9.98321768e-01 -1.21896336e-03 1.32148786e+01] [ 3.58437308e-02 -8.58536359e-04 9.99357038e-01 1.23950018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.07, Y:13.22, Z:12.40 [[ 9.97676790e-01 -5.79396472e-02 -3.58332187e-02 3.51069172e+02] [ 5.79331350e-02 9.98319719e-01 -1.22088233e-03 1.32159347e+01] [ 3.58437463e-02 -8.57884732e-04 9.99357038e-01 1.23960835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.10, Y:13.21, Z:12.40 [[ 9.97507683e-01 -6.07816186e-02 -3.58331755e-02 3.51098272e+02] [ 6.07768925e-02 9.98150628e-01 -1.22214944e-03 1.32148675e+01] [ 3.58411908e-02 -9.58725599e-04 9.99357038e-01 1.23969687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.13, Y:13.22, Z:12.40 [[ 9.97446123e-01 -6.17836568e-02 -3.58331111e-02 3.51128356e+02] [ 6.17795089e-02 9.98089071e-01 -1.22403499e-03 1.32150857e+01] [ 3.58402619e-02 -9.92843049e-04 9.99357038e-01 1.23980523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.16, Y:13.22, Z:12.40 [[ 9.97371628e-01 -6.29747878e-02 -3.58331111e-02 3.51158555e+02] [ 6.29714078e-02 9.98014581e-01 -1.22403499e-03 1.32150970e+01] [ 3.58390507e-02 -1.03564368e-03 9.99357038e-01 1.23992681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.19, Y:13.22, Z:12.40 [[ 9.97366928e-01 -6.30491778e-02 -3.58331111e-02 3.51188091e+02] [ 6.30458457e-02 9.98009881e-01 -1.22403499e-03 1.32160541e+01] [ 3.58389733e-02 -1.03831677e-03 9.99357038e-01 1.24000134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.22, Y:13.22, Z:12.40 [[ 9.97391040e-01 -6.26665873e-02 -3.58331167e-02 3.51218276e+02] [ 6.26630145e-02 9.98033992e-01 -1.22387000e-03 1.32172697e+01] [ 3.58393643e-02 -1.02473414e-03 9.99357038e-01 1.24011425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.25, Y:13.22, Z:12.40 [[ 9.97454503e-01 -6.16482095e-02 -3.58331167e-02 3.51248314e+02] [ 6.16439802e-02 9.98097451e-01 -1.22387000e-03 1.32186597e+01] [ 3.58403918e-02 -9.88141299e-04 9.99357038e-01 1.24022669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.28, Y:13.22, Z:12.40 [[ 9.97535918e-01 -6.03165333e-02 -3.58330725e-02 3.51279112e+02] [ 6.03113993e-02 9.98178859e-01 -1.22516261e-03 1.32199617e+01] [ 3.58417130e-02 -9.38999038e-04 9.99357038e-01 1.24033328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.31, Y:13.22, Z:12.40 [[ 9.97797225e-01 -5.58273068e-02 -3.58330725e-02 3.51307590e+02] [ 5.58192798e-02 9.98440137e-01 -1.22516261e-03 1.32219135e+01] [ 3.58455754e-02 -7.77712448e-04 9.99357038e-01 1.24041804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.34, Y:13.22, Z:12.41 [[ 9.97951025e-01 -5.30070472e-02 -3.58330061e-02 3.51337646e+02] [ 5.29971336e-02 9.98593910e-01 -1.22710189e-03 1.32235391e+01] [ 3.58476667e-02 -6.74459018e-04 9.99357038e-01 1.24055191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.37, Y:13.23, Z:12.41 [[ 9.98100824e-01 -5.01073285e-02 -3.58329624e-02 3.51366773e+02] [ 5.00955013e-02 9.98743677e-01 -1.22837707e-03 1.32252139e+01] [ 3.58494953e-02 -5.69026047e-04 9.99357038e-01 1.24072625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.39, Y:13.23, Z:12.41 [[ 9.98398055e-01 -4.37874861e-02 -3.58326552e-02 3.51394799e+02] [ 4.37712701e-02 9.99040813e-01 -1.23727361e-03 1.32279314e+01] [ 3.58524621e-02 -3.33149266e-04 9.99357038e-01 1.24094772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.42, Y:13.23, Z:12.41 [[ 9.98385752e-01 -4.40672192e-02 -3.58325463e-02 3.51423158e+02] [ 4.40510704e-02 9.99028510e-01 -1.24041885e-03 1.32289825e+01] [ 3.58523972e-02 -3.40045518e-04 9.99357038e-01 1.24104963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.45, Y:13.23, Z:12.41 [[ 9.98510435e-01 -4.11456622e-02 -3.58321959e-02 3.51451370e+02] [ 4.11272723e-02 9.99153133e-01 -1.25046085e-03 1.32307578e+01] [ 3.58533018e-02 -2.25082271e-04 9.99357038e-01 1.24117652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.48, Y:13.23, Z:12.41 [[ 9.98692027e-01 -3.64734764e-02 -3.58318433e-02 3.51478709e+02] [ 3.64517201e-02 9.99334620e-01 -1.26048444e-03 1.32328946e+01] [ 3.58539757e-02 -4.72965630e-05 9.99357038e-01 1.24128680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.51, Y:13.23, Z:12.41 [[ 9.98741105e-01 -3.51042875e-02 -3.58314827e-02 3.51506749e+02] [ 3.50812855e-02 9.99383654e-01 -1.27065225e-03 1.32339256e+01] [ 3.58540035e-02 1.20381579e-05 9.99357038e-01 1.24137220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.53, Y:13.23, Z:12.41 [[ 9.98771614e-01 -3.42256444e-02 -3.58311090e-02 3.51533331e+02] [ 3.42017021e-02 9.99414130e-01 -1.28110299e-03 1.32345234e+01] [ 3.58539632e-02 5.40443767e-05 9.99357038e-01 1.24140425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.56, Y:13.24, Z:12.41 [[ 9.98779377e-01 -3.39985316e-02 -3.58309468e-02 3.51560361e+02] [ 3.39742810e-02 9.99421881e-01 -1.28562374e-03 1.32350754e+01] [ 3.58539416e-02 6.67238243e-05 9.99357039e-01 1.24146579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.59, Y:13.24, Z:12.42 [[ 9.98760154e-01 -3.45587958e-02 -3.58307858e-02 3.51588426e+02] [ 3.45347453e-02 9.99402665e-01 -1.29009526e-03 1.32352813e+01] [ 3.58539670e-02 5.10886725e-05 9.99357039e-01 1.24157249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.62, Y:13.24, Z:12.42 [[ 9.98730404e-01 -3.54084912e-02 -3.58304218e-02 3.51615427e+02] [ 3.53846274e-02 9.99372922e-01 -1.30012693e-03 1.32355204e+01] [ 3.58539889e-02 3.06301647e-05 9.99357039e-01 1.24169214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.64, Y:13.23, Z:12.42 [[ 9.98619342e-01 -3.84135540e-02 -3.58302636e-02 3.51643281e+02] [ 3.83914678e-02 9.99261924e-01 -1.30447234e-03 1.32347390e+01] [ 3.58539276e-02 -7.29051065e-05 9.99357039e-01 1.24187115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.67, Y:13.23, Z:12.42 [[ 9.98558184e-01 -3.99721600e-02 -3.58298800e-02 3.51670732e+02] [ 3.99507017e-02 9.99200787e-01 -1.31492538e-03 1.32346650e+01] [ 3.58538047e-02 -1.18399349e-04 9.99357039e-01 1.24196250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.70, Y:13.23, Z:12.42 [[ 9.98466016e-01 -4.22119314e-02 -3.58297133e-02 3.51697742e+02] [ 4.21917521e-02 9.99108660e-01 -1.31945414e-03 1.32348538e+01] [ 3.58534735e-02 -1.94288261e-04 9.99357039e-01 1.24205418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.73, Y:13.23, Z:12.42 [[ 9.98358349e-01 -4.46861253e-02 -3.58295473e-02 3.51725524e+02] [ 4.46673774e-02 9.99001037e-01 -1.32394572e-03 1.32348644e+01] [ 3.58529169e-02 -2.78639642e-04 9.99357039e-01 1.24216258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.75, Y:13.23, Z:12.42 [[ 9.98098844e-01 -5.01494645e-02 -3.58291618e-02 3.51753464e+02] [ 5.01338627e-02 9.98741616e-01 -1.33429768e-03 1.32333704e+01] [ 3.58509892e-02 -4.64493309e-04 9.99357039e-01 1.24220043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.78, Y:13.23, Z:12.42 [[ 9.97941969e-01 -5.31801185e-02 -3.58287762e-02 3.51780754e+02] [ 5.31660999e-02 9.98584778e-01 -1.34457231e-03 1.32332835e+01] [ 3.58495750e-02 -5.63071152e-04 9.99357039e-01 1.24224066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.81, Y:13.23, Z:12.42 [[ 9.97764484e-01 -5.64122847e-02 -3.58286084e-02 3.51808856e+02] [ 5.64001883e-02 9.98407331e-01 -1.34902910e-03 1.32333395e+01] [ 3.58476471e-02 -6.74726939e-04 9.99357039e-01 1.24232185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.84, Y:13.23, Z:12.43 [[ 9.97452597e-01 -6.16818845e-02 -3.58282236e-02 3.51837233e+02] [ 6.16728199e-02 9.98095494e-01 -1.35917104e-03 1.32324664e+01] [ 3.58438248e-02 -8.53918903e-04 9.99357039e-01 1.24250100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.87, Y:13.23, Z:12.43 [[ 9.97294056e-01 -6.41944662e-02 -3.58278780e-02 3.51866811e+02] [ 6.41866962e-02 9.97936970e-01 -1.36822163e-03 1.32326377e+01] [ 3.58417963e-02 -9.35153819e-04 9.99357039e-01 1.24261396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.90, Y:13.23, Z:12.43 [[ 9.97128003e-01 -6.67241384e-02 -3.58278535e-02 3.51896728e+02] [ 6.67179763e-02 9.97770935e-01 -1.36886348e-03 1.32327597e+01] [ 3.58393271e-02 -1.02542977e-03 9.99357039e-01 1.24272714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.93, Y:13.23, Z:12.43 [[ 9.96944672e-01 -6.94095715e-02 -3.58278294e-02 3.51927671e+02] [ 6.94051185e-02 9.97587617e-01 -1.36949328e-03 1.32328735e+01] [ 3.58364549e-02 -1.12132572e-03 9.99357039e-01 1.24287933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.96, Y:13.23, Z:12.43 [[ 9.96748732e-01 -7.21687726e-02 -3.58278294e-02 3.51957659e+02] [ 7.21660993e-02 9.97391688e-01 -1.36949328e-03 1.32329974e+01] [ 3.58332139e-02 -1.22051401e-03 9.99357039e-01 1.24302813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.99, Y:13.23, Z:12.43 [[ 9.96275950e-01 -7.84257372e-02 -3.58278539e-02 3.51989385e+02] [ 7.84271239e-02 9.96918910e-01 -1.36885269e-03 1.32324725e+01] [ 3.58248183e-02 -1.44612053e-03 9.99357039e-01 1.24317506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.02, Y:13.23, Z:12.43 [[ 9.96019567e-01 -8.16173026e-02 -3.58279027e-02 3.52021121e+02] [ 8.16207951e-02 9.96662518e-01 -1.36757480e-03 1.32330846e+01] [ 3.58199455e-02 -1.56217065e-03 9.99357039e-01 1.24328395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:13.23, Z:12.43 [[ 9.95803106e-01 -8.42171677e-02 -3.58279529e-02 3.52051440e+02] [ 8.42223860e-02 9.96446046e-01 -1.36625801e-03 1.32334753e+01] [ 3.58156844e-02 -1.65699170e-03 9.99357039e-01 1.24339940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.08, Y:13.23, Z:12.43 [[ 9.95543420e-01 -8.72343598e-02 -3.58254780e-02 3.52084430e+02] [ 8.72391930e-02 9.96186365e-01 -1.43125127e-03 1.32340841e+01] [ 3.58137070e-02 -1.70051301e-03 9.99357037e-01 1.24341954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.12, Y:13.23, Z:12.43 [[ 9.95154993e-01 -9.15580650e-02 -3.58281989e-02 3.52117041e+02] [ 9.15682650e-02 9.95797873e-01 -1.35955083e-03 1.32342787e+01] [ 3.58021221e-02 -1.92776221e-03 9.99357039e-01 1.24342649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.15, Y:13.24, Z:12.44 [[ 9.94994824e-01 -9.32825432e-02 -3.58282985e-02 3.52148569e+02] [ 9.32939517e-02 9.95637684e-01 -1.35692038e-03 1.32351907e+01] [ 3.57985811e-02 -1.99243479e-03 9.99357039e-01 1.24351328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.18, Y:13.24, Z:12.44 [[ 9.94904001e-01 -9.42462597e-02 -3.58283727e-02 3.52181075e+02] [ 9.42583613e-02 9.95546847e-01 -1.35495924e-03 1.32362560e+01] [ 3.57965233e-02 -2.02906933e-03 9.99357039e-01 1.24361230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.21, Y:13.24, Z:12.44 [[ 9.94785830e-01 -9.54854576e-02 -3.58284708e-02 3.52213226e+02] [ 9.54984532e-02 9.95428660e-01 -1.35235934e-03 1.32379736e+01] [ 3.57938173e-02 -2.07625564e-03 9.99357039e-01 1.24368544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.24, Y:13.24, Z:12.44 [[ 9.94768620e-01 -9.56645541e-02 -3.58285704e-02 3.52244361e+02] [ 9.56777604e-02 9.95411445e-01 -1.34971519e-03 1.32394439e+01] [ 3.57932890e-02 -2.08534306e-03 9.99357039e-01 1.24373795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:13.24, Z:12.44 [[ 9.94778197e-01 -9.55648811e-02 -3.58286445e-02 3.52276608e+02] [ 9.55780937e-02 9.95421022e-01 -1.34774495e-03 1.32409767e+01] [ 3.57933831e-02 -2.08372625e-03 9.99357039e-01 1.24374926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.31, Y:13.24, Z:12.44 [[ 9.94809588e-01 -9.52375208e-02 -3.58287423e-02 3.52307546e+02] [ 9.52506153e-02 9.95452415e-01 -1.34514143e-03 1.32427839e+01] [ 3.57939160e-02 -2.07455016e-03 9.99357039e-01 1.24378699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.34, Y:13.24, Z:12.44 [[ 9.94864623e-01 -9.46608540e-02 -3.58288150e-02 3.52339211e+02] [ 9.46736454e-02 9.95507457e-01 -1.34320290e-03 1.32449476e+01] [ 3.57950012e-02 -2.05573947e-03 9.99357039e-01 1.24388306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.37, Y:13.25, Z:12.44 [[ 9.95061463e-01 -9.25687498e-02 -3.58289117e-02 3.52370304e+02] [ 9.25802823e-02 9.95704321e-01 -1.34061839e-03 1.32486263e+01] [ 3.57991015e-02 -1.98305306e-03 9.99357039e-01 1.24397757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.40, Y:13.25, Z:12.44 [[ 9.95200793e-01 -9.10585798e-02 -3.58289836e-02 3.52402478e+02] [ 9.10692058e-02 9.95843666e-01 -1.33869311e-03 1.32510953e+01] [ 3.58019659e-02 -1.93064863e-03 9.99357039e-01 1.24413448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.43, Y:13.26, Z:12.44 [[ 9.95608064e-01 -8.64919621e-02 -3.58290795e-02 3.52433522e+02] [ 8.64997312e-02 9.96250978e-01 -1.33612030e-03 1.32553273e+01] [ 3.58103192e-02 -1.76895360e-03 9.99357039e-01 1.24432859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.47, Y:13.26, Z:12.45 [[ 9.95753620e-01 -8.48012842e-02 -3.58255628e-02 3.52465975e+02] [ 8.48045759e-02 9.96396577e-01 -1.43042521e-03 1.32585383e+01] [ 3.58177700e-02 -1.61382058e-03 9.99357035e-01 1.24462914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.50, Y:13.26, Z:12.45 [[ 9.95954616e-01 -8.24055555e-02 -3.58291508e-02 3.52497440e+02] [ 8.24107599e-02 9.96597555e-01 -1.33406627e-03 1.32615627e+01] [ 3.58171786e-02 -1.62403809e-03 9.99357039e-01 1.24475730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.53, Y:13.26, Z:12.45 [[ 9.96188501e-01 -7.95282108e-02 -3.58292238e-02 3.52529271e+02] [ 7.95316284e-02 9.96831453e-01 -1.33210340e-03 1.32643477e+01] [ 3.58216370e-02 -1.52253042e-03 9.99357039e-01 1.24495812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.56, Y:13.27, Z:12.45 [[ 9.96586998e-01 -7.43681082e-02 -3.58293193e-02 3.52558832e+02] [ 7.43682884e-02 9.97229958e-01 -1.32953057e-03 1.32708084e+01] [ 3.58289452e-02 -1.33957227e-03 9.99357039e-01 1.24507555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.59, Y:13.27, Z:12.45 [[ 9.96909555e-01 -6.99151305e-02 -3.58219802e-02 3.52590749e+02] [ 6.99053395e-02 9.97552460e-01 -1.52726187e-03 1.32715943e+01] [ 3.58410832e-02 -9.81605739e-04 9.99357020e-01 1.24524703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.62, Y:13.27, Z:12.45 [[ 9.97136939e-01 -6.65895872e-02 -3.58294856e-02 3.52621094e+02] [ 6.65849416e-02 9.97779882e-01 -1.32420470e-03 1.32741810e+01] [ 3.58381182e-02 -1.06529079e-03 9.99357041e-01 1.24532476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.65, Y:13.28, Z:12.46 [[ 9.97486712e-01 -6.11269588e-02 -3.58295093e-02 3.52649743e+02] [ 6.11188146e-02 9.98129620e-01 -1.32356583e-03 1.32761867e+01] [ 3.58434000e-02 -8.69617806e-04 9.99357041e-01 1.24551149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.68, Y:13.28, Z:12.46 [[ 9.97557539e-01 -5.99661753e-02 -3.58191928e-02 3.52679370e+02] [ 5.99473311e-02 9.98200258e-01 -1.60080659e-03 1.32792932e+01] [ 3.58507217e-02 -5.50368324e-04 9.99357005e-01 1.24550173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.71, Y:13.28, Z:12.46 [[ 9.97959444e-01 -5.28508389e-02 -3.58292624e-02 3.52708507e+02] [ 5.28371504e-02 9.98602257e-01 -1.32946625e-03 1.32827474e+01] [ 3.58494457e-02 -5.66362722e-04 9.99357042e-01 1.24555069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.74, Y:13.28, Z:12.46 [[ 9.98145424e-01 -4.92136200e-02 -3.58292142e-02 3.52737220e+02] [ 4.91975423e-02 9.98788181e-01 -1.33076422e-03 1.32848624e+01] [ 3.58512874e-02 -4.34413064e-04 9.99357042e-01 1.24558750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.77, Y:13.29, Z:12.46 [[ 9.98500361e-01 -4.13922675e-02 -3.58288765e-02 3.52765919e+02] [ 4.13708307e-02 9.99142962e-01 -1.33979431e-03 1.32875827e+01] [ 3.58536269e-02 -1.44485279e-04 9.99357042e-01 1.24558972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.79, Y:13.29, Z:12.46 [[ 9.98583588e-01 -3.93336137e-02 -3.58285351e-02 3.52791233e+02] [ 3.93105267e-02 9.99226132e-01 -1.34886378e-03 1.32924416e+01] [ 3.58538642e-02 -6.14853499e-05 9.99357042e-01 1.24563207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.82, Y:13.29, Z:12.46 [[ 9.98792572e-01 -3.36227322e-02 -3.58177244e-02 3.52824253e+02] [ 3.35857465e-02 9.99434504e-01 -1.63395596e-03 1.32916700e+01] [ 3.58524077e-02 4.29018060e-04 9.99357004e-01 1.24586194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:352.85, Y:13.29, Z:12.46 [[ 9.98945236e-01 -2.87184274e-02 -3.58283033e-02 3.52849793e+02] [ 2.86883256e-02 9.99587488e-01 -1.35408303e-03 1.32928561e+01] [ 3.58524108e-02 3.24800757e-04 9.99357043e-01 1.24574162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.88, Y:13.30, Z:12.46 [[ 9.99071912e-01 -2.39225146e-02 -3.58193707e-02 3.52879162e+02] [ 2.38809484e-02 9.99713548e-01 -1.58788953e-03 1.32955350e+01] [ 3.58470965e-02 7.31015283e-04 9.99357019e-01 1.24610620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.91, Y:13.30, Z:12.46 [[ 9.99129250e-01 -2.13805024e-02 -3.58275813e-02 3.52905600e+02] [ 2.13449780e-02 9.99771226e-01 -1.37378125e-03 1.32967668e+01] [ 3.58487570e-02 6.07846100e-04 9.99357042e-01 1.24616607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.93, Y:13.30, Z:12.46 [[ 9.99165213e-01 -1.96284165e-02 -3.58274066e-02 3.52933620e+02] [ 1.95916036e-02 9.99807116e-01 -1.37832224e-03 1.32978760e+01] [ 3.58475504e-02 6.75255288e-04 9.99357042e-01 1.24631907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:13.30, Z:12.46 [[ 9.99214010e-01 -1.69643265e-02 -3.58270070e-02 3.52958455e+02] [ 1.69254328e-02 9.99855790e-01 -1.38863353e-03 1.32986634e+01] [ 3.58453976e-02 7.81154480e-04 9.99357042e-01 1.24635139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:13.30, Z:12.47 [[ 9.99201061e-01 -1.77303268e-02 -3.58172341e-02 3.52987875e+02] [ 1.76829904e-02 9.99842302e-01 -1.63798285e-03 1.32983803e+01] [ 3.58406278e-02 1.00331839e-03 9.99357015e-01 1.24659862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.02, Y:13.30, Z:12.47 [[ 9.99159159e-01 -1.99441948e-02 -3.58218256e-02 3.53017339e+02] [ 1.99024790e-02 9.99800769e-01 -1.52078136e-03 1.32981235e+01] [ 3.58450195e-02 8.06559493e-04 9.99357035e-01 1.24667621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.05, Y:13.30, Z:12.47 [[ 9.99101977e-01 -2.26212145e-02 -3.58262382e-02 3.53045245e+02] [ 2.25852408e-02 9.99743929e-01 -1.40855170e-03 1.32977893e+01] [ 3.58489273e-02 5.98142571e-04 9.99357042e-01 1.24682422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.07, Y:13.30, Z:12.47 [[ 9.98920481e-01 -2.95699415e-02 -3.58258397e-02 3.53073587e+02] [ 2.95380728e-02 9.99562649e-01 -1.41861638e-03 1.32951714e+01] [ 3.58521196e-02 3.58858690e-04 9.99357042e-01 1.24711221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.10, Y:13.29, Z:12.47 [[ 9.98762481e-01 -3.44967671e-02 -3.58256839e-02 3.53101651e+02] [ 3.44679256e-02 9.99404792e-01 -1.42254113e-03 1.32941662e+01] [ 3.58534332e-02 1.85943704e-04 9.99357042e-01 1.24725241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.13, Y:13.29, Z:12.47 [[ 9.98563792e-01 -3.98359533e-02 -3.58252662e-02 3.53129580e+02] [ 3.98101715e-02 9.99206233e-01 -1.43298362e-03 1.32930094e+01] [ 3.58539135e-02 4.71556442e-06 9.99357042e-01 1.24739969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.16, Y:13.29, Z:12.47 [[ 9.98325938e-01 -4.54081641e-02 -3.58248444e-02 3.53156763e+02] [ 4.53855924e-02 9.98968500e-01 -1.44345244e-03 1.32914593e+01] [ 3.58534356e-02 -1.84895776e-04 9.99357042e-01 1.24744262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.19, Y:13.29, Z:12.48 [[ 9.97744884e-01 -5.67604437e-02 -3.58245527e-02 3.53185138e+02] [ 5.67449236e-02 9.98387655e-01 -1.45065498e-03 1.32871423e+01] [ 3.58491310e-02 -5.85477918e-04 9.99357042e-01 1.24756724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.21, Y:13.29, Z:12.48 [[ 9.97419262e-01 -6.22209546e-02 -3.58241334e-02 3.53213428e+02] [ 6.22085839e-02 9.98062101e-01 -1.46093720e-03 1.32856443e+01] [ 3.58456108e-02 -7.71401704e-04 9.99357042e-01 1.24763748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.24, Y:13.28, Z:12.48 [[ 9.97068751e-01 -6.76057877e-02 -3.58240553e-02 3.53244148e+02] [ 6.75968197e-02 9.97711647e-01 -1.46285046e-03 1.32844563e+01] [ 3.58409743e-02 -9.63029722e-04 9.99357042e-01 1.24778490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.27, Y:13.28, Z:12.48 [[ 9.96342661e-01 -7.75753700e-02 -3.58240553e-02 3.53274316e+02] [ 7.75728328e-02 9.96985615e-01 -1.46285046e-03 1.32806244e+01] [ 3.58295489e-02 -1.32147313e-03 9.99357042e-01 1.24784881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.31, Y:13.28, Z:12.48 [[ 9.96345382e-01 -7.75404038e-02 -3.58240815e-02 3.53306114e+02] [ 7.75378671e-02 9.96988336e-01 -1.46220846e-03 1.32818922e+01] [ 3.58295716e-02 -1.32085822e-03 9.99357042e-01 1.24796296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.34, Y:13.28, Z:12.48 [[ 9.95958287e-01 -8.23633497e-02 -3.58241327e-02 3.53337782e+02] [ 8.23639710e-02 9.96601245e-01 -1.46095124e-03 1.32810291e+01] [ 3.58227041e-02 -1.49557133e-03 9.99357042e-01 1.24810021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.37, Y:13.28, Z:12.48 [[ 9.95596807e-01 -8.66234754e-02 -3.58241846e-02 3.53369747e+02] [ 8.66268931e-02 9.96239756e-01 -1.45967856e-03 1.32801741e+01] [ 3.58159193e-02 -1.65008650e-03 9.99357042e-01 1.24825454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.40, Y:13.28, Z:12.48 [[ 9.95213524e-01 -9.09211830e-02 -3.58242912e-02 3.53401800e+02] [ 9.09274707e-02 9.95856452e-01 -1.45705688e-03 1.32798528e+01] [ 3.58083289e-02 -1.80732948e-03 9.99357042e-01 1.24837007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.43, Y:13.28, Z:12.48 [[ 9.94555192e-01 -9.78600139e-02 -3.58243975e-02 3.53433531e+02] [ 9.78708796e-02 9.95198058e-01 -1.45443886e-03 1.32783898e+01] [ 3.57947023e-02 -2.05964558e-03 9.99357042e-01 1.24833249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.46, Y:13.28, Z:12.48 [[ 9.94294095e-01 -1.00478155e-01 -3.58244767e-02 3.53464472e+02] [ 1.00490783e-01 9.94936929e-01 -1.45248631e-03 1.32790253e+01] [ 3.57890380e-02 -2.15583116e-03 9.99357042e-01 1.24834541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.50, Y:13.28, Z:12.48 [[ 9.94106312e-01 -1.02319276e-01 -3.58246526e-02 3.53497068e+02] [ 1.02333251e-01 9.94749118e-01 -1.44813384e-03 1.32799739e+01] [ 3.57847136e-02 -2.22645417e-03 9.99357042e-01 1.24846026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.53, Y:13.28, Z:12.49 [[ 9.93931660e-01 -1.04002130e-01 -3.58247561e-02 3.53528545e+02] [ 1.04017285e-01 9.94574439e-01 -1.44557052e-03 1.32812122e+01] [ 3.57807291e-02 -2.28959555e-03 9.99357042e-01 1.24852195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.56, Y:13.28, Z:12.49 [[ 9.93959419e-01 -1.03736463e-01 -3.58248331e-02 3.53560203e+02] [ 1.03751515e-01 9.94602201e-01 -1.44365933e-03 1.32827246e+01] [ 3.57812179e-02 -2.28194193e-03 9.99357042e-01 1.24861816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.59, Y:13.28, Z:12.49 [[ 9.94017060e-01 -1.03182646e-01 -3.58249339e-02 3.53591996e+02] [ 1.03197430e-01 9.94659848e-01 -1.44115340e-03 1.32845572e+01] [ 3.57823253e-02 -2.26451002e-03 9.99357042e-01 1.24874936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.62, Y:13.29, Z:12.49 [[ 9.94264884e-01 -1.00766600e-01 -3.58250339e-02 3.53624054e+02] [ 1.00779911e-01 9.94907704e-01 -1.43866382e-03 1.32877065e+01] [ 3.57875714e-02 -2.18003079e-03 9.99357042e-01 1.24883346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:13.29, Z:12.49 [[ 9.94437834e-01 -9.90452119e-02 -3.58251331e-02 3.53655942e+02] [ 9.90574989e-02 9.95080675e-01 -1.43618737e-03 1.32902442e+01] [ 3.57911451e-02 -2.12054902e-03 9.99357042e-01 1.24900133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:13.29, Z:12.49 [[ 9.94621912e-01 -9.71792363e-02 -3.58252338e-02 3.53688366e+02] [ 9.71904075e-02 9.95264773e-01 -1.43367211e-03 1.32929387e+01] [ 3.57949164e-02 -2.05590737e-03 9.99357042e-01 1.24907535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.72, Y:13.30, Z:12.49 [[ 9.94815029e-01 -9.51819549e-02 -3.58253336e-02 3.53719783e+02] [ 9.51919250e-02 9.95457909e-01 -1.43117283e-03 1.32956527e+01] [ 3.57988335e-02 -1.98653023e-03 9.99357042e-01 1.24912356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.75, Y:13.30, Z:12.49 [[ 9.95005801e-01 -9.31665005e-02 -3.58254078e-02 3.53752231e+02] [ 9.31752349e-02 9.95648699e-01 -1.42931459e-03 1.32986960e+01] [ 3.58026849e-02 -1.91586447e-03 9.99357042e-01 1.24934854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:13.30, Z:12.49 [[ 9.95433466e-01 -8.84802116e-02 -3.58255099e-02 3.53783664e+02] [ 8.84860108e-02 9.96076398e-01 -1.42674907e-03 1.33032251e+01] [ 3.58111840e-02 -1.74982269e-03 9.99357042e-01 1.24934941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:13.31, Z:12.50 [[ 9.95682756e-01 -8.56292953e-02 -3.58255860e-02 3.53815510e+02] [ 8.56333220e-02 9.96325702e-01 -1.42483785e-03 1.33060907e+01] [ 3.58159599e-02 -1.64917746e-03 9.99357042e-01 1.24962347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.85, Y:13.31, Z:12.50 [[ 9.95947853e-01 -8.24887487e-02 -3.58256861e-02 3.53848006e+02] [ 8.24908383e-02 9.96590808e-01 -1.42231579e-03 1.33092690e+01] [ 3.58208745e-02 -1.53873851e-03 9.99357042e-01 1.24980149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:13.31, Z:12.50 [[ 9.96424585e-01 -7.65150991e-02 -3.58257862e-02 3.53879356e+02] [ 7.65134238e-02 9.97067540e-01 -1.41979061e-03 1.33146812e+01] [ 3.58293639e-02 -1.32643929e-03 9.99357042e-01 1.24997220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.91, Y:13.32, Z:12.50 [[ 9.96659341e-01 -7.33939024e-02 -3.58258606e-02 3.53911359e+02] [ 7.33902810e-02 9.97302289e-01 -1.41790847e-03 1.33180036e+01] [ 3.58332787e-02 -1.21609826e-03 9.99357042e-01 1.25029337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.94, Y:13.32, Z:12.50 [[ 9.96879058e-01 -7.03465968e-02 -3.58259641e-02 3.53942312e+02] [ 7.03411038e-02 9.97521993e-01 -1.41529033e-03 1.33212022e+01] [ 3.58367479e-02 -1.10916457e-03 9.99357042e-01 1.25031749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.97, Y:13.33, Z:12.51 [[ 9.97269478e-01 -6.45761728e-02 -3.58260410e-02 3.53973795e+02] [ 6.45670290e-02 9.97912372e-01 -1.41334018e-03 1.33258865e+01] [ 3.58425176e-02 -9.03700006e-04 9.99357042e-01 1.25054721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.00, Y:13.33, Z:12.51 [[ 9.97424737e-01 -6.21319923e-02 -3.58260907e-02 3.54004421e+02] [ 6.21213183e-02 9.98067607e-01 -1.41208004e-03 1.33286429e+01] [ 3.58445959e-02 -8.17120417e-04 9.99357042e-01 1.25070055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.04, Y:13.33, Z:12.51 [[ 9.97569027e-01 -5.97706296e-02 -3.58260907e-02 3.54035098e+02] [ 5.97584338e-02 9.98211869e-01 -1.41208004e-03 1.33311229e+01] [ 3.58464299e-02 -7.32263755e-04 9.99357042e-01 1.25080317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.06, Y:13.33, Z:12.51 [[ 9.97713382e-01 -5.73105448e-02 -3.58260907e-02 3.54064977e+02] [ 5.72967638e-02 9.98356192e-01 -1.41208004e-03 1.33334501e+01] [ 3.58481266e-02 -6.43867903e-04 9.99357042e-01 1.25085537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.09, Y:13.34, Z:12.51 [[ 9.97834174e-01 -5.51675228e-02 -3.58260400e-02 3.54094823e+02] [ 5.51523151e-02 9.98476952e-01 -1.41336369e-03 1.33361384e+01] [ 3.58494470e-02 -5.65586455e-04 9.99357042e-01 1.25092803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.12, Y:13.34, Z:12.51 [[ 9.98056972e-01 -5.09782304e-02 -3.58259896e-02 3.54124228e+02] [ 5.09602787e-02 9.98699679e-01 -1.41463982e-03 1.33401921e+01] [ 3.58515202e-02 -4.13811279e-04 9.99357042e-01 1.25105984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:13.34, Z:12.51 [[ 9.98141648e-01 -4.92925293e-02 -3.58259393e-02 3.54152485e+02] [ 4.92734465e-02 9.98784322e-01 -1.41591409e-03 1.33425265e+01] [ 3.58521805e-02 -3.51984679e-04 9.99357042e-01 1.25117210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.18, Y:13.35, Z:12.51 [[ 9.98275903e-01 -4.64946161e-02 -3.58255871e-02 3.54181285e+02] [ 4.64734141e-02 9.98918511e-01 -1.42477091e-03 1.33454799e+01] [ 3.58530863e-02 -2.42622880e-04 9.99357042e-01 1.25140048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.21, Y:13.35, Z:12.52 [[ 9.98330084e-01 -4.53166251e-02 -3.58252238e-02 3.54208912e+02] [ 4.52943392e-02 9.98972656e-01 -1.43384584e-03 1.33471489e+01] [ 3.58533961e-02 -1.91228406e-04 9.99357042e-01 1.25152785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.24, Y:13.35, Z:12.52 [[ 9.98365565e-01 -4.45282003e-02 -3.58250955e-02 3.54237071e+02] [ 4.45052921e-02 9.99008115e-01 -1.43704484e-03 1.33485870e+01] [ 3.58535502e-02 -1.59710256e-04 9.99357042e-01 1.25163314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.27, Y:13.35, Z:12.52 [[ 9.98395050e-01 -4.38622892e-02 -3.58248995e-02 3.54266057e+02] [ 4.38387777e-02 9.99037578e-01 -1.44191575e-03 1.33500758e+01] [ 3.58536665e-02 -1.30918257e-04 9.99357042e-01 1.25180516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:13.35, Z:12.52 [[ 9.98440348e-01 -4.28190920e-02 -3.58245394e-02 3.54293679e+02] [ 4.27945902e-02 9.99082839e-01 -1.45080628e-03 1.33514257e+01] [ 3.58538048e-02 -8.45529565e-05 9.99357042e-01 1.25192502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.32, Y:13.35, Z:12.52 [[ 9.98457478e-01 -4.24181281e-02 -3.58241190e-02 3.54321457e+02] [ 4.23929985e-02 9.99099944e-01 -1.46111414e-03 1.33523755e+01] [ 3.58538530e-02 -5.98314827e-05 9.99357042e-01 1.25197118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.35, Y:13.35, Z:12.52 [[ 9.98472544e-01 -4.20621101e-02 -3.58239886e-02 3.54349924e+02] [ 4.20366369e-02 9.99114997e-01 -1.46430435e-03 1.33527633e+01] [ 3.58538760e-02 -4.38523183e-05 9.99357042e-01 1.25220495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.38, Y:13.35, Z:12.52 [[ 9.98457150e-01 -4.24262695e-02 -3.58236208e-02 3.54377685e+02] [ 4.24007097e-02 9.99099599e-01 -1.47324909e-03 1.33532382e+01] [ 3.58538696e-02 -4.79708606e-05 9.99357042e-01 1.25234750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.41, Y:13.35, Z:12.52 [[ 9.98415019e-01 -4.34067750e-02 -3.58231896e-02 3.54405037e+02] [ 4.33814726e-02 9.99057479e-01 -1.48365936e-03 1.33518480e+01] [ 3.58538264e-02 -7.27549322e-05 9.99357042e-01 1.25239439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.43, Y:13.35, Z:12.52 [[ 9.98352656e-01 -4.48184649e-02 -3.58228918e-02 3.54433112e+02] [ 4.47938142e-02 9.98995141e-01 -1.49081629e-03 1.33518367e+01] [ 3.58537109e-02 -1.16283553e-04 9.99357042e-01 1.25248459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.46, Y:13.35, Z:12.53 [[ 9.98278983e-01 -4.64308449e-02 -3.58224652e-02 3.54461325e+02] [ 4.64068665e-02 9.98921493e-01 -1.50099786e-03 1.33517593e+01] [ 3.58535230e-02 -1.63993741e-04 9.99357042e-01 1.25255353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:13.35, Z:12.53 [[ 9.98071635e-01 -5.06931315e-02 -3.58220351e-02 3.54489237e+02] [ 5.06715310e-02 9.98714230e-01 -1.51119313e-03 1.33495873e+01] [ 3.58525833e-02 -3.06878360e-04 9.99357042e-01 1.25257577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:13.35, Z:12.53 [[ 9.97908032e-01 -5.38179565e-02 -3.58215991e-02 3.54516744e+02] [ 5.37979997e-02 9.98550680e-01 -1.52145799e-03 1.33489666e+01] [ 3.58515639e-02 -4.08855233e-04 9.99357042e-01 1.25261977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:13.35, Z:12.53 [[ 9.97736005e-01 -5.69184468e-02 -3.58211508e-02 3.54545333e+02] [ 5.69001107e-02 9.98378701e-01 -1.53194034e-03 1.33482187e+01] [ 3.58502697e-02 -5.09755408e-04 9.99357042e-01 1.25266781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.57, Y:13.35, Z:12.53 [[ 9.97549163e-01 -6.01042328e-02 -3.58210674e-02 3.54574295e+02] [ 6.00878793e-02 9.98191912e-01 -1.53388682e-03 1.33475663e+01] [ 3.58484929e-02 -6.22284459e-04 9.99357042e-01 1.25272746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:13.35, Z:12.53 [[ 9.97208991e-01 -6.55063916e-02 -3.58209649e-02 3.54603917e+02] [ 6.54934338e-02 9.97851818e-01 -1.53627675e-03 1.33453839e+01] [ 3.58446509e-02 -8.14049006e-04 9.99357042e-01 1.25287655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.63, Y:13.34, Z:12.53 [[ 9.97084282e-01 -6.73780212e-02 -3.58209103e-02 3.54634566e+02] [ 6.73662243e-02 9.97727131e-01 -1.53754911e-03 1.33449253e+01] [ 3.58430911e-02 -8.80053426e-04 9.99357042e-01 1.25304261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:13.34, Z:12.53 [[ 9.96961602e-01 -6.91695446e-02 -3.58209103e-02 3.54664617e+02] [ 6.91589028e-02 9.97604472e-01 -1.53754911e-03 1.33448986e+01] [ 3.58414519e-02 -9.44457429e-04 9.99357042e-01 1.25315306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.70, Y:13.34, Z:12.53 [[ 9.96840026e-01 -7.09000906e-02 -3.58209378e-02 3.54695649e+02] [ 7.08905878e-02 9.97482913e-01 -1.53690831e-03 1.33449625e+01] [ 3.58397404e-02 -1.00731562e-03 9.99357042e-01 1.25325662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.73, Y:13.34, Z:12.53 [[ 9.96602675e-01 -7.41617418e-02 -3.58209932e-02 3.54726109e+02] [ 7.41543892e-02 9.97245591e-01 -1.53561647e-03 1.33440404e+01] [ 3.58362115e-02 -1.12588439e-03 9.99357042e-01 1.25329373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:13.34, Z:12.53 [[ 9.96466024e-01 -7.59757702e-02 -3.58210207e-02 3.54757220e+02] [ 7.59696110e-02 9.97108952e-01 -1.53497479e-03 1.33442518e+01] [ 3.58340813e-02 -1.19175878e-03 9.99357042e-01 1.25340944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.79, Y:13.34, Z:12.54 [[ 9.96319508e-01 -7.78735469e-02 -3.58210763e-02 3.54788798e+02] [ 7.78686589e-02 9.96962447e-01 -1.53367523e-03 1.33444607e+01] [ 3.58317006e-02 -1.26130863e-03 9.99357042e-01 1.25350199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:13.34, Z:12.54 [[ 9.95953709e-01 -8.24199847e-02 -3.58211594e-02 3.54821509e+02] [ 8.24181009e-02 9.96596664e-01 -1.53173259e-03 1.33431351e+01] [ 3.58254933e-02 -1.42677717e-03 9.99357042e-01 1.25362514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.85, Y:13.34, Z:12.54 [[ 9.95741581e-01 -8.49443368e-02 -3.58212712e-02 3.54853072e+02] [ 8.49441769e-02 9.96384539e-01 -1.52911368e-03 1.33430239e+01] [ 3.58216503e-02 -1.52020633e-03 9.99357042e-01 1.25370818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.88, Y:13.34, Z:12.54 [[ 9.95488358e-01 -8.78621600e-02 -3.58213544e-02 3.54884886e+02] [ 8.78639545e-02 9.96131313e-01 -1.52716107e-03 1.33431975e+01] [ 3.58169525e-02 -1.62713479e-03 9.99357042e-01 1.25384233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.92, Y:13.34, Z:12.54 [[ 9.95260008e-01 -9.04120472e-02 -3.58214668e-02 3.54915587e+02] [ 9.04155836e-02 9.95902956e-01 -1.52452146e-03 1.33433730e+01] [ 3.58125398e-02 -1.72152358e-03 9.99357042e-01 1.25392676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.95, Y:13.34, Z:12.54 [[ 9.94760951e-01 -9.57468926e-02 -3.58215504e-02 3.54947989e+02] [ 9.57539468e-02 9.95403870e-01 -1.52255437e-03 1.33436357e+01] [ 3.58026897e-02 -1.91547720e-03 9.99357042e-01 1.25401327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:13.34, Z:12.54 [[ 9.94541637e-01 -9.79986778e-02 -3.58216613e-02 3.54978779e+02] [ 9.80072812e-02 9.95184537e-01 -1.51994131e-03 1.33444651e+01] [ 3.57981156e-02 -1.99913871e-03 9.99357042e-01 1.25402040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:13.35, Z:12.54 [[ 9.94368234e-01 -9.97427556e-02 -3.58217439e-02 3.55011045e+02] [ 9.97525566e-02 9.95011117e-01 -1.51799161e-03 1.33454586e+01] [ 3.57944421e-02 -2.06386790e-03 9.99357042e-01 1.25406649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:13.35, Z:12.54 [[ 9.94196686e-01 -1.01438380e-01 -3.58218540e-02 3.55042098e+02] [ 1.01449371e-01 9.94839549e-01 -1.51538858e-03 1.33469063e+01] [ 3.57907157e-02 -2.12751024e-03 9.99357042e-01 1.25401499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:13.35, Z:12.54 [[ 9.94193522e-01 -1.01469357e-01 -3.58219358e-02 3.55073105e+02] [ 1.01480437e-01 9.94836384e-01 -1.51345229e-03 1.33485129e+01] [ 3.57905341e-02 -2.13056125e-03 9.99357042e-01 1.25407343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:13.35, Z:12.54 [[ 9.94243026e-01 -1.00983113e-01 -3.58220157e-02 3.55105989e+02] [ 1.00993947e-01 9.94885892e-01 -1.51155924e-03 1.33505275e+01] [ 3.57914600e-02 -2.11494952e-03 9.99357042e-01 1.25430527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:13.35, Z:12.54 [[ 9.94333089e-01 -1.00092358e-01 -3.58221815e-02 3.55139054e+02] [ 1.00102758e-01 9.94975962e-01 -1.50761905e-03 1.33527233e+01] [ 3.57931107e-02 -2.08682365e-03 9.99357042e-01 1.25444340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.17, Y:13.36, Z:12.55 [[ 9.94548312e-01 -9.79306582e-02 -3.58223459e-02 3.55171919e+02] [ 9.79398007e-02 9.95191205e-01 -1.50370244e-03 1.33563040e+01] [ 3.57973422e-02 -2.01292869e-03 9.99357043e-01 1.25467241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.20, Y:13.36, Z:12.55 [[ 9.94667913e-01 -9.67082709e-02 -3.58225110e-02 3.55204562e+02] [ 9.67167649e-02 9.95310815e-01 -1.49975885e-03 1.33588996e+01] [ 3.57995717e-02 -1.97287537e-03 9.99357043e-01 1.25485548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.24, Y:13.36, Z:12.55 [[ 9.94675061e-01 -9.66346653e-02 -3.58226773e-02 3.55237207e+02] [ 9.66432547e-02 9.95317961e-01 -1.49577618e-03 1.33602047e+01] [ 3.57994980e-02 -1.97420886e-03 9.99357043e-01 1.25497258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:13.36, Z:12.55 [[ 9.94814108e-01 -9.51925316e-02 -3.58227877e-02 3.55269296e+02] [ 9.52002841e-02 9.95457019e-01 -1.49312873e-03 1.33629287e+01] [ 3.58021801e-02 -1.92495403e-03 9.99357043e-01 1.25504084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.30, Y:13.37, Z:12.55 [[ 9.95094552e-01 -9.22146944e-02 -3.58229249e-02 3.55300699e+02] [ 9.22206410e-02 9.95737482e-01 -1.48983033e-03 1.33673847e+01] [ 3.58076133e-02 -1.82109105e-03 9.99357043e-01 1.25520045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.33, Y:13.37, Z:12.55 [[ 9.95255481e-01 -9.04612590e-02 -3.58230022e-02 3.55332720e+02] [ 9.04661397e-02 9.95898420e-01 -1.48796805e-03 1.33703220e+01] [ 3.58106748e-02 -1.75986036e-03 9.99357043e-01 1.25537241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.37, Y:13.37, Z:12.56 [[ 9.95428945e-01 -8.85320351e-02 -3.58231058e-02 3.55365108e+02] [ 8.85357594e-02 9.96071891e-01 -1.48546968e-03 1.33733010e+01] [ 3.58139004e-02 -1.69294636e-03 9.99357043e-01 1.25555650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.40, Y:13.38, Z:12.56 [[ 9.95734900e-01 -8.50218019e-02 -3.58232126e-02 3.55395822e+02] [ 8.50233519e-02 9.96377855e-01 -1.48288913e-03 1.33783214e+01] [ 3.58195337e-02 -1.56924515e-03 9.99357043e-01 1.25573187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.43, Y:13.38, Z:12.56 [[ 9.95897826e-01 -8.30915905e-02 -3.58232921e-02 3.55427805e+02] [ 8.30919633e-02 9.96540783e-01 -1.48096599e-03 1.33815143e+01] [ 3.58224274e-02 -1.50173687e-03 9.99357043e-01 1.25589605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:13.38, Z:12.56 [[ 9.96028829e-01 -8.15061694e-02 -3.58233950e-02 3.55459904e+02] [ 8.15056082e-02 9.96671786e-01 -1.47847348e-03 1.33845760e+01] [ 3.58246718e-02 -1.44720539e-03 9.99357043e-01 1.25606910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.49, Y:13.39, Z:12.56 [[ 9.96164517e-01 -7.98306462e-02 -3.58235014e-02 3.55490797e+02] [ 7.98290962e-02 9.96807472e-01 -1.47589181e-03 1.33871195e+01] [ 3.58269552e-02 -1.38952668e-03 9.99357043e-01 1.25617224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.52, Y:13.39, Z:12.56 [[ 9.96346791e-01 -7.75225385e-02 -3.58235805e-02 3.55522951e+02] [ 7.75195679e-02 9.96989741e-01 -1.47396946e-03 1.33912441e+01] [ 3.58300081e-02 -1.30844374e-03 9.99357043e-01 1.25622334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.56, Y:13.39, Z:12.56 [[ 9.96405470e-01 -7.67645997e-02 -3.58236844e-02 3.55555525e+02] [ 7.67612309e-02 9.97048418e-01 -1.47143997e-03 1.33938905e+01] [ 3.58309023e-02 -1.28371927e-03 9.99357043e-01 1.25630401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:13.40, Z:12.56 [[ 9.96451509e-01 -7.61646035e-02 -3.58237874e-02 3.55587850e+02] [ 7.61609377e-02 9.97094456e-01 -1.46892818e-03 1.33963715e+01] [ 3.58315801e-02 -1.26465754e-03 9.99357043e-01 1.25639277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.62, Y:13.40, Z:12.56 [[ 9.96483798e-01 -7.57409318e-02 -3.58238943e-02 3.55618586e+02] [ 7.57370864e-02 9.97126744e-01 -1.46631636e-03 1.33985656e+01] [ 3.58320232e-02 -1.25203688e-03 9.99357043e-01 1.25640536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.65, Y:13.40, Z:12.57 [[ 9.96502982e-01 -7.54880786e-02 -3.58239737e-02 3.55651181e+02] [ 7.54841400e-02 9.97145927e-01 -1.46437171e-03 1.34006774e+01] [ 3.58322721e-02 -1.24489107e-03 9.99357043e-01 1.25650116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.68, Y:13.40, Z:12.57 [[ 9.96573723e-01 -7.45483087e-02 -3.58240796e-02 3.55682230e+02] [ 7.45438569e-02 9.97216665e-01 -1.46177654e-03 1.34040328e+01] [ 3.58333422e-02 -1.21369698e-03 9.99357043e-01 1.25654982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.71, Y:13.41, Z:12.57 [[ 9.96668128e-01 -7.32753198e-02 -3.58241585e-02 3.55714801e+02] [ 7.32701162e-02 9.97311064e-01 -1.45984175e-03 1.34064120e+01] [ 3.58348000e-02 -1.16986251e-03 9.99357043e-01 1.25670415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:13.41, Z:12.57 [[ 9.96784596e-01 -7.16735118e-02 -3.58242626e-02 3.55746438e+02] [ 7.16673669e-02 9.97427524e-01 -1.45728117e-03 1.34090246e+01] [ 3.58365540e-02 -1.11483516e-03 9.99357043e-01 1.25685775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.78, Y:13.41, Z:12.57 [[ 9.97102928e-01 -6.70996652e-02 -3.58243680e-02 3.55778625e+02] [ 6.70906638e-02 9.97745823e-01 -1.45468736e-03 1.34136200e+01] [ 3.58412225e-02 -9.53007603e-04 9.99357043e-01 1.25704918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.81, Y:13.42, Z:12.57 [[ 9.97297465e-01 -6.41433755e-02 -3.58244731e-02 3.55809534e+02] [ 6.41325614e-02 9.97940332e-01 -1.45209355e-03 1.34165963e+01] [ 3.58438288e-02 -8.49346010e-04 9.99357043e-01 1.25721086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.84, Y:13.42, Z:12.57 [[ 9.97477897e-01 -6.12735498e-02 -3.58245251e-02 3.55840403e+02] [ 6.12609320e-02 9.98120731e-01 -1.45081095e-03 1.34194823e+01] [ 3.58460975e-02 -7.47491940e-04 9.99357043e-01 1.25740149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.87, Y:13.42, Z:12.58 [[ 9.97659796e-01 -5.82368586e-02 -3.58245776e-02 3.55871941e+02] [ 5.82223306e-02 9.98302589e-01 -1.44951306e-03 1.34219484e+01] [ 3.58481836e-02 -6.39669496e-04 9.99357043e-01 1.25753239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.90, Y:13.42, Z:12.58 [[ 9.97815203e-01 -5.55105070e-02 -3.58246299e-02 3.55901615e+02] [ 5.54942691e-02 9.98457955e-01 -1.44821752e-03 1.34240287e+01] [ 3.58497781e-02 -5.43008199e-04 9.99357043e-01 1.25765866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.93, Y:13.43, Z:12.58 [[ 9.98051713e-01 -5.10820596e-02 -3.58246039e-02 3.55930580e+02] [ 5.10629466e-02 9.98694386e-01 -1.44886053e-03 1.34267380e+01] [ 3.58518416e-02 -3.83272108e-04 9.99357043e-01 1.25779570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.96, Y:13.43, Z:12.58 [[ 9.98128325e-01 -4.95625553e-02 -3.58245782e-02 3.55960122e+02] [ 4.95424410e-02 9.98770967e-01 -1.44949683e-03 1.34289689e+01] [ 3.58523894e-02 -3.28053211e-04 9.99357043e-01 1.25792091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:13.43, Z:12.58 [[ 9.98167838e-01 -4.87603448e-02 -3.58245272e-02 3.55988538e+02] [ 4.87396689e-02 9.98810463e-01 -1.45075618e-03 1.34312673e+01] [ 3.58526519e-02 -2.97977430e-04 9.99357043e-01 1.25803136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.02, Y:13.43, Z:12.58 [[ 9.98210004e-01 -4.78896260e-02 -3.58241654e-02 3.56016916e+02] [ 4.78680709e-02 9.98852600e-01 -1.45963460e-03 1.34329799e+01] [ 3.58529622e-02 -2.57811825e-04 9.99357043e-01 1.25815635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.04, Y:13.43, Z:12.58 [[ 9.98284603e-01 -4.63088384e-02 -3.58237897e-02 3.56044780e+02] [ 4.62859369e-02 9.98927152e-01 -1.46879990e-03 1.34345498e+01] [ 3.58533746e-02 -1.91857341e-04 9.99357043e-01 1.25817265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.07, Y:13.44, Z:12.58 [[ 9.98308313e-01 -4.57949449e-02 -3.58236562e-02 3.56072373e+02] [ 4.57715961e-02 9.98950847e-01 -1.47204749e-03 1.34355245e+01] [ 3.58534840e-02 -1.70148678e-04 9.99357043e-01 1.25820445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.10, Y:13.44, Z:12.58 [[ 9.98311561e-01 -4.57244396e-02 -3.58232286e-02 3.56100489e+02] [ 4.57006746e-02 9.98954078e-01 -1.48238087e-03 1.34365749e+01] [ 3.58535414e-02 -1.57267755e-04 9.99357043e-01 1.25826953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.13, Y:13.44, Z:12.58 [[ 9.98323507e-01 -4.54632042e-02 -3.58227979e-02 3.56128370e+02] [ 4.54389002e-02 9.98966005e-01 -1.49271673e-03 1.34374144e+01] [ 3.58536210e-02 -1.37534338e-04 9.99357043e-01 1.25838783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.16, Y:13.44, Z:12.58 [[ 9.98307357e-01 -4.58168023e-02 -3.58223577e-02 3.56155222e+02] [ 4.57923494e-02 9.98949849e-01 -1.50320872e-03 1.34384184e+01] [ 3.58536110e-02 -1.39725592e-04 9.99357043e-01 1.25845437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.18, Y:13.44, Z:12.59 [[ 9.98292637e-01 -4.61365802e-02 -3.58221664e-02 3.56183027e+02] [ 4.61121700e-02 9.98935130e-01 -1.50775339e-03 1.34386277e+01] [ 3.58535830e-02 -1.46658718e-04 9.99357043e-01 1.25858503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.21, Y:13.44, Z:12.59 [[ 9.98255536e-01 -4.69328175e-02 -3.58217292e-02 3.56209808e+02] [ 4.69085496e-02 9.98898035e-01 -1.51806835e-03 1.34389084e+01] [ 3.58535022e-02 -1.64925227e-04 9.99357043e-01 1.25866859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:13.44, Z:12.59 [[ 9.98135791e-01 -4.94141652e-02 -3.58215396e-02 3.56237812e+02] [ 4.93913344e-02 9.98778343e-01 -1.52253076e-03 1.34376075e+01] [ 3.58530125e-02 -2.49581194e-04 9.99357043e-01 1.25887762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.27, Y:13.44, Z:12.59 [[ 9.98049923e-01 -5.11194656e-02 -3.58210960e-02 3.56265295e+02] [ 5.10973606e-02 9.98692500e-01 -1.53289729e-03 1.34375835e+01] [ 3.58526208e-02 -3.00455430e-04 9.99357043e-01 1.25898297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.29, Y:13.44, Z:12.59 [[ 9.97932450e-01 -5.33636989e-02 -3.58209584e-02 3.56293755e+02] [ 5.33429238e-02 9.98575071e-01 -1.53610603e-03 1.34378094e+01] [ 3.58518883e-02 -3.77864601e-04 9.99357043e-01 1.25911084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.32, Y:13.44, Z:12.59 [[ 9.97698510e-01 -5.75722980e-02 -3.58205719e-02 3.56322741e+02] [ 5.75539119e-02 9.98341204e-01 -1.54506633e-03 1.34368585e+01] [ 3.58501059e-02 -5.20103664e-04 9.99357043e-01 1.25922753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.35, Y:13.44, Z:12.59 [[ 9.97548043e-01 -6.01231598e-02 -3.58204897e-02 3.56352215e+02] [ 6.01063487e-02 9.98190780e-01 -1.54696985e-03 1.34367684e+01] [ 3.58486912e-02 -6.09862101e-04 9.99357043e-01 1.25931231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.38, Y:13.44, Z:12.59 [[ 9.97365113e-01 -6.30850753e-02 -3.58204626e-02 3.56382489e+02] [ 6.30701504e-02 9.98007896e-01 -1.54759646e-03 1.34362718e+01] [ 3.58467348e-02 -7.15683243e-04 9.99357043e-01 1.25936197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.41, Y:13.44, Z:12.59 [[ 9.97131265e-01 -6.66793495e-02 -3.58204626e-02 3.56413480e+02] [ 6.66667414e-02 9.97774098e-01 -1.54759646e-03 1.34357847e+01] [ 3.58439225e-02 -8.44876698e-04 9.99357043e-01 1.25948534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.44, Y:13.43, Z:12.59 [[ 9.96565212e-01 -7.46637308e-02 -3.58204626e-02 3.56443621e+02] [ 7.46562719e-02 9.97208126e-01 -1.54759646e-03 1.34334750e+01] [ 3.58360057e-02 -1.13194139e-03 9.99357043e-01 1.25948664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.47, Y:13.43, Z:12.60 [[ 9.96263957e-01 -7.85813029e-02 -3.58204903e-02 3.56474982e+02] [ 7.85763948e-02 9.96906895e-01 -1.54695601e-03 1.34329492e+01] [ 3.58312555e-02 -1.27346847e-03 9.99357043e-01 1.25952941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.51, Y:13.43, Z:12.60 [[ 9.95940298e-01 -8.25821042e-02 -3.58206559e-02 3.56506691e+02] [ 8.25799166e-02 9.96583251e-01 -1.54310973e-03 1.34324983e+01] [ 3.58256990e-02 -1.42122162e-03 9.99357043e-01 1.25956063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.54, Y:13.43, Z:12.60 [[ 9.95466987e-01 -8.81042176e-02 -3.58207345e-02 3.56537282e+02] [ 8.81056613e-02 9.96109942e-01 -1.54128381e-03 1.34309511e+01] [ 3.58171834e-02 -1.62171235e-03 9.99357043e-01 1.25964687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.57, Y:13.43, Z:12.60 [[ 9.95134609e-01 -9.17848295e-02 -3.58141683e-02 3.56569173e+02] [ 9.17831931e-02 9.95777575e-01 -1.69326606e-03 1.34314021e+01] [ 3.58183618e-02 -1.60211107e-03 9.99357032e-01 1.25971399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.60, Y:13.43, Z:12.60 [[ 9.94842136e-01 -9.48999912e-02 -3.58206102e-02 3.56601276e+02] [ 9.49057349e-02 9.95485067e-01 -1.54380436e-03 1.34312312e+01] [ 3.58053896e-02 -1.86373971e-03 9.99357044e-01 1.25980881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.63, Y:13.43, Z:12.60 [[ 9.94814024e-01 -9.51941874e-02 -3.58207214e-02 3.56632535e+02] [ 9.52002140e-02 9.95456952e-01 -1.54122152e-03 1.34320467e+01] [ 3.58047015e-02 -1.87691155e-03 9.99357044e-01 1.25991753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.67, Y:13.43, Z:12.60 [[ 9.94810473e-01 -9.52312566e-02 -3.58208041e-02 3.56665905e+02] [ 9.52373764e-02 9.95453401e-01 -1.53929567e-03 1.34333525e+01] [ 3.58045303e-02 -1.88017195e-03 9.99357044e-01 1.26007276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.70, Y:13.43, Z:12.60 [[ 9.94882279e-01 -9.44780857e-02 -3.58209688e-02 3.56698162e+02] [ 9.44838566e-02 9.95525210e-01 -1.53545403e-03 1.34347643e+01] [ 3.58057442e-02 -1.85690727e-03 9.99357044e-01 1.26026883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.73, Y:13.44, Z:12.60 [[ 9.94964996e-01 -9.36029193e-02 -3.58210798e-02 3.56729207e+02] [ 9.36082178e-02 9.95607931e-01 -1.53286047e-03 1.34361552e+01] [ 3.58072313e-02 -1.82800493e-03 9.99357044e-01 1.26043406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.76, Y:13.44, Z:12.61 [[ 9.95192210e-01 -9.11554149e-02 -3.58211624e-02 3.56760498e+02] [ 9.11592014e-02 9.95835155e-01 -1.53092768e-03 1.34381349e+01] [ 3.58115252e-02 -1.74186126e-03 9.99357044e-01 1.26065763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.79, Y:13.44, Z:12.61 [[ 9.95334111e-01 -8.95926323e-02 -3.58213350e-02 3.56792155e+02] [ 8.95955547e-02 9.95977061e-01 -1.52687720e-03 1.34399816e+01] [ 3.58140249e-02 -1.68967943e-03 9.99357044e-01 1.26085433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.82, Y:13.44, Z:12.61 [[ 9.95721209e-01 -8.51827367e-02 -3.58214428e-02 3.56824513e+02] [ 8.51829020e-02 9.96364165e-01 -1.52434419e-03 1.34425983e+01] [ 3.58210498e-02 -1.53355261e-03 9.99357044e-01 1.26092864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.86, Y:13.44, Z:12.61 [[ 9.95936071e-01 -8.26326793e-02 -3.58215503e-02 3.56856354e+02] [ 8.26312889e-02 9.96579026e-01 -1.52181563e-03 1.34447631e+01] [ 3.58247573e-02 -1.44434979e-03 9.99357044e-01 1.26102588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.89, Y:13.45, Z:12.61 [[ 9.96211548e-01 -7.92424181e-02 -3.58216592e-02 3.56887628e+02] [ 7.92389317e-02 9.96854495e-01 -1.51924579e-03 1.34466478e+01] [ 3.58293707e-02 -1.32497981e-03 9.99357044e-01 1.26101964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.92, Y:13.45, Z:12.61 [[ 9.96747082e-01 -7.21945294e-02 -3.58218412e-02 3.56919758e+02] [ 7.21866502e-02 9.97389990e-01 -1.51494260e-03 1.34503064e+01] [ 3.58377164e-02 -1.07584411e-03 9.99357044e-01 1.26122203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.95, Y:13.45, Z:12.61 [[ 9.97007463e-01 -6.85047956e-02 -3.58219509e-02 3.56951358e+02] [ 6.84946301e-02 9.97650339e-01 -1.51234428e-03 1.34530403e+01] [ 3.58413843e-02 -9.45792750e-04 9.99357044e-01 1.26133847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.98, Y:13.46, Z:12.61 [[ 9.97258553e-01 -6.47468806e-02 -3.58220595e-02 3.56982422e+02] [ 6.47343849e-02 9.97901388e-01 -1.50976844e-03 1.34553522e+01] [ 3.58446357e-02 -8.13289500e-04 9.99357044e-01 1.26144972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.01, Y:13.46, Z:12.62 [[ 9.97491643e-01 -6.10507883e-02 -3.58221139e-02 3.57013934e+02] [ 6.10359568e-02 9.98134428e-01 -1.50847545e-03 1.34578402e+01] [ 3.58473788e-02 -6.81745343e-04 9.99357044e-01 1.26157756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.04, Y:13.46, Z:12.62 [[ 9.97717787e-01 -5.72362545e-02 -3.58221684e-02 3.57044322e+02] [ 5.72190118e-02 9.98360513e-01 -1.50718192e-03 1.34600941e+01] [ 3.58497038e-02 -5.45966869e-04 9.99357044e-01 1.26164777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.07, Y:13.46, Z:12.62 [[ 9.98067141e-01 -5.07814451e-02 -3.58221684e-02 3.57073620e+02] [ 5.07600454e-02 9.98709741e-01 -1.50718192e-03 1.34638715e+01] [ 3.58524854e-02 -3.14066147e-04 9.99357044e-01 1.26169731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.10, Y:13.47, Z:12.62 [[ 9.98194379e-01 -4.82157386e-02 -3.58221140e-02 3.57101802e+02] [ 4.81926409e-02 9.98836921e-01 -1.50847181e-03 1.34662697e+01] [ 3.58531822e-02 -2.20614196e-04 9.99357044e-01 1.26170665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.13, Y:13.47, Z:12.62 [[ 9.98249744e-01 -4.70556612e-02 -3.58219792e-02 3.57129212e+02] [ 4.70317021e-02 9.98892253e-01 -1.51166618e-03 1.34698357e+01] [ 3.58534300e-02 -1.75748281e-04 9.99357044e-01 1.26181853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.16, Y:13.47, Z:12.62 [[ 9.98424015e-01 -4.32079802e-02 -3.58128093e-02 3.57158693e+02] [ 4.31738181e-02 9.99066083e-01 -1.72705591e-03 1.34707635e+01] [ 3.58539857e-02 1.78158378e-04 9.99357023e-01 1.26191125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.19, Y:13.47, Z:12.62 [[ 9.98448033e-01 -4.26420815e-02 -3.58214852e-02 3.57187621e+02] [ 4.26148751e-02 9.99090413e-01 -1.52301494e-03 1.34722426e+01] [ 3.58538469e-02 -5.87684876e-06 9.99357044e-01 1.26208269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.22, Y:13.47, Z:12.62 [[ 9.98435661e-01 -4.29310940e-02 -3.58210977e-02 3.57215961e+02] [ 4.29037485e-02 9.99078036e-01 -1.53207424e-03 1.34735117e+01] [ 3.58538456e-02 -7.18181393e-06 9.99357044e-01 1.26218476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.24, Y:13.47, Z:12.62 [[ 9.98444142e-01 -4.27337912e-02 -3.58206515e-02 3.57243504e+02] [ 4.27059469e-02 9.99086494e-01 -1.54243802e-03 1.34749828e+01] [ 3.58538433e-02 1.02833634e-05 9.99357044e-01 1.26231932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.27, Y:13.48, Z:12.63 [[ 9.98408954e-01 -4.35482563e-02 -3.58205132e-02 3.57271734e+02] [ 4.35208211e-02 9.99051325e-01 -1.54564265e-03 1.34764445e+01] [ 3.58538412e-02 -1.57546773e-05 9.99357044e-01 1.26256660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.30, Y:13.48, Z:12.63 [[ 9.98291241e-01 -4.61683507e-02 -3.58201164e-02 3.57299217e+02] [ 4.61422734e-02 9.98933668e-01 -1.55478362e-03 1.34779734e+01] [ 3.58537021e-02 -1.00694737e-04 9.99357044e-01 1.26275968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.33, Y:13.48, Z:12.63 [[ 9.98173558e-01 -4.86464640e-02 -3.58199759e-02 3.57328048e+02] [ 4.86218656e-02 9.98816043e-01 -1.55801469e-03 1.34790348e+01] [ 3.58533584e-02 -1.86464989e-04 9.99357044e-01 1.26296783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.36, Y:13.48, Z:12.63 [[ 9.98003667e-01 -5.20157457e-02 -3.58195865e-02 3.57356877e+02] [ 5.19929969e-02 9.98646220e-01 -1.56691604e-03 1.34800789e+01] [ 3.58525990e-02 -2.98579699e-04 9.99357044e-01 1.26315984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.39, Y:13.48, Z:12.63 [[ 9.97800818e-01 -5.57719771e-02 -3.58191878e-02 3.57385631e+02] [ 5.57513219e-02 9.98443442e-01 -1.57597692e-03 1.34806901e+01] [ 3.58513285e-02 -4.24456007e-04 9.99357044e-01 1.26322331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.42, Y:13.48, Z:12.63 [[ 9.97217709e-01 -6.53745640e-02 -3.58191029e-02 3.57415185e+02] [ 6.53600267e-02 9.97860500e-01 -1.57790382e-03 1.34791017e+01] [ 3.58456227e-02 -7.67623889e-04 9.99357044e-01 1.26327534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.45, Y:13.48, Z:12.63 [[ 9.96868323e-01 -7.05020698e-02 -3.58190468e-02 3.57446016e+02] [ 7.04907926e-02 9.97511180e-01 -1.57917612e-03 1.34786960e+01] [ 3.58412349e-02 -9.50682355e-04 9.99357044e-01 1.26331688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.48, Y:13.48, Z:12.63 [[ 9.96473416e-01 -7.58796691e-02 -3.58190747e-02 3.57478380e+02] [ 7.58718833e-02 9.97116325e-01 -1.57854431e-03 1.34785453e+01] [ 3.58355635e-02 -1.14468321e-03 9.99357044e-01 1.26347410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.51, Y:13.48, Z:12.64 [[ 9.95603242e-01 -8.65515476e-02 -3.58191887e-02 3.57510539e+02] [ 8.65507435e-02 9.96246197e-01 -1.57595336e-03 1.34775513e+01] [ 3.58211317e-02 -1.53115314e-03 9.99357044e-01 1.26359275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.54, Y:13.48, Z:12.64 [[ 9.95171297e-01 -9.13841746e-02 -3.58193031e-02 3.57541448e+02] [ 9.13865855e-02 9.95814248e-01 -1.57334912e-03 1.34779033e+01] [ 3.58131516e-02 -1.70765192e-03 9.99357044e-01 1.26368590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.57, Y:13.48, Z:12.64 [[ 9.94783602e-01 -9.55120769e-02 -3.58193882e-02 3.57573211e+02] [ 9.55172249e-02 9.95426537e-01 -1.57140926e-03 1.34783120e+01] [ 3.58056581e-02 -1.85815639e-03 9.99357044e-01 1.26374608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.60, Y:13.48, Z:12.64 [[ 9.94449231e-01 -9.89327599e-02 -3.58194993e-02 3.57604946e+02] [ 9.89402101e-02 9.95092143e-01 -1.56887296e-03 1.34789889e+01] [ 3.57989152e-02 -1.98382427e-03 9.99357044e-01 1.26383812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:13.48, Z:12.64 [[ 9.93937161e-01 -1.03951318e-01 -3.58196101e-02 3.57637848e+02] [ 1.03962104e-01 9.94580026e-01 -1.56633798e-03 1.34795821e+01] [ 3.57882916e-02 -2.16704051e-03 9.99357044e-01 1.26392957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.67, Y:13.48, Z:12.64 [[ 9.93761301e-01 -1.05619220e-01 -3.58197784e-02 3.57670182e+02] [ 1.05631224e-01 9.94404145e-01 -1.56248113e-03 1.34809410e+01] [ 3.57843641e-02 -2.23095374e-03 9.99357044e-01 1.26396225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.70, Y:13.48, Z:12.64 [[ 9.93674771e-01 -1.06430182e-01 -3.58199178e-02 3.57702805e+02] [ 1.06442826e-01 9.94317602e-01 -1.55927758e-03 1.34825604e+01] [ 3.57823290e-02 -2.26335847e-03 9.99357044e-01 1.26425036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.73, Y:13.48, Z:12.64 [[ 9.93625583e-01 -1.06888361e-01 -3.58200867e-02 3.57734707e+02] [ 1.06901440e-01 9.94268406e-01 -1.55538873e-03 1.34843481e+01] [ 3.57810334e-02 -2.28374482e-03 9.99357044e-01 1.26436714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.77, Y:13.49, Z:12.64 [[ 9.93582674e-01 -1.07286403e-01 -3.58203636e-02 3.57766139e+02] [ 1.07299970e-01 9.94225486e-01 -1.54898563e-03 1.34858790e+01] [ 3.57797035e-02 -2.30447866e-03 9.99357044e-01 1.26447044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:13.49, Z:12.65 [[ 9.93595824e-01 -1.07164519e-01 -3.58204455e-02 3.57798911e+02] [ 1.07178075e-01 9.94238637e-01 -1.54708856e-03 1.34871542e+01] [ 3.57798639e-02 -2.30198568e-03 9.99357044e-01 1.26460286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.83, Y:13.49, Z:12.65 [[ 9.93591594e-01 -1.07203677e-01 -3.58206075e-02 3.57831415e+02] [ 1.07217394e-01 9.94234403e-01 -1.54332751e-03 1.34885227e+01] [ 3.57795308e-02 -2.30715494e-03 9.99357044e-01 1.26475339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.86, Y:13.49, Z:12.65 [[ 9.93580950e-01 -1.07302225e-01 -3.58207738e-02 3.57863587e+02] [ 1.07316144e-01 9.94223755e-01 -1.53945995e-03 1.34899228e+01] [ 3.57790517e-02 -2.31456923e-03 9.99357044e-01 1.26482595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.90, Y:13.49, Z:12.65 [[ 9.93544182e-01 -1.07642095e-01 -3.58209110e-02 3.57896642e+02] [ 1.07656349e-01 9.94186980e-01 -1.53626069e-03 1.34915620e+01] [ 3.57780496e-02 -2.33000562e-03 9.99357044e-01 1.26500680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.93, Y:13.49, Z:12.65 [[ 9.93499906e-01 -1.08049933e-01 -3.58210794e-02 3.57928308e+02] [ 1.08064592e-01 9.94142694e-01 -1.53232276e-03 1.34929980e+01] [ 3.57768318e-02 -2.34862781e-03 9.99357044e-01 1.26499618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.96, Y:13.49, Z:12.65 [[ 9.93495761e-01 -1.08087990e-01 -3.58212186e-02 3.57960964e+02] [ 1.08102791e-01 9.94138546e-01 -1.52906159e-03 1.34941388e+01] [ 3.57765274e-02 -2.35325750e-03 9.99357044e-01 1.26516149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.99, Y:13.50, Z:12.65 [[ 9.93430146e-01 -1.08689339e-01 -3.58213848e-02 3.57991863e+02] [ 1.08704669e-01 9.94072919e-01 -1.52515972e-03 1.34954806e+01] [ 3.57748371e-02 -2.37881215e-03 9.99357044e-01 1.26502692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.02, Y:13.50, Z:12.65 [[ 9.93407362e-01 -1.08897359e-01 -3.58214669e-02 3.58024142e+02] [ 1.08912893e-01 9.94050130e-01 -1.52322875e-03 1.34969143e+01] [ 3.57742094e-02 -2.38823293e-03 9.99357044e-01 1.26506757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.06, Y:13.50, Z:12.65 [[ 9.93393362e-01 -1.09024962e-01 -3.58215756e-02 3.58056719e+02] [ 1.09040670e-01 9.94036126e-01 -1.52066809e-03 1.34984146e+01] [ 3.57737310e-02 -2.39538701e-03 9.99357044e-01 1.26519985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:13.50, Z:12.65 [[ 9.93399322e-01 -1.08970588e-01 -3.58217428e-02 3.58088453e+02] [ 1.08986403e-01 9.94042083e-01 -1.51671904e-03 1.35009827e+01] [ 3.57735976e-02 -2.39737524e-03 9.99357044e-01 1.26525624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.12, Y:13.50, Z:12.65 [[ 9.93371218e-01 -1.09226446e-01 -3.58218810e-02 3.58120804e+02] [ 1.09242544e-01 9.94013972e-01 -1.51344832e-03 1.35027741e+01] [ 3.57727588e-02 -2.40985741e-03 9.99357044e-01 1.26539012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.15, Y:13.50, Z:12.66 [[ 9.93459004e-01 -1.08425044e-01 -3.58220143e-02 3.58153178e+02] [ 1.08440737e-01 9.94101768e-01 -1.51028515e-03 1.35046176e+01] [ 3.57744805e-02 -2.38415926e-03 9.99357044e-01 1.26571892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.18, Y:13.51, Z:12.66 [[ 9.93546185e-01 -1.07623200e-01 -3.58221251e-02 3.58184299e+02] [ 1.07638469e-01 9.94188959e-01 -1.50765403e-03 1.35062376e+01] [ 3.57762198e-02 -2.35791479e-03 9.99357044e-01 1.26586112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.22, Y:13.51, Z:12.66 [[ 9.93697662e-01 -1.06215466e-01 -3.58222073e-02 3.58217691e+02] [ 1.06229894e-01 9.94340456e-01 -1.50569784e-03 1.35081587e+01] [ 3.57793983e-02 -2.30918085e-03 9.99357044e-01 1.26602903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:13.51, Z:12.66 [[ 9.93837293e-01 -1.04900867e-01 -3.58223722e-02 3.58248315e+02] [ 1.04914586e-01 9.94480103e-01 -1.50176313e-03 1.35102286e+01] [ 3.57821727e-02 -2.26578115e-03 9.99357044e-01 1.26610664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.28, Y:13.51, Z:12.66 [[ 9.94005384e-01 -1.03295937e-01 -3.58224267e-02 3.58280245e+02] [ 1.03308665e-01 9.94648213e-01 -1.50046278e-03 1.35120659e+01] [ 3.57857044e-02 -2.20929899e-03 9.99357044e-01 1.26630030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.31, Y:13.51, Z:12.67 [[ 9.94406103e-01 -9.93642217e-02 -3.58225326e-02 3.58312469e+02] [ 9.93744981e-02 9.95048976e-01 -1.49793074e-03 1.35141930e+01] [ 3.57940151e-02 -2.07029472e-03 9.99357044e-01 1.26667734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.34, Y:13.52, Z:12.67 [[ 9.94621012e-01 -9.71894091e-02 -3.58226422e-02 3.58343314e+02] [ 9.71983740e-02 9.95263905e-01 -1.49530552e-03 1.35155929e+01] [ 3.57983106e-02 -1.99464028e-03 9.99357044e-01 1.26685281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.38, Y:13.52, Z:12.67 [[ 9.95108941e-01 -9.20593716e-02 -3.58227237e-02 3.58375032e+02] [ 9.20650915e-02 9.95751871e-01 -1.49335036e-03 1.35166646e+01] [ 3.58080210e-02 -1.81197604e-03 9.99357044e-01 1.26707708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.41, Y:13.52, Z:12.67 [[ 9.95305224e-01 -8.99123750e-02 -3.58228318e-02 3.58406913e+02] [ 8.99168011e-02 9.95948165e-01 -1.49075197e-03 1.35177965e+01] [ 3.58117206e-02 -1.73732122e-03 9.99357044e-01 1.26718309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.44, Y:13.52, Z:12.67 [[ 9.95492026e-01 -8.78198871e-02 -3.58230838e-02 3.58439776e+02] [ 8.78231799e-02 9.96134973e-01 -1.48467143e-03 1.35188328e+01] [ 3.58150103e-02 -1.66811856e-03 9.99357045e-01 1.26730841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.47, Y:13.52, Z:12.67 [[ 9.95647732e-01 -8.60365550e-02 -3.58232441e-02 3.58470597e+02] [ 8.60388355e-02 9.96290684e-01 -1.48079295e-03 1.35198276e+01] [ 3.58177667e-02 -1.60784206e-03 9.99357045e-01 1.26733663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.50, Y:13.52, Z:12.67 [[ 9.95971473e-01 -8.22040972e-02 -3.58233234e-02 3.58502508e+02] [ 8.22039722e-02 9.96614429e-01 -1.47887243e-03 1.35205212e+01] [ 3.58236104e-02 -1.47190473e-03 9.99357045e-01 1.26733295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:13.52, Z:12.67 [[ 9.96143553e-01 -8.00918496e-02 -3.58234316e-02 3.58534212e+02] [ 8.00904553e-02 9.96786507e-01 -1.47624715e-03 1.35214658e+01] [ 3.58265486e-02 -1.39856087e-03 9.99357045e-01 1.26730937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.57, Y:13.52, Z:12.67 [[ 9.96348448e-01 -7.75012498e-02 -3.58235386e-02 3.58565514e+02] [ 7.74982770e-02 9.96991397e-01 -1.47364622e-03 1.35223206e+01] [ 3.58299692e-02 -1.30799740e-03 9.99357045e-01 1.26730755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.60, Y:13.52, Z:12.67 [[ 9.96791296e-01 -7.15805881e-02 -3.58236167e-02 3.58598038e+02] [ 7.15738639e-02 9.97434216e-01 -1.47174542e-03 1.35237767e+01] [ 3.58370494e-02 -1.09701164e-03 9.99357045e-01 1.26746871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.63, Y:13.53, Z:12.68 [[ 9.97055082e-01 -6.78072547e-02 -3.58237217e-02 3.58630552e+02] [ 6.77981891e-02 9.97697974e-01 -1.46918460e-03 1.35254561e+01] [ 3.58408759e-02 -9.63925487e-04 9.99357045e-01 1.26765889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.66, Y:13.53, Z:12.68 [[ 9.97285355e-01 -6.43317539e-02 -3.58238275e-02 3.58662266e+02] [ 6.43205404e-02 9.97928212e-01 -1.46660154e-03 1.35273929e+01] [ 3.58439571e-02 -8.41587702e-04 9.99357045e-01 1.26788198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.69, Y:13.53, Z:12.68 [[ 9.97524027e-01 -6.05183057e-02 -3.58238813e-02 3.58692093e+02] [ 6.05046816e-02 9.98166838e-01 -1.46528420e-03 1.35289208e+01] [ 3.58468869e-02 -7.05856339e-04 9.99357045e-01 1.26797286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.72, Y:13.53, Z:12.68 [[ 9.97896180e-01 -5.40357511e-02 -3.58239080e-02 3.58721229e+02] [ 5.40179742e-02 9.98538889e-01 -1.46463092e-03 1.35305660e+01] [ 3.58507078e-02 -4.73585341e-04 9.99357045e-01 1.26808055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.75, Y:13.53, Z:12.68 [[ 9.98012804e-01 -5.18371720e-02 -3.58238825e-02 3.58750752e+02] [ 5.18179568e-02 9.98655472e-01 -1.46525484e-03 1.35316329e+01] [ 3.58516710e-02 -3.93977304e-04 9.99357045e-01 1.26826845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.78, Y:13.53, Z:12.68 [[ 9.98089997e-01 -5.03290219e-02 -3.58238316e-02 3.58779661e+02] [ 5.03087909e-02 9.98732634e-01 -1.46649876e-03 1.35324734e+01] [ 3.58522372e-02 -3.38555914e-04 9.99357045e-01 1.26841638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.81, Y:13.53, Z:12.68 [[ 9.98165895e-01 -4.88008781e-02 -3.58234659e-02 3.58807661e+02] [ 4.87793446e-02 9.98808490e-01 -1.47537899e-03 1.35329351e+01] [ 3.58527816e-02 -2.74772195e-04 9.99357045e-01 1.26848482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.84, Y:13.53, Z:12.69 [[ 9.98209996e-01 -4.78904180e-02 -3.58233362e-02 3.58836423e+02] [ 4.78681856e-02 9.98852567e-01 -1.47852082e-03 1.35322971e+01] [ 3.58530383e-02 -2.38923841e-04 9.99357045e-01 1.26866360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.86, Y:13.53, Z:12.69 [[ 9.98176369e-01 -4.85865390e-02 -3.58229599e-02 3.58864748e+02] [ 4.85644296e-02 9.98818944e-01 -1.48758266e-03 1.35324027e+01] [ 3.58529275e-02 -2.54851750e-04 9.99357045e-01 1.26876108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.89, Y:13.53, Z:12.69 [[ 9.98066124e-01 -5.08011610e-02 -3.58225280e-02 3.58892880e+02] [ 5.07801067e-02 9.98708735e-01 -1.49791205e-03 1.35307958e+01] [ 3.58523673e-02 -3.24056519e-04 9.99357045e-01 1.26878980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.92, Y:13.53, Z:12.69 [[ 9.97948703e-01 -5.30579134e-02 -3.58223941e-02 3.58921012e+02] [ 5.30381975e-02 9.98591356e-01 -1.50110646e-03 1.35303154e+01] [ 3.58515787e-02 -4.01927975e-04 9.99357045e-01 1.26891977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.95, Y:13.53, Z:12.69 [[ 9.97789326e-01 -5.59754112e-02 -3.58219683e-02 3.58949752e+02] [ 5.59572121e-02 9.98432024e-01 -1.51119958e-03 1.35299355e+01] [ 3.58503904e-02 -4.96638666e-04 9.99357045e-01 1.26903309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.98, Y:13.53, Z:12.69 [[ 9.97601969e-01 -5.92209805e-02 -3.58215946e-02 3.58979201e+02] [ 5.92045561e-02 9.98244715e-01 -1.52000791e-03 1.35294560e+01] [ 3.58487338e-02 -6.04438721e-04 9.99357045e-01 1.26912970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.01, Y:13.53, Z:12.69 [[ 9.97130488e-01 -6.66903799e-02 -3.58215404e-02 3.59008594e+02] [ 6.66787236e-02 9.97773338e-01 -1.52128268e-03 1.35269067e+01] [ 3.58432329e-02 -8.71617251e-04 9.99357045e-01 1.26918118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.04, Y:13.53, Z:12.69 [[ 9.96836467e-01 -7.09498416e-02 -3.58214860e-02 3.59038617e+02] [ 7.09408859e-02 9.97479359e-01 -1.52256429e-03 1.35264681e+01] [ 3.58392186e-02 -1.02346034e-03 9.99357045e-01 1.26922300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.07, Y:13.53, Z:12.69 [[ 9.96532607e-01 -7.50971488e-02 -3.58215130e-02 3.59069555e+02] [ 7.50908912e-02 9.97175532e-01 -1.52192702e-03 1.35257295e+01] [ 3.58346287e-02 -1.17321943e-03 9.99357045e-01 1.26926492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.10, Y:13.52, Z:12.69 [[ 9.96213604e-01 -7.92166009e-02 -3.58215660e-02 3.59101717e+02] [ 7.92130463e-02 9.96856550e-01 -1.52067866e-03 1.35249568e+01] [ 3.58294257e-02 -1.32261460e-03 9.99357045e-01 1.26933199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.13, Y:13.53, Z:12.69 [[ 9.96219383e-01 -7.91438526e-02 -3.58216768e-02 3.59134362e+02] [ 7.91403449e-02 9.96862328e-01 -1.51806588e-03 1.35262827e+01] [ 3.58294257e-02 -1.32261320e-03 9.99357045e-01 1.26944913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.17, Y:13.52, Z:12.69 [[ 9.95610434e-01 -8.64677009e-02 -3.58217874e-02 3.59166915e+02] [ 8.64690153e-02 9.96253388e-01 -1.51545170e-03 1.35236108e+01] [ 3.58186146e-02 -1.58867516e-03 9.99357045e-01 1.26942464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.20, Y:13.52, Z:12.69 [[ 9.95332073e-01 -8.96150483e-02 -3.58218993e-02 3.59198063e+02] [ 8.96184906e-02 9.95975019e-01 -1.51280087e-03 1.35235950e+01] [ 3.58132865e-02 -1.70456532e-03 9.99357045e-01 1.26948356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:13.52, Z:12.70 [[ 9.95079956e-01 -9.23724364e-02 -3.58219827e-02 3.59230665e+02] [ 9.23777311e-02 9.95722889e-01 -1.51082462e-03 1.35239159e+01] [ 3.58083266e-02 -1.80576218e-03 9.99357045e-01 1.26958028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.26, Y:13.52, Z:12.70 [[ 9.94670220e-01 -9.66846962e-02 -3.58220883e-02 3.59263285e+02] [ 9.66928677e-02 9.95313124e-01 -1.50831527e-03 1.35240280e+01] [ 3.58000256e-02 -1.96346416e-03 9.99357045e-01 1.26971134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.30, Y:13.53, Z:12.70 [[ 9.94480305e-01 -9.86189276e-02 -3.58221983e-02 3.59296040e+02] [ 9.86284434e-02 9.95123190e-01 -1.50569770e-03 1.35253063e+01] [ 3.57959906e-02 -2.03570095e-03 9.99357045e-01 1.26982730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.33, Y:13.53, Z:12.70 [[ 9.94385577e-01 -9.95690242e-02 -3.58236526e-02 3.59326931e+02] [ 9.95803970e-02 9.95028432e-01 -1.47108217e-03 1.35257399e+01] [ 3.57920271e-02 -2.10451066e-03 9.99357044e-01 1.26990271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.36, Y:13.53, Z:12.70 [[ 9.94217398e-01 -1.01234966e-01 -3.58224434e-02 3.59358185e+02] [ 1.01246379e-01 9.94860252e-01 -1.49996193e-03 1.35262851e+01] [ 3.57901737e-02 -2.13560445e-03 9.99357045e-01 1.26991662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.39, Y:13.53, Z:12.70 [[ 9.94159794e-01 -1.01799072e-01 -3.58225246e-02 3.59390320e+02] [ 1.01810920e-01 9.94802640e-01 -1.49802026e-03 1.35274930e+01] [ 3.57888391e-02 -2.15785267e-03 9.99357045e-01 1.27002212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.42, Y:13.53, Z:12.70 [[ 9.94137913e-01 -1.02012498e-01 -3.58226311e-02 3.59423288e+02] [ 1.02024575e-01 9.94780755e-01 -1.49546889e-03 1.35287223e+01] [ 3.57882205e-02 -2.16808638e-03 9.99357045e-01 1.27016354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.46, Y:13.53, Z:12.70 [[ 9.94154813e-01 -1.01847611e-01 -3.58227955e-02 3.59455253e+02] [ 1.01859723e-01 9.94797654e-01 -1.49152142e-03 1.35301941e+01] [ 3.57883408e-02 -2.16609682e-03 9.99357045e-01 1.27027921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.49, Y:13.53, Z:12.71 [[ 9.94233038e-01 -1.01081080e-01 -3.58229312e-02 3.59487789e+02] [ 1.01092813e-01 9.94875886e-01 -1.48825377e-03 1.35327584e+01] [ 3.57898047e-02 -2.14176983e-03 9.99357045e-01 1.27053543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.52, Y:13.53, Z:12.71 [[ 9.94323367e-01 -1.00188559e-01 -3.58230933e-02 3.59521179e+02] [ 1.00199856e-01 9.94966223e-01 -1.48434253e-03 1.35349794e+01] [ 3.57914820e-02 -2.11355233e-03 9.99357045e-01 1.27069738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.55, Y:13.54, Z:12.71 [[ 9.94535064e-01 -9.80647837e-02 -3.58232554e-02 3.59552962e+02] [ 9.80748489e-02 9.95177940e-01 -1.48041869e-03 1.35377320e+01] [ 3.57956905e-02 -2.04103207e-03 9.99357045e-01 1.27084947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.58, Y:13.54, Z:12.71 [[ 9.94643491e-01 -9.69588144e-02 -3.58233621e-02 3.59584594e+02] [ 9.69682575e-02 9.95286377e-01 -1.47783320e-03 1.35398456e+01] [ 3.57977932e-02 -2.00381182e-03 9.99357045e-01 1.27094205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.62, Y:13.54, Z:12.71 [[ 9.94738255e-01 -9.59816807e-02 -3.58234677e-02 3.59616793e+02] [ 9.59905843e-02 9.95381149e-01 -1.47526890e-03 1.35421338e+01] [ 3.57996032e-02 -1.97120919e-03 9.99357045e-01 1.27108408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.65, Y:13.54, Z:12.71 [[ 9.94835923e-01 -9.49639779e-02 -3.58235736e-02 3.59648074e+02] [ 9.49723163e-02 9.95478825e-01 -1.47269186e-03 1.35443156e+01] [ 3.58014617e-02 -1.93716100e-03 9.99357045e-01 1.27113136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.68, Y:13.55, Z:12.71 [[ 9.94996731e-01 -9.32639862e-02 -3.58236524e-02 3.59680194e+02] [ 9.32712951e-02 9.95639645e-01 -1.47077293e-03 1.35469271e+01] [ 3.58046187e-02 -1.87790420e-03 9.99357045e-01 1.27132155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.71, Y:13.55, Z:12.71 [[ 9.95055421e-01 -9.26356742e-02 -3.58237587e-02 3.59710990e+02] [ 9.26426701e-02 9.95698338e-01 -1.46818027e-03 1.35491933e+01] [ 3.58056628e-02 -1.85788793e-03 9.99357045e-01 1.27147426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.74, Y:13.55, Z:12.72 [[ 9.95301124e-01 -8.99573473e-02 -3.58238377e-02 3.59742267e+02] [ 8.99626823e-02 9.95944058e-01 -1.46624999e-03 1.35522901e+01] [ 3.58104382e-02 -1.76344827e-03 9.99357045e-01 1.27158014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.77, Y:13.55, Z:12.72 [[ 9.95468735e-01 -8.80831720e-02 -3.58239159e-02 3.59774101e+02] [ 8.80873650e-02 9.96111676e-01 -1.46433726e-03 1.35547121e+01] [ 3.58136044e-02 -1.69793239e-03 9.99357045e-01 1.27174056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.81, Y:13.56, Z:12.72 [[ 9.95665231e-01 -8.58334835e-02 -3.58240195e-02 3.59806435e+02] [ 8.58363149e-02 9.96308180e-01 -1.46179749e-03 1.35570349e+01] [ 3.58172349e-02 -1.61954089e-03 9.99357045e-01 1.27187955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.84, Y:13.56, Z:12.72 [[ 9.95880988e-01 -8.32927973e-02 -3.58241226e-02 3.59837925e+02] [ 8.32940791e-02 9.96523942e-01 -1.45926665e-03 1.35596145e+01] [ 3.58211423e-02 -1.53068138e-03 9.99357045e-01 1.27204140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.87, Y:13.56, Z:12.72 [[ 9.96391299e-01 -7.69480764e-02 -3.58241994e-02 3.59870417e+02] [ 7.69453308e-02 9.97034248e-01 -1.45737955e-03 1.35634993e+01] [ 3.58300962e-02 -1.30438456e-03 9.99357045e-01 1.27222838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.90, Y:13.57, Z:12.72 [[ 9.96634887e-01 -7.37259845e-02 -3.58243005e-02 3.59901199e+02] [ 7.37212494e-02 9.97277825e-01 -1.45489029e-03 1.35656707e+01] [ 3.58340437e-02 -1.19101777e-03 9.99357045e-01 1.27235189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.93, Y:13.57, Z:12.72 [[ 9.96869674e-01 -7.04802616e-02 -3.58243755e-02 3.59932418e+02] [ 7.04734993e-02 9.97512594e-01 -1.45304018e-03 1.35678064e+01] [ 3.58376764e-02 -1.07617741e-03 9.99357045e-01 1.27245965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:13.57, Z:12.73 [[ 9.97308725e-01 -6.39680959e-02 -3.58244250e-02 3.59963975e+02] [ 6.39571786e-02 9.97951588e-01 -1.45181895e-03 1.35704912e+01] [ 3.58439119e-02 -8.43317439e-04 9.99357045e-01 1.27263759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.99, Y:13.57, Z:12.73 [[ 9.97481480e-01 -6.12152331e-02 -3.58244773e-02 3.59994107e+02] [ 6.12025879e-02 9.98124311e-01 -1.45052698e-03 1.35721680e+01] [ 3.58460761e-02 -7.45676921e-04 9.99357045e-01 1.27270871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:13.57, Z:12.73 [[ 9.97654732e-01 -5.83236057e-02 -3.58244773e-02 3.60024130e+02] [ 5.83090972e-02 9.98297523e-01 -1.45052698e-03 1.35739705e+01] [ 3.58480869e-02 -6.41767821e-04 9.99357045e-01 1.27283178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.05, Y:13.58, Z:12.73 [[ 9.97831379e-01 -5.52190704e-02 -3.58244773e-02 3.60052512e+02] [ 5.52025619e-02 9.98474122e-01 -1.45052698e-03 1.35758667e+01] [ 3.58499103e-02 -5.30221587e-04 9.99357045e-01 1.27291767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.08, Y:13.58, Z:12.73 [[ 9.97985460e-01 -5.23606060e-02 -3.58243997e-02 3.60081848e+02] [ 5.23421878e-02 9.98628152e-01 -1.45244026e-03 1.35778694e+01] [ 3.58513048e-02 -4.25613198e-04 9.99357045e-01 1.27302049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.11, Y:13.58, Z:12.73 [[ 9.98246150e-01 -4.71300304e-02 -3.58243483e-02 3.60110857e+02] [ 4.71081990e-02 9.98888735e-01 -1.45370759e-03 1.35798141e+01] [ 3.58530512e-02 -2.36462526e-04 9.99357045e-01 1.27308773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.14, Y:13.58, Z:12.73 [[ 9.98347291e-01 -4.49367280e-02 -3.58242509e-02 3.60138411e+02] [ 4.49133990e-02 9.98989823e-01 -1.45610307e-03 1.35812764e+01] [ 3.58534946e-02 -1.55292324e-04 9.99357045e-01 1.27316892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.17, Y:13.58, Z:12.73 [[ 9.98482769e-01 -4.18185531e-02 -3.58241245e-02 3.60167481e+02] [ 4.17931061e-02 9.99125221e-01 -1.45920628e-03 1.35830452e+01] [ 3.58538082e-02 -4.02091093e-05 9.99357045e-01 1.27328166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.19, Y:13.58, Z:12.73 [[ 9.98527085e-01 -4.07469907e-02 -3.58237684e-02 3.60194498e+02] [ 4.07205424e-02 9.99169496e-01 -1.46789858e-03 1.35843471e+01] [ 3.58538291e-02 6.97320710e-06 9.99357045e-01 1.27338705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.22, Y:13.59, Z:12.74 [[ 9.98545518e-01 -4.02929179e-02 -3.58235916e-02 3.60221840e+02] [ 4.02660231e-02 9.99187910e-01 -1.47220116e-03 1.35857831e+01] [ 3.58538189e-02 2.75863005e-05 9.99357045e-01 1.27358761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.25, Y:13.59, Z:12.74 [[ 9.98562819e-01 -3.98622075e-02 -3.58231803e-02 3.60249182e+02] [ 3.98346790e-02 9.99205185e-01 -1.48214028e-03 1.35864959e+01] [ 3.58537889e-02 5.30052882e-05 9.99357045e-01 1.27382993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.28, Y:13.59, Z:12.74 [[ 9.98543397e-01 -4.03461839e-02 -3.58227641e-02 3.60276793e+02] [ 4.03186084e-02 9.99185760e-01 -1.49213221e-03 1.35872228e+01] [ 3.58537977e-02 4.56347644e-05 9.99357045e-01 1.27412689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.30, Y:13.59, Z:12.74 [[ 9.98510072e-01 -4.11630514e-02 -3.58223237e-02 3.60303616e+02] [ 4.11356247e-02 9.99152442e-01 -1.50263226e-03 1.35878783e+01] [ 3.58538151e-02 2.68197800e-05 9.99357045e-01 1.27421491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.33, Y:13.59, Z:12.74 [[ 9.98468984e-01 -4.21481167e-02 -3.58221325e-02 3.60330470e+02] [ 4.21211607e-02 9.99111373e-01 -1.50717692e-03 1.35885968e+01] [ 3.58538247e-02 -4.00038885e-06 9.99357045e-01 1.27422568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.36, Y:13.59, Z:12.74 [[ 9.98338775e-01 -4.51274418e-02 -3.58218311e-02 3.60358239e+02] [ 4.51021470e-02 9.98981233e-01 -1.51430663e-03 1.35883124e+01] [ 3.58536738e-02 -1.03850468e-04 9.99357045e-01 1.27447822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.39, Y:13.59, Z:12.75 [[ 9.98248451e-01 -4.70835258e-02 -3.58213890e-02 3.60385903e+02] [ 4.70591171e-02 9.98890942e-01 -1.52469285e-03 1.35884452e+01] [ 3.58534490e-02 -1.63700669e-04 9.99357045e-01 1.27452357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.41, Y:13.59, Z:12.75 [[ 9.98146793e-01 -4.91916390e-02 -3.58212520e-02 3.60414235e+02] [ 4.91684720e-02 9.98789331e-01 -1.52790633e-03 1.35881812e+01] [ 3.58530445e-02 -2.36201421e-04 9.99357045e-01 1.27465309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.44, Y:13.59, Z:12.75 [[ 9.97920873e-01 -5.35798138e-02 -3.58208672e-02 3.60443301e+02] [ 5.35591503e-02 9.98563496e-01 -1.53687481e-03 1.35861506e+01] [ 3.58517558e-02 -3.84855755e-04 9.99357045e-01 1.27483608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.47, Y:13.59, Z:12.75 [[ 9.97798954e-01 -5.58044937e-02 -3.58204781e-02 3.60471739e+02] [ 5.57849393e-02 9.98441611e-01 -1.54589039e-03 1.35853918e+01] [ 3.58509235e-02 -4.55755379e-04 9.99357045e-01 1.27491699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.50, Y:13.58, Z:12.75 [[ 9.97684411e-01 -5.78164068e-02 -3.58200866e-02 3.60500327e+02] [ 5.77978247e-02 9.98327098e-01 -1.55490793e-03 1.35848791e+01] [ 3.58500623e-02 -5.19015688e-04 9.99357045e-01 1.27493618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.53, Y:13.58, Z:12.75 [[ 9.97576595e-01 -5.96478439e-02 -3.58199816e-02 3.60530092e+02] [ 5.96303548e-02 9.98219312e-01 -1.55732432e-03 1.35843367e+01] [ 3.58490884e-02 -5.82407922e-04 9.99357045e-01 1.27501949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.56, Y:13.58, Z:12.75 [[ 9.97393523e-01 -6.26345982e-02 -3.58199267e-02 3.60559781e+02] [ 6.26189884e-02 9.98036288e-01 -1.55858533e-03 1.35822660e+01] [ 3.58472081e-02 -6.88484666e-04 9.99357045e-01 1.27511029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.59, Y:13.58, Z:12.75 [[ 9.97329324e-01 -6.36486875e-02 -3.58198718e-02 3.60589771e+02] [ 6.36336861e-02 9.97972104e-01 -1.55984569e-03 1.35816994e+01] [ 3.58465150e-02 -7.23670633e-04 9.99357045e-01 1.27520599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.62, Y:13.58, Z:12.75 [[ 9.97298088e-01 -6.41362772e-02 -3.58198446e-02 3.60619654e+02] [ 6.41215676e-02 9.97940875e-01 -1.56047198e-03 1.35810466e+01] [ 3.58461699e-02 -7.40568865e-04 9.99357045e-01 1.27529296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.65, Y:13.58, Z:12.75 [[ 9.97256497e-01 -6.47797927e-02 -3.58197903e-02 3.60649803e+02] [ 6.47654531e-02 9.97899292e-01 -1.56171563e-03 1.35808206e+01] [ 3.58457110e-02 -7.62453895e-04 9.99357045e-01 1.27539497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.68, Y:13.58, Z:12.75 [[ 9.97251092e-01 -6.48629739e-02 -3.58197364e-02 3.60678723e+02] [ 6.48486436e-02 9.97893887e-01 -1.56295159e-03 1.35791684e+01] [ 3.58456737e-02 -7.64206138e-04 9.99357045e-01 1.27548162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.71, Y:13.58, Z:12.76 [[ 9.97269335e-01 -6.45819317e-02 -3.58196561e-02 3.60709192e+02] [ 6.45673542e-02 9.97912124e-01 -1.56479041e-03 1.35793315e+01] [ 3.58459263e-02 -7.52262933e-04 9.99357045e-01 1.27572127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.74, Y:13.58, Z:12.76 [[ 9.97373805e-01 -6.29479552e-02 -3.58196561e-02 3.60737491e+02] [ 6.29323246e-02 9.98016570e-01 -1.56479041e-03 1.35784535e+01] [ 3.58471107e-02 -6.93533261e-04 9.99357045e-01 1.27572556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:13.58, Z:12.76 [[ 9.97457184e-01 -6.16126980e-02 -3.58195719e-02 3.60767919e+02] [ 6.15961379e-02 9.98099925e-01 -1.56671551e-03 1.35788372e+01] [ 3.58480416e-02 -6.43615647e-04 9.99357045e-01 1.27601929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.80, Y:13.58, Z:12.76 [[ 9.97563285e-01 -5.98702895e-02 -3.58195719e-02 3.60797179e+02] [ 5.98526066e-02 9.98205996e-01 -1.56671551e-03 1.35791386e+01] [ 3.58491111e-02 -5.80996875e-04 9.99357045e-01 1.27606790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.83, Y:13.58, Z:12.76 [[ 9.97693662e-01 -5.76568991e-02 -3.58195433e-02 3.60825890e+02] [ 5.76377669e-02 9.98336332e-01 -1.56736883e-03 1.35794311e+01] [ 3.58503211e-02 -5.00804541e-04 9.99357045e-01 1.27599580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.85, Y:13.58, Z:12.76 [[ 9.97932417e-01 -5.33653228e-02 -3.58194602e-02 3.60854167e+02] [ 5.33433586e-02 9.98574996e-01 -1.56926637e-03 1.35785976e+01] [ 3.58521617e-02 -3.44708528e-04 9.99357045e-01 1.27627066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.88, Y:13.58, Z:12.76 [[ 9.98053544e-01 -5.10501468e-02 -3.58190636e-02 3.60881540e+02] [ 5.10263690e-02 9.98696059e-01 -1.57826719e-03 1.35785577e+01] [ 3.58529284e-02 -2.52521586e-04 9.99357045e-01 1.27630831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.91, Y:13.58, Z:12.76 [[ 9.98156794e-01 -4.89900340e-02 -3.58188667e-02 3.60908977e+02] [ 4.89647701e-02 9.98799252e-01 -1.58272321e-03 1.35786897e+01] [ 3.58533949e-02 -1.74056643e-04 9.99357045e-01 1.27638336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.94, Y:13.58, Z:12.77 [[ 9.98340806e-01 -4.50852057e-02 -3.58184147e-02 3.60937568e+02] [ 4.50570643e-02 9.98983145e-01 -1.59288732e-03 1.35774891e+01] [ 3.58538082e-02 -2.36282032e-05 9.99357045e-01 1.27654840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.97, Y:13.58, Z:12.77 [[ 9.98399882e-01 -4.37578123e-02 -3.58180052e-02 3.60965165e+02] [ 4.37284884e-02 9.99042168e-01 -1.60204259e-03 1.35771368e+01] [ 3.58537994e-02 3.32119112e-05 9.99357045e-01 1.27668145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.99, Y:13.58, Z:12.77 [[ 9.98444655e-01 -4.27244057e-02 -3.58175363e-02 3.60993157e+02] [ 4.26940435e-02 9.99086892e-01 -1.61245651e-03 1.35768698e+01] [ 3.58537223e-02 8.07531329e-05 9.99357045e-01 1.27676081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.02, Y:13.58, Z:12.77 [[ 9.98465905e-01 -4.22250081e-02 -3.58173911e-02 3.61021343e+02] [ 4.21942091e-02 9.99108121e-01 -1.61567678e-03 1.35765242e+01] [ 3.58536683e-02 1.01911693e-04 9.99357045e-01 1.27693692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.05, Y:13.57, Z:12.77 [[ 9.98442767e-01 -4.27690275e-02 -3.58169194e-02 3.61048198e+02] [ 4.27382058e-02 9.99084982e-01 -1.62606554e-03 1.35744432e+01] [ 3.58536916e-02 9.27825066e-05 9.99357045e-01 1.27708082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.08, Y:13.58, Z:12.77 [[ 9.98430593e-01 -4.30525658e-02 -3.58165940e-02 3.61076555e+02] [ 4.30216704e-02 9.99072804e-01 -1.63320319e-03 1.35757997e+01] [ 3.58536986e-02 8.97503268e-05 9.99357045e-01 1.27718286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.10, Y:13.58, Z:12.77 [[ 9.98390841e-01 -4.39651488e-02 -3.58161274e-02 3.61104745e+02] [ 4.39344757e-02 9.99033063e-01 -1.64337169e-03 1.35751763e+01] [ 3.58537466e-02 6.71644666e-05 9.99357045e-01 1.27729197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.13, Y:13.57, Z:12.77 [[ 9.98317073e-01 -4.56096102e-02 -3.58159828e-02 3.61132470e+02] [ 4.55798821e-02 9.98959340e-01 -1.64651709e-03 1.35745938e+01] [ 3.58538076e-02 1.12578488e-05 9.99357045e-01 1.27746672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.16, Y:13.57, Z:12.78 [[ 9.98215565e-01 -4.77800552e-02 -3.58155159e-02 3.61159956e+02] [ 4.77513614e-02 9.98857879e-01 -1.65661202e-03 1.35739138e+01] [ 3.58537633e-02 -5.65837347e-05 9.99357046e-01 1.27763086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.19, Y:13.57, Z:12.78 [[ 9.97945092e-01 -5.31307534e-02 -3.58150368e-02 3.61187756e+02] [ 5.31051340e-02 9.98587536e-01 -1.66690573e-03 1.35705206e+01] [ 3.58530133e-02 -2.38481938e-04 9.99357046e-01 1.27774896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.22, Y:13.57, Z:12.78 [[ 9.97760103e-01 -5.64986229e-02 -3.58145543e-02 3.61215544e+02] [ 5.64748022e-02 9.98402616e-01 -1.67720824e-03 1.35694348e+01] [ 3.58521047e-02 -3.49168401e-04 9.99357046e-01 1.27784857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.24, Y:13.57, Z:12.78 [[ 9.97591673e-01 -5.93987095e-02 -3.58140720e-02 3.61242555e+02] [ 5.93763890e-02 9.98234240e-01 -1.68744551e-03 1.35683876e+01] [ 3.58510650e-02 -4.43128682e-04 9.99357046e-01 1.27788177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.27, Y:13.57, Z:12.78 [[ 9.97171820e-01 -6.60736669e-02 -3.58138623e-02 3.61270422e+02] [ 6.60554879e-02 9.97814517e-01 -1.69188470e-03 1.35656901e+01] [ 3.58473807e-02 -6.78602405e-04 9.99357046e-01 1.27808597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.30, Y:13.57, Z:12.78 [[ 9.96967326e-01 -6.90908985e-02 -3.58133822e-02 3.61299138e+02] [ 6.90743017e-02 9.97610066e-01 -1.70198650e-03 1.35652890e+01] [ 3.58453824e-02 -7.76959438e-04 9.99357046e-01 1.27819731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.33, Y:13.56, Z:12.78 [[ 9.96527027e-01 -7.51752378e-02 -3.58129606e-02 3.61327768e+02] [ 7.51622478e-02 9.97169850e-01 -1.71081245e-03 1.35634034e+01] [ 3.58402153e-02 -9.86911771e-04 9.99357046e-01 1.27827317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.36, Y:13.56, Z:12.78 [[ 9.96279715e-01 -7.83848948e-02 -3.58125289e-02 3.61356030e+02] [ 7.83736527e-02 9.96922571e-01 -1.71980136e-03 1.35633409e+01] [ 3.58371248e-02 -1.09335550e-03 9.99357046e-01 1.27831410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.39, Y:13.56, Z:12.78 [[ 9.96029367e-01 -8.15044103e-02 -3.58124370e-02 3.61385828e+02] [ 8.14951127e-02 9.96672254e-01 -1.72171300e-03 1.35632581e+01] [ 3.58335895e-02 -1.20366188e-03 9.99357046e-01 1.27846053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.42, Y:13.56, Z:12.79 [[ 9.95766947e-01 -8.46502322e-02 -3.58123757e-02 3.61416282e+02] [ 8.46429197e-02 9.96409859e-01 -1.72298691e-03 1.35629825e+01] [ 3.58296555e-02 -1.31557062e-03 9.99357046e-01 1.27859321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:13.56, Z:12.79 [[ 9.95502375e-01 -8.77068755e-02 -3.58123757e-02 3.61445524e+02] [ 8.77015368e-02 9.96145307e-01 -1.72298691e-03 1.35627677e+01] [ 3.58254478e-02 -1.42556282e-03 9.99357046e-01 1.27862783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.48, Y:13.56, Z:12.79 [[ 9.94957316e-01 -9.36878582e-02 -3.58123442e-02 3.61476524e+02] [ 9.36863598e-02 9.95600269e-01 -1.72364228e-03 1.35619276e+01] [ 3.58162638e-02 -1.64017767e-03 9.99357046e-01 1.27870658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.51, Y:13.56, Z:12.79 [[ 9.94688916e-01 -9.64957844e-02 -3.58123442e-02 3.61508016e+02] [ 9.64961008e-02 9.95331870e-01 -1.72364228e-03 1.35628996e+01] [ 3.58114917e-02 -1.74126370e-03 9.99357046e-01 1.27883184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.54, Y:13.56, Z:12.79 [[ 9.94438960e-01 -9.90385087e-02 -3.58124079e-02 3.61538100e+02] [ 9.90405165e-02 9.95081911e-01 -1.72231619e-03 1.35639580e+01] [ 3.58068550e-02 -1.83414106e-03 9.99357046e-01 1.27890745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.57, Y:13.57, Z:12.79 [[ 9.94018443e-01 -1.03173636e-01 -3.58125134e-02 3.61568969e+02] [ 1.03178397e-01 9.94661379e-01 -1.72012147e-03 1.35658929e+01] [ 3.57987951e-02 -1.98524524e-03 9.99357046e-01 1.27903677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.60, Y:13.57, Z:12.79 [[ 9.93790481e-01 -1.05346757e-01 -3.58125756e-02 3.61600851e+02] [ 1.05352970e-01 9.94433405e-01 -1.71882402e-03 1.35678254e+01] [ 3.57942941e-02 -2.06481024e-03 9.99357046e-01 1.27919290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.63, Y:13.57, Z:12.79 [[ 9.93765260e-01 -1.05584363e-01 -3.58127024e-02 3.61632043e+02] [ 1.05590825e-01 9.94408182e-01 -1.71617846e-03 1.35698741e+01] [ 3.57936459e-02 -2.07601425e-03 9.99357046e-01 1.27930649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:13.57, Z:12.79 [[ 9.93760361e-01 -1.05630432e-01 -3.58127968e-02 3.61664128e+02] [ 1.05636995e-01 9.94403282e-01 -1.71420634e-03 1.35723286e+01] [ 3.57934350e-02 -2.07964591e-03 9.99357046e-01 1.27946564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.70, Y:13.58, Z:12.80 [[ 9.93816573e-01 -1.05100208e-01 -3.58129217e-02 3.61695578e+02] [ 1.05106521e-01 9.94459496e-01 -1.71159280e-03 1.35750687e+01] [ 3.57943888e-02 -2.06316233e-03 9.99357046e-01 1.27956779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.73, Y:13.58, Z:12.80 [[ 9.93896123e-01 -1.04345180e-01 -3.58131283e-02 3.61727809e+02] [ 1.04351160e-01 9.94539049e-01 -1.70725842e-03 1.35779463e+01] [ 3.57956988e-02 -2.04030397e-03 9.99357046e-01 1.27970635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.76, Y:13.58, Z:12.80 [[ 9.93982511e-01 -1.03518977e-01 -3.58132550e-02 3.61759332e+02] [ 1.03524519e-01 9.94625441e-01 -1.70459695e-03 1.35808004e+01] [ 3.57972327e-02 -2.01321043e-03 9.99357046e-01 1.27974518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.79, Y:13.59, Z:12.80 [[ 9.94173037e-01 -1.01672886e-01 -3.58133492e-02 3.61791667e+02] [ 1.01677305e-01 9.94815976e-01 -1.70261562e-03 1.35857462e+01] [ 3.58008018e-02 -1.94871030e-03 9.99357046e-01 1.27980557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.82, Y:13.59, Z:12.80 [[ 9.94277848e-01 -1.00642712e-01 -3.58134740e-02 3.61823293e+02] [ 1.00646559e-01 9.94920791e-01 -1.69998626e-03 1.35888275e+01] [ 3.58026611e-02 -1.91424425e-03 9.99357046e-01 1.27985157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.85, Y:13.59, Z:12.80 [[ 9.94359170e-01 -9.98360032e-02 -3.58135982e-02 3.61854205e+02] [ 9.98394227e-02 9.95002115e-01 -1.69736678e-03 1.35917691e+01] [ 3.58040642e-02 -1.88781674e-03 9.99357046e-01 1.27994368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.88, Y:13.59, Z:12.80 [[ 9.94470414e-01 -9.87217105e-02 -3.58136907e-02 3.61884827e+02] [ 9.87244798e-02 9.95113362e-01 -1.69541189e-03 1.35945851e+01] [ 3.58060561e-02 -1.84965103e-03 9.99357046e-01 1.28003903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.92, Y:13.60, Z:12.80 [[ 9.94577117e-01 -9.76408239e-02 -3.58137822e-02 3.61916623e+02] [ 9.76429640e-02 9.95220068e-01 -1.69347684e-03 1.35979947e+01] [ 3.58079472e-02 -1.81267053e-03 9.99357046e-01 1.28021916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.95, Y:13.60, Z:12.80 [[ 9.94858227e-01 -9.47336920e-02 -3.58139042e-02 3.61948183e+02] [ 9.47340458e-02 9.95501181e-01 -1.69089232e-03 1.36038364e+01] [ 3.58129684e-02 -1.71059791e-03 9.99357046e-01 1.28039608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.98, Y:13.61, Z:12.81 [[ 9.95021355e-01 -9.30046177e-02 -3.58140255e-02 3.61980684e+02] [ 9.30039466e-02 9.95664309e-01 -1.68831922e-03 1.36074750e+01] [ 3.58157685e-02 -1.65093204e-03 9.99357046e-01 1.28056478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.01, Y:13.61, Z:12.81 [[ 9.95183761e-01 -9.12503603e-02 -3.58141505e-02 3.62012573e+02] [ 9.12486509e-02 9.95826713e-01 -1.68566522e-03 1.36109619e+01] [ 3.58185053e-02 -1.59044626e-03 9.99357046e-01 1.28069151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:13.62, Z:12.81 [[ 9.95561556e-01 -8.70317519e-02 -3.58142740e-02 3.62043627e+02] [ 8.70274121e-02 9.96204496e-01 -1.68303581e-03 1.36161454e+01] [ 3.58248183e-02 -1.44125784e-03 9.99357046e-01 1.28082913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.08, Y:13.62, Z:12.81 [[ 9.95758244e-01 -8.47517050e-02 -3.58143659e-02 3.62075412e+02] [ 8.47459632e-02 9.96401172e-01 -1.68107732e-03 1.36191674e+01] [ 3.58279504e-02 -1.36117634e-03 9.99357046e-01 1.28096894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.11, Y:13.62, Z:12.81 [[ 9.95949167e-01 -8.24777434e-02 -3.58144895e-02 3.62106256e+02] [ 8.24706282e-02 9.96592082e-01 -1.67844193e-03 1.36222175e+01] [ 3.58308707e-02 -1.28200060e-03 9.99357046e-01 1.28108325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.14, Y:13.63, Z:12.81 [[ 9.96339474e-01 -7.76206834e-02 -3.58145507e-02 3.62136983e+02] [ 7.76104804e-02 9.96982347e-01 -1.67713481e-03 1.36273720e+01] [ 3.58366551e-02 -1.10858887e-03 9.99357046e-01 1.28121328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.17, Y:13.63, Z:12.81 [[ 9.96534325e-01 -7.50776490e-02 -3.58146123e-02 3.62166736e+02] [ 7.50658527e-02 9.97177171e-01 -1.67581838e-03 1.36305598e+01] [ 3.58393302e-02 -1.01844387e-03 9.99357046e-01 1.28129467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.20, Y:13.63, Z:12.81 [[ 9.96725851e-01 -7.24906160e-02 -3.58146428e-02 3.62197719e+02] [ 7.24771744e-02 9.97368665e-01 -1.67516555e-03 1.36338874e+01] [ 3.58418362e-02 -9.26063303e-04 9.99357046e-01 1.28139074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.23, Y:13.64, Z:12.81 [[ 9.96906256e-01 -6.99658750e-02 -3.58147036e-02 3.62228527e+02] [ 6.99508521e-02 9.97549035e-01 -1.67386554e-03 1.36370127e+01] [ 3.58440364e-02 -8.36582007e-04 9.99357046e-01 1.28149775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:13.64, Z:12.82 [[ 9.97169023e-01 -6.61154082e-02 -3.58147036e-02 3.62258808e+02] [ 6.60979031e-02 9.97811738e-01 -1.67386554e-03 1.36406785e+01] [ 3.58469999e-02 -6.98149942e-04 9.99357046e-01 1.28157139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.29, Y:13.64, Z:12.82 [[ 9.97260467e-01 -6.47214574e-02 -3.58147036e-02 3.62287955e+02] [ 6.47030538e-02 9.97903158e-01 -1.67386554e-03 1.36428020e+01] [ 3.58479408e-02 -6.48040764e-04 9.99357046e-01 1.28165442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.32, Y:13.65, Z:12.82 [[ 9.97391239e-01 -6.26739836e-02 -3.58146432e-02 3.62317240e+02] [ 6.26542143e-02 9.98033889e-01 -1.67515516e-03 1.36454063e+01] [ 3.58492163e-02 -5.73153251e-04 9.99357046e-01 1.28171564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.35, Y:13.65, Z:12.82 [[ 9.97424595e-01 -6.21409143e-02 -3.58145824e-02 3.62346582e+02] [ 6.21207550e-02 9.98067233e-01 -1.67645427e-03 1.36475483e+01] [ 3.58495376e-02 -5.52692184e-04 9.99357046e-01 1.28181075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.38, Y:13.65, Z:12.82 [[ 9.97430876e-01 -6.20400521e-02 -3.58145211e-02 3.62376237e+02] [ 6.20197808e-02 9.98073510e-01 -1.67776439e-03 1.36495772e+01] [ 3.58496133e-02 -5.47754744e-04 9.99357046e-01 1.28192743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:13.65, Z:12.82 [[ 9.97424859e-01 -6.21367381e-02 -3.58144593e-02 3.62406201e+02] [ 6.21164817e-02 9.98067494e-01 -1.67908186e-03 1.36516145e+01] [ 3.58495803e-02 -5.49910215e-04 9.99357046e-01 1.28200041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:13.65, Z:12.82 [[ 9.97389566e-01 -6.27007450e-02 -3.58143977e-02 3.62435419e+02] [ 6.26808049e-02 9.98032210e-01 -1.68039551e-03 1.36531003e+01] [ 3.58492845e-02 -5.68866323e-04 9.99357046e-01 1.28206583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.46, Y:13.65, Z:12.82 [[ 9.97253905e-01 -6.48227045e-02 -3.58143365e-02 3.62464615e+02] [ 6.48040851e-02 9.97896589e-01 -1.68169779e-03 1.36545969e+01] [ 3.58480164e-02 -6.43835623e-04 9.99357046e-01 1.28219559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.50, Y:13.66, Z:12.82 [[ 9.97149114e-01 -6.64152241e-02 -3.58142758e-02 3.62495433e+02] [ 6.63975846e-02 9.97791826e-01 -1.68299041e-03 1.36559028e+01] [ 3.58469678e-02 -6.99789012e-04 9.99357046e-01 1.28227375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.53, Y:13.66, Z:12.82 [[ 9.97044946e-01 -6.79611227e-02 -3.58142758e-02 3.62525974e+02] [ 6.79444797e-02 9.97687684e-01 -1.68299041e-03 1.36572833e+01] [ 3.58458398e-02 -7.55365253e-04 9.99357046e-01 1.28238588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.56, Y:13.66, Z:12.83 [[ 9.96931530e-01 -6.96050383e-02 -3.58142758e-02 3.62556252e+02] [ 6.95894551e-02 9.97574296e-01 -1.68299041e-03 1.36586321e+01] [ 3.58445455e-02 -8.14469733e-04 9.99357046e-01 1.28251177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.59, Y:13.66, Z:12.83 [[ 9.96695881e-01 -7.29017098e-02 -3.58142758e-02 3.62586140e+02] [ 7.28882524e-02 9.97338694e-01 -1.68299041e-03 1.36603267e+01] [ 3.58416559e-02 -9.33010366e-04 9.99357046e-01 1.28271991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.62, Y:13.66, Z:12.83 [[ 9.96583170e-01 -7.44266311e-02 -3.58142738e-02 3.62617247e+02] [ 7.44141558e-02 9.97226003e-01 -1.68303251e-03 1.36618473e+01] [ 3.58401875e-02 -9.87807072e-04 9.99357046e-01 1.28287437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.65, Y:13.66, Z:12.83 [[ 9.96468403e-01 -7.59477205e-02 -3.58143342e-02 3.62647091e+02] [ 7.59362726e-02 9.97111255e-01 -1.68174622e-03 1.36632144e+01] [ 3.58386005e-02 -1.04380007e-03 9.99357046e-01 1.28299515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.68, Y:13.66, Z:12.83 [[ 9.96288451e-01 -7.82729381e-02 -3.58143642e-02 3.62678663e+02] [ 7.82630134e-02 9.96931329e-01 -1.68110735e-03 1.36645734e+01] [ 3.58360469e-02 -1.12807222e-03 9.99357046e-01 1.28308172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:13.67, Z:12.83 [[ 9.96225525e-01 -7.90697877e-02 -3.58144229e-02 3.62710323e+02] [ 7.90604222e-02 9.96868410e-01 -1.67985435e-03 1.36662039e+01] [ 3.58350926e-02 -1.15798961e-03 9.99357046e-01 1.28321141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:13.67, Z:12.83 [[ 9.96197921e-01 -7.94167844e-02 -3.58144829e-02 3.62741252e+02] [ 7.94076887e-02 9.96840810e-01 -1.67857561e-03 1.36679841e+01] [ 3.58346452e-02 -1.17175178e-03 9.99357046e-01 1.28331623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.77, Y:13.67, Z:12.83 [[ 9.96276881e-01 -7.84199895e-02 -3.58145431e-02 3.62772758e+02] [ 7.84102967e-02 9.96919762e-01 -1.67728931e-03 1.36702054e+01] [ 3.58357588e-02 -1.13718439e-03 9.99357046e-01 1.28342093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.80, Y:13.67, Z:12.84 [[ 9.96342770e-01 -7.75783316e-02 -3.58146331e-02 3.62803700e+02] [ 7.75681648e-02 9.96985643e-01 -1.67536561e-03 1.36723923e+01] [ 3.58366471e-02 -1.10883695e-03 9.99357046e-01 1.28356923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.83, Y:13.67, Z:12.84 [[ 9.96517719e-01 -7.52976941e-02 -3.58146930e-02 3.62834487e+02] [ 7.52861021e-02 9.97160569e-01 -1.67408337e-03 1.36748997e+01] [ 3.58390543e-02 -1.02809490e-03 9.99357046e-01 1.28371069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:13.68, Z:12.84 [[ 9.96607421e-01 -7.41009540e-02 -3.58147536e-02 3.62865216e+02] [ 7.40886366e-02 9.97250257e-01 -1.67278639e-03 1.36767947e+01] [ 3.58402273e-02 -9.86354936e-04 9.99357046e-01 1.28380279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:13.68, Z:12.84 [[ 9.96718648e-01 -7.25895162e-02 -3.58147836e-02 3.62895213e+02] [ 7.25762469e-02 9.97361465e-01 -1.67214367e-03 1.36785629e+01] [ 3.58416652e-02 -9.32645801e-04 9.99357046e-01 1.28388160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:13.68, Z:12.84 [[ 9.96807961e-01 -7.13525298e-02 -3.58148809e-02 3.62926498e+02] [ 7.13385378e-02 9.97450763e-01 -1.67005773e-03 1.36802243e+01] [ 3.58427431e-02 -8.90254396e-04 9.99357046e-01 1.28396200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.96, Y:13.68, Z:12.84 [[ 9.96810512e-01 -7.13168525e-02 -3.58149406e-02 3.62958289e+02] [ 7.13028835e-02 9.97453314e-01 -1.66877560e-03 1.36816765e+01] [ 3.58427431e-02 -8.90255477e-04 9.99357046e-01 1.28407614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.99, Y:13.68, Z:12.84 [[ 9.96946154e-01 -6.93948927e-02 -3.58150003e-02 3.62988485e+02] [ 6.93797304e-02 9.97588930e-01 -1.66749455e-03 1.36833934e+01] [ 3.58443634e-02 -8.22432780e-04 9.99357046e-01 1.28403054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.02, Y:13.69, Z:12.84 [[ 9.97007908e-01 -6.85019352e-02 -3.58150299e-02 3.63018738e+02] [ 6.84862200e-02 9.97650670e-01 -1.66685907e-03 1.36851777e+01] [ 3.58450716e-02 -7.90964342e-04 9.99357046e-01 1.28409871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.05, Y:13.69, Z:12.84 [[ 9.97066182e-01 -6.76484445e-02 -3.58150299e-02 3.63048124e+02] [ 6.76321791e-02 9.97708930e-01 -1.66685907e-03 1.36868663e+01] [ 3.58457355e-02 -7.60279708e-04 9.99357046e-01 1.28410702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.08, Y:13.69, Z:12.84 [[ 9.97134932e-01 -6.66274241e-02 -3.58150000e-02 3.63078727e+02] [ 6.66104775e-02 9.97777662e-01 -1.66750075e-03 1.36887791e+01] [ 3.58465082e-02 -7.22931002e-04 9.99357046e-01 1.28419637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.11, Y:13.69, Z:12.84 [[ 9.97146192e-01 -6.64586919e-02 -3.58150000e-02 3.63108453e+02] [ 6.64416366e-02 9.97788920e-01 -1.66750075e-03 1.36903287e+01] [ 3.58466301e-02 -7.16865186e-04 9.99357046e-01 1.28427102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.14, Y:13.69, Z:12.84 [[ 9.97152728e-01 -6.63605786e-02 -3.58149404e-02 3.63138529e+02] [ 6.63434141e-02 9.97795453e-01 -1.66877863e-03 1.36919060e+01] [ 3.58467258e-02 -7.12058256e-04 9.99357046e-01 1.28436709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.17, Y:13.69, Z:12.84 [[ 9.97162649e-01 -6.62114145e-02 -3.58148030e-02 3.63167696e+02] [ 6.61940481e-02 9.97805368e-01 -1.67172320e-03 1.36933335e+01] [ 3.58468899e-02 -7.03746860e-04 9.99357046e-01 1.28448854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.20, Y:13.69, Z:12.85 [[ 9.97176412e-01 -6.60038239e-02 -3.58147734e-02 3.63197038e+02] [ 6.59863009e-02 9.97819128e-01 -1.67235787e-03 1.36948930e+01] [ 3.58470479e-02 -6.95648591e-04 9.99357046e-01 1.28474611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.23, Y:13.70, Z:12.85 [[ 9.97188702e-01 -6.58179221e-02 -3.58147143e-02 3.63226904e+02] [ 6.58002340e-02 9.97831413e-01 -1.67362210e-03 1.36966584e+01] [ 3.58472013e-02 -6.87699535e-04 9.99357046e-01 1.28497125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:13.70, Z:12.85 [[ 9.97170850e-01 -6.60878627e-02 -3.58146544e-02 3.63257073e+02] [ 6.60703026e-02 9.97813565e-01 -1.67490171e-03 1.36984259e+01] [ 3.58470387e-02 -6.96121892e-04 9.99357046e-01 1.28515547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:13.70, Z:12.85 [[ 9.97074255e-01 -6.75295525e-02 -3.58146544e-02 3.63287238e+02] [ 6.75129216e-02 9.97716994e-01 -1.67490171e-03 1.36998716e+01] [ 3.58459947e-02 -7.47950584e-04 9.99357046e-01 1.28536152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:13.70, Z:12.86 [[ 9.96974898e-01 -6.89808842e-02 -3.58146544e-02 3.63317486e+02] [ 6.89651890e-02 9.97617661e-01 -1.67490171e-03 1.37010212e+01] [ 3.58448680e-02 -8.00129451e-04 9.99357046e-01 1.28552759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.35, Y:13.70, Z:12.86 [[ 9.96826055e-01 -7.10994139e-02 -3.58146544e-02 3.63347709e+02] [ 7.10850847e-02 9.97468849e-01 -1.67490171e-03 1.37019259e+01] [ 3.58430867e-02 -8.76302082e-04 9.99357046e-01 1.28564165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.38, Y:13.70, Z:12.86 [[ 9.96411544e-01 -7.66899141e-02 -3.58146848e-02 3.63378005e+02] [ 7.66792141e-02 9.97054409e-01 -1.67425187e-03 1.37017748e+01] [ 3.58375876e-02 -1.07799799e-03 9.99357046e-01 1.28572568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.41, Y:13.70, Z:12.86 [[ 9.96144861e-01 -8.00794775e-02 -3.58147149e-02 3.63409280e+02] [ 8.00709879e-02 9.96787759e-01 -1.67360827e-03 1.37023228e+01] [ 3.58336911e-02 -1.20056332e-03 9.99357046e-01 1.28579263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.44, Y:13.70, Z:12.86 [[ 9.95506068e-01 -8.76639600e-02 -3.58147725e-02 3.63441865e+02] [ 8.76604114e-02 9.96149013e-01 -1.67237553e-03 1.37022870e+01] [ 3.58234573e-02 -1.47467770e-03 9.99357046e-01 1.28589849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.47, Y:13.70, Z:12.86 [[ 9.95171234e-01 -9.13865820e-02 -3.58148951e-02 3.63473380e+02] [ 9.13855325e-02 9.95814188e-01 -1.66974381e-03 1.37030761e+01] [ 3.58175729e-02 -1.61128226e-03 9.99357046e-01 1.28599429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:13.70, Z:12.86 [[ 9.94876486e-01 -9.45412958e-02 -3.58150878e-02 3.63505264e+02] [ 9.45424336e-02 9.95519439e-01 -1.66560160e-03 1.37038840e+01] [ 3.58120842e-02 -1.72897769e-03 9.99357046e-01 1.28605214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.54, Y:13.70, Z:12.86 [[ 9.94643657e-01 -9.69601258e-02 -3.58152086e-02 3.63536249e+02] [ 9.69629203e-02 9.95286605e-01 -1.66300016e-03 1.37049089e+01] [ 3.58076421e-02 -1.81865465e-03 9.99357046e-01 1.28613479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.57, Y:13.71, Z:12.86 [[ 9.94316306e-01 -1.00261394e-01 -3.58152985e-02 3.63568772e+02] [ 1.00266392e-01 9.94959241e-01 -1.66106134e-03 1.37062863e+01] [ 3.58013025e-02 -1.93945040e-03 9.99357046e-01 1.28635005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.60, Y:13.71, Z:12.86 [[ 9.94323777e-01 -1.00187234e-01 -3.58154221e-02 3.63601409e+02] [ 1.00192281e-01 9.94966711e-01 -1.65839214e-03 1.37077413e+01] [ 3.58013025e-02 -1.93945009e-03 9.99357046e-01 1.28646718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.63, Y:13.71, Z:12.87 [[ 9.94297107e-01 -1.00451530e-01 -3.58155455e-02 3.63632966e+02] [ 1.00456844e-01 9.94940039e-01 -1.65572263e-03 1.37090565e+01] [ 3.58006401e-02 -1.95163643e-03 9.99357046e-01 1.28652168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:13.71, Z:12.87 [[ 9.94373614e-01 -9.96912831e-02 -3.58156989e-02 3.63665066e+02] [ 9.96962242e-02 9.95016549e-01 -1.65239684e-03 1.37107840e+01] [ 3.58019427e-02 -1.92759014e-03 9.99357046e-01 1.28661494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.70, Y:13.71, Z:12.87 [[ 9.94476758e-01 -9.86570028e-02 -3.58158207e-02 3.63697455e+02] [ 9.86613701e-02 9.95119698e-01 -1.64975393e-03 1.37130220e+01] [ 3.58037884e-02 -1.89299600e-03 9.99357046e-01 1.28676019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.73, Y:13.72, Z:12.87 [[ 9.94794020e-01 -9.54048060e-02 -3.58159430e-02 3.63728612e+02] [ 9.54071666e-02 9.95436969e-01 -1.64709312e-03 1.37162905e+01] [ 3.58096544e-02 -1.77857926e-03 9.99357046e-01 1.28685590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.76, Y:13.72, Z:12.87 [[ 9.94999295e-01 -9.32395157e-02 -3.58161416e-02 3.63760968e+02] [ 9.32406324e-02 9.95642248e-01 -1.64276422e-03 1.37188695e+01] [ 3.58132343e-02 -1.70497045e-03 9.99357046e-01 1.28701551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.79, Y:13.72, Z:12.87 [[ 9.95196500e-01 -9.11104962e-02 -3.58162630e-02 3.63792267e+02] [ 9.11103325e-02 9.95839454e-01 -1.64011236e-03 1.37216879e+01] [ 3.58166793e-02 -1.63099755e-03 9.99357046e-01 1.28712707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.82, Y:13.72, Z:12.87 [[ 9.95413495e-01 -8.87083020e-02 -3.58163533e-02 3.63824524e+02] [ 8.87066575e-02 9.96056447e-01 -1.63813835e-03 1.37245690e+01] [ 3.58204261e-02 -1.54652397e-03 9.99357046e-01 1.28729641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.86, Y:13.73, Z:12.87 [[ 9.95850150e-01 -8.36639680e-02 -3.58164738e-02 3.63856162e+02] [ 8.36591608e-02 9.96493086e-01 -1.63549881e-03 1.37285706e+01] [ 3.58277009e-02 -1.36766441e-03 9.99357046e-01 1.28739843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.89, Y:13.73, Z:12.88 [[ 9.96084149e-01 -8.08303091e-02 -3.58165941e-02 3.63887370e+02] [ 8.08237674e-02 9.96727070e-01 -1.63286070e-03 1.37311770e+01] [ 3.58313535e-02 -1.26836541e-03 9.99357046e-01 1.28752598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:13.73, Z:12.88 [[ 9.96268130e-01 -7.85300559e-02 -3.58167929e-02 3.63919731e+02] [ 7.85221868e-02 9.96911036e-01 -1.62848771e-03 1.37340845e+01] [ 3.58340414e-02 -1.19000250e-03 9.99357046e-01 1.28766570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.95, Y:13.74, Z:12.88 [[ 9.96645610e-01 -7.35844937e-02 -3.58169115e-02 3.63950827e+02] [ 7.35735277e-02 9.97288470e-01 -1.62587529e-03 1.37380028e+01] [ 3.58394321e-02 -1.01475507e-03 9.99357046e-01 1.28775830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.98, Y:13.74, Z:12.88 [[ 9.96807260e-01 -7.13612551e-02 -3.58169997e-02 3.63982224e+02] [ 7.13489250e-02 9.97450096e-01 -1.62393019e-03 1.37405923e+01] [ 3.58415555e-02 -9.36759024e-04 9.99357046e-01 1.28788398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.01, Y:13.74, Z:12.88 [[ 9.96963000e-01 -6.91513891e-02 -3.58170581e-02 3.64012471e+02] [ 6.91376802e-02 9.97605808e-01 -1.62264217e-03 1.37430068e+01] [ 3.58435131e-02 -8.58594106e-04 9.99357046e-01 1.28793570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.04, Y:13.75, Z:12.88 [[ 9.97123454e-01 -6.67978536e-02 -3.58170870e-02 3.64044086e+02] [ 6.67826504e-02 9.97766229e-01 -1.62200264e-03 1.37453373e+01] [ 3.58454261e-02 -7.74623124e-04 9.99357046e-01 1.28801401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.07, Y:13.75, Z:12.88 [[ 9.97429409e-01 -6.20621242e-02 -3.58171436e-02 3.64074947e+02] [ 6.20439137e-02 9.98072105e-01 -1.62075289e-03 1.37480494e+01] [ 3.58486792e-02 -6.05649171e-04 9.99357046e-01 1.28811843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.10, Y:13.75, Z:12.88 [[ 9.97580151e-01 -5.95900112e-02 -3.58172019e-02 3.64104296e+02] [ 5.95702543e-02 9.98222802e-01 -1.61946350e-03 1.37503789e+01] [ 3.58500515e-02 -5.18095179e-04 9.99357046e-01 1.28821008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:13.75, Z:12.88 [[ 9.97745332e-01 -5.67572479e-02 -3.58171433e-02 3.64134149e+02] [ 5.67356198e-02 9.98387922e-01 -1.62075801e-03 1.37525551e+01] [ 3.58513930e-02 -4.15004090e-04 9.99357046e-01 1.28830710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.16, Y:13.76, Z:12.88 [[ 9.98037536e-01 -5.13635404e-02 -3.58170852e-02 3.64163662e+02] [ 5.13383933e-02 9.98679998e-01 -1.62204134e-03 1.37555741e+01] [ 3.58531204e-02 -2.19933466e-04 9.99357046e-01 1.28843206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.19, Y:13.76, Z:12.89 [[ 9.98144588e-01 -4.92394320e-02 -3.58170273e-02 3.64192197e+02] [ 4.92128719e-02 9.98786993e-01 -1.62331769e-03 1.37573428e+01] [ 3.58535123e-02 -1.42353017e-04 9.99357046e-01 1.28859444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.22, Y:13.76, Z:12.89 [[ 9.98236703e-01 -4.73355636e-02 -3.58166134e-02 3.64219714e+02] [ 4.73074524e-02 9.98879042e-01 -1.63240091e-03 1.37590155e+01] [ 3.58537351e-02 -6.48702330e-05 9.99357046e-01 1.28869274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.25, Y:13.76, Z:12.89 [[ 9.98295798e-01 -4.60726100e-02 -3.58163916e-02 3.64247013e+02] [ 4.60435121e-02 9.98938093e-01 -1.63725143e-03 1.37604444e+01] [ 3.58537904e-02 -1.46512376e-05 9.99357046e-01 1.28881832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.27, Y:13.76, Z:12.89 [[ 9.98340757e-01 -4.50881604e-02 -3.58160572e-02 3.64274692e+02] [ 4.50581679e-02 9.98983011e-01 -1.64453406e-03 1.37610877e+01] [ 3.58537817e-02 2.79994604e-05 9.99357046e-01 1.28893718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.30, Y:13.76, Z:12.89 [[ 9.98298202e-01 -4.60211203e-02 -3.58155920e-02 3.64302809e+02] [ 4.59913667e-02 9.98940467e-01 -1.65460441e-03 1.37616365e+01] [ 3.58537910e-02 4.58058121e-06 9.99357046e-01 1.28903920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.33, Y:13.76, Z:12.89 [[ 9.98126986e-01 -4.95963337e-02 -3.58151181e-02 3.64330839e+02] [ 4.95685149e-02 9.98769338e-01 -1.66480025e-03 1.37611400e+01] [ 3.58536098e-02 -1.13620154e-04 9.99357046e-01 1.28911893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.36, Y:13.76, Z:12.89 [[ 9.97977892e-01 -5.25111029e-02 -3.58149712e-02 3.64358760e+02] [ 5.24850470e-02 9.98620317e-01 -1.66795402e-03 1.37613903e+01] [ 3.58531440e-02 -2.15169209e-04 9.99357046e-01 1.28920855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.39, Y:13.76, Z:12.89 [[ 9.97784551e-01 -5.60652493e-02 -3.58144998e-02 3.64387077e+02] [ 5.60411206e-02 9.98427051e-01 -1.67801551e-03 1.37613201e+01] [ 3.58522438e-02 -3.32786747e-04 9.99357046e-01 1.28927626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.42, Y:13.76, Z:12.89 [[ 9.97284752e-01 -6.43465564e-02 -3.58140270e-02 3.64415481e+02] [ 6.43274021e-02 9.97927420e-01 -1.68804751e-03 1.37591258e+01] [ 3.58484196e-02 -6.20359274e-04 9.99357046e-01 1.28928655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.45, Y:13.76, Z:12.89 [[ 9.97000251e-01 -6.86140413e-02 -3.58135959e-02 3.64445812e+02] [ 6.85973110e-02 9.97642987e-01 -1.69714463e-03 1.37587332e+01] [ 3.58456307e-02 -7.64662752e-04 9.99357046e-01 1.28932192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.48, Y:13.76, Z:12.89 [[ 9.96692741e-01 -7.29449384e-02 -3.58136264e-02 3.64475998e+02] [ 7.29310238e-02 9.97335544e-01 -1.69649989e-03 1.37586222e+01] [ 3.58419537e-02 -9.21035312e-04 9.99357046e-01 1.28942133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.51, Y:13.76, Z:12.89 [[ 9.96380369e-01 -7.70943846e-02 -3.58136264e-02 3.64507300e+02] [ 7.70831467e-02 9.97023225e-01 -1.69649989e-03 1.37584905e+01] [ 3.58378079e-02 -1.07026783e-03 9.99357046e-01 1.28944836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.54, Y:13.76, Z:12.90 [[ 9.96075634e-01 -8.09364442e-02 -3.58137184e-02 3.64538181e+02] [ 8.09277554e-02 9.96718529e-01 -1.69455580e-03 1.37582050e+01] [ 3.58333480e-02 -1.21041810e-03 9.99357046e-01 1.28958585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.57, Y:13.76, Z:12.90 [[ 9.95499932e-01 -8.77340213e-02 -3.58137795e-02 3.64569783e+02] [ 8.77297676e-02 9.96142872e-01 -1.69326421e-03 1.37569797e+01] [ 3.58241980e-02 -1.45629014e-03 9.99357046e-01 1.28968512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.60, Y:13.76, Z:12.90 [[ 9.95261227e-01 -9.04016427e-02 -3.58138709e-02 3.64601691e+02] [ 9.03991817e-02 9.95904176e-01 -1.69132835e-03 1.37574726e+01] [ 3.58200824e-02 -1.55423109e-03 9.99357046e-01 1.28979629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.63, Y:13.76, Z:12.90 [[ 9.95068353e-01 -9.25004364e-02 -3.58139932e-02 3.64632476e+02] [ 9.24994246e-02 9.95711306e-01 -1.68873391e-03 1.37581362e+01] [ 3.58166066e-02 -1.63236809e-03 9.99357046e-01 1.28990712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:13.76, Z:12.90 [[ 9.94719411e-01 -9.61802290e-02 -3.58141964e-02 3.64664755e+02] [ 9.61817504e-02 9.95362363e-01 -1.68441460e-03 1.37584115e+01] [ 3.58101105e-02 -1.76915220e-03 9.99357046e-01 1.29006930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.70, Y:13.76, Z:12.90 [[ 9.94570956e-01 -9.77033686e-02 -3.58143176e-02 3.64695584e+02] [ 9.77059673e-02 9.95213904e-01 -1.68183222e-03 1.37594938e+01] [ 3.58072275e-02 -1.82657106e-03 9.99357046e-01 1.29018536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.73, Y:13.76, Z:12.90 [[ 9.94474060e-01 -9.86847158e-02 -3.58144081e-02 3.64726261e+02] [ 9.86880181e-02 9.95117005e-01 -1.67990407e-03 1.37603214e+01] [ 3.58053073e-02 -1.86383193e-03 9.99357046e-01 1.29030216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.76, Y:13.76, Z:12.90 [[ 9.94370353e-01 -9.97242316e-02 -3.58144972e-02 3.64758482e+02] [ 9.97282743e-02 9.95013294e-01 -1.67800198e-03 1.37612226e+01] [ 3.58032383e-02 -1.90316258e-03 9.99357046e-01 1.29040523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.79, Y:13.76, Z:12.90 [[ 9.94249390e-01 -1.00923056e-01 -3.58146177e-02 3.64790745e+02] [ 1.00927967e-01 9.94892325e-01 -1.67542667e-03 1.37614459e+01] [ 3.58007774e-02 -1.94890458e-03 9.99357046e-01 1.29043195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.82, Y:13.76, Z:12.90 [[ 9.94225997e-01 -1.01153205e-01 -3.58147372e-02 3.64822066e+02] [ 1.01158356e-01 9.94868930e-01 -1.67286784e-03 1.37623198e+01] [ 3.58001852e-02 -1.95975124e-03 9.99357046e-01 1.29049912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.85, Y:13.76, Z:12.91 [[ 9.94234997e-01 -1.01064641e-01 -3.58149358e-02 3.64853979e+02] [ 1.01069888e-01 9.94877929e-01 -1.66860443e-03 1.37634217e+01] [ 3.58001261e-02 -1.96082664e-03 9.99357046e-01 1.29056610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.89, Y:13.77, Z:12.91 [[ 9.94305803e-01 -1.00365595e-01 -3.58150561e-02 3.64885703e+02] [ 1.00370483e-01 9.94948738e-01 -1.66601954e-03 1.37650039e+01] [ 3.58013559e-02 -1.93824157e-03 9.99357046e-01 1.29057171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.92, Y:13.77, Z:12.91 [[ 9.94436446e-01 -9.90627496e-02 -3.58151764e-02 3.64917887e+02] [ 9.90668881e-02 9.95079386e-01 -1.66342779e-03 1.37666328e+01] [ 3.58037275e-02 -1.89392486e-03 9.99357046e-01 1.29065937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.95, Y:13.77, Z:12.91 [[ 9.94443640e-01 -9.89904638e-02 -3.58152971e-02 3.64950525e+02] [ 9.89946491e-02 9.95086580e-01 -1.66082524e-03 1.37680876e+01] [ 3.58037274e-02 -1.89392568e-03 9.99357046e-01 1.29077651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.98, Y:13.77, Z:12.91 [[ 9.94569350e-01 -9.77193160e-02 -3.58154176e-02 3.64982855e+02] [ 9.77227729e-02 9.95212294e-01 -1.65822350e-03 1.37699777e+01] [ 3.58059843e-02 -1.85076365e-03 9.99357046e-01 1.29087254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.02, Y:13.77, Z:12.91 [[ 9.94927465e-01 -9.40031205e-02 -3.58155390e-02 3.65015056e+02] [ 9.40042698e-02 9.95570418e-01 -1.65559625e-03 1.37721852e+01] [ 3.58125223e-02 -1.71961541e-03 9.99357046e-01 1.29084953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.05, Y:13.77, Z:12.91 [[ 9.95113280e-01 -9.20152110e-02 -3.58156594e-02 3.65047296e+02] [ 9.20151695e-02 9.95756233e-01 -1.65298755e-03 1.37741131e+01] [ 3.58157661e-02 -1.65067411e-03 9.99357046e-01 1.29094128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:13.78, Z:12.91 [[ 9.95294075e-01 -9.00385138e-02 -3.58157810e-02 3.65079006e+02] [ 9.00372900e-02 9.95937028e-01 -1.65034950e-03 1.37763857e+01] [ 3.58188575e-02 -1.58217278e-03 9.99357046e-01 1.29104802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:13.78, Z:12.91 [[ 9.95754500e-01 -8.47950274e-02 -3.58159026e-02 3.65110462e+02] [ 8.47905121e-02 9.96397438e-01 -1.64770628e-03 1.37798292e+01] [ 3.58265909e-02 -1.39613777e-03 9.99357046e-01 1.29113939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:13.78, Z:12.91 [[ 9.96007142e-01 -8.17739490e-02 -3.58161057e-02 3.65142835e+02] [ 8.17676423e-02 9.96650065e-01 -1.64327803e-03 1.37825725e+01] [ 3.58305015e-02 -1.29188187e-03 9.99357046e-01 1.29129013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.17, Y:13.79, Z:12.91 [[ 9.96275909e-01 -7.84315685e-02 -3.58162251e-02 3.65173624e+02] [ 7.84231983e-02 9.96918808e-01 -1.64067151e-03 1.37852799e+01] [ 3.58345489e-02 -1.17426143e-03 9.99357046e-01 1.29142092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.21, Y:13.79, Z:12.92 [[ 9.96562424e-01 -7.47029214e-02 -3.58163139e-02 3.65205164e+02] [ 7.46922152e-02 9.97205289e-01 -1.63873099e-03 1.37879333e+01] [ 3.58386357e-02 -1.04210209e-03 9.99357046e-01 1.29156345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.24, Y:13.79, Z:12.92 [[ 9.97121529e-01 -6.68268916e-02 -3.58165092e-02 3.65235942e+02] [ 6.68112601e-02 9.97764293e-01 -1.63445258e-03 1.37917341e+01] [ 3.58456593e-02 -7.63198258e-04 9.99357046e-01 1.29174083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.27, Y:13.79, Z:12.92 [[ 9.97373547e-01 -6.29537997e-02 -3.58165671e-02 3.65266673e+02] [ 6.29357176e-02 9.98016246e-01 -1.63318242e-03 1.37944070e+01] [ 3.58483309e-02 -6.25248413e-04 9.99357046e-01 1.29191894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.30, Y:13.80, Z:12.92 [[ 9.97763413e-01 -5.64388683e-02 -3.58165671e-02 3.65295729e+02] [ 5.64165892e-02 9.98405980e-01 -1.63318242e-03 1.37978316e+01] [ 3.58516497e-02 -3.91118893e-04 9.99357046e-01 1.29218249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.32, Y:13.80, Z:12.92 [[ 9.97885199e-01 -5.42430491e-02 -3.58165074e-02 3.65324326e+02] [ 5.42193091e-02 9.98527714e-01 -1.63449135e-03 1.37998800e+01] [ 3.58524350e-02 -3.10911562e-04 9.99357046e-01 1.29229277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.35, Y:13.80, Z:12.92 [[ 9.97964965e-01 -5.27552246e-02 -3.58164184e-02 3.65353068e+02] [ 5.27304568e-02 9.98607441e-01 -1.63643860e-03 1.38013756e+01] [ 3.58528726e-02 -2.55507709e-04 9.99357046e-01 1.29240188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.38, Y:13.80, Z:12.93 [[ 9.98001054e-01 -5.20683088e-02 -3.58160099e-02 3.65380569e+02] [ 5.20427797e-02 9.98643501e-01 -1.64533101e-03 1.38026600e+01] [ 3.58530951e-02 -2.21922634e-04 9.99357046e-01 1.29252365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.41, Y:13.80, Z:12.93 [[ 9.97998150e-01 -5.21242729e-02 -3.58155294e-02 3.65407958e+02] [ 5.20984068e-02 9.98640583e-01 -1.65572464e-03 1.38038962e+01] [ 3.58531446e-02 -2.13521896e-04 9.99357047e-01 1.29259915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.44, Y:13.80, Z:12.93 [[ 9.97957761e-01 -5.28922459e-02 -3.58150466e-02 3.65436304e+02] [ 5.28665017e-02 9.98600199e-01 -1.66610375e-03 1.38047762e+01] [ 3.58530366e-02 -2.30715051e-04 9.99357047e-01 1.29266695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.46, Y:13.81, Z:12.93 [[ 9.97913685e-01 -5.37177293e-02 -3.58145635e-02 3.65463791e+02] [ 5.36921462e-02 9.98556129e-01 -1.67642303e-03 1.38058146e+01] [ 3.58529056e-02 -2.50035298e-04 9.99357047e-01 1.29274797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.49, Y:13.81, Z:12.93 [[ 9.97882708e-01 -5.42902720e-02 -3.58143377e-02 3.65492147e+02] [ 5.42648849e-02 9.98525160e-01 -1.68123357e-03 1.38066165e+01] [ 3.58527919e-02 -2.65787000e-04 9.99357047e-01 1.29282378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.52, Y:13.81, Z:12.93 [[ 9.97828154e-01 -5.52841648e-02 -3.58139131e-02 3.65520396e+02] [ 5.52590947e-02 9.98470618e-01 -1.69023106e-03 1.38069728e+01] [ 3.58525830e-02 -2.92484271e-04 9.99357047e-01 1.29284278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.55, Y:13.81, Z:12.93 [[ 9.97799892e-01 -5.57920288e-02 -3.58137626e-02 3.65548802e+02] [ 5.57671714e-02 9.98442364e-01 -1.69341469e-03 1.38075227e+01] [ 3.58524568e-02 -3.07543239e-04 9.99357047e-01 1.29295974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.58, Y:13.81, Z:12.93 [[ 9.97753161e-01 -5.66218521e-02 -3.58133390e-02 3.65577138e+02] [ 5.65972093e-02 9.98395642e-01 -1.70232456e-03 1.38084184e+01] [ 3.58522704e-02 -3.28435330e-04 9.99357047e-01 1.29307359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.61, Y:13.81, Z:12.93 [[ 9.97697982e-01 -5.75862150e-02 -3.58129149e-02 3.65606088e+02] [ 5.75618745e-02 9.98340474e-01 -1.71120218e-03 1.38092201e+01] [ 3.58520241e-02 -3.54195546e-04 9.99357047e-01 1.29321248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.63, Y:13.81, Z:12.93 [[ 9.97620672e-01 -5.89106183e-02 -3.58124810e-02 3.65634380e+02] [ 5.88868065e-02 9.98263184e-01 -1.72023439e-03 1.38089263e+01] [ 3.58516214e-02 -3.92741253e-04 9.99357047e-01 1.29336104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.66, Y:13.81, Z:12.94 [[ 9.97556328e-01 -5.99903784e-02 -3.58123888e-02 3.65663177e+02] [ 5.99671933e-02 9.98198863e-01 -1.72215143e-03 1.38092252e+01] [ 3.58511983e-02 -4.29625385e-04 9.99357047e-01 1.29350180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.69, Y:13.81, Z:12.94 [[ 9.97486464e-01 -6.11412808e-02 -3.58119734e-02 3.65692326e+02] [ 6.11185285e-02 9.98129015e-01 -1.73074611e-03 1.38095173e+01] [ 3.58507898e-02 -4.62379299e-04 9.99357047e-01 1.29364509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.72, Y:13.81, Z:12.94 [[ 9.97332107e-01 -6.36095445e-02 -3.58119145e-02 3.65722521e+02] [ 6.35883387e-02 9.97974711e-01 -1.73196428e-03 1.38077325e+01] [ 3.58495545e-02 -5.49876569e-04 9.99357047e-01 1.29381088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.75, Y:13.81, Z:12.94 [[ 9.97219214e-01 -6.53555641e-02 -3.58118559e-02 3.65752589e+02] [ 6.53354399e-02 9.97861852e-01 -1.73317603e-03 1.38076975e+01] [ 3.58485575e-02 -6.11426922e-04 9.99357047e-01 1.29403452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.78, Y:13.81, Z:12.94 [[ 9.97085296e-01 -6.73678540e-02 -3.58117935e-02 3.65783410e+02] [ 6.73489805e-02 9.97727972e-01 -1.73446378e-03 1.38077463e+01] [ 3.58472752e-02 -6.82479452e-04 9.99357047e-01 1.29418443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.81, Y:13.81, Z:12.94 [[ 9.96793429e-01 -7.15567975e-02 -3.58117935e-02 3.65814152e+02] [ 7.15406244e-02 9.97436179e-01 -1.73446378e-03 1.38058856e+01] [ 3.58440912e-02 -8.33095973e-04 9.99357047e-01 1.29436372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.84, Y:13.81, Z:12.94 [[ 9.96609917e-01 -7.40688067e-02 -3.58117935e-02 3.65844560e+02] [ 7.40542537e-02 9.97252706e-01 -1.73446378e-03 1.38055899e+01] [ 3.58418776e-02 -9.23431840e-04 9.99357047e-01 1.29446138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:13.81, Z:12.95 [[ 9.96395769e-01 -7.68959543e-02 -3.58117935e-02 3.65876361e+02] [ 7.68832249e-02 9.97038596e-01 -1.73446378e-03 1.38055537e+01] [ 3.58391136e-02 -1.02511381e-03 9.99357047e-01 1.29454436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.91, Y:13.80, Z:12.95 [[ 9.95910986e-01 -8.29386454e-02 -3.58118575e-02 3.65908016e+02] [ 8.29298631e-02 9.96553879e-01 -1.73314260e-03 1.38040796e+01] [ 3.58321900e-02 -1.24381668e-03 9.99357047e-01 1.29454280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.94, Y:13.80, Z:12.95 [[ 9.95665025e-01 -8.58409287e-02 -3.58119212e-02 3.65939136e+02] [ 8.58340675e-02 9.96307941e-01 -1.73182385e-03 1.38040718e+01] [ 3.58283629e-02 -1.34956643e-03 9.99357047e-01 1.29457253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.97, Y:13.80, Z:12.95 [[ 9.95393488e-01 -8.89342256e-02 -3.58121223e-02 3.65971417e+02] [ 8.89295118e-02 9.96036424e-01 -1.72765571e-03 1.38040895e+01] [ 3.58238259e-02 -1.46505731e-03 9.99357047e-01 1.29469694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.00, Y:13.80, Z:12.95 [[ 9.94943168e-01 -9.38380233e-02 -3.58122490e-02 3.66004064e+02] [ 9.38365723e-02 9.95586120e-01 -1.72502502e-03 1.38029588e+01] [ 3.58160510e-02 -1.64419683e-03 9.99357047e-01 1.29478971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:13.80, Z:12.95 [[ 9.94759823e-01 -9.57620396e-02 -3.58123759e-02 3.66035144e+02] [ 9.57619267e-02 9.95402776e-01 -1.72238608e-03 1.38035573e+01] [ 3.58126776e-02 -1.71610165e-03 9.99357047e-01 1.29479667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:13.80, Z:12.95 [[ 9.94635599e-01 -9.70437682e-02 -3.58124706e-02 3.66067620e+02] [ 9.70445546e-02 9.95278551e-01 -1.72041674e-03 1.38044446e+01] [ 3.58103395e-02 -1.76421752e-03 9.99357047e-01 1.29495962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.10, Y:13.81, Z:12.95 [[ 9.94561559e-01 -9.77996071e-02 -3.58125959e-02 3.66099490e+02] [ 9.78009760e-02 9.95204511e-01 -1.71780322e-03 1.38054748e+01] [ 3.58088575e-02 -1.79404578e-03 9.99357047e-01 1.29506779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:13.81, Z:12.95 [[ 9.94550152e-01 -9.79154934e-02 -3.58127212e-02 3.66131334e+02] [ 9.79170312e-02 9.95193103e-01 -1.71518634e-03 1.38069982e+01] [ 3.58085165e-02 -1.80083651e-03 9.99357047e-01 1.29522348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.16, Y:13.81, Z:12.95 [[ 9.94644682e-01 -9.69504826e-02 -3.58128460e-02 3.66162736e+02] [ 9.69514902e-02 9.95287635e-01 -1.71257755e-03 1.38087083e+01] [ 3.58101180e-02 -1.76870263e-03 9.99357047e-01 1.29544868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:13.81, Z:12.96 [[ 9.94718204e-01 -9.61931343e-02 -3.58130508e-02 3.66193759e+02] [ 9.61938066e-02 9.95361157e-01 -1.70828351e-03 1.38102800e+01] [ 3.58112449e-02 -1.74573298e-03 9.99357047e-01 1.29560367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.23, Y:13.81, Z:12.96 [[ 9.94870173e-01 -9.46084416e-02 -3.58131427e-02 3.66225716e+02] [ 9.46081590e-02 9.95513126e-01 -1.70635564e-03 1.38119439e+01] [ 3.58138893e-02 -1.69061316e-03 9.99357047e-01 1.29580744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.26, Y:13.81, Z:12.96 [[ 9.94934597e-01 -9.39284724e-02 -3.58132669e-02 3.66256880e+02] [ 9.39278442e-02 9.95577550e-01 -1.70374348e-03 1.38132136e+01] [ 3.58149146e-02 -1.66874962e-03 9.99357047e-01 1.29589815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:13.81, Z:12.96 [[ 9.94967439e-01 -9.35799007e-02 -3.58133593e-02 3.66288974e+02] [ 9.35791171e-02 9.95610392e-01 -1.70179941e-03 1.38145777e+01] [ 3.58154069e-02 -1.65814755e-03 9.99357047e-01 1.29602656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.32, Y:13.82, Z:12.96 [[ 9.94995559e-01 -9.32803919e-02 -3.58134786e-02 3.66320909e+02] [ 9.32795050e-02 9.95638512e-01 -1.69928497e-03 1.38158169e+01] [ 3.58157885e-02 -1.64988256e-03 9.99357047e-01 1.29615375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.35, Y:13.82, Z:12.96 [[ 9.94982626e-01 -9.34181945e-02 -3.58136019e-02 3.66353155e+02] [ 9.34174901e-02 9.95625579e-01 -1.69668254e-03 1.38166413e+01] [ 3.58154392e-02 -1.65744715e-03 9.99357047e-01 1.29625358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:13.82, Z:12.96 [[ 9.94962850e-01 -9.36285391e-02 -3.58137262e-02 3.66385783e+02] [ 9.36280650e-02 9.95605803e-01 -1.69405543e-03 1.38179267e+01] [ 3.58149656e-02 -1.66764767e-03 9.99357047e-01 1.29635310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:13.82, Z:12.96 [[ 9.94950890e-01 -9.37555008e-02 -3.58138495e-02 3.66418116e+02] [ 9.37552025e-02 9.95593843e-01 -1.69144434e-03 1.38191361e+01] [ 3.58146303e-02 -1.67483066e-03 9.99357047e-01 1.29644327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.45, Y:13.82, Z:12.96 [[ 9.95019480e-01 -9.30246938e-02 -3.58139729e-02 3.66449814e+02] [ 9.30240174e-02 9.95662433e-01 -1.68882708e-03 1.38203477e+01] [ 3.58157300e-02 -1.65114380e-03 9.99357047e-01 1.29643082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.48, Y:13.82, Z:12.97 [[ 9.95103595e-01 -9.21204975e-02 -3.58140951e-02 3.66481922e+02] [ 9.21193300e-02 9.95746547e-01 -1.68623182e-03 1.38218784e+01] [ 3.58170981e-02 -1.62119511e-03 9.99357047e-01 1.29652496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.51, Y:13.82, Z:12.97 [[ 9.95241882e-01 -9.06142246e-02 -3.58142173e-02 3.66512925e+02] [ 9.06121772e-02 9.95884832e-01 -1.68363377e-03 1.38237270e+01] [ 3.58193969e-02 -1.56958136e-03 9.99357047e-01 1.29661953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:13.83, Z:12.97 [[ 9.95668059e-01 -8.58047344e-02 -3.58143082e-02 3.66544701e+02] [ 8.57996503e-02 9.96310992e-01 -1.68169603e-03 1.38266341e+01] [ 3.58264864e-02 -1.39844410e-03 9.99357047e-01 1.29676542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:13.83, Z:12.97 [[ 9.95985907e-01 -8.20329186e-02 -3.58144294e-02 3.66575132e+02] [ 8.20254922e-02 9.96628817e-01 -1.67911147e-03 1.38290238e+01] [ 3.58314348e-02 -1.26532484e-03 9.99357047e-01 1.29686214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.61, Y:13.83, Z:12.97 [[ 9.96179083e-01 -7.96551977e-02 -3.58089990e-02 3.66606702e+02] [ 7.96420827e-02 9.96821909e-01 -1.79478081e-03 1.38313008e+01] [ 3.58381583e-02 -1.06398016e-03 9.99357040e-01 1.29701194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:13.83, Z:12.97 [[ 9.96447192e-01 -7.62254323e-02 -3.58144897e-02 3.66637743e+02] [ 7.62143136e-02 9.97090048e-01 -1.67756493e-03 1.38334055e+01] [ 3.58381443e-02 -1.05797188e-03 9.99357047e-01 1.29716940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.67, Y:13.84, Z:12.97 [[ 9.96971866e-01 -6.90247580e-02 -3.58145493e-02 3.66669248e+02] [ 6.90090412e-02 9.97614626e-01 -1.67629099e-03 1.38359820e+01] [ 3.58448238e-02 -8.00312752e-04 9.99357047e-01 1.29737082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:13.84, Z:12.98 [[ 9.97187853e-01 -6.58308396e-02 -3.58146094e-02 3.66699270e+02] [ 6.58131100e-02 9.97830561e-01 -1.67500699e-03 1.38382162e+01] [ 3.58471789e-02 -6.86774200e-04 9.99357047e-01 1.29752220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:13.84, Z:12.98 [[ 9.97362817e-01 -6.31247191e-02 -3.58145486e-02 3.66728772e+02] [ 6.31051990e-02 9.98005473e-01 -1.67630498e-03 1.38404297e+01] [ 3.58489318e-02 -5.88199958e-04 9.99357047e-01 1.29764474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:13.84, Z:12.98 [[ 9.97520097e-01 -6.05886023e-02 -3.58144879e-02 3.66758316e+02] [ 6.05674018e-02 9.98162700e-01 -1.67759994e-03 1.38423439e+01] [ 3.58503294e-02 -4.95750822e-04 9.99357047e-01 1.29774645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.79, Y:13.84, Z:12.98 [[ 9.97706858e-01 -5.74312849e-02 -3.58144275e-02 3.66786826e+02] [ 5.74080044e-02 9.98349389e-01 -1.67888956e-03 1.38436739e+01] [ 3.58517326e-02 -3.80995182e-04 9.99357047e-01 1.29782720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:13.84, Z:12.98 [[ 9.97715301e-01 -5.72844852e-02 -3.58143376e-02 3.66814775e+02] [ 5.72610415e-02 9.98357826e-01 -1.68080391e-03 1.38446389e+01] [ 3.58518082e-02 -3.73802498e-04 9.99357047e-01 1.29790990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.84, Y:13.85, Z:12.98 [[ 9.97699113e-01 -5.75660184e-02 -3.58138604e-02 3.66843130e+02] [ 5.75423932e-02 9.98341632e-01 -1.69091197e-03 1.38460474e+01] [ 3.58518069e-02 -3.73793864e-04 9.99357047e-01 1.29801202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.87, Y:13.85, Z:12.98 [[ 9.97656549e-01 -5.82993355e-02 -3.58133807e-02 3.66870685e+02] [ 5.82758200e-02 9.98299071e-01 -1.70101128e-03 1.38467663e+01] [ 3.58516325e-02 -3.90029086e-04 9.99357047e-01 1.29813417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.90, Y:13.85, Z:12.98 [[ 9.97507245e-01 -6.08007602e-02 -3.58128890e-02 3.66898935e+02] [ 6.07784866e-02 9.98149812e-01 -1.71130178e-03 1.38463064e+01] [ 3.58506769e-02 -4.69617269e-04 9.99357048e-01 1.29818160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.93, Y:13.85, Z:12.98 [[ 9.97399721e-01 -6.25401422e-02 -3.58123970e-02 3.66926927e+02] [ 6.25186217e-02 9.98042313e-01 -1.72153601e-03 1.38465496e+01] [ 3.58499527e-02 -5.21882167e-04 9.99357048e-01 1.29825716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.96, Y:13.85, Z:12.98 [[ 9.97250213e-01 -6.48806672e-02 -3.58121668e-02 3.66955492e+02] [ 6.48604834e-02 9.97892849e-01 -1.72631138e-03 1.38471563e+01] [ 3.58487094e-02 -6.01230059e-04 9.99357048e-01 1.29837010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:13.85, Z:12.98 [[ 9.97024680e-01 -6.82591260e-02 -3.58117229e-02 3.66983772e+02] [ 6.82407907e-02 9.97667371e-01 -1.73547147e-03 1.38465579e+01] [ 3.58466492e-02 -7.13512400e-04 9.99357048e-01 1.29838796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:13.85, Z:12.99 [[ 9.96939198e-01 -6.94965010e-02 -3.58116285e-02 3.67013044e+02] [ 6.94788936e-02 9.97581909e-01 -1.73741744e-03 1.38471217e+01] [ 3.58457772e-02 -7.56052777e-04 9.99357048e-01 1.29850272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:13.85, Z:12.99 [[ 9.96876189e-01 -7.03945660e-02 -3.58115653e-02 3.67042654e+02] [ 7.03774908e-02 9.97518915e-01 -1.73871948e-03 1.38478315e+01] [ 3.58451102e-02 -7.87040053e-04 9.99357048e-01 1.29858571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:13.85, Z:12.99 [[ 9.96766550e-01 -7.19303732e-02 -3.58115339e-02 3.67072766e+02] [ 7.19142650e-02 9.97409301e-01 -1.73936553e-03 1.38481069e+01] [ 3.58438702e-02 -8.41618766e-04 9.99357048e-01 1.29870817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.10, Y:13.85, Z:12.99 [[ 9.96696202e-01 -7.28986556e-02 -3.58115339e-02 3.67101714e+02] [ 7.28831719e-02 9.97338968e-01 -1.73936553e-03 1.38487537e+01] [ 3.58430357e-02 -8.76439166e-04 9.99357048e-01 1.29871908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:13.85, Z:12.99 [[ 9.96516839e-01 -7.53108976e-02 -3.58114397e-02 3.67132575e+02] [ 7.52969001e-02 9.97159639e-01 -1.74130345e-03 1.38489620e+01] [ 3.58408614e-02 -9.61252194e-04 9.99357048e-01 1.29889422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.16, Y:13.85, Z:12.99 [[ 9.96516839e-01 -7.53108976e-02 -3.58114397e-02 3.67163519e+02] [ 7.52969001e-02 9.97159639e-01 -1.74130345e-03 1.38504666e+01] [ 3.58408614e-02 -9.61252194e-04 9.99357048e-01 1.29900537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.19, Y:13.85, Z:12.99 [[ 9.96403674e-01 -7.67936087e-02 -3.58114397e-02 3.67193071e+02] [ 7.67805677e-02 9.97046495e-01 -1.74130345e-03 1.38513484e+01] [ 3.58393914e-02 -1.01458152e-03 9.99357048e-01 1.29912442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.22, Y:13.85, Z:12.99 [[ 9.96126397e-01 -8.03103122e-02 -3.58113764e-02 3.67223043e+02] [ 8.02994936e-02 9.96769258e-01 -1.74260492e-03 1.38512370e+01] [ 3.58356282e-02 -1.13978062e-03 9.99357048e-01 1.29917895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.25, Y:13.85, Z:12.99 [[ 9.95995478e-01 -8.19179763e-02 -3.58113449e-02 3.67253490e+02] [ 8.19081721e-02 9.96638356e-01 -1.74325151e-03 1.38517911e+01] [ 3.58337635e-02 -1.19697118e-03 9.99357048e-01 1.29928542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.28, Y:13.85, Z:12.99 [[ 9.95866233e-01 -8.34745125e-02 -3.58113449e-02 3.67283516e+02] [ 8.34657130e-02 9.96509125e-01 -1.74325151e-03 1.38524911e+01] [ 3.58318490e-02 -1.25297412e-03 9.99357048e-01 1.29940200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.31, Y:13.85, Z:13.00 [[ 9.95647490e-01 -8.60443073e-02 -3.58113449e-02 3.67314914e+02] [ 8.60371670e-02 9.96290403e-01 -1.74325151e-03 1.38527024e+01] [ 3.58284961e-02 -1.34544267e-03 9.99357048e-01 1.29950462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.35, Y:13.85, Z:13.00 [[ 9.95580084e-01 -8.68207259e-02 -3.58114083e-02 3.67345553e+02] [ 8.68141338e-02 9.96223003e-01 -1.74194745e-03 1.38534881e+01] [ 3.58273859e-02 -1.37468821e-03 9.99357048e-01 1.29956038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.38, Y:13.85, Z:13.00 [[ 9.95514731e-01 -8.75668991e-02 -3.58114398e-02 3.67375560e+02] [ 8.75608121e-02 9.96157654e-01 -1.74130008e-03 1.38539654e+01] [ 3.58263201e-02 -1.40218887e-03 9.99357048e-01 1.29958581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.41, Y:13.86, Z:13.00 [[ 9.95545243e-01 -8.72193084e-02 -3.58114703e-02 3.67406544e+02] [ 8.72130195e-02 9.96188165e-01 -1.74067347e-03 1.38552258e+01] [ 3.58267832e-02 -1.39030726e-03 9.99357048e-01 1.29967458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.44, Y:13.86, Z:13.00 [[ 9.95604963e-01 -8.65349175e-02 -3.58115320e-02 3.67438125e+02] [ 8.65282323e-02 9.96247881e-01 -1.73940177e-03 1.38564558e+01] [ 3.58276819e-02 -1.36695153e-03 9.99357048e-01 1.29979362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.47, Y:13.86, Z:13.00 [[ 9.95694917e-01 -8.54936350e-02 -3.58115957e-02 3.67468135e+02] [ 8.54863246e-02 9.96337828e-01 -1.73808927e-03 1.38577839e+01] [ 3.58290431e-02 -1.33079505e-03 9.99357048e-01 1.29989949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:13.86, Z:13.00 [[ 9.95938920e-01 -8.26026277e-02 -3.58116273e-02 3.67499316e+02] [ 8.25934742e-02 9.96581808e-01 -1.73743830e-03 1.38598500e+01] [ 3.58327333e-02 -1.22742429e-03 9.99357048e-01 1.30005818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.53, Y:13.86, Z:13.00 [[ 9.96079987e-01 -8.08837638e-02 -3.58116894e-02 3.67530957e+02] [ 8.08735469e-02 9.96722858e-01 -1.73615750e-03 1.38617415e+01] [ 3.58347564e-02 -1.16686660e-03 9.99357048e-01 1.30018239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:13.86, Z:13.00 [[ 9.96246878e-01 -7.88015011e-02 -3.58117525e-02 3.67561503e+02] [ 7.87899872e-02 9.96889727e-01 -1.73485537e-03 1.38639433e+01] [ 3.58370774e-02 -1.09326327e-03 9.99357048e-01 1.30025328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:13.87, Z:13.00 [[ 9.96426774e-01 -7.64931438e-02 -3.58117837e-02 3.67591517e+02] [ 7.64801637e-02 9.97069595e-01 -1.73421067e-03 1.38662370e+01] [ 3.58394959e-02 -1.01087714e-03 9.99357048e-01 1.30033046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:13.87, Z:13.00 [[ 9.96826580e-01 -7.10934943e-02 -3.58117837e-02 3.67620652e+02] [ 7.10770317e-02 9.97469322e-01 -1.73421067e-03 1.38699056e+01] [ 3.58444467e-02 -8.16687995e-04 9.99357048e-01 1.30040406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:13.87, Z:13.01 [[ 9.97017813e-01 -6.83593314e-02 -3.58117524e-02 3.67649984e+02] [ 6.83410828e-02 9.97660507e-01 -1.73485637e-03 1.38725163e+01] [ 3.58465647e-02 -7.17731232e-04 9.99357048e-01 1.30050770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:13.88, Z:13.01 [[ 9.97214147e-01 -6.54329308e-02 -3.58116897e-02 3.67679966e+02] [ 6.54127496e-02 9.97856782e-01 -1.73615068e-03 1.38751949e+01] [ 3.58485389e-02 -6.11227070e-04 9.99357048e-01 1.30061602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.71, Y:13.88, Z:13.01 [[ 9.97562563e-01 -5.98870555e-02 -3.58116267e-02 3.67709901e+02] [ 5.98632547e-02 9.98205075e-01 -1.73744801e-03 1.38786098e+01] [ 3.58513982e-02 -4.10587441e-04 9.99357048e-01 1.30070145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.74, Y:13.88, Z:13.01 [[ 9.97706581e-01 -5.74378850e-02 -3.58115633e-02 3.67737293e+02] [ 5.74124602e-02 9.98349030e-01 -1.73875381e-03 1.38807667e+01] [ 3.58523099e-02 -3.21263830e-04 9.99357048e-01 1.30076020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:13.88, Z:13.01 [[ 9.97829002e-01 -5.52704822e-02 -3.58114059e-02 3.67765235e+02] [ 5.52435457e-02 9.98471390e-01 -1.74198995e-03 1.38828634e+01] [ 3.58529449e-02 -2.40140949e-04 9.99357048e-01 1.30087996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:13.89, Z:13.01 [[ 9.98042815e-01 -5.12651649e-02 -3.58109164e-02 3.67793206e+02] [ 5.12352913e-02 9.98685073e-01 -1.75199677e-03 1.38851388e+01] [ 3.58536440e-02 -8.62149415e-05 9.99357048e-01 1.30106388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.82, Y:13.89, Z:13.01 [[ 9.98109356e-01 -4.99532535e-02 -3.58104056e-02 3.67820695e+02] [ 4.99221634e-02 9.98751557e-01 -1.76237454e-03 1.38867304e+01] [ 3.58537347e-02 -2.86903992e-05 9.99357048e-01 1.30116778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.85, Y:13.89, Z:13.01 [[ 9.98161975e-01 -4.88909376e-02 -3.58098893e-02 3.67847545e+02] [ 4.88587898e-02 9.98804123e-01 -1.77280457e-03 1.38879617e+01] [ 3.58537391e-02 1.99182608e-05 9.99357048e-01 1.30127936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.87, Y:13.89, Z:13.01 [[ 9.98191791e-01 -4.82785320e-02 -3.58096652e-02 3.67874676e+02] [ 4.82458283e-02 9.98833911e-01 -1.77731835e-03 1.38879347e+01] [ 3.58537143e-02 4.64376270e-05 9.99357048e-01 1.30133939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.90, Y:13.89, Z:13.01 [[ 9.98148665e-01 -4.91622371e-02 -3.58094427e-02 3.67902503e+02] [ 4.91299414e-02 9.98790806e-01 -1.78179141e-03 1.38883136e+01] [ 3.58537390e-02 1.91768973e-05 9.99357048e-01 1.30143807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:13.89, Z:13.01 [[ 9.98100958e-01 -5.01218337e-02 -3.58089210e-02 3.67929815e+02] [ 5.00897814e-02 9.98743111e-01 -1.79221463e-03 1.38883941e+01] [ 3.58537422e-02 -4.84988246e-06 9.99357048e-01 1.30148587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:13.89, Z:13.02 [[ 9.98018231e-01 -5.17430915e-02 -3.58086946e-02 3.67957309e+02] [ 5.17119205e-02 9.98660427e-01 -1.79672638e-03 1.38884275e+01] [ 3.58536945e-02 -5.85706871e-05 9.99357048e-01 1.30157045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.99, Y:13.89, Z:13.02 [[ 9.97922972e-01 -5.35491914e-02 -3.58081818e-02 3.67985599e+02] [ 5.35188180e-02 9.98565206e-01 -1.80689010e-03 1.38889282e+01] [ 3.58535619e-02 -1.13274421e-04 9.99357048e-01 1.30166224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:13.89, Z:13.02 [[ 9.97682499e-01 -5.78570927e-02 -3.58076506e-02 3.68012684e+02] [ 5.78291167e-02 9.98324842e-01 -1.81735657e-03 1.38881257e+01] [ 3.58528141e-02 -2.57579958e-04 9.99357048e-01 1.30170508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:13.89, Z:13.02 [[ 9.97527225e-01 -6.04753125e-02 -3.58074195e-02 3.68040153e+02] [ 6.04488595e-02 9.98169633e-01 -1.82189696e-03 1.38882799e+01] [ 3.58520586e-02 -3.47125850e-04 9.99357048e-01 1.30177109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:13.89, Z:13.02 [[ 9.97130919e-01 -6.66916511e-02 -3.58071908e-02 3.68068200e+02] [ 6.66690416e-02 9.97773473e-01 -1.82638196e-03 1.38864243e+01] [ 3.58492695e-02 -5.66089170e-04 9.99357048e-01 1.30184602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.10, Y:13.89, Z:13.02 [[ 9.96869858e-01 -7.04866625e-02 -3.58066634e-02 3.68096999e+02] [ 7.04661298e-02 9.97512482e-01 -1.83666432e-03 1.38861357e+01] [ 3.58470540e-02 -6.92241683e-04 9.99357048e-01 1.30197924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:13.89, Z:13.02 [[ 9.96602594e-01 -7.41699869e-02 -3.58061959e-02 3.68125463e+02] [ 7.41515034e-02 9.97245280e-01 -1.84573236e-03 1.38863117e+01] [ 3.58444578e-02 -8.15621601e-04 9.99357048e-01 1.30207299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.16, Y:13.89, Z:13.02 [[ 9.96038163e-01 -8.13996346e-02 -3.58060965e-02 3.68155374e+02] [ 8.13857459e-02 9.96680965e-01 -1.84765938e-03 1.38856278e+01] [ 3.58376536e-02 -1.07376662e-03 9.99357048e-01 1.30212413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:13.89, Z:13.02 [[ 9.95722751e-01 -8.51711877e-02 -3.58060312e-02 3.68184667e+02] [ 8.51596881e-02 9.96365600e-01 -1.84892382e-03 1.38862023e+01] [ 3.58333728e-02 -1.20821494e-03 9.99357048e-01 1.30219370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.21, Y:13.89, Z:13.02 [[ 9.95015524e-01 -9.30700839e-02 -3.58059656e-02 3.68213888e+02] [ 9.30636404e-02 9.95658443e-01 -1.85019405e-03 1.38854336e+01] [ 3.58227096e-02 -1.49126170e-03 9.99357048e-01 1.30225307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:13.89, Z:13.02 [[ 9.94635001e-01 -9.70523046e-02 -3.58059329e-02 3.68244941e+02] [ 9.70484120e-02 9.95277941e-01 -1.85082489e-03 1.38860638e+01] [ 3.58164820e-02 -1.63401371e-03 9.99357048e-01 1.30233041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:13.89, Z:13.02 [[ 9.94260494e-01 -1.00816666e-01 -3.58059989e-02 3.68274968e+02] [ 1.00815253e-01 9.94903444e-01 -1.84954778e-03 1.38865527e+01] [ 3.58099769e-02 -1.77085856e-03 9.99357048e-01 1.30237481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:13.89, Z:13.02 [[ 9.93908950e-01 -1.04225366e-01 -3.58060317e-02 3.68306121e+02] [ 1.04226181e-01 9.94551902e-01 -1.84891332e-03 1.38873413e+01] [ 3.58036606e-02 -1.89427443e-03 9.99357048e-01 1.30247931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.34, Y:13.89, Z:13.03 [[ 9.93299558e-01 -1.09881348e-01 -3.58060968e-02 3.68337893e+02] [ 1.09885868e-01 9.93942494e-01 -1.84765206e-03 1.38890363e+01] [ 3.57922236e-02 -2.09931203e-03 9.99357048e-01 1.30260770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:13.89, Z:13.03 [[ 9.93107917e-01 -1.11600084e-01 -3.58062279e-02 3.68369673e+02] [ 1.11605808e-01 9.93750844e-01 -1.84510666e-03 1.38910476e+01] [ 3.57883833e-02 -2.16379296e-03 9.99357048e-01 1.30271347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.40, Y:13.89, Z:13.03 [[ 9.92963803e-01 -1.12875107e-01 -3.58063583e-02 3.68401177e+02] [ 1.12881747e-01 9.93606721e-01 -1.84257262e-03 1.38933599e+01] [ 3.57854189e-02 -2.21227637e-03 9.99357048e-01 1.30286269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:13.90, Z:13.03 [[ 9.92914575e-01 -1.13307304e-01 -3.58064554e-02 3.68433518e+02] [ 1.13314292e-01 9.93557489e-01 -1.84068392e-03 1.38956006e+01] [ 3.57843349e-02 -2.22974126e-03 9.99357048e-01 1.30299153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:13.90, Z:13.03 [[ 9.92978846e-01 -1.12742623e-01 -3.58065833e-02 3.68466022e+02] [ 1.12749335e-01 9.93621763e-01 -1.83819359e-03 1.38987571e+01] [ 3.57854432e-02 -2.21188109e-03 9.99357048e-01 1.30312966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.50, Y:13.90, Z:13.03 [[ 9.93084645e-01 -1.11806826e-01 -3.58067187e-02 3.68497200e+02] [ 1.11813027e-01 9.93727567e-01 -1.83555220e-03 1.39012057e+01] [ 3.57873507e-02 -2.18079890e-03 9.99357048e-01 1.30315828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.53, Y:13.91, Z:13.03 [[ 9.93383684e-01 -1.09117958e-01 -3.58068194e-02 3.68529482e+02] [ 1.09122489e-01 9.94026620e-01 -1.83358508e-03 1.39064321e+01] [ 3.57930087e-02 -2.08587574e-03 9.99357048e-01 1.30315536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.56, Y:13.91, Z:13.03 [[ 9.93550632e-01 -1.07587193e-01 -3.58069531e-02 3.68560662e+02] [ 1.07590828e-01 9.94193573e-01 -1.83096945e-03 1.39104809e+01] [ 3.57960316e-02 -2.03333887e-03 9.99357048e-01 1.30314530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.59, Y:13.91, Z:13.03 [[ 9.93763696e-01 -1.05601001e-01 -3.58070527e-02 3.68592569e+02] [ 1.05603421e-01 9.94406643e-01 -1.82902033e-03 1.39142452e+01] [ 3.57999175e-02 -1.96373325e-03 9.99357048e-01 1.30329821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.62, Y:13.92, Z:13.03 [[ 9.93987242e-01 -1.03475637e-01 -3.58071877e-02 3.68623989e+02] [ 1.03476777e-01 9.94630193e-01 -1.82637288e-03 1.39183837e+01] [ 3.58038952e-02 -1.88982102e-03 9.99357048e-01 1.30338270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.66, Y:13.92, Z:13.03 [[ 9.94286599e-01 -1.00559623e-01 -3.58039370e-02 3.68656294e+02] [ 1.00556585e-01 9.94929546e-01 -1.89015315e-03 1.39244909e+01] [ 3.58124678e-02 -1.72096769e-03 9.99357046e-01 1.30346436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.69, Y:13.93, Z:13.04 [[ 9.94435730e-01 -9.90727324e-02 -3.58074276e-02 3.68687886e+02] [ 9.90711982e-02 9.95078680e-01 -1.82153651e-03 1.39284249e+01] [ 3.58116724e-02 -1.73608377e-03 9.99357048e-01 1.30359460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.72, Y:13.93, Z:13.04 [[ 9.94609113e-01 -9.73166518e-02 -3.58075605e-02 3.68720242e+02] [ 9.73140762e-02 9.95252060e-01 -1.81892112e-03 1.39324540e+01] [ 3.58145596e-02 -1.67546414e-03 9.99357048e-01 1.30374771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.75, Y:13.94, Z:13.04 [[ 9.95001070e-01 -9.32238211e-02 -3.58076924e-02 3.68751009e+02] [ 9.32186938e-02 9.95644001e-01 -1.81631995e-03 1.39394077e+01] [ 3.58210384e-02 -1.53070602e-03 9.99357048e-01 1.30381164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.78, Y:13.94, Z:13.04 [[ 9.95007622e-01 -9.31538156e-02 -3.58077907e-02 3.68783638e+02] [ 9.31487127e-02 9.95650554e-01 -1.81438071e-03 1.39410001e+01] [ 3.58210631e-02 -1.53012697e-03 9.99357048e-01 1.30392879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.82, Y:13.95, Z:13.04 [[ 9.95252306e-01 -9.05021610e-02 -3.58079181e-02 3.68815482e+02] [ 9.04954354e-02 9.95895222e-01 -1.81186226e-03 1.39452371e+01] [ 3.58249120e-02 -1.43719305e-03 9.99357048e-01 1.30409068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.85, Y:13.95, Z:13.04 [[ 9.95835039e-01 -8.38472342e-02 -3.58080511e-02 3.68846705e+02] [ 8.38363056e-02 9.96477898e-01 -1.80922961e-03 1.39523203e+01] [ 3.58336304e-02 -1.20032048e-03 9.99357048e-01 1.30425270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.88, Y:13.95, Z:13.04 [[ 9.95841078e-01 -8.37753816e-02 -3.58082692e-02 3.68879336e+02] [ 8.37645620e-02 9.96483939e-01 -1.80490346e-03 1.39539059e+01] [ 3.58335716e-02 -1.20206698e-03 9.99357048e-01 1.30436979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.91, Y:13.96, Z:13.05 [[ 9.96474509e-01 -7.58703624e-02 -3.58083990e-02 3.68910047e+02] [ 7.58545345e-02 9.97117266e-01 -1.80232369e-03 1.39605400e+01] [ 3.58419159e-02 -9.20259827e-04 9.99357048e-01 1.30453824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.94, Y:13.96, Z:13.05 [[ 9.96770065e-01 -7.18831762e-02 -3.58084648e-02 3.68940210e+02] [ 7.18648238e-02 9.97412755e-01 -1.80101679e-03 1.39643892e+01] [ 3.58452823e-02 -7.78169387e-04 9.99357048e-01 1.30465537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.97, Y:13.97, Z:13.05 [[ 9.97012567e-01 -6.84375069e-02 -3.58084974e-02 3.68971765e+02] [ 6.84169565e-02 9.97655190e-01 -1.80036886e-03 1.39682024e+01] [ 3.58477460e-02 -6.54918027e-04 9.99357048e-01 1.30478350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.00, Y:13.97, Z:13.05 [[ 9.97227124e-01 -6.52365737e-02 -3.58085619e-02 3.69002425e+02] [ 6.52140067e-02 9.97869679e-01 -1.79908345e-03 1.39721237e+01] [ 3.58496442e-02 -5.41124982e-04 9.99357048e-01 1.30491221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.03, Y:13.98, Z:13.05 [[ 9.97525994e-01 -6.04949402e-02 -3.58085619e-02 3.69031593e+02] [ 6.04693187e-02 9.98168435e-01 -1.79908345e-03 1.39769648e+01] [ 3.58518117e-02 -3.70686835e-04 9.99357048e-01 1.30497580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.06, Y:13.98, Z:13.05 [[ 9.97579620e-01 -5.96041129e-02 -3.58085299e-02 3.69059680e+02] [ 5.95778948e-02 9.98222037e-01 -1.79972180e-03 1.39795226e+01] [ 3.58521344e-02 -3.38031036e-04 9.99357048e-01 1.30502311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.09, Y:13.98, Z:13.05 [[ 9.97580048e-01 -5.95970135e-02 -3.58084344e-02 3.69089506e+02] [ 5.95707227e-02 9.98222462e-01 -1.80161796e-03 1.39817471e+01] [ 3.58521546e-02 -3.35876185e-04 9.99357048e-01 1.30514813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.12, Y:13.98, Z:13.05 [[ 9.97560417e-01 -5.99247414e-02 -3.58083695e-02 3.69119404e+02] [ 5.98986154e-02 9.98202838e-01 -1.80290736e-03 1.39838154e+01] [ 3.58520548e-02 -3.46362733e-04 9.99357048e-01 1.30526529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.15, Y:13.99, Z:13.05 [[ 9.97404894e-01 -6.24599370e-02 -3.58083049e-02 3.69147591e+02] [ 6.24353978e-02 9.98047377e-01 -1.80419025e-03 1.39859901e+01] [ 3.58510744e-02 -4.36197576e-04 9.99357048e-01 1.30534470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.18, Y:13.99, Z:13.05 [[ 9.97310425e-01 -6.39506686e-02 -3.58082086e-02 3.69178175e+02] [ 6.39270211e-02 9.97952942e-01 -1.80609907e-03 1.39876628e+01] [ 3.58504084e-02 -4.87870673e-04 9.99357048e-01 1.30546437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.21, Y:13.99, Z:13.06 [[ 9.97054492e-01 -6.78241316e-02 -3.58082086e-02 3.69208892e+02] [ 6.78029802e-02 9.97697095e-01 -1.80609907e-03 1.39893117e+01] [ 3.58482428e-02 -6.27124063e-04 9.99357048e-01 1.30559097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.24, Y:13.99, Z:13.06 [[ 9.96934148e-01 -6.95706646e-02 -3.58082086e-02 3.69239499e+02] [ 6.95506389e-02 9.97576787e-01 -1.80609907e-03 1.39908319e+01] [ 3.58470892e-02 -6.89921944e-04 9.99357048e-01 1.30569295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.27, Y:13.99, Z:13.06 [[ 9.96791606e-01 -7.15839629e-02 -3.58082410e-02 3.69271257e+02] [ 7.15652582e-02 9.97434286e-01 -1.80545620e-03 1.39924038e+01] [ 3.58456090e-02 -7.62962428e-04 9.99357048e-01 1.30580797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.30, Y:13.99, Z:13.06 [[ 9.96646155e-01 -7.35812964e-02 -3.58083066e-02 3.69301324e+02] [ 7.35639263e-02 9.97288872e-01 -1.80415475e-03 1.39938506e+01] [ 3.58439777e-02 -8.36095734e-04 9.99357048e-01 1.30593243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.33, Y:14.00, Z:13.06 [[ 9.96335428e-01 -7.76754687e-02 -3.58083392e-02 3.69332691e+02] [ 7.76607626e-02 9.96978211e-01 -1.80350833e-03 1.39955999e+01] [ 3.58402223e-02 -9.84003682e-04 9.99357048e-01 1.30600317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.36, Y:14.00, Z:13.06 [[ 9.96141267e-01 -8.01269862e-02 -3.58084038e-02 3.69364858e+02] [ 8.01139081e-02 9.96784086e-01 -1.80222414e-03 1.39973148e+01] [ 3.58376538e-02 -1.07348133e-03 9.99357048e-01 1.30612059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.40, Y:14.00, Z:13.06 [[ 9.95960446e-01 -8.23440290e-02 -3.58085351e-02 3.69395696e+02] [ 8.23324756e-02 9.96603294e-01 -1.79961121e-03 1.39988821e+01] [ 3.58350913e-02 -1.15586376e-03 9.99357048e-01 1.30617177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.43, Y:14.00, Z:13.06 [[ 9.95570070e-01 -8.69366297e-02 -3.58086328e-02 3.69427922e+02] [ 8.69281112e-02 9.96212965e-01 -1.79766492e-03 1.40005131e+01] [ 3.58293072e-02 -1.32307542e-03 9.99357048e-01 1.30625429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.46, Y:14.00, Z:13.06 [[ 9.95400390e-01 -8.88582939e-02 -3.58087606e-02 3.69460426e+02] [ 8.88511080e-02 9.96043301e-01 -1.79511667e-03 1.40021955e+01] [ 3.58265871e-02 -1.39478822e-03 9.99357048e-01 1.30638687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.49, Y:14.00, Z:13.07 [[ 9.95257592e-01 -9.04436271e-02 -3.58088899e-02 3.69492962e+02] [ 9.04375580e-02 9.95900515e-01 -1.79253251e-03 1.40039420e+01] [ 3.58242150e-02 -1.45443698e-03 9.99357048e-01 1.30650804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.52, Y:14.01, Z:13.07 [[ 9.95122456e-01 -9.19185010e-02 -3.58090197e-02 3.69523865e+02] [ 9.19134780e-02 9.95765388e-01 -1.78993622e-03 1.40061004e+01] [ 3.58219107e-02 -1.51012581e-03 9.99357048e-01 1.30662522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.56, Y:14.01, Z:13.07 [[ 9.94914094e-01 -9.41469264e-02 -3.58092350e-02 3.69555909e+02] [ 9.41434985e-02 9.95557037e-01 -1.78561751e-03 1.40089052e+01] [ 3.58182463e-02 -1.59467064e-03 9.99357048e-01 1.30677013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.59, Y:14.01, Z:13.07 [[ 9.94824275e-01 -9.50912751e-02 -3.58093628e-02 3.69587193e+02] [ 9.50885496e-02 9.95467221e-01 -1.78305099e-03 1.40109296e+01] [ 3.58165995e-02 -1.63123797e-03 9.99357048e-01 1.30686003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.62, Y:14.01, Z:13.07 [[ 9.94747518e-01 -9.58908641e-02 -3.58094580e-02 3.69619488e+02] [ 9.58887241e-02 9.95390466e-01 -1.78113723e-03 1.40128706e+01] [ 3.58151879e-02 -1.66194141e-03 9.99357048e-01 1.30698163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.65, Y:14.02, Z:13.07 [[ 9.94579749e-01 -9.76155556e-02 -3.58095859e-02 3.69651647e+02] [ 9.76146230e-02 9.95222700e-01 -1.77856337e-03 1.40153628e+01] [ 3.58121282e-02 -1.72661611e-03 9.99357048e-01 1.30701739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.68, Y:14.02, Z:13.07 [[ 9.94519261e-01 -9.82298534e-02 -3.58097133e-02 3.69684426e+02] [ 9.82294102e-02 9.95162212e-01 -1.77599439e-03 1.40176409e+01] [ 3.58109292e-02 -1.75130639e-03 9.99357048e-01 1.30713449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.72, Y:14.02, Z:13.07 [[ 9.94474276e-01 -9.86841676e-02 -3.58099058e-02 3.69716071e+02] [ 9.86841578e-02 9.95117228e-01 -1.77210454e-03 1.40202180e+01] [ 3.58099328e-02 -1.77155801e-03 9.99357048e-01 1.30723152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.75, Y:14.02, Z:13.07 [[ 9.94394350e-01 -9.94862622e-02 -3.58100648e-02 3.69748622e+02] [ 9.94868867e-02 9.95037301e-01 -1.76888467e-03 1.40235005e+01] [ 3.58083300e-02 -1.80366294e-03 9.99357048e-01 1.30730265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.78, Y:14.03, Z:13.07 [[ 9.94357779e-01 -9.98510728e-02 -3.58101914e-02 3.69781628e+02] [ 9.98520253e-02 9.95000730e-01 -1.76631889e-03 1.40258210e+01] [ 3.58075354e-02 -1.81936721e-03 9.99357048e-01 1.30741196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.81, Y:14.03, Z:13.07 [[ 9.94328519e-01 -1.00141959e-01 -3.58103846e-02 3.69813973e+02] [ 1.00143240e-01 9.94971470e-01 -1.76239312e-03 1.40281621e+01] [ 3.58068005e-02 -1.83377020e-03 9.99357048e-01 1.30746561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.85, Y:14.03, Z:13.07 [[ 9.94271126e-01 -1.00710144e-01 -3.58105441e-02 3.69845830e+02] [ 1.00711909e-01 9.94914075e-01 -1.75914646e-03 1.40311011e+01] [ 3.58055782e-02 -1.85747973e-03 9.99357048e-01 1.30749197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.88, Y:14.03, Z:13.08 [[ 9.94247504e-01 -1.00943034e-01 -3.58106697e-02 3.69878340e+02] [ 1.00945042e-01 9.94890453e-01 -1.75658550e-03 1.40333604e+01] [ 3.58050085e-02 -1.86842882e-03 9.99357048e-01 1.30757114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.91, Y:14.04, Z:13.08 [[ 9.94263333e-01 -1.00786942e-01 -3.58108595e-02 3.69910942e+02] [ 1.00788989e-01 9.94906281e-01 -1.75270673e-03 1.40356629e+01] [ 3.58050990e-02 -1.86668828e-03 9.99357048e-01 1.30769786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.94, Y:14.04, Z:13.08 [[ 9.94314677e-01 -1.00279067e-01 -3.58110481e-02 3.69942105e+02] [ 1.00280924e-01 9.94957626e-01 -1.74884540e-03 1.40380796e+01] [ 3.58058480e-02 -1.85226235e-03 9.99357048e-01 1.30777666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.97, Y:14.04, Z:13.08 [[ 9.94547966e-01 -9.79382717e-02 -3.58111441e-02 3.69972780e+02] [ 9.79386858e-02 9.95190917e-01 -1.74687804e-03 1.40419791e+01] [ 3.58100115e-02 -1.76994239e-03 9.99357048e-01 1.30785060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.01, Y:14.04, Z:13.08 [[ 9.94736154e-01 -9.60079703e-02 -3.58113491e-02 3.70005580e+02] [ 9.60072880e-02 9.95379106e-01 -1.74266423e-03 1.40447757e+01] [ 3.58131783e-02 -1.70465939e-03 9.99357049e-01 1.30803674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.04, Y:14.05, Z:13.08 [[ 9.94947255e-01 -9.37949541e-02 -3.58115409e-02 3.70038594e+02] [ 9.37929834e-02 9.95590203e-01 -1.73871463e-03 1.40475459e+01] [ 3.58167019e-02 -1.62894191e-03 9.99357049e-01 1.30820404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.07, Y:14.05, Z:13.08 [[ 9.95218619e-01 -9.08703501e-02 -3.58117332e-02 3.70069759e+02] [ 9.08666323e-02 9.95861560e-01 -1.73474466e-03 1.40501828e+01] [ 3.58211653e-02 -1.52764141e-03 9.99357049e-01 1.30836820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.10, Y:14.05, Z:13.09 [[ 9.95736421e-01 -8.50087302e-02 -3.58119418e-02 3.70100934e+02] [ 8.50013819e-02 9.96379331e-01 -1.73042657e-03 1.40545982e+01] [ 3.58293800e-02 -1.32101579e-03 9.99357049e-01 1.30857729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.13, Y:14.06, Z:13.09 [[ 9.96019954e-01 -8.16195375e-02 -3.58120357e-02 3.70132618e+02] [ 8.16100711e-02 9.96662836e-01 -1.72848174e-03 1.40573535e+01] [ 3.58336030e-02 -1.20102047e-03 9.99357049e-01 1.30872485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.16, Y:14.06, Z:13.09 [[ 9.96298575e-01 -7.81449875e-02 -3.58121566e-02 3.70164176e+02] [ 7.81333689e-02 9.96941421e-01 -1.72597412e-03 1.40599362e+01] [ 3.58374985e-02 -1.07853888e-03 9.99357049e-01 1.30891062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.20, Y:14.06, Z:13.09 [[ 9.96764700e-01 -7.19556552e-02 -3.58122513e-02 3.70196155e+02] [ 7.19401148e-02 9.97407463e-01 -1.72400670e-03 1.40640008e+01] [ 3.58434587e-02 -8.57908452e-04 9.99357049e-01 1.30903304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.23, Y:14.07, Z:13.09 [[ 9.96992092e-01 -6.87331216e-02 -3.58123761e-02 3.70227684e+02] [ 6.87155968e-02 9.97634805e-01 -1.72140907e-03 1.40666768e+01] [ 3.58459907e-02 -7.44637574e-04 9.99357049e-01 1.30914781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.26, Y:14.07, Z:13.09 [[ 9.97184281e-01 -6.58860914e-02 -3.58124691e-02 3.70259158e+02] [ 6.58668009e-02 9.97826943e-01 -1.71947328e-03 1.40692362e+01] [ 3.58479359e-02 -6.44221048e-04 9.99357049e-01 1.30926408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.29, Y:14.07, Z:13.09 [[ 9.97353907e-01 -6.32664749e-02 -3.58125310e-02 3.70289970e+02] [ 6.32455427e-02 9.97996518e-01 -1.71818351e-03 1.40713589e+01] [ 3.58494846e-02 -5.51345915e-04 9.99357049e-01 1.30939439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.32, Y:14.07, Z:13.09 [[ 9.97650241e-01 -5.84076667e-02 -3.58125935e-02 3.70321575e+02] [ 5.83836515e-02 9.98292743e-01 -1.71687940e-03 1.40738338e+01] [ 3.58517311e-02 -3.78024825e-04 9.99357049e-01 1.30946580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.35, Y:14.08, Z:13.10 [[ 9.97766553e-01 -5.63858026e-02 -3.58126557e-02 3.70352178e+02] [ 5.63605319e-02 9.98409008e-01 -1.71558140e-03 1.40758191e+01] [ 3.58524124e-02 -3.06670586e-04 9.99357049e-01 1.30953106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.38, Y:14.08, Z:13.10 [[ 9.97858855e-01 -5.47280485e-02 -3.58126557e-02 3.70382976e+02] [ 5.47017105e-02 9.98501267e-01 -1.71558140e-03 1.40777530e+01] [ 3.58528725e-02 -2.47105436e-04 9.99357049e-01 1.30959342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.41, Y:14.08, Z:13.10 [[ 9.97998580e-01 -5.21180122e-02 -3.58126557e-02 3.70411931e+02] [ 5.20899941e-02 9.98640921e-01 -1.71558140e-03 1.40794308e+01] [ 3.58533961e-02 -1.53333226e-04 9.99357049e-01 1.30964289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.44, Y:14.08, Z:13.10 [[ 9.98043890e-01 -5.12430363e-02 -3.58126249e-02 3.70441052e+02] [ 5.12144320e-02 9.98686205e-01 -1.71622358e-03 1.40810811e+01] [ 3.58535190e-02 -1.21256782e-04 9.99357049e-01 1.30979159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.47, Y:14.08, Z:13.10 [[ 9.98053973e-01 -5.10463349e-02 -3.58125624e-02 3.70469617e+02] [ 5.10175573e-02 9.98696280e-01 -1.71752622e-03 1.40826484e+01] [ 3.58535463e-02 -1.12885588e-04 9.99357049e-01 1.30985653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.50, Y:14.08, Z:13.10 [[ 9.98011026e-01 -5.18792946e-02 -3.58124448e-02 3.70498316e+02] [ 5.18509653e-02 9.98653353e-01 -1.71997427e-03 1.40828991e+01] [ 3.58534492e-02 -1.40356552e-04 9.99357049e-01 1.31000388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.53, Y:14.08, Z:13.10 [[ 9.97950030e-01 -5.30399630e-02 -3.58120128e-02 3.70527192e+02] [ 5.30120595e-02 9.98592375e-01 -1.72892426e-03 1.40834874e+01] [ 3.58533050e-02 -1.73088534e-04 9.99357049e-01 1.31010226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.56, Y:14.08, Z:13.10 [[ 9.97860556e-01 -5.46975064e-02 -3.58119209e-02 3.70556750e+02] [ 5.46706017e-02 9.98502944e-01 -1.73082555e-03 1.40841432e+01] [ 3.58529803e-02 -2.30736722e-04 9.99357049e-01 1.31034062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.59, Y:14.08, Z:13.11 [[ 9.97755644e-01 -5.65790187e-02 -3.58118584e-02 3.70586577e+02] [ 5.65532790e-02 9.98398080e-01 -1.73211698e-03 1.40844146e+01] [ 3.58524922e-02 -2.97048532e-04 9.99357049e-01 1.31050368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.62, Y:14.08, Z:13.11 [[ 9.97432465e-01 -6.20160726e-02 -3.58117956e-02 3.70617544e+02] [ 6.19937881e-02 9.98075030e-01 -1.73341376e-03 1.40834909e+01] [ 3.58503585e-02 -4.91145708e-04 9.99357049e-01 1.31065582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.65, Y:14.08, Z:13.11 [[ 9.97243515e-01 -6.49837426e-02 -3.58117956e-02 3.70647976e+02] [ 6.49633702e-02 9.97886144e-01 -1.73341376e-03 1.40834278e+01] [ 3.58487384e-02 -5.97819304e-04 9.99357049e-01 1.31074761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.68, Y:14.08, Z:13.11 [[ 9.97023437e-01 -6.82772358e-02 -3.58117956e-02 3.70678262e+02] [ 6.82589860e-02 9.97666130e-01 -1.73341376e-03 1.40832020e+01] [ 3.58465682e-02 -7.16222712e-04 9.99357049e-01 1.31085857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.71, Y:14.08, Z:13.11 [[ 9.97025873e-01 -6.82416409e-02 -3.58118266e-02 3.70710051e+02] [ 6.82233912e-02 9.97668565e-01 -1.73277406e-03 1.40847113e+01] [ 3.58465810e-02 -7.15583683e-04 9.99357049e-01 1.31097273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.74, Y:14.08, Z:13.11 [[ 9.96519289e-01 -7.52782484e-02 -3.58118884e-02 3.70741396e+02] [ 7.52645820e-02 9.97162095e-01 -1.73149554e-03 1.40824649e+01] [ 3.58406016e-02 -9.69898107e-04 9.99357049e-01 1.31102657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.77, Y:14.08, Z:13.11 [[ 9.96270143e-01 -7.85067255e-02 -3.58119501e-02 3.70773629e+02] [ 7.84951879e-02 9.96912991e-01 -1.73021863e-03 1.40818743e+01] [ 3.58372321e-02 -1.08730059e-03 9.99357049e-01 1.31107052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.80, Y:14.08, Z:13.11 [[ 9.96020966e-01 -8.16071767e-02 -3.58120749e-02 3.70804674e+02] [ 8.15977329e-02 9.96663848e-01 -1.72763176e-03 1.40814634e+01] [ 3.58335875e-02 -1.20142666e-03 9.99357049e-01 1.31109824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.84, Y:14.08, Z:13.11 [[ 9.95803779e-01 -8.42159292e-02 -3.58121678e-02 3.70836967e+02] [ 8.42082386e-02 9.96446684e-01 -1.72570395e-03 1.40810666e+01] [ 3.58302476e-02 -1.29721705e-03 9.99357049e-01 1.31121424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.87, Y:14.08, Z:13.11 [[ 9.95435623e-01 -8.84612891e-02 -3.58122941e-02 3.70869149e+02] [ 8.84564343e-02 9.96078556e-01 -1.72307836e-03 1.40796253e+01] [ 3.58242840e-02 -1.45261426e-03 9.99357049e-01 1.31131248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.90, Y:14.08, Z:13.11 [[ 9.95334109e-01 -8.95962122e-02 -3.58124219e-02 3.70900253e+02] [ 8.95921859e-02 9.95977048e-01 -1.72041782e-03 1.40799643e+01] [ 3.58224932e-02 -1.49612263e-03 9.99357049e-01 1.31139443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.93, Y:14.08, Z:13.12 [[ 9.95287669e-01 -9.01105991e-02 -3.58125172e-02 3.70932823e+02] [ 9.01069764e-02 9.95930610e-01 -1.71843288e-03 1.40804038e+01] [ 3.58216311e-02 -1.51662259e-03 9.99357049e-01 1.31156094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.96, Y:14.08, Z:13.12 [[ 9.95274923e-01 -9.02512171e-02 -3.58126449e-02 3.70964591e+02] [ 9.02477811e-02 9.95917865e-01 -1.71576621e-03 1.40810100e+01] [ 3.58213029e-02 -1.52435265e-03 9.99357049e-01 1.31166941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.00, Y:14.08, Z:13.12 [[ 9.95410759e-01 -8.87404464e-02 -3.58127718e-02 3.70996168e+02] [ 8.87361298e-02 9.96053696e-01 -1.71311317e-03 1.40804727e+01] [ 3.58234662e-02 -1.47263549e-03 9.99357049e-01 1.31173614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.03, Y:14.08, Z:13.12 [[ 9.95534150e-01 -8.73452606e-02 -3.58128663e-02 3.71027865e+02] [ 8.73401139e-02 9.96177081e-01 -1.71113550e-03 1.40813124e+01] [ 3.58254162e-02 -1.42440601e-03 9.99357049e-01 1.31187416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.06, Y:14.08, Z:13.12 [[ 9.95683335e-01 -8.56278354e-02 -3.58129918e-02 3.71058932e+02] [ 8.56216741e-02 9.96326257e-01 -1.70850618e-03 1.40823378e+01] [ 3.58277197e-02 -1.36523718e-03 9.99357049e-01 1.31200135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.09, Y:14.08, Z:13.12 [[ 9.96087260e-01 -8.07935196e-02 -3.58130851e-02 3.71090837e+02] [ 8.07843078e-02 9.96730146e-01 -1.70654859e-03 1.40828198e+01] [ 3.58338595e-02 -1.19326397e-03 9.99357049e-01 1.31215451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.12, Y:14.08, Z:13.12 [[ 9.96283308e-01 -7.83389119e-02 -3.58132098e-02 3.71121862e+02] [ 7.83282102e-02 9.96926170e-01 -1.70392661e-03 1.40837737e+01] [ 3.58366098e-02 -1.10759099e-03 9.99357049e-01 1.31226313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.15, Y:14.08, Z:13.12 [[ 9.96470758e-01 -7.59172917e-02 -3.58133026e-02 3.71154020e+02] [ 7.59050977e-02 9.97113594e-01 -1.70197361e-03 1.40847130e+01] [ 3.58391401e-02 -1.02244530e-03 9.99357049e-01 1.31235705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.19, Y:14.09, Z:13.12 [[ 9.96629561e-01 -7.38032289e-02 -3.58134268e-02 3.71185320e+02] [ 7.37897652e-02 9.97272371e-01 -1.69935639e-03 1.40855977e+01] [ 3.58411591e-02 -9.49035542e-04 9.99357049e-01 1.31244034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.22, Y:14.09, Z:13.12 [[ 9.96862204e-01 -7.05913562e-02 -3.58134882e-02 3.71215671e+02] [ 7.05758677e-02 9.97504969e-01 -1.69806193e-03 1.40858059e+01] [ 3.58440009e-02 -8.34834242e-04 9.99357049e-01 1.31242233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.25, Y:14.09, Z:13.12 [[ 9.96936377e-01 -6.95359827e-02 -3.58135186e-02 3.71246925e+02] [ 6.95198368e-02 9.97579125e-01 -1.69742012e-03 1.40865315e+01] [ 3.58448503e-02 -7.97530106e-04 9.99357049e-01 1.31246450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.28, Y:14.09, Z:13.12 [[ 9.96964051e-01 -6.91380359e-02 -3.58135792e-02 3.71277627e+02] [ 6.91216794e-02 9.97606795e-01 -1.69614154e-03 1.40873386e+01] [ 3.58451378e-02 -7.84502598e-04 9.99357049e-01 1.31249230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:14.09, Z:13.13 [[ 9.96978280e-01 -6.89325025e-02 -3.58136797e-02 3.71308549e+02] [ 6.89160898e-02 9.97621022e-01 -1.69401603e-03 1.40870409e+01] [ 3.58452525e-02 -7.79241576e-04 9.99357049e-01 1.31252085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.34, Y:14.09, Z:13.13 [[ 9.96964280e-01 -6.91346803e-02 -3.58136797e-02 3.71338614e+02] [ 6.91183979e-02 9.97607026e-01 -1.69401603e-03 1.40874663e+01] [ 3.58450937e-02 -7.86510690e-04 9.99357049e-01 1.31263470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.37, Y:14.09, Z:13.13 [[ 9.96938541e-01 -6.95048627e-02 -3.58136797e-02 3.71368554e+02] [ 6.94888190e-02 9.97581292e-01 -1.69401603e-03 1.40877554e+01] [ 3.58447992e-02 -7.99820434e-04 9.99357049e-01 1.31268194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.40, Y:14.09, Z:13.13 [[ 9.96847623e-01 -7.07968542e-02 -3.58137107e-02 3.71398138e+02] [ 7.07816670e-02 9.97490395e-01 -1.69335928e-03 1.40874886e+01] [ 3.58437170e-02 -8.46932976e-04 9.99357049e-01 1.31275557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.43, Y:14.09, Z:13.13 [[ 9.96787478e-01 -7.16387105e-02 -3.58136801e-02 3.71429084e+02] [ 7.16240430e-02 9.97430262e-01 -1.69400798e-03 1.40881944e+01] [ 3.58430048e-02 -8.76554623e-04 9.99357049e-01 1.31294375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.46, Y:14.09, Z:13.13 [[ 9.96634895e-01 -7.37310477e-02 -3.58136801e-02 3.71459600e+02] [ 7.37177296e-02 9.97277708e-01 -1.69400798e-03 1.40884206e+01] [ 3.58410857e-02 -9.51795722e-04 9.99357049e-01 1.31331104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.49, Y:14.09, Z:13.14 [[ 9.96573198e-01 -7.45603238e-02 -3.58136801e-02 3.71490346e+02] [ 7.45475405e-02 9.97216022e-01 -1.69400798e-03 1.40889719e+01] [ 3.58402813e-02 -9.81618820e-04 9.99357049e-01 1.31350391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.52, Y:14.09, Z:13.14 [[ 9.96490740e-01 -7.56543356e-02 -3.58137835e-02 3.71521419e+02] [ 7.56423367e-02 9.97133579e-01 -1.69181769e-03 1.40896767e+01] [ 3.58391195e-02 -1.02315761e-03 9.99357049e-01 1.31354210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.55, Y:14.09, Z:13.13 [[ 9.96306354e-01 -7.80449766e-02 -3.58138445e-02 3.71552666e+02] [ 7.80345664e-02 9.96949221e-01 -1.69052623e-03 1.40902567e+01] [ 3.58365214e-02 -1.11043580e-03 9.99357049e-01 1.31345697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.58, Y:14.09, Z:13.14 [[ 9.96170665e-01 -7.97581997e-02 -3.58139052e-02 3.71583482e+02] [ 7.97489413e-02 9.96813550e-01 -1.68924008e-03 1.40916279e+01] [ 3.58345167e-02 -1.17334960e-03 9.99357049e-01 1.31363064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.62, Y:14.09, Z:13.14 [[ 9.95994702e-01 -8.19262701e-02 -3.58139656e-02 3.71615086e+02] [ 8.19184571e-02 9.96637606e-01 -1.68795799e-03 1.40927134e+01] [ 3.58318330e-02 -1.25262758e-03 9.99357049e-01 1.31382907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.65, Y:14.09, Z:13.14 [[ 9.95771796e-01 -8.45924642e-02 -3.58140275e-02 3.71646616e+02] [ 8.45864195e-02 9.96414719e-01 -1.68664357e-03 1.40935335e+01] [ 3.58283015e-02 -1.34986826e-03 9.99357049e-01 1.31402024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.68, Y:14.09, Z:13.14 [[ 9.95507142e-01 -8.76520352e-02 -3.58141199e-02 3.71678754e+02] [ 8.76480368e-02 9.96150081e-01 -1.68467795e-03 1.40940853e+01] [ 3.58239039e-02 -1.46192838e-03 9.99357049e-01 1.31414452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.71, Y:14.09, Z:13.14 [[ 9.94906759e-01 -9.42225083e-02 -3.58142427e-02 3.71710417e+02] [ 9.42228487e-02 9.95549710e-01 -1.68206460e-03 1.40938537e+01] [ 3.58133473e-02 -1.70102253e-03 9.99357049e-01 1.31415315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.74, Y:14.09, Z:13.14 [[ 9.94608109e-01 -9.73244215e-02 -3.58143341e-02 3.71743064e+02] [ 9.73268367e-02 9.95251056e-01 -1.68011530e-03 1.40948696e+01] [ 3.58077701e-02 -1.81463954e-03 9.99357049e-01 1.31420257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.77, Y:14.10, Z:13.14 [[ 9.94290639e-01 -1.00515925e-01 -3.58144519e-02 3.71774312e+02] [ 1.00520493e-01 9.94933574e-01 -1.67760080e-03 1.40962323e+01] [ 3.58016262e-02 -1.93206361e-03 9.99357049e-01 1.31420066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.81, Y:14.10, Z:13.14 [[ 9.93699410e-01 -1.06201698e-01 -3.58145396e-02 3.71806573e+02] [ 1.06210012e-01 9.94342308e-01 -1.67572580e-03 1.40975570e+01] [ 3.57898769e-02 -2.13869493e-03 9.99357049e-01 1.31418716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.84, Y:14.10, Z:13.14 [[ 9.93457784e-01 -1.08438657e-01 -3.58146557e-02 3.71839198e+02] [ 1.08448507e-01 9.94100660e-01 -1.67324252e-03 1.40991192e+01] [ 3.57848170e-02 -2.22175013e-03 9.99357049e-01 1.31428607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.87, Y:14.10, Z:13.14 [[ 9.93267960e-01 -1.10163792e-01 -3.58147717e-02 3.71871812e+02] [ 1.10174848e-01 9.93910817e-01 -1.67075467e-03 1.41008405e+01] [ 3.57807457e-02 -2.28637994e-03 9.99357049e-01 1.31442288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.90, Y:14.10, Z:13.15 [[ 9.93146685e-01 -1.11251746e-01 -3.58149534e-02 3.71904939e+02] [ 1.11263647e-01 9.93789526e-01 -1.66685184e-03 1.41025360e+01] [ 3.57779657e-02 -2.32947393e-03 9.99357049e-01 1.31451087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.94, Y:14.10, Z:13.15 [[ 9.93072381e-01 -1.11913010e-01 -3.58151346e-02 3.71937538e+02] [ 1.11925479e-01 9.93715212e-01 -1.66294734e-03 1.41041082e+01] [ 3.57761495e-02 -2.35719901e-03 9.99357049e-01 1.31458999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.97, Y:14.11, Z:13.15 [[ 9.93023373e-01 -1.12346982e-01 -3.58153191e-02 3.71969554e+02] [ 1.12359875e-01 9.93666195e-01 -1.65896502e-03 1.41065228e+01] [ 3.57748516e-02 -2.37681374e-03 9.99357049e-01 1.31473145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.00, Y:14.11, Z:13.15 [[ 9.93082479e-01 -1.11823263e-01 -3.58154718e-02 3.72002128e+02] [ 1.11835935e-01 9.93725305e-01 -1.65566266e-03 1.41090310e+01] [ 3.57758822e-02 -2.36124721e-03 9.99357049e-01 1.31488528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.03, Y:14.11, Z:13.15 [[ 9.93197840e-01 -1.10793925e-01 -3.58155908e-02 3.72034623e+02] [ 1.10806024e-01 9.93840678e-01 -1.65308483e-03 1.41117656e+01] [ 3.57781427e-02 -2.32674292e-03 9.99357049e-01 1.31506585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.07, Y:14.12, Z:13.15 [[ 9.93530395e-01 -1.07770984e-01 -3.58157722e-02 3.72065750e+02] [ 1.07781268e-01 9.94173264e-01 -1.64914366e-03 1.41159008e+01] [ 3.57848130e-02 -2.22179500e-03 9.99357049e-01 1.31519971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.10, Y:14.12, Z:13.15 [[ 9.93751466e-01 -1.05713044e-01 -3.58158620e-02 3.72096869e+02] [ 1.05722066e-01 9.94394354e-01 -1.64719158e-03 1.41188792e+01] [ 3.57892206e-02 -2.14962789e-03 9.99357049e-01 1.31529964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.13, Y:14.12, Z:13.15 [[ 9.93987420e-01 -1.03470899e-01 -3.58159507e-02 3.72128969e+02] [ 1.03478540e-01 9.94630326e-01 -1.64526091e-03 1.41221545e+01] [ 3.57938673e-02 -2.07081364e-03 9.99357049e-01 1.31538049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.16, Y:14.13, Z:13.15 [[ 9.94500366e-01 -9.84186534e-02 -3.58160675e-02 3.72160378e+02] [ 9.84231193e-02 9.95143302e-01 -1.64271348e-03 1.41276988e+01] [ 3.58037933e-02 -1.89144994e-03 9.99357049e-01 1.31547901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.19, Y:14.13, Z:13.16 [[ 9.94769876e-01 -9.56560974e-02 -3.58162590e-02 3.72191928e+02] [ 9.56589279e-02 9.95412821e-01 -1.63852771e-03 1.41309325e+01] [ 3.58086986e-02 -1.79618694e-03 9.99357049e-01 1.31565299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.22, Y:14.13, Z:13.16 [[ 9.95034599e-01 -9.28619105e-02 -3.58163782e-02 3.72224290e+02] [ 9.28630289e-02 9.95677549e-01 -1.63591866e-03 1.41341986e+01] [ 3.58134782e-02 -1.69822169e-03 9.99357049e-01 1.31581092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.26, Y:14.14, Z:13.16 [[ 9.95535139e-01 -8.73324992e-02 -3.58164971e-02 3.72255762e+02] [ 8.73301393e-02 9.96178086e-01 -1.63331212e-03 1.41396247e+01] [ 3.58222507e-02 -1.50184007e-03 9.99357049e-01 1.31604074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.29, Y:14.14, Z:13.16 [[ 9.95782636e-01 -8.44636753e-02 -3.58166153e-02 3.72287406e+02] [ 8.44595561e-02 9.96425574e-01 -1.63071419e-03 1.41429733e+01] [ 3.58263276e-02 -1.40121856e-03 9.99357049e-01 1.31617757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.32, Y:14.15, Z:13.16 [[ 9.96024970e-01 -8.15562436e-02 -3.58167350e-02 3.72318763e+02] [ 8.15503421e-02 9.96667894e-01 -1.62808203e-03 1.41463399e+01] [ 3.58301701e-02 -1.29925663e-03 9.99357049e-01 1.31628740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.35, Y:14.15, Z:13.16 [[ 9.96492518e-01 -7.56294131e-02 -3.58169340e-02 3.72350480e+02] [ 7.56198445e-02 9.97135398e-01 -1.62369182e-03 1.41511915e+01] [ 3.58371316e-02 -1.09047423e-03 9.99357049e-01 1.31634589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.38, Y:14.15, Z:13.16 [[ 9.96737413e-01 -7.23302737e-02 -3.58170523e-02 3.72382321e+02] [ 7.23186709e-02 9.97380259e-01 -1.62107798e-03 1.41542356e+01] [ 3.58404739e-02 -9.74452551e-04 9.99357049e-01 1.31646826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.41, Y:14.16, Z:13.17 [[ 9.97189949e-01 -6.57976825e-02 -3.58171697e-02 3.72413859e+02] [ 6.57819610e-02 9.97832708e-01 -1.61848110e-03 1.41585024e+01] [ 3.58460357e-02 -7.42190569e-04 9.99357049e-01 1.31655050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.44, Y:14.16, Z:13.17 [[ 9.97608429e-01 -5.91146686e-02 -3.58172885e-02 3.72444315e+02] [ 5.90947353e-02 9.98251071e-01 -1.61584635e-03 1.41625495e+01] [ 3.58501669e-02 -5.04631246e-04 9.99357049e-01 1.31666023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.47, Y:14.17, Z:13.17 [[ 9.98057620e-01 -5.09716256e-02 -3.58173178e-02 3.72473772e+02] [ 5.09464720e-02 9.98700079e-01 -1.61519591e-03 1.41671938e+01] [ 3.58530873e-02 -2.12707397e-04 9.99357049e-01 1.31677836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.50, Y:14.17, Z:13.17 [[ 9.98215809e-01 -4.77736311e-02 -3.58172893e-02 3.72500392e+02] [ 4.77463965e-02 9.98858183e-01 -1.61582812e-03 1.41696605e+01] [ 3.58535865e-02 -9.72013225e-05 9.99357049e-01 1.31689420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.53, Y:14.17, Z:13.17 [[ 9.98156588e-01 -4.90013460e-02 -3.58091319e-02 3.72529855e+02] [ 4.89684313e-02 9.98798712e-01 -1.79616098e-03 1.41712382e+01] [ 3.58541291e-02 3.93328999e-05 9.99357033e-01 1.31711291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.56, Y:14.17, Z:13.17 [[ 9.98142333e-01 -4.92851659e-02 -3.58169755e-02 3.72558201e+02] [ 4.92586436e-02 9.98784737e-01 -1.62308569e-03 1.41724905e+01] [ 3.58534425e-02 -1.44225091e-04 9.99357048e-01 1.31720917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.59, Y:14.17, Z:13.17 [[ 9.98139615e-01 -4.93405195e-02 -3.58165006e-02 3.72585138e+02] [ 4.93136592e-02 9.98782006e-01 -1.63349931e-03 1.41736439e+01] [ 3.58534740e-02 -1.35782328e-04 9.99357048e-01 1.31722907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.61, Y:14.17, Z:13.17 [[ 9.98049041e-01 -5.11435872e-02 -3.58112514e-02 3.72614520e+02] [ 5.11137854e-02 9.98691307e-01 -1.74781462e-03 1.41748794e+01] [ 3.58537750e-02 -8.60439142e-05 9.99357043e-01 1.31737835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.64, Y:14.18, Z:13.17 [[ 9.98036493e-01 -5.13846803e-02 -3.58158224e-02 3.72643711e+02] [ 5.13585971e-02 9.98678916e-01 -1.64850896e-03 1.41762116e+01] [ 3.58532148e-02 -1.94178295e-04 9.99357048e-01 1.31748001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.67, Y:14.18, Z:13.18 [[ 9.97879245e-01 -5.43531824e-02 -3.58154159e-02 3.72672473e+02] [ 5.43286949e-02 9.98521731e-01 -1.65729415e-03 1.41769210e+01] [ 3.58525503e-02 -2.92025365e-04 9.99357048e-01 1.31768301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.70, Y:14.18, Z:13.18 [[ 9.97771631e-01 -5.62943876e-02 -3.58149958e-02 3.72701541e+02] [ 5.62708260e-02 9.98414151e-01 -1.66632280e-03 1.41779781e+01] [ 3.58520033e-02 -3.52729780e-04 9.99357048e-01 1.31783162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.73, Y:14.18, Z:13.18 [[ 9.97769633e-01 -5.63298448e-02 -3.58149065e-02 3.72731640e+02] [ 5.63062372e-02 9.98412152e-01 -1.66823979e-03 1.41794095e+01] [ 3.58520096e-02 -3.52083625e-04 9.99357048e-01 1.31793979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.76, Y:14.18, Z:13.18 [[ 9.97645211e-01 -5.84921358e-02 -3.58148473e-02 3.72761426e+02] [ 5.84698752e-02 9.98287777e-01 -1.66951087e-03 1.41800900e+01] [ 3.58511775e-02 -4.28510131e-04 9.99357048e-01 1.31807542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.79, Y:14.18, Z:13.18 [[ 9.97331399e-01 -6.36190402e-02 -3.58147863e-02 3.72791226e+02] [ 6.36000356e-02 9.97974070e-01 -1.67081903e-03 1.41797259e+01] [ 3.58485239e-02 -6.11461397e-04 9.99357048e-01 1.31816984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.82, Y:14.18, Z:13.18 [[ 9.97141320e-01 -6.65318818e-02 -3.58147559e-02 3.72821780e+02] [ 6.65147311e-02 9.97784043e-01 -1.67146837e-03 1.41802753e+01] [ 3.58465979e-02 -7.15518685e-04 9.99357048e-01 1.31830621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.85, Y:14.18, Z:13.18 [[ 9.96945059e-01 -6.94107596e-02 -3.58147559e-02 3.72852299e+02] [ 6.93954648e-02 9.97587829e-01 -1.67146837e-03 1.41805650e+01] [ 3.58443825e-02 -8.19019504e-04 9.99357048e-01 1.31839486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.88, Y:14.18, Z:13.18 [[ 9.96734722e-01 -7.23684610e-02 -3.58147859e-02 3.72883386e+02] [ 7.23550965e-02 9.97377536e-01 -1.67082687e-03 1.41808560e+01] [ 3.58417780e-02 -9.26011133e-04 9.99357048e-01 1.31849482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.91, Y:14.18, Z:13.19 [[ 9.96502307e-01 -7.55013234e-02 -3.58148449e-02 3.72914778e+02] [ 7.54900251e-02 9.97145159e-01 -1.66956020e-03 1.41811485e+01] [ 3.58386533e-02 -1.03994295e-03 9.99357048e-01 1.31858982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.95, Y:14.18, Z:13.19 [[ 9.95980047e-01 -8.21038340e-02 -3.58149040e-02 3.72946769e+02] [ 8.20968419e-02 9.96622960e-01 -1.66829141e-03 1.41807371e+01] [ 3.58309288e-02 -1.27870556e-03 9.99357048e-01 1.31874790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.98, Y:14.18, Z:13.19 [[ 9.95725656e-01 -8.51334327e-02 -3.58150247e-02 3.72978536e+02] [ 8.51284896e-02 9.96368589e-01 -1.66569690e-03 1.41813844e+01] [ 3.58267721e-02 -1.39030182e-03 9.99357048e-01 1.31886530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.01, Y:14.18, Z:13.19 [[ 9.95153084e-01 -9.15839207e-02 -3.58151462e-02 3.73009477e+02] [ 9.15832379e-02 9.95796036e-01 -1.66307984e-03 1.41812117e+01] [ 3.58168920e-02 -1.62504803e-03 9.99357048e-01 1.31891967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.04, Y:14.18, Z:13.19 [[ 9.94941295e-01 -9.38567457e-02 -3.58152367e-02 3.73040872e+02] [ 9.38576017e-02 9.95584246e-01 -1.66112862e-03 1.41815937e+01] [ 3.58129936e-02 -1.70880676e-03 9.99357048e-01 1.31872826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.07, Y:14.18, Z:13.19 [[ 9.94605732e-01 -9.73495986e-02 -3.58119191e-02 3.73073872e+02] [ 9.73501389e-02 9.95248686e-01 -1.73277586e-03 1.41827382e+01] [ 3.58104505e-02 -1.76286649e-03 9.99357045e-01 1.31908192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.11, Y:14.18, Z:13.19 [[ 9.94372607e-01 -9.97013798e-02 -3.58155522e-02 3.73106612e+02] [ 9.97062657e-02 9.95015540e-01 -1.65411286e-03 1.41836513e+01] [ 3.58019483e-02 -1.92623045e-03 9.99357048e-01 1.31921598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.14, Y:14.19, Z:13.19 [[ 9.93933844e-01 -1.03984364e-01 -3.58157299e-02 3.73138228e+02] [ 1.03992158e-01 9.94576748e-01 -1.65025483e-03 1.41854720e+01] [ 3.57930929e-02 -2.08431093e-03 9.99357048e-01 1.31931255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.17, Y:14.19, Z:13.19 [[ 9.93755991e-01 -1.05670447e-01 -3.58160117e-02 3.73170200e+02] [ 1.05679552e-01 9.94398878e-01 -1.64411808e-03 1.41872079e+01] [ 3.57891365e-02 -2.15116789e-03 9.99357048e-01 1.31937902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.20, Y:14.19, Z:13.19 [[ 9.93594057e-01 -1.07182346e-01 -3.58161275e-02 3.73202448e+02] [ 1.07192520e-01 9.94236928e-01 -1.64158990e-03 1.41892244e+01] [ 3.57856661e-02 -2.20814701e-03 9.99357048e-01 1.31943416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.23, Y:14.19, Z:13.20 [[ 9.93486954e-01 -1.08170556e-01 -3.58162433e-02 3.73234213e+02] [ 1.08181460e-01 9.94129813e-01 -1.63906094e-03 1.41910868e+01] [ 3.57832934e-02 -2.24626784e-03 9.99357048e-01 1.31950327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.27, Y:14.19, Z:13.20 [[ 9.93297289e-01 -1.09898522e-01 -3.58163592e-02 3.73266631e+02] [ 1.09910635e-01 9.93940126e-01 -1.63652382e-03 1.41931506e+01] [ 3.57791681e-02 -2.31104412e-03 9.99357048e-01 1.31959633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.30, Y:14.19, Z:13.20 [[ 9.93236169e-01 -1.10449506e-01 -3.58164776e-02 3.73297548e+02] [ 1.10462069e-01 9.93878997e-01 -1.63392838e-03 1.41948937e+01] [ 3.57777114e-02 -2.33348547e-03 9.99357048e-01 1.31964769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.33, Y:14.20, Z:13.20 [[ 9.93209807e-01 -1.10686279e-01 -3.58165659e-02 3.73330155e+02] [ 1.10699065e-01 9.93852632e-01 -1.63199134e-03 1.41975678e+01] [ 3.57770273e-02 -2.34395056e-03 9.99357048e-01 1.31974868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.36, Y:14.20, Z:13.20 [[ 9.93273077e-01 -1.10117011e-01 -3.58167381e-02 3.73362018e+02] [ 1.10129565e-01 9.93915906e-01 -1.62820234e-03 1.42001235e+01] [ 3.57781185e-02 -2.32723224e-03 9.99357048e-01 1.31981450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.40, Y:14.20, Z:13.20 [[ 9.93390640e-01 -1.09051311e-01 -3.58168812e-02 3.73395160e+02] [ 1.09063288e-01 9.94033480e-01 -1.62504812e-03 1.42029954e+01] [ 3.57803927e-02 -2.29199924e-03 9.99357048e-01 1.31998246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.43, Y:14.21, Z:13.20 [[ 9.93531458e-01 -1.07760757e-01 -3.58170498e-02 3.73427198e+02] [ 1.07772033e-01 9.94174311e-01 -1.62132381e-03 1.42061126e+01] [ 3.57831059e-02 -2.24924007e-03 9.99357048e-01 1.32013401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.46, Y:14.21, Z:13.20 [[ 9.93754088e-01 -1.05687952e-01 -3.58171624e-02 3.73459483e+02] [ 1.05697977e-01 9.94396962e-01 -1.61883274e-03 1.42089020e+01] [ 3.57875686e-02 -2.17707993e-03 9.99357048e-01 1.32020158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.49, Y:14.21, Z:13.20 [[ 9.94213807e-01 -1.01272046e-01 -3.58173020e-02 3.73492167e+02] [ 1.01279326e-01 9.94856717e-01 -1.61573802e-03 1.42136541e+01] [ 3.57967126e-02 -2.02116316e-03 9.99357048e-01 1.32039504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.52, Y:14.22, Z:13.21 [[ 9.94322775e-01 -1.00196443e-01 -3.58174694e-02 3.73521182e+02] [ 1.00203161e-01 9.94965692e-01 -1.61201899e-03 1.42191476e+01] [ 3.57986718e-02 -1.98615646e-03 9.99357048e-01 1.32054704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.56, Y:14.22, Z:13.21 [[ 9.95062562e-01 -9.25661623e-02 -3.58050840e-02 3.73555522e+02] [ 9.25580895e-02 9.95705499e-01 -1.88652689e-03 1.42226741e+01] [ 3.58259476e-02 -1.43683790e-03 9.99357012e-01 1.32070078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.59, Y:14.23, Z:13.21 [[ 9.95337382e-01 -8.95577467e-02 -3.58176649e-02 3.73587010e+02] [ 8.95578060e-02 9.95980331e-01 -1.60596892e-03 1.42260321e+01] [ 3.58175167e-02 -1.60927058e-03 9.99357051e-01 1.32108287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.62, Y:14.23, Z:13.21 [[ 9.95630632e-01 -8.62364788e-02 -3.58177817e-02 3.73618526e+02] [ 8.62344867e-02 9.96273578e-01 -1.60335978e-03 1.42296708e+01] [ 3.58225777e-02 -1.49237391e-03 9.99357051e-01 1.32113698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.65, Y:14.23, Z:13.21 [[ 9.95907845e-01 -8.29737579e-02 -3.58178686e-02 3.73649239e+02] [ 8.29697290e-02 9.96550781e-01 -1.60141568e-03 1.42335139e+01] [ 3.58272005e-02 -1.37693642e-03 9.99357051e-01 1.32127910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.68, Y:14.24, Z:13.22 [[ 9.96378867e-01 -7.71117826e-02 -3.58179501e-02 3.73681122e+02] [ 7.71040358e-02 9.97021770e-01 -1.59959154e-03 1.42390931e+01] [ 3.58346234e-02 -1.16790930e-03 9.99357051e-01 1.32158001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.71, Y:14.24, Z:13.22 [[ 9.96581959e-01 -7.44410237e-02 -3.58180632e-02 3.73712499e+02] [ 7.44316449e-02 9.97224839e-01 -1.59705562e-03 1.42420809e+01] [ 3.58375487e-02 -1.07440054e-03 9.99357051e-01 1.32161580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.74, Y:14.25, Z:13.22 [[ 9.96770903e-01 -7.18667288e-02 -3.58181471e-02 3.73744466e+02] [ 7.18557572e-02 9.97413758e-01 -1.59517116e-03 1.42451083e+01] [ 3.58401525e-02 -9.83719883e-04 9.99357051e-01 1.32188365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.78, Y:14.25, Z:13.22 [[ 9.97008227e-01 -6.84955957e-02 -3.58182616e-02 3.73775975e+02] [ 6.84825428e-02 9.97651044e-01 -1.59259559e-03 1.42490340e+01] [ 3.58432119e-02 -8.65094723e-04 9.99357051e-01 1.32196686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.81, Y:14.25, Z:13.22 [[ 9.97106938e-01 -6.70432703e-02 -3.58183467e-02 3.73806998e+02] [ 6.70293498e-02 9.97749736e-01 -1.59068035e-03 1.42511810e+01] [ 3.58443904e-02 -8.14802074e-04 9.99357051e-01 1.32203716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.84, Y:14.25, Z:13.22 [[ 9.97210760e-01 -6.54808441e-02 -3.58184292e-02 3.73839276e+02] [ 6.54659832e-02 9.97853537e-01 -1.58882003e-03 1.42532053e+01] [ 3.58455835e-02 -7.60500260e-04 9.99357051e-01 1.32217961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.87, Y:14.26, Z:13.22 [[ 9.97294398e-01 -6.41943616e-02 -3.58185417e-02 3.73870095e+02] [ 6.41787628e-02 9.97937157e-01 -1.58627931e-03 1.42553782e+01] [ 3.58464839e-02 -7.16802223e-04 9.99357051e-01 1.32223697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.90, Y:14.26, Z:13.22 [[ 9.97459561e-01 -6.15747536e-02 -3.58186254e-02 3.73901835e+02] [ 6.15575346e-02 9.98102279e-01 -1.58438645e-03 1.42585206e+01] [ 3.58482099e-02 -6.24544865e-04 9.99357051e-01 1.32236697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.93, Y:14.26, Z:13.23 [[ 9.97541466e-01 -6.02332207e-02 -3.58187360e-02 3.73932246e+02] [ 6.02152270e-02 9.98184163e-01 -1.58188429e-03 1.42606810e+01] [ 3.58489770e-02 -5.78838143e-04 9.99357051e-01 1.32250006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:14.26, Z:13.23 [[ 9.97608279e-01 -5.91162739e-02 -3.58188256e-02 3.73963551e+02] [ 5.90976337e-02 9.98250957e-01 -1.57985173e-03 1.42626435e+01] [ 3.58495719e-02 -5.40734668e-04 9.99357051e-01 1.32275842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.99, Y:14.26, Z:13.23 [[ 9.97789761e-01 -5.59696392e-02 -3.58188820e-02 3.73994796e+02] [ 5.59490181e-02 9.98432379e-01 -1.57857122e-03 1.42634572e+01] [ 3.58510837e-02 -4.28949084e-04 9.99357051e-01 1.32291998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.03, Y:14.27, Z:13.23 [[ 9.97759880e-01 -5.64993328e-02 -3.58196628e-02 3.74025059e+02] [ 5.64796897e-02 9.98402528e-01 -1.56082614e-03 1.42656027e+01] [ 3.58506275e-02 -4.65753743e-04 9.99357051e-01 1.32302530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.06, Y:14.27, Z:13.23 [[ 9.97777520e-01 -5.61873394e-02 -3.58190448e-02 3.74055461e+02] [ 5.61669909e-02 9.98420146e-01 -1.57488118e-03 1.42672512e+01] [ 3.58509444e-02 -4.40466930e-04 9.99357051e-01 1.32310420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.09, Y:14.27, Z:13.23 [[ 9.97702973e-01 -5.74998568e-02 -3.58126217e-02 3.74085958e+02] [ 5.74751172e-02 9.98345456e-01 -1.72077598e-03 1.42681020e+01] [ 3.58523125e-02 -3.41511315e-04 9.99357041e-01 1.32329293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.12, Y:14.27, Z:13.23 [[ 9.97640479e-01 -5.85702136e-02 -3.58190690e-02 3.74116256e+02] [ 5.85514290e-02 9.98283152e-01 -1.57407181e-03 1.42687223e+01] [ 3.58497668e-02 -5.26899918e-04 9.99357052e-01 1.32328054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.15, Y:14.27, Z:13.23 [[ 9.97542485e-01 -6.02161423e-02 -3.58190963e-02 3.74147755e+02] [ 6.01984404e-02 9.98185189e-01 -1.57344866e-03 1.42693769e+01] [ 3.58488385e-02 -5.86671856e-04 9.99357052e-01 1.32347418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.18, Y:14.27, Z:13.23 [[ 9.97281038e-01 -6.44012349e-02 -3.58191525e-02 3.74178939e+02] [ 6.43862759e-02 9.97923813e-01 -1.57216921e-03 1.42689085e+01] [ 3.58460349e-02 -7.38367297e-04 9.99357052e-01 1.32347762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.21, Y:14.27, Z:13.24 [[ 9.97116603e-01 -6.68988917e-02 -3.58192365e-02 3.74210708e+02] [ 6.68856115e-02 9.97759415e-01 -1.57025413e-03 1.42690704e+01] [ 3.58440287e-02 -8.30065070e-04 9.99357052e-01 1.32358595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.24, Y:14.27, Z:13.24 [[ 9.96744058e-01 -7.22375097e-02 -3.58193478e-02 3.74242686e+02] [ 7.22277633e-02 9.97386932e-01 -1.56770991e-03 1.42679633e+01] [ 3.58389969e-02 -1.02454584e-03 9.99357052e-01 1.32375508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.28, Y:14.27, Z:13.24 [[ 9.96749160e-01 -7.21670191e-02 -3.58194582e-02 3.74275330e+02] [ 7.21573180e-02 9.97392035e-01 -1.56518282e-03 1.42693299e+01] [ 3.58389969e-02 -1.02454138e-03 9.99357052e-01 1.32387221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.31, Y:14.27, Z:13.24 [[ 9.96534177e-01 -7.50772444e-02 -3.58195687e-02 3.74306637e+02] [ 7.50695114e-02 9.97177079e-01 -1.56265126e-03 1.42694056e+01] [ 3.58357724e-02 -1.13172213e-03 9.99357052e-01 1.32398807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.34, Y:14.27, Z:13.24 [[ 9.96209955e-01 -7.92633478e-02 -3.58196509e-02 3.74337693e+02] [ 7.92583837e-02 9.96852884e-01 -1.56076517e-03 1.42679704e+01] [ 3.58306337e-02 -1.28415783e-03 9.99357052e-01 1.32393375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.37, Y:14.27, Z:13.24 [[ 9.96112982e-01 -8.04728149e-02 -3.58197322e-02 3.74369129e+02] [ 8.04686985e-02 9.96755917e-01 -1.55889585e-03 1.42682029e+01] [ 3.58289788e-02 -1.32953083e-03 9.99357052e-01 1.32398106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.40, Y:14.27, Z:13.24 [[ 9.96033163e-01 -8.14547698e-02 -3.58198128e-02 3.74401008e+02] [ 8.14513538e-02 9.96676102e-01 -1.55704205e-03 1.42688840e+01] [ 3.58275799e-02 -1.36670672e-03 9.99357052e-01 1.32412493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.43, Y:14.27, Z:13.24 [[ 9.96037325e-01 -8.14038053e-02 -3.58199219e-02 3.74432671e+02] [ 8.14004467e-02 9.96680265e-01 -1.55452847e-03 1.42691614e+01] [ 3.58275538e-02 -1.36738926e-03 9.99357052e-01 1.32436136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.46, Y:14.27, Z:13.25 [[ 9.96079394e-01 -8.08873363e-02 -3.58200990e-02 3.74464454e+02] [ 8.08837912e-02 9.96722333e-01 -1.55043638e-03 1.42700314e+01] [ 3.58281033e-02 -1.35290768e-03 9.99357052e-01 1.32452629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.50, Y:14.27, Z:13.25 [[ 9.96148193e-01 -8.00355531e-02 -3.58202124e-02 3.74495969e+02] [ 8.00315525e-02 9.96791129e-01 -1.54781276e-03 1.42711428e+01] [ 3.58291500e-02 -1.32489632e-03 9.99357052e-01 1.32455382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.53, Y:14.27, Z:13.25 [[ 9.96369523e-01 -7.72313360e-02 -3.58202967e-02 3.74527258e+02] [ 7.72255958e-02 9.97012446e-01 -1.54585938e-03 1.42724024e+01] [ 3.58326704e-02 -1.22599658e-03 9.99357052e-01 1.32463094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.56, Y:14.27, Z:13.25 [[ 9.96559936e-01 -7.47341614e-02 -3.58203765e-02 3.74559271e+02] [ 7.47268765e-02 9.97202843e-01 -1.54400799e-03 1.42737799e+01] [ 3.58355714e-02 -1.13804834e-03 9.99357052e-01 1.32478082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.59, Y:14.28, Z:13.25 [[ 9.96734307e-01 -7.23713600e-02 -3.58204871e-02 3.74590949e+02] [ 7.23626432e-02 9.97377196e-01 -1.54143796e-03 1.42756672e+01] [ 3.58380929e-02 -1.05566103e-03 9.99357052e-01 1.32490072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.62, Y:14.28, Z:13.25 [[ 9.97154230e-01 -6.63349623e-02 -3.58205988e-02 3.74622535e+02] [ 6.63224465e-02 9.97797056e-01 -1.53883724e-03 1.42783507e+01] [ 3.58437667e-02 -8.41251686e-04 9.99357052e-01 1.32498686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.65, Y:14.28, Z:13.25 [[ 9.97354354e-01 -6.32548011e-02 -3.58207095e-02 3.74653759e+02] [ 6.32403926e-02 9.97997141e-01 -1.53625578e-03 1.42802228e+01] [ 3.58461412e-02 -7.33124345e-04 9.99357052e-01 1.32509134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.69, Y:14.28, Z:13.25 [[ 9.97356579e-01 -6.32196602e-02 -3.58207911e-02 3.74685556e+02] [ 6.32052974e-02 9.97999367e-01 -1.53435077e-03 1.42815547e+01] [ 3.58461280e-02 -7.33768915e-04 9.99357052e-01 1.32520546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.72, Y:14.28, Z:13.25 [[ 9.97732040e-01 -5.69880919e-02 -3.58208450e-02 3.74716955e+02] [ 5.69697592e-02 9.98374727e-01 -1.53309030e-03 1.42837763e+01] [ 3.58499943e-02 -5.11091605e-04 9.99357052e-01 1.32531613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.75, Y:14.29, Z:13.25 [[ 9.97903161e-01 -5.39086695e-02 -3.58208993e-02 3.74746972e+02] [ 5.38883990e-02 9.98545790e-01 -1.53182236e-03 1.42854323e+01] [ 3.58513866e-02 -4.01720541e-04 9.99357052e-01 1.32547467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.78, Y:14.29, Z:13.26 [[ 9.98059037e-01 -5.09413601e-02 -3.58208993e-02 3.74776883e+02] [ 5.09191790e-02 9.98701602e-01 -1.53182236e-03 1.42870443e+01] [ 3.58524226e-02 -2.95121633e-04 9.99357052e-01 1.32555296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.81, Y:14.29, Z:13.26 [[ 9.98180815e-01 -4.84966590e-02 -3.58208718e-02 3.74806925e+02] [ 4.84728810e-02 9.98823323e-01 -1.53246469e-03 1.42888530e+01] [ 3.58530416e-02 -2.06664003e-04 9.99357052e-01 1.32572785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.84, Y:14.29, Z:13.26 [[ 9.98280181e-01 -4.64063591e-02 -3.58208175e-02 3.74835917e+02] [ 4.63811902e-02 9.98922636e-01 -1.53373308e-03 1.42904998e+01] [ 3.58534004e-02 -1.30316815e-04 9.99357052e-01 1.32586202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.86, Y:14.29, Z:13.26 [[ 9.98420218e-01 -4.32890626e-02 -3.58207366e-02 3.74864560e+02] [ 4.32618201e-02 9.99062589e-01 -1.53562051e-03 1.42919618e+01] [ 3.58536334e-02 -1.64757022e-05 9.99357052e-01 1.32604655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.89, Y:14.29, Z:13.26 [[ 9.98443285e-01 -4.27540479e-02 -3.58203598e-02 3.74891941e+02] [ 4.27261477e-02 9.99085628e-01 -1.54436015e-03 1.42931907e+01] [ 3.58536343e-02 1.14900387e-05 9.99357052e-01 1.32623016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.92, Y:14.29, Z:13.26 [[ 9.98441122e-01 -4.28048945e-02 -3.58199173e-02 3.74920194e+02] [ 4.27766612e-02 9.99083450e-01 -1.55455482e-03 1.42942256e+01] [ 3.58536291e-02 1.98749889e-05 9.99357052e-01 1.32638350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.95, Y:14.29, Z:13.27 [[ 9.98351090e-01 -4.48560769e-02 -3.58194667e-02 3.74947882e+02] [ 4.48287933e-02 9.98993459e-01 -1.56486913e-03 1.42944687e+01] [ 3.58536068e-02 -4.34546702e-05 9.99357052e-01 1.32650302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.98, Y:14.29, Z:13.27 [[ 9.98258301e-01 -4.68760297e-02 -3.58190130e-02 3.74975343e+02] [ 4.68496757e-02 9.98900709e-01 -1.57518709e-03 1.42945063e+01] [ 3.58534760e-02 -1.05665554e-04 9.99357052e-01 1.32662611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.00, Y:14.29, Z:13.27 [[ 9.98152841e-01 -4.90707368e-02 -3.58185583e-02 3.75004242e+02] [ 4.90454267e-02 9.98795291e-01 -1.58545879e-03 1.42943287e+01] [ 3.58532070e-02 -1.74206277e-04 9.99357052e-01 1.32678608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.03, Y:14.29, Z:13.27 [[ 9.98023640e-01 -5.16320952e-02 -3.58181598e-02 3.75033408e+02] [ 5.16081126e-02 9.98666141e-01 -1.59441032e-03 1.42940800e+01] [ 3.58527062e-02 -2.57248433e-04 9.99357052e-01 1.32693182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.06, Y:14.29, Z:13.27 [[ 9.97744889e-01 -5.67646490e-02 -3.58177581e-02 3.75061717e+02] [ 5.67436493e-02 9.98387494e-01 -1.60338419e-03 1.42924582e+01] [ 3.58510173e-02 -4.32661928e-04 9.99357052e-01 1.32704702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.09, Y:14.29, Z:13.27 [[ 9.97742516e-01 -5.68063973e-02 -3.58176727e-02 3.75093909e+02] [ 5.67853560e-02 9.98385119e-01 -1.60529014e-03 1.42899314e+01] [ 3.58510222e-02 -4.32253078e-04 9.99357052e-01 1.32705652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.12, Y:14.29, Z:13.27 [[ 9.97352755e-01 -6.32756195e-02 -3.58284442e-02 3.75122027e+02] [ 6.32673666e-02 9.97995680e-01 -1.36518683e-03 1.42911764e+01] [ 3.58430156e-02 -9.05198471e-04 9.99357023e-01 1.32731534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.15, Y:14.29, Z:13.27 [[ 9.97293242e-01 -6.42130579e-02 -3.58172159e-02 3.75153721e+02] [ 6.41964638e-02 9.97935974e-01 -1.61433537e-03 1.42908521e+01] [ 3.58469496e-02 -6.89372844e-04 9.99357054e-01 1.32734253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.18, Y:14.29, Z:13.28 [[ 9.97086809e-01 -6.73419510e-02 -3.58183922e-02 3.75184383e+02] [ 6.73283107e-02 9.97729611e-01 -1.58823681e-03 1.42901378e+01] [ 3.58440255e-02 -8.27981870e-04 9.99357053e-01 1.32753934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.22, Y:14.29, Z:13.28 [[ 9.97044191e-01 -6.79707329e-02 -3.58170508e-02 3.75215903e+02] [ 6.79564318e-02 9.97686978e-01 -1.61793293e-03 1.42901352e+01] [ 3.58441772e-02 -8.20848335e-04 9.99357054e-01 1.32766266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.25, Y:14.29, Z:13.28 [[ 9.97036905e-01 -6.80774926e-02 -3.58171085e-02 3.75246860e+02] [ 6.80633062e-02 9.97679694e-01 -1.61665369e-03 1.42905075e+01] [ 3.58440596e-02 -8.25967436e-04 9.99357054e-01 1.32778738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.28, Y:14.29, Z:13.28 [[ 9.97070352e-01 -6.75858206e-02 -3.58171663e-02 3.75277884e+02] [ 6.75713632e-02 9.97713136e-01 -1.61537310e-03 1.42909712e+01] [ 3.58444336e-02 -8.09574123e-04 9.99357054e-01 1.32789813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.31, Y:14.29, Z:13.28 [[ 9.97218977e-01 -6.53562330e-02 -3.58172525e-02 3.75309188e+02] [ 6.53404072e-02 9.97861728e-01 -1.61345813e-03 1.42911352e+01] [ 3.58461151e-02 -7.31342798e-04 9.99357054e-01 1.32815974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.34, Y:14.29, Z:13.28 [[ 9.97447352e-01 -6.17729805e-02 -3.58173117e-02 3.75339985e+02] [ 6.17548927e-02 9.98090043e-01 -1.61214486e-03 1.42907956e+01] [ 3.58484891e-02 -6.03864618e-04 9.99357054e-01 1.32828731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.37, Y:14.29, Z:13.28 [[ 9.97562104e-01 -5.98912582e-02 -3.58174065e-02 3.75370783e+02] [ 5.98720336e-02 9.98204762e-01 -1.61003604e-03 1.42912493e+01] [ 3.58495328e-02 -5.38350021e-04 9.99357054e-01 1.32843570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.40, Y:14.29, Z:13.28 [[ 9.97682485e-01 -5.78513018e-02 -3.58174065e-02 3.75400444e+02] [ 5.78307631e-02 9.98325103e-01 -1.61003604e-03 1.42915320e+01] [ 3.58505587e-02 -4.65043188e-04 9.99357054e-01 1.32846813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.43, Y:14.29, Z:13.29 [[ 9.97789290e-01 -5.59789760e-02 -3.58174127e-02 3.75428943e+02] [ 5.59572365e-02 9.98431868e-01 -1.60989652e-03 1.42919451e+01] [ 3.58513667e-02 -3.97905931e-04 9.99357054e-01 1.32851610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.46, Y:14.29, Z:13.29 [[ 9.97881635e-01 -5.43080294e-02 -3.58173268e-02 3.75458775e+02] [ 5.42851454e-02 9.98524174e-01 -1.61180503e-03 1.42923189e+01] [ 3.58520006e-02 -3.35958155e-04 9.99357054e-01 1.32858154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.49, Y:14.29, Z:13.29 [[ 9.97945107e-01 -5.31289422e-02 -3.58172986e-02 3.75488382e+02] [ 5.31052764e-02 9.98587617e-01 -1.61243327e-03 1.42927989e+01] [ 3.58523777e-02 -2.92967647e-04 9.99357054e-01 1.32868462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.52, Y:14.29, Z:13.29 [[ 9.98032497e-01 -5.14612511e-02 -3.58172422e-02 3.75517554e+02] [ 5.14364668e-02 9.98674965e-01 -1.61368346e-03 1.42917950e+01] [ 3.58528253e-02 -2.31803855e-04 9.99357054e-01 1.32887346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.55, Y:14.29, Z:13.29 [[ 9.98032232e-01 -5.14664536e-02 -3.58171338e-02 3.75546450e+02] [ 5.14415864e-02 9.98674698e-01 -1.61608627e-03 1.42919647e+01] [ 3.58528395e-02 -2.29583999e-04 9.99357054e-01 1.32902836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.57, Y:14.29, Z:13.29 [[ 9.98032907e-01 -5.14536661e-02 -3.58167243e-02 3.75574617e+02] [ 5.14284668e-02 9.98675359e-01 -1.62511124e-03 1.42907598e+01] [ 3.58528979e-02 -2.20084722e-04 9.99357054e-01 1.32917886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.60, Y:14.29, Z:13.29 [[ 9.98026842e-01 -5.15712648e-02 -3.58165791e-02 3.75602743e+02] [ 5.15460266e-02 9.98669292e-01 -1.62830647e-03 1.42906075e+01] [ 3.58528915e-02 -2.21108771e-04 9.99357054e-01 1.32923512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.63, Y:14.29, Z:13.29 [[ 9.98006814e-01 -5.19575454e-02 -3.58163611e-02 3.75631558e+02] [ 5.19323843e-02 9.98649268e-01 -1.63308676e-03 1.42903794e+01] [ 3.58528340e-02 -2.30197314e-04 9.99357054e-01 1.32936342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.66, Y:14.29, Z:13.30 [[ 9.97955001e-01 -5.29436751e-02 -3.58159589e-02 3.75660584e+02] [ 5.29188340e-02 9.98597467e-01 -1.64186035e-03 1.42884242e+01] [ 3.58526520e-02 -2.56836037e-04 9.99357054e-01 1.32952134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.69, Y:14.29, Z:13.30 [[ 9.97892376e-01 -5.41114882e-02 -3.58155446e-02 3.75688921e+02] [ 5.40870764e-02 9.98534858e-01 -1.65084798e-03 1.42878495e+01] [ 3.58523996e-02 -2.89789492e-04 9.99357054e-01 1.32963273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.72, Y:14.29, Z:13.30 [[ 9.97819513e-01 -5.54391283e-02 -3.58151277e-02 3.75717309e+02] [ 5.54152484e-02 9.98462015e-01 -1.65984373e-03 1.42869536e+01] [ 3.58520649e-02 -3.28479741e-04 9.99357054e-01 1.32980280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.75, Y:14.29, Z:13.30 [[ 9.97724530e-01 -5.71232787e-02 -3.58147061e-02 3.75745918e+02] [ 5.71001586e-02 9.98367060e-01 -1.66889306e-03 1.42861060e+01] [ 3.58515554e-02 -3.79929848e-04 9.99357054e-01 1.32993280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:14.28, Z:13.30 [[ 9.97470553e-01 -6.13987693e-02 -3.58146164e-02 3.75774759e+02] [ 6.13783342e-02 9.98113174e-01 -1.67081446e-03 1.42828291e+01] [ 3.58496264e-02 -5.31653270e-04 9.99357054e-01 1.33017285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:14.28, Z:13.30 [[ 9.97335323e-01 -6.35578291e-02 -3.58141971e-02 3.75804750e+02] [ 6.35384642e-02 9.97977977e-01 -1.67975483e-03 1.42819495e+01] [ 3.58485415e-02 -6.00300251e-04 9.99357054e-01 1.33027464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.83, Y:14.28, Z:13.30 [[ 9.97167796e-01 -6.61342087e-02 -3.58141365e-02 3.75834284e+02] [ 6.61164577e-02 9.97810497e-01 -1.68104622e-03 1.42809513e+01] [ 3.58468960e-02 -6.91618690e-04 9.99357054e-01 1.33032399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.86, Y:14.28, Z:13.30 [[ 9.96968371e-01 -6.90754472e-02 -3.58141064e-02 3.75864701e+02] [ 6.90595691e-02 9.97611121e-01 -1.68168694e-03 1.42800371e+01] [ 3.58447141e-02 -7.96718065e-04 9.99357054e-01 1.33042559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.89, Y:14.28, Z:13.30 [[ 9.96534026e-01 -7.50818527e-02 -3.58141064e-02 3.75893990e+02] [ 7.50698482e-02 9.97176860e-01 -1.68168694e-03 1.42760370e+01] [ 3.58392623e-02 -1.01270127e-03 9.99357054e-01 1.33046527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.93, Y:14.27, Z:13.31 [[ 9.96264635e-01 -7.85756070e-02 -3.58141090e-02 3.75925777e+02] [ 7.85658585e-02 9.96907507e-01 -1.68163166e-03 1.42745818e+01] [ 3.58354894e-02 -1.13841607e-03 9.99357054e-01 1.33056303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.96, Y:14.27, Z:13.31 [[ 9.95984624e-01 -8.20486033e-02 -3.58141702e-02 3.75956668e+02] [ 8.20411431e-02 9.96627527e-01 -1.68032805e-03 1.42730656e+01] [ 3.58312564e-02 -1.26465455e-03 9.99357054e-01 1.33062493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.99, Y:14.27, Z:13.31 [[ 9.95349797e-01 -8.94210571e-02 -3.58142005e-02 3.75988688e+02] [ 8.94183807e-02 9.95992737e-01 -1.67968091e-03 1.42695548e+01] [ 3.58208824e-02 -1.53057776e-03 9.99357054e-01 1.33076891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.02, Y:14.27, Z:13.31 [[ 9.95025179e-01 -9.29635803e-02 -3.58143242e-02 3.76020421e+02] [ 9.29632873e-02 9.95668125e-01 -1.67704039e-03 1.42690127e+01] [ 3.58150847e-02 -1.66071989e-03 9.99357054e-01 1.33085127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.05, Y:14.27, Z:13.31 [[ 9.94691982e-01 -9.64634100e-02 -3.58144163e-02 3.76051467e+02] [ 9.64654495e-02 9.95334924e-01 -1.67507094e-03 1.42686570e+01] [ 3.58089224e-02 -1.78867413e-03 9.99357054e-01 1.33095812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.08, Y:14.27, Z:13.31 [[ 9.94126373e-01 -1.02127741e-01 -3.58145068e-02 3.76083997e+02] [ 1.02133512e-01 9.94769293e-01 -1.67313238e-03 1.42669061e+01] [ 3.57980449e-02 -1.99455635e-03 9.99357054e-01 1.33109741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.12, Y:14.27, Z:13.31 [[ 9.93875397e-01 -1.04541893e-01 -3.58146289e-02 3.76115689e+02] [ 1.04549320e-01 9.94518300e-01 -1.67051619e-03 1.42670361e+01] [ 3.57929427e-02 -2.08411015e-03 9.99357054e-01 1.33124241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.15, Y:14.27, Z:13.31 [[ 9.93680956e-01 -1.06374161e-01 -3.58147514e-02 3.76147928e+02] [ 1.06382868e-01 9.94323842e-01 -1.66788418e-03 1.42672621e+01] [ 3.57888810e-02 -2.15273123e-03 9.99357054e-01 1.33136160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.18, Y:14.27, Z:13.31 [[ 9.93519661e-01 -1.07870189e-01 -3.58148731e-02 3.76179342e+02] [ 1.07879958e-01 9.94162533e-01 -1.66526826e-03 1.42675136e+01] [ 3.57854377e-02 -2.20923024e-03 9.99357054e-01 1.33145179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.21, Y:14.27, Z:13.32 [[ 9.93304933e-01 -1.09829823e-01 -3.58150753e-02 3.76211941e+02] [ 1.09841017e-01 9.93947782e-01 -1.66090694e-03 1.42676057e+01] [ 3.57807318e-02 -2.28417723e-03 9.99357054e-01 1.33160992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.24, Y:14.27, Z:13.32 [[ 9.93257875e-01 -1.10254550e-01 -3.58151943e-02 3.76244531e+02] [ 1.10266111e-01 9.93900717e-01 -1.65833648e-03 1.42686928e+01] [ 3.57795865e-02 -2.30204642e-03 9.99357054e-01 1.33175672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.28, Y:14.27, Z:13.32 [[ 9.93240069e-01 -1.10414804e-01 -3.58153124e-02 3.76275382e+02] [ 1.10426560e-01 9.93882907e-01 -1.65578216e-03 1.42700615e+01] [ 3.57790497e-02 -2.31037257e-03 9.99357054e-01 1.33189920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.31, Y:14.27, Z:13.32 [[ 9.93310886e-01 -1.09775868e-01 -3.58154005e-02 3.76306607e+02] [ 1.09787279e-01 9.93953730e-01 -1.65387586e-03 1.42716408e+01] [ 3.57804065e-02 -2.28926245e-03 9.99357054e-01 1.33204056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.34, Y:14.27, Z:13.32 [[ 9.93370878e-01 -1.09231631e-01 -3.58154875e-02 3.76338800e+02] [ 1.09242757e-01 9.94013728e-01 -1.65198824e-03 1.42733553e+01] [ 3.57815356e-02 -2.27154559e-03 9.99357054e-01 1.33218142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.37, Y:14.27, Z:13.32 [[ 9.93442181e-01 -1.08581189e-01 -3.58156069e-02 3.76370009e+02] [ 1.08591988e-01 9.94085036e-01 -1.64939646e-03 1.42748905e+01] [ 3.57828523e-02 -2.25070794e-03 9.99357054e-01 1.33229135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.40, Y:14.28, Z:13.32 [[ 9.93521986e-01 -1.07848501e-01 -3.58156956e-02 3.76402599e+02] [ 1.07858895e-01 9.94164848e-01 -1.64746824e-03 1.42768694e+01] [ 3.57843825e-02 -2.22624542e-03 9.99357054e-01 1.33237453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.43, Y:14.28, Z:13.32 [[ 9.93694592e-01 -1.06246347e-01 -3.58158088e-02 3.76434348e+02] [ 1.06255793e-01 9.94337468e-01 -1.64500344e-03 1.42797703e+01] [ 3.57877762e-02 -2.17100614e-03 9.99357054e-01 1.33242268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.47, Y:14.28, Z:13.33 [[ 9.93800394e-01 -1.05252064e-01 -3.58159300e-02 3.76465269e+02] [ 1.05260961e-01 9.94443278e-01 -1.64236052e-03 1.42819410e+01] [ 3.57897726e-02 -2.13784068e-03 9.99357054e-01 1.33251533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.50, Y:14.28, Z:13.33 [[ 9.93909138e-01 -1.04220142e-01 -3.58160202e-02 3.76496156e+02] [ 1.04228443e-01 9.94552030e-01 -1.64039098e-03 1.42842004e+01] [ 3.57918574e-02 -2.10264842e-03 9.99357054e-01 1.33263594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.53, Y:14.29, Z:13.33 [[ 9.94018951e-01 -1.03167494e-01 -3.58161088e-02 3.76527755e+02] [ 1.03175183e-01 9.94661851e-01 -1.63845478e-03 1.42866708e+01] [ 3.57939523e-02 -2.06667847e-03 9.99357054e-01 1.33275615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.56, Y:14.29, Z:13.33 [[ 9.94266822e-01 -1.00750575e-01 -3.58163025e-02 3.76559706e+02] [ 1.00756854e-01 9.94909738e-01 -1.63420830e-03 1.42902930e+01] [ 3.57986356e-02 -1.98389886e-03 9.99357054e-01 1.33284736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.59, Y:14.29, Z:13.33 [[ 9.94367507e-01 -9.97519184e-02 -3.58164208e-02 3.76591648e+02] [ 9.97576447e-02 9.95010427e-01 -1.63161148e-03 1.42927900e+01] [ 3.58004685e-02 -1.95054034e-03 9.99357054e-01 1.33299235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.62, Y:14.30, Z:13.33 [[ 9.94596345e-01 -9.74437557e-02 -3.58165382e-02 3.76623537e+02] [ 9.74480825e-02 9.95239277e-01 -1.62903032e-03 1.42963071e+01] [ 3.58047644e-02 -1.87002536e-03 9.99357054e-01 1.33314761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.66, Y:14.30, Z:13.33 [[ 9.94603483e-01 -9.73708287e-02 -3.58166573e-02 3.76656175e+02] [ 9.73752025e-02 9.95246414e-01 -1.62640808e-03 1.42977311e+01] [ 3.58047644e-02 -1.87002311e-03 9.99357054e-01 1.33326475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.69, Y:14.30, Z:13.33 [[ 9.94698494e-01 -9.63953533e-02 -3.58167763e-02 3.76687141e+02] [ 9.63991908e-02 9.95341429e-01 -1.62378359e-03 1.43003989e+01] [ 3.58064464e-02 -1.83753316e-03 9.99357054e-01 1.33333127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.72, Y:14.30, Z:13.33 [[ 9.94807788e-01 -9.52607874e-02 -3.58168648e-02 3.76719323e+02] [ 9.52639618e-02 9.95450726e-01 -1.62182874e-03 1.43031513e+01] [ 3.58084207e-02 -1.79864858e-03 9.99357054e-01 1.33344198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.75, Y:14.31, Z:13.34 [[ 9.94946107e-01 -9.38050513e-02 -3.58169796e-02 3.76751053e+02] [ 9.38073761e-02 9.95589049e-01 -1.61928919e-03 1.43055169e+01] [ 3.58108902e-02 -1.74879140e-03 9.99357054e-01 1.33354806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.78, Y:14.31, Z:13.34 [[ 9.95161525e-01 -9.14913954e-02 -3.58170933e-02 3.76783433e+02] [ 9.14923158e-02 9.95804470e-01 -1.61677009e-03 1.43088736e+01] [ 3.58147422e-02 -1.66804143e-03 9.99357054e-01 1.33371756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.81, Y:14.31, Z:13.34 [[ 9.95254994e-01 -9.04689168e-02 -3.58172118e-02 3.76814640e+02] [ 9.04692710e-02 9.95897939e-01 -1.61414046e-03 1.43111410e+01] [ 3.58163170e-02 -1.63387569e-03 9.99357054e-01 1.33384991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.85, Y:14.31, Z:13.34 [[ 9.95364001e-01 -8.92615603e-02 -3.58173000e-02 3.76846799e+02] [ 8.92612050e-02 9.96006947e-01 -1.61218181e-03 1.43132301e+01] [ 3.58181855e-02 -1.59238762e-03 9.99357054e-01 1.33397804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.88, Y:14.32, Z:13.34 [[ 9.95541155e-01 -8.72635227e-02 -3.58174144e-02 3.76879323e+02] [ 8.72619683e-02 9.96184098e-01 -1.60963534e-03 1.43163104e+01] [ 3.58212011e-02 -1.52303986e-03 9.99357054e-01 1.33417625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.91, Y:14.32, Z:13.34 [[ 9.95608584e-01 -8.64907596e-02 -3.58175316e-02 3.76910959e+02] [ 8.64888000e-02 9.96251527e-01 -1.60702398e-03 1.43185288e+01] [ 3.58222633e-02 -1.49784846e-03 9.99357054e-01 1.33429041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.94, Y:14.32, Z:13.34 [[ 9.95688676e-01 -8.55637528e-02 -3.58176501e-02 3.76941867e+02] [ 8.55612896e-02 9.96331617e-01 -1.60437721e-03 1.43216661e+01] [ 3.58235338e-02 -1.46714412e-03 9.99357054e-01 1.33435195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.97, Y:14.32, Z:13.34 [[ 9.95694539e-01 -8.54954659e-02 -3.58177383e-02 3.76974506e+02] [ 8.54930294e-02 9.96337480e-01 -1.60240588e-03 1.43230630e+01] [ 3.58235536e-02 -1.46666017e-03 9.99357054e-01 1.33446910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.01, Y:14.33, Z:13.35 [[ 9.95692450e-01 -8.55197485e-02 -3.58178480e-02 3.77006727e+02] [ 8.55174158e-02 9.96335391e-01 -1.59995037e-03 1.43259652e+01] [ 3.58234170e-02 -1.46999130e-03 9.99357054e-01 1.33451524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.04, Y:14.33, Z:13.35 [[ 9.95643000e-01 -8.60934947e-02 -3.58179665e-02 3.77037544e+02] [ 8.60916280e-02 9.96285943e-01 -1.59729348e-03 1.43277576e+01] [ 3.58224531e-02 -1.49329298e-03 9.99357054e-01 1.33455189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.07, Y:14.33, Z:13.35 [[ 9.95562618e-01 -8.70180457e-02 -3.58180547e-02 3.77069902e+02] [ 8.70168471e-02 9.96205563e-01 -1.59531382e-03 1.43297025e+01] [ 3.58209664e-02 -1.52853939e-03 9.99357054e-01 1.33461316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.10, Y:14.33, Z:13.35 [[ 9.95467136e-01 -8.81035771e-02 -3.58181705e-02 3.77101704e+02] [ 8.81031732e-02 9.96110081e-01 -1.59270827e-03 1.43316906e+01] [ 3.58191641e-02 -1.57020574e-03 9.99357054e-01 1.33469253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.13, Y:14.33, Z:13.35 [[ 9.95190416e-01 -9.11761234e-02 -3.58182874e-02 3.77133096e+02] [ 9.11777988e-02 9.95833360e-01 -1.59007630e-03 1.43341424e+01] [ 3.58140225e-02 -1.68340391e-03 9.99357054e-01 1.33478388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.17, Y:14.34, Z:13.35 [[ 9.95020130e-01 -9.30160441e-02 -3.58183743e-02 3.77165609e+02] [ 9.30189786e-02 9.95663069e-01 -1.58811486e-03 1.43360004e+01] [ 3.58107527e-02 -1.75158234e-03 9.99357054e-01 1.33493817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.20, Y:14.34, Z:13.35 [[ 9.94822589e-01 -9.51054782e-02 -3.58184879e-02 3.77196824e+02] [ 9.51098551e-02 9.95465520e-01 -1.58554984e-03 1.43380370e+01] [ 3.58068641e-02 -1.82935040e-03 9.99357054e-01 1.33508496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.23, Y:14.34, Z:13.35 [[ 9.94627345e-01 -9.71260763e-02 -3.58185724e-02 3.77229349e+02] [ 9.71318279e-02 9.95270265e-01 -1.58363740e-03 1.43398603e+01] [ 3.58029726e-02 -1.90399435e-03 9.99357054e-01 1.33528793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.26, Y:14.34, Z:13.35 [[ 9.94273802e-01 -1.00680823e-01 -3.58186889e-02 3.77260549e+02] [ 1.00688968e-01 9.94916696e-01 -1.58099799e-03 1.43420085e+01] [ 3.57957878e-02 -2.03460193e-03 9.99357054e-01 1.33544865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.29, Y:14.34, Z:13.36 [[ 9.94089409e-01 -1.02485427e-01 -3.58187754e-02 3.77293044e+02] [ 1.02494809e-01 9.94732286e-01 -1.57903653e-03 1.43438413e+01] [ 3.57919206e-02 -2.10153505e-03 9.99357054e-01 1.33561533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.33, Y:14.35, Z:13.36 [[ 9.93946814e-01 -1.03859227e-01 -3.58188868e-02 3.77325170e+02] [ 1.03869588e-01 9.94589676e-01 -1.57650607e-03 1.43456198e+01] [ 3.57888297e-02 -2.15352984e-03 9.99357054e-01 1.33575094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.36, Y:14.35, Z:13.36 [[ 9.93801201e-01 -1.05243396e-01 -3.58189974e-02 3.77358307e+02] [ 1.05254743e-01 9.94444047e-01 -1.57398918e-03 1.43474255e+01] [ 3.57856407e-02 -2.20588702e-03 9.99357054e-01 1.33592893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.39, Y:14.35, Z:13.36 [[ 9.93507338e-01 -1.07982209e-01 -3.58191668e-02 3.77391143e+02] [ 1.07995467e-01 9.94150147e-01 -1.57012503e-03 1.43495106e+01] [ 3.57791755e-02 -2.30837689e-03 9.99357054e-01 1.33609415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.42, Y:14.35, Z:13.36 [[ 9.93402050e-01 -1.08946507e-01 -3.58193429e-02 3.77423453e+02] [ 1.08960533e-01 9.94044843e-01 -1.56609716e-03 1.43510597e+01] [ 3.57766539e-02 -2.34713055e-03 9.99357054e-01 1.33620933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.46, Y:14.35, Z:13.36 [[ 9.93266356e-01 -1.10176723e-01 -3.58194884e-02 3.77456723e+02] [ 1.10191665e-01 9.93909128e-01 -1.56276196e-03 1.43527597e+01] [ 3.57734965e-02 -2.39477018e-03 9.99357054e-01 1.33631111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:14.35, Z:13.36 [[ 9.93002177e-01 -1.12532789e-01 -3.58196563e-02 3.77488652e+02] [ 1.12549394e-01 9.93644908e-01 -1.55890306e-03 1.43547339e+01] [ 3.57674468e-02 -2.48348649e-03 9.99357054e-01 1.33630044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.52, Y:14.36, Z:13.36 [[ 9.92894884e-01 -1.13475511e-01 -3.58197952e-02 3.77521182e+02] [ 1.13492842e-01 9.93537596e-01 -1.55570560e-03 1.43564885e+01] [ 3.57648477e-02 -2.52063821e-03 9.99357054e-01 1.33637684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.55, Y:14.36, Z:13.36 [[ 9.92812013e-01 -1.14198251e-01 -3.58199049e-02 3.77553443e+02] [ 1.14216140e-01 9.93454710e-01 -1.55317506e-03 1.43581139e+01] [ 3.57628231e-02 -2.54920040e-03 9.99357054e-01 1.33643011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.59, Y:14.36, Z:13.37 [[ 9.92731830e-01 -1.14893168e-01 -3.58200138e-02 3.77586011e+02] [ 1.14911597e-01 9.93374512e-01 -1.55066017e-03 1.43597682e+01] [ 3.57608490e-02 -2.57674527e-03 9.99357054e-01 1.33655950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:14.36, Z:13.37 [[ 9.92660006e-01 -1.15512023e-01 -3.58201824e-02 3.77617197e+02] [ 1.15530993e-01 9.93302672e-01 -1.54675512e-03 1.43624595e+01] [ 3.57589517e-02 -2.60293929e-03 9.99357054e-01 1.33664614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.65, Y:14.36, Z:13.37 [[ 9.92686155e-01 -1.15287063e-01 -3.58202659e-02 3.77649915e+02] [ 1.15305957e-01 9.93328823e-01 -1.54482054e-03 1.43645582e+01] [ 3.57594003e-02 -2.59676806e-03 9.99357054e-01 1.33682949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.68, Y:14.37, Z:13.37 [[ 9.92769915e-01 -1.14563488e-01 -3.58204382e-02 3.77683351e+02] [ 1.14582057e-01 9.93412592e-01 -1.54081498e-03 1.43668318e+01] [ 3.57609955e-02 -2.57470472e-03 9.99357054e-01 1.33693796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.72, Y:14.37, Z:13.37 [[ 9.92831923e-01 -1.14024805e-01 -3.58206087e-02 3.77715889e+02] [ 1.14043168e-01 9.93474607e-01 -1.53683988e-03 1.43690871e+01] [ 3.57621030e-02 -2.55927199e-03 9.99357054e-01 1.33705791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.75, Y:14.37, Z:13.37 [[ 9.93056995e-01 -1.12047651e-01 -3.58207795e-02 3.77748015e+02] [ 1.12064878e-01 9.93699710e-01 -1.53284786e-03 1.43726183e+01] [ 3.57668502e-02 -2.49204598e-03 9.99357054e-01 1.33710186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.78, Y:14.38, Z:13.37 [[ 9.93299614e-01 -1.09876014e-01 -3.58209204e-02 3.77780443e+02] [ 1.09891954e-01 9.93942362e-01 -1.52954822e-03 1.43760521e+01] [ 3.57719909e-02 -2.41713128e-03 9.99357054e-01 1.33724301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.81, Y:14.38, Z:13.37 [[ 9.93424947e-01 -1.08736951e-01 -3.58210845e-02 3.77813752e+02] [ 1.08752291e-01 9.94067710e-01 -1.52569651e-03 1.43784821e+01] [ 3.57744830e-02 -2.37996004e-03 9.99357054e-01 1.33738816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.85, Y:14.38, Z:13.38 [[ 9.93513422e-01 -1.07925523e-01 -3.58212539e-02 3.77847017e+02] [ 1.07940482e-01 9.94156193e-01 -1.52170788e-03 1.43808666e+01] [ 3.57761525e-02 -2.35472622e-03 9.99357054e-01 1.33750829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.88, Y:14.38, Z:13.38 [[ 9.93601223e-01 -1.07114126e-01 -3.58214222e-02 3.77879952e+02] [ 1.07128703e-01 9.94244003e-01 -1.51773612e-03 1.43830229e+01] [ 3.57778052e-02 -2.32947804e-03 9.99357054e-01 1.33760950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.91, Y:14.39, Z:13.38 [[ 9.93659197e-01 -1.06574919e-01 -3.58215898e-02 3.77911435e+02] [ 1.06589290e-01 9.94301982e-01 -1.51376993e-03 1.43851157e+01] [ 3.57788077e-02 -2.31402640e-03 9.99357054e-01 1.33767029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.94, Y:14.39, Z:13.38 [[ 9.93652311e-01 -1.06639061e-01 -3.58217283e-02 3.77944320e+02] [ 1.06653591e-01 9.94295092e-01 -1.51048549e-03 1.43875367e+01] [ 3.57784454e-02 -2.31961856e-03 9.99357054e-01 1.33777229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.98, Y:14.39, Z:13.38 [[ 9.93616490e-01 -1.06972254e-01 -3.58218926e-02 3.77977464e+02] [ 1.06987139e-01 9.94259263e-01 -1.50657814e-03 1.43893912e+01] [ 3.57774106e-02 -2.33552092e-03 9.99357054e-01 1.33786614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.01, Y:14.39, Z:13.38 [[ 9.93594503e-01 -1.07176227e-01 -3.58220576e-02 3.78009995e+02] [ 1.07191386e-01 9.94237270e-01 -1.50264561e-03 1.43908943e+01] [ 3.57766726e-02 -2.34679558e-03 9.99357054e-01 1.33793264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.04, Y:14.39, Z:13.38 [[ 9.93553219e-01 -1.07558215e-01 -3.58222223e-02 3.78042044e+02] [ 1.07573762e-01 9.94195977e-01 -1.49870757e-03 1.43924562e+01] [ 3.57755076e-02 -2.36448548e-03 9.99357054e-01 1.33799862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.08, Y:14.39, Z:13.38 [[ 9.93565257e-01 -1.07446908e-01 -3.58223584e-02 3.78075505e+02] [ 1.07462500e-01 9.94208014e-01 -1.49544905e-03 1.43943818e+01] [ 3.57755571e-02 -2.36373396e-03 9.99357054e-01 1.33808003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.11, Y:14.40, Z:13.38 [[ 9.93601590e-01 -1.07110348e-01 -3.58225237e-02 3.78108182e+02] [ 1.07125865e-01 9.94244349e-01 -1.49147934e-03 1.43961168e+01] [ 3.57760946e-02 -2.35558257e-03 9.99357054e-01 1.33817303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.14, Y:14.40, Z:13.38 [[ 9.93678401e-01 -1.06395347e-01 -3.58226874e-02 3.78140677e+02] [ 1.06410543e-01 9.94321167e-01 -1.48753573e-03 1.43981075e+01] [ 3.57775232e-02 -2.33377948e-03 9.99357054e-01 1.33824593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.17, Y:14.40, Z:13.38 [[ 9.93846876e-01 -1.04809873e-01 -3.58228514e-02 3.78172851e+02] [ 1.04824186e-01 9.94489663e-01 -1.48357498e-03 1.44000375e+01] [ 3.57809488e-02 -2.28065487e-03 9.99357054e-01 1.33831590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.20, Y:14.40, Z:13.38 [[ 9.94025822e-01 -1.03098876e-01 -3.58229870e-02 3.78204823e+02] [ 1.03112200e-01 9.94668630e-01 -1.48029541e-03 1.44023772e+01] [ 3.57846182e-02 -2.22233511e-03 9.99357054e-01 1.33842320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.24, Y:14.41, Z:13.39 [[ 9.94531988e-01 -9.80960279e-02 -3.58230937e-02 3.78237646e+02] [ 9.81062100e-02 9.95174853e-01 -1.47770747e-03 1.44060049e+01] [ 3.57951993e-02 -2.04484060e-03 9.99357054e-01 1.33857419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.27, Y:14.41, Z:13.39 [[ 9.94836851e-01 -9.49543789e-02 -3.58232553e-02 3.78270645e+02] [ 9.49626715e-02 9.95479743e-01 -1.47378030e-03 1.44086033e+01] [ 3.58012669e-02 -1.93570107e-03 9.99357054e-01 1.33873690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.30, Y:14.41, Z:13.39 [[ 9.95145975e-01 -9.16579048e-02 -3.58234150e-02 3.78303507e+02] [ 9.16642072e-02 9.95788890e-01 -1.46988735e-03 1.44111908e+01] [ 3.58072855e-02 -1.82097246e-03 9.99357054e-01 1.33890297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.33, Y:14.41, Z:13.39 [[ 9.95754453e-01 -8.47923406e-02 -3.58235737e-02 3.78334680e+02] [ 8.47943480e-02 9.96397395e-01 -1.46600883e-03 1.44147245e+01] [ 3.58188219e-02 -1.57785176e-03 9.99357055e-01 1.33909449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.37, Y:14.42, Z:13.39 [[ 9.96059001e-01 -8.11365018e-02 -3.58236522e-02 3.78366900e+02] [ 8.11362180e-02 9.96701947e-01 -1.46408989e-03 1.44170589e+01] [ 3.58242950e-02 -1.44827574e-03 9.99357055e-01 1.33928698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.40, Y:14.42, Z:13.39 [[ 9.96358161e-01 -7.73761835e-02 -3.58237569e-02 3.78398705e+02] [ 7.73735650e-02 9.97001101e-01 -1.46152234e-03 1.44195286e+01] [ 3.58294121e-02 -1.31561207e-03 9.99357055e-01 1.33945971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.43, Y:14.42, Z:13.40 [[ 9.96644341e-01 -7.35982926e-02 -3.58238629e-02 3.78429963e+02] [ 7.35933301e-02 9.97287267e-01 -1.45891999e-03 1.44217231e+01] [ 3.58340563e-02 -1.18237302e-03 9.99357055e-01 1.33954805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.46, Y:14.42, Z:13.39 [[ 9.97143507e-01 -6.64940912e-02 -3.58240383e-02 3.78464167e+02] [ 6.64847023e-02 9.97786384e-01 -1.45459949e-03 1.44201101e+01] [ 3.58414599e-02 -9.31306089e-04 9.99357055e-01 1.33926790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.49, Y:14.43, Z:13.40 [[ 9.97287695e-01 -6.42863708e-02 -3.58401527e-02 3.78490706e+02] [ 6.42898933e-02 9.97930707e-01 -1.05535338e-03 1.44252520e+01] [ 3.58338338e-02 -1.25166865e-03 9.99356978e-01 1.33974246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.52, Y:14.43, Z:13.40 [[ 9.97456655e-01 -6.16188011e-02 -3.58238109e-02 3.78522402e+02] [ 6.16061769e-02 9.98099472e-01 -1.45717797e-03 1.44267834e+01] [ 3.58455163e-02 -7.53496166e-04 9.99357059e-01 1.33989285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.55, Y:14.43, Z:13.40 [[ 9.97602926e-01 -5.92034947e-02 -3.58238632e-02 3.78552478e+02] [ 5.91893604e-02 9.98245711e-01 -1.45589025e-03 1.44279264e+01] [ 3.58472116e-02 -6.67991180e-04 9.99357059e-01 1.33995661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.58, Y:14.42, Z:13.39 [[ 9.98039620e-01 -5.13182770e-02 -3.58238892e-02 3.78584137e+02] [ 5.12990865e-02 9.98682275e-01 -1.45525174e-03 1.44249422e+01] [ 3.58513641e-02 -3.85333896e-04 9.99357059e-01 1.33947057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.61, Y:14.43, Z:13.40 [[ 9.97932927e-01 -5.33440778e-02 -3.58368864e-02 3.78610888e+02] [ 5.33377082e-02 9.98575887e-01 -1.13443318e-03 1.44289455e+01] [ 3.58463659e-02 -7.79369158e-04 9.99357009e-01 1.34004305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.64, Y:14.43, Z:13.40 [[ 9.97930830e-01 -5.33922443e-02 -3.58235554e-02 3.78640985e+02] [ 5.33741727e-02 9.98573514e-01 -1.46128996e-03 1.44303563e+01] [ 3.58504751e-02 -4.53786327e-04 9.99357062e-01 1.34016146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.67, Y:14.43, Z:13.40 [[ 9.98046730e-01 -5.11800930e-02 -3.58235019e-02 3.78669707e+02] [ 5.11605498e-02 9.98689371e-01 -1.46259915e-03 1.44311616e+01] [ 3.58514066e-02 -3.73007762e-04 9.99357062e-01 1.34020833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.70, Y:14.43, Z:13.40 [[ 9.98117174e-01 -4.97874375e-02 -3.58234223e-02 3.78698119e+02] [ 4.97669277e-02 9.98759785e-01 -1.46454679e-03 1.44322372e+01] [ 3.58519096e-02 -3.21032369e-04 9.99357062e-01 1.34029930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.73, Y:14.43, Z:13.40 [[ 9.98283128e-01 -4.63411866e-02 -3.58230433e-02 3.78726863e+02] [ 4.63181278e-02 9.98925652e-01 -1.47375905e-03 1.44320320e+01] [ 3.58528527e-02 -1.88027505e-04 9.99357062e-01 1.34033356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.76, Y:14.43, Z:13.40 [[ 9.98321488e-01 -4.55076092e-02 -3.58226629e-02 3.78755140e+02] [ 4.54836842e-02 9.98963981e-01 -1.48294757e-03 1.44323428e+01] [ 3.58530354e-02 -1.48888257e-04 9.99357062e-01 1.34041289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.78, Y:14.43, Z:13.40 [[ 9.98358931e-01 -4.46790074e-02 -3.58222248e-02 3.78781885e+02] [ 4.46541721e-02 9.99001389e-01 -1.49345691e-03 1.44323909e+01] [ 3.58531785e-02 -1.08605752e-04 9.99357062e-01 1.34043292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.81, Y:14.43, Z:13.41 [[ 9.98340440e-01 -4.50904488e-02 -3.58220346e-02 3.78809854e+02] [ 4.50657150e-02 9.98982901e-01 -1.49800591e-03 1.44313991e+01] [ 3.58531458e-02 -1.18825722e-04 9.99357062e-01 1.34052282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.84, Y:14.43, Z:13.41 [[ 9.98292824e-01 -4.61329736e-02 -3.58215895e-02 3.78837920e+02] [ 4.61085315e-02 9.98935297e-01 -1.50857424e-03 1.44313463e+01] [ 3.58530452e-02 -1.45682054e-04 9.99357062e-01 1.34061727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.86, Y:14.43, Z:13.41 [[ 9.98221293e-01 -4.76560141e-02 -3.58211399e-02 3.78864419e+02] [ 4.76321719e-02 9.98863789e-01 -1.51917501e-03 1.44312860e+01] [ 3.58528374e-02 -1.89765850e-04 9.99357062e-01 1.34072800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.89, Y:14.43, Z:13.41 [[ 9.98115563e-01 -4.98215162e-02 -3.58209445e-02 3.78892142e+02] [ 4.97989031e-02 9.98758103e-01 -1.52376794e-03 1.44308909e+01] [ 3.58523750e-02 -2.62947254e-04 9.99357062e-01 1.34082986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.92, Y:14.43, Z:13.41 [[ 9.97817050e-01 -5.54799741e-02 -3.58204980e-02 3.78919376e+02] [ 5.54606303e-02 9.98459696e-01 -1.53419453e-03 1.44287883e+01] [ 3.58504406e-02 -4.55781933e-04 9.99357062e-01 1.34093252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.95, Y:14.43, Z:13.41 [[ 9.97606975e-01 -5.91374438e-02 -3.58201896e-02 3.78947892e+02] [ 5.91201987e-02 9.98249681e-01 -1.54135998e-03 1.44281447e+01] [ 3.58486450e-02 -5.80025264e-04 9.99357062e-01 1.34098877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.98, Y:14.43, Z:13.41 [[ 9.97359262e-01 -6.31778721e-02 -3.58198012e-02 3.78977405e+02] [ 6.31629084e-02 9.98002026e-01 -1.55033435e-03 1.44274752e+01] [ 3.58461810e-02 -7.16242494e-04 9.99357062e-01 1.34105770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.01, Y:14.42, Z:13.41 [[ 9.96800572e-01 -7.14532353e-02 -3.58197459e-02 3.79008315e+02] [ 7.14435607e-02 9.97443437e-01 -1.55161254e-03 1.44242982e+01] [ 3.58390382e-02 -1.01244192e-03 9.99357062e-01 1.34113414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.04, Y:14.42, Z:13.41 [[ 9.96487848e-01 -7.56895895e-02 -3.58197459e-02 3.79039594e+02] [ 7.56826476e-02 9.97130748e-01 -1.55161254e-03 1.44235364e+01] [ 3.58344109e-02 -1.16477016e-03 9.99357062e-01 1.34125114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.07, Y:14.42, Z:13.41 [[ 9.96167323e-01 -7.97972874e-02 -3.58198022e-02 3.79070991e+02] [ 7.97930429e-02 9.96810246e-01 -1.55031122e-03 1.44227245e+01] [ 3.58292565e-02 -1.31380163e-03 9.99357062e-01 1.34134374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.10, Y:14.42, Z:13.41 [[ 9.95850592e-01 -8.36572064e-02 -3.58199816e-02 3.79102038e+02] [ 8.36556027e-02 9.96493527e-01 -1.54615410e-03 1.44220464e+01] [ 3.58237268e-02 -1.45680368e-03 9.99357062e-01 1.34146164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.13, Y:14.42, Z:13.41 [[ 9.95288361e-01 -9.00999581e-02 -3.58200643e-02 3.79134600e+02] [ 9.01025840e-02 9.95931293e-01 -1.54423535e-03 1.44199935e+01] [ 3.58134585e-02 -1.69052088e-03 9.99357062e-01 1.34148239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.17, Y:14.42, Z:13.42 [[ 9.95102247e-01 -9.21326928e-02 -3.58201735e-02 3.79166607e+02] [ 9.21367230e-02 9.95745172e-01 -1.54169901e-03 1.44198682e+01] [ 3.58098057e-02 -1.76620526e-03 9.99357062e-01 1.34155613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.20, Y:14.42, Z:13.42 [[ 9.94950846e-01 -9.37535195e-02 -3.58202822e-02 3.79197884e+02] [ 9.37586879e-02 9.95593762e-01 -1.53916845e-03 1.44200918e+01] [ 3.58067520e-02 -1.82706571e-03 9.99357062e-01 1.34168988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.23, Y:14.42, Z:13.42 [[ 9.94806893e-01 -9.52687762e-02 -3.58204627e-02 3.79230386e+02] [ 9.52750749e-02 9.95449800e-01 -1.53495819e-03 1.44197659e+01] [ 3.58037060e-02 -1.88581028e-03 9.99357062e-01 1.34180448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.26, Y:14.42, Z:13.42 [[ 9.94818410e-01 -9.51483971e-02 -3.58205734e-02 3.79261846e+02] [ 9.51547110e-02 9.95461317e-01 -1.53236962e-03 1.44205749e+01] [ 3.58037977e-02 -1.88406680e-03 9.99357062e-01 1.34190029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:14.42, Z:13.42 [[ 9.94881653e-01 -9.44847577e-02 -3.58207569e-02 3.79294009e+02] [ 9.44907972e-02 9.95524562e-01 -1.52806861e-03 1.44215119e+01] [ 3.58048225e-02 -1.86448445e-03 9.99357063e-01 1.34196485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.33, Y:14.42, Z:13.42 [[ 9.94992452e-01 -9.33106947e-02 -3.58208649e-02 3.79326349e+02] [ 9.33160666e-02 9.95635367e-01 -1.52553249e-03 1.44224619e+01] [ 3.58068684e-02 -1.82476890e-03 9.99357063e-01 1.34204155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.36, Y:14.42, Z:13.42 [[ 9.95303679e-01 -8.99302187e-02 -3.58209753e-02 3.79358135e+02] [ 8.99334999e-02 9.95946608e-01 -1.52293395e-03 1.44241472e+01] [ 3.58127367e-02 -1.70572392e-03 9.99357063e-01 1.34214527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.39, Y:14.43, Z:13.42 [[ 9.95521650e-01 -8.74842467e-02 -3.58210861e-02 3.79388805e+02] [ 8.74860418e-02 9.96164585e-01 -1.52032485e-03 1.44257635e+01] [ 3.58167018e-02 -1.62032873e-03 9.99357063e-01 1.34223645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.42, Y:14.43, Z:13.42 [[ 9.95746204e-01 -8.48901745e-02 -3.58211684e-02 3.79419862e+02] [ 8.48903642e-02 9.96389141e-01 -1.51838304e-03 1.44274399e+01] [ 3.58207190e-02 -1.52894788e-03 9.99357063e-01 1.34235037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.45, Y:14.43, Z:13.42 [[ 9.96193175e-01 -7.94732455e-02 -3.58212490e-02 3.79451783e+02] [ 7.94700067e-02 9.96836104e-01 -1.51647801e-03 1.44302644e+01] [ 3.58284338e-02 -1.33600986e-03 9.99357063e-01 1.34245668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.48, Y:14.43, Z:13.43 [[ 9.96422023e-01 -7.65505247e-02 -3.58213574e-02 3.79484015e+02] [ 7.65454920e-02 9.97064941e-01 -1.51391414e-03 1.44327152e+01] [ 3.58321105e-02 -1.23346604e-03 9.99357063e-01 1.34258320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.51, Y:14.43, Z:13.43 [[ 9.96671654e-01 -7.32286555e-02 -3.58214690e-02 3.79513991e+02] [ 7.32215746e-02 9.97314553e-01 -1.51126937e-03 1.44347177e+01] [ 3.58359405e-02 -1.11666502e-03 9.99357063e-01 1.34262607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.55, Y:14.44, Z:13.43 [[ 9.96868965e-01 -7.04917553e-02 -3.58214966e-02 3.79545654e+02] [ 7.04829328e-02 9.97511842e-01 -1.51061487e-03 1.44367260e+01] [ 3.58388529e-02 -1.01891905e-03 9.99357063e-01 1.34272029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.58, Y:14.44, Z:13.43 [[ 9.97029353e-01 -6.81856734e-02 -3.58215501e-02 3.79575656e+02] [ 6.81754093e-02 9.97672208e-01 -1.50934585e-03 1.44387343e+01] [ 3.58410807e-02 -9.37286720e-04 9.99357063e-01 1.34284733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.61, Y:14.44, Z:13.43 [[ 9.97319932e-01 -6.37947435e-02 -3.58215501e-02 3.79606251e+02] [ 6.37816488e-02 9.97962736e-01 -1.50934585e-03 1.44406276e+01] [ 3.58448604e-02 -7.79456822e-04 9.99357063e-01 1.34303760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.64, Y:14.44, Z:13.43 [[ 9.97395161e-01 -6.26075774e-02 -3.58215501e-02 3.79635453e+02] [ 6.25937176e-02 9.98037949e-01 -1.50934585e-03 1.44422582e+01] [ 3.58457628e-02 -7.36789738e-04 9.99357063e-01 1.34316872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.66, Y:14.44, Z:13.43 [[ 9.97444425e-01 -6.18177917e-02 -3.58214960e-02 3.79664588e+02] [ 6.18033768e-02 9.98087201e-01 -1.51062813e-03 1.44438842e+01] [ 3.58463603e-02 -7.07121810e-04 9.99357063e-01 1.34334438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.69, Y:14.45, Z:13.43 [[ 9.97453041e-01 -6.16786489e-02 -3.58214407e-02 3.79693863e+02] [ 6.16640974e-02 9.98095814e-01 -1.51193724e-03 1.44455178e+01] [ 3.58464843e-02 -7.00810416e-04 9.99357063e-01 1.34349310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.72, Y:14.45, Z:13.44 [[ 9.97418041e-01 -6.22421146e-02 -3.58213854e-02 3.79723721e+02] [ 6.22278793e-02 9.98060820e-01 -1.51324565e-03 1.44470846e+01] [ 3.58461090e-02 -7.19750342e-04 9.99357063e-01 1.34366452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.75, Y:14.45, Z:13.44 [[ 9.97287104e-01 -6.43060250e-02 -3.58213304e-02 3.79753085e+02] [ 6.42930732e-02 9.97929911e-01 -1.51454693e-03 1.44479158e+01] [ 3.58445716e-02 -7.92625297e-04 9.99357063e-01 1.34380717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.78, Y:14.45, Z:13.44 [[ 9.97161701e-01 -6.62221733e-02 -3.58213031e-02 3.79782785e+02] [ 6.62104334e-02 9.97804531e-01 -1.51519308e-03 1.44486263e+01] [ 3.58429979e-02 -8.60851491e-04 9.99357063e-01 1.34390242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.81, Y:14.45, Z:13.44 [[ 9.96993876e-01 -6.87026009e-02 -3.58212766e-02 3.79813002e+02] [ 6.86924377e-02 9.97636733e-01 -1.51581862e-03 1.44492425e+01] [ 3.58407621e-02 -9.49388930e-04 9.99357063e-01 1.34410236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.84, Y:14.45, Z:13.44 [[ 9.96811846e-01 -7.12950200e-02 -3.58212766e-02 3.79842275e+02] [ 7.12865286e-02 9.97454727e-01 -1.51581862e-03 1.44498041e+01] [ 3.58381720e-02 -1.04258850e-03 9.99357063e-01 1.34420675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.87, Y:14.45, Z:13.44 [[ 9.96365528e-01 -7.72824072e-02 -3.58212823e-02 3.79872961e+02] [ 7.72777831e-02 9.97008449e-01 -1.51568483e-03 1.44496207e+01] [ 3.58312569e-02 -1.25801317e-03 9.99357063e-01 1.34442712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.90, Y:14.45, Z:13.45 [[ 9.96113328e-01 -8.04678442e-02 -3.58212823e-02 3.79904004e+02] [ 8.04652758e-02 9.96756260e-01 -1.51568483e-03 1.44497071e+01] [ 3.58270513e-02 -1.37257550e-03 9.99357063e-01 1.34452745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.94, Y:14.45, Z:13.45 [[ 9.95494868e-01 -8.77883761e-02 -3.58213362e-02 3.79935896e+02] [ 8.77905800e-02 9.96137802e-01 -1.51440891e-03 1.44490599e+01] [ 3.58159346e-02 -1.63718959e-03 9.99357063e-01 1.34451975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.97, Y:14.45, Z:13.45 [[ 9.95147346e-01 -9.16438042e-02 -3.58213902e-02 3.79968210e+02] [ 9.16485443e-02 9.95790266e-01 -1.51313232e-03 1.44495244e+01] [ 3.58092608e-02 -1.77718865e-03 9.99357063e-01 1.34461097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.00, Y:14.45, Z:13.45 [[ 9.94509119e-01 -9.83281866e-02 -3.58215004e-02 3.79998881e+02] [ 9.83373403e-02 9.95151991e-01 -1.51051845e-03 1.44492893e+01] [ 3.57963640e-02 -2.02036670e-03 9.99357063e-01 1.34469465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.775099893 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:380.03, Y:14.45, Z:13.45 [[ 9.94077051e-01 -1.02605958e-01 -3.58166706e-02 3.80031008e+02] [ 1.02613806e-01 9.94719945e-01 -1.62392957e-03 1.44507294e+01] [ 3.57941815e-02 -2.06097377e-03 9.99357058e-01 1.34464294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80509989300003 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:380.06, Y:14.45, Z:13.45 [[ 9.94087386e-01 -1.02505220e-01 -3.58182876e-02 3.80062825e+02] [ 1.02514367e-01 9.94730260e-01 -1.58593040e-03 1.44519857e+01] [ 3.57921007e-02 -2.09533566e-03 9.99357061e-01 1.34475612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.09, Y:14.45, Z:13.45 [[ 9.93556413e-01 -1.07529965e-01 -3.58184302e-02 3.80094986e+02] [ 1.07542482e-01 9.94199231e-01 -1.58257184e-03 1.44530345e+01] [ 3.57808296e-02 -2.27962849e-03 9.99357061e-01 1.34516039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.13, Y:14.45, Z:13.45 [[ 9.93364650e-01 -1.09286370e-01 -3.58212562e-02 3.80128169e+02] [ 1.09302422e-01 9.94007386e-01 -1.51578894e-03 1.44546309e+01] [ 3.57722483e-02 -2.40961890e-03 9.99357063e-01 1.34530305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.16, Y:14.46, Z:13.45 [[ 9.93291661e-01 -1.09947723e-01 -3.58214224e-02 3.80160124e+02] [ 1.09964343e-01 9.93934383e-01 -1.51185052e-03 1.44560443e+01] [ 3.57703679e-02 -2.43737068e-03 9.99357063e-01 1.34537352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.19, Y:14.46, Z:13.46 [[ 9.93294912e-01 -1.09918307e-01 -3.58215600e-02 3.80193342e+02] [ 1.09935025e-01 9.93937631e-01 -1.50858478e-03 1.44579527e+01] [ 3.57702175e-02 -2.43957453e-03 9.99357063e-01 1.34556214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.23, Y:14.46, Z:13.46 [[ 9.93363155e-01 -1.09299797e-01 -3.58217263e-02 3.80226099e+02] [ 1.09316258e-01 9.94005881e-01 -1.50462463e-03 1.44599943e+01] [ 3.57714618e-02 -2.42125841e-03 9.99357063e-01 1.34572814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:14.46, Z:13.46 [[ 9.93659002e-01 -1.06576641e-01 -3.58218930e-02 3.80257480e+02] [ 1.06591483e-01 9.94301767e-01 -1.50064548e-03 1.44633452e+01] [ 3.57777053e-02 -2.32717882e-03 9.99357063e-01 1.34586564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:14.47, Z:13.46 [[ 9.93844053e-01 -1.04836914e-01 -3.58220687e-02 3.80289947e+02] [ 1.04850782e-01 9.94486840e-01 -1.49643944e-03 1.44659676e+01] [ 3.57814580e-02 -2.26874449e-03 9.99357063e-01 1.34608038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.32, Y:14.47, Z:13.46 [[ 9.94046482e-01 -1.02899770e-01 -3.58221778e-02 3.80322143e+02] [ 1.02912479e-01 9.94689293e-01 -1.49382298e-03 1.44684071e+01] [ 3.57856508e-02 -2.20161965e-03 9.99357063e-01 1.34619769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.35, Y:14.47, Z:13.46 [[ 9.94214370e-01 -1.01264750e-01 -3.58222858e-02 3.80354282e+02] [ 1.01276494e-01 9.94857200e-01 -1.49122823e-03 1.44710781e+01] [ 3.57890678e-02 -2.14535500e-03 9.99357063e-01 1.34631655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.39, Y:14.48, Z:13.46 [[ 9.94496385e-01 -9.84565678e-02 -3.58223932e-02 3.80386449e+02] [ 9.84665898e-02 9.95139244e-01 -1.48864527e-03 1.44750284e+01] [ 3.57948362e-02 -2.04685655e-03 9.99357063e-01 1.34646962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.42, Y:14.48, Z:13.47 [[ 9.94606660e-01 -9.73362218e-02 -3.58224998e-02 3.80418455e+02] [ 9.73456119e-02 9.95249528e-01 -1.48607537e-03 1.44778251e+01] [ 3.57969750e-02 -2.00910270e-03 9.99357063e-01 1.34657500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.45, Y:14.48, Z:13.47 [[ 9.94739137e-01 -9.59728587e-02 -3.58226079e-02 3.80450753e+02] [ 9.59814613e-02 9.95382016e-01 -1.48346505e-03 1.44802041e+01] [ 3.57995520e-02 -1.96264551e-03 9.99357063e-01 1.34666316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.48, Y:14.48, Z:13.47 [[ 9.94985579e-01 -9.33832456e-02 -3.58227162e-02 3.80482041e+02] [ 9.33902688e-02 9.95628477e-01 -1.48084603e-03 1.44841323e+01] [ 3.58044025e-02 -1.87207265e-03 9.99357063e-01 1.34671184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.51, Y:14.49, Z:13.47 [[ 9.95153941e-01 -9.15716189e-02 -3.58227967e-02 3.80513020e+02] [ 9.15775417e-02 9.95796850e-01 -1.47889440e-03 1.44869010e+01] [ 3.58076529e-02 -1.80883607e-03 9.99357063e-01 1.34679556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.54, Y:14.49, Z:13.47 [[ 9.95354742e-01 -8.93625130e-02 -3.58228760e-02 3.80544216e+02] [ 8.93670778e-02 9.95997663e-01 -1.47697208e-03 1.44897623e+01] [ 3.58114867e-02 -1.73127458e-03 9.99357063e-01 1.34691887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.58, Y:14.49, Z:13.47 [[ 9.95588728e-01 -8.67167856e-02 -3.58229544e-02 3.80575423e+02] [ 8.67197100e-02 9.96231658e-01 -1.47506796e-03 1.44926021e+01] [ 3.58158744e-02 -1.63799518e-03 9.99357063e-01 1.34703230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.61, Y:14.50, Z:13.47 [[ 9.96115703e-01 -8.04376567e-02 -3.58230315e-02 3.80607062e+02] [ 8.04365946e-02 9.96758639e-01 -1.47319175e-03 1.44973059e+01] [ 3.58254162e-02 -1.41401323e-03 9.99357063e-01 1.34729612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.64, Y:14.50, Z:13.47 [[ 9.96121378e-01 -8.03672976e-02 -3.58231355e-02 3.80639706e+02] [ 8.03662810e-02 9.96764314e-01 -1.47065889e-03 1.44985855e+01] [ 3.58254160e-02 -1.41401741e-03 9.99357063e-01 1.34741325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.67, Y:14.50, Z:13.48 [[ 9.96396092e-01 -7.68864326e-02 -3.58232392e-02 3.80671291e+02] [ 7.68832605e-02 9.97039021e-01 -1.46813022e-03 1.45017461e+01] [ 3.58300466e-02 -1.29136822e-03 9.99357063e-01 1.34764958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.70, Y:14.50, Z:13.48 [[ 9.96697302e-01 -7.28778169e-02 -3.58233464e-02 3.80702643e+02] [ 7.28721528e-02 9.97340214e-01 -1.46550890e-03 1.45047493e+01] [ 3.58348670e-02 -1.14985560e-03 9.99357063e-01 1.34772024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.73, Y:14.51, Z:13.48 [[ 9.96972595e-01 -6.90096182e-02 -3.58234261e-02 3.80734368e+02] [ 6.90015294e-02 9.97615481e-01 -1.46355889e-03 1.45075131e+01] [ 3.58390040e-02 -1.01274308e-03 9.99357063e-01 1.34793562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.77, Y:14.51, Z:13.48 [[ 9.97240440e-01 -6.50244576e-02 -3.58235321e-02 3.80765760e+02] [ 6.50138927e-02 9.97883289e-01 -1.46095796e-03 1.45100882e+01] [ 3.58427021e-02 -8.72100916e-04 9.99357063e-01 1.34809340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.80, Y:14.51, Z:13.48 [[ 9.97482943e-01 -6.11919074e-02 -3.58235852e-02 3.80795713e+02] [ 6.11789192e-02 9.98125748e-01 -1.45965470e-03 1.45124507e+01] [ 3.58457619e-02 -7.35667557e-04 9.99357063e-01 1.34814399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.82, Y:14.52, Z:13.48 [[ 9.97862772e-01 -5.46493656e-02 -3.58236727e-02 3.80824821e+02] [ 5.46322395e-02 9.98505480e-01 -1.45750398e-03 1.45156068e+01] [ 3.58497852e-02 -5.02738509e-04 9.99357063e-01 1.34823616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.85, Y:14.52, Z:13.48 [[ 9.97969940e-01 -5.26560803e-02 -3.58236782e-02 3.80854807e+02] [ 5.26376753e-02 9.98612613e-01 -1.45737004e-03 1.45177918e+01] [ 3.58507163e-02 -4.31263652e-04 9.99357063e-01 1.34838873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.88, Y:14.52, Z:13.49 [[ 9.98183119e-01 -4.84456490e-02 -3.58256855e-02 3.80882213e+02] [ 4.84262962e-02 9.98825766e-01 -1.40823758e-03 1.45191825e+01] [ 3.58518408e-02 -3.29226282e-04 9.99357062e-01 1.34861569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.91, Y:14.52, Z:13.49 [[ 9.98217787e-01 -4.77278874e-02 -3.58231693e-02 3.80910538e+02] [ 4.77058713e-02 9.98860346e-01 -1.46957541e-03 1.45200989e+01] [ 3.58524830e-02 -2.42019188e-04 9.99357064e-01 1.34874764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.94, Y:14.52, Z:13.48 [[ 9.98300641e-01 -4.59626009e-02 -3.58227498e-02 3.80940820e+02] [ 4.59390841e-02 9.98943147e-01 -1.47973204e-03 1.45188584e+01] [ 3.58529028e-02 -1.68446874e-04 9.99357064e-01 1.34849465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.97, Y:14.52, Z:13.49 [[ 9.98224337e-01 -4.75873687e-02 -3.58275734e-02 3.80967782e+02] [ 4.75690700e-02 9.98867020e-01 -1.36347043e-03 1.45211433e+01] [ 3.58518654e-02 -3.43234980e-04 9.99357056e-01 1.34891337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:14.52, Z:13.49 [[ 9.98189309e-01 -4.83205517e-02 -3.58221651e-02 3.80994593e+02] [ 4.82980686e-02 9.98831851e-01 -1.49322118e-03 1.45215091e+01] [ 3.58524728e-02 -2.39623973e-04 9.99357065e-01 1.34893778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.02, Y:14.52, Z:13.49 [[ 9.98086200e-01 -5.04055841e-02 -3.58219830e-02 3.81022456e+02] [ 5.03842869e-02 9.98728782e-01 -1.49757710e-03 1.45207027e+01] [ 3.58519317e-02 -3.10154027e-04 9.99357065e-01 1.34897330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.05, Y:14.52, Z:13.49 [[ 9.98016643e-01 -5.17648308e-02 -3.58215433e-02 3.81050026e+02] [ 5.17440339e-02 9.98659242e-01 -1.50802117e-03 1.45209975e+01] [ 3.58515778e-02 -3.48520928e-04 9.99357065e-01 1.34901708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.08, Y:14.52, Z:13.49 [[ 9.97938334e-01 -5.32532512e-02 -3.58214070e-02 3.81078454e+02] [ 5.32332968e-02 9.98580959e-01 -1.51125237e-03 1.45210784e+01] [ 3.58510541e-02 -3.98754919e-04 9.99357065e-01 1.34911624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.11, Y:14.52, Z:13.49 [[ 9.97865207e-01 -5.46066119e-02 -3.58210275e-02 3.81107674e+02] [ 5.45872081e-02 9.98507850e-01 -1.52019445e-03 1.45211397e+01] [ 3.58505898e-02 -4.38420734e-04 9.99357065e-01 1.34924251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.14, Y:14.52, Z:13.49 [[ 9.97794654e-01 -5.58812103e-02 -3.58206481e-02 3.81136091e+02] [ 5.58623083e-02 9.98437311e-01 -1.52908401e-03 1.45210338e+01] [ 3.58501186e-02 -4.75312232e-04 9.99357065e-01 1.34935805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.17, Y:14.52, Z:13.50 [[ 9.97730431e-01 -5.70166249e-02 -3.58202692e-02 3.81165363e+02] [ 5.69981375e-02 9.98373100e-01 -1.53790776e-03 1.45199557e+01] [ 3.58496795e-02 -5.07271255e-04 9.99357065e-01 1.34956606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.19, Y:14.52, Z:13.50 [[ 9.97727655e-01 -5.70652113e-02 -3.58202137e-02 3.81194590e+02] [ 5.70467089e-02 9.98370324e-01 -1.53919937e-03 1.45199869e+01] [ 3.58496731e-02 -5.07723529e-04 9.99357065e-01 1.34969953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.22, Y:14.52, Z:13.50 [[ 9.97732419e-01 -5.69818883e-02 -3.58201583e-02 3.81223435e+02] [ 5.69632859e-02 9.98375085e-01 -1.54048864e-03 1.45202724e+01] [ 3.58497335e-02 -5.03438457e-04 9.99357065e-01 1.34982759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.25, Y:14.52, Z:13.50 [[ 9.97749457e-01 -5.66828385e-02 -3.58200534e-02 3.81251897e+02] [ 5.66639561e-02 9.98392115e-01 -1.54292242e-03 1.45204423e+01] [ 3.58499161e-02 -4.90255930e-04 9.99357065e-01 1.34994634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.28, Y:14.52, Z:13.50 [[ 9.97820631e-01 -5.54158666e-02 -3.58199714e-02 3.81281828e+02] [ 5.53960999e-02 9.98463262e-01 -1.54482413e-03 1.45191432e+01] [ 3.58505333e-02 -4.42829327e-04 9.99357065e-01 1.35007464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.31, Y:14.52, Z:13.50 [[ 9.97886613e-01 -5.42147741e-02 -3.58199159e-02 3.81310124e+02] [ 5.41941877e-02 9.98529218e-01 -1.54611096e-03 1.45188955e+01] [ 3.58510547e-02 -3.98387822e-04 9.99357065e-01 1.35014117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.34, Y:14.52, Z:13.50 [[ 9.97945081e-01 -5.31291254e-02 -3.58177513e-02 3.81338248e+02] [ 5.31060460e-02 9.98587603e-01 -1.59609640e-03 1.45181362e+01] [ 3.58519616e-02 -3.09322595e-04 9.99357064e-01 1.35022241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.37, Y:14.52, Z:13.50 [[ 9.98021898e-01 -5.16641315e-02 -3.58205198e-02 3.81366304e+02] [ 5.16423978e-02 9.98664466e-01 -1.53231971e-03 1.45170759e+01] [ 3.58518463e-02 -3.20568913e-04 9.99357064e-01 1.35039448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.39, Y:14.52, Z:13.50 [[ 9.98079668e-01 -5.05367609e-02 -3.58191694e-02 3.81393158e+02] [ 5.05131908e-02 9.98722170e-01 -1.56326350e-03 1.45170797e+01] [ 3.58524008e-02 -2.49079027e-04 9.99357065e-01 1.35049872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:14.52, Z:13.51 [[ 9.98173574e-01 -4.86468544e-02 -3.58189727e-02 3.81420950e+02] [ 4.86219066e-02 9.98816025e-01 -1.56775565e-03 1.45168838e+01] [ 3.58528304e-02 -1.76694487e-04 9.99357065e-01 1.35053665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.45, Y:14.52, Z:13.51 [[ 9.98220365e-01 -4.76774576e-02 -3.58184679e-02 3.81448937e+02] [ 4.76514750e-02 9.98862775e-01 -1.57920677e-03 1.45170601e+01] [ 3.58530268e-02 -1.30406471e-04 9.99357065e-01 1.35069146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.48, Y:14.52, Z:13.51 [[ 9.98279809e-01 -4.64162900e-02 -3.58182996e-02 3.81476907e+02] [ 4.63893592e-02 9.98922180e-01 -1.58301464e-03 1.45171778e+01] [ 3.58531716e-02 -8.12964124e-05 9.99357065e-01 1.35082446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.51, Y:14.52, Z:13.51 [[ 9.98415364e-01 -4.34032589e-02 -3.58178350e-02 3.81505335e+02] [ 4.33740149e-02 9.99057634e-01 -1.59345763e-03 1.45155640e+01] [ 3.58532427e-02 3.73692666e-05 9.99357065e-01 1.35086485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.53, Y:14.52, Z:13.51 [[ 9.98474444e-01 -4.20225729e-02 -3.58174208e-02 3.81533028e+02] [ 4.19921088e-02 9.99116657e-01 -1.60271384e-03 1.45153250e+01] [ 3.58531319e-02 9.62197756e-05 9.99357065e-01 1.35080023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.56, Y:14.52, Z:13.51 [[ 9.98522853e-01 -4.08562790e-02 -3.58172739e-02 3.81561243e+02] [ 4.08249473e-02 9.99165024e-01 -1.60598945e-03 1.45152985e+01] [ 3.58529821e-02 1.41378845e-04 9.99357065e-01 1.35086856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.59, Y:14.51, Z:13.51 [[ 9.98611782e-01 -3.86220587e-02 -3.58168289e-02 3.81589243e+02] [ 3.85889364e-02 9.99253863e-01 -1.61585325e-03 1.45142911e+01] [ 3.58525123e-02 2.31476753e-04 9.99357065e-01 1.35110022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.62, Y:14.51, Z:13.51 [[ 9.98652528e-01 -3.75541867e-02 -3.58163530e-02 3.81616233e+02] [ 3.75200020e-02 9.99294553e-01 -1.62633420e-03 1.45141139e+01] [ 3.58521622e-02 2.80313119e-04 9.99357065e-01 1.35117028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.64, Y:14.51, Z:13.51 [[ 9.98673838e-01 -3.69833640e-02 -3.58161466e-02 3.81642787e+02] [ 3.69486498e-02 9.99315835e-01 -1.63086749e-03 1.45140413e+01] [ 3.58519574e-02 3.05346440e-04 9.99357065e-01 1.35122692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.67, Y:14.51, Z:13.51 [[ 9.98672787e-01 -3.70120576e-02 -3.58158177e-02 3.81670807e+02] [ 3.69771039e-02 9.99314771e-01 -1.63805963e-03 1.45123642e+01] [ 3.58519036e-02 3.11520367e-04 9.99357065e-01 1.35139813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.70, Y:14.51, Z:13.52 [[ 9.98644264e-01 -3.77742540e-02 -3.58153501e-02 3.81698566e+02] [ 3.77394259e-02 9.99286255e-01 -1.64821920e-03 1.45120417e+01] [ 3.58520474e-02 2.94333895e-04 9.99357065e-01 1.35153557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.73, Y:14.51, Z:13.52 [[ 9.98596395e-01 -3.90196835e-02 -3.58148739e-02 3.81725930e+02] [ 3.89852873e-02 9.99238408e-01 -1.65850392e-03 1.45116547e+01] [ 3.58523119e-02 2.59922885e-04 9.99357065e-01 1.35161292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:14.51, Z:13.52 [[ 9.98529180e-01 -4.07037568e-02 -3.58145453e-02 3.81753464e+02] [ 4.06701900e-02 9.99171237e-01 -1.66557013e-03 1.45110617e+01] [ 3.58526585e-02 2.06536019e-04 9.99357065e-01 1.35174461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.78, Y:14.51, Z:13.52 [[ 9.98354932e-01 -4.47747918e-02 -3.58140624e-02 3.81781640e+02] [ 4.47434729e-02 9.98997104e-01 -1.67588927e-03 1.45079063e+01] [ 3.58531822e-02 7.06867858e-05 9.99357065e-01 1.35190197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.81, Y:14.51, Z:13.52 [[ 9.98221989e-01 -4.76484896e-02 -3.58117588e-02 3.81809534e+02] [ 4.76172597e-02 9.98864166e-01 -1.72493792e-03 1.45065627e+01] [ 3.58532733e-02 1.66131455e-05 9.99357065e-01 1.35186530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.84, Y:14.51, Z:13.52 [[ 9.98072037e-01 -5.06912792e-02 -3.58134452e-02 3.81837142e+02] [ 5.06632900e-02 9.98714362e-01 -1.68918329e-03 1.45053720e+01] [ 3.58530290e-02 -1.28500360e-04 9.99357065e-01 1.35200741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.86, Y:14.50, Z:13.52 [[ 9.97906725e-01 -5.38479455e-02 -3.58129579e-02 3.81863948e+02] [ 5.38216196e-02 9.98549120e-01 -1.69945338e-03 1.45043883e+01] [ 3.58525097e-02 -2.31615435e-04 9.99357065e-01 1.35209125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.89, Y:14.50, Z:13.52 [[ 9.97748715e-01 -5.67005992e-02 -3.58126216e-02 3.81892195e+02] [ 5.66758566e-02 9.98391173e-01 -1.70651042e-03 1.45031601e+01] [ 3.58517655e-02 -3.27042433e-04 9.99357065e-01 1.35222487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.92, Y:14.50, Z:13.52 [[ 9.97461710e-01 -6.15437188e-02 -3.58121291e-02 3.81920365e+02] [ 6.15217267e-02 9.98104268e-01 -1.71678403e-03 1.44995779e+01] [ 3.58498962e-02 -4.90797688e-04 9.99357065e-01 1.35225451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.95, Y:14.50, Z:13.52 [[ 9.97311517e-01 -6.39315258e-02 -3.58119764e-02 3.81948619e+02] [ 6.39109579e-02 9.97954123e-01 -1.71996451e-03 1.44987736e+01] [ 3.58486694e-02 -5.73437293e-04 9.99357065e-01 1.35240478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.98, Y:14.50, Z:13.53 [[ 9.97173772e-01 -6.60454789e-02 -3.58114858e-02 3.81976987e+02] [ 6.60259088e-02 9.97816409e-01 -1.73011794e-03 1.44980503e+01] [ 3.58475547e-02 -6.39257660e-04 9.99357065e-01 1.35251116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.00, Y:14.50, Z:13.53 [[ 9.97074653e-01 -6.75256254e-02 -3.58109816e-02 3.82004413e+02] [ 6.75066367e-02 9.97717307e-01 -1.74049325e-03 1.44973667e+01] [ 3.58467640e-02 -6.82077215e-04 9.99357065e-01 1.35254514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.03, Y:14.50, Z:13.53 [[ 9.96969045e-01 -6.90674149e-02 -3.58108254e-02 3.82032479e+02] [ 6.90493049e-02 9.97611725e-01 -1.74369973e-03 1.44951727e+01] [ 3.58457322e-02 -7.34297952e-04 9.99357065e-01 1.35262341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.06, Y:14.50, Z:13.53 [[ 9.96975767e-01 -6.89705749e-02 -3.58103219e-02 3.82059969e+02] [ 6.89520333e-02 9.97618434e-01 -1.75398056e-03 1.44950296e+01] [ 3.58460103e-02 -7.20518394e-04 9.99357066e-01 1.35270510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.09, Y:14.50, Z:13.53 [[ 9.97006364e-01 -6.85269824e-02 -3.58100937e-02 3.82088849e+02] [ 6.85079881e-02 9.97649018e-01 -1.75862657e-03 1.44950274e+01] [ 3.58464182e-02 -6.99915596e-04 9.99357066e-01 1.35292102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.12, Y:14.50, Z:13.53 [[ 9.97042506e-01 -6.79993449e-02 -3.58096394e-02 3.82117171e+02] [ 6.79796801e-02 9.97685140e-01 -1.76782889e-03 1.44950825e+01] [ 3.58469563e-02 -6.71727288e-04 9.99357066e-01 1.35310609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.15, Y:14.49, Z:13.53 [[ 9.97096912e-01 -6.71971428e-02 -3.58091183e-02 3.82145266e+02] [ 6.71765843e-02 9.97739517e-01 -1.77832238e-03 1.44933132e+01] [ 3.58476706e-02 -6.32374504e-04 9.99357066e-01 1.35326526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.17, Y:14.49, Z:13.53 [[ 9.97105934e-01 -6.70632567e-02 -3.58088824e-02 3.82173322e+02] [ 6.70424418e-02 9.97748531e-01 -1.78306016e-03 1.44932984e+01] [ 3.58478376e-02 -6.22815044e-04 9.99357066e-01 1.35320483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.20, Y:14.49, Z:13.53 [[ 9.97101160e-01 -6.71344678e-02 -3.58083709e-02 3.82202459e+02] [ 6.71133321e-02 9.97743747e-01 -1.79327304e-03 1.44932870e+01] [ 3.58479686e-02 -6.15144458e-04 9.99357066e-01 1.35311927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:14.49, Z:13.53 [[ 9.97111814e-01 -6.69762925e-02 -3.58079168e-02 3.82230301e+02] [ 6.69547309e-02 9.97754386e-01 -1.80229580e-03 1.44934859e+01] [ 3.58482172e-02 -6.00419001e-04 9.99357066e-01 1.35305346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.26, Y:14.49, Z:13.53 [[ 9.97096592e-01 -6.72026167e-02 -3.58077559e-02 3.82257975e+02] [ 6.71810864e-02 9.97739165e-01 -1.80548622e-03 1.44936384e+01] [ 3.58481339e-02 -6.05359791e-04 9.99357066e-01 1.35315183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.29, Y:14.49, Z:13.53 [[ 9.97076990e-01 -6.74930945e-02 -3.58072328e-02 3.82285883e+02] [ 6.74713810e-02 9.97719558e-01 -1.81580339e-03 1.44917096e+01] [ 3.58481306e-02 -6.05467670e-04 9.99357066e-01 1.35333454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.31, Y:14.49, Z:13.53 [[ 9.97053225e-01 -6.78433475e-02 -3.58070705e-02 3.82314191e+02] [ 6.78217450e-02 9.97695796e-01 -1.81899777e-03 1.44913562e+01] [ 3.58479706e-02 -6.14860412e-04 9.99357066e-01 1.35344050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.34, Y:14.49, Z:13.54 [[ 9.97063839e-01 -6.76872606e-02 -3.58069095e-02 3.82341499e+02] [ 6.76654440e-02 9.97706403e-01 -1.82216065e-03 1.44905675e+01] [ 3.58481200e-02 -6.06079941e-04 9.99357066e-01 1.35350844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.37, Y:14.49, Z:13.54 [[ 9.97036127e-01 -6.80943590e-02 -3.58066881e-02 3.82368440e+02] [ 6.80726489e-02 9.97678695e-01 -1.82650100e-03 1.44885371e+01] [ 3.58479443e-02 -6.16368629e-04 9.99357066e-01 1.35352578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.40, Y:14.49, Z:13.54 [[ 9.97022707e-01 -6.82907532e-02 -3.58063394e-02 3.82396690e+02] [ 6.82689252e-02 9.97665271e-01 -1.83331113e-03 1.44888108e+01] [ 3.58479395e-02 -6.16607482e-04 9.99357066e-01 1.35363076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.43, Y:14.49, Z:13.54 [[ 9.97003541e-01 -6.85702785e-02 -3.58058231e-02 3.82425055e+02] [ 6.85482705e-02 9.97646098e-01 -1.84334083e-03 1.44903457e+01] [ 3.58479381e-02 -6.16609918e-04 9.99357066e-01 1.35373288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.45, Y:14.49, Z:13.54 [[ 9.96968608e-01 -6.90765839e-02 -3.58053038e-02 3.82452937e+02] [ 6.90545421e-02 9.97611164e-01 -1.85337284e-03 1.44909821e+01] [ 3.58477955e-02 -6.24764322e-04 9.99357066e-01 1.35387352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.48, Y:14.49, Z:13.54 [[ 9.96939913e-01 -6.94897650e-02 -3.58047820e-02 3.82480713e+02] [ 6.94676295e-02 9.97582466e-01 -1.86339978e-03 1.44913528e+01] [ 3.58477099e-02 -6.29575711e-04 9.99357066e-01 1.35409501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.51, Y:14.49, Z:13.54 [[ 9.96900786e-01 -7.00491208e-02 -3.58042357e-02 3.82508042e+02] [ 7.00269710e-02 9.97543338e-01 -1.87383880e-03 1.44914545e+01] [ 3.58475375e-02 -6.39230795e-04 9.99357066e-01 1.35420487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.54, Y:14.49, Z:13.54 [[ 9.96839208e-01 -7.09201513e-02 -3.58039985e-02 3.82536334e+02] [ 7.08984006e-02 9.97481774e-01 -1.87836000e-03 1.44892793e+01] [ 3.58470495e-02 -6.66023330e-04 9.99357066e-01 1.35425727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.56, Y:14.49, Z:13.54 [[ 9.96775259e-01 -7.18136194e-02 -3.58034598e-02 3.82564751e+02] [ 7.17920780e-02 9.97417832e-01 -1.88857148e-03 1.44891134e+01] [ 3.58466344e-02 -6.87923453e-04 9.99357066e-01 1.35430558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.59, Y:14.49, Z:13.54 [[ 9.96718434e-01 -7.25983119e-02 -3.58029194e-02 3.82591891e+02] [ 7.25769105e-02 9.97361011e-01 -1.89876132e-03 1.44890776e+01] [ 3.58462828e-02 -7.05934874e-04 9.99357066e-01 1.35441580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.62, Y:14.49, Z:13.55 [[ 9.96537550e-01 -7.50405209e-02 -3.58026848e-02 3.82619787e+02] [ 7.50205357e-02 9.97180173e-01 -1.90317525e-03 1.44887072e+01] [ 3.58445427e-02 -7.89350994e-04 9.99357066e-01 1.35460214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.65, Y:14.49, Z:13.55 [[ 9.96416712e-01 -7.66284210e-02 -3.58025187e-02 3.82647876e+02] [ 7.66093478e-02 9.97059363e-01 -1.90629437e-03 1.44892966e+01] [ 3.58433128e-02 -8.43344044e-04 9.99357066e-01 1.35476924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.68, Y:14.49, Z:13.55 [[ 9.96276759e-01 -7.84272749e-02 -3.58019768e-02 3.82675920e+02] [ 7.84089985e-02 9.96919433e-01 -1.91641771e-03 1.44895652e+01] [ 3.58419859e-02 -8.97914725e-04 9.99357066e-01 1.35491779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.70, Y:14.49, Z:13.55 [[ 9.96157931e-01 -7.99226837e-02 -3.58014223e-02 3.82702866e+02] [ 7.99050020e-02 9.96800621e-01 -1.92672163e-03 1.44893236e+01] [ 3.58408688e-02 -9.41393689e-04 9.99357066e-01 1.35499514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.73, Y:14.49, Z:13.55 [[ 9.96008371e-01 -8.17655263e-02 -3.58011816e-02 3.82730785e+02] [ 8.17488734e-02 9.96651089e-01 -1.93118337e-03 1.44894266e+01] [ 3.58391909e-02 -1.00323146e-03 9.99357066e-01 1.35511804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.76, Y:14.49, Z:13.55 [[ 9.95902914e-01 -8.30403652e-02 -3.58006230e-02 3.82757289e+02] [ 8.30241650e-02 9.96545643e-01 -1.94148447e-03 1.44895263e+01] [ 3.58381765e-02 -1.03878679e-03 9.99357066e-01 1.35517580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.78, Y:14.49, Z:13.55 [[ 9.95877977e-01 -8.33390538e-02 -3.58002371e-02 3.82784758e+02] [ 8.33227917e-02 9.96520705e-01 -1.94857419e-03 1.44894583e+01] [ 3.58380699e-02 -1.04243357e-03 9.99357066e-01 1.35523978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.81, Y:14.49, Z:13.55 [[ 9.95889259e-01 -8.32042280e-02 -3.57999959e-02 3.82812803e+02] [ 8.31877200e-02 9.96531981e-01 -1.95299557e-03 1.44904781e+01] [ 3.58383383e-02 -1.03315272e-03 9.99357066e-01 1.35533892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.84, Y:14.49, Z:13.55 [[ 9.95955460e-01 -8.24082609e-02 -3.57994384e-02 3.82840338e+02] [ 8.23908742e-02 9.96598159e-01 -1.96316186e-03 1.44912413e+01] [ 3.58394352e-02 -9.94325251e-04 9.99357066e-01 1.35543946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.87, Y:14.49, Z:13.55 [[ 9.96177763e-01 -7.96762523e-02 -3.57988598e-02 3.82867798e+02] [ 7.96567259e-02 9.96820400e-01 -1.97365772e-03 1.44917884e+01] [ 3.58422874e-02 -8.85506022e-04 9.99357066e-01 1.35544384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:14.49, Z:13.55 [[ 9.96300040e-01 -7.81325813e-02 -3.57984605e-02 3.82894442e+02] [ 7.81118000e-02 9.96942638e-01 -1.98087337e-03 1.44931138e+01] [ 3.58437824e-02 -8.22737969e-04 9.99357067e-01 1.35548999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.92, Y:14.49, Z:13.56 [[ 9.96420722e-01 -7.65782800e-02 -3.57982178e-02 3.82922158e+02] [ 7.65563391e-02 9.97063281e-01 -1.98524963e-03 1.44942642e+01] [ 3.58451155e-02 -7.62436639e-04 9.99357067e-01 1.35556537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.95, Y:14.50, Z:13.56 [[ 9.96541904e-01 -7.49850799e-02 -3.57976385e-02 3.82950123e+02] [ 7.49617386e-02 9.97184414e-01 -1.99564070e-03 1.44955608e+01] [ 3.58464905e-02 -6.94713640e-04 9.99357067e-01 1.35560972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.98, Y:14.50, Z:13.56 [[ 9.96731813e-01 -7.24172862e-02 -3.57970500e-02 3.82978477e+02] [ 7.23919125e-02 9.97374246e-01 -2.00614265e-03 1.44971934e+01] [ 3.58483351e-02 -5.91830711e-04 9.99357067e-01 1.35565818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.01, Y:14.50, Z:13.56 [[ 9.96865766e-01 -7.05496777e-02 -3.57964626e-02 3.83006041e+02] [ 7.05227261e-02 9.97508135e-01 -2.01656876e-03 1.44989718e+01] [ 3.58495309e-02 -5.14215761e-04 9.99357067e-01 1.35577596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.03, Y:14.50, Z:13.56 [[ 9.96878286e-01 -7.03728542e-02 -3.57958718e-02 3.83032602e+02] [ 7.03454140e-02 9.97520633e-01 -2.02700268e-03 1.45004881e+01] [ 3.58497667e-02 -4.97400459e-04 9.99357067e-01 1.35589820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.06, Y:14.50, Z:13.56 [[ 9.96807201e-01 -7.13728047e-02 -3.57956154e-02 3.83060409e+02] [ 7.13458467e-02 9.97449569e-01 -2.03152091e-03 1.45025392e+01] [ 3.58493165e-02 -5.28833818e-04 9.99357067e-01 1.35588463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.09, Y:14.50, Z:13.56 [[ 9.96647935e-01 -7.35636462e-02 -3.57950285e-02 3.83086940e+02] [ 7.35377308e-02 9.97290345e-01 -2.04180886e-03 1.45046766e+01] [ 3.58482393e-02 -5.97320590e-04 9.99357067e-01 1.35601201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.12, Y:14.51, Z:13.56 [[ 9.96627556e-01 -7.38393483e-02 -3.57947739e-02 3.83115303e+02] [ 7.38134507e-02 9.97269967e-01 -2.04626375e-03 1.45063746e+01] [ 3.58481477e-02 -6.02772938e-04 9.99357067e-01 1.35611403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:14.51, Z:13.56 [[ 9.96476999e-01 -7.58443439e-02 -3.57942050e-02 3.83142068e+02] [ 7.58193833e-02 9.97119448e-01 -2.05616621e-03 1.45084759e+01] [ 3.58470465e-02 -6.64972213e-04 9.99357067e-01 1.35624424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.17, Y:14.51, Z:13.56 [[ 9.96456171e-01 -7.61176915e-02 -3.57938127e-02 3.83170430e+02] [ 7.60926626e-02 9.97098616e-01 -2.06297396e-03 1.45101922e+01] [ 3.58469899e-02 -6.67983377e-04 9.99357067e-01 1.35634630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.20, Y:14.51, Z:13.56 [[ 9.96435265e-01 -7.63911412e-02 -3.57932442e-02 3.83198792e+02] [ 7.63659361e-02 9.97077704e-01 -2.07279020e-03 1.45119177e+01] [ 3.58469886e-02 -6.67983352e-04 9.99357067e-01 1.35644843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.23, Y:14.51, Z:13.57 [[ 9.96282120e-01 -7.83633949e-02 -3.57926731e-02 3.83226999e+02] [ 7.83391090e-02 9.96924594e-01 -2.08260628e-03 1.45138718e+01] [ 3.58457962e-02 -7.29102720e-04 9.99357067e-01 1.35661109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.25, Y:14.52, Z:13.57 [[ 9.96093451e-01 -8.07264701e-02 -3.57920994e-02 3.83254878e+02] [ 8.07033559e-02 9.96735968e-01 -2.09241984e-03 1.45157582e+01] [ 3.58441865e-02 -8.04296830e-04 9.99357067e-01 1.35679270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.28, Y:14.52, Z:13.57 [[ 9.95901035e-01 -8.30668195e-02 -3.57915122e-02 3.83282834e+02] [ 8.30448561e-02 9.96543592e-01 -2.10241636e-03 1.45171665e+01] [ 3.58424431e-02 -8.78502349e-04 9.99357067e-01 1.35693136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.31, Y:14.52, Z:13.57 [[ 9.95668747e-01 -8.58065173e-02 -3.57909044e-02 3.83310650e+02] [ 8.57859520e-02 9.96311350e-01 -2.11271207e-03 1.45185949e+01] [ 3.58401688e-02 -9.66795427e-04 9.99357067e-01 1.35701617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.34, Y:14.52, Z:13.57 [[ 9.95212757e-01 -9.09429642e-02 -3.57902981e-02 3.83338515e+02] [ 9.09253477e-02 9.95855449e-01 -2.12293371e-03 1.45202925e+01] [ 3.58350293e-02 -1.14147459e-03 9.99357067e-01 1.35711442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.37, Y:14.52, Z:13.57 [[ 9.94939133e-01 -9.38894043e-02 -3.57896927e-02 3.83366076e+02] [ 9.38733259e-02 9.95581864e-01 -2.13309218e-03 1.45222473e+01] [ 3.58318437e-02 -1.23740060e-03 9.99357067e-01 1.35721522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.39, Y:14.52, Z:13.57 [[ 9.94662521e-01 -9.67760827e-02 -3.57890822e-02 3.83394488e+02] [ 9.67615032e-02 9.95305289e-01 -2.14328569e-03 1.45244182e+01] [ 3.58284816e-02 -1.33115944e-03 9.99357067e-01 1.35733885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.42, Y:14.53, Z:13.57 [[ 9.94448996e-01 -9.89463240e-02 -3.57885275e-02 3.83422204e+02] [ 9.89328157e-02 9.95091787e-01 -2.15250844e-03 1.45261826e+01] [ 3.58258526e-02 -1.40009994e-03 9.99357067e-01 1.35739829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.45, Y:14.53, Z:13.57 [[ 9.94230626e-01 -1.01117084e-01 -3.57882337e-02 3.83451268e+02] [ 1.01104804e-01 9.94873441e-01 -2.15738222e-03 1.45282320e+01] [ 3.58229114e-02 -1.47342687e-03 9.99357067e-01 1.35745217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.48, Y:14.53, Z:13.58 [[ 9.94017873e-01 -1.03187741e-01 -3.57876878e-02 3.83480126e+02] [ 1.03176475e-01 9.94660707e-01 -2.16639988e-03 1.45303869e+01] [ 3.58201528e-02 -1.53900730e-03 9.99357067e-01 1.35752859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.51, Y:14.53, Z:13.58 [[ 9.93667824e-01 -1.06506038e-01 -3.57871418e-02 3.83508950e+02] [ 1.06496596e-01 9.94310687e-01 -2.17538241e-03 1.45331924e+01] [ 3.58152289e-02 -1.64960129e-03 9.99357067e-01 1.35757907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.54, Y:14.54, Z:13.58 [[ 9.93535200e-01 -1.07736375e-01 -3.57865888e-02 3.83537016e+02] [ 1.07727404e-01 9.94178070e-01 -2.18444126e-03 1.45357639e+01] [ 3.58135856e-02 -1.68487704e-03 9.99357067e-01 1.35765191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.57, Y:14.54, Z:13.58 [[ 9.93406143e-01 -1.08919989e-01 -3.57864713e-02 3.83566145e+02] [ 1.08911715e-01 9.94049022e-01 -2.18636478e-03 1.45385923e+01] [ 3.58116457e-02 -1.72561776e-03 9.99357067e-01 1.35775916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.60, Y:14.54, Z:13.58 [[ 9.93109898e-01 -1.11588821e-01 -3.57863932e-02 3.83596256e+02] [ 1.11582228e-01 9.93752797e-01 -2.18764297e-03 1.45433751e+01] [ 3.58069448e-02 -1.82055560e-03 9.99357067e-01 1.35788846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.63, Y:14.55, Z:13.58 [[ 9.92988678e-01 -1.12662414e-01 -3.57863932e-02 3.83625869e+02] [ 1.12656516e-01 9.93631583e-01 -2.18764297e-03 1.45465290e+01] [ 3.58049557e-02 -1.85926567e-03 9.99357067e-01 1.35793575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.66, Y:14.55, Z:13.58 [[ 9.92834753e-01 -1.14010907e-01 -3.57863984e-02 3.83656556e+02] [ 1.14005885e-01 9.93477666e-01 -2.18755835e-03 1.45499268e+01] [ 3.58023930e-02 -1.90797606e-03 9.99357067e-01 1.35804215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.69, Y:14.55, Z:13.58 [[ 9.92717360e-01 -1.15028590e-01 -3.57863984e-02 3.83687534e+02] [ 1.15024228e-01 9.93360278e-01 -2.18755835e-03 1.45530246e+01] [ 3.58004184e-02 -1.94467569e-03 9.99357067e-01 1.35815045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:14.56, Z:13.58 [[ 9.92576570e-01 -1.16237172e-01 -3.57864794e-02 3.83718041e+02] [ 1.16233640e-01 9.93219493e-01 -2.18623134e-03 1.45562099e+01] [ 3.57979503e-02 -1.98959075e-03 9.99357067e-01 1.35825459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.75, Y:14.56, Z:13.58 [[ 9.92341659e-01 -1.18225869e-01 -3.57865196e-02 3.83747742e+02] [ 1.18223649e-01 9.92984588e-01 -2.18557410e-03 1.45608996e+01] [ 3.57938538e-02 -2.06197669e-03 9.99357067e-01 1.35835393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.78, Y:14.56, Z:13.59 [[ 9.92252703e-01 -1.18970146e-01 -3.57865594e-02 3.83777921e+02] [ 1.18968431e-01 9.92895633e-01 -2.18492241e-03 1.45644681e+01] [ 3.57922591e-02 -2.08947565e-03 9.99357067e-01 1.35856888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.81, Y:14.57, Z:13.59 [[ 9.92147138e-01 -1.19847317e-01 -3.57865594e-02 3.83808084e+02] [ 1.19846170e-01 9.92790069e-01 -2.18492241e-03 1.45683055e+01] [ 3.57903978e-02 -2.12111758e-03 9.99357067e-01 1.35873388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.84, Y:14.57, Z:13.59 [[ 9.92083385e-01 -1.20373918e-01 -3.57865594e-02 3.83839459e+02] [ 1.20373113e-01 9.92726317e-01 -2.18492241e-03 1.45719972e+01] [ 3.57892669e-02 -2.14011434e-03 9.99357067e-01 1.35886376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.87, Y:14.58, Z:13.59 [[ 9.92028915e-01 -1.20821970e-01 -3.57866378e-02 3.83870924e+02] [ 1.20821501e-01 9.92671847e-01 -2.18363711e-03 1.45755391e+01] [ 3.57882192e-02 -2.15756414e-03 9.99357067e-01 1.35900892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.90, Y:14.58, Z:13.59 [[ 9.92023053e-01 -1.20870067e-01 -3.57867170e-02 3.83902584e+02] [ 1.20869677e-01 9.92665985e-01 -2.18233769e-03 1.45809428e+01] [ 3.57880360e-02 -2.16059961e-03 9.99357067e-01 1.35914604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.93, Y:14.58, Z:13.59 [[ 9.92105760e-01 -1.20189268e-01 -3.57868776e-02 3.83933909e+02] [ 1.20188531e-01 9.92748692e-01 -2.17970063e-03 1.45846811e+01] [ 3.57893526e-02 -2.13867869e-03 9.99357067e-01 1.35925029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.97, Y:14.59, Z:13.59 [[ 9.92252504e-01 -1.18971635e-01 -3.57871358e-02 3.83965810e+02] [ 1.18970262e-01 9.92895435e-01 -2.17545342e-03 1.45886523e+01] [ 3.57917010e-02 -2.09900582e-03 9.99357067e-01 1.35943899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.00, Y:14.59, Z:13.60 [[ 9.92399993e-01 -1.17734976e-01 -3.57872937e-02 3.83998022e+02] [ 1.17732895e-01 9.93042922e-01 -2.17285262e-03 1.45930825e+01] [ 3.57941395e-02 -2.05700276e-03 9.99357067e-01 1.35962647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.03, Y:14.60, Z:13.60 [[ 9.92850690e-01 -1.13871703e-01 -3.57874540e-02 3.84029037e+02] [ 1.13867215e-01 9.93493607e-01 -2.17020922e-03 1.45998938e+01] [ 3.58017322e-02 -1.92032400e-03 9.99357067e-01 1.35974906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.06, Y:14.60, Z:13.60 [[ 9.93117169e-01 -1.11523669e-01 -3.57877086e-02 3.84060177e+02] [ 1.11517812e-01 9.93760075e-01 -2.16600277e-03 1.46039923e+01] [ 3.58059566e-02 -1.83987241e-03 9.99357067e-01 1.35985799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.09, Y:14.61, Z:13.60 [[ 9.93659235e-01 -1.06585866e-01 -3.57879611e-02 3.84091524e+02] [ 1.06576963e-01 9.94302106e-01 -2.16182267e-03 1.46104381e+01] [ 3.58144649e-02 -1.66605714e-03 9.99357067e-01 1.35993906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.12, Y:14.61, Z:13.60 [[ 9.93874156e-01 -1.04563714e-01 -3.57853534e-02 3.84123255e+02] [ 1.04551952e-01 9.94516982e-01 -2.20499277e-03 1.46146046e+01] [ 3.58197039e-02 -1.54994321e-03 9.99357067e-01 1.36007849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.16, Y:14.62, Z:13.60 [[ 9.94389280e-01 -9.95447622e-02 -3.57882703e-02 3.84155249e+02] [ 9.95314942e-02 9.95032075e-01 -2.15658722e-03 1.46210250e+01] [ 3.58251539e-02 -1.41757281e-03 9.99357068e-01 1.36010333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.19, Y:14.62, Z:13.60 [[ 9.94396551e-01 -9.94720455e-02 -3.57884279e-02 3.84187860e+02] [ 9.94588245e-02 9.95039347e-01 -2.15396846e-03 1.46229301e+01] [ 3.58251536e-02 -1.41757617e-03 9.99357068e-01 1.36022047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.22, Y:14.63, Z:13.60 [[ 9.94983595e-01 -9.34174664e-02 -3.57885852e-02 3.84218553e+02] [ 9.34004271e-02 9.95626301e-01 -2.15135305e-03 1.46295169e+01] [ 3.58330306e-02 -1.20210815e-03 9.99357068e-01 1.36026340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.25, Y:14.63, Z:13.60 [[ 9.95299564e-01 -8.99885936e-02 -3.57887022e-02 3.84249956e+02] [ 8.99694098e-02 9.95942210e-01 -2.14940493e-03 1.46339254e+01] [ 3.58369011e-02 -1.08058662e-03 9.99357068e-01 1.36036833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.28, Y:14.64, Z:13.60 [[ 9.95302832e-01 -8.99524115e-02 -3.57887802e-02 3.84281724e+02] [ 8.99332511e-02 9.95945478e-01 -2.14810405e-03 1.46358035e+01] [ 3.58369010e-02 -1.08058731e-03 9.99357068e-01 1.36048247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.31, Y:14.64, Z:13.61 [[ 9.95602296e-01 -8.65749704e-02 -3.57888582e-02 3.84312374e+02] [ 8.65536764e-02 9.96244876e-01 -2.14680387e-03 1.46400133e+01] [ 3.58403261e-02 -9.60294397e-04 9.99357068e-01 1.36055837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.34, Y:14.64, Z:13.61 [[ 9.95884872e-01 -8.32614732e-02 -3.57889356e-02 3.84342273e+02] [ 8.32380873e-02 9.96527379e-01 -2.14551318e-03 1.46436701e+01] [ 3.58432928e-02 -8.42318432e-04 9.99357068e-01 1.36063934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.37, Y:14.65, Z:13.61 [[ 9.96148372e-01 -8.00472664e-02 -3.57890631e-02 3.84372392e+02] [ 8.00218837e-02 9.96790803e-01 -2.14338502e-03 1.46474166e+01] [ 3.58457810e-02 -7.28778745e-04 9.99357068e-01 1.36073908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.40, Y:14.65, Z:13.61 [[ 9.96363232e-01 -7.73268704e-02 -3.57891876e-02 3.84402367e+02] [ 7.72998084e-02 9.97005594e-01 -2.14130379e-03 1.46511070e+01] [ 3.58476006e-02 -6.32980977e-04 9.99357068e-01 1.36084352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.43, Y:14.66, Z:13.61 [[ 9.96667707e-01 -7.32981322e-02 -3.57891876e-02 3.84432723e+02] [ 7.32684734e-02 9.97309955e-01 -2.14130379e-03 1.46565122e+01] [ 3.58498666e-02 -4.88050801e-04 9.99357068e-01 1.36098311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.46, Y:14.66, Z:13.61 [[ 9.96740018e-01 -7.23081591e-02 -3.57891876e-02 3.84462298e+02] [ 7.22778624e-02 9.97382236e-01 -2.14130379e-03 1.46596913e+01] [ 3.58503337e-02 -4.52442797e-04 9.99357068e-01 1.36109483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.49, Y:14.66, Z:13.61 [[ 9.96781751e-01 -7.17306161e-02 -3.57891100e-02 3.84491372e+02] [ 7.16999007e-02 9.97423949e-01 -2.14260018e-03 1.46622543e+01] [ 3.58506054e-02 -4.30370879e-04 9.99357068e-01 1.36121173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.52, Y:14.66, Z:13.61 [[ 9.96745237e-01 -7.22362493e-02 -3.57890715e-02 3.84520510e+02] [ 7.22058367e-02 9.97387449e-01 -2.14324228e-03 1.46646484e+01] [ 3.58503905e-02 -4.47913325e-04 9.99357068e-01 1.36133071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.55, Y:14.67, Z:13.61 [[ 9.96516171e-01 -7.53303978e-02 -3.57889942e-02 3.84550226e+02] [ 7.53019328e-02 9.97158473e-01 -2.14453330e-03 1.46663779e+01] [ 3.58488473e-02 -5.57918323e-04 9.99357068e-01 1.36141507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.58, Y:14.67, Z:13.61 [[ 9.96337246e-01 -7.76610738e-02 -3.57889558e-02 3.84579619e+02] [ 7.76340883e-02 9.96979612e-01 -2.14517391e-03 1.46678669e+01] [ 3.58474557e-02 -6.41126283e-04 9.99357068e-01 1.36149965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:14.67, Z:13.62 [[ 9.96119581e-01 -8.04047883e-02 -3.57889638e-02 3.84609657e+02] [ 8.03795768e-02 9.96762019e-01 -2.14503949e-03 1.46693538e+01] [ 3.58455513e-02 -7.39985930e-04 9.99357068e-01 1.36168530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.64, Y:14.67, Z:13.62 [[ 9.95559221e-01 -8.70688686e-02 -3.57889638e-02 3.84639883e+02] [ 8.70479568e-02 9.96201813e-01 -2.14503949e-03 1.46706642e+01] [ 3.58397968e-02 -9.79842336e-04 9.99357068e-01 1.36177558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.67, Y:14.67, Z:13.62 [[ 9.95241122e-01 -9.06325352e-02 -3.57890032e-02 3.84671597e+02] [ 9.06139476e-02 9.95883785e-01 -2.14438284e-03 1.46722237e+01] [ 3.58360388e-02 -1.10880488e-03 9.99357068e-01 1.36189364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.70, Y:14.67, Z:13.62 [[ 9.94923096e-01 -9.40594224e-02 -3.57890813e-02 3.84703315e+02] [ 9.40430950e-02 9.95565821e-01 -2.14307790e-03 1.46735803e+01] [ 3.58319628e-02 -1.23351827e-03 9.99357068e-01 1.36203386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.73, Y:14.67, Z:13.62 [[ 9.94582885e-01 -9.75910592e-02 -3.57892393e-02 3.84734631e+02] [ 9.75771088e-02 9.95225666e-01 -2.14043552e-03 1.46749332e+01] [ 3.58272569e-02 -1.36336997e-03 9.99357068e-01 1.36214990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.77, Y:14.68, Z:13.62 [[ 9.94262633e-01 -1.00801481e-01 -3.57893570e-02 3.84766232e+02] [ 1.00789676e-01 9.94905457e-01 -2.13846660e-03 1.46762852e+01] [ 3.58225872e-02 -1.48100028e-03 9.99357068e-01 1.36223894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.80, Y:14.68, Z:13.62 [[ 9.93963307e-01 -1.03711421e-01 -3.57894728e-02 3.84798344e+02] [ 1.03701568e-01 9.94606163e-01 -2.13652650e-03 1.46775435e+01] [ 3.58180124e-02 -1.58779551e-03 9.99357068e-01 1.36238356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.83, Y:14.68, Z:13.62 [[ 9.93530057e-01 -1.07782781e-01 -3.57896285e-02 3.84829152e+02] [ 1.07775656e-01 9.94172950e-01 -2.13391495e-03 1.46790470e+01] [ 3.58110799e-02 -1.73714204e-03 9.99357068e-01 1.36243467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.86, Y:14.68, Z:13.63 [[ 9.93387878e-01 -1.09085373e-01 -3.57897446e-02 3.84861507e+02] [ 1.09079161e-01 9.94030780e-01 -2.13196699e-03 1.46811169e+01] [ 3.58086741e-02 -1.78604513e-03 9.99357068e-01 1.36251431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.89, Y:14.68, Z:13.63 [[ 9.93301815e-01 -1.09866227e-01 -3.57898989e-02 3.84893044e+02] [ 1.09860613e-01 9.93944723e-01 -2.12937209e-03 1.46830063e+01] [ 3.58071273e-02 -1.81679107e-03 9.99357068e-01 1.36257922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.92, Y:14.69, Z:13.63 [[ 9.93227931e-01 -1.10532135e-01 -3.57900139e-02 3.84924095e+02] [ 1.10527022e-01 9.93870842e-01 -2.12743833e-03 1.46858767e+01] [ 3.58058016e-02 -1.84273248e-03 9.99357068e-01 1.36266069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.96, Y:14.69, Z:13.63 [[ 9.93252086e-01 -1.10314826e-01 -3.57901275e-02 3.84956330e+02] [ 1.10309641e-01 9.93894997e-01 -2.12552561e-03 1.46885106e+01] [ 3.58061056e-02 -1.83681337e-03 9.99357068e-01 1.36283019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.99, Y:14.69, Z:13.63 [[ 9.93272799e-01 -1.10128119e-01 -3.57902824e-02 3.84988225e+02] [ 1.10122906e-01 9.93915710e-01 -2.12291372e-03 1.46913105e+01] [ 3.58063165e-02 -1.83269747e-03 9.99357068e-01 1.36295066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.02, Y:14.69, Z:13.63 [[ 9.93297614e-01 -1.09904028e-01 -3.57904398e-02 3.85019542e+02] [ 1.09898766e-01 9.93940524e-01 -2.12025772e-03 1.46940477e+01] [ 3.58065933e-02 -1.82727824e-03 9.99357068e-01 1.36301284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.05, Y:14.70, Z:13.63 [[ 9.93281304e-01 -1.10051246e-01 -3.57907012e-02 3.85051129e+02] [ 1.10046238e-01 9.93924217e-01 -2.11583575e-03 1.46968265e+01] [ 3.58060950e-02 -1.83701194e-03 9.99357068e-01 1.36312929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.08, Y:14.70, Z:13.63 [[ 9.93209250e-01 -1.10699596e-01 -3.57908575e-02 3.85082711e+02] [ 1.10695103e-01 9.93852166e-01 -2.11318837e-03 1.46996919e+01] [ 3.58047503e-02 -1.86303443e-03 9.99357068e-01 1.36317310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.12, Y:14.70, Z:13.63 [[ 9.92894755e-01 -1.13485688e-01 -3.57911131e-02 3.85115943e+02] [ 1.13483155e-01 9.93537682e-01 -2.10884937e-03 1.47036300e+01] [ 3.57991438e-02 -1.96782295e-03 9.99357068e-01 1.36323898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.15, Y:14.71, Z:13.63 [[ 9.92698713e-01 -1.15187869e-01 -3.57913456e-02 3.85148020e+02] [ 1.15186580e-01 9.93341644e-01 -2.10489644e-03 1.47061643e+01] [ 3.57954926e-02 -2.03315471e-03 9.99357068e-01 1.36327800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:14.71, Z:13.63 [[ 9.92462301e-01 -1.17207281e-01 -3.57915382e-02 3.85180447e+02] [ 1.17207418e-01 9.93105233e-01 -2.10161656e-03 1.47087318e+01] [ 3.57910887e-02 -2.10925858e-03 9.99357068e-01 1.36338984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:14.71, Z:13.63 [[ 9.92217317e-01 -1.19263367e-01 -3.57916944e-02 3.85212680e+02] [ 1.19264933e-01 9.92860247e-01 -2.09895292e-03 1.47112476e+01] [ 3.57864787e-02 -2.18607659e-03 9.99357068e-01 1.36342894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.25, Y:14.72, Z:13.64 [[ 9.91704273e-01 -1.23456775e-01 -3.57918886e-02 3.85245393e+02] [ 1.23461177e-01 9.92347190e-01 -2.09563588e-03 1.47151410e+01] [ 3.57767006e-02 -2.34065764e-03 9.99357068e-01 1.36358466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.28, Y:14.72, Z:13.64 [[ 9.91528712e-01 -1.24858870e-01 -3.57921241e-02 3.85278373e+02] [ 1.24864326e-01 9.92171621e-01 -2.09160705e-03 1.47182935e+01] [ 3.57730854e-02 -2.39527101e-03 9.99357068e-01 1.36370382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.31, Y:14.72, Z:13.64 [[ 9.91335926e-01 -1.26380331e-01 -3.57923585e-02 3.85311206e+02] [ 1.26386918e-01 9.91978825e-01 -2.08758747e-03 1.47218288e+01] [ 3.57690917e-02 -2.45418542e-03 9.99357068e-01 1.36382030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.34, Y:14.73, Z:13.64 [[ 9.91247987e-01 -1.27068166e-01 -3.57925920e-02 3.85343575e+02] [ 1.27075343e-01 9.91890879e-01 -2.08357583e-03 1.47252177e+01] [ 3.57671017e-02 -2.48301557e-03 9.99357068e-01 1.36392487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.38, Y:14.73, Z:13.64 [[ 9.91209054e-01 -1.27371455e-01 -3.57927853e-02 3.85376740e+02] [ 1.27378949e-01 9.91851943e-01 -2.08025073e-03 1.47306127e+01] [ 3.57661082e-02 -2.49728400e-03 9.99357068e-01 1.36416424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.41, Y:14.73, Z:13.64 [[ 9.91317001e-01 -1.26528512e-01 -3.57930161e-02 3.85409364e+02] [ 1.26535602e-01 9.91959894e-01 -2.07627089e-03 1.47341612e+01] [ 3.57679439e-02 -2.47084820e-03 9.99357068e-01 1.36435165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.44, Y:14.74, Z:13.65 [[ 9.91481225e-01 -1.25235075e-01 -3.57932453e-02 3.85441429e+02] [ 1.25241468e-01 9.92124125e-01 -2.07231342e-03 1.47378819e+01] [ 3.57708685e-02 -2.42813875e-03 9.99357068e-01 1.36453468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.47, Y:14.74, Z:13.65 [[ 9.91699772e-01 -1.23492478e-01 -3.57934347e-02 3.85474394e+02] [ 1.23497859e-01 9.92342682e-01 -2.06903615e-03 1.47418920e+01] [ 3.57748634e-02 -2.36854987e-03 9.99357068e-01 1.36473527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.51, Y:14.75, Z:13.65 [[ 9.92002082e-01 -1.21040007e-01 -3.57936616e-02 3.85506470e+02] [ 1.21043940e-01 9.92645002e-01 -2.06510293e-03 1.47458163e+01] [ 3.57803594e-02 -2.28401944e-03 9.99357068e-01 1.36490679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.54, Y:14.75, Z:13.65 [[ 9.92743420e-01 -1.14801143e-01 -3.57938490e-02 3.85537131e+02] [ 1.14801151e-01 9.93386352e-01 -2.06185014e-03 1.47522484e+01] [ 3.57938238e-02 -2.06228690e-03 9.99357068e-01 1.36516620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.57, Y:14.76, Z:13.65 [[ 9.93212145e-01 -1.10672610e-01 -3.57939598e-02 3.85569838e+02] [ 1.10670014e-01 9.93855072e-01 -2.05992492e-03 1.47566173e+01] [ 3.58019858e-02 -1.91537558e-03 9.99357068e-01 1.36534078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.60, Y:14.76, Z:13.65 [[ 9.93679578e-01 -1.06393954e-01 -3.57941789e-02 3.85602484e+02] [ 1.06388726e-01 9.94322489e-01 -2.05611060e-03 1.47611070e+01] [ 3.58097148e-02 -1.76498197e-03 9.99357068e-01 1.36544737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.63, Y:14.77, Z:13.65 [[ 9.94608605e-01 -9.73266904e-02 -3.57943958e-02 3.85633611e+02] [ 9.73157348e-02 9.95251443e-01 -2.05232859e-03 1.47677166e+01] [ 3.58241704e-02 -1.44209425e-03 9.99357068e-01 1.36548280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.67, Y:14.77, Z:13.66 [[ 9.95034703e-01 -9.28692319e-02 -3.57945029e-02 3.85665459e+02] [ 9.28554634e-02 9.95677487e-01 -2.05045790e-03 1.47716837e+01] [ 3.58302052e-02 -1.28343839e-03 9.99357068e-01 1.36557387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.70, Y:14.78, Z:13.66 [[ 9.95415412e-01 -8.86955480e-02 -3.57946510e-02 3.85696106e+02] [ 8.86791769e-02 9.96058136e-01 -2.04786982e-03 1.47754496e+01] [ 3.58351903e-02 -1.13575901e-03 9.99357068e-01 1.36562777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.73, Y:14.78, Z:13.66 [[ 9.95754711e-01 -8.48014747e-02 -3.57947611e-02 3.85728496e+02] [ 8.47826590e-02 9.96397368e-01 -2.04594273e-03 1.47793192e+01] [ 3.58393047e-02 -9.97517921e-04 9.99357068e-01 1.36575879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.76, Y:14.78, Z:13.66 [[ 9.96058747e-01 -8.11523028e-02 -3.57949069e-02 3.85760578e+02] [ 8.11312242e-02 9.96701334e-01 -2.04338852e-03 1.47830253e+01] [ 3.58426572e-02 -8.68749613e-04 9.99357068e-01 1.36589692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.79, Y:14.79, Z:13.66 [[ 9.96597737e-01 -7.42405828e-02 -3.57950543e-02 3.85791608e+02] [ 7.42151398e-02 9.97240166e-01 -2.04080398e-03 1.47881840e+01] [ 3.58477764e-02 -6.22674333e-04 9.99357068e-01 1.36603241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.82, Y:14.79, Z:13.66 [[ 9.96839674e-01 -7.09180515e-02 -3.57951639e-02 3.85823545e+02] [ 7.08905362e-02 9.97482017e-01 -2.03887971e-03 1.47914001e+01] [ 3.58496257e-02 -5.05102172e-04 9.99357068e-01 1.36618089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.85, Y:14.79, Z:13.66 [[ 9.97036323e-01 -6.80974722e-02 -3.57953124e-02 3.85854545e+02] [ 6.80682334e-02 9.97678590e-01 -2.03626886e-03 1.47945117e+01] [ 3.58508816e-02 -4.06289659e-04 9.99357068e-01 1.36627344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.88, Y:14.80, Z:13.66 [[ 9.97222263e-01 -6.53180394e-02 -3.57954229e-02 3.85884558e+02] [ 6.52870802e-02 9.97864449e-01 -2.03432576e-03 1.47972659e+01] [ 3.58518581e-02 -3.08303702e-04 9.99357068e-01 1.36634222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.92, Y:14.80, Z:13.66 [[ 9.97493389e-01 -6.10378368e-02 -3.57955429e-02 3.85916039e+02] [ 6.10041978e-02 9.98135441e-01 -2.03221166e-03 1.48005573e+01] [ 3.58528418e-02 -1.56560681e-04 9.99357068e-01 1.36647511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.95, Y:14.80, Z:13.67 [[ 9.97597457e-01 -5.93126305e-02 -3.57956160e-02 3.85946363e+02] [ 5.92779274e-02 9.98239452e-01 -2.03092251e-03 1.48026306e+01] [ 3.58530555e-02 -9.58467998e-05 9.99357068e-01 1.36654580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.98, Y:14.80, Z:13.67 [[ 9.97668616e-01 -5.81034156e-02 -3.57956160e-02 3.85976875e+02] [ 5.80679344e-02 9.98310568e-01 -2.03092251e-03 1.48044612e+01] [ 3.58531453e-02 -5.23898353e-05 9.99357068e-01 1.36664122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.01, Y:14.81, Z:13.67 [[ 9.97700961e-01 -5.75453465e-02 -3.57956160e-02 3.86007705e+02] [ 5.75095062e-02 9.98342893e-01 -2.03092251e-03 1.48061390e+01] [ 3.58531690e-02 -3.23348647e-05 9.99357068e-01 1.36673213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.04, Y:14.81, Z:13.67 [[ 9.97716517e-01 -5.72749958e-02 -3.57956160e-02 3.86037795e+02] [ 5.72389816e-02 9.98358440e-01 -2.03092251e-03 1.48076064e+01] [ 3.58531764e-02 -2.26196764e-05 9.99357068e-01 1.36679444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.07, Y:14.81, Z:13.67 [[ 9.97635043e-01 -5.86770384e-02 -3.57956160e-02 3.86067916e+02] [ 5.86419263e-02 9.98277016e-01 -2.03092251e-03 1.48081411e+01] [ 3.58531092e-02 -7.30044148e-05 9.99357068e-01 1.36695551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.10, Y:14.81, Z:13.67 [[ 9.97541652e-01 -6.02438906e-02 -3.57956160e-02 3.86097512e+02] [ 6.02097868e-02 9.98183679e-01 -2.03092251e-03 1.48088937e+01] [ 3.58529504e-02 -1.29316617e-04 9.99357068e-01 1.36707281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.13, Y:14.81, Z:13.67 [[ 9.97408114e-01 -6.24157885e-02 -3.57955794e-02 3.86128197e+02] [ 6.23830596e-02 9.98050212e-01 -2.03156703e-03 1.48098217e+01] [ 3.58525875e-02 -2.06736323e-04 9.99357068e-01 1.36723274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.16, Y:14.81, Z:13.67 [[ 9.97086694e-01 -6.73557817e-02 -3.57955794e-02 3.86159602e+02] [ 6.73262339e-02 9.97728947e-01 -2.03156703e-03 1.48082500e+01] [ 3.58511236e-02 -3.84333096e-04 9.99357068e-01 1.36735959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.19, Y:14.81, Z:13.67 [[ 9.96902476e-01 -7.00294602e-02 -3.57956523e-02 3.86191187e+02] [ 7.00016810e-02 9.97544807e-01 -2.03028196e-03 1.48079023e+01] [ 3.58499467e-02 -4.81762726e-04 9.99357068e-01 1.36748687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.22, Y:14.81, Z:13.68 [[ 9.96700792e-01 -7.28435748e-02 -3.57958853e-02 3.86221670e+02] [ 7.28177569e-02 9.97343205e-01 -2.02616625e-03 1.48074570e+01] [ 3.58483762e-02 -5.87094568e-04 9.99357068e-01 1.36756901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.25, Y:14.81, Z:13.68 [[ 9.96705952e-01 -7.27728732e-02 -3.57960073e-02 3.86254293e+02] [ 7.27470872e-02 9.97348367e-01 -2.02400893e-03 1.48092425e+01] [ 3.58483823e-02 -5.86713511e-04 9.99357068e-01 1.36768615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.29, Y:14.81, Z:13.68 [[ 9.96515761e-01 -7.53324150e-02 -3.57961506e-02 3.86286548e+02] [ 7.53083701e-02 9.97158244e-01 -2.02147086e-03 1.48088451e+01] [ 3.58467089e-02 -6.81322183e-04 9.99357068e-01 1.36778057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.32, Y:14.81, Z:13.68 [[ 9.96169046e-01 -7.97863234e-02 -3.57962981e-02 3.86318977e+02] [ 7.97652447e-02 9.96811632e-01 -2.01885489e-03 1.48068191e+01] [ 3.58432434e-02 -8.44179731e-04 9.99357068e-01 1.36786746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.35, Y:14.81, Z:13.68 [[ 9.96032641e-01 -8.14714179e-02 -3.57964449e-02 3.86350013e+02] [ 8.14515199e-02 9.96675265e-01 -2.01624870e-03 1.48068141e+01] [ 3.58416979e-02 -9.07425332e-04 9.99357068e-01 1.36790756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.38, Y:14.81, Z:13.68 [[ 9.95964160e-01 -8.23021256e-02 -3.58015528e-02 3.86381153e+02] [ 8.22860214e-02 9.96606895e-01 -1.92554685e-03 1.48065216e+01] [ 3.58385510e-02 -1.02819169e-03 9.99357064e-01 1.36804576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.41, Y:14.81, Z:13.68 [[ 9.95937919e-01 -8.26213994e-02 -3.57961661e-02 3.86412479e+02] [ 8.26020741e-02 9.96580560e-01 -2.02096203e-03 1.48067745e+01] [ 3.58407379e-02 -9.44084842e-04 9.99357068e-01 1.36813224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.44, Y:14.81, Z:13.68 [[ 9.95973610e-01 -8.21899374e-02 -3.57964113e-02 3.86444927e+02] [ 8.21704900e-02 9.96616247e-01 -2.01660878e-03 1.48056825e+01] [ 3.58410300e-02 -9.32919532e-04 9.99357068e-01 1.36817023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:14.81, Z:13.68 [[ 9.96017413e-01 -8.16573284e-02 -3.57965548e-02 3.86476371e+02] [ 8.16376290e-02 9.96660043e-01 -2.01405927e-03 1.48061228e+01] [ 3.58414585e-02 -9.16307752e-04 9.99357068e-01 1.36825047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.51, Y:14.81, Z:13.68 [[ 9.96120737e-01 -8.03870373e-02 -3.57966614e-02 3.86508173e+02] [ 8.03665865e-02 9.96763344e-01 -2.01216168e-03 1.48066065e+01] [ 3.58425516e-02 -8.72499509e-04 9.99357068e-01 1.36834625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.54, Y:14.81, Z:13.68 [[ 9.96361200e-01 -7.73495216e-02 -3.57968065e-02 3.86539161e+02] [ 7.73272044e-02 9.97003744e-01 -2.00957811e-03 1.48066263e+01] [ 3.58449900e-02 -7.65801316e-04 9.99357068e-01 1.36838246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.57, Y:14.81, Z:13.68 [[ 9.96483107e-01 -7.57627750e-02 -3.57969144e-02 3.86570968e+02] [ 7.57395037e-02 9.97125617e-01 -2.00765354e-03 1.48079633e+01] [ 3.58461258e-02 -7.10647698e-04 9.99357068e-01 1.36848466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.60, Y:14.81, Z:13.69 [[ 9.96600049e-01 -7.42085961e-02 -3.57970174e-02 3.86602280e+02] [ 7.41843888e-02 9.97242525e-01 -2.00581455e-03 1.48092948e+01] [ 3.58471567e-02 -6.56584978e-04 9.99357068e-01 1.36860855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.63, Y:14.81, Z:13.69 [[ 9.96805069e-01 -7.14018454e-02 -3.57970856e-02 3.86633617e+02] [ 7.13758727e-02 9.97447476e-01 -2.00459682e-03 1.48100541e+01] [ 3.58488446e-02 -5.56855958e-04 9.99357068e-01 1.36871338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.67, Y:14.81, Z:13.69 [[ 9.96885268e-01 -7.02732244e-02 -3.57971539e-02 3.86665102e+02] [ 7.02465682e-02 9.97527647e-01 -2.00337652e-03 1.48113148e+01] [ 3.58494344e-02 -5.17490676e-04 9.99357068e-01 1.36884872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.70, Y:14.81, Z:13.69 [[ 9.96956956e-01 -6.92487372e-02 -3.57972241e-02 3.86695183e+02] [ 6.92214659e-02 9.97599308e-01 -2.00212233e-03 1.48122148e+01] [ 3.58499304e-02 -4.81906545e-04 9.99357068e-01 1.36898999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.73, Y:14.81, Z:13.69 [[ 9.97015355e-01 -6.84027894e-02 -3.57972241e-02 3.86725139e+02] [ 6.83749731e-02 9.97657684e-01 -2.00212233e-03 1.48131422e+01] [ 3.58503264e-02 -4.51487530e-04 9.99357068e-01 1.36906400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.76, Y:14.81, Z:13.69 [[ 9.97045824e-01 -6.79571940e-02 -3.57972605e-02 3.86755306e+02] [ 6.79291140e-02 9.97688142e-01 -2.00147163e-03 1.48141570e+01] [ 3.58505167e-02 -4.36117260e-04 9.99357068e-01 1.36916107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.78, Y:14.81, Z:13.69 [[ 9.97060307e-01 -6.77443785e-02 -3.57972605e-02 3.86784533e+02] [ 6.77161614e-02 9.97702619e-01 -2.00147163e-03 1.48148668e+01] [ 3.58506090e-02 -4.28465153e-04 9.99357068e-01 1.36924205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.81, Y:14.81, Z:13.69 [[ 9.97005052e-01 -6.85527635e-02 -3.57972684e-02 3.86814693e+02] [ 6.85250722e-02 9.97647387e-01 -2.00132976e-03 1.48143814e+01] [ 3.58502480e-02 -4.57674519e-04 9.99357068e-01 1.36943720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.84, Y:14.81, Z:13.70 [[ 9.96960663e-01 -6.91953554e-02 -3.57971977e-02 3.86844064e+02] [ 6.91680328e-02 9.97603014e-01 -2.00259324e-03 1.48145880e+01] [ 3.58499625e-02 -4.79515059e-04 9.99357068e-01 1.36952757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.87, Y:14.81, Z:13.70 [[ 9.96880049e-01 -7.03472246e-02 -3.57971626e-02 3.86874231e+02] [ 7.03206217e-02 9.97522429e-01 -2.00322003e-03 1.48147919e+01] [ 3.58493936e-02 -5.20308650e-04 9.99357068e-01 1.36969343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.90, Y:14.82, Z:13.70 [[ 9.96786354e-01 -7.16625915e-02 -3.57971626e-02 3.86904233e+02] [ 7.16368363e-02 9.97428770e-01 -2.00322003e-03 1.48150444e+01] [ 3.58486758e-02 -5.67613089e-04 9.99357068e-01 1.36970720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.94, Y:14.81, Z:13.70 [[ 9.96521628e-01 -7.52543012e-02 -3.57971260e-02 3.86935324e+02] [ 7.52308378e-02 9.97164132e-01 -2.00387357e-03 1.48142022e+01] [ 3.58464102e-02 -6.96144429e-04 9.99357068e-01 1.36973801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.97, Y:14.81, Z:13.70 [[ 9.96380772e-01 -7.70968548e-02 -3.57970879e-02 3.86965648e+02] [ 7.70745551e-02 9.97023317e-01 -2.00455473e-03 1.48148203e+01] [ 3.58450762e-02 -7.61744832e-04 9.99357068e-01 1.36973378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.00, Y:14.82, Z:13.70 [[ 9.96221753e-01 -7.91250783e-02 -3.57972105e-02 3.86997130e+02] [ 7.91041654e-02 9.96864345e-01 -2.00236278e-03 1.48153954e+01] [ 3.58433999e-02 -8.36911098e-04 9.99357068e-01 1.36987677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.03, Y:14.82, Z:13.70 [[ 9.96052190e-01 -8.12317030e-02 -3.57972827e-02 3.87028470e+02] [ 8.12121954e-02 9.96694825e-01 -2.00107192e-03 1.48159338e+01] [ 3.58415169e-02 -9.14003843e-04 9.99357068e-01 1.36997221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.06, Y:14.82, Z:13.70 [[ 9.95765879e-01 -8.46691382e-02 -3.57973556e-02 3.87059070e+02] [ 8.46518957e-02 9.96408580e-01 -1.99976599e-03 1.48154929e+01] [ 3.58381107e-02 -1.03901527e-03 9.99357068e-01 1.37007073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.09, Y:14.82, Z:13.70 [[ 9.95627333e-01 -8.62830303e-02 -3.57973918e-02 3.87090307e+02] [ 8.62668528e-02 9.96270061e-01 -1.99911799e-03 1.48163718e+01] [ 3.58363597e-02 -1.09775182e-03 9.99357068e-01 1.37026437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.12, Y:14.82, Z:13.70 [[ 9.95512890e-01 -8.75935350e-02 -3.57974637e-02 3.87121982e+02] [ 8.75782499e-02 9.96155640e-01 -1.99782999e-03 1.48173527e+01] [ 3.58348423e-02 -1.14621372e-03 9.99357068e-01 1.37041914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.15, Y:14.82, Z:13.71 [[ 9.95322778e-01 -8.97279145e-02 -3.57976070e-02 3.87154370e+02] [ 8.97141000e-02 9.95965561e-01 -1.99525944e-03 1.48176272e+01] [ 3.58322142e-02 -1.22562293e-03 9.99357068e-01 1.37063095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.19, Y:14.82, Z:13.71 [[ 9.95238846e-01 -9.06540722e-02 -3.57977499e-02 3.87186200e+02] [ 9.06409481e-02 9.95881643e-01 -1.99269103e-03 1.48190782e+01] [ 3.58309676e-02 -1.26153847e-03 9.99357068e-01 1.37081068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.22, Y:14.82, Z:13.71 [[ 9.95201648e-01 -9.10614673e-02 -3.57978956e-02 3.87217795e+02] [ 9.10487004e-02 9.95844453e-01 -1.99007017e-03 1.48205058e+01] [ 3.58303545e-02 -1.27883077e-03 9.99357068e-01 1.37094378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.25, Y:14.82, Z:13.71 [[ 9.95157166e-01 -9.15462602e-02 -3.57980041e-02 3.87250093e+02] [ 9.15338767e-02 9.95799978e-01 -1.98811718e-03 1.48222948e+01] [ 3.58296564e-02 -1.29824104e-03 9.99357068e-01 1.37110063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.28, Y:14.82, Z:13.71 [[ 9.95126825e-01 -9.18754289e-02 -3.57981479e-02 3.87282120e+02] [ 9.18633512e-02 9.95769643e-01 -1.98552389e-03 1.48239241e+01] [ 3.58291299e-02 -1.31268975e-03 9.99357068e-01 1.37122617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.31, Y:14.83, Z:13.71 [[ 9.95118314e-01 -9.19675153e-02 -3.57982910e-02 3.87312909e+02] [ 9.19555898e-02 9.95761135e-01 -1.98294049e-03 1.48253654e+01] [ 3.58289130e-02 -1.31859257e-03 9.99357068e-01 1.37129420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.34, Y:14.83, Z:13.71 [[ 9.95096891e-01 -9.21989336e-02 -3.57985291e-02 3.87344960e+02] [ 9.21873123e-02 9.95739717e-01 -1.97863347e-03 1.48268035e+01] [ 3.58284451e-02 -1.33123817e-03 9.99357068e-01 1.37134705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.38, Y:14.83, Z:13.71 [[ 9.95058170e-01 -9.26158339e-02 -3.57986697e-02 3.87377296e+02] [ 9.26045735e-02 9.95701003e-01 -1.97608621e-03 1.48283637e+01] [ 3.58277882e-02 -1.34879981e-03 9.99357068e-01 1.37141540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.41, Y:14.83, Z:13.71 [[ 9.94993779e-01 -9.33050104e-02 -3.57988115e-02 3.87408264e+02] [ 9.32942876e-02 9.95636621e-01 -1.97351421e-03 1.48300549e+01] [ 3.58267465e-02 -1.37619026e-03 9.99357068e-01 1.37148151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.44, Y:14.83, Z:13.72 [[ 9.94852778e-01 -9.47965623e-02 -3.57989171e-02 3.87439677e+02] [ 9.47868722e-02 9.95495636e-01 -1.97159580e-03 1.48318048e+01] [ 3.58245663e-02 -1.43181983e-03 9.99357068e-01 1.37154910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.47, Y:14.83, Z:13.72 [[ 9.94765162e-01 -9.57115564e-02 -3.57990215e-02 3.87470462e+02] [ 9.57025257e-02 9.95408030e-01 -1.96969965e-03 1.48336078e+01] [ 3.58231565e-02 -1.46666818e-03 9.99357068e-01 1.37162430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.50, Y:14.84, Z:13.72 [[ 9.94672043e-01 -9.66744074e-02 -3.57992540e-02 3.87502536e+02] [ 9.66661512e-02 9.95314921e-01 -1.96546402e-03 1.48356386e+01] [ 3.58215418e-02 -1.50558399e-03 9.99357068e-01 1.37174807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.53, Y:14.84, Z:13.72 [[ 9.94590627e-01 -9.75083973e-02 -3.57993961e-02 3.87533497e+02] [ 9.75007732e-02 9.95233513e-01 -1.96287202e-03 1.48372808e+01] [ 3.58201553e-02 -1.53821469e-03 9.99357069e-01 1.37175714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.57, Y:14.84, Z:13.72 [[ 9.94413740e-01 -9.92960646e-02 -3.57995020e-02 3.87565538e+02] [ 9.92896656e-02 9.95056640e-01 -1.96093959e-03 1.48398279e+01] [ 3.58172458e-02 -1.60453531e-03 9.99357069e-01 1.37179367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.60, Y:14.84, Z:13.72 [[ 9.94368089e-01 -9.97521357e-02 -3.57996450e-02 3.87596518e+02] [ 9.97461254e-02 9.95010993e-01 -1.95832590e-03 1.48422862e+01] [ 3.58163875e-02 -1.62357909e-03 9.99357069e-01 1.37179283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.63, Y:14.84, Z:13.72 [[ 9.94368007e-01 -9.97529122e-02 -3.57997514e-02 3.87628663e+02] [ 9.97469725e-02 9.95010912e-01 -1.95637905e-03 1.48447486e+01] [ 3.58162977e-02 -1.62555607e-03 9.99357069e-01 1.37199241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.66, Y:14.85, Z:13.72 [[ 9.94368934e-01 -9.97436230e-02 -3.57998958e-02 3.87659705e+02] [ 9.97377723e-02 9.95011839e-01 -1.95373215e-03 1.48486280e+01] [ 3.58161925e-02 -1.62787130e-03 9.99357069e-01 1.37213120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.69, Y:14.85, Z:13.72 [[ 9.94388076e-01 -9.95525707e-02 -3.58000032e-02 3.87690506e+02] [ 9.95466673e-02 9.95030980e-01 -1.95176157e-03 1.48514603e+01] [ 3.58164152e-02 -1.62296258e-03 9.99357069e-01 1.37225471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.72, Y:14.85, Z:13.72 [[ 9.94399438e-01 -9.94389769e-02 -3.58001094e-02 3.87722527e+02] [ 9.94330701e-02 9.95042342e-01 -1.94981201e-03 1.48545621e+01] [ 3.58165120e-02 -1.62082283e-03 9.99357069e-01 1.37245546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.75, Y:14.86, Z:13.73 [[ 9.94404072e-01 -9.93925759e-02 -3.58002493e-02 3.87754810e+02] [ 9.93867315e-02 9.95046977e-01 -1.94723990e-03 1.48577807e+01] [ 3.58164710e-02 -1.62172648e-03 9.99357069e-01 1.37263403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.79, Y:14.86, Z:13.73 [[ 9.94385572e-01 -9.95774348e-02 -3.58003888e-02 3.87786005e+02] [ 9.95718021e-02 9.95028479e-01 -1.94467267e-03 1.48619706e+01] [ 3.58160519e-02 -1.63095478e-03 9.99357069e-01 1.37283151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.82, Y:14.87, Z:13.73 [[ 9.94318832e-01 -1.00241632e-01 -3.58004926e-02 3.87818416e+02] [ 1.00236497e-01 9.94961743e-01 -1.94276018e-03 1.48650965e+01] [ 3.58148659e-02 -1.65679294e-03 9.99357069e-01 1.37302156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.85, Y:14.87, Z:13.73 [[ 9.94272595e-01 -1.00699164e-01 -3.58006297e-02 3.87849185e+02] [ 1.00694416e-01 9.94915509e-01 -1.94022997e-03 1.48680376e+01] [ 3.58139812e-02 -1.67580603e-03 9.99357069e-01 1.37313831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.88, Y:14.87, Z:13.73 [[ 9.94231921e-01 -1.01099925e-01 -3.58007317e-02 3.87880822e+02] [ 1.01095504e-01 9.94874837e-01 -1.93834488e-03 1.48709199e+01] [ 3.58132137e-02 -1.69212868e-03 9.99357069e-01 1.37328412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:14.87, Z:13.73 [[ 9.94110759e-01 -1.02284392e-01 -3.58008673e-02 3.87912180e+02] [ 1.02280827e-01 9.94753681e-01 -1.93583805e-03 1.48749883e+01] [ 3.58110505e-02 -1.73730490e-03 9.99357069e-01 1.37337637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.94, Y:14.88, Z:13.73 [[ 9.94057151e-01 -1.02804047e-01 -3.58009684e-02 3.87943923e+02] [ 1.02800886e-01 9.94700074e-01 -1.93396722e-03 1.48778534e+01] [ 3.58100455e-02 -1.75789731e-03 9.99357069e-01 1.37348223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.98, Y:14.88, Z:13.74 [[ 9.94026843e-01 -1.03096639e-01 -3.58011024e-02 3.87977062e+02] [ 1.03093755e-01 9.94669768e-01 -1.93148260e-03 1.48807143e+01] [ 3.58094036e-02 -1.77092455e-03 9.99357069e-01 1.37361437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.01, Y:14.88, Z:13.74 [[ 9.94037916e-01 -1.02989742e-01 -3.58013121e-02 3.88007972e+02] [ 1.02986930e-01 9.94680842e-01 -1.92758831e-03 1.48849720e+01] [ 3.58094011e-02 -1.77097134e-03 9.99357069e-01 1.37361024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.04, Y:14.89, Z:13.74 [[ 9.94082811e-01 -1.02555467e-01 -3.58014158e-02 3.88039934e+02] [ 1.02552443e-01 9.94725735e-01 -1.92566085e-03 1.48882927e+01] [ 3.58100767e-02 -1.75725631e-03 9.99357069e-01 1.37368668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.07, Y:14.89, Z:13.74 [[ 9.94163848e-01 -1.01766857e-01 -3.58015480e-02 3.88072961e+02] [ 1.01763412e-01 9.94806770e-01 -1.92319903e-03 1.48916755e+01] [ 3.58113402e-02 -1.73131272e-03 9.99357069e-01 1.37385675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:14.90, Z:13.74 [[ 9.94251595e-01 -1.00905898e-01 -3.58017571e-02 3.88103914e+02] [ 1.00902036e-01 9.94894515e-01 -1.91929929e-03 1.48953532e+01] [ 3.58126403e-02 -1.70420380e-03 9.99357069e-01 1.37393903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.14, Y:14.90, Z:13.74 [[ 9.94532344e-01 -9.81001723e-02 -3.58018604e-02 3.88135674e+02] [ 9.80945656e-02 9.95175251e-01 -1.91736939e-03 1.49009007e+01] [ 3.58172197e-02 -1.60508207e-03 9.99357069e-01 1.37409415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.17, Y:14.90, Z:13.74 [[ 9.94697678e-01 -9.64092602e-02 -3.58019967e-02 3.88168178e+02] [ 9.64026520e-02 9.95340576e-01 -1.91482055e-03 1.49045154e+01] [ 3.58197865e-02 -1.54673988e-03 9.99357069e-01 1.37423400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.20, Y:14.91, Z:13.74 [[ 9.94897591e-01 -9.43238640e-02 -3.58021323e-02 3.88200544e+02] [ 9.43159993e-02 9.95540474e-01 -1.91228233e-03 1.49080215e+01] [ 3.58228456e-02 -1.47418881e-03 9.99357069e-01 1.37436087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:14.91, Z:13.74 [[ 9.95112218e-01 -9.20318846e-02 -3.58023065e-02 3.88232975e+02] [ 9.20226565e-02 9.95755084e-01 -1.90901518e-03 1.49115447e+01] [ 3.58260190e-02 -1.39493903e-03 9.99357069e-01 1.37446497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.27, Y:14.91, Z:13.75 [[ 9.95118849e-01 -9.19600775e-02 -3.58025132e-02 3.88265603e+02] [ 9.19509424e-02 9.95761716e-01 -1.90513196e-03 1.49132216e+01] [ 3.58259680e-02 -1.39624211e-03 9.99357069e-01 1.37458206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.30, Y:14.92, Z:13.75 [[ 9.95323672e-01 -8.97159870e-02 -3.58026503e-02 3.88297534e+02] [ 8.97054951e-02 9.95966518e-01 -1.90255180e-03 1.49167845e+01] [ 3.58289302e-02 -1.31803963e-03 9.99357069e-01 1.37465779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.33, Y:14.92, Z:13.75 [[ 9.95661983e-01 -8.58799987e-02 -3.58028208e-02 3.88328965e+02] [ 8.58671453e-02 9.96304786e-01 -1.89933699e-03 1.49224062e+01] [ 3.58336368e-02 -1.18318839e-03 9.99357069e-01 1.37479771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.36, Y:14.93, Z:13.75 [[ 9.95830040e-01 -8.39087268e-02 -3.58030397e-02 3.88360756e+02] [ 8.38947493e-02 9.96472819e-01 -1.89520091e-03 1.49255963e+01] [ 3.58357798e-02 -1.11638904e-03 9.99357069e-01 1.37498745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.39, Y:14.93, Z:13.75 [[ 9.95945937e-01 -8.25216497e-02 -3.58031790e-02 3.88391442e+02] [ 8.25068717e-02 9.96588699e-01 -1.89256606e-03 1.49286985e+01] [ 3.58372213e-02 -1.06911482e-03 9.99357069e-01 1.37508772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.42, Y:14.93, Z:13.75 [[ 9.96071349e-01 -8.09937793e-02 -3.58032826e-02 3.88423354e+02] [ 8.09780857e-02 9.96714089e-01 -1.89060378e-03 1.49316295e+01] [ 3.58387634e-02 -1.01610503e-03 9.99357069e-01 1.37523740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.46, Y:14.94, Z:13.75 [[ 9.96302513e-01 -7.80987735e-02 -3.58034190e-02 3.88455625e+02] [ 7.80813051e-02 9.96945207e-01 -1.88801754e-03 1.49358803e+01] [ 3.58414988e-02 -9.14541064e-04 9.99357069e-01 1.37530590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.49, Y:14.94, Z:13.75 [[ 9.96439081e-01 -7.63365123e-02 -3.58035547e-02 3.88487514e+02] [ 7.63179996e-02 9.97081746e-01 -1.88544195e-03 1.49385858e+01] [ 3.58429989e-02 -8.53727631e-04 9.99357069e-01 1.37538201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.52, Y:14.94, Z:13.75 [[ 9.96575496e-01 -7.45343990e-02 -3.58036913e-02 3.88518947e+02] [ 7.45148175e-02 9.97218129e-01 -1.88284356e-03 1.49414530e+01] [ 3.58444267e-02 -7.91509769e-04 9.99357069e-01 1.37541151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.55, Y:14.95, Z:13.75 [[ 9.96860923e-01 -7.06143001e-02 -3.58039186e-02 3.88550847e+02] [ 7.05923468e-02 9.97503480e-01 -1.87851188e-03 1.49450310e+01] [ 3.58471832e-02 -6.54867547e-04 9.99357069e-01 1.37542759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.58, Y:14.95, Z:13.75 [[ 9.97025234e-01 -6.82550538e-02 -3.58040521e-02 3.88581802e+02] [ 6.82316715e-02 9.97667740e-01 -1.87596290e-03 1.49475271e+01] [ 3.58485917e-02 -5.72587972e-04 9.99357069e-01 1.37547868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.61, Y:14.95, Z:13.76 [[ 9.97195791e-01 -6.57161198e-02 -3.58042737e-02 3.88612714e+02] [ 6.56912537e-02 9.97838241e-01 -1.87172399e-03 1.49500315e+01] [ 3.58498760e-02 -4.85552338e-04 9.99357069e-01 1.37556746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.64, Y:14.95, Z:13.76 [[ 9.97368909e-01 -6.30341838e-02 -3.58043393e-02 3.88644161e+02] [ 6.30076352e-02 9.98011292e-01 -1.87046852e-03 1.49525926e+01] [ 3.58510384e-02 -3.90399606e-04 9.99357069e-01 1.37567099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.68, Y:14.96, Z:13.76 [[ 9.97693603e-01 -5.76673155e-02 -3.58044056e-02 3.88675599e+02] [ 5.76373567e-02 9.98335836e-01 -1.86919891e-03 1.49556716e+01] [ 3.58526129e-02 -1.98783500e-04 9.99357069e-01 1.37581063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.70, Y:14.96, Z:13.76 [[ 9.97834716e-01 -5.51717280e-02 -3.58044721e-02 3.88704980e+02] [ 5.51402087e-02 9.98476874e-01 -1.86792347e-03 1.49575125e+01] [ 3.58529940e-02 -1.10387183e-04 9.99357069e-01 1.37591077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.74, Y:14.96, Z:13.76 [[ 9.97940989e-01 -5.32148890e-02 -3.58044391e-02 3.88735616e+02] [ 5.31820878e-02 9.98583083e-01 -1.86855572e-03 1.49591435e+01] [ 3.58531422e-02 -3.94464849e-05 9.99357069e-01 1.37603447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.76, Y:14.96, Z:13.76 [[ 9.98024511e-01 -5.16247837e-02 -3.58044391e-02 3.88763731e+02] [ 5.15909596e-02 9.98666552e-01 -1.86855572e-03 1.49603192e+01] [ 3.58531596e-02 1.76790337e-05 9.99357069e-01 1.37612536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.79, Y:14.96, Z:13.76 [[ 9.98083391e-01 -5.04736853e-02 -3.58043408e-02 3.88792021e+02] [ 5.04390531e-02 9.98725389e-01 -1.87043801e-03 1.49601250e+01] [ 3.58531121e-02 6.09160682e-05 9.99357069e-01 1.37616612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.82, Y:14.96, Z:13.76 [[ 9.98050888e-01 -5.11124324e-02 -3.58042449e-02 3.88820465e+02] [ 5.10781453e-02 9.98692905e-01 -1.87227216e-03 1.49603699e+01] [ 3.58531417e-02 3.98084690e-05 9.99357069e-01 1.37619988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.85, Y:14.96, Z:13.76 [[ 9.97993245e-01 -5.22261713e-02 -3.58037697e-02 3.88849109e+02] [ 5.21922762e-02 9.98635282e-01 -1.88131667e-03 1.49603457e+01] [ 3.58531616e-02 8.86109178e-06 9.99357069e-01 1.37624657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.88, Y:14.96, Z:13.76 [[ 9.97801825e-01 -5.57641656e-02 -3.58032953e-02 3.88878083e+02] [ 5.57322247e-02 9.98443962e-01 -1.89030122e-03 1.49584599e+01] [ 3.58529951e-02 -1.09251291e-04 9.99357069e-01 1.37619052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.91, Y:14.96, Z:13.76 [[ 9.97664820e-01 -5.81638845e-02 -3.58031945e-02 3.88908039e+02] [ 5.81334196e-02 9.98307029e-01 -1.89220898e-03 1.49578423e+01] [ 3.58526389e-02 -1.93571798e-04 9.99357069e-01 1.37623269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.94, Y:14.96, Z:13.76 [[ 9.97486808e-01 -6.11408514e-02 -3.58031264e-02 3.88937317e+02] [ 6.11122570e-02 9.98129103e-01 -1.89349520e-03 1.49571998e+01] [ 3.58519124e-02 -2.99273381e-04 9.99357069e-01 1.37628253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.97, Y:14.96, Z:13.76 [[ 9.97365226e-01 -6.30931665e-02 -3.58030588e-02 3.88968372e+02] [ 6.30657835e-02 9.98007574e-01 -1.89477266e-03 1.49560276e+01] [ 3.58512711e-02 -3.68167598e-04 9.99357069e-01 1.37615794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.00, Y:14.95, Z:13.76 [[ 9.96873333e-01 -7.04397566e-02 -3.58022104e-02 3.88998836e+02] [ 7.04165331e-02 9.97515845e-01 -1.91075566e-03 1.49539648e+01] [ 3.58478654e-02 -6.16286170e-04 9.99357069e-01 1.37620767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.03, Y:14.95, Z:13.76 [[ 9.96586516e-01 -7.43898578e-02 -3.57975454e-02 3.89030076e+02] [ 7.43660340e-02 9.97229011e-01 -1.99839211e-03 1.49534704e+01] [ 3.58470109e-02 -6.70550842e-04 9.99357064e-01 1.37645491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.06, Y:14.95, Z:13.77 [[ 9.96360247e-01 -7.73590067e-02 -3.58028250e-02 3.89061660e+02] [ 7.73406721e-02 9.97002916e-01 -1.89884763e-03 1.49531653e+01] [ 3.58424139e-02 -8.77078261e-04 9.99357069e-01 1.37653445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.09, Y:14.95, Z:13.77 [[ 9.96137643e-01 -8.01744929e-02 -3.58028919e-02 3.89093412e+02] [ 8.01580199e-02 9.96780362e-01 -1.89758662e-03 1.49530770e+01] [ 3.58397576e-02 -9.79631463e-04 9.99357069e-01 1.37661494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.13, Y:14.95, Z:13.77 [[ 9.95907920e-01 -8.29792653e-02 -3.58030254e-02 3.89125436e+02] [ 8.29646929e-02 9.96550685e-01 -1.89506408e-03 1.49530589e+01] [ 3.58367805e-02 -1.08307768e-03 9.99357069e-01 1.37671196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.16, Y:14.95, Z:13.77 [[ 9.95479849e-01 -8.79659278e-02 -3.58031606e-02 3.89157846e+02] [ 8.79546665e-02 9.96122681e-01 -1.89250714e-03 1.49512252e+01] [ 3.58308164e-02 -1.26510232e-03 9.99357069e-01 1.37684798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.19, Y:14.95, Z:13.77 [[ 9.95270126e-01 -9.03078085e-02 -3.58032978e-02 3.89189420e+02] [ 9.02981530e-02 9.95912984e-01 -1.88990768e-03 1.49511708e+01] [ 3.58276425e-02 -1.35200301e-03 9.99357069e-01 1.37698653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.22, Y:14.95, Z:13.77 [[ 9.95068813e-01 -9.24995853e-02 -3.58034000e-02 3.89221448e+02] [ 9.24914153e-02 9.95711692e-01 -1.88796971e-03 1.49512730e+01] [ 3.58245004e-02 -1.43284735e-03 9.99357069e-01 1.37716787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.25, Y:14.95, Z:13.77 [[ 9.94891414e-01 -9.43884567e-02 -3.58035338e-02 3.89252258e+02] [ 9.43815985e-02 9.95534308e-01 -1.88542873e-03 1.49514825e+01] [ 3.58216089e-02 -1.50339789e-03 9.99357069e-01 1.37736410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.28, Y:14.95, Z:13.77 [[ 9.94522964e-01 -9.81945689e-02 -3.58036335e-02 3.89284824e+02] [ 9.81902387e-02 9.95165880e-01 -1.88353255e-03 1.49511532e+01] [ 3.58155071e-02 -1.64235095e-03 9.99357069e-01 1.37745855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.32, Y:14.95, Z:13.78 [[ 9.94366491e-01 -9.97665861e-02 -3.58037682e-02 3.89315942e+02] [ 9.97633644e-02 9.95009414e-01 -1.88096858e-03 1.49516797e+01] [ 3.58127442e-02 -1.70153225e-03 9.99357069e-01 1.37755964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.35, Y:14.95, Z:13.78 [[ 9.94230823e-01 -1.01109614e-01 -3.58038686e-02 3.89347992e+02] [ 1.01107330e-01 9.94873749e-01 -1.87905672e-03 1.49522999e+01] [ 3.58103197e-02 -1.75181744e-03 9.99357069e-01 1.37764457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.38, Y:14.95, Z:13.78 [[ 9.94113824e-01 -1.02253501e-01 -3.58040017e-02 3.89379820e+02] [ 1.02252047e-01 9.94756753e-01 -1.87651703e-03 1.49528486e+01] [ 3.58081529e-02 -1.79556095e-03 9.99357069e-01 1.37767589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.41, Y:14.95, Z:13.78 [[ 9.93975300e-01 -1.03591347e-01 -3.58041355e-02 3.89410572e+02] [ 1.03590850e-01 9.94618230e-01 -1.87396003e-03 1.49526052e+01] [ 3.58055719e-02 -1.84631085e-03 9.99357069e-01 1.37768576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.44, Y:14.95, Z:13.78 [[ 9.93952815e-01 -1.03806843e-01 -3.58042022e-02 3.89442641e+02] [ 1.03806532e-01 9.94595746e-01 -1.87268455e-03 1.49537184e+01] [ 3.58051047e-02 -1.85534997e-03 9.99357069e-01 1.37773561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.47, Y:14.95, Z:13.78 [[ 9.94017869e-01 -1.03182006e-01 -3.58043353e-02 3.89473971e+02] [ 1.03181382e-01 9.94660799e-01 -1.87013688e-03 1.49547861e+01] [ 3.58061332e-02 -1.83539132e-03 9.99357069e-01 1.37779825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.51, Y:14.96, Z:13.78 [[ 9.94236358e-01 -1.01054974e-01 -3.58044342e-02 3.89505881e+02] [ 1.01053042e-01 9.94879285e-01 -1.86824045e-03 1.49568411e+01] [ 3.58098849e-02 -1.76067443e-03 9.99357069e-01 1.37779822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.54, Y:14.96, Z:13.78 [[ 9.94440402e-01 -9.90268624e-02 -3.58045656e-02 3.89538062e+02] [ 9.90237102e-02 9.95083325e-01 -1.86571884e-03 1.49590213e+01] [ 3.58132825e-02 -1.69015474e-03 9.99357069e-01 1.37788019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.57, Y:14.96, Z:13.78 [[ 9.94701526e-01 -9.63685497e-02 -3.58047018e-02 3.89568829e+02] [ 9.63637731e-02 9.95344439e-01 -1.86310255e-03 1.49612856e+01] [ 3.58175553e-02 -1.59704521e-03 9.99357069e-01 1.37797148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.60, Y:14.96, Z:13.78 [[ 9.94965258e-01 -9.36063695e-02 -3.58048032e-02 3.89599549e+02] [ 9.35998780e-02 9.95608155e-01 -1.86115085e-03 1.49639397e+01] [ 3.58217697e-02 -1.49954478e-03 9.99357069e-01 1.37807705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.63, Y:14.97, Z:13.78 [[ 9.95599452e-01 -8.66010389e-02 -3.58049025e-02 3.89630515e+02] [ 8.65900912e-02 9.96242289e-01 -1.85923914e-03 1.49679554e+01] [ 3.58313701e-02 -1.24929231e-03 9.99357069e-01 1.37819639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.66, Y:14.97, Z:13.78 [[ 9.95919217e-01 -8.28427194e-02 -3.58049976e-02 3.89662588e+02] [ 8.28294114e-02 9.96562009e-01 -1.85740616e-03 1.49708996e+01] [ 3.58357729e-02 -1.11588039e-03 9.99357069e-01 1.37836271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.69, Y:14.97, Z:13.79 [[ 9.96224641e-01 -7.90851278e-02 -3.58051323e-02 3.89694669e+02] [ 7.90694884e-02 9.96867381e-01 -1.85480545e-03 1.49738498e+01] [ 3.58396560e-02 -9.83290598e-04 9.99357069e-01 1.37855534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.73, Y:14.98, Z:13.79 [[ 9.96506690e-01 -7.54479922e-02 -3.58052684e-02 3.89725461e+02] [ 7.54301012e-02 9.97149372e-01 -1.85217415e-03 1.49769026e+01] [ 3.58429437e-02 -8.55091092e-04 9.99357069e-01 1.37872219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.76, Y:14.98, Z:13.79 [[ 9.96761509e-01 -7.20032652e-02 -3.58053697e-02 3.89756142e+02] [ 7.19832233e-02 9.97404127e-01 -1.85021426e-03 1.49796837e+01] [ 3.58456450e-02 -7.33163566e-04 9.99357069e-01 1.37891061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.79, Y:14.98, Z:13.79 [[ 9.97166675e-01 -6.61558351e-02 -3.58054029e-02 3.89787701e+02] [ 6.61320476e-02 9.97809166e-01 -1.84957117e-03 1.49831803e+01] [ 3.58493191e-02 -5.23553879e-04 9.99357069e-01 1.37916750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.82, Y:14.99, Z:13.79 [[ 9.97311517e-01 -6.39351730e-02 -3.58054691e-02 3.89818366e+02] [ 6.39100008e-02 9.97953955e-01 -1.84828938e-03 1.49852660e+01] [ 3.58503802e-02 -4.45007274e-04 9.99357069e-01 1.37929692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.85, Y:14.99, Z:13.79 [[ 9.97428082e-01 -6.20901741e-02 -3.58054691e-02 3.89847837e+02] [ 6.20638135e-02 9.98070472e-01 -1.84828938e-03 1.49871564e+01] [ 3.58511420e-02 -3.78688226e-04 9.99357069e-01 1.37938834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.88, Y:14.99, Z:13.79 [[ 9.97516033e-01 -6.06608123e-02 -3.58054359e-02 3.89878657e+02] [ 6.06335082e-02 9.98158384e-01 -1.84893293e-03 1.49890708e+01] [ 3.58516538e-02 -3.26668949e-04 9.99357069e-01 1.37948504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.91, Y:14.99, Z:13.80 [[ 9.97576742e-01 -5.96541314e-02 -3.58054359e-02 3.89908249e+02] [ 5.96261791e-02 9.98219064e-01 -1.84893293e-03 1.49910676e+01] [ 3.58519652e-02 -2.90488845e-04 9.99357069e-01 1.37964082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.94, Y:14.99, Z:13.80 [[ 9.97577291e-01 -5.96434294e-02 -3.58079691e-02 3.89938158e+02] [ 5.96172243e-02 9.98219688e-01 -1.80005585e-03 1.49920307e+01] [ 3.58515813e-02 -3.39076890e-04 9.99357068e-01 1.37961150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.97, Y:14.99, Z:13.80 [[ 9.97534111e-01 -6.03630844e-02 -3.58049566e-02 3.89967428e+02] [ 6.03352592e-02 9.98176439e-01 -1.85810834e-03 1.49931077e+01] [ 3.58518252e-02 -3.06774881e-04 9.99357070e-01 1.37984913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.00, Y:14.99, Z:13.80 [[ 9.97489577e-01 -6.10932960e-02 -3.58071525e-02 3.89996249e+02] [ 6.10674559e-02 9.98131989e-01 -1.81590107e-03 1.49931521e+01] [ 3.58512038e-02 -3.75309312e-04 9.99357068e-01 1.37973383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.02, Y:14.99, Z:13.80 [[ 9.97376389e-01 -6.29191096e-02 -3.57983935e-02 3.90024775e+02] [ 6.28884549e-02 9.98018592e-01 -1.98280242e-03 1.49937364e+01] [ 3.58522185e-02 -2.73705341e-04 9.99357065e-01 1.37985568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.05, Y:14.99, Z:13.80 [[ 9.97315842e-01 -6.38687156e-02 -3.58036093e-02 3.90054338e+02] [ 6.38422307e-02 9.97958226e-01 -1.88366776e-03 1.49945655e+01] [ 3.58508139e-02 -4.07170591e-04 9.99357070e-01 1.37996015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.08, Y:15.00, Z:13.80 [[ 9.97252125e-01 -6.48560413e-02 -3.58035425e-02 3.90084429e+02] [ 6.48301468e-02 9.97894533e-01 -1.88493659e-03 1.49954076e+01] [ 3.58504089e-02 -4.41391898e-04 9.99357070e-01 1.38010585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.11, Y:15.00, Z:13.80 [[ 9.97177287e-01 -6.59967021e-02 -3.58035425e-02 3.90114925e+02] [ 6.59715425e-02 9.97819725e-01 -1.88493659e-03 1.49965551e+01] [ 3.58498805e-02 -4.82398970e-04 9.99357070e-01 1.38030974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.14, Y:15.00, Z:13.80 [[ 9.97063554e-01 -6.76933844e-02 -3.58032758e-02 3.90144554e+02] [ 6.76691360e-02 9.97706027e-01 -1.89000398e-03 1.49963269e+01] [ 3.58490848e-02 -5.38322656e-04 9.99357070e-01 1.38034097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.17, Y:15.00, Z:13.80 [[ 9.96982252e-01 -6.88802758e-02 -3.58035881e-02 3.90173868e+02] [ 6.88570053e-02 9.97624761e-01 -1.88406940e-03 1.49968652e+01] [ 3.58483212e-02 -5.86944099e-04 9.99357070e-01 1.38049576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.20, Y:15.00, Z:13.81 [[ 9.96982251e-01 -6.88803209e-02 -3.58035218e-02 3.90204804e+02] [ 6.88570053e-02 9.97624758e-01 -1.88532815e-03 1.49984949e+01] [ 3.58483418e-02 -5.85684592e-04 9.99357070e-01 1.38060694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.885099893 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:390.23, Y:15.00, Z:13.81 [[ 9.97011739e-01 -6.84521751e-02 -3.58035218e-02 3.90233819e+02] [ 6.84285835e-02 9.97654236e-01 -1.88532815e-03 1.49986308e+01] [ 3.58485900e-02 -5.70289989e-04 9.99357070e-01 1.38061602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.26, Y:15.00, Z:13.81 [[ 9.96822760e-01 -7.11565919e-02 -3.57927998e-02 3.90263197e+02] [ 7.11274446e-02 9.97465049e-01 -2.08862675e-03 1.49996753e+01] [ 3.58506864e-02 -4.63859707e-04 9.99357050e-01 1.38084590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.29, Y:15.00, Z:13.81 [[ 9.96734247e-01 -7.23807614e-02 -3.58031666e-02 3.90292910e+02] [ 7.23594438e-02 9.97376824e-01 -1.89251829e-03 1.50001431e+01] [ 3.58462305e-02 -7.04359430e-04 9.99357069e-01 1.38085671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.32, Y:15.00, Z:13.81 [[ 9.96562835e-01 -7.47037334e-02 -3.58031743e-02 3.90323256e+02] [ 7.46839189e-02 9.97205461e-01 -1.89237175e-03 1.49990968e+01] [ 3.58444882e-02 -7.88054013e-04 9.99357069e-01 1.38102416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.35, Y:15.00, Z:13.81 [[ 9.96451321e-01 -7.61767588e-02 -3.58031743e-02 3.90354537e+02] [ 7.61578942e-02 9.97093975e-01 -1.89237175e-03 1.49991866e+01] [ 3.58432841e-02 -8.41038035e-04 9.99357069e-01 1.38117762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.38, Y:15.00, Z:13.81 [[ 9.96327860e-01 -7.77748268e-02 -3.58032433e-02 3.90384778e+02] [ 7.77570398e-02 9.96970545e-01 -1.89106686e-03 1.49991428e+01] [ 3.58418563e-02 -8.99831614e-04 9.99357069e-01 1.38121488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.42, Y:15.00, Z:13.81 [[ 9.96021195e-01 -8.16082426e-02 -3.58032774e-02 3.90416083e+02] [ 8.15929521e-02 9.96663944e-01 -1.89041992e-03 1.49970593e+01] [ 3.58381095e-02 -1.03839680e-03 9.99357069e-01 1.38133432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.45, Y:15.00, Z:13.81 [[ 9.95890138e-01 -8.31922628e-02 -3.58033459e-02 3.90447757e+02] [ 8.31780413e-02 9.96532912e-01 -1.88912100e-03 1.49968070e+01] [ 3.58363728e-02 -1.09669521e-03 9.99357069e-01 1.38143129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:15.00, Z:13.82 [[ 9.95774098e-01 -8.45698600e-02 -3.58034143e-02 3.90479285e+02] [ 8.45565742e-02 9.96416892e-01 -1.88782499e-03 1.49965394e+01] [ 3.58347799e-02 -1.14756683e-03 9.99357069e-01 1.38153736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.51, Y:15.00, Z:13.82 [[ 9.95661208e-01 -8.58887058e-02 -3.58034829e-02 3.90510441e+02] [ 8.58763182e-02 9.96304019e-01 -1.88652371e-03 1.49962967e+01] [ 3.58331850e-02 -1.19633281e-03 9.99357069e-01 1.38159025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.54, Y:14.99, Z:13.82 [[ 9.95542407e-01 -8.72549131e-02 -3.58035852e-02 3.90542130e+02] [ 8.72434775e-02 9.96185236e-01 -1.88457852e-03 1.49944354e+01] [ 3.58314417e-02 -1.24745145e-03 9.99357069e-01 1.38164180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.57, Y:14.99, Z:13.82 [[ 9.95593011e-01 -8.66755727e-02 -3.58036521e-02 3.90570840e+02] [ 8.66638087e-02 9.96235834e-01 -1.88330723e-03 1.49945236e+01] [ 3.58321180e-02 -1.22787335e-03 9.99357069e-01 1.38152017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.60, Y:15.00, Z:13.82 [[ 9.95454566e-01 -8.82550613e-02 -3.57945796e-02 3.90602289e+02] [ 8.82381427e-02 9.96097288e-01 -2.05520495e-03 1.49956465e+01] [ 3.58362659e-02 -1.11258407e-03 9.99357055e-01 1.38185999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.63, Y:15.00, Z:13.82 [[ 9.95423162e-01 -8.86050150e-02 -3.58033637e-02 3.90633643e+02] [ 8.85943032e-02 9.96066003e-01 -1.88869802e-03 1.49962144e+01] [ 3.58298615e-02 -1.29192030e-03 9.99357069e-01 1.38197075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.66, Y:15.00, Z:13.82 [[ 9.95288096e-01 -9.01094892e-02 -3.58034296e-02 3.90663570e+02] [ 9.00997940e-02 9.95930954e-01 -1.88744823e-03 1.49963679e+01] [ 3.58278207e-02 -1.34732687e-03 9.99357069e-01 1.38207629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.69, Y:15.00, Z:13.82 [[ 9.95279198e-01 -9.02077083e-02 -3.58034622e-02 3.90693783e+02] [ 9.01980988e-02 9.95922057e-01 -1.88682839e-03 1.49972432e+01] [ 3.58276642e-02 -1.35148318e-03 9.99357069e-01 1.38217870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.72, Y:15.00, Z:13.82 [[ 9.95102906e-01 -9.21342391e-02 -3.57978869e-02 3.90724051e+02] [ 9.21220799e-02 9.95745727e-01 -1.99244952e-03 1.49982666e+01] [ 3.58291657e-02 -1.31508349e-03 9.99357064e-01 1.38240851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.75, Y:15.00, Z:13.83 [[ 9.94992631e-01 -9.33154402e-02 -3.58035184e-02 3.90754933e+02] [ 9.33078853e-02 9.95635517e-01 -1.88551967e-03 1.49990210e+01] [ 3.58232026e-02 -1.46467241e-03 9.99357070e-01 1.38257634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.79, Y:15.00, Z:13.83 [[ 9.94869978e-01 -9.46141156e-02 -3.58035834e-02 3.90786993e+02] [ 9.46074442e-02 9.95512873e-01 -1.88428456e-03 1.49999581e+01] [ 3.58212081e-02 -1.51266737e-03 9.99357070e-01 1.38271426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.82, Y:15.00, Z:13.83 [[ 9.94600174e-01 -9.74093857e-02 -3.58037164e-02 3.90818477e+02] [ 9.74046119e-02 9.95243086e-01 -1.88175281e-03 1.50008587e+01] [ 3.58167016e-02 -1.61585543e-03 9.99357070e-01 1.38281763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.85, Y:15.00, Z:13.83 [[ 9.94473901e-01 -9.86901099e-02 -3.58039389e-02 3.90850534e+02] [ 9.86863164e-02 9.95116820e-01 -1.87751104e-03 1.50020788e+01] [ 3.58143936e-02 -1.66622311e-03 9.99357070e-01 1.38292647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.88, Y:15.00, Z:13.83 [[ 9.94315284e-01 -1.00275548e-01 -3.58040717e-02 3.90881705e+02] [ 1.00272870e-01 9.94958208e-01 -1.87497346e-03 1.50033940e+01] [ 3.58115691e-02 -1.72586227e-03 9.99357070e-01 1.38297483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.91, Y:15.00, Z:13.83 [[ 9.94079552e-01 -1.02586050e-01 -3.58042921e-02 3.90912795e+02] [ 1.02585019e-01 9.94722481e-01 -1.87075599e-03 1.50044082e+01] [ 3.58072477e-02 -1.81330371e-03 9.99357070e-01 1.38301139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.94, Y:15.01, Z:13.83 [[ 9.93970965e-01 -1.03632846e-01 -3.58043887e-02 3.90944487e+02] [ 1.03632558e-01 9.94613895e-01 -1.86890448e-03 1.50059569e+01] [ 3.58052224e-02 -1.85286360e-03 9.99357070e-01 1.38330713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.98, Y:15.01, Z:13.83 [[ 9.93863179e-01 -1.04661442e-01 -3.58045236e-02 3.90976394e+02] [ 1.04661912e-01 9.94506109e-01 -1.86631816e-03 1.50075694e+01] [ 3.58031490e-02 -1.89250501e-03 9.99357070e-01 1.38344921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.01, Y:15.01, Z:13.84 [[ 9.93802843e-01 -1.05232768e-01 -3.58046575e-02 3.91008924e+02] [ 1.05233701e-01 9.94445773e-01 -1.86374574e-03 1.50092035e+01] [ 3.58019174e-02 -1.91566078e-03 9.99357070e-01 1.38362565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.04, Y:15.01, Z:13.84 [[ 9.93735490e-01 -1.05866859e-01 -3.58047938e-02 3.91041122e+02] [ 1.05868296e-01 9.94378419e-01 -1.86112212e-03 1.50111892e+01] [ 3.58005454e-02 -1.94112939e-03 9.99357070e-01 1.38376245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.07, Y:15.01, Z:13.84 [[ 9.93579533e-01 -1.07320631e-01 -3.58049310e-02 3.91071766e+02] [ 1.07323104e-01 9.94222459e-01 -1.85848001e-03 1.50137802e+01] [ 3.57975198e-02 -1.99614861e-03 9.99357070e-01 1.38388500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.10, Y:15.02, Z:13.84 [[ 9.93512950e-01 -1.07935244e-01 -3.58050330e-02 3.91103986e+02] [ 1.07938185e-01 9.94155874e-01 -1.85651299e-03 1.50160034e+01] [ 3.57961670e-02 -2.02026057e-03 9.99357070e-01 1.38402552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.13, Y:15.02, Z:13.84 [[ 9.93458647e-01 -1.08433882e-01 -3.58051690e-02 3.91134933e+02] [ 1.08437240e-01 9.94101568e-01 -1.85388537e-03 1.50179745e+01] [ 3.57949987e-02 -2.04085525e-03 9.99357070e-01 1.38407510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.17, Y:15.02, Z:13.84 [[ 9.93308234e-01 -1.09803164e-01 -3.58052703e-02 3.91166994e+02] [ 1.09807478e-01 9.93951150e-01 -1.85192655e-03 1.50206776e+01] [ 3.57920370e-02 -2.09215256e-03 9.99357070e-01 1.38414222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.20, Y:15.02, Z:13.84 [[ 9.93247232e-01 -1.10353561e-01 -3.58054050e-02 3.91198218e+02] [ 1.10358326e-01 9.93890145e-01 -1.84931830e-03 1.50230059e+01] [ 3.57907181e-02 -2.11459426e-03 9.99357070e-01 1.38422430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.23, Y:15.03, Z:13.84 [[ 9.93172909e-01 -1.11020442e-01 -3.58055054e-02 3.91230489e+02] [ 1.11025708e-01 9.93815818e-01 -1.84737383e-03 1.50255895e+01] [ 3.57891739e-02 -2.14056994e-03 9.99357070e-01 1.38432889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.26, Y:15.03, Z:13.84 [[ 9.93033575e-01 -1.12259855e-01 -3.58056365e-02 3.91261966e+02] [ 1.12266015e-01 9.93676476e-01 -1.84482847e-03 1.50295938e+01] [ 3.57863189e-02 -2.18777951e-03 9.99357070e-01 1.38445256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.29, Y:15.03, Z:13.85 [[ 9.92962404e-01 -1.12887612e-01 -3.58057340e-02 3.91294511e+02] [ 1.12894246e-01 9.93605300e-01 -1.84293452e-03 1.50326978e+01] [ 3.57848116e-02 -2.21229665e-03 9.99357070e-01 1.38455903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.33, Y:15.04, Z:13.85 [[ 9.92907525e-01 -1.13369254e-01 -3.58058641e-02 3.91327044e+02] [ 1.13376291e-01 9.93550416e-01 -1.84040261e-03 1.50356913e+01] [ 3.57835763e-02 -2.23218647e-03 9.99357070e-01 1.38468370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.36, Y:15.04, Z:13.85 [[ 9.92837880e-01 -1.13977518e-01 -3.58059977e-02 3.91358012e+02] [ 1.13985042e-01 9.93480766e-01 -1.83780074e-03 1.50387525e+01] [ 3.57820380e-02 -2.25670997e-03 9.99357070e-01 1.38468556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.39, Y:15.04, Z:13.85 [[ 9.92772477e-01 -1.14545724e-01 -3.58062204e-02 3.91390605e+02] [ 1.14553772e-01 9.93415357e-01 -1.83345118e-03 1.50416537e+01] [ 3.57804632e-02 -2.28153775e-03 9.99357070e-01 1.38473073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.42, Y:15.05, Z:13.85 [[ 9.92591812e-01 -1.16100807e-01 -3.58063813e-02 3.91422348e+02] [ 1.16109975e-01 9.93234677e-01 -1.83030332e-03 1.50459141e+01] [ 3.57766393e-02 -2.34073395e-03 9.99357070e-01 1.38476533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.46, Y:15.05, Z:13.85 [[ 9.92531114e-01 -1.16618531e-01 -3.58065147e-02 3.91455270e+02] [ 1.16628129e-01 9.93173972e-01 -1.82769054e-03 1.50490739e+01] [ 3.57752410e-02 -2.36200707e-03 9.99357070e-01 1.38491489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.49, Y:15.05, Z:13.85 [[ 9.92532319e-01 -1.16608209e-01 -3.58067162e-02 3.91486671e+02] [ 1.16617943e-01 9.93175176e-01 -1.82373374e-03 1.50520618e+01] [ 3.57750040e-02 -2.36559089e-03 9.99357070e-01 1.38505297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.52, Y:15.06, Z:13.85 [[ 9.92549360e-01 -1.16463023e-01 -3.58068830e-02 3.91518990e+02] [ 1.16472780e-01 9.93192216e-01 -1.82045246e-03 1.50554329e+01] [ 3.57751329e-02 -2.36363829e-03 9.99357070e-01 1.38524089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.55, Y:15.06, Z:13.85 [[ 9.92610875e-01 -1.15937521e-01 -3.58070136e-02 3.91552219e+02] [ 1.15947030e-01 9.93253735e-01 -1.81787987e-03 1.50590347e+01] [ 3.57762105e-02 -2.34726955e-03 9.99357070e-01 1.38543029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.58, Y:15.06, Z:13.86 [[ 9.92761390e-01 -1.14641464e-01 -3.58072121e-02 3.91583558e+02] [ 1.14650274e-01 9.93404260e-01 -1.81396159e-03 1.50644660e+01] [ 3.57789923e-02 -2.30447566e-03 9.99357070e-01 1.38558134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.62, Y:15.07, Z:13.86 [[ 9.92835999e-01 -1.13993443e-01 -3.58074576e-02 3.91616713e+02] [ 1.14002008e-01 9.93478872e-01 -1.80910380e-03 1.50677109e+01] [ 3.57801785e-02 -2.28597869e-03 9.99357070e-01 1.38572495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.65, Y:15.07, Z:13.86 [[ 9.92874338e-01 -1.13658965e-01 -3.58076539e-02 3.91650025e+02] [ 1.13667454e-01 9.93517212e-01 -1.80520882e-03 1.50711221e+01] [ 3.57806987e-02 -2.27781935e-03 9.99357070e-01 1.38583643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.68, Y:15.07, Z:13.86 [[ 9.92907752e-01 -1.13366638e-01 -3.58078507e-02 3.91681667e+02] [ 1.13375078e-01 9.93550626e-01 -1.80129758e-03 1.50745320e+01] [ 3.57811195e-02 -2.27119552e-03 9.99357070e-01 1.38590928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.71, Y:15.08, Z:13.86 [[ 9.92917549e-01 -1.13280694e-01 -3.58081641e-02 3.91714868e+02] [ 1.13289302e-01 9.93560422e-01 -1.79504537e-03 1.50793043e+01] [ 3.57809186e-02 -2.27434988e-03 9.99357070e-01 1.38598333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.75, Y:15.08, Z:13.86 [[ 9.92898668e-01 -1.13446003e-01 -3.58083639e-02 3.91745869e+02] [ 1.13454862e-01 9.93541537e-01 -1.79105127e-03 1.50825149e+01] [ 3.57802845e-02 -2.28430056e-03 9.99357070e-01 1.38606566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.78, Y:15.08, Z:13.86 [[ 9.93092061e-01 -1.11740378e-01 -3.58084626e-02 3.91782064e+02] [ 1.11748204e-01 9.93734944e-01 -1.78907492e-03 1.50841458e+01] [ 3.57840325e-02 -2.22481527e-03 9.99357070e-01 1.38621166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.81, Y:15.09, Z:13.86 [[ 9.92761824e-01 -1.14632398e-01 -3.58242228e-02 3.91811026e+02] [ 1.14653486e-01 9.93404455e-01 -1.47195820e-03 1.50913528e+01] [ 3.57566767e-02 -2.64606811e-03 9.99357022e-01 1.38635747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.84, Y:15.09, Z:13.86 [[ 9.92748022e-01 -1.14756761e-01 -3.58085330e-02 3.91843053e+02] [ 1.14766633e-01 9.93390874e-01 -1.78648255e-03 1.50945194e+01] [ 3.57768809e-02 -2.33609776e-03 9.99357072e-01 1.38649291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.88, Y:15.10, Z:13.87 [[ 9.92741075e-01 -1.14816739e-01 -3.58088583e-02 3.91876435e+02] [ 1.14826885e-01 9.93383923e-01 -1.77993861e-03 1.50975620e+01] [ 3.57763109e-02 -2.34480148e-03 9.99357072e-01 1.38659985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.91, Y:15.10, Z:13.87 [[ 9.92751375e-01 -1.14727590e-01 -3.58090529e-02 3.91908858e+02] [ 1.14737819e-01 9.93394221e-01 -1.77601634e-03 1.51007806e+01] [ 3.57762643e-02 -2.34550998e-03 9.99357072e-01 1.38670890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.94, Y:15.10, Z:13.87 [[ 9.92751468e-01 -1.14726722e-01 -3.58092474e-02 3.91942015e+02] [ 1.14737092e-01 9.93394312e-01 -1.77208475e-03 1.51041601e+01] [ 3.57760082e-02 -2.34940917e-03 9.99357072e-01 1.38681623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:15.11, Z:13.87 [[ 9.92778052e-01 -1.14496389e-01 -3.58094421e-02 3.91974298e+02] [ 1.14506751e-01 9.93420897e-01 -1.76814213e-03 1.51073772e+01] [ 3.57762940e-02 -2.34505017e-03 9.99357072e-01 1.38692221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.01, Y:15.11, Z:13.87 [[ 9.92882531e-01 -1.13586756e-01 -3.58096032e-02 3.92005767e+02] [ 1.13596646e-01 9.93525383e-01 -1.76487292e-03 1.51124525e+01] [ 3.57782160e-02 -2.31553934e-03 9.99357072e-01 1.38702455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.04, Y:15.12, Z:13.87 [[ 9.92943917e-01 -1.13048834e-01 -3.58097623e-02 3.92038432e+02] [ 1.13058492e-01 9.93586772e-01 -1.76163976e-03 1.51157710e+01] [ 3.57792574e-02 -2.29938825e-03 9.99357072e-01 1.38715272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.07, Y:15.12, Z:13.87 [[ 9.93000331e-01 -1.12552167e-01 -3.58099505e-02 3.92071052e+02] [ 1.12561642e-01 9.93643189e-01 -1.75780498e-03 1.51187787e+01] [ 3.57801582e-02 -2.28532589e-03 9.99357072e-01 1.38729304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.10, Y:15.12, Z:13.87 [[ 9.93089485e-01 -1.11762734e-01 -3.58101384e-02 3.92102771e+02] [ 1.11771835e-01 9.93732348e-01 -1.75396974e-03 1.51231376e+01] [ 3.57817213e-02 -2.26071599e-03 9.99357072e-01 1.38738641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.13, Y:15.13, Z:13.87 [[ 9.93137949e-01 -1.11331205e-01 -3.58102937e-02 3.92134283e+02] [ 1.11340141e-01 9.93780815e-01 -1.75079308e-03 1.51260140e+01] [ 3.57825007e-02 -2.24834410e-03 9.99357072e-01 1.38748799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:15.13, Z:13.88 [[ 9.93201478e-01 -1.10762971e-01 -3.58104468e-02 3.92166862e+02] [ 1.10771652e-01 9.93844347e-01 -1.74765466e-03 1.51289930e+01] [ 3.57835856e-02 -2.23100916e-03 9.99357072e-01 1.38759887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.20, Y:15.13, Z:13.88 [[ 9.93254382e-01 -1.10287493e-01 -3.58106341e-02 3.92199815e+02] [ 1.10296004e-01 9.93897254e-01 -1.74380889e-03 1.51319487e+01] [ 3.57844112e-02 -2.21772403e-03 9.99357072e-01 1.38772874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.23, Y:15.13, Z:13.88 [[ 9.93266247e-01 -1.10180521e-01 -3.58108213e-02 3.92233299e+02] [ 1.10189101e-01 9.93909118e-01 -1.73995622e-03 1.51334849e+01] [ 3.57844111e-02 -2.21772241e-03 9.99357072e-01 1.38784888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.27, Y:15.14, Z:13.88 [[ 9.93349195e-01 -1.09430107e-01 -3.58110081e-02 3.92265201e+02] [ 1.09438340e-01 9.93992070e-01 -1.73610193e-03 1.51365581e+01] [ 3.57858399e-02 -2.19454183e-03 9.99357072e-01 1.38793951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.30, Y:15.14, Z:13.88 [[ 9.93447297e-01 -1.08535841e-01 -3.58111626e-02 3.92297678e+02] [ 1.08543610e-01 9.94090178e-01 -1.73291091e-03 1.51398158e+01] [ 3.57876079e-02 -2.16551719e-03 9.99357072e-01 1.38809709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.33, Y:15.14, Z:13.88 [[ 9.93743535e-01 -1.05789104e-01 -3.58113551e-02 3.92329544e+02] [ 1.05795239e-01 9.94386433e-01 -1.72892386e-03 1.51443826e+01] [ 3.57932269e-02 -2.07056395e-03 9.99357072e-01 1.38812196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.36, Y:15.15, Z:13.88 [[ 9.93923636e-01 -1.04083337e-01 -3.58115141e-02 3.92362492e+02] [ 1.04088487e-01 9.94566543e-01 -1.72562368e-03 1.51472468e+01] [ 3.57965424e-02 -2.01242817e-03 9.99357072e-01 1.38831834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.40, Y:15.15, Z:13.88 [[ 9.94131394e-01 -1.02079836e-01 -3.58117002e-02 3.92395687e+02] [ 1.02083829e-01 9.94774310e-01 -1.72175341e-03 1.51501624e+01] [ 3.58003156e-02 -1.94414636e-03 9.99357072e-01 1.38847273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.43, Y:15.15, Z:13.89 [[ 9.94342962e-01 -9.99979171e-02 -3.58118889e-02 3.92427614e+02] [ 1.00000705e-01 9.94985883e-01 -1.71781818e-03 1.51530590e+01] [ 3.58041022e-02 -1.87311374e-03 9.99357072e-01 1.38856785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.46, Y:15.16, Z:13.89 [[ 9.94745726e-01 -9.59084835e-02 -3.58120448e-02 3.92459606e+02] [ 9.59087451e-02 9.95388654e-01 -1.71456197e-03 1.51576196e+01] [ 3.58113441e-02 -1.72913508e-03 9.99357072e-01 1.38875152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.49, Y:15.16, Z:13.89 [[ 9.94911420e-01 -9.41751731e-02 -3.58092633e-02 3.92491709e+02] [ 9.41722255e-02 9.95554343e-01 -1.77272405e-03 1.51604615e+01] [ 3.58170142e-02 -1.60853462e-03 9.99357070e-01 1.38884591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.52, Y:15.16, Z:13.89 [[ 9.95112219e-01 -9.20279677e-02 -3.58123472e-02 3.92524152e+02] [ 9.20259550e-02 9.95755144e-01 -1.70806591e-03 1.51632730e+01] [ 3.58175188e-02 -1.59594819e-03 9.99357072e-01 1.38905990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.56, Y:15.17, Z:13.89 [[ 9.95273771e-01 -9.02639602e-02 -3.58125363e-02 3.92555690e+02] [ 9.02609507e-02 9.95916692e-01 -1.70409171e-03 1.51663520e+01] [ 3.58201208e-02 -1.53643579e-03 9.99357072e-01 1.38922091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.59, Y:15.17, Z:13.89 [[ 9.95581137e-01 -8.68080611e-02 -3.58128465e-02 3.92587115e+02] [ 8.68030546e-02 9.96224045e-01 -1.69754705e-03 1.51701904e+01] [ 3.58249796e-02 -1.41861865e-03 9.99357072e-01 1.38928972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.62, Y:15.17, Z:13.89 [[ 9.95710175e-01 -8.53151577e-02 -3.58130006e-02 3.92620120e+02] [ 8.53093042e-02 9.96353076e-01 -1.69429076e-03 1.51726478e+01] [ 3.58269420e-02 -1.36815961e-03 9.99357073e-01 1.38941896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.65, Y:15.18, Z:13.89 [[ 9.95833936e-01 -8.38581393e-02 -3.58131844e-02 3.92651497e+02] [ 8.38514849e-02 9.96476829e-01 -1.69039563e-03 1.51755896e+01] [ 3.58287619e-02 -1.31963536e-03 9.99357073e-01 1.38934761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.68, Y:15.18, Z:13.90 [[ 9.95954797e-01 -8.24134146e-02 -3.58060238e-02 3.92683177e+02] [ 8.24003845e-02 9.96597604e-01 -1.84195966e-03 1.51777883e+01] [ 3.58359997e-02 -1.11592156e-03 9.99357061e-01 1.38960348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.72, Y:15.18, Z:13.90 [[ 9.96009106e-01 -8.17511872e-02 -3.58134682e-02 3.92716441e+02] [ 8.17434163e-02 9.96651985e-01 -1.68361410e-03 1.51795552e+01] [ 3.58312016e-02 -1.25062026e-03 9.99357074e-01 1.38970697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.75, Y:15.18, Z:13.90 [[ 9.96032043e-01 -8.14711683e-02 -3.58136472e-02 3.92748900e+02] [ 8.14633538e-02 9.96674922e-01 -1.67979612e-03 1.51815890e+01] [ 3.58314190e-02 -1.24436905e-03 9.99357074e-01 1.38983974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.78, Y:15.18, Z:13.90 [[ 9.96044948e-01 -8.13131730e-02 -3.58138273e-02 3.92781700e+02] [ 8.13053947e-02 9.96687827e-01 -1.67594840e-03 1.51836266e+01] [ 3.58314824e-02 -1.24253743e-03 9.99357074e-01 1.38995738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.81, Y:15.19, Z:13.90 [[ 9.96047347e-01 -8.12836970e-02 -3.58140074e-02 3.92813687e+02] [ 8.12760382e-02 9.96690228e-01 -1.67209011e-03 1.51854384e+01] [ 3.58313849e-02 -1.24533972e-03 9.99357074e-01 1.39002241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.85, Y:15.19, Z:13.90 [[ 9.95960482e-01 -8.23410860e-02 -3.58142984e-02 3.92845862e+02] [ 8.23343344e-02 9.96603373e-01 -1.66583402e-03 1.51872952e+01] [ 3.58298172e-02 -1.28964156e-03 9.99357074e-01 1.39007785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.88, Y:15.19, Z:13.90 [[ 9.95902927e-01 -8.30342566e-02 -3.58144140e-02 3.92879349e+02] [ 8.30280419e-02 9.96545823e-01 -1.66334518e-03 1.51887885e+01] [ 3.58288193e-02 -1.31707033e-03 9.99357074e-01 1.39017837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.91, Y:15.19, Z:13.90 [[ 9.95815439e-01 -8.40769049e-02 -3.58145892e-02 3.92912708e+02] [ 8.40714989e-02 9.96458343e-01 -1.65956499e-03 1.51903346e+01] [ 3.58272773e-02 -1.35836575e-03 9.99357074e-01 1.39033492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.94, Y:15.19, Z:13.90 [[ 9.95734239e-01 -8.50331030e-02 -3.58147682e-02 3.92944541e+02] [ 8.50284535e-02 9.96377148e-01 -1.65569231e-03 1.51918739e+01] [ 3.58258053e-02 -1.39664483e-03 9.99357074e-01 1.39041745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.98, Y:15.19, Z:13.90 [[ 9.95551641e-01 -8.71447695e-02 -3.58150579e-02 3.92975403e+02] [ 8.71417094e-02 9.96194560e-01 -1.64940235e-03 1.51939260e+01] [ 3.58225026e-02 -1.47892015e-03 9.99357074e-01 1.39046027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.01, Y:15.19, Z:13.91 [[ 9.95477874e-01 -8.79860357e-02 -3.58086697e-02 3.93008135e+02] [ 8.79785329e-02 9.96120766e-01 -1.78823826e-03 1.51945431e+01] [ 3.58270994e-02 -1.37024260e-03 9.99357064e-01 1.39066894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.04, Y:15.20, Z:13.91 [[ 9.95384632e-01 -8.90318755e-02 -3.58156290e-02 3.93040531e+02] [ 8.90305198e-02 9.96027555e-01 -1.63588066e-03 1.51960517e+01] [ 3.58189989e-02 -1.56035360e-03 9.99357076e-01 1.39078142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.07, Y:15.20, Z:13.91 [[ 9.95317477e-01 -8.97794484e-02 -3.58157744e-02 3.93073324e+02] [ 8.97786901e-02 9.95960401e-01 -1.63269093e-03 1.51975245e+01] [ 3.58176752e-02 -1.59044750e-03 9.99357076e-01 1.39091027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.11, Y:15.20, Z:13.91 [[ 9.95202580e-01 -9.10441759e-02 -3.58159484e-02 3.93105481e+02] [ 9.10443720e-02 9.95845505e-01 -1.62886593e-03 1.51989627e+01] [ 3.58154499e-02 -1.63978895e-03 9.99357076e-01 1.39102789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.14, Y:15.20, Z:13.91 [[ 9.95186463e-01 -9.12201310e-02 -3.58160921e-02 3.93138821e+02] [ 9.12205545e-02 9.95829387e-01 -1.62569901e-03 1.52005928e+01] [ 3.58150135e-02 -1.64929013e-03 9.99357076e-01 1.39115277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.17, Y:15.20, Z:13.91 [[ 9.95170508e-01 -9.13939615e-02 -3.58162621e-02 3.93171245e+02] [ 9.13946321e-02 9.95813432e-01 -1.62194497e-03 1.52020625e+01] [ 3.58145509e-02 -1.65930230e-03 9.99357076e-01 1.39126121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.20, Y:15.20, Z:13.91 [[ 9.95176037e-01 -9.13336825e-02 -3.58164027e-02 3.93204564e+02] [ 9.13344258e-02 9.95818960e-01 -1.61883516e-03 1.52037063e+01] [ 3.58145071e-02 -1.66024461e-03 9.99357076e-01 1.39143137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.24, Y:15.21, Z:13.92 [[ 9.95203244e-01 -9.10366749e-02 -3.58165733e-02 3.93237325e+02] [ 9.10373623e-02 9.95846168e-01 -1.61505081e-03 1.52055819e+01] [ 3.58148262e-02 -1.65334256e-03 9.99357076e-01 1.39156256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.27, Y:15.21, Z:13.92 [[ 9.95244635e-01 -9.05829838e-02 -3.58167450e-02 3.93269795e+02] [ 9.05835151e-02 9.95887559e-01 -1.61123408e-03 1.52072238e+01] [ 3.58154012e-02 -1.64083459e-03 9.99357076e-01 1.39165796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.30, Y:15.21, Z:13.92 [[ 9.95289143e-01 -9.00925820e-02 -3.58168871e-02 3.93303149e+02] [ 9.00929102e-02 9.95932067e-01 -1.60806969e-03 1.52090573e+01] [ 3.58160615e-02 -1.62635329e-03 9.99357076e-01 1.39179220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.34, Y:15.21, Z:13.92 [[ 9.95334137e-01 -8.95940552e-02 -3.58170493e-02 3.93335680e+02] [ 8.95941914e-02 9.95977061e-01 -1.60444969e-03 1.52106581e+01] [ 3.58167086e-02 -1.61203602e-03 9.99357076e-01 1.39191560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.37, Y:15.21, Z:13.92 [[ 9.95367709e-01 -8.92202380e-02 -3.58172162e-02 3.93367955e+02] [ 8.92202669e-02 9.96010633e-01 -1.60071395e-03 1.52119884e+01] [ 3.58171443e-02 -1.60232261e-03 9.99357076e-01 1.39196786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.40, Y:15.21, Z:13.92 [[ 9.95416302e-01 -8.86763997e-02 -3.58173540e-02 3.93401215e+02] [ 8.86761883e-02 9.96059226e-01 -1.59762454e-03 1.52134829e+01] [ 3.58178775e-02 -1.58584492e-03 9.99357076e-01 1.39209593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.43, Y:15.22, Z:13.92 [[ 9.95444530e-01 -8.83588876e-02 -3.58175253e-02 3.93433736e+02] [ 8.83586093e-02 9.96087454e-01 -1.59377642e-03 1.52150608e+01] [ 3.58182118e-02 -1.57827070e-03 9.99357076e-01 1.39221269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.47, Y:15.22, Z:13.92 [[ 9.95448740e-01 -8.83113678e-02 -3.58176979e-02 3.93465471e+02] [ 8.83111984e-02 9.96091665e-01 -1.58988783e-03 1.52167193e+01] [ 3.58181155e-02 -1.58045199e-03 9.99357076e-01 1.39229084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.50, Y:15.22, Z:13.92 [[ 9.95446070e-01 -8.83414014e-02 -3.58178405e-02 3.93498828e+02] [ 8.83413671e-02 9.96088995e-01 -1.58666725e-03 1.52187255e+01] [ 3.58179252e-02 -1.58475532e-03 9.99357076e-01 1.39238946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.53, Y:15.22, Z:13.92 [[ 9.95458695e-01 -8.81989658e-02 -3.58180099e-02 3.93529616e+02] [ 8.81989771e-02 9.96101619e-01 -1.58283480e-03 1.52204468e+01] [ 3.58179820e-02 -1.58346517e-03 9.99357076e-01 1.39247285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.56, Y:15.22, Z:13.93 [[ 9.95449497e-01 -8.83026815e-02 -3.58180937e-02 3.93562345e+02] [ 8.83028280e-02 9.96092421e-01 -1.58093608e-03 1.52224037e+01] [ 3.58177326e-02 -1.58909694e-03 9.99357076e-01 1.39259806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.59, Y:15.22, Z:13.93 [[ 9.95426932e-01 -8.85566181e-02 -3.58182645e-02 3.93594073e+02] [ 8.85570679e-02 9.96069856e-01 -1.57705650e-03 1.52242257e+01] [ 3.58171524e-02 -1.60211597e-03 9.99357076e-01 1.39269300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.63, Y:15.23, Z:13.93 [[ 9.95414335e-01 -8.86979875e-02 -3.58185453e-02 3.93626617e+02] [ 8.86987585e-02 9.96057259e-01 -1.57065373e-03 1.52259638e+01] [ 3.58166359e-02 -1.61360926e-03 9.99357076e-01 1.39280340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.66, Y:15.23, Z:13.93 [[ 9.95398591e-01 -8.88744376e-02 -3.58187133e-02 3.93659045e+02] [ 8.88754605e-02 9.96041514e-01 -1.56681278e-03 1.52275660e+01] [ 3.58161750e-02 -1.62380141e-03 9.99357076e-01 1.39288963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.69, Y:15.23, Z:13.93 [[ 9.95346738e-01 -8.94532283e-02 -3.58188521e-02 3.93690669e+02] [ 8.94547393e-02 9.95989661e-01 -1.56363274e-03 1.52296066e+01] [ 3.58150784e-02 -1.64780933e-03 9.99357076e-01 1.39317449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.72, Y:15.23, Z:13.93 [[ 9.95345703e-01 -8.94646997e-02 -3.58189665e-02 3.93724064e+02] [ 8.94663124e-02 9.95988626e-01 -1.56100779e-03 1.52311958e+01] [ 3.58149383e-02 -1.65084845e-03 9.99357076e-01 1.39334124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.76, Y:15.23, Z:13.93 [[ 9.95318619e-01 -8.97654484e-02 -3.58191379e-02 3.93755919e+02] [ 8.97673969e-02 9.95961540e-01 -1.55706410e-03 1.52327450e+01] [ 3.58142544e-02 -1.66561589e-03 9.99357076e-01 1.39348656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.79, Y:15.23, Z:13.94 [[ 9.95301878e-01 -8.99508206e-02 -3.58192792e-02 3.93787820e+02] [ 8.99530059e-02 9.95944799e-01 -1.55380723e-03 1.52339655e+01] [ 3.58137911e-02 -1.67554457e-03 9.99357076e-01 1.39358271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.82, Y:15.23, Z:13.94 [[ 9.95227501e-01 -9.07699843e-02 -3.58194181e-02 3.93821186e+02] [ 9.07728138e-02 9.95870419e-01 -1.55059973e-03 1.52349894e+01] [ 3.58122468e-02 -1.70822987e-03 9.99357076e-01 1.39372094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.85, Y:15.24, Z:13.94 [[ 9.95207010e-01 -9.09943085e-02 -3.58195876e-02 3.93853746e+02] [ 9.09974240e-02 9.95849927e-01 -1.54667249e-03 1.52360072e+01] [ 3.58116721e-02 -1.72023090e-03 9.99357076e-01 1.39381356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.89, Y:15.24, Z:13.94 [[ 9.95138044e-01 -9.17453993e-02 -3.58197557e-02 3.93885612e+02] [ 9.17491402e-02 9.95780957e-01 -1.54277125e-03 1.52369249e+01] [ 3.58101728e-02 -1.75116142e-03 9.99357076e-01 1.39388064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.92, Y:15.24, Z:13.94 [[ 9.95081609e-01 -9.23554386e-02 -3.58198949e-02 3.93918190e+02] [ 9.23596899e-02 9.95724519e-01 -1.53953232e-03 1.52376134e+01] [ 3.58089318e-02 -1.77635408e-03 9.99357076e-01 1.39403410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.95, Y:15.24, Z:13.94 [[ 9.94921561e-01 -9.40638688e-02 -3.58200628e-02 3.93950092e+02] [ 9.40693647e-02 9.95564461e-01 -1.53561430e-03 1.52376619e+01] [ 3.58056274e-02 -1.84175478e-03 9.99357076e-01 1.39418410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.98, Y:15.24, Z:13.94 [[ 9.94844827e-01 -9.48719278e-02 -3.58202016e-02 3.93981819e+02] [ 9.48780622e-02 9.95487722e-01 -1.53237125e-03 1.52383867e+01] [ 3.58039499e-02 -1.87407970e-03 9.99357076e-01 1.39430961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.02, Y:15.24, Z:13.94 [[ 9.94724790e-01 -9.61222478e-02 -3.58204736e-02 3.94015047e+02] [ 9.61294196e-02 9.95367674e-01 -1.52598557e-03 1.52395475e+01] [ 3.58012227e-02 -1.92546567e-03 9.99357076e-01 1.39441191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.05, Y:15.24, Z:13.94 [[ 9.94646368e-01 -9.69303112e-02 -3.58206360e-02 3.94046033e+02] [ 9.69381425e-02 9.95289244e-01 -1.52216482e-03 1.52402144e+01] [ 3.57994376e-02 -1.95837020e-03 9.99357076e-01 1.39444290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.08, Y:15.24, Z:13.95 [[ 9.94552525e-01 -9.78884612e-02 -3.58207163e-02 3.94079492e+02] [ 9.78969797e-02 9.95195393e-01 -1.52027263e-03 1.52409754e+01] [ 3.57974290e-02 -1.99474895e-03 9.99357076e-01 1.39456223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.11, Y:15.24, Z:13.95 [[ 9.94328654e-01 -1.00136865e-01 -3.58208780e-02 3.94111064e+02] [ 1.00146974e-01 9.94971499e-01 -1.51645388e-03 1.52409252e+01] [ 3.57926056e-02 -2.07949898e-03 9.99357076e-01 1.39455191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.14, Y:15.24, Z:13.95 [[ 9.94211137e-01 -1.01296963e-01 -3.58209579e-02 3.94143427e+02] [ 1.01307890e-01 9.94853968e-01 -1.51456266e-03 1.52412155e+01] [ 3.57900427e-02 -2.12315060e-03 9.99357076e-01 1.39458115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.18, Y:15.24, Z:13.95 [[ 9.94110645e-01 -1.02278419e-01 -3.58210893e-02 3.94176023e+02] [ 1.02290093e-01 9.94753463e-01 -1.51144993e-03 1.52413886e+01] [ 3.57877413e-02 -2.16159407e-03 9.99357076e-01 1.39472099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.21, Y:15.24, Z:13.95 [[ 9.93943197e-01 -1.03893023e-01 -3.58212495e-02 3.94209583e+02] [ 1.03905877e-01 9.94585992e-01 -1.50764304e-03 1.52408633e+01] [ 3.57839465e-02 -2.22352680e-03 9.99357076e-01 1.39485562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.24, Y:15.24, Z:13.95 [[ 9.93877267e-01 -1.04521789e-01 -3.58214097e-02 3.94242332e+02] [ 1.04535187e-01 9.94520052e-01 -1.50382625e-03 1.52415991e+01] [ 3.57822929e-02 -2.24997904e-03 9.99357076e-01 1.39501409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.28, Y:15.24, Z:13.95 [[ 9.93888502e-01 -1.04414852e-01 -3.58215706e-02 3.94275827e+02] [ 1.04428318e-01 9.94531285e-01 -1.49998500e-03 1.52429102e+01] [ 3.57822933e-02 -2.24996853e-03 9.99357076e-01 1.39513422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.31, Y:15.24, Z:13.95 [[ 9.93837842e-01 -1.04895884e-01 -3.58217314e-02 3.94307863e+02] [ 1.04909800e-01 9.94480616e-01 -1.49613321e-03 1.52437487e+01] [ 3.57809558e-02 -2.27113688e-03 9.99357076e-01 1.39527767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.34, Y:15.24, Z:13.95 [[ 9.93840155e-01 -1.04873931e-01 -3.58218643e-02 3.94339610e+02] [ 1.04887947e-01 9.94482926e-01 -1.49294425e-03 1.52447036e+01] [ 3.57808034e-02 -2.27353386e-03 9.99357076e-01 1.39546283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.37, Y:15.25, Z:13.96 [[ 9.93881675e-01 -1.04479678e-01 -3.58219694e-02 3.94373053e+02] [ 1.04493530e-01 9.94524450e-01 -1.49042038e-03 1.52459504e+01] [ 3.57815430e-02 -2.26186252e-03 9.99357076e-01 1.39565062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.41, Y:15.25, Z:13.96 [[ 9.93935672e-01 -1.03964679e-01 -3.58221269e-02 3.94405908e+02] [ 1.03978334e-01 9.94578451e-01 -1.48662523e-03 1.52468589e+01] [ 3.57824720e-02 -2.24711521e-03 9.99357076e-01 1.39583871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.44, Y:15.25, Z:13.96 [[ 9.94065833e-01 -1.02712623e-01 -3.58222855e-02 3.94438772e+02] [ 1.02725606e-01 9.94708626e-01 -1.48279232e-03 1.52473217e+01] [ 3.57850379e-02 -2.20587281e-03 9.99357076e-01 1.39601742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.47, Y:15.25, Z:13.96 [[ 9.94183068e-01 -1.01571549e-01 -3.58224453e-02 3.94471079e+02] [ 1.01583933e-01 9.94825873e-01 -1.47892296e-03 1.52481286e+01] [ 3.57873119e-02 -2.16866471e-03 9.99357076e-01 1.39608877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.50, Y:15.25, Z:13.96 [[ 9.94302562e-01 -1.00395015e-01 -3.58225773e-02 3.94502641e+02] [ 1.00406754e-01 9.94945378e-01 -1.47571784e-03 1.52490078e+01] [ 3.57896624e-02 -2.12951867e-03 9.99357076e-01 1.39619091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.54, Y:15.25, Z:13.96 [[ 9.94408993e-01 -9.93351848e-02 -3.58228303e-02 3.94535887e+02] [ 9.93464595e-02 9.95051818e-01 -1.46955000e-03 1.52501560e+01] [ 3.57915505e-02 -2.09753762e-03 9.99357076e-01 1.39635343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.57, Y:15.25, Z:13.96 [[ 9.94582154e-01 -9.75861258e-02 -3.58229874e-02 3.94567986e+02] [ 9.75964077e-02 9.95224996e-01 -1.46571179e-03 1.52507624e+01] [ 3.57949656e-02 -2.03842409e-03 9.99357076e-01 1.39642378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.60, Y:15.25, Z:13.97 [[ 9.94597309e-01 -9.74315024e-02 -3.58231175e-02 3.94600722e+02] [ 9.74417989e-02 9.95240150e-01 -1.46252404e-03 1.52516674e+01] [ 3.57951008e-02 -2.03604654e-03 9.99357076e-01 1.39657136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.63, Y:15.25, Z:13.97 [[ 9.94610416e-01 -9.72975510e-02 -3.58232773e-02 3.94633521e+02] [ 9.73079018e-02 9.95253257e-01 -1.45860021e-03 1.52523767e+01] [ 3.57951516e-02 -2.03514899e-03 9.99357076e-01 1.39667565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.67, Y:15.25, Z:13.97 [[ 9.94583936e-01 -9.75677976e-02 -3.58234361e-02 3.94665989e+02] [ 9.75784635e-02 9.95226772e-01 -1.45468772e-03 1.52531472e+01] [ 3.57943734e-02 -2.04878682e-03 9.99357076e-01 1.39672482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.70, Y:15.25, Z:13.97 [[ 9.94512446e-01 -9.82937358e-02 -3.58236968e-02 3.94699120e+02] [ 9.83051024e-02 9.95155269e-01 -1.44824003e-03 1.52538481e+01] [ 3.57924935e-02 -2.08135945e-03 9.99357076e-01 1.39684241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.73, Y:15.25, Z:13.97 [[ 9.94421807e-01 -9.92064565e-02 -3.58238517e-02 3.94731533e+02] [ 9.92185510e-02 9.95064617e-01 -1.44439809e-03 1.52543749e+01] [ 3.57903409e-02 -2.11804970e-03 9.99357076e-01 1.39693348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.76, Y:15.25, Z:13.97 [[ 9.94233925e-01 -1.01071990e-01 -3.58239538e-02 3.94763902e+02] [ 1.01085381e-01 9.94876709e-01 -1.44186175e-03 1.52539929e+01] [ 3.57861491e-02 -2.18773017e-03 9.99357076e-01 1.39703213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.80, Y:15.25, Z:13.97 [[ 9.94172860e-01 -1.01670850e-01 -3.58240598e-02 3.94795656e+02] [ 1.01684723e-01 9.94815634e-01 -1.43922279e-03 1.52543881e+01] [ 3.57846618e-02 -2.21192338e-03 9.99357076e-01 1.39696962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.83, Y:15.25, Z:13.97 [[ 9.94106478e-01 -1.02317823e-01 -3.58241917e-02 3.94828543e+02] [ 1.02332232e-01 9.94749241e-01 -1.43593352e-03 1.52547381e+01] [ 3.57830090e-02 -2.23849869e-03 9.99357076e-01 1.39701693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.86, Y:15.26, Z:13.97 [[ 9.94040323e-01 -1.02958497e-01 -3.58243395e-02 3.94861102e+02] [ 1.02973453e-01 9.94683073e-01 -1.43223481e-03 1.52550233e+01] [ 3.57813249e-02 -2.26525680e-03 9.99357076e-01 1.39719914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.89, Y:15.26, Z:13.97 [[ 9.93836021e-01 -1.04912212e-01 -3.58244434e-02 3.94892876e+02] [ 1.04928526e-01 9.94478738e-01 -1.42963242e-03 1.52555995e+01] [ 3.57766331e-02 -2.33818583e-03 9.99357076e-01 1.39734423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.92, Y:15.26, Z:13.97 [[ 9.93869898e-01 -1.04591657e-01 -3.58219437e-02 3.94924993e+02] [ 1.04605510e-01 9.94512675e-01 -1.49239258e-03 1.52551491e+01] [ 3.57814689e-02 -2.26392864e-03 9.99357074e-01 1.39748226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.96, Y:15.26, Z:13.98 [[ 9.93807838e-01 -1.05178764e-01 -3.58247076e-02 3.94956811e+02] [ 1.05195495e-01 9.94450543e-01 -1.42280199e-03 1.52555698e+01] [ 3.57755485e-02 -2.35460609e-03 9.99357076e-01 1.39758811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.99, Y:15.26, Z:13.98 [[ 9.93747539e-01 -1.05746911e-01 -3.58248376e-02 3.94988655e+02] [ 1.05764128e-01 9.94390232e-01 -1.41952186e-03 1.52560409e+01] [ 3.57739786e-02 -2.37833634e-03 9.99357076e-01 1.39763283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.02, Y:15.26, Z:13.98 [[ 9.93547610e-01 -1.07609104e-01 -3.58249652e-02 3.95022082e+02] [ 1.07627641e-01 9.94190266e-01 -1.41629448e-03 1.52555312e+01] [ 3.57692378e-02 -2.44860050e-03 9.99357076e-01 1.39785646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.05, Y:15.26, Z:13.98 [[ 9.93450344e-01 -1.08503343e-01 -3.58251179e-02 3.95054623e+02] [ 1.08522597e-01 9.94092979e-01 -1.41242068e-03 1.52556430e+01] [ 3.57667506e-02 -2.48466502e-03 9.99357076e-01 1.39795431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.09, Y:15.26, Z:13.98 [[ 9.93382091e-01 -1.09126419e-01 -3.58252185e-02 3.95087299e+02] [ 1.09146167e-01 9.94024711e-01 -1.40986565e-03 1.52555774e+01] [ 3.57650060e-02 -2.50965000e-03 9.99357076e-01 1.39807092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.12, Y:15.26, Z:13.98 [[ 9.93241229e-01 -1.10401104e-01 -3.58253694e-02 3.95118093e+02] [ 1.10421816e-01 9.93883819e-01 -1.40601874e-03 1.52572298e+01] [ 3.57614810e-02 -2.55938657e-03 9.99357076e-01 1.39821334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.15, Y:15.26, Z:13.98 [[ 9.93472544e-01 -1.08302103e-01 -3.58184244e-02 3.95151980e+02] [ 1.08315106e-01 9.94115351e-01 -1.58296712e-03 1.52554043e+01] [ 3.57790843e-02 -2.30704207e-03 9.99357061e-01 1.39842473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.18, Y:15.26, Z:13.99 [[ 9.93548616e-01 -1.07599576e-01 -3.58256754e-02 3.95184238e+02] [ 1.07618797e-01 9.94191251e-01 -1.39704060e-03 1.52561567e+01] [ 3.57678940e-02 -2.46748834e-03 9.99357078e-01 1.39851965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.22, Y:15.26, Z:13.99 [[ 9.93725237e-01 -1.05955958e-01 -3.58258023e-02 3.95216896e+02] [ 1.05974234e-01 9.94367899e-01 -1.39377723e-03 1.52570944e+01] [ 3.57717068e-02 -2.41158033e-03 9.99357078e-01 1.39862053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.25, Y:15.26, Z:13.99 [[ 9.93898712e-01 -1.04316127e-01 -3.58259020e-02 3.95249122e+02] [ 1.04333434e-01 9.94541401e-01 -1.39121061e-03 1.52583330e+01] [ 3.57754685e-02 -2.35511697e-03 9.99357078e-01 1.39873097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.28, Y:15.26, Z:13.99 [[ 9.94164630e-01 -1.01750602e-01 -3.58260259e-02 3.95279574e+02] [ 1.01766365e-01 9.94807358e-01 -1.38801126e-03 1.52611318e+01] [ 3.57812252e-02 -2.26597273e-03 9.99357078e-01 1.39880410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.31, Y:15.26, Z:13.99 [[ 9.94429773e-01 -9.91295960e-02 -3.58154943e-02 3.95313063e+02] [ 9.91339402e-02 9.95072716e-01 -1.65890917e-03 1.52606843e+01] [ 3.58034682e-02 -1.90086240e-03 9.99357042e-01 1.39890527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.35, Y:15.26, Z:13.99 [[ 9.94597060e-01 -9.74328854e-02 -3.58262751e-02 3.95345665e+02] [ 9.74461870e-02 9.95239840e-01 -1.37882651e-03 1.52618813e+01] [ 3.57900793e-02 -2.11975711e-03 9.99357082e-01 1.39906438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.38, Y:15.26, Z:13.99 [[ 9.94757487e-01 -9.57810454e-02 -3.58264265e-02 3.95378022e+02] [ 9.57934212e-02 9.95400286e-01 -1.37488080e-03 1.52630106e+01] [ 3.57933227e-02 -2.06426300e-03 9.99357082e-01 1.39914262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.41, Y:15.26, Z:13.99 [[ 9.94916094e-01 -9.41192055e-02 -3.58265514e-02 3.95411303e+02] [ 9.41306246e-02 9.95558910e-01 -1.37161875e-03 1.52640098e+01] [ 3.57965381e-02 -2.00773009e-03 9.99357082e-01 1.39921168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.44, Y:15.27, Z:13.99 [[ 9.95190984e-01 -9.11666261e-02 -3.58266963e-02 3.95443520e+02] [ 9.11762740e-02 9.95833830e-01 -1.36782355e-03 1.52651471e+01] [ 3.58021360e-02 -1.90529902e-03 9.99357082e-01 1.39938898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.47, Y:15.27, Z:13.99 [[ 9.95352416e-01 -8.93868492e-02 -3.58267942e-02 3.95474567e+02] [ 8.93954398e-02 9.95995277e-01 -1.36525334e-03 1.52670319e+01] [ 3.58053535e-02 -1.84384382e-03 9.99357082e-01 1.39948364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.51, Y:15.27, Z:14.00 [[ 9.95474176e-01 -8.80226723e-02 -3.58214230e-02 3.95507929e+02] [ 8.80253134e-02 9.96117099e-01 -1.50643492e-03 1.52672106e+01] [ 3.58149324e-02 -1.65357492e-03 9.99357071e-01 1.39963789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.54, Y:15.27, Z:14.00 [[ 9.95515554e-01 -8.75511055e-02 -3.58271578e-02 3.95537101e+02] [ 8.75588860e-02 9.96158424e-01 -1.35479185e-03 1.52700238e+01] [ 3.58081385e-02 -1.78826966e-03 9.99357083e-01 1.39968346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.57, Y:15.27, Z:14.00 [[ 9.95673171e-01 -8.57466250e-02 -3.58113630e-02 3.95571488e+02] [ 8.57383337e-02 9.96316117e-01 -1.76999384e-03 1.52685136e+01] [ 3.58312091e-02 -1.30807121e-03 9.99357000e-01 1.39993400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.60, Y:15.27, Z:14.00 [[ 9.95895234e-01 -8.31209438e-02 -3.58272379e-02 3.95603341e+02] [ 8.31260994e-02 9.96538125e-01 -1.34822444e-03 1.52679330e+01] [ 3.58152741e-02 -1.63548825e-03 9.99357089e-01 1.40005237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.64, Y:15.27, Z:14.00 [[ 9.96005722e-01 -8.17863258e-02 -3.58273337e-02 3.95635546e+02] [ 8.17907115e-02 9.96648618e-01 -1.34567167e-03 1.52686702e+01] [ 3.58173202e-02 -1.59004644e-03 9.99357089e-01 1.40019060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.67, Y:15.27, Z:14.00 [[ 9.96087898e-01 -8.07793020e-02 -3.58274291e-02 3.95667900e+02] [ 8.07831291e-02 9.96730797e-01 -1.34312688e-03 1.52694647e+01] [ 3.58187989e-02 -1.55637941e-03 9.99357089e-01 1.40035427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.70, Y:15.27, Z:14.00 [[ 9.96153831e-01 -7.99620759e-02 -3.58275260e-02 3.95698393e+02] [ 7.99654685e-02 9.96796733e-01 -1.34053861e-03 1.52718108e+01] [ 3.58199531e-02 -1.52958223e-03 9.99357089e-01 1.40046606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.73, Y:15.27, Z:14.01 [[ 9.96267470e-01 -7.85361069e-02 -3.58218835e-02 3.95730228e+02] [ 7.85331690e-02 9.96910386e-01 -1.49123893e-03 1.52706064e+01] [ 3.58283238e-02 -1.32753319e-03 9.99357078e-01 1.40055914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:395.76, Y:15.27, Z:14.01 [[ 9.96292255e-01 -7.82183688e-02 -3.58277681e-02 3.95761800e+02] [ 7.82209032e-02 9.96935160e-01 -1.33309846e-03 1.52706812e+01] [ 3.58222345e-02 -1.47432471e-03 9.99357090e-01 1.40062920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.79, Y:15.27, Z:14.00 [[ 9.96387382e-01 -7.69972359e-02 -3.58275171e-02 3.95794119e+02] [ 7.69987393e-02 9.97030290e-01 -1.33986814e-03 1.52705820e+01] [ 3.58242859e-02 -1.42364594e-03 9.99357090e-01 1.40049138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.83, Y:15.27, Z:14.01 [[ 9.96266620e-01 -7.85441529e-02 -3.58278974e-02 3.95825700e+02] [ 7.85470235e-02 9.96909523e-01 -1.32958858e-03 1.52714447e+01] [ 3.58216035e-02 -1.48954998e-03 9.99357090e-01 1.40083689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.86, Y:15.27, Z:14.01 [[ 9.96224804e-01 -7.90726580e-02 -3.58281348e-02 3.95858137e+02] [ 7.90761005e-02 9.96867704e-01 -1.32315978e-03 1.52720380e+01] [ 3.58205362e-02 -1.51498460e-03 9.99357090e-01 1.40097244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.89, Y:15.27, Z:14.01 [[ 9.96169735e-01 -7.97633763e-02 -3.58282310e-02 3.95889038e+02] [ 7.97673583e-02 9.96812633e-01 -1.32054875e-03 1.52725358e+01] [ 3.58193647e-02 -1.54243264e-03 9.99357090e-01 1.40105474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.92, Y:15.27, Z:14.01 [[ 9.96113122e-01 -8.04672694e-02 -3.58283027e-02 3.95921519e+02] [ 8.04717755e-02 9.96756016e-01 -1.31860222e-03 1.52738160e+01] [ 3.58181805e-02 -1.56969016e-03 9.99357090e-01 1.40122459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.95, Y:15.27, Z:14.01 [[ 9.96081840e-01 -8.08535304e-02 -3.58284000e-02 3.95952874e+02] [ 8.08583810e-02 9.96724732e-01 -1.31595176e-03 1.52748217e+01] [ 3.58174517e-02 -1.58623076e-03 9.99357090e-01 1.40134153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.98, Y:15.28, Z:14.01 [[ 9.96050377e-01 -8.12401826e-02 -3.58284725e-02 3.95983632e+02] [ 8.12453536e-02 9.96693266e-01 -1.31397686e-03 1.52758082e+01] [ 3.58167449e-02 -1.60210977e-03 9.99357090e-01 1.40144411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.01, Y:15.28, Z:14.02 [[ 9.95958333e-01 -8.23608452e-02 -3.58286308e-02 3.96014956e+02] [ 8.23668951e-02 9.96601214e-01 -1.30964619e-03 1.52763537e+01] [ 3.58147205e-02 -1.64674003e-03 9.99357090e-01 1.40156255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.05, Y:15.28, Z:14.02 [[ 9.95940986e-01 -8.25702778e-02 -3.58287862e-02 3.96046277e+02] [ 8.25766160e-02 9.96583864e-01 -1.30537898e-03 1.52772557e+01] [ 3.58141757e-02 -1.65853949e-03 9.99357090e-01 1.40167315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.08, Y:15.28, Z:14.02 [[ 9.95914375e-01 -8.28905955e-02 -3.58288555e-02 3.96078787e+02] [ 8.28972088e-02 9.96557251e-01 -1.30347455e-03 1.52783467e+01] [ 3.58135515e-02 -1.67196308e-03 9.99357090e-01 1.40179180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.11, Y:15.28, Z:14.02 [[ 9.95951761e-01 -8.24401439e-02 -3.58289462e-02 3.96109955e+02] [ 8.24465562e-02 9.96594638e-01 -1.30097705e-03 1.52798661e+01] [ 3.58141884e-02 -1.65826284e-03 9.99357090e-01 1.40165553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.14, Y:15.28, Z:14.02 [[ 9.95901042e-01 -8.30536924e-02 -3.58217759e-02 3.96142794e+02] [ 8.30534286e-02 9.96543970e-01 -1.49797846e-03 1.52801995e+01] [ 3.58223874e-02 -1.48328300e-03 9.99357072e-01 1.40210445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.17, Y:15.28, Z:14.02 [[ 9.95907199e-01 -8.29766420e-02 -3.58291474e-02 3.96174999e+02] [ 8.29836555e-02 9.96550068e-01 -1.29387123e-03 1.52807328e+01] [ 3.58129004e-02 -1.68465796e-03 9.99357092e-01 1.40220196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.21, Y:15.28, Z:14.02 [[ 9.95908537e-01 -8.29605430e-02 -3.58292392e-02 3.96207300e+02] [ 8.29676375e-02 9.96551405e-01 -1.29132525e-03 1.52811465e+01] [ 3.58128077e-02 -1.68662549e-03 9.99357092e-01 1.40231681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.24, Y:15.28, Z:14.02 [[ 9.95905276e-01 -8.29996410e-02 -3.58293317e-02 3.96238078e+02] [ 8.30068531e-02 9.96548143e-01 -1.28875486e-03 1.52817822e+01] [ 3.58126201e-02 -1.69060231e-03 9.99357092e-01 1.40238710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.27, Y:15.28, Z:14.03 [[ 9.95889627e-01 -8.31871638e-02 -3.58294005e-02 3.96270349e+02] [ 8.31945657e-02 9.96532492e-01 -1.28683903e-03 1.52823839e+01] [ 3.58122102e-02 -1.69926177e-03 9.99357092e-01 1.40252581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.30, Y:15.28, Z:14.03 [[ 9.95814910e-01 -8.40768272e-02 -3.58294909e-02 3.96302637e+02] [ 8.40848939e-02 9.96457767e-01 -1.28431697e-03 1.52830827e+01] [ 3.58105558e-02 -1.73377695e-03 9.99357092e-01 1.40269032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.34, Y:15.28, Z:14.03 [[ 9.95820998e-01 -8.40046495e-02 -3.58295836e-02 3.96335290e+02] [ 8.40127627e-02 9.96463854e-01 -1.28172389e-03 1.52841921e+01] [ 3.58105558e-02 -1.73377474e-03 9.99357092e-01 1.40280746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.37, Y:15.28, Z:14.03 [[ 9.95787996e-01 -8.43949120e-02 -3.58296763e-02 3.96366243e+02] [ 8.44033703e-02 9.96430848e-01 -1.27912860e-03 1.52849299e+01] [ 3.58097467e-02 -1.75040453e-03 9.99357092e-01 1.40290746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.40, Y:15.29, Z:14.03 [[ 9.95776800e-01 -8.45268839e-02 -3.58297452e-02 3.96398132e+02] [ 8.45354968e-02 9.96419650e-01 -1.27719535e-03 1.52856445e+01] [ 3.58094195e-02 -1.75708381e-03 9.99357092e-01 1.40301721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.43, Y:15.29, Z:14.03 [[ 9.95772821e-01 -8.45737118e-02 -3.58298363e-02 3.96429673e+02] [ 8.45824469e-02 9.96415669e-01 -1.27463516e-03 1.52864145e+01] [ 3.58092109e-02 -1.76132817e-03 9.99357092e-01 1.40313609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.46, Y:15.29, Z:14.03 [[ 9.95828394e-01 -8.39167569e-02 -3.58299873e-02 3.96461957e+02] [ 8.39252208e-02 9.96471246e-01 -1.27037463e-03 1.52868241e+01] [ 3.58101578e-02 -1.74196447e-03 9.99357092e-01 1.40330834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.49, Y:15.29, Z:14.03 [[ 9.95932889e-01 -8.26673154e-02 -3.58300798e-02 3.96493168e+02] [ 8.26750665e-02 9.96575750e-01 -1.26776125e-03 1.52876622e+01] [ 3.58121911e-02 -1.69964911e-03 9.99357092e-01 1.40344296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.52, Y:15.29, Z:14.04 [[ 9.96044896e-01 -8.13065824e-02 -3.58302328e-02 3.96524414e+02] [ 8.13136110e-02 9.96687765e-01 -1.26342155e-03 1.52886127e+01] [ 3.58142792e-02 -1.65506103e-03 9.99357092e-01 1.40358087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.56, Y:15.29, Z:14.04 [[ 9.96362148e-01 -7.73217922e-02 -3.58302996e-02 3.96556937e+02] [ 7.73263174e-02 9.97005040e-01 -1.26152474e-03 1.52897250e+01] [ 3.58205326e-02 -1.51368962e-03 9.99357092e-01 1.40372286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.59, Y:15.29, Z:14.04 [[ 9.96552092e-01 -7.48338938e-02 -3.58303904e-02 3.96588113e+02] [ 7.48369066e-02 9.97194992e-01 -1.25893983e-03 1.52909169e+01] [ 3.58240973e-02 -1.42683646e-03 9.99357092e-01 1.40380084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.62, Y:15.29, Z:14.04 [[ 9.96754022e-01 -7.20943724e-02 -3.58304580e-02 3.96620289e+02] [ 7.20956872e-02 9.97396928e-01 -1.25701367e-03 1.52917756e+01] [ 3.58278124e-02 -1.33028806e-03 9.99357092e-01 1.40386796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.65, Y:15.29, Z:14.04 [[ 9.96939776e-01 -6.94784500e-02 -3.58305476e-02 3.96651015e+02] [ 6.94781696e-02 9.97582683e-01 -1.25445344e-03 1.52925835e+01] [ 3.58310913e-02 -1.23882634e-03 9.99357092e-01 1.40390359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.68, Y:15.29, Z:14.04 [[ 9.97264666e-01 -6.46479237e-02 -3.58306143e-02 3.96682096e+02] [ 6.46445973e-02 9.97907564e-01 -1.25254533e-03 1.52931537e+01] [ 3.58366155e-02 -1.06713644e-03 9.99357092e-01 1.40394356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.71, Y:15.29, Z:14.04 [[ 9.97432965e-01 -6.19971228e-02 -3.58306598e-02 3.96712112e+02] [ 6.19921344e-02 9.98075854e-01 -1.25124251e-03 1.52936213e+01] [ 3.58392898e-02 -9.73188558e-04 9.99357092e-01 1.40396313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.74, Y:15.29, Z:14.04 [[ 9.97561209e-01 -5.98982114e-02 -3.58306824e-02 3.96741475e+02] [ 5.98918934e-02 9.98204086e-01 -1.25059746e-03 1.52943926e+01] [ 3.58412421e-02 -8.98419890e-04 9.99357092e-01 1.40407328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.77, Y:15.30, Z:14.04 [[ 9.97668260e-01 -5.80879408e-02 -3.58306372e-02 3.96771090e+02] [ 5.80804099e-02 9.98311123e-01 -1.25188889e-03 1.52950001e+01] [ 3.58428434e-02 -8.32088285e-04 9.99357092e-01 1.40418772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.80, Y:15.30, Z:14.04 [[ 9.97771673e-01 -5.62837183e-02 -3.58305920e-02 3.96800291e+02] [ 5.62749785e-02 9.98414521e-01 -1.25318100e-03 1.52954173e+01] [ 3.58443171e-02 -7.65977296e-04 9.99357092e-01 1.40432601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.83, Y:15.30, Z:14.04 [[ 9.97858561e-01 -5.47217048e-02 -3.58305462e-02 3.96829579e+02] [ 5.47119117e-02 9.98501394e-01 -1.25449044e-03 1.52955300e+01] [ 3.58454982e-02 -7.08553655e-04 9.99357092e-01 1.40444396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.86, Y:15.30, Z:14.05 [[ 9.97970934e-01 -5.26326042e-02 -3.58305006e-02 3.96857933e+02] [ 5.26214186e-02 9.98613744e-01 -1.25579192e-03 1.52952625e+01] [ 3.58469259e-02 -6.32207933e-04 9.99357092e-01 1.40462690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.89, Y:15.30, Z:14.05 [[ 9.97973392e-01 -5.25860099e-02 -3.58304326e-02 3.96886706e+02] [ 5.25747248e-02 9.98616201e-01 -1.25772820e-03 1.52954427e+01] [ 3.58469894e-02 -6.28595853e-04 9.99357092e-01 1.40475434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.91, Y:15.30, Z:14.05 [[ 9.97963051e-01 -5.27821156e-02 -3.58301137e-02 3.96914611e+02] [ 5.27706331e-02 9.98605856e-01 -1.26674826e-03 1.52950623e+01] [ 3.58470230e-02 -6.26609826e-04 9.99357092e-01 1.40485813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.94, Y:15.29, Z:14.05 [[ 9.97905393e-01 -5.38614560e-02 -3.58297459e-02 3.96942876e+02] [ 5.38502983e-02 9.98548203e-01 -1.27706931e-03 1.52946521e+01] [ 3.58465132e-02 -6.55048145e-04 9.99357093e-01 1.40494199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.97, Y:15.29, Z:14.05 [[ 9.97705976e-01 -5.74372877e-02 -3.58293726e-02 3.96971195e+02] [ 5.74280608e-02 9.98348817e-01 -1.28745785e-03 1.52928934e+01] [ 3.58441598e-02 -7.73106996e-04 9.99357093e-01 1.40507669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.00, Y:15.29, Z:14.05 [[ 9.97558829e-01 -5.99388221e-02 -3.58290442e-02 3.96999583e+02] [ 5.99308814e-02 9.98201687e-01 -1.29653167e-03 1.52922865e+01] [ 3.58423250e-02 -8.53899584e-04 9.99357093e-01 1.40519061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.03, Y:15.29, Z:14.05 [[ 9.97370787e-01 -6.29904595e-02 -3.58289743e-02 3.97029061e+02] [ 6.29844163e-02 9.98013666e-01 -1.29845992e-03 1.52914528e+01] [ 3.58395966e-02 -9.61621048e-04 9.99357093e-01 1.40529446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.06, Y:15.29, Z:14.05 [[ 9.97138517e-01 -6.65662540e-02 -3.58289279e-02 3.97060067e+02] [ 6.65624701e-02 9.97781413e-01 -1.29974017e-03 1.52908355e+01] [ 3.58359571e-02 -1.08884096e-03 9.99357093e-01 1.40541461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.09, Y:15.29, Z:14.06 [[ 9.96886672e-01 -7.02371023e-02 -3.58289279e-02 3.97090239e+02] [ 7.02356854e-02 9.97529578e-01 -1.29974017e-03 1.52898799e+01] [ 3.58317053e-02 -1.22077565e-03 9.99357093e-01 1.40554585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.12, Y:15.29, Z:14.06 [[ 9.96615758e-01 -7.39818764e-02 -3.58289279e-02 3.97120702e+02] [ 7.39828749e-02 9.97258665e-01 -1.29974017e-03 1.52888789e+01] [ 3.58268660e-02 -1.35538555e-03 9.99357093e-01 1.40564394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.15, Y:15.29, Z:14.06 [[ 9.96067409e-01 -8.10308819e-02 -3.58289279e-02 3.97150928e+02] [ 8.10364288e-02 9.96710293e-01 -1.29974017e-03 1.52859719e+01] [ 3.58163803e-02 -1.60881954e-03 9.99357093e-01 1.40573817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.18, Y:15.29, Z:14.06 [[ 9.95813638e-01 -8.40921239e-02 -3.58289514e-02 3.97182678e+02] [ 8.40996701e-02 9.96456501e-01 -1.29909214e-03 1.52852324e+01] [ 3.58112349e-02 -1.71954932e-03 9.99357093e-01 1.40580687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.21, Y:15.28, Z:14.06 [[ 9.95426054e-01 -8.85620999e-02 -3.58291045e-02 3.97214998e+02] [ 8.85726843e-02 9.96068875e-01 -1.29485492e-03 1.52829705e+01] [ 3.58029309e-02 -1.88454764e-03 9.99357093e-01 1.40583704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.25, Y:15.28, Z:14.06 [[ 9.95312798e-01 -8.98259575e-02 -3.58291975e-02 3.97247606e+02] [ 8.98374507e-02 9.95955603e-01 -1.29227639e-03 1.52827479e+01] [ 3.58003700e-02 -1.93258453e-03 9.99357093e-01 1.40592678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.28, Y:15.28, Z:14.06 [[ 9.95291126e-01 -9.00657312e-02 -3.58292922e-02 3.97279320e+02] [ 9.00774736e-02 9.95933926e-01 -1.28964588e-03 1.52827494e+01] [ 3.57997606e-02 -1.94383902e-03 9.99357093e-01 1.40601329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.31, Y:15.28, Z:14.06 [[ 9.95315283e-01 -8.97983171e-02 -3.58294497e-02 3.97311685e+02] [ 8.98100445e-02 9.95958083e-01 -1.28525413e-03 1.52829643e+01] [ 3.58000438e-02 -1.93861140e-03 9.99357093e-01 1.40611773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.34, Y:15.28, Z:14.06 [[ 9.95422464e-01 -8.86022668e-02 -3.58295421e-02 3.97344210e+02] [ 8.86133144e-02 9.96065277e-01 -1.28267421e-03 1.52834617e+01] [ 3.58022106e-02 -1.89817176e-03 9.99357093e-01 1.40627924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.38, Y:15.28, Z:14.06 [[ 9.95591283e-01 -8.66846811e-02 -3.58296339e-02 3.97375344e+02] [ 8.66945826e-02 9.96234114e-01 -1.28010596e-03 1.52840581e+01] [ 3.58056691e-02 -1.83177282e-03 9.99357093e-01 1.40644035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.41, Y:15.29, Z:14.07 [[ 9.96013227e-01 -8.16938415e-02 -3.58297022e-02 3.97407332e+02] [ 8.17005899e-02 9.96656099e-01 -1.27819112e-03 1.52852156e+01] [ 3.58143115e-02 -1.65421254e-03 9.99357093e-01 1.40667370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.44, Y:15.29, Z:14.07 [[ 9.96251817e-01 -7.87308272e-02 -3.58297964e-02 3.97438315e+02] [ 7.87357584e-02 9.96894705e-01 -1.27554459e-03 1.52863646e+01] [ 3.58189590e-02 -1.55032257e-03 9.99357093e-01 1.40681395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.47, Y:15.29, Z:14.07 [[ 9.96476207e-01 -7.58379173e-02 -3.58298664e-02 3.97469127e+02] [ 7.58410524e-02 9.97119107e-01 -1.27357620e-03 1.52878101e+01] [ 3.58232297e-02 -1.44828639e-03 9.99357093e-01 1.40691422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.50, Y:15.29, Z:14.07 [[ 9.96676686e-01 -7.31560015e-02 -3.58299122e-02 3.97500140e+02] [ 7.31574528e-02 9.97319592e-01 -1.27228636e-03 1.52891184e+01] [ 3.58269487e-02 -1.35316696e-03 9.99357093e-01 1.40702941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.53, Y:15.29, Z:14.07 [[ 9.96991186e-01 -6.87371007e-02 -3.58299579e-02 3.97530772e+02] [ 6.87357484e-02 9.97634092e-01 -1.27099610e-03 1.52904418e+01] [ 3.58325521e-02 -1.19562707e-03 9.99357093e-01 1.40704959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.56, Y:15.29, Z:14.07 [[ 9.97107150e-01 -6.70339048e-02 -3.58299806e-02 3.97560088e+02] [ 6.70314772e-02 9.97750053e-01 -1.27035607e-03 1.52912919e+01] [ 3.58345220e-02 -1.13505541e-03 9.99357093e-01 1.40708707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.59, Y:15.29, Z:14.07 [[ 9.97202570e-01 -6.55991560e-02 -3.58299357e-02 3.97589029e+02] [ 6.55957580e-02 9.97845469e-01 -1.27162136e-03 1.52921359e+01] [ 3.58361563e-02 -1.08222770e-03 9.99357093e-01 1.40711305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.62, Y:15.29, Z:14.07 [[ 9.97266899e-01 -6.46138787e-02 -3.58298688e-02 3.97618038e+02] [ 6.46097779e-02 9.97909793e-01 -1.27350422e-03 1.52931159e+01] [ 3.58372630e-02 -1.04493626e-03 9.99357093e-01 1.40715562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.65, Y:15.29, Z:14.07 [[ 9.97372637e-01 -6.29606935e-02 -3.58298025e-02 3.97647914e+02] [ 6.29554602e-02 9.98015523e-01 -1.27536638e-03 1.52946539e+01] [ 3.58389970e-02 -9.83666171e-04 9.99357093e-01 1.40722135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.68, Y:15.30, Z:14.07 [[ 9.97417779e-01 -6.22414936e-02 -3.58297562e-02 3.97677469e+02] [ 6.22357500e-02 9.98060660e-01 -1.27666604e-03 1.52961113e+01] [ 3.58397317e-02 -9.56522347e-04 9.99357093e-01 1.40732194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.71, Y:15.30, Z:14.07 [[ 9.97457736e-01 -6.15978645e-02 -3.58297098e-02 3.97705927e+02] [ 6.15916594e-02 9.98100613e-01 -1.27796762e-03 1.52974662e+01] [ 3.58403754e-02 -9.32092586e-04 9.99357093e-01 1.40735232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.73, Y:15.30, Z:14.08 [[ 9.97476749e-01 -6.12892475e-02 -3.58296406e-02 3.97734866e+02] [ 6.12827740e-02 9.98119624e-01 -1.27990386e-03 1.52987430e+01] [ 3.58407117e-02 -9.19065426e-04 9.99357093e-01 1.40751315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.76, Y:15.30, Z:14.08 [[ 9.97513433e-01 -6.06894589e-02 -3.58293167e-02 3.97763928e+02] [ 6.06822756e-02 9.98156300e-01 -1.28890726e-03 1.52998601e+01] [ 3.58414813e-02 -8.88502164e-04 9.99357093e-01 1.40758442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.79, Y:15.30, Z:14.08 [[ 9.97561489e-01 -5.98944048e-02 -3.58292479e-02 3.97792774e+02] [ 5.98866406e-02 9.98204350e-01 -1.29081740e-03 1.53011329e+01] [ 3.58422238e-02 -8.58023562e-04 9.99357093e-01 1.40786503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.82, Y:15.30, Z:14.08 [[ 9.97565541e-01 -5.98270790e-02 -3.58289178e-02 3.97821012e+02] [ 5.98189447e-02 9.98208397e-01 -1.29991633e-03 1.53024071e+01] [ 3.58424968e-02 -8.46496319e-04 9.99357093e-01 1.40803198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.85, Y:15.30, Z:14.08 [[ 9.97566919e-01 -5.98041726e-02 -3.58287999e-02 3.97848633e+02] [ 5.97959073e-02 9.98209773e-01 -1.30315679e-03 1.53035787e+01] [ 3.58425925e-02 -8.42429492e-04 9.99357093e-01 1.40813998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.88, Y:15.30, Z:14.08 [[ 9.97546639e-01 -6.01415633e-02 -3.58286827e-02 3.97877651e+02] [ 6.01334000e-02 9.98189495e-01 -1.30637094e-03 1.53047062e+01] [ 3.58423819e-02 -8.51334570e-04 9.99357093e-01 1.40831370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.91, Y:15.31, Z:14.08 [[ 9.97464190e-01 -6.14940575e-02 -3.58283549e-02 3.97905148e+02] [ 6.14864453e-02 9.98107052e-01 -1.31530068e-03 1.53050532e+01] [ 3.58414169e-02 -8.90992862e-04 9.99357093e-01 1.40838606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.93, Y:15.31, Z:14.08 [[ 9.97362657e-01 -6.31194657e-02 -3.58282386e-02 3.97934094e+02] [ 6.31127878e-02 9.98005530e-01 -1.31846117e-03 1.53057749e+01] [ 3.58400008e-02 -9.46236078e-04 9.99357093e-01 1.40848417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.96, Y:15.31, Z:14.09 [[ 9.97261834e-01 -6.46930902e-02 -3.58279088e-02 3.97963263e+02] [ 6.46871071e-02 9.97904713e-01 -1.32736259e-03 1.53063233e+01] [ 3.58387103e-02 -9.93875721e-04 9.99357093e-01 1.40854067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.99, Y:15.31, Z:14.09 [[ 9.97054670e-01 -6.78112841e-02 -3.58275777e-02 3.97991612e+02] [ 6.78069926e-02 9.97697563e-01 -1.33623987e-03 1.53066420e+01] [ 3.58356991e-02 -1.09705610e-03 9.99357093e-01 1.40855995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.02, Y:15.31, Z:14.09 [[ 9.96949753e-01 -6.93367152e-02 -3.58275074e-02 3.98020924e+02] [ 6.93333397e-02 9.97592651e-01 -1.33812435e-03 1.53077622e+01] [ 3.58340392e-02 -1.14999800e-03 9.99357093e-01 1.40864587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.05, Y:15.31, Z:14.09 [[ 9.96874708e-01 -7.04074559e-02 -3.58274609e-02 3.98050429e+02] [ 7.04047263e-02 9.97517609e-01 -1.33936827e-03 1.53085431e+01] [ 3.58328246e-02 -1.18724022e-03 9.99357093e-01 1.40876600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.08, Y:15.31, Z:14.09 [[ 9.96813610e-01 -7.12672715e-02 -3.58274129e-02 3.98079993e+02] [ 7.12650504e-02 9.97456513e-01 -1.34065009e-03 1.53094337e+01] [ 3.58318308e-02 -1.21686413e-03 9.99357093e-01 1.40877797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.11, Y:15.31, Z:14.09 [[ 9.96786681e-01 -7.16429460e-02 -3.58273891e-02 3.98109878e+02] [ 7.16409444e-02 9.97429585e-01 -1.34128558e-03 1.53102628e+01] [ 3.58313915e-02 -1.22973239e-03 9.99357093e-01 1.40891006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.14, Y:15.31, Z:14.09 [[ 9.96779391e-01 -7.17443210e-02 -3.58273421e-02 3.98139641e+02] [ 7.17423397e-02 9.97422295e-01 -1.34253959e-03 1.53115571e+01] [ 3.58313094e-02 -1.23212156e-03 9.99357093e-01 1.40904971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.17, Y:15.31, Z:14.09 [[ 9.96885007e-01 -7.02615710e-02 -3.58272942e-02 3.98169723e+02] [ 7.02585876e-02 9.97527907e-01 -1.34381576e-03 1.53126861e+01] [ 3.58331444e-02 -1.17754531e-03 9.99357093e-01 1.40916627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.20, Y:15.31, Z:14.09 [[ 9.96972392e-01 -6.90105408e-02 -3.58272942e-02 3.98198831e+02] [ 6.90067506e-02 9.97615288e-01 -1.34381576e-03 1.53142023e+01] [ 3.58345939e-02 -1.13257794e-03 9.99357093e-01 1.40925142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.23, Y:15.32, Z:14.09 [[ 9.96969917e-01 -6.90462964e-02 -3.58272700e-02 3.98228944e+02] [ 6.90425061e-02 9.97612813e-01 -1.34446236e-03 1.53153613e+01] [ 3.58345737e-02 -1.13321597e-03 9.99357093e-01 1.40935955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.26, Y:15.32, Z:14.09 [[ 9.97064373e-01 -6.76686449e-02 -3.58272217e-02 3.98257853e+02] [ 6.76639201e-02 9.97707263e-01 -1.34574727e-03 1.53169848e+01] [ 3.58361442e-02 -1.08241361e-03 9.99357093e-01 1.40943049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.29, Y:15.32, Z:14.09 [[ 9.97183575e-01 -6.58887988e-02 -3.58271278e-02 3.98287272e+02] [ 6.58828369e-02 9.97826455e-01 -1.34824269e-03 1.53187363e+01] [ 3.58380900e-02 -1.01594736e-03 9.99357093e-01 1.40948166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.32, Y:15.32, Z:14.10 [[ 9.97417069e-01 -6.22544034e-02 -3.58270799e-02 3.98316904e+02] [ 6.22460531e-02 9.98059922e-01 -1.34951367e-03 1.53208819e+01] [ 3.58415858e-02 -8.84066351e-04 9.99357093e-01 1.40952520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.35, Y:15.32, Z:14.10 [[ 9.97515726e-01 -6.06531089e-02 -3.58270309e-02 3.98345947e+02] [ 6.06436800e-02 9.98158564e-01 -1.35081322e-03 1.53220648e+01] [ 3.58429888e-02 -8.25225563e-04 9.99357093e-01 1.40954908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.37, Y:15.32, Z:14.10 [[ 9.97564246e-01 -5.98498417e-02 -3.58269580e-02 3.98373333e+02] [ 5.98398258e-02 9.98207075e-01 -1.35274502e-03 1.53232025e+01] [ 3.58436845e-02 -7.94428861e-04 9.99357093e-01 1.40960761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.40, Y:15.32, Z:14.10 [[ 9.97593468e-01 -5.93608549e-02 -3.58268401e-02 3.98402350e+02] [ 5.93504120e-02 9.98236290e-01 -1.35586083e-03 1.53239667e+01] [ 3.58441370e-02 -7.73739810e-04 9.99357093e-01 1.40973816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.43, Y:15.32, Z:14.10 [[ 9.97568407e-01 -5.97807212e-02 -3.58264971e-02 3.98429837e+02] [ 5.97702257e-02 9.98211229e-01 -1.36486353e-03 1.53241461e+01] [ 3.58440042e-02 -7.79813084e-04 9.99357093e-01 1.40979781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.46, Y:15.32, Z:14.10 [[ 9.97504522e-01 -6.08374822e-02 -3.58263757e-02 3.98458616e+02] [ 6.08275535e-02 9.98147352e-01 -1.36804396e-03 1.53246836e+01] [ 3.58432304e-02 -8.14600748e-04 9.99357093e-01 1.40988230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.49, Y:15.33, Z:14.10 [[ 9.97405328e-01 -6.24428320e-02 -3.58260291e-02 3.98487103e+02] [ 6.24336143e-02 9.98048169e-01 -1.37705889e-03 1.53254970e+01] [ 3.58420902e-02 -8.63262615e-04 9.99357093e-01 1.40995841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.52, Y:15.33, Z:14.10 [[ 9.97299409e-01 -6.41124751e-02 -3.58256812e-02 3.98515428e+02] [ 6.41040108e-02 9.97942260e-01 -1.38605313e-03 1.53262590e+01] [ 3.58408245e-02 -9.14259880e-04 9.99357093e-01 1.41001495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.54, Y:15.33, Z:14.10 [[ 9.97178096e-01 -6.59724927e-02 -3.58256072e-02 3.98543951e+02] [ 6.59651588e-02 9.97820962e-01 -1.38796308e-03 1.53269697e+01] [ 3.58391092e-02 -9.79195485e-04 9.99357093e-01 1.41010783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.57, Y:15.33, Z:14.10 [[ 9.97066591e-01 -6.76370028e-02 -3.58252652e-02 3.98573568e+02] [ 6.76304271e-02 9.97709464e-01 -1.39673507e-03 1.53277267e+01] [ 3.58376771e-02 -1.03024011e-03 9.99357093e-01 1.41025037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.60, Y:15.33, Z:14.10 [[ 9.96831061e-01 -7.10238656e-02 -3.58252139e-02 3.98602926e+02] [ 7.10194268e-02 9.97473953e-01 -1.39804798e-03 1.53280527e+01] [ 3.58340125e-02 -1.15066851e-03 9.99357093e-01 1.41031785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.63, Y:15.33, Z:14.10 [[ 9.96703957e-01 -7.27858196e-02 -3.58252149e-02 3.98632329e+02] [ 7.27825181e-02 9.97346856e-01 -1.39802294e-03 1.53289742e+01] [ 3.58319217e-02 -1.21403436e-03 9.99357093e-01 1.41042029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.66, Y:15.33, Z:14.11 [[ 9.96473735e-01 -7.58726058e-02 -3.58251654e-02 3.98662835e+02] [ 7.58712500e-02 9.97116641e-01 -1.39929201e-03 1.53300731e+01] [ 3.58280365e-02 -1.32374234e-03 9.99357093e-01 1.41058798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.69, Y:15.33, Z:14.11 [[ 9.96387368e-01 -7.69985088e-02 -3.58251654e-02 3.98693423e+02] [ 7.69978795e-02 9.97030275e-01 -1.39929201e-03 1.53313042e+01] [ 3.58265178e-02 -1.36422488e-03 9.99357093e-01 1.41073199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.72, Y:15.33, Z:14.11 [[ 9.96321081e-01 -7.78515290e-02 -3.58251654e-02 3.98724210e+02] [ 7.78514501e-02 9.96963988e-01 -1.39929201e-03 1.53325972e+01] [ 3.58253368e-02 -1.39489695e-03 9.99357093e-01 1.41087798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.75, Y:15.33, Z:14.11 [[ 9.96262622e-01 -7.85960640e-02 -3.58252161e-02 3.98754634e+02] [ 7.85965123e-02 9.96905529e-01 -1.39799106e-03 1.53341729e+01] [ 3.58242326e-02 -1.42297080e-03 9.99357093e-01 1.41100441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.78, Y:15.34, Z:14.11 [[ 9.96238556e-01 -7.89004964e-02 -3.58252996e-02 3.98784725e+02] [ 7.89012181e-02 9.96881462e-01 -1.39584909e-03 1.53356359e+01] [ 3.58237102e-02 -1.43606109e-03 9.99357093e-01 1.41108490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.82, Y:15.34, Z:14.11 [[ 9.96238190e-01 -7.89050990e-02 -3.58253244e-02 3.98815977e+02] [ 7.89058465e-02 9.96881097e-01 -1.39521262e-03 1.53370890e+01] [ 3.58236780e-02 -1.43686345e-03 9.99357093e-01 1.41119674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.85, Y:15.34, Z:14.11 [[ 9.96255039e-01 -7.86920584e-02 -3.58253731e-02 3.98847593e+02] [ 7.86927134e-02 9.96897946e-01 -1.39396028e-03 1.53394345e+01] [ 3.58239344e-02 -1.43045587e-03 9.99357093e-01 1.41128229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.88, Y:15.34, Z:14.11 [[ 9.96313419e-01 -7.79494021e-02 -3.58254224e-02 3.98878570e+02] [ 7.79496233e-02 9.96956326e-01 -1.39269283e-03 1.53413562e+01] [ 3.58249410e-02 -1.40501962e-03 9.99357093e-01 1.41144524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.91, Y:15.34, Z:14.12 [[ 9.96383394e-01 -7.70497737e-02 -3.58254737e-02 3.98908608e+02] [ 7.70494619e-02 9.97026301e-01 -1.39137000e-03 1.53433553e+01] [ 3.58261443e-02 -1.37399551e-03 9.99357093e-01 1.41150813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.94, Y:15.35, Z:14.12 [[ 9.96461823e-01 -7.60287357e-02 -3.58254992e-02 3.98939955e+02] [ 7.60277887e-02 9.97104729e-01 -1.39071423e-03 1.53455385e+01] [ 3.58275089e-02 -1.33793984e-03 9.99357093e-01 1.41162985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.97, Y:15.35, Z:14.12 [[ 9.96674230e-01 -7.31915923e-02 -3.58255483e-02 3.98971329e+02] [ 7.31888605e-02 9.97317131e-01 -1.38944836e-03 1.53484362e+01] [ 3.58311290e-02 -1.23720368e-03 9.99357093e-01 1.41179822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.00, Y:15.35, Z:14.12 [[ 9.96773535e-01 -7.18265005e-02 -3.58255988e-02 3.99001681e+02] [ 7.18229349e-02 9.97416432e-01 -1.38814559e-03 1.53506179e+01] [ 3.58327465e-02 -1.18943286e-03 9.99357093e-01 1.41188656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.03, Y:15.35, Z:14.12 [[ 9.96852748e-01 -7.07186253e-02 -3.58256238e-02 3.99031699e+02] [ 7.07143684e-02 9.97495641e-01 -1.38749914e-03 1.53527277e+01] [ 3.58340256e-02 -1.15025403e-03 9.99357093e-01 1.41200982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.06, Y:15.35, Z:14.12 [[ 9.96919325e-01 -6.97738027e-02 -3.58256238e-02 3.99060708e+02] [ 6.97689365e-02 9.97562214e-01 -1.38749914e-03 1.53545731e+01] [ 3.58350997e-02 -1.11629097e-03 9.99357093e-01 1.41209012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.09, Y:15.36, Z:14.12 [[ 9.96996941e-01 -6.86558481e-02 -3.58255997e-02 3.99090873e+02] [ 6.86502386e-02 9.97639824e-01 -1.38812220e-03 1.53578001e+01] [ 3.58363476e-02 -1.07548238e-03 9.99357093e-01 1.41219518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.12, Y:15.36, Z:14.12 [[ 9.97011040e-01 -6.84508101e-02 -3.58255997e-02 3.99120190e+02] [ 6.84450684e-02 9.97653921e-01 -1.38812220e-03 1.53600013e+01] [ 3.58365681e-02 -1.06811246e-03 9.99357093e-01 1.41224064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.15, Y:15.36, Z:14.12 [[ 9.97013644e-01 -6.84128729e-02 -3.58255756e-02 3.99149481e+02] [ 6.84070844e-02 9.97656525e-01 -1.38874253e-03 1.53621102e+01] [ 3.58366272e-02 -1.06612792e-03 9.99357093e-01 1.41238369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.18, Y:15.37, Z:14.12 [[ 9.97053184e-01 -6.78342082e-02 -3.58255257e-02 3.99178811e+02] [ 6.78280004e-02 9.97696061e-01 -1.39003023e-03 1.53651960e+01] [ 3.58372774e-02 -1.04403970e-03 9.99357093e-01 1.41243014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.21, Y:15.37, Z:14.13 [[ 9.97086659e-01 -6.73403779e-02 -3.58255324e-02 3.99208777e+02] [ 6.73338580e-02 9.97729532e-01 -1.38985658e-03 1.53673508e+01] [ 3.58377852e-02 -1.02646385e-03 9.99357093e-01 1.41256048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.24, Y:15.37, Z:14.13 [[ 9.97132930e-01 -6.66517189e-02 -3.58255324e-02 3.99238592e+02] [ 6.66447549e-02 9.97775799e-01 -1.38985658e-03 1.53697669e+01] [ 3.58384855e-02 -1.00171206e-03 9.99357093e-01 1.41266046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.27, Y:15.37, Z:14.13 [[ 9.97205172e-01 -6.55620358e-02 -3.58254827e-02 3.99268556e+02] [ 6.55543233e-02 9.97848032e-01 -1.39113725e-03 1.53722589e+01] [ 3.58395932e-02 -9.61266011e-04 9.99357093e-01 1.41279751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.30, Y:15.37, Z:14.13 [[ 9.97292538e-01 -6.42193994e-02 -3.58254332e-02 3.99298038e+02] [ 6.42107757e-02 9.97935387e-01 -1.39240977e-03 1.53745609e+01] [ 3.58408873e-02 -9.11738978e-04 9.99357093e-01 1.41291579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.33, Y:15.38, Z:14.13 [[ 9.97393952e-01 -6.26246542e-02 -3.58253839e-02 3.99327902e+02] [ 6.26149571e-02 9.98036785e-01 -1.39367779e-03 1.53767803e+01] [ 3.58423295e-02 -8.53159074e-04 9.99357093e-01 1.41303992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.36, Y:15.38, Z:14.13 [[ 9.97611705e-01 -5.90544757e-02 -3.58253347e-02 3.99356674e+02] [ 5.90424325e-02 9.98254499e-01 -1.39494122e-03 1.53804173e+01] [ 3.58451791e-02 -7.23605222e-04 9.99357093e-01 1.41313495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.39, Y:15.38, Z:14.13 [[ 9.97727644e-01 -5.70622452e-02 -3.58252386e-02 3.99386709e+02] [ 5.70488302e-02 9.98370411e-01 -1.39740403e-03 1.53827210e+01] [ 3.58465972e-02 -6.49559326e-04 9.99357093e-01 1.41330481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.41, Y:15.38, Z:14.13 [[ 9.97835246e-01 -5.51486871e-02 -3.58251879e-02 3.99414810e+02] [ 5.51339927e-02 9.98477985e-01 -1.39870351e-03 1.53846368e+01] [ 3.58477981e-02 -5.79509982e-04 9.99357093e-01 1.41340902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.44, Y:15.39, Z:14.14 [[ 9.97947355e-01 -5.30814452e-02 -3.58250917e-02 3.99442717e+02] [ 5.30653311e-02 9.98590060e-01 -1.40116165e-03 1.53863550e+01] [ 3.58489562e-02 -5.02784795e-04 9.99357093e-01 1.41350595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.47, Y:15.39, Z:14.14 [[ 9.98136221e-01 -4.94030034e-02 -3.58249679e-02 3.99470503e+02] [ 4.93844072e-02 9.98778859e-01 -1.40432186e-03 1.53884700e+01] [ 3.58505982e-02 -3.67490289e-04 9.99357093e-01 1.41365315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.50, Y:15.39, Z:14.14 [[ 9.98215874e-01 -4.77668295e-02 -3.58245693e-02 3.99497646e+02] [ 4.77468178e-02 9.98858469e-01 -1.41441572e-03 1.53899674e+01] [ 3.58512366e-02 -2.98616959e-04 9.99357093e-01 1.41374401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.53, Y:15.39, Z:14.14 [[ 9.98278018e-01 -4.64500999e-02 -3.58243963e-02 3.99525216e+02] [ 4.64290838e-02 9.98920581e-01 -1.41878532e-03 1.53912262e+01] [ 3.58516295e-02 -2.46951696e-04 9.99357093e-01 1.41386050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.55, Y:15.39, Z:14.14 [[ 9.98333446e-01 -4.52434692e-02 -3.58239896e-02 3.99552596e+02] [ 4.52213105e-02 9.98975971e-01 -1.42898115e-03 1.53925627e+01] [ 3.58519569e-02 -1.93408080e-04 9.99357093e-01 1.41391553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.58, Y:15.39, Z:14.14 [[ 9.98382516e-01 -4.41475478e-02 -3.58238129e-02 3.99580050e+02] [ 4.41245253e-02 9.99025011e-01 -1.43339769e-03 1.53932646e+01] [ 3.58521660e-02 -1.49629549e-04 9.99357093e-01 1.41392338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.61, Y:15.39, Z:14.14 [[ 9.98369053e-01 -4.44512966e-02 -3.58234079e-02 3.99606565e+02] [ 4.44281090e-02 9.99011541e-01 -1.44344821e-03 1.53939693e+01] [ 3.58521611e-02 -1.50472252e-04 9.99357093e-01 1.41397410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.63, Y:15.39, Z:14.14 [[ 9.98348241e-01 -4.49164341e-02 -3.58232319e-02 3.99634610e+02] [ 4.48933895e-02 9.98990734e-01 -1.44780386e-03 1.53941517e+01] [ 3.58521069e-02 -1.62813868e-04 9.99357093e-01 1.41402184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.66, Y:15.39, Z:14.14 [[ 9.98301876e-01 -4.59357079e-02 -3.58228302e-02 3.99662856e+02] [ 4.59129651e-02 9.98944380e-01 -1.45767514e-03 1.53944961e+01] [ 3.58519743e-02 -1.89532522e-04 9.99357093e-01 1.41410718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.69, Y:15.39, Z:14.14 [[ 9.98189190e-01 -4.83228294e-02 -3.58224100e-02 3.99690842e+02] [ 4.83012552e-02 9.98831735e-01 -1.46792878e-03 1.53937957e+01] [ 3.58514944e-02 -2.64996729e-04 9.99357093e-01 1.41414500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.72, Y:15.39, Z:14.14 [[ 9.98105658e-01 -5.00188004e-02 -3.58219897e-02 3.99718402e+02] [ 4.99979523e-02 9.98748227e-01 -1.47811527e-03 1.53940384e+01] [ 3.58510822e-02 -3.15710915e-04 9.99357093e-01 1.41420842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.75, Y:15.39, Z:14.14 [[ 9.98020904e-01 -5.16825941e-02 -3.58215676e-02 3.99746707e+02] [ 5.16624527e-02 9.98663495e-01 -1.48827408e-03 1.53943168e+01] [ 3.58506098e-02 -3.65301400e-04 9.99357094e-01 1.41433019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.77, Y:15.39, Z:14.14 [[ 9.97934172e-01 -5.33313651e-02 -3.58211408e-02 3.99773359e+02] [ 5.33119191e-02 9.98576784e-01 -1.49847672e-03 1.53946214e+01] [ 3.58500754e-02 -4.14312641e-04 9.99357094e-01 1.41441288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.80, Y:15.40, Z:14.15 [[ 9.97819474e-01 -5.54361272e-02 -3.58208406e-02 3.99801379e+02] [ 5.54177804e-02 9.98462119e-01 -1.50561895e-03 1.53951140e+01] [ 3.58492181e-02 -4.82775565e-04 9.99357094e-01 1.41453377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.83, Y:15.39, Z:14.15 [[ 9.97640722e-01 -5.85652484e-02 -3.58204117e-02 3.99828885e+02] [ 5.85485532e-02 9.98283411e-01 -1.51575617e-03 1.53939689e+01] [ 3.58476934e-02 -5.85053200e-04 9.99357094e-01 1.41463331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.86, Y:15.39, Z:14.15 [[ 9.97527418e-01 -6.04645191e-02 -3.58202786e-02 3.99857726e+02] [ 6.04489350e-02 9.98170135e-01 -1.51889483e-03 1.53940473e+01] [ 3.58465716e-02 -6.50158455e-04 9.99357094e-01 1.41480775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.89, Y:15.39, Z:14.15 [[ 9.97432637e-01 -6.20086396e-02 -3.58198866e-02 3.99886501e+02] [ 6.19937205e-02 9.98075370e-01 -1.52808477e-03 1.53942481e+01] [ 3.58457010e-02 -6.96446414e-04 9.99357094e-01 1.41490380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.92, Y:15.39, Z:14.15 [[ 9.97230606e-01 -6.51771473e-02 -3.58198031e-02 3.99915535e+02] [ 6.51642001e-02 9.97873382e-01 -1.53003929e-03 1.53931820e+01] [ 3.58433516e-02 -8.08366802e-04 9.99357094e-01 1.41501022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.95, Y:15.39, Z:14.15 [[ 9.97078651e-01 -6.74619274e-02 -3.58197216e-02 3.99945513e+02] [ 6.74503846e-02 9.97721454e-01 -1.53194455e-03 1.53933390e+01] [ 3.58414526e-02 -8.88584789e-04 9.99357094e-01 1.41517181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:15.39, Z:14.15 [[ 9.96937610e-01 -6.95151230e-02 -3.58196681e-02 3.99975604e+02] [ 6.95048591e-02 9.97580435e-01 -1.53319329e-03 1.53929988e+01] [ 3.58395802e-02 -9.61142935e-04 9.99357094e-01 1.41530515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.01, Y:15.39, Z:14.15 [[ 9.96642696e-01 -7.36226025e-02 -3.58196681e-02 4.00006685e+02] [ 7.36149875e-02 9.97285557e-01 -1.53319329e-03 1.53909396e+01] [ 3.58353154e-02 -1.10881853e-03 9.99357094e-01 1.41544951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.04, Y:15.39, Z:14.16 [[ 9.96498551e-01 -7.55485941e-02 -3.58196681e-02 4.00036128e+02] [ 7.55422216e-02 9.97141425e-01 -1.53319329e-03 1.53907056e+01] [ 3.58331055e-02 -1.17807242e-03 9.99357094e-01 1.41557532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.07, Y:15.39, Z:14.16 [[ 9.96383768e-01 -7.70476275e-02 -3.58196742e-02 4.00067090e+02] [ 7.70422272e-02 9.97026652e-01 -1.53305192e-03 1.53905577e+01] [ 3.58312878e-02 -1.23211943e-03 9.99357094e-01 1.41572354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.10, Y:15.39, Z:14.16 [[ 9.96386566e-01 -7.70114372e-02 -3.58196742e-02 4.00098887e+02] [ 7.70060136e-02 9.97029450e-01 -1.53305192e-03 1.53918904e+01] [ 3.58313326e-02 -1.23081798e-03 9.99357094e-01 1.41583771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.13, Y:15.39, Z:14.16 [[ 9.96317177e-01 -7.79039821e-02 -3.58197299e-02 4.00130565e+02] [ 7.78991811e-02 9.96960065e-01 -1.53175005e-03 1.53918608e+01] [ 3.58301696e-02 -1.26421874e-03 9.99357094e-01 1.41591335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:15.39, Z:14.16 [[ 9.96276748e-01 -7.84192873e-02 -3.58197854e-02 4.00161762e+02] [ 7.84148655e-02 9.96919639e-01 -1.53044998e-03 1.53919648e+01] [ 3.58294643e-02 -1.28405192e-03 9.99357094e-01 1.41598052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.19, Y:15.39, Z:14.16 [[ 9.96277170e-01 -7.84139035e-02 -3.58198410e-02 4.00192594e+02] [ 7.84095250e-02 9.96920061e-01 -1.52914798e-03 1.53924902e+01] [ 3.58294245e-02 -1.28516150e-03 9.99357094e-01 1.41608565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.22, Y:15.39, Z:14.16 [[ 9.96354201e-01 -7.74289417e-02 -3.58198961e-02 4.00224417e+02] [ 7.74239739e-02 9.96997088e-01 -1.52785685e-03 1.53925147e+01] [ 3.58306324e-02 -1.25103210e-03 9.99357094e-01 1.41622990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.26, Y:15.39, Z:14.16 [[ 9.96413574e-01 -7.66610726e-02 -3.58199505e-02 4.00255294e+02] [ 7.66556553e-02 9.97056458e-01 -1.52657966e-03 1.53934525e+01] [ 3.58315422e-02 -1.22469708e-03 9.99357094e-01 1.41639701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.29, Y:15.39, Z:14.17 [[ 9.96513765e-01 -7.53475069e-02 -3.58199505e-02 4.00286226e+02] [ 7.53412422e-02 9.97156641e-01 -1.52657966e-03 1.53941429e+01] [ 3.58331255e-02 -1.17746192e-03 9.99357094e-01 1.41653144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.32, Y:15.40, Z:14.17 [[ 9.96611185e-01 -7.40478017e-02 -3.58199505e-02 4.00315826e+02] [ 7.40406985e-02 9.97254052e-01 -1.52657966e-03 1.53952099e+01] [ 3.58346306e-02 -1.13072779e-03 9.99357094e-01 1.41662669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.35, Y:15.40, Z:14.17 [[ 9.96800695e-01 -7.14514375e-02 -3.58199236e-02 4.00345419e+02] [ 7.14426371e-02 9.97443541e-01 -1.52720963e-03 1.53961623e+01] [ 3.58374728e-02 -1.03674618e-03 9.99357094e-01 1.41666544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.38, Y:15.40, Z:14.17 [[ 9.96873025e-01 -7.04351208e-02 -3.58198970e-02 4.00375234e+02] [ 7.04256426e-02 9.97515862e-01 -1.52783348e-03 1.53973344e+01] [ 3.58385286e-02 -9.99583279e-04 9.99357094e-01 1.41679796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.40, Y:15.40, Z:14.17 [[ 9.96950899e-01 -6.93241934e-02 -3.58198416e-02 4.00404323e+02] [ 6.93139522e-02 9.97593724e-01 -1.52913236e-03 1.53986022e+01] [ 3.58396550e-02 -9.58344910e-04 9.99357094e-01 1.41681584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.43, Y:15.40, Z:14.17 [[ 9.97112696e-01 -6.69568303e-02 -3.58197589e-02 4.00433799e+02] [ 6.69449934e-02 9.97755493e-01 -1.53106560e-03 1.54001668e+01] [ 3.58418765e-02 -8.71308580e-04 9.99357094e-01 1.41690370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.46, Y:15.40, Z:14.17 [[ 9.97174625e-01 -6.60281423e-02 -3.58197044e-02 4.00462364e+02] [ 6.60156610e-02 9.97817410e-01 -1.53234150e-03 1.54015156e+01] [ 3.58427023e-02 -8.36649396e-04 9.99357094e-01 1.41696998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.49, Y:15.40, Z:14.17 [[ 9.97260593e-01 -6.47167970e-02 -3.58196231e-02 4.00491750e+02] [ 6.47034023e-02 9.97903360e-01 -1.53423905e-03 1.54028163e+01] [ 3.58438133e-02 -7.87615337e-04 9.99357094e-01 1.41711562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.52, Y:15.40, Z:14.17 [[ 9.97341396e-01 -6.34594236e-02 -3.58195682e-02 4.00520774e+02] [ 6.34451725e-02 9.97984144e-01 -1.53551951e-03 1.54041965e+01] [ 3.58448043e-02 -7.41141514e-04 9.99357094e-01 1.41722865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.55, Y:15.41, Z:14.17 [[ 9.97443800e-01 -6.18290474e-02 -3.58194863e-02 4.00549263e+02] [ 6.18136772e-02 9.98086522e-01 -1.53742654e-03 1.54058608e+01] [ 3.58460042e-02 -6.80637597e-04 9.99357094e-01 1.41748380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.58, Y:15.41, Z:14.18 [[ 9.97455895e-01 -6.16338367e-02 -3.58191016e-02 4.00578029e+02] [ 6.16180208e-02 9.98098607e-01 -1.54633784e-03 1.54071754e+01] [ 3.58463022e-02 -6.64698352e-04 9.99357094e-01 1.41775712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.61, Y:15.41, Z:14.18 [[ 9.97436149e-01 -6.19527956e-02 -3.58187047e-02 4.00606109e+02] [ 6.19368571e-02 9.98078858e-01 -1.55547844e-03 1.54085864e+01] [ 3.58462581e-02 -6.67007566e-04 9.99357094e-01 1.41794432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.63, Y:15.41, Z:14.18 [[ 9.97398853e-01 -6.25504476e-02 -3.58185640e-02 4.00633683e+02] [ 6.25347781e-02 9.98041568e-01 -1.55871214e-03 1.54097184e+01] [ 3.58459139e-02 -6.85248252e-04 9.99357094e-01 1.41810986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.66, Y:15.41, Z:14.18 [[ 9.97310047e-01 -6.39508456e-02 -3.58184242e-02 4.00662632e+02] [ 6.39359636e-02 9.97952781e-01 -1.56191626e-03 1.54106783e+01] [ 3.58449819e-02 -7.32370686e-04 9.99357094e-01 1.41826125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.69, Y:15.41, Z:14.18 [[ 9.97081059e-01 -6.74272189e-02 -3.58180261e-02 4.00691526e+02] [ 6.74142517e-02 9.97723835e-01 -1.57099353e-03 1.54109100e+01] [ 3.58424261e-02 -8.48237539e-04 9.99357094e-01 1.41838179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.72, Y:15.41, Z:14.18 [[ 9.96938693e-01 -6.95006537e-02 -3.58176248e-02 4.00721554e+02] [ 6.94886966e-02 9.97581488e-01 -1.58009167e-03 1.54118694e+01] [ 3.58408168e-02 -9.13665535e-04 9.99357094e-01 1.41848623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.75, Y:15.41, Z:14.19 [[ 9.96794600e-01 -7.15375927e-02 -3.58175675e-02 4.00751535e+02] [ 7.15269026e-02 9.97437417e-01 -1.58138922e-03 1.54125965e+01] [ 3.58389108e-02 -9.85599424e-04 9.99357094e-01 1.41854086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.78, Y:15.41, Z:14.19 [[ 9.96627938e-01 -7.38231471e-02 -3.58175390e-02 4.00782456e+02] [ 7.38139079e-02 9.97270778e-01 -1.58203414e-03 1.54133224e+01] [ 3.58365757e-02 -1.06713310e-03 9.99357094e-01 1.41861810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.81, Y:15.41, Z:14.19 [[ 9.96276627e-01 -7.84218457e-02 -3.58175390e-02 4.00811688e+02] [ 7.84155733e-02 9.96919503e-01 -1.58203414e-03 1.54134407e+01] [ 3.58312692e-02 -1.23250921e-03 9.99357094e-01 1.41866379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.84, Y:15.41, Z:14.19 [[ 9.96110692e-01 -8.05021485e-02 -3.58175101e-02 4.00841550e+02] [ 8.04971951e-02 9.96753579e-01 -1.58268777e-03 1.54144138e+01] [ 3.58286411e-02 -1.30667689e-03 9.99357094e-01 1.41879617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.87, Y:15.42, Z:14.19 [[ 9.95955073e-01 -8.24050707e-02 -3.58175382e-02 4.00873004e+02] [ 8.24013684e-02 9.96597969e-01 -1.58205197e-03 1.54156423e+01] [ 3.58260549e-02 -1.37576147e-03 9.99357094e-01 1.41897365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.90, Y:15.42, Z:14.19 [[ 9.95829356e-01 -8.39106323e-02 -3.58175953e-02 4.00902830e+02] [ 8.39079483e-02 9.96472256e-01 -1.58075847e-03 1.54167009e+01] [ 3.58238824e-02 -1.43121524e-03 9.99357094e-01 1.41908939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.93, Y:15.42, Z:14.19 [[ 9.95667047e-01 -8.58150640e-02 -3.58176896e-02 4.00932677e+02] [ 8.58136864e-02 9.96309951e-01 -1.57861870e-03 1.54182539e+01] [ 3.58209898e-02 -1.50186937e-03 9.99357094e-01 1.41908918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.96, Y:15.42, Z:14.19 [[ 9.95632401e-01 -8.62160861e-02 -3.58177176e-02 4.00964200e+02] [ 8.62149903e-02 9.96275306e-01 -1.57798316e-03 1.54199603e+01] [ 3.58203551e-02 -1.51693301e-03 9.99357094e-01 1.41916618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.00, Y:15.42, Z:14.19 [[ 9.95645545e-01 -8.60641340e-02 -3.58177742e-02 4.00995166e+02] [ 8.60629863e-02 9.96288450e-01 -1.57669620e-03 1.54217807e+01] [ 3.58205318e-02 -1.51275406e-03 9.99357094e-01 1.41926988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:15.42, Z:14.19 [[ 9.95705068e-01 -8.53727112e-02 -3.58178306e-02 4.01026073e+02] [ 8.53711631e-02 9.96347973e-01 -1.57541505e-03 1.54236672e+01] [ 3.58215203e-02 -1.48916110e-03 9.99357094e-01 1.41935946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.06, Y:15.43, Z:14.20 [[ 9.95876606e-01 -8.33478360e-02 -3.58179147e-02 4.01057205e+02] [ 8.33450494e-02 9.96519507e-01 -1.57349983e-03 1.54263409e+01] [ 3.58243985e-02 -1.41823419e-03 9.99357094e-01 1.41952565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.09, Y:15.43, Z:14.20 [[ 9.95999244e-01 -8.18692770e-02 -3.58179724e-02 4.01088645e+02] [ 8.18655831e-02 9.96642140e-01 -1.57218513e-03 1.54286163e+01] [ 3.58264143e-02 -1.36636400e-03 9.99357094e-01 1.41964038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.12, Y:15.43, Z:14.20 [[ 9.96221139e-01 -7.91233928e-02 -3.58180301e-02 4.01118974e+02] [ 7.91179740e-02 9.96864022e-01 -1.57086999e-03 1.54316856e+01] [ 3.58299981e-02 -1.26891609e-03 9.99357094e-01 1.41974285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.15, Y:15.43, Z:14.20 [[ 9.96330011e-01 -7.77404438e-02 -3.58180587e-02 4.01150577e+02] [ 7.77341559e-02 9.96972886e-01 -1.57021828e-03 1.54342388e+01] [ 3.58317028e-02 -1.21983096e-03 9.99357094e-01 1.41985158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.18, Y:15.44, Z:14.20 [[ 9.96403138e-01 -7.67974521e-02 -3.58181151e-02 4.01182041e+02] [ 7.67906021e-02 9.97046008e-01 -1.56892886e-03 1.54367445e+01] [ 3.58327985e-02 -1.18720899e-03 9.99357094e-01 1.41997600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.21, Y:15.44, Z:14.20 [[ 9.96468123e-01 -7.59495798e-02 -3.58181715e-02 4.01213284e+02] [ 7.59422291e-02 9.97110987e-01 -1.56764067e-03 1.54392747e+01] [ 3.58337540e-02 -1.15800784e-03 9.99357094e-01 1.42008240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.24, Y:15.44, Z:14.20 [[ 9.96504020e-01 -7.54771056e-02 -3.58182286e-02 4.01243815e+02] [ 7.54694969e-02 9.97146881e-01 -1.56633579e-03 1.54415169e+01] [ 3.58342574e-02 -1.14232378e-03 9.99357094e-01 1.42013270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.28, Y:15.44, Z:14.20 [[ 9.96508038e-01 -7.54239931e-02 -3.58183233e-02 4.01275104e+02] [ 7.54164280e-02 9.97150899e-01 -1.56416640e-03 1.54443978e+01] [ 3.58342490e-02 -1.14258562e-03 9.99357094e-01 1.42020819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.31, Y:15.45, Z:14.20 [[ 9.96505436e-01 -7.54583302e-02 -3.58183802e-02 4.01305874e+02] [ 7.54508341e-02 9.97148298e-01 -1.56286221e-03 1.54463246e+01] [ 3.58341679e-02 -1.14512598e-03 9.99357094e-01 1.42029877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.34, Y:15.45, Z:14.20 [[ 9.96510710e-01 -7.53885990e-02 -3.58184748e-02 4.01336629e+02] [ 7.53811358e-02 9.97153573e-01 -1.56069280e-03 1.54484454e+01] [ 3.58341785e-02 -1.14479021e-03 9.99357094e-01 1.42037510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.37, Y:15.45, Z:14.21 [[ 9.96545041e-01 -7.49334127e-02 -3.58185026e-02 4.01367688e+02] [ 7.49256789e-02 9.97187900e-01 -1.56005238e-03 1.54503647e+01] [ 3.58346775e-02 -1.12906317e-03 9.99357094e-01 1.42050841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.40, Y:15.45, Z:14.21 [[ 9.96654097e-01 -7.34686413e-02 -3.58185584e-02 4.01397518e+02] [ 7.34600087e-02 9.97296945e-01 -1.55877121e-03 1.54532036e+01] [ 3.58362597e-02 -1.07767590e-03 9.99357094e-01 1.42063815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.43, Y:15.46, Z:14.21 [[ 9.96744563e-01 -7.22309111e-02 -3.58185861e-02 4.01428237e+02] [ 7.22215030e-02 9.97387401e-01 -1.55813566e-03 1.54556785e+01] [ 3.58375520e-02 -1.03380887e-03 9.99357094e-01 1.42077059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.46, Y:15.46, Z:14.21 [[ 9.96859333e-01 -7.06293128e-02 -3.58185861e-02 4.01458815e+02] [ 7.06188719e-02 9.97502154e-01 -1.55813566e-03 1.54584028e+01] [ 3.58391668e-02 -9.76226067e-04 9.99357094e-01 1.42091597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.49, Y:15.46, Z:14.21 [[ 9.97095887e-01 -6.72072968e-02 -3.58185861e-02 4.01488818e+02] [ 6.71946495e-02 9.97738669e-01 -1.55813566e-03 1.54617920e+01] [ 3.58423065e-02 -8.53206680e-04 9.99357094e-01 1.42108126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.52, Y:15.46, Z:14.21 [[ 9.97207092e-01 -6.55365939e-02 -3.58185861e-02 4.01517758e+02] [ 6.55228697e-02 9.97849851e-01 -1.55813566e-03 1.54640007e+01] [ 3.58436857e-02 -7.93152619e-04 9.99357094e-01 1.42112310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.55, Y:15.47, Z:14.21 [[ 9.97298725e-01 -6.41270907e-02 -3.58185582e-02 4.01546897e+02] [ 6.41124350e-02 9.97941464e-01 -1.55877559e-03 1.54660322e+01] [ 3.58447842e-02 -7.41850074e-04 9.99357094e-01 1.42128068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.58, Y:15.47, Z:14.21 [[ 9.97365246e-01 -6.30840822e-02 -3.58185021e-02 4.01575791e+02] [ 6.30687081e-02 9.98007968e-01 -1.56006304e-03 1.54678343e+01] [ 3.58455657e-02 -7.03073998e-04 9.99357094e-01 1.42135432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.60, Y:15.47, Z:14.21 [[ 9.97419480e-01 -6.22207575e-02 -3.58183952e-02 4.01604944e+02] [ 6.22047391e-02 9.98062187e-01 -1.56251408e-03 1.54693936e+01] [ 3.58462067e-02 -6.69591944e-04 9.99357094e-01 1.42144313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.63, Y:15.47, Z:14.21 [[ 9.97410512e-01 -6.23643841e-02 -3.58183392e-02 4.01633998e+02] [ 6.23484122e-02 9.98053220e-01 -1.56379746e-03 1.54711760e+01] [ 3.58461340e-02 -6.73468549e-04 9.99357094e-01 1.42147610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.66, Y:15.47, Z:14.22 [[ 9.97353550e-01 -6.32688319e-02 -3.58183113e-02 4.01663735e+02] [ 6.32534199e-02 9.97996271e-01 -1.56443452e-03 1.54728315e+01] [ 3.58455211e-02 -7.05336372e-04 9.99357094e-01 1.42156254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.69, Y:15.47, Z:14.22 [[ 9.97267032e-01 -6.46182447e-02 -3.58182837e-02 4.01693187e+02] [ 6.46036797e-02 9.97909773e-01 -1.56506642e-03 1.54742425e+01] [ 3.58445472e-02 -7.53203784e-04 9.99357094e-01 1.42171657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.72, Y:15.48, Z:14.22 [[ 9.97157142e-01 -6.62924542e-02 -3.58182267e-02 4.01722268e+02] [ 6.62789215e-02 9.97799905e-01 -1.56637065e-03 1.54755760e+01] [ 3.58432618e-02 -8.12075756e-04 9.99357094e-01 1.42175766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.75, Y:15.48, Z:14.22 [[ 9.96809697e-01 -7.13266014e-02 -3.58181984e-02 4.01752824e+02] [ 7.13162912e-02 9.97452521e-01 -1.56701770e-03 1.54768140e+01] [ 3.58387223e-02 -9.92402623e-04 9.99357094e-01 1.42183779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.78, Y:15.48, Z:14.22 [[ 9.96626091e-01 -7.38477619e-02 -3.58181984e-02 4.01783551e+02] [ 7.38390777e-02 9.97268938e-01 -1.56701770e-03 1.54780713e+01] [ 3.58360974e-02 -1.08305201e-03 9.99357094e-01 1.42183841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.81, Y:15.48, Z:14.22 [[ 9.96416669e-01 -7.66216493e-02 -3.58182265e-02 4.01814686e+02] [ 7.66147776e-02 9.97059538e-01 -1.56637520e-03 1.54794830e+01] [ 3.58329226e-02 -1.18344310e-03 9.99357094e-01 1.42202085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:15.48, Z:14.22 [[ 9.96199116e-01 -7.94000732e-02 -3.58182831e-02 4.01845301e+02] [ 7.93950408e-02 9.96842003e-01 -1.56507933e-03 1.54810633e+01] [ 3.58294365e-02 -1.28466340e-03 9.99357094e-01 1.42209471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.88, Y:15.48, Z:14.22 [[ 9.95796584e-01 -8.42983467e-02 -3.58183112e-02 4.01876382e+02] [ 8.42964991e-02 9.96439488e-01 -1.56443628e-03 1.54830238e+01] [ 3.58226591e-02 -1.46149794e-03 9.99357094e-01 1.42232189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.91, Y:15.48, Z:14.22 [[ 9.95594052e-01 -8.66575393e-02 -3.58183669e-02 4.01908312e+02] [ 8.66572609e-02 9.96236958e-01 -1.56316087e-03 1.54849936e+01] [ 3.58190405e-02 -1.54764790e-03 9.99357094e-01 1.42248144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.94, Y:15.49, Z:14.23 [[ 9.95418469e-01 -8.86516064e-02 -3.58184787e-02 4.01940082e+02] [ 8.86527080e-02 9.96061375e-01 -1.56059370e-03 1.54867474e+01] [ 3.58157523e-02 -1.62196134e-03 9.99357094e-01 1.42270812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.97, Y:15.49, Z:14.23 [[ 9.95077565e-01 -9.23994976e-02 -3.58185933e-02 4.01971980e+02] [ 9.24031148e-02 9.95720461e-01 -1.55796028e-03 1.54892978e+01] [ 3.58092609e-02 -1.75945826e-03 9.99357094e-01 1.42289862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.00, Y:15.49, Z:14.23 [[ 9.95084360e-01 -9.23262514e-02 -3.58187075e-02 4.02004621e+02] [ 9.23299157e-02 9.95727256e-01 -1.55532911e-03 1.54906582e+01] [ 3.58092610e-02 -1.75945457e-03 9.99357094e-01 1.42301574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.04, Y:15.49, Z:14.23 [[ 9.94935533e-01 -9.39164339e-02 -3.58188217e-02 4.02036243e+02] [ 9.39212202e-02 9.95578422e-01 -1.55269425e-03 1.54927015e+01] [ 3.58062695e-02 -1.81931676e-03 9.99357094e-01 1.42317725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.07, Y:15.50, Z:14.23 [[ 9.94789232e-01 -9.54535923e-02 -3.58189365e-02 4.02067771e+02] [ 9.54594672e-02 9.95432111e-01 -1.55004219e-03 1.54951248e+01] [ 3.58032767e-02 -1.87729131e-03 9.99357094e-01 1.42328007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.10, Y:15.50, Z:14.23 [[ 9.94676018e-01 -9.66261754e-02 -3.58190219e-02 4.02099562e+02] [ 9.66328791e-02 9.95318889e-01 -1.54806526e-03 1.54975450e+01] [ 3.58009327e-02 -1.92147183e-03 9.99357094e-01 1.42342935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.13, Y:15.50, Z:14.24 [[ 9.94485407e-01 -9.85685818e-02 -3.58191336e-02 4.02132000e+02] [ 9.85766340e-02 9.95128262e-01 -1.54547651e-03 1.55009592e+01] [ 3.57969676e-02 -1.99397579e-03 9.99357094e-01 1.42359048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.16, Y:15.50, Z:14.24 [[ 9.94420918e-01 -9.92170290e-02 -3.58192444e-02 4.02164956e+02] [ 9.92255926e-02 9.95063767e-01 -1.54290548e-03 1.55032125e+01] [ 3.57955148e-02 -2.01988826e-03 9.99357094e-01 1.42378808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.20, Y:15.51, Z:14.24 [[ 9.94370063e-01 -9.97253563e-02 -3.58194125e-02 4.02196413e+02] [ 9.97343891e-02 9.95012906e-01 -1.53899132e-03 1.55052151e+01] [ 3.57942542e-02 -2.04210034e-03 9.99357094e-01 1.42388462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.23, Y:15.51, Z:14.24 [[ 9.94346901e-01 -9.99560131e-02 -3.58194957e-02 4.02229554e+02] [ 9.99652646e-02 9.94989740e-01 -1.53705248e-03 1.55073266e+01] [ 3.57936684e-02 -2.05234200e-03 9.99357094e-01 1.42405521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.26, Y:15.51, Z:14.24 [[ 9.94371648e-01 -9.97094702e-02 -3.58196595e-02 4.02260968e+02] [ 9.97186997e-02 9.95014487e-01 -1.53322709e-03 1.55105186e+01] [ 3.57939574e-02 -2.04729232e-03 9.99357094e-01 1.42417004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.29, Y:15.51, Z:14.24 [[ 9.94399695e-01 -9.94293182e-02 -3.58197947e-02 4.02292747e+02] [ 9.94384802e-02 9.95042536e-01 -1.53006244e-03 1.55129403e+01] [ 3.57943524e-02 -2.04037231e-03 9.99357094e-01 1.42425796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.32, Y:15.52, Z:14.24 [[ 9.94446011e-01 -9.89649705e-02 -3.58199020e-02 4.02324649e+02] [ 9.89739227e-02 9.95088855e-01 -1.52754549e-03 1.55153370e+01] [ 3.57951588e-02 -2.02617470e-03 9.99357094e-01 1.42433743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.36, Y:15.52, Z:14.24 [[ 9.94560207e-01 -9.78106370e-02 -3.58200098e-02 4.02356248e+02] [ 9.78189340e-02 9.95203060e-01 -1.52501363e-03 1.55187592e+01] [ 3.57973459e-02 -1.98715730e-03 9.99357094e-01 1.42423419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.39, Y:15.52, Z:14.24 [[ 9.94566982e-01 -9.77416874e-02 -3.58201164e-02 4.02388889e+02] [ 9.77500299e-02 9.95209834e-01 -1.52250571e-03 1.55200834e+01] [ 3.57973444e-02 -1.98718354e-03 9.99357094e-01 1.42435131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.42, Y:15.52, Z:14.24 [[ 9.94761100e-01 -9.57458407e-02 -3.58202217e-02 4.02420922e+02] [ 9.57529823e-02 9.95403966e-01 -1.52002406e-03 1.55237041e+01] [ 3.58011267e-02 -1.91783225e-03 9.99357094e-01 1.42442315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.45, Y:15.53, Z:14.25 [[ 9.94913778e-01 -9.41460534e-02 -3.58203287e-02 4.02454086e+02] [ 9.41522519e-02 9.95556654e-01 -1.51749795e-03 1.55262156e+01] [ 3.58040330e-02 -1.86278500e-03 9.99357094e-01 1.42463131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:15.53, Z:14.25 [[ 9.95079113e-01 -9.23820893e-02 -3.58204930e-02 4.02486405e+02] [ 9.23872877e-02 9.95721998e-01 -1.51361069e-03 1.55291848e+01] [ 3.58070834e-02 -1.80319581e-03 9.99357094e-01 1.42470887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.52, Y:15.53, Z:14.25 [[ 9.95301321e-01 -8.99564032e-02 -3.58207461e-02 4.02519690e+02] [ 8.99602505e-02 9.95944216e-01 -1.50759638e-03 1.55323090e+01] [ 3.58110828e-02 -1.72193063e-03 9.99357094e-01 1.42500451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.55, Y:15.54, Z:14.25 [[ 9.95787413e-01 -8.44055181e-02 -3.58209097e-02 4.02550307e+02] [ 8.44059207e-02 9.96430318e-01 -1.50369831e-03 1.55374503e+01] [ 3.58199609e-02 -1.52613302e-03 9.99357094e-01 1.42524257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.58, Y:15.54, Z:14.25 [[ 9.96058736e-01 -8.11409291e-02 -3.58209907e-02 4.02581765e+02] [ 8.11392937e-02 9.96701640e-01 -1.50176716e-03 1.55406914e+01] [ 3.58246950e-02 -1.41064158e-03 9.99357094e-01 1.42535304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.61, Y:15.55, Z:14.26 [[ 9.96621847e-01 -7.39036194e-02 -3.58210694e-02 4.02613293e+02] [ 7.38973816e-02 9.97264723e-01 -1.49988758e-03 1.55458508e+01] [ 3.58339360e-02 -1.15226250e-03 9.99357094e-01 1.42576334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.65, Y:15.55, Z:14.26 [[ 9.96880356e-01 -7.03306401e-02 -3.58211765e-02 4.02645468e+02] [ 7.03221899e-02 9.97523207e-01 -1.49732479e-03 1.55488773e+01] [ 3.58377627e-02 -1.02636990e-03 9.99357094e-01 1.42592805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.68, Y:15.55, Z:14.26 [[ 9.97123589e-01 -6.67935893e-02 -3.58212838e-02 4.02677917e+02] [ 6.67829507e-02 9.97766407e-01 -1.49475498e-03 1.55517602e+01] [ 3.58411136e-02 -9.01795576e-04 9.99357094e-01 1.42614232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.71, Y:15.55, Z:14.26 [[ 9.97354574e-01 -6.32509451e-02 -3.58213935e-02 4.02709246e+02] [ 6.32381176e-02 9.97997352e-01 -1.49211993e-03 1.55543181e+01] [ 3.58440339e-02 -7.77104864e-04 9.99357094e-01 1.42621354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.74, Y:15.56, Z:14.26 [[ 9.97540845e-01 -6.02418787e-02 -3.58214752e-02 4.02740532e+02] [ 6.02271827e-02 9.98183583e-01 -1.49015642e-03 1.55568824e+01] [ 3.58461783e-02 -6.70934634e-04 9.99357094e-01 1.42629198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.77, Y:15.56, Z:14.26 [[ 9.97841022e-01 -5.50464704e-02 -3.58215288e-02 4.02771944e+02] [ 5.50284739e-02 9.98483676e-01 -1.48886647e-03 1.55599767e+01] [ 3.58491686e-02 -4.85552027e-04 9.99357094e-01 1.42629153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.80, Y:15.56, Z:14.26 [[ 9.97947341e-01 -5.30840760e-02 -3.58215827e-02 4.02801044e+02] [ 5.30648623e-02 9.98589960e-01 -1.48756813e-03 1.55619435e+01] [ 3.58500390e-02 -4.16352692e-04 9.99357094e-01 1.42632481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.83, Y:15.56, Z:14.26 [[ 9.98046031e-01 -5.11950722e-02 -3.58215560e-02 4.02830442e+02] [ 5.11746192e-02 9.98688612e-01 -1.48821170e-03 1.55637419e+01] [ 3.58507691e-02 -3.47850707e-04 9.99357094e-01 1.42634015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.86, Y:15.57, Z:14.26 [[ 9.98103052e-01 -5.00711074e-02 -3.58215296e-02 4.02859779e+02] [ 5.00499079e-02 9.98745608e-01 -1.48884682e-03 1.55656865e+01] [ 3.58511436e-02 -3.06841704e-04 9.99357094e-01 1.42648848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.89, Y:15.57, Z:14.27 [[ 9.98140067e-01 -4.93277630e-02 -3.58214762e-02 4.02888600e+02] [ 4.93060389e-02 9.98782606e-01 -1.49013031e-03 1.55670134e+01] [ 3.58513722e-02 -2.78856334e-04 9.99357094e-01 1.42655193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.92, Y:15.57, Z:14.27 [[ 9.98186350e-01 -4.83824336e-02 -3.58211026e-02 4.02917340e+02] [ 4.83597807e-02 9.98828856e-01 -1.49905824e-03 1.55680726e+01] [ 3.58516790e-02 -2.35961195e-04 9.99357094e-01 1.42662963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.94, Y:15.57, Z:14.27 [[ 9.98205621e-01 -4.79834747e-02 -3.58207209e-02 4.02944833e+02] [ 4.79602396e-02 9.98848107e-01 -1.50812365e-03 1.55695233e+01] [ 3.58518243e-02 -2.12552850e-04 9.99357094e-01 1.42669349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.97, Y:15.57, Z:14.27 [[ 9.98225522e-01 -4.75677695e-02 -3.58205856e-02 4.02973204e+02] [ 4.75441518e-02 9.98867994e-01 -1.51133100e-03 1.55710096e+01] [ 3.58519271e-02 -1.94410183e-04 9.99357094e-01 1.42680342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.00, Y:15.57, Z:14.27 [[ 9.98223414e-01 -4.76122653e-02 -3.58202037e-02 4.03001093e+02] [ 4.75883534e-02 9.98865876e-01 -1.52032803e-03 1.55739567e+01] [ 3.58519654e-02 -1.86997478e-04 9.99357094e-01 1.42687233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.03, Y:15.57, Z:14.27 [[ 9.98289155e-01 -4.62219818e-02 -3.58090988e-02 4.03030988e+02] [ 4.61878522e-02 9.98931185e-01 -1.78019481e-03 1.55736974e+01] [ 3.58531097e-02 1.23203805e-04 9.99357063e-01 1.42701536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.06, Y:15.57, Z:14.27 [[ 9.98286550e-01 -4.62697949e-02 -3.58199668e-02 4.03058613e+02] [ 4.62448535e-02 9.98928971e-01 -1.52493989e-03 1.55747289e+01] [ 3.58521612e-02 -1.34162138e-04 9.99357096e-01 1.42715870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.09, Y:15.58, Z:14.27 [[ 9.98284735e-01 -4.63092776e-02 -3.58195288e-02 4.03085901e+02] [ 4.62839949e-02 9.98927142e-01 -1.53515966e-03 1.55757470e+01] [ 3.58521917e-02 -1.25344433e-04 9.99357096e-01 1.42721995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.11, Y:15.58, Z:14.27 [[ 9.98262428e-01 -4.67877707e-02 -3.58193930e-02 4.03114630e+02] [ 4.67626825e-02 9.98904843e-01 -1.53832101e-03 1.55762851e+01] [ 3.58521398e-02 -1.39362837e-04 9.99357096e-01 1.42743706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:15.58, Z:14.28 [[ 9.98227790e-01 -4.75213339e-02 -3.58190128e-02 4.03142716e+02] [ 4.74964019e-02 9.98870211e-01 -1.54712479e-03 1.55772076e+01] [ 3.58520663e-02 -1.56891269e-04 9.99357096e-01 1.42761915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.17, Y:15.58, Z:14.28 [[ 9.98177262e-01 -4.85714245e-02 -3.58185695e-02 4.03170212e+02] [ 4.85468025e-02 9.98819695e-01 -1.55732161e-03 1.55779881e+01] [ 3.58519339e-02 -1.84393993e-04 9.99357096e-01 1.42772341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.20, Y:15.58, Z:14.28 [[ 9.98114541e-01 -4.98438348e-02 -3.58183621e-02 4.03199199e+02] [ 4.98198611e-02 9.98756998e-01 -1.56207633e-03 1.55784979e+01] [ 3.58516997e-02 -2.25334731e-04 9.99357096e-01 1.42785119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.23, Y:15.58, Z:14.28 [[ 9.97987877e-01 -5.23189283e-02 -3.58179700e-02 4.03227632e+02] [ 5.22962271e-02 9.98630380e-01 -1.57101562e-03 1.55775920e+01] [ 3.58511069e-02 -3.05290147e-04 9.99357096e-01 1.42790700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.26, Y:15.58, Z:14.28 [[ 9.97909024e-01 -5.38020379e-02 -3.58178866e-02 4.03256662e+02] [ 5.37802235e-02 9.98551558e-01 -1.57291466e-03 1.55776115e+01] [ 3.58506325e-02 -3.56668215e-04 9.99357096e-01 1.42795120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.29, Y:15.58, Z:14.28 [[ 9.97841907e-01 -5.50328469e-02 -3.58177819e-02 4.03286624e+02] [ 5.50117395e-02 9.98484465e-01 -1.57529513e-03 1.55777739e+01] [ 3.58501918e-02 -3.98502989e-04 9.99357096e-01 1.42814603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.32, Y:15.58, Z:14.28 [[ 9.97812396e-01 -5.55653675e-02 -3.58177537e-02 4.03316035e+02] [ 5.55445801e-02 9.98454964e-01 -1.57593714e-03 1.55778963e+01] [ 3.58499815e-02 -4.16992473e-04 9.99357096e-01 1.42816005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.35, Y:15.58, Z:14.28 [[ 9.97812337e-01 -5.55664595e-02 -3.58177257e-02 4.03345816e+02] [ 5.55456499e-02 9.98454904e-01 -1.57657359e-03 1.55771571e+01] [ 3.58499884e-02 -4.16394276e-04 9.99357096e-01 1.42822604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.38, Y:15.58, Z:14.28 [[ 9.97842107e-01 -5.50292955e-02 -3.58176703e-02 4.03376291e+02] [ 5.50080948e-02 9.98484662e-01 -1.57783114e-03 1.55776620e+01] [ 3.58502213e-02 -3.95835456e-04 9.99357096e-01 1.42839796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.41, Y:15.58, Z:14.28 [[ 9.97894956e-01 -5.40624670e-02 -3.58176703e-02 4.03406394e+02] [ 5.40406438e-02 9.98537490e-01 -1.57783114e-03 1.55779824e+01] [ 3.58505880e-02 -3.61100226e-04 9.99357096e-01 1.42846554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.44, Y:15.58, Z:14.29 [[ 9.97961627e-01 -5.28175199e-02 -3.58176133e-02 4.03435915e+02] [ 5.27948488e-02 9.98604131e-01 -1.57912277e-03 1.55781840e+01] [ 3.58510220e-02 -3.15081546e-04 9.99357096e-01 1.42857928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.47, Y:15.58, Z:14.29 [[ 9.98033335e-01 -5.14447764e-02 -3.58175559e-02 4.03465958e+02] [ 5.14211748e-02 9.98675806e-01 -1.58042336e-03 1.55784528e+01] [ 3.58514311e-02 -2.64465604e-04 9.99357096e-01 1.42869887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.50, Y:15.58, Z:14.29 [[ 9.98194093e-01 -4.82250892e-02 -3.58174982e-02 4.03495019e+02] [ 4.81993683e-02 9.98836483e-01 -1.58173120e-03 1.55773291e+01] [ 3.58521030e-02 -1.47506044e-04 9.99357096e-01 1.42873612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.52, Y:15.58, Z:14.29 [[ 9.98250178e-01 -4.70499178e-02 -3.58174120e-02 4.03523040e+02] [ 4.70233708e-02 9.98892534e-01 -1.58368038e-03 1.55773414e+01] [ 3.58522575e-02 -1.03346223e-04 9.99357096e-01 1.42888794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.55, Y:15.58, Z:14.29 [[ 9.98298363e-01 -4.60165764e-02 -3.58169514e-02 4.03550086e+02] [ 4.59889932e-02 9.98940675e-01 -1.59402881e-03 1.55772964e+01] [ 3.58523614e-02 -5.58691894e-05 9.99357096e-01 1.42892104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.58, Y:15.58, Z:14.29 [[ 9.98333395e-01 -4.52504405e-02 -3.58166206e-02 4.03578462e+02] [ 4.52220990e-02 9.98975674e-01 -1.60142725e-03 1.55772839e+01] [ 3.58523980e-02 -2.09444580e-05 9.99357096e-01 1.42904988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.61, Y:15.58, Z:14.29 [[ 9.98362691e-01 -4.45997851e-02 -3.58161602e-02 4.03606016e+02] [ 4.45706579e-02 9.99004934e-01 -1.61166000e-03 1.55756482e+01] [ 3.58524004e-02 1.26713872e-05 9.99357096e-01 1.42916175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.63, Y:15.58, Z:14.29 [[ 9.98347075e-01 -4.49483457e-02 -3.58156902e-02 4.03633609e+02] [ 4.49190704e-02 9.98989312e-01 -1.62203667e-03 1.55756686e+01] [ 3.58523996e-02 1.05480533e-05 9.99357096e-01 1.42923439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.66, Y:15.58, Z:14.29 [[ 9.98315639e-01 -4.56415862e-02 -3.58152181e-02 4.03661665e+02] [ 4.56123852e-02 9.98957880e-01 -1.63239626e-03 1.55756462e+01] [ 3.58523995e-02 -3.97080907e-06 9.99357096e-01 1.42933483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.69, Y:15.57, Z:14.29 [[ 9.98234559e-01 -4.73821731e-02 -3.58147408e-02 4.03689184e+02] [ 4.73537187e-02 9.98876833e-01 -1.64280143e-03 1.55737563e+01] [ 3.58523543e-02 -5.60600020e-05 9.99357096e-01 1.42937261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.72, Y:15.57, Z:14.29 [[ 9.98173694e-01 -4.86477584e-02 -3.58144116e-02 4.03716178e+02] [ 4.86198619e-02 9.98815992e-01 -1.64994764e-03 1.55732452e+01] [ 3.58522733e-02 -9.43574131e-05 9.99357096e-01 1.42938950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.74, Y:15.57, Z:14.30 [[ 9.98078960e-01 -5.05542577e-02 -3.58142056e-02 4.03743889e+02] [ 5.05274281e-02 9.98721303e-01 -1.65440682e-03 1.55727541e+01] [ 3.58520474e-02 -1.58371061e-04 9.99357096e-01 1.42955432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.77, Y:15.57, Z:14.30 [[ 9.97962405e-01 -5.28054554e-02 -3.58137244e-02 4.03772092e+02] [ 5.27797032e-02 9.98604792e-01 -1.66475954e-03 1.55726873e+01] [ 3.58516652e-02 -2.28870309e-04 9.99357096e-01 1.42965961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.80, Y:15.57, Z:14.30 [[ 9.97686082e-01 -5.77918145e-02 -3.58132400e-02 4.03800507e+02] [ 5.77689011e-02 9.98328577e-01 -1.67511474e-03 1.55709808e+01] [ 3.58501889e-02 -3.97652857e-04 9.99357096e-01 1.42983870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.83, Y:15.57, Z:14.30 [[ 9.97520727e-01 -6.05792468e-02 -3.58127504e-02 4.03829265e+02] [ 6.05577554e-02 9.98163272e-01 -1.68551669e-03 1.55707493e+01] [ 3.58490795e-02 -4.87401945e-04 9.99357096e-01 1.42996764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.86, Y:15.57, Z:14.30 [[ 9.97361516e-01 -6.31465312e-02 -3.58123219e-02 4.03858174e+02] [ 6.31263685e-02 9.98004103e-01 -1.69457377e-03 1.55704163e+01] [ 3.58478506e-02 -5.70599165e-04 9.99357096e-01 1.43007833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.89, Y:15.57, Z:14.30 [[ 9.97361515e-01 -6.31466001e-02 -3.58122308e-02 4.03889119e+02] [ 6.31263685e-02 9.98004100e-01 -1.69649604e-03 1.55718831e+01] [ 3.58478811e-02 -5.68676216e-04 9.99357096e-01 1.43018953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.92, Y:15.57, Z:14.30 [[ 9.97204177e-01 -6.55844027e-02 -3.58122308e-02 4.03918407e+02] [ 6.55657419e-02 9.97846810e-01 -1.69649604e-03 1.55714747e+01] [ 3.58463839e-02 -6.56302545e-04 9.99357096e-01 1.43029244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.95, Y:15.57, Z:14.30 [[ 9.96923652e-01 -6.97188594e-02 -3.58122007e-02 4.03949023e+02] [ 6.97028407e-02 9.97566356e-01 -1.69713159e-03 1.55698617e+01] [ 3.58433686e-02 -8.04301497e-04 9.99357096e-01 1.43047552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.98, Y:15.57, Z:14.31 [[ 9.96794781e-01 -7.15377630e-02 -3.58122007e-02 4.03979640e+02] [ 7.15229170e-02 9.97437513e-01 -1.69713159e-03 1.55700657e+01] [ 3.58418414e-02 -8.69701146e-04 9.99357096e-01 1.43062514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.01, Y:15.57, Z:14.31 [[ 9.96689895e-01 -7.29845164e-02 -3.58122007e-02 4.04010439e+02] [ 7.29706034e-02 9.97332648e-01 -1.69713159e-03 1.55702411e+01] [ 3.58405413e-02 -9.21723984e-04 9.99357096e-01 1.43067004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.04, Y:15.57, Z:14.31 [[ 9.96460621e-01 -7.60507021e-02 -3.58123075e-02 4.04041313e+02] [ 7.60388478e-02 9.97103415e-01 -1.69487489e-03 1.55698528e+01] [ 3.58374706e-02 -1.03425051e-03 9.99357096e-01 1.43082074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.07, Y:15.57, Z:14.31 [[ 9.96358933e-01 -7.73715425e-02 -3.58123075e-02 4.04072564e+02] [ 7.73605402e-02 9.97001742e-01 -1.69487489e-03 1.55705073e+01] [ 3.58360681e-02 -1.08175572e-03 9.99357096e-01 1.43094486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.10, Y:15.57, Z:14.31 [[ 9.96288635e-01 -7.82715124e-02 -3.58123684e-02 4.04103094e+02] [ 7.82611370e-02 9.96931455e-01 -1.69358703e-03 1.55708850e+01] [ 3.58350362e-02 -1.11541515e-03 9.99357096e-01 1.43105115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.13, Y:15.57, Z:14.31 [[ 9.96215404e-01 -7.91981162e-02 -3.58123986e-02 4.04133951e+02] [ 7.91883617e-02 9.96858233e-01 -1.69294820e-03 1.55714858e+01] [ 3.58339627e-02 -1.14938410e-03 9.99357096e-01 1.43114900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.16, Y:15.57, Z:14.31 [[ 9.96113265e-01 -8.04725522e-02 -3.58124587e-02 4.04164941e+02] [ 8.04636657e-02 9.96756107e-01 -1.69167659e-03 1.55716928e+01] [ 3.58324204e-02 -1.19650022e-03 9.99357096e-01 1.43133009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.20, Y:15.57, Z:14.31 [[ 9.96116648e-01 -8.04306328e-02 -3.58125199e-02 4.04196416e+02] [ 8.04217659e-02 9.96759491e-01 -1.69037969e-03 1.55726278e+01] [ 3.58324274e-02 -1.19629074e-03 9.99357096e-01 1.43139033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.23, Y:15.57, Z:14.31 [[ 9.96113432e-01 -8.04704109e-02 -3.58126113e-02 4.04227272e+02] [ 8.04616392e-02 9.96756276e-01 -1.68844101e-03 1.55737405e+01] [ 3.58323146e-02 -1.19966264e-03 9.99357096e-01 1.43149124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.26, Y:15.57, Z:14.32 [[ 9.96119676e-01 -8.03930545e-02 -3.58126721e-02 4.04258798e+02] [ 8.03842793e-02 9.96762520e-01 -1.68714947e-03 1.55749899e+01] [ 3.58323644e-02 -1.19817306e-03 9.99357096e-01 1.43154385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.29, Y:15.58, Z:14.32 [[ 9.96180282e-01 -7.96385163e-02 -3.58127325e-02 4.04289735e+02] [ 7.96293002e-02 9.96823120e-01 -1.68586621e-03 1.55763210e+01] [ 3.58332197e-02 -1.17231616e-03 9.99357096e-01 1.43153101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.32, Y:15.58, Z:14.32 [[ 9.96197651e-01 -7.94209270e-02 -3.58127930e-02 4.04320461e+02] [ 7.94116167e-02 9.96840487e-01 -1.68458173e-03 1.55776186e+01] [ 3.58334330e-02 -1.16577542e-03 9.99357096e-01 1.43154375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.35, Y:15.58, Z:14.32 [[ 9.96227512e-01 -7.90454669e-02 -3.58128229e-02 4.04352047e+02] [ 7.90359372e-02 9.96870345e-01 -1.68394456e-03 1.55790978e+01] [ 3.58338493e-02 -1.15290813e-03 9.99357096e-01 1.43165138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.38, Y:15.58, Z:14.32 [[ 9.96267408e-01 -7.85410006e-02 -3.58128833e-02 4.04382855e+02] [ 7.85311916e-02 9.96910237e-01 -1.68265886e-03 1.55805212e+01] [ 3.58343877e-02 -1.13605022e-03 9.99357096e-01 1.43177736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.41, Y:15.58, Z:14.32 [[ 9.96327454e-01 -7.77755601e-02 -3.58129446e-02 4.04413559e+02] [ 7.77653040e-02 9.96970276e-01 -1.68135474e-03 1.55820303e+01] [ 3.58352095e-02 -1.10982463e-03 9.99357096e-01 1.43185299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.44, Y:15.58, Z:14.32 [[ 9.96376752e-01 -7.71413828e-02 -3.58130463e-02 4.04444322e+02] [ 7.71307954e-02 9.97019569e-01 -1.67918566e-03 1.55835625e+01] [ 3.58358426e-02 -1.08918719e-03 9.99357096e-01 1.43195456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.48, Y:15.59, Z:14.32 [[ 9.96463719e-01 -7.60097448e-02 -3.58130758e-02 4.04476012e+02] [ 7.59984500e-02 9.97106523e-01 -1.67855449e-03 1.55856292e+01] [ 3.58370380e-02 -1.04911961e-03 9.99357096e-01 1.43216083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.51, Y:15.59, Z:14.32 [[ 9.96506091e-01 -7.54521639e-02 -3.58131359e-02 4.04507440e+02] [ 7.54405555e-02 9.97148890e-01 -1.67727176e-03 1.55876215e+01] [ 3.58375825e-02 -1.03035135e-03 9.99357096e-01 1.43238549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.54, Y:15.59, Z:14.33 [[ 9.96568733e-01 -7.46202118e-02 -3.58131967e-02 4.04538006e+02] [ 7.46081135e-02 9.97211522e-01 -1.67597359e-03 1.55899796e+01] [ 3.58383939e-02 -1.00173216e-03 9.99357096e-01 1.43258000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.57, Y:15.59, Z:14.33 [[ 9.96560709e-01 -7.47272440e-02 -3.58132922e-02 4.04568888e+02] [ 7.47152880e-02 9.97203502e-01 -1.67393006e-03 1.55916388e+01] [ 3.58382286e-02 -1.00762751e-03 9.99357096e-01 1.43281147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.60, Y:15.59, Z:14.33 [[ 9.96534932e-01 -7.50701843e-02 -3.58133519e-02 4.04600265e+02] [ 7.50584954e-02 9.97177730e-01 -1.67265256e-03 1.55933001e+01] [ 3.58378432e-02 -1.02123960e-03 9.99357096e-01 1.43298477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.63, Y:15.59, Z:14.33 [[ 9.96500748e-01 -7.55225719e-02 -3.58134120e-02 4.04630824e+02] [ 7.55112211e-02 9.97143551e-01 -1.67136276e-03 1.55944175e+01] [ 3.58373385e-02 -1.03880023e-03 9.99357096e-01 1.43305360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.66, Y:15.60, Z:14.33 [[ 9.96446029e-01 -7.62411194e-02 -3.58134419e-02 4.04659709e+02] [ 7.62302551e-02 9.97088841e-01 -1.67072270e-03 1.55952169e+01] [ 3.58365611e-02 -1.06528281e-03 9.99357096e-01 1.43311148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.69, Y:15.60, Z:14.33 [[ 9.96263022e-01 -7.86000951e-02 -3.58052457e-02 4.04691366e+02] [ 7.85844224e-02 9.96905751e-01 -1.84701032e-03 1.55967742e+01] [ 3.58396305e-02 -9.73626471e-04 9.99357080e-01 1.43318019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.72, Y:15.60, Z:14.33 [[ 9.96172650e-01 -7.97335191e-02 -3.58136566e-02 4.04721789e+02] [ 7.97250691e-02 9.96815498e-01 -1.66624195e-03 1.55979554e+01] [ 3.58324633e-02 -1.19538159e-03 9.99357096e-01 1.43326584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.75, Y:15.60, Z:14.33 [[ 9.96064487e-01 -8.10735383e-02 -3.58136865e-02 4.04752991e+02] [ 8.10659762e-02 9.96707346e-01 -1.66559871e-03 1.55994678e+01] [ 3.58308004e-02 -1.24422774e-03 9.99357096e-01 1.43341627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.78, Y:15.60, Z:14.34 [[ 9.95952839e-01 -8.24337180e-02 -3.58137475e-02 4.04783742e+02] [ 8.24270809e-02 9.96595709e-01 -1.66428543e-03 1.56007778e+01] [ 3.58290203e-02 -1.29447287e-03 9.99357096e-01 1.43351464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.82, Y:15.60, Z:14.34 [[ 9.95860125e-01 -8.35462386e-02 -3.58139354e-02 4.04815021e+02] [ 8.35404653e-02 9.96503003e-01 -1.66023362e-03 1.56020087e+01] [ 3.58274004e-02 -1.33855236e-03 9.99357096e-01 1.43362304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.85, Y:15.60, Z:14.34 [[ 9.95735757e-01 -8.50156349e-02 -3.58140256e-02 4.04847490e+02] [ 8.50108802e-02 9.96378643e-01 -1.65828517e-03 1.56036113e+01] [ 3.58253104e-02 -1.39336800e-03 9.99357096e-01 1.43368895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.88, Y:15.61, Z:14.34 [[ 9.95722721e-01 -8.51681286e-02 -3.58141428e-02 4.04878717e+02] [ 8.51635633e-02 9.96365609e-01 -1.65574952e-03 1.56053047e+01] [ 3.58249973e-02 -1.40139260e-03 9.99357096e-01 1.43373955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.91, Y:15.61, Z:14.34 [[ 9.95779449e-01 -8.45022456e-02 -3.58142300e-02 4.04910528e+02] [ 8.44973183e-02 9.96422334e-01 -1.65386042e-03 1.56073550e+01] [ 3.58258536e-02 -1.37932618e-03 9.99357096e-01 1.43389150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.94, Y:15.61, Z:14.34 [[ 9.95846515e-01 -8.37081281e-02 -3.58143482e-02 4.04942764e+02] [ 8.37027801e-02 9.96489397e-01 -1.65129784e-03 1.56100162e+01] [ 3.58268453e-02 -1.35332131e-03 9.99357096e-01 1.43410348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.98, Y:15.61, Z:14.34 [[ 9.96093942e-01 -8.07107050e-02 -3.58139752e-02 4.04975231e+02] [ 8.07031308e-02 9.96736801e-01 -1.65941310e-03 1.56137536e+01] [ 3.58310394e-02 -1.23736859e-03 9.99357096e-01 1.43419886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.00, Y:15.62, Z:14.34 [[ 9.96249414e-01 -7.87681220e-02 -3.58146440e-02 4.05004331e+02] [ 7.87598173e-02 9.96892264e-01 -1.64484878e-03 1.56163407e+01] [ 3.58329032e-02 -1.18207519e-03 9.99357096e-01 1.43427873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.04, Y:15.62, Z:14.34 [[ 9.96351420e-01 -7.74692036e-02 -3.58101900e-02 4.05035834e+02] [ 7.74565968e-02 9.96994204e-01 -1.74131147e-03 1.56190832e+01] [ 3.58374499e-02 -1.03877729e-03 9.99357092e-01 1.43436775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.07, Y:15.62, Z:14.34 [[ 9.96608558e-01 -7.40859104e-02 -3.58142514e-02 4.05066771e+02] [ 7.40742802e-02 9.97251356e-01 -1.65333611e-03 1.56233981e+01] [ 3.58382997e-02 -1.00518598e-03 9.99357096e-01 1.43444666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.10, Y:15.63, Z:14.35 [[ 9.96683289e-01 -7.30736321e-02 -3.58143110e-02 4.05098150e+02] [ 7.30613954e-02 9.97326077e-01 -1.65204505e-03 1.56265116e+01] [ 3.58392672e-02 -9.70077837e-04 9.99357096e-01 1.43453360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.13, Y:15.63, Z:14.35 [[ 9.96727163e-01 -7.24727021e-02 -3.58143706e-02 4.05128344e+02] [ 7.24601244e-02 9.97369944e-01 -1.65075180e-03 1.56290512e+01] [ 3.58398112e-02 -9.49764588e-04 9.99357096e-01 1.43454784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:15.63, Z:14.35 [[ 9.96729113e-01 -7.24458663e-02 -3.58144001e-02 4.05159277e+02] [ 7.24332943e-02 9.97371894e-01 -1.65011024e-03 1.56312748e+01] [ 3.58398198e-02 -9.49442070e-04 9.99357096e-01 1.43463621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.19, Y:15.63, Z:14.35 [[ 9.96616117e-01 -7.39840542e-02 -3.58144595e-02 4.05190580e+02] [ 7.39725205e-02 9.97258917e-01 -1.64882095e-03 1.56340779e+01] [ 3.58382755e-02 -1.00604430e-03 9.99357096e-01 1.43462325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.22, Y:15.64, Z:14.35 [[ 9.96550181e-01 -7.48669271e-02 -3.58145187e-02 4.05222196e+02] [ 7.48560091e-02 9.97192992e-01 -1.64753343e-03 1.56363724e+01] [ 3.58373328e-02 -1.03908220e-03 9.99357096e-01 1.43473927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.25, Y:15.64, Z:14.35 [[ 9.96413062e-01 -7.66702452e-02 -3.58145779e-02 4.05253031e+02] [ 7.66605367e-02 9.97055892e-01 -1.64624659e-03 1.56396013e+01] [ 3.58353540e-02 -1.10522316e-03 9.99357096e-01 1.43489297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.29, Y:15.64, Z:14.35 [[ 9.96344195e-01 -7.75600164e-02 -3.58146369e-02 4.05285475e+02] [ 7.75509281e-02 9.96987035e-01 -1.64496083e-03 1.56423627e+01] [ 3.58343119e-02 -1.13851116e-03 9.99357096e-01 1.43491400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.32, Y:15.65, Z:14.35 [[ 9.96320526e-01 -7.78634171e-02 -3.58147571e-02 4.05317707e+02] [ 7.78546187e-02 9.96963370e-01 -1.64234098e-03 1.56452946e+01] [ 3.58338792e-02 -1.15204623e-03 9.99357096e-01 1.43495096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.35, Y:15.65, Z:14.35 [[ 9.96314258e-01 -7.79435291e-02 -3.58148774e-02 4.05348747e+02] [ 7.79348767e-02 9.96957104e-01 -1.63971294e-03 1.56482538e+01] [ 3.58337014e-02 -1.15755867e-03 9.99357096e-01 1.43490750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.38, Y:15.65, Z:14.35 [[ 9.96332556e-01 -7.77092425e-02 -3.58149668e-02 4.05380476e+02] [ 7.77005092e-02 9.96975400e-01 -1.63775714e-03 1.56508647e+01] [ 3.58339097e-02 -1.15109040e-03 9.99357096e-01 1.43493155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.41, Y:15.65, Z:14.35 [[ 9.96468847e-01 -7.59415348e-02 -3.58150857e-02 4.05411116e+02] [ 7.59317546e-02 9.97111676e-01 -1.63515321e-03 1.56539554e+01] [ 3.58358162e-02 -1.09012306e-03 9.99357096e-01 1.43495543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.44, Y:15.66, Z:14.35 [[ 9.96572491e-01 -7.45690006e-02 -3.58152846e-02 4.05442910e+02] [ 7.45584919e-02 9.97215309e-01 -1.63078494e-03 1.56559805e+01] [ 3.58371561e-02 -1.04513819e-03 9.99357096e-01 1.43516016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:15.66, Z:14.35 [[ 9.96691705e-01 -7.29582154e-02 -3.58154034e-02 4.05473575e+02] [ 7.29467615e-02 9.97334507e-01 -1.62817234e-03 1.56574486e+01] [ 3.58387262e-02 -9.89831826e-04 9.99357096e-01 1.43530153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.50, Y:15.66, Z:14.36 [[ 9.96879597e-01 -7.03442906e-02 -3.58154917e-02 4.05504977e+02] [ 7.03312210e-02 9.97522368e-01 -1.62622650e-03 1.56581348e+01] [ 3.58411499e-02 -8.97795247e-04 9.99357096e-01 1.43573503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:15.66, Z:14.36 [[ 9.96923770e-01 -6.97154501e-02 -3.58155502e-02 4.05535556e+02] [ 6.97020213e-02 9.97566533e-01 -1.62493717e-03 1.56585470e+01] [ 3.58416775e-02 -8.76477753e-04 9.99357096e-01 1.43593611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.57, Y:15.66, Z:14.36 [[ 9.96932869e-01 -6.95851961e-02 -3.58155792e-02 4.05566428e+02] [ 6.95717063e-02 9.97575631e-01 -1.62429795e-03 1.56585989e+01] [ 3.58417761e-02 -8.72434946e-04 9.99357096e-01 1.43622657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.60, Y:15.66, Z:14.37 [[ 9.96903228e-01 -7.00085246e-02 -3.58156363e-02 4.05598030e+02] [ 6.99953530e-02 9.97545997e-01 -1.62303765e-03 1.56585633e+01] [ 3.58413711e-02 -8.88916631e-04 9.99357096e-01 1.43655058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.63, Y:15.66, Z:14.37 [[ 9.96811026e-01 -7.13092858e-02 -3.58156935e-02 4.05628259e+02] [ 7.12969983e-02 9.97453812e-01 -1.62177502e-03 1.56559006e+01] [ 3.58401476e-02 -9.36948220e-04 9.99357096e-01 1.43706539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.66, Y:15.66, Z:14.37 [[ 9.96741536e-01 -7.22740891e-02 -3.58157218e-02 4.05659073e+02] [ 7.22624463e-02 9.97384335e-01 -1.62114859e-03 1.56550086e+01] [ 3.58392069e-02 -9.72265540e-04 9.99357096e-01 1.43733667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:15.65, Z:14.38 [[ 9.96594961e-01 -7.42678663e-02 -3.58157498e-02 4.05689062e+02] [ 7.42575315e-02 9.97237782e-01 -1.62053154e-03 1.56515795e+01] [ 3.58371723e-02 -1.04457560e-03 9.99357096e-01 1.43764543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.72, Y:15.65, Z:14.38 [[ 9.96536162e-01 -7.50527007e-02 -3.58157774e-02 4.05720531e+02] [ 7.50428940e-02 9.97178991e-01 -1.61992061e-03 1.56504664e+01] [ 3.58363202e-02 -1.07341012e-03 9.99357096e-01 1.43778244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.75, Y:15.65, Z:14.38 [[ 9.96497213e-01 -7.55680490e-02 -3.58158346e-02 4.05752031e+02] [ 7.55586202e-02 9.97140048e-01 -1.61865509e-03 1.56495281e+01] [ 3.58357216e-02 -1.09320976e-03 9.99357096e-01 1.43789565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.78, Y:15.65, Z:14.38 [[ 9.96491490e-01 -7.56434604e-02 -3.58158924e-02 4.05783231e+02] [ 7.56341263e-02 9.97134325e-01 -1.61737468e-03 1.56468603e+01] [ 3.58355995e-02 -1.09720362e-03 9.99357096e-01 1.43794218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.81, Y:15.65, Z:14.38 [[ 9.96538261e-01 -7.50247376e-02 -3.58159516e-02 4.05814970e+02] [ 7.50150514e-02 9.97181092e-01 -1.61606329e-03 1.56463066e+01] [ 3.58362344e-02 -1.07626655e-03 9.99357096e-01 1.43800236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:15.64, Z:14.38 [[ 9.96706457e-01 -7.27561185e-02 -3.58160102e-02 4.05845604e+02] [ 7.27450157e-02 9.97349264e-01 -1.61476323e-03 1.56447614e+01] [ 3.58385553e-02 -9.95991287e-04 9.99357096e-01 1.43809511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.88, Y:15.65, Z:14.38 [[ 9.96706457e-01 -7.27560953e-02 -3.58160393e-02 4.05876552e+02] [ 7.27450157e-02 9.97349265e-01 -1.61411784e-03 1.56461559e+01] [ 3.58385374e-02 -9.96636671e-04 9.99357096e-01 1.43820623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.91, Y:15.64, Z:14.38 [[ 9.97091650e-01 -6.72714925e-02 -3.58160393e-02 4.05906977e+02] [ 6.72568766e-02 9.97734387e-01 -1.61411784e-03 1.56436625e+01] [ 3.58434781e-02 -7.99451519e-04 9.99357096e-01 1.43820418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.94, Y:15.62, Z:14.38 [[ 9.95461146e-01 -8.81720827e-02 -3.58160676e-02 4.05937546e+02] [ 8.81709749e-02 9.96104049e-01 -1.61348914e-03 1.56201305e+01] [ 3.58187947e-02 -1.55177184e-03 9.99357096e-01 1.43750449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.97, Y:15.62, Z:14.38 [[ 9.95629633e-01 -8.62487791e-02 -3.58159525e-02 4.05968513e+02] [ 8.62463377e-02 9.96272532e-01 -1.61604054e-03 1.56216060e+01] [ 3.58218312e-02 -1.48001688e-03 9.99357096e-01 1.43768318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.00, Y:15.62, Z:14.38 [[ 9.95632797e-01 -8.62122145e-02 -3.58160117e-02 4.06000305e+02] [ 8.62097966e-02 9.96275697e-01 -1.61472661e-03 1.56230108e+01] [ 3.58218312e-02 -1.48001631e-03 9.99357096e-01 1.43779731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.03, Y:15.62, Z:14.38 [[ 9.95635961e-01 -8.61756496e-02 -3.58160709e-02 4.06032097e+02] [ 8.61732554e-02 9.96278860e-01 -1.61341211e-03 1.56244144e+01] [ 3.58218312e-02 -1.48001631e-03 9.99357096e-01 1.43791144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.06, Y:15.63, Z:14.38 [[ 9.95850717e-01 -8.36573677e-02 -3.58161301e-02 4.06062046e+02] [ 8.36533947e-02 9.96493608e-01 -1.61209760e-03 1.56262164e+01] [ 3.58254086e-02 -1.39073231e-03 9.99357096e-01 1.43802275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.09, Y:15.63, Z:14.38 [[ 9.95850717e-01 -8.36573443e-02 -3.58161594e-02 4.06092993e+02] [ 8.36533947e-02 9.96493609e-01 -1.61144565e-03 1.56276085e+01] [ 3.58253832e-02 -1.39138401e-03 9.99357096e-01 1.43813387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.12, Y:15.63, Z:14.38 [[ 9.96093268e-01 -8.07180574e-02 -3.58161594e-02 4.06122788e+02] [ 8.07122106e-02 9.96736145e-01 -1.61144565e-03 1.56299794e+01] [ 3.58293334e-02 -1.28565124e-03 9.99357096e-01 1.43824220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.15, Y:15.63, Z:14.38 [[ 9.96093269e-01 -8.07180345e-02 -3.58161882e-02 4.06153736e+02] [ 8.07122106e-02 9.96736146e-01 -1.61080554e-03 1.56313710e+01] [ 3.58293105e-02 -1.28629117e-03 9.99357096e-01 1.43835332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.18, Y:15.63, Z:14.38 [[ 9.96093269e-01 -8.07180345e-02 -3.58161882e-02 4.06184684e+02] [ 8.07122106e-02 9.96736146e-01 -1.61080554e-03 1.56327628e+01] [ 3.58293105e-02 -1.28629117e-03 9.99357096e-01 1.43846446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.22, Y:15.63, Z:14.39 [[ 9.96093269e-01 -8.07180345e-02 -3.58161882e-02 4.06215632e+02] [ 8.07122106e-02 9.96736146e-01 -1.61080554e-03 1.56341547e+01] [ 3.58293105e-02 -1.28629117e-03 9.99357096e-01 1.43857560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.25, Y:15.64, Z:14.39 [[ 9.96338005e-01 -7.76387881e-02 -3.58161882e-02 4.06246420e+02] [ 7.76309772e-02 9.96980861e-01 -1.61080554e-03 1.56367109e+01] [ 3.58331152e-02 -1.17553891e-03 9.99357096e-01 1.43870201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.28, Y:15.64, Z:14.39 [[ 9.96335234e-01 -7.76743332e-02 -3.58161882e-02 4.06276523e+02] [ 7.76665452e-02 9.96978091e-01 -1.61080554e-03 1.56380937e+01] [ 3.58330732e-02 -1.17681728e-03 9.99357096e-01 1.43881012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.31, Y:15.64, Z:14.39 [[ 9.96332461e-01 -7.77099240e-02 -3.58161307e-02 4.06306627e+02] [ 7.77021130e-02 9.96975317e-01 -1.61208413e-03 1.56394782e+01] [ 3.58330732e-02 -1.17681728e-03 9.99357096e-01 1.43891827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.34, Y:15.64, Z:14.39 [[ 9.96559576e-01 -7.47410264e-02 -3.58160731e-02 4.06337119e+02] [ 7.47312542e-02 9.97202405e-01 -1.61336272e-03 1.56420987e+01] [ 3.58364586e-02 -1.06876799e-03 9.99357096e-01 1.43903489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.37, Y:15.64, Z:14.39 [[ 9.96556866e-01 -7.47771513e-02 -3.58160731e-02 4.06367222e+02] [ 7.47674024e-02 9.97199695e-01 -1.61336272e-03 1.56434829e+01] [ 3.58364198e-02 -1.07006705e-03 9.99357096e-01 1.43914300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.40, Y:15.64, Z:14.39 [[ 9.96554153e-01 -7.48133227e-02 -3.58160145e-02 4.06397325e+02] [ 7.48035505e-02 9.97196982e-01 -1.61466188e-03 1.56448689e+01] [ 3.58364198e-02 -1.07006705e-03 9.99357096e-01 1.43925115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.43, Y:15.65, Z:14.39 [[ 9.96551439e-01 -7.48494940e-02 -3.58159559e-02 4.06427429e+02] [ 7.48396984e-02 9.97194268e-01 -1.61596103e-03 1.56462559e+01] [ 3.58364198e-02 -1.07006705e-03 9.99357096e-01 1.43935929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.46, Y:15.65, Z:14.39 [[ 9.96548724e-01 -7.48856652e-02 -3.58158972e-02 4.06457532e+02] [ 7.48758463e-02 9.97191552e-01 -1.61726018e-03 1.56476440e+01] [ 3.58364198e-02 -1.07006705e-03 9.99357096e-01 1.43946744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.49, Y:15.65, Z:14.40 [[ 9.96747709e-01 -7.21888528e-02 -3.58158385e-02 4.06485744e+02] [ 7.21772480e-02 9.97390508e-01 -1.61855933e-03 1.56496654e+01] [ 3.58392193e-02 -9.71793356e-04 9.99357096e-01 1.43952823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.52, Y:15.65, Z:14.40 [[ 9.96745158e-01 -7.22241130e-02 -3.58157511e-02 4.06515848e+02] [ 7.22124614e-02 9.97387956e-01 -1.62049216e-03 1.56510576e+01] [ 3.58392374e-02 -9.71125833e-04 9.99357096e-01 1.43963640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.54, Y:15.65, Z:14.40 [[ 9.96933942e-01 -6.95697535e-02 -3.58156938e-02 4.06544105e+02] [ 6.95563450e-02 9.97576706e-01 -1.62175747e-03 1.56527550e+01] [ 3.58417271e-02 -8.74423685e-04 9.99357096e-01 1.43970625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.57, Y:15.65, Z:14.40 [[ 9.97061729e-01 -6.77137421e-02 -3.58156084e-02 4.06572872e+02] [ 6.76990694e-02 9.97704465e-01 -1.62364035e-03 1.56543756e+01] [ 3.58433352e-02 -8.05813700e-04 9.99357096e-01 1.43979666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.60, Y:15.66, Z:14.40 [[ 9.97215951e-01 -6.54034990e-02 -3.58152076e-02 4.06601138e+02] [ 6.53870215e-02 9.97858644e-01 -1.63243336e-03 1.56564278e+01] [ 3.58452814e-02 -7.13961164e-04 9.99357096e-01 1.43989023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.63, Y:15.66, Z:14.40 [[ 9.97234184e-01 -6.51251311e-02 -3.58148083e-02 4.06629459e+02] [ 6.51081613e-02 9.97876863e-01 -1.64114846e-03 1.56583444e+01] [ 3.58456486e-02 -6.95226971e-04 9.99357096e-01 1.44010710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.66, Y:15.66, Z:14.40 [[ 9.97231429e-01 -6.51675284e-02 -3.58143892e-02 4.06657694e+02] [ 6.51502594e-02 9.97874100e-01 -1.65024370e-03 1.56602374e+01] [ 3.58457937e-02 -6.87641870e-04 9.99357096e-01 1.44030584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.69, Y:15.66, Z:14.41 [[ 9.97166115e-01 -6.61596465e-02 -3.58139664e-02 4.06685867e+02] [ 6.61426893e-02 9.97808795e-01 -1.65936828e-03 1.56620335e+01] [ 3.58452739e-02 -7.14166230e-04 9.99357096e-01 1.44058359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.71, Y:15.66, Z:14.41 [[ 9.97081770e-01 -6.74189124e-02 -3.58138765e-02 4.06714716e+02] [ 6.74026974e-02 9.97724469e-01 -1.66130633e-03 1.56630289e+01] [ 3.58443844e-02 -7.57493620e-04 9.99357096e-01 1.44071454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.74, Y:15.66, Z:14.41 [[ 9.96897822e-01 -7.00865730e-02 -3.58134593e-02 4.06743986e+02] [ 7.00717565e-02 9.97540555e-01 -1.67025265e-03 1.56636165e+01] [ 3.58424404e-02 -8.44440770e-04 9.99357097e-01 1.44073954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.77, Y:15.67, Z:14.41 [[ 9.96793997e-01 -7.15482435e-02 -3.58130700e-02 4.06773075e+02] [ 7.15340711e-02 9.97436744e-01 -1.67855907e-03 1.56651506e+01] [ 3.58413699e-02 -8.88677090e-04 9.99357097e-01 1.44077560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.80, Y:15.67, Z:14.41 [[ 9.96598460e-01 -7.42222496e-02 -3.58129569e-02 4.06802241e+02] [ 7.42097152e-02 9.97241241e-01 -1.68096882e-03 1.56677324e+01] [ 3.58389228e-02 -9.82418392e-04 9.99357097e-01 1.44080678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.83, Y:15.67, Z:14.41 [[ 9.96515773e-01 -7.53243019e-02 -3.58128973e-02 4.06831479e+02] [ 7.53124327e-02 9.97158567e-01 -1.68223811e-03 1.56699463e+01] [ 3.58378507e-02 -1.02077960e-03 9.99357097e-01 1.44089379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.86, Y:15.67, Z:14.41 [[ 9.96452485e-01 -7.61569832e-02 -3.58128377e-02 4.06860644e+02] [ 7.61456057e-02 9.97095288e-01 -1.68350516e-03 1.56721153e+01] [ 3.58370224e-02 -1.04945732e-03 9.99357097e-01 1.44097106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.89, Y:15.67, Z:14.41 [[ 9.96387483e-01 -7.70027875e-02 -3.58127785e-02 4.06890310e+02] [ 7.69919104e-02 9.97030294e-01 -1.68476410e-03 1.56741541e+01] [ 3.58361566e-02 -1.07861637e-03 9.99357097e-01 1.44110496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.92, Y:15.68, Z:14.41 [[ 9.96345925e-01 -7.75386850e-02 -3.58127185e-02 4.06920525e+02] [ 7.75281078e-02 9.96988741e-01 -1.68603843e-03 1.56759994e+01] [ 3.58356103e-02 -1.09661478e-03 9.99357097e-01 1.44124412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:15.68, Z:14.41 [[ 9.96251875e-01 -7.87378570e-02 -3.58127185e-02 4.06951082e+02] [ 7.87280536e-02 9.96894704e-01 -1.68603843e-03 1.56790656e+01] [ 3.58342644e-02 -1.13974667e-03 9.99357097e-01 1.44149303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:15.68, Z:14.42 [[ 9.96228308e-01 -7.90354784e-02 -3.58127185e-02 4.06980906e+02] [ 7.90258670e-02 9.96871140e-01 -1.68603843e-03 1.56813384e+01] [ 3.58339223e-02 -1.15045191e-03 9.99357097e-01 1.44162998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:15.68, Z:14.42 [[ 9.96203666e-01 -7.93454695e-02 -3.58127483e-02 4.07011540e+02] [ 7.93360809e-02 9.96846501e-01 -1.68540476e-03 1.56834497e+01] [ 3.58335420e-02 -1.16223669e-03 9.99357097e-01 1.44183070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.04, Y:15.69, Z:14.42 [[ 9.96123556e-01 -8.03449360e-02 -3.58127483e-02 4.07042187e+02] [ 8.03361924e-02 9.96766400e-01 -1.68540476e-03 1.56851936e+01] [ 3.58323579e-02 -1.19818845e-03 9.99357097e-01 1.44181090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.07, Y:15.69, Z:14.42 [[ 9.96020516e-01 -8.16123516e-02 -3.58127782e-02 4.07073595e+02] [ 8.16044488e-02 9.96663371e-01 -1.68476819e-03 1.56864280e+01] [ 3.58307822e-02 -1.24441835e-03 9.99357097e-01 1.44180640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.10, Y:15.69, Z:14.42 [[ 9.95858977e-01 -8.35603909e-02 -3.58128398e-02 4.07104157e+02] [ 8.35537925e-02 9.96501846e-01 -1.68345917e-03 1.56884855e+01] [ 3.58282315e-02 -1.31581066e-03 9.99357097e-01 1.44182879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:15.69, Z:14.42 [[ 9.95780843e-01 -8.44863948e-02 -3.58128703e-02 4.07135687e+02] [ 8.44804176e-02 9.96423719e-01 -1.68280971e-03 1.56909506e+01] [ 3.58269679e-02 -1.34977657e-03 9.99357097e-01 1.44198788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.17, Y:15.69, Z:14.42 [[ 9.95742802e-01 -8.49335416e-02 -3.58129305e-02 4.07167244e+02] [ 8.49278991e-02 9.96385681e-01 -1.68152699e-03 1.56930080e+01] [ 3.58263092e-02 -1.36714856e-03 9.99357097e-01 1.44208901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.20, Y:15.69, Z:14.42 [[ 9.95703303e-01 -8.53953312e-02 -3.58129903e-02 4.07197643e+02] [ 8.53900326e-02 9.96346184e-01 -1.68025363e-03 1.56945743e+01] [ 3.58256220e-02 -1.38503831e-03 9.99357097e-01 1.44214778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.23, Y:15.70, Z:14.42 [[ 9.95706281e-01 -8.53605848e-02 -3.58130199e-02 4.07229433e+02] [ 8.53552864e-02 9.96349163e-01 -1.67962246e-03 1.56960348e+01] [ 3.58256459e-02 -1.38441994e-03 9.99357097e-01 1.44226193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:15.70, Z:14.42 [[ 9.95709259e-01 -8.53258161e-02 -3.58130784e-02 4.07261224e+02] [ 8.53205402e-02 9.96352141e-01 -1.67837272e-03 1.56974938e+01] [ 3.58256459e-02 -1.38441994e-03 9.99357097e-01 1.44237607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.29, Y:15.70, Z:14.42 [[ 9.95667751e-01 -8.58087980e-02 -3.58131370e-02 4.07292850e+02] [ 8.58038788e-02 9.96310635e-01 -1.67712299e-03 1.56992918e+01] [ 3.58249211e-02 -1.40304879e-03 9.99357097e-01 1.44245783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.32, Y:15.70, Z:14.43 [[ 9.95596776e-01 -8.66283673e-02 -3.58131969e-02 4.07324251e+02] [ 8.66240233e-02 9.96239665e-01 -1.67584267e-03 1.57014545e+01] [ 3.58237028e-02 -1.43381964e-03 9.99357097e-01 1.44255481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.36, Y:15.70, Z:14.43 [[ 9.95536763e-01 -8.73153171e-02 -3.58132578e-02 4.07355730e+02] [ 8.73114635e-02 9.96179655e-01 -1.67453979e-03 1.57036948e+01] [ 3.58226517e-02 -1.45984203e-03 9.99357097e-01 1.44264175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.39, Y:15.71, Z:14.43 [[ 9.95513822e-01 -8.75764513e-02 -3.58133488e-02 4.07387836e+02] [ 8.75728363e-02 9.96156715e-01 -1.67259055e-03 1.57058806e+01] [ 3.58221875e-02 -1.47118953e-03 9.99357097e-01 1.44275225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.42, Y:15.71, Z:14.43 [[ 9.95509020e-01 -8.76309693e-02 -3.58134710e-02 4.07419826e+02] [ 8.76274837e-02 9.96151914e-01 -1.66996996e-03 1.57082424e+01] [ 3.58219988e-02 -1.47577419e-03 9.99357097e-01 1.44285759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.45, Y:15.71, Z:14.43 [[ 9.95753971e-01 -8.48022207e-02 -3.58135929e-02 4.07450661e+02] [ 8.47970026e-02 9.96396853e-01 -1.66735160e-03 1.57118998e+01] [ 3.58259464e-02 -1.37661335e-03 9.99357097e-01 1.44290764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.48, Y:15.71, Z:14.43 [[ 9.95958650e-01 -8.23635042e-02 -3.58136837e-02 4.07483082e+02] [ 8.23567818e-02 9.96601519e-01 -1.66539859e-03 1.57148827e+01] [ 3.58291397e-02 -1.29083161e-03 9.99357097e-01 1.44305314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.51, Y:15.72, Z:14.43 [[ 9.96207664e-01 -7.92947760e-02 -3.58138065e-02 4.07514277e+02] [ 7.92861681e-02 9.96850510e-01 -1.66275439e-03 1.57180600e+01] [ 3.58328590e-02 -1.18309082e-03 9.99357097e-01 1.44318013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.54, Y:15.72, Z:14.43 [[ 9.96501797e-01 -7.55085174e-02 -3.58138673e-02 4.07544882e+02] [ 7.54975137e-02 9.97144606e-01 -1.66144420e-03 1.57211935e+01] [ 3.58370578e-02 -1.04822580e-03 9.99357097e-01 1.44334383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.58, Y:15.72, Z:14.44 [[ 9.96765845e-01 -7.19389721e-02 -3.58138974e-02 4.07575748e+02] [ 7.19256896e-02 9.97408611e-01 -1.66079410e-03 1.57244410e+01] [ 3.58405655e-02 -9.20516435e-04 9.99357097e-01 1.44350876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.61, Y:15.73, Z:14.44 [[ 9.97296462e-01 -6.41648399e-02 -3.58139574e-02 4.07606364e+02] [ 6.41465925e-02 9.97939107e-01 -1.65949908e-03 1.57286769e+01] [ 3.58466302e-02 -6.42330775e-04 9.99357097e-01 1.44369668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.64, Y:15.73, Z:14.44 [[ 9.97489389e-01 -6.10923212e-02 -3.58140540e-02 4.07635145e+02] [ 6.10721691e-02 9.98131977e-01 -1.65741266e-03 1.57306076e+01] [ 3.58484077e-02 -5.33990421e-04 9.99357097e-01 1.44378211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.66, Y:15.73, Z:14.44 [[ 9.97646645e-01 -5.84682043e-02 -3.58139671e-02 4.07664253e+02] [ 5.84462946e-02 9.98289175e-01 -1.65928889e-03 1.57321249e+01] [ 3.58497113e-02 -4.37809675e-04 9.99357097e-01 1.44386920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.69, Y:15.73, Z:14.44 [[ 9.97758725e-01 -5.65233643e-02 -3.58139083e-02 4.07692871e+02] [ 5.65001566e-02 9.98401209e-01 -1.66055585e-03 1.57336100e+01] [ 3.58505096e-02 -3.66657346e-04 9.99357097e-01 1.44394909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.72, Y:15.73, Z:14.44 [[ 9.97898930e-01 -5.39918406e-02 -3.58134935e-02 4.07720682e+02] [ 5.39666837e-02 9.98541341e-01 -1.66945568e-03 1.57346948e+01] [ 3.58513908e-02 -2.66787435e-04 9.99357097e-01 1.44394910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.75, Y:15.74, Z:14.44 [[ 9.97916504e-01 -5.36663657e-02 -3.58130180e-02 4.07748991e+02] [ 5.36406355e-02 9.98558892e-01 -1.67959331e-03 1.57359991e+01] [ 3.58515453e-02 -2.44939157e-04 9.99357097e-01 1.44400621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.78, Y:15.74, Z:14.44 [[ 9.97900921e-01 -5.39556702e-02 -3.58125284e-02 4.07777341e+02] [ 5.39297538e-02 9.98543302e-01 -1.68996907e-03 1.57373968e+01] [ 3.58515438e-02 -2.44939146e-04 9.99357097e-01 1.44410833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.80, Y:15.74, Z:14.44 [[ 9.97901555e-01 -5.39442809e-02 -3.58120358e-02 4.07804037e+02] [ 5.39179849e-02 9.98543920e-01 -1.70034468e-03 1.57389096e+01] [ 3.58516144e-02 -2.34136198e-04 9.99357097e-01 1.44415479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.83, Y:15.74, Z:14.44 [[ 9.97870766e-01 -5.45109926e-02 -3.58118219e-02 4.07832075e+02] [ 5.44849002e-02 9.98513139e-01 -1.70483640e-03 1.57399535e+01] [ 3.58515071e-02 -2.49997142e-04 9.99357097e-01 1.44422640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.86, Y:15.74, Z:14.44 [[ 9.97830480e-01 -5.52438346e-02 -3.58113264e-02 4.07859628e+02] [ 5.52178426e-02 9.98472858e-01 -1.71518320e-03 1.57410529e+01] [ 3.58513907e-02 -2.65962112e-04 9.99357097e-01 1.44433326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.89, Y:15.74, Z:14.44 [[ 9.97798566e-01 -5.58176258e-02 -3.58108254e-02 4.07886393e+02] [ 5.57916300e-02 9.98440943e-01 -1.72558074e-03 1.57422701e+01] [ 3.58513121e-02 -2.76162335e-04 9.99357097e-01 1.44444580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:15.74, Z:14.45 [[ 9.97751484e-01 -5.66531214e-02 -3.58106078e-02 4.07914134e+02] [ 5.66275019e-02 9.98393877e-01 -1.73008416e-03 1.57435676e+01] [ 3.58511062e-02 -3.01671219e-04 9.99357097e-01 1.44456898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:15.74, Z:14.45 [[ 9.97671325e-01 -5.80479374e-02 -3.58101084e-02 4.07941995e+02] [ 5.80228472e-02 9.98313738e-01 -1.74035978e-03 1.57446492e+01] [ 3.58507475e-02 -3.41497405e-04 9.99357097e-01 1.44472318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.97, Y:15.75, Z:14.45 [[ 9.97623177e-01 -5.88699304e-02 -3.58096101e-02 4.07970922e+02] [ 5.88450037e-02 9.98265596e-01 -1.75055405e-03 1.57457732e+01] [ 3.58505567e-02 -3.60823343e-04 9.99357097e-01 1.44483706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.00, Y:15.75, Z:14.45 [[ 9.97567785e-01 -5.98014838e-02 -3.58091717e-02 4.07999465e+02] [ 5.97768368e-02 9.98210215e-01 -1.75947499e-03 1.57470453e+01] [ 3.58503002e-02 -3.85363449e-04 9.99357097e-01 1.44496078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.03, Y:15.75, Z:14.45 [[ 9.97518284e-01 -6.06218349e-02 -3.58087342e-02 4.08027619e+02] [ 6.05973982e-02 9.98160723e-01 -1.76833562e-03 1.57482454e+01] [ 3.58500717e-02 -4.05969004e-04 9.99357097e-01 1.44506711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.06, Y:15.75, Z:14.45 [[ 9.97440518e-01 -6.18882727e-02 -3.58085789e-02 4.08055873e+02] [ 6.18645390e-02 9.98082983e-01 -1.77147326e-03 1.57486891e+01] [ 3.58495667e-02 -4.48342027e-04 9.99357097e-01 1.44520628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:15.75, Z:14.45 [[ 9.97413830e-01 -6.23169648e-02 -3.58084868e-02 4.08085499e+02] [ 6.22934405e-02 9.98056302e-01 -1.77333337e-03 1.57500307e+01] [ 3.58493947e-02 -4.61886618e-04 9.99357097e-01 1.44535283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:15.75, Z:14.45 [[ 9.97413288e-01 -6.23256698e-02 -3.58084233e-02 4.08114108e+02] [ 6.23021051e-02 9.98055759e-01 -1.77461626e-03 1.57511580e+01] [ 3.58494072e-02 -4.60914308e-04 9.99357097e-01 1.44544558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.14, Y:15.75, Z:14.46 [[ 9.97446981e-01 -6.17841634e-02 -3.58083286e-02 4.08142301e+02] [ 6.17601813e-02 9.98089437e-01 -1.77652429e-03 1.57520671e+01] [ 3.58496756e-02 -4.39540073e-04 9.99357097e-01 1.44552264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.17, Y:15.75, Z:14.46 [[ 9.97454243e-01 -6.16668682e-02 -3.58082359e-02 4.08170742e+02] [ 6.16427436e-02 9.98096693e-01 -1.77839009e-03 1.57530507e+01] [ 3.58497496e-02 -4.33455167e-04 9.99357097e-01 1.44565845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.20, Y:15.75, Z:14.46 [[ 9.97539896e-01 -6.02657378e-02 -3.58077847e-02 4.08199887e+02] [ 6.02403864e-02 9.98182298e-01 -1.78742935e-03 1.57530640e+01] [ 3.58504176e-02 -3.74042704e-04 9.99357097e-01 1.44571566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.23, Y:15.75, Z:14.46 [[ 9.97585117e-01 -5.95127733e-02 -3.58073334e-02 4.08228953e+02] [ 5.94866142e-02 9.98227487e-01 -1.79642518e-03 1.57536714e+01] [ 3.58507747e-02 -3.37970001e-04 9.99357097e-01 1.44583591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:15.75, Z:14.46 [[ 9.97643558e-01 -5.85252056e-02 -3.58068655e-02 4.08256661e+02] [ 5.84980776e-02 9.98285888e-01 -1.80570265e-03 1.57539732e+01] [ 3.58511677e-02 -2.93185184e-04 9.99357097e-01 1.44590308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.28, Y:15.75, Z:14.46 [[ 9.97756751e-01 -5.65628146e-02 -3.58066155e-02 4.08284445e+02] [ 5.65342459e-02 9.98399019e-01 -1.81064738e-03 1.57528953e+01] [ 3.58517051e-02 -2.17714360e-04 9.99357097e-01 1.44599222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.31, Y:15.75, Z:14.46 [[ 9.97788761e-01 -5.59956473e-02 -3.58060844e-02 4.08312425e+02] [ 5.59663386e-02 9.98430995e-01 -1.82109081e-03 1.57533839e+01] [ 3.58518776e-02 -1.86871496e-04 9.99357097e-01 1.44606130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.34, Y:15.75, Z:14.46 [[ 9.97842172e-01 -5.50360074e-02 -3.58055526e-02 4.08339891e+02] [ 5.50057081e-02 9.98484360e-01 -1.83148682e-03 1.57537678e+01] [ 3.58520820e-02 -1.41974982e-04 9.99357097e-01 1.44608961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.37, Y:15.75, Z:14.46 [[ 9.97860095e-01 -5.47102310e-02 -3.58053218e-02 4.08368256e+02] [ 5.46795605e-02 9.98502266e-01 -1.83598768e-03 1.57541894e+01] [ 3.58521423e-02 -1.25760419e-04 9.99357097e-01 1.44613367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.40, Y:15.75, Z:14.46 [[ 9.97870526e-01 -5.45200055e-02 -3.58047888e-02 4.08395762e+02] [ 5.44888418e-02 9.98512673e-01 -1.84632356e-03 1.57546621e+01] [ 3.58521969e-02 -1.08569608e-04 9.99357097e-01 1.44615259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.42, Y:15.75, Z:14.46 [[ 9.97855649e-01 -5.47919605e-02 -3.58042527e-02 4.08423528e+02] [ 5.47606008e-02 9.98497786e-01 -1.85666190e-03 1.57543045e+01] [ 3.58521972e-02 -1.07981821e-04 9.99357097e-01 1.44613622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.45, Y:15.75, Z:14.46 [[ 9.97815423e-01 -5.55198096e-02 -3.58040866e-02 4.08451004e+02] [ 5.54888036e-02 9.98457577e-01 -1.85986070e-03 1.57548420e+01] [ 3.58521206e-02 -1.30928237e-04 9.99357097e-01 1.44621730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:15.76, Z:14.46 [[ 9.97772344e-01 -5.62890326e-02 -3.58035446e-02 4.08478818e+02] [ 5.62581492e-02 9.98414505e-01 -1.87023648e-03 1.57552727e+01] [ 3.58520520e-02 -1.48170915e-04 9.99357098e-01 1.44631528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:15.76, Z:14.46 [[ 9.97710482e-01 -5.73754207e-02 -3.58029983e-02 4.08506329e+02] [ 5.73448635e-02 9.98352658e-01 -1.88063560e-03 1.57563451e+01] [ 3.58519208e-02 -1.76788204e-04 9.99357098e-01 1.44638320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.54, Y:15.76, Z:14.47 [[ 9.97578897e-01 -5.96232035e-02 -3.57968889e-02 4.08535090e+02] [ 5.95899373e-02 9.98220944e-01 -1.99644385e-03 1.57555887e+01] [ 3.58522386e-02 -1.41524112e-04 9.99357092e-01 1.44653904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:15.76, Z:14.47 [[ 9.97509133e-01 -6.07759949e-02 -3.58023357e-02 4.08563258e+02] [ 6.07471667e-02 9.98151390e-01 -1.89345624e-03 1.57561023e+01] [ 3.58512278e-02 -2.86150563e-04 9.99357097e-01 1.44670689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:15.76, Z:14.47 [[ 9.97432880e-01 -6.20149483e-02 -3.58021683e-02 4.08591442e+02] [ 6.19868044e-02 9.98075167e-01 -1.89661575e-03 1.57565908e+01] [ 3.58508737e-02 -3.27515096e-04 9.99357097e-01 1.44686710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.62, Y:15.76, Z:14.47 [[ 9.97249590e-01 -6.48960582e-02 -3.58016277e-02 4.08619392e+02] [ 6.48694055e-02 9.97891940e-01 -1.90676638e-03 1.57560212e+01] [ 3.58498974e-02 -4.20908312e-04 9.99357097e-01 1.44706380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:15.76, Z:14.47 [[ 9.97076272e-01 -6.75069784e-02 -3.58010672e-02 4.08647209e+02] [ 6.74816320e-02 9.97718675e-01 -1.91723360e-03 1.57573923e+01] [ 3.58488199e-02 -5.04286305e-04 9.99357097e-01 1.44701663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.68, Y:15.76, Z:14.47 [[ 9.96974855e-01 -6.89931409e-02 -3.57922387e-02 4.08676100e+02] [ 6.89628705e-02 9.97617057e-01 -2.08107418e-03 1.57562249e+01] [ 3.58505276e-02 -3.93556897e-04 9.99357086e-01 1.44726652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.70, Y:15.76, Z:14.47 [[ 9.96791073e-01 -7.15953300e-02 -3.58003636e-02 4.08704354e+02] [ 7.15721455e-02 9.97433557e-01 -1.93039987e-03 1.57558098e+01] [ 3.58466917e-02 -6.38103475e-04 9.99357097e-01 1.44733077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.73, Y:15.75, Z:14.47 [[ 9.96300363e-01 -7.81276408e-02 -3.58002592e-02 4.08733679e+02] [ 7.81085987e-02 9.96942984e-01 -1.93233472e-03 1.57538969e+01] [ 3.58417860e-02 -8.71122297e-04 9.99357097e-01 1.44740384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.76, Y:15.75, Z:14.47 [[ 9.96013084e-01 -8.17087096e-02 -3.57997646e-02 4.08763234e+02] [ 8.16916502e-02 9.96655761e-01 -1.94145569e-03 1.57536234e+01] [ 3.58386754e-02 -9.90826575e-04 9.99357097e-01 1.44746975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.79, Y:15.75, Z:14.48 [[ 9.95661556e-01 -8.58862212e-02 -3.57997725e-02 4.08792894e+02] [ 8.58718632e-02 9.96304298e-01 -1.94130988e-03 1.57531856e+01] [ 3.58341990e-02 -1.14130555e-03 9.99357097e-01 1.44752720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.82, Y:15.75, Z:14.48 [[ 9.95256903e-01 -9.04548264e-02 -3.57997381e-02 4.08823402e+02] [ 9.04433956e-02 9.95899704e-01 -1.94194402e-03 1.57530190e+01] [ 3.58286068e-02 -1.30511668e-03 9.99357097e-01 1.44757203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:15.75, Z:14.48 [[ 9.94804611e-01 -9.53003896e-02 -3.57997381e-02 4.08854083e+02] [ 9.52920892e-02 9.95447460e-01 -1.94194402e-03 1.57531999e+01] [ 3.58218264e-02 -1.47957697e-03 9.99357097e-01 1.44766026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:15.75, Z:14.48 [[ 9.94002184e-01 -1.03334583e-01 -3.57997381e-02 4.08885296e+02] [ 1.03331477e-01 9.94645080e-01 -1.94194402e-03 1.57527060e+01] [ 3.58087033e-02 -1.76894320e-03 9.99357097e-01 1.44775119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.92, Y:15.75, Z:14.48 [[ 9.93686602e-01 -1.06326439e-01 -3.57998085e-02 4.08916800e+02] [ 1.06325315e-01 9.94329503e-01 -1.94064468e-03 1.57537937e+01] [ 3.58031477e-02 -1.87803328e-03 9.99357097e-01 1.44781571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:15.76, Z:14.48 [[ 9.93440470e-01 -1.08602016e-01 -3.57999137e-02 4.08948494e+02] [ 1.08602434e-01 9.94083373e-01 -1.93870133e-03 1.57553006e+01] [ 3.57986459e-02 -1.96197342e-03 9.99357097e-01 1.44793556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.98, Y:15.76, Z:14.48 [[ 9.93276429e-01 -1.10092195e-01 -3.58000567e-02 4.08979441e+02] [ 1.10093672e-01 9.93919330e-01 -1.93605815e-03 1.57571742e+01] [ 3.57955133e-02 -2.01831878e-03 9.99357097e-01 1.44795115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:15.76, Z:14.48 [[ 9.93248476e-01 -1.10344065e-01 -3.58001630e-02 4.09011498e+02] [ 1.10345776e-01 9.93891377e-01 -1.93409032e-03 1.57600815e+01] [ 3.57948887e-02 -2.02936451e-03 9.99357097e-01 1.44802708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:15.76, Z:14.48 [[ 9.93362765e-01 -1.09310361e-01 -3.58003021e-02 4.09043105e+02] [ 1.09311495e-01 9.94005667e-01 -1.93151142e-03 1.57627622e+01] [ 3.57968374e-02 -1.99469304e-03 9.99357097e-01 1.44812060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.08, Y:15.77, Z:14.48 [[ 9.93536956e-01 -1.07715577e-01 -3.58004423e-02 4.09075395e+02] [ 1.07715773e-01 9.94179859e-01 -1.92890966e-03 1.57657270e+01] [ 3.57998523e-02 -1.93982928e-03 9.99357097e-01 1.44820337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.11, Y:15.77, Z:14.48 [[ 9.93963839e-01 -1.03702480e-01 -3.58005821e-02 4.09107214e+02] [ 1.03700173e-01 9.94606738e-01 -1.92631260e-03 1.57707849e+01] [ 3.58072635e-02 -1.79784149e-03 9.99357097e-01 1.44825655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.14, Y:15.77, Z:14.48 [[ 9.94194030e-01 -1.01471867e-01 -3.58007206e-02 4.09139091e+02] [ 1.01468210e-01 9.94836922e-01 -1.92373367e-03 1.57743713e+01] [ 3.58110836e-02 -1.72007052e-03 9.99357097e-01 1.44840283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.17, Y:15.78, Z:14.49 [[ 9.94389747e-01 -9.95355649e-02 -3.58008590e-02 4.09171040e+02] [ 9.95307488e-02 9.95032632e-01 -1.92115445e-03 1.57780687e+01] [ 3.58142462e-02 -1.65291002e-03 9.99357097e-01 1.44862175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:15.78, Z:14.49 [[ 9.94589293e-01 -9.75214112e-02 -3.58010008e-02 4.09202789e+02] [ 9.75153881e-02 9.95232168e-01 -1.91850891e-03 1.57813414e+01] [ 3.58174034e-02 -1.58302007e-03 9.99357097e-01 1.44877607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:15.79, Z:14.49 [[ 9.94907252e-01 -9.42222841e-02 -3.58011423e-02 4.09233858e+02] [ 9.42142239e-02 9.95550104e-01 -1.91586564e-03 1.57860884e+01] [ 3.58223481e-02 -1.46686822e-03 9.99357097e-01 1.44896141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.27, Y:15.79, Z:14.49 [[ 9.95026465e-01 -9.29548480e-02 -3.58012475e-02 4.09266182e+02] [ 9.29460396e-02 9.95669308e-01 -1.91389775e-03 1.57894826e+01] [ 3.58241094e-02 -1.42320525e-03 9.99357097e-01 1.44917052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:15.79, Z:14.49 [[ 9.95118625e-01 -9.19629422e-02 -3.58013862e-02 4.09297015e+02] [ 9.19535863e-02 9.95761460e-01 -1.91129953e-03 1.57927888e+01] [ 3.58254093e-02 -1.39009609e-03 9.99357097e-01 1.44928800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.33, Y:15.80, Z:14.49 [[ 9.95204833e-01 -9.10252388e-02 -3.58014894e-02 4.09328729e+02] [ 9.10153468e-02 9.95847660e-01 -1.90936331e-03 1.57958804e+01] [ 3.58266297e-02 -1.35827739e-03 9.99357097e-01 1.44941408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:15.80, Z:14.50 [[ 9.95276593e-01 -9.02371701e-02 -3.58016250e-02 4.09359815e+02] [ 9.02268605e-02 9.95919413e-01 -1.90681796e-03 1.57991564e+01] [ 3.58275992e-02 -1.33245695e-03 9.99357097e-01 1.44950300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.39, Y:15.80, Z:14.50 [[ 9.95340981e-01 -8.95240664e-02 -3.58018514e-02 4.09390624e+02] [ 8.95134493e-02 9.95983796e-01 -1.90255781e-03 1.58022067e+01] [ 3.58283886e-02 -1.31105345e-03 9.99357097e-01 1.44958341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:15.81, Z:14.50 [[ 9.95478930e-01 -8.79768268e-02 -3.58019188e-02 4.09421872e+02] [ 8.79652561e-02 9.96121729e-01 -1.90128882e-03 1.58065473e+01] [ 3.58303386e-02 -1.25663199e-03 9.99357097e-01 1.44955139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.695099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:409.45, Y:15.81, Z:14.50 [[ 9.95562666e-01 -8.70240963e-02 -3.58020194e-02 4.09450937e+02] [ 8.70119785e-02 9.96205455e-01 -1.89939252e-03 1.58099550e+01] [ 3.58314599e-02 -1.22424026e-03 9.99357097e-01 1.44953229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.48, Y:15.81, Z:14.50 [[ 9.95673882e-01 -8.57434243e-02 -3.57992570e-02 4.09480154e+02] [ 8.57286132e-02 9.96316615e-01 -1.95135925e-03 1.58131932e+01] [ 3.58347108e-02 -1.12610322e-03 9.99357096e-01 1.44970265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.51, Y:15.82, Z:14.50 [[ 9.95976262e-01 -8.21553836e-02 -3.58019374e-02 4.09510408e+02] [ 8.21400699e-02 9.96618982e-01 -1.90087588e-03 1.58192234e+01] [ 3.58370576e-02 -1.04754639e-03 9.99357097e-01 1.44979803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.54, Y:15.82, Z:14.50 [[ 9.96169346e-01 -7.97800234e-02 -3.58019710e-02 4.09541180e+02] [ 7.97631997e-02 9.96812029e-01 -1.90024405e-03 1.58230527e+01] [ 3.58394368e-02 -9.62714888e-04 9.99357097e-01 1.44995624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:15.83, Z:14.50 [[ 9.96367430e-01 -7.72667952e-02 -3.58020397e-02 4.09571732e+02] [ 7.72483968e-02 9.97010070e-01 -1.89894766e-03 1.58269510e+01] [ 3.58417197e-02 -8.73600567e-04 9.99357097e-01 1.45005838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:15.83, Z:14.50 [[ 9.96785733e-01 -7.16687804e-02 -3.58020738e-02 4.09602467e+02] [ 7.16467956e-02 9.97428260e-01 -1.89830456e-03 1.58326002e+01] [ 3.58460493e-02 -6.72900957e-04 9.99357097e-01 1.45025251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.63, Y:15.84, Z:14.50 [[ 9.96968093e-01 -6.90856599e-02 -3.58021416e-02 4.09632451e+02] [ 6.90620562e-02 9.97610562e-01 -1.89702465e-03 1.58363773e+01] [ 3.58476518e-02 -5.81296472e-04 9.99357097e-01 1.45040535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.66, Y:15.84, Z:14.51 [[ 9.96965635e-01 -6.91211159e-02 -3.58021416e-02 4.09662540e+02] [ 6.90975350e-02 9.97608105e-01 -1.89702465e-03 1.58380004e+01] [ 3.58476311e-02 -5.82571354e-04 9.99357097e-01 1.45051345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.69, Y:15.84, Z:14.51 [[ 9.97134805e-01 -6.66362615e-02 -3.58020741e-02 4.09692764e+02] [ 6.66110338e-02 9.97777213e-01 -1.89829873e-03 1.58414543e+01] [ 3.58489892e-02 -4.91953437e-04 9.99357097e-01 1.45071403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.72, Y:15.84, Z:14.51 [[ 9.97271795e-01 -6.45536888e-02 -3.58020741e-02 4.09722583e+02] [ 6.45271195e-02 9.97914148e-01 -1.89829873e-03 1.58446480e+01] [ 3.58499384e-02 -4.17084935e-04 9.99357097e-01 1.45091513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:15.85, Z:14.51 [[ 9.97359559e-01 -6.31832527e-02 -3.58020394e-02 4.09752919e+02] [ 6.31557774e-02 9.98001875e-01 -1.89895179e-03 1.58477726e+01] [ 3.58504844e-02 -3.67167907e-04 9.99357097e-01 1.45104635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:15.85, Z:14.51 [[ 9.97442281e-01 -6.18636392e-02 -3.58020394e-02 4.09782891e+02] [ 6.18353141e-02 9.98084560e-01 -1.89895179e-03 1.58517313e+01] [ 3.58509388e-02 -3.19735545e-04 9.99357097e-01 1.45118391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:15.85, Z:14.51 [[ 9.97424453e-01 -6.21504163e-02 -3.58020394e-02 4.09812471e+02] [ 6.21222759e-02 9.98066740e-01 -1.89895179e-03 1.58542674e+01] [ 3.58508454e-02 -3.30043216e-04 9.99357097e-01 1.45131719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:15.86, Z:14.51 [[ 9.97356664e-01 -6.32289754e-02 -3.58019713e-02 4.09842488e+02] [ 6.32014835e-02 9.97998979e-01 -1.90023567e-03 1.58566766e+01] [ 3.58504807e-02 -3.67524991e-04 9.99357097e-01 1.45145141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:15.86, Z:14.52 [[ 9.97258080e-01 -6.47653126e-02 -3.58019018e-02 4.09872353e+02] [ 6.47387632e-02 9.97900434e-01 -1.90154406e-03 1.58586540e+01] [ 3.58498874e-02 -4.21440662e-04 9.99357097e-01 1.45156435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.90, Y:15.86, Z:14.52 [[ 9.97111031e-01 -6.69911765e-02 -3.58018673e-02 4.09901947e+02] [ 6.69660377e-02 9.97753442e-01 -1.90219407e-03 1.58606556e+01] [ 3.58488665e-02 -5.00810506e-04 9.99357097e-01 1.45164303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:15.86, Z:14.52 [[ 9.96715660e-01 -7.26369125e-02 -3.58018331e-02 4.09932715e+02] [ 7.26153890e-02 9.97358203e-01 -1.90283721e-03 1.58626621e+01] [ 3.58454681e-02 -7.03176392e-04 9.99357097e-01 1.45174756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:15.86, Z:14.52 [[ 9.96465286e-01 -7.59944938e-02 -3.58018331e-02 4.09963620e+02] [ 7.59751353e-02 9.97107897e-01 -1.90283721e-03 1.58643637e+01] [ 3.58428956e-02 -8.23937888e-04 9.99357097e-01 1.45183811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:15.87, Z:14.52 [[ 9.96193195e-01 -7.94817082e-02 -3.58019017e-02 4.09993955e+02] [ 7.94646452e-02 9.96835871e-01 -1.90154618e-03 1.58656987e+01] [ 3.58397580e-02 -9.50678044e-04 9.99357097e-01 1.45188132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.03, Y:15.87, Z:14.52 [[ 9.95925086e-01 -8.27734577e-02 -3.58019357e-02 4.10026204e+02] [ 8.27585418e-02 9.96567815e-01 -1.90090572e-03 1.58672643e+01] [ 3.58364013e-02 -1.06975629e-03 9.99357097e-01 1.45191419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.06, Y:15.87, Z:14.52 [[ 9.95365549e-01 -8.92504091e-02 -3.58020704e-02 4.10058316e+02] [ 8.92397658e-02 9.96008364e-01 -1.89836406e-03 1.58692556e+01] [ 3.58285913e-02 -1.30540219e-03 9.99357097e-01 1.45201269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:15.87, Z:14.52 [[ 9.95106920e-01 -9.20891942e-02 -3.58022063e-02 4.10090808e+02] [ 9.20804768e-02 9.95749764e-01 -1.89579778e-03 1.58713397e+01] [ 3.58246210e-02 -1.41016274e-03 9.99357097e-01 1.45213878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:15.87, Z:14.52 [[ 9.94873684e-01 -9.45756058e-02 -3.58023438e-02 4.10122762e+02] [ 9.45685882e-02 9.95516548e-01 -1.89319728e-03 1.58735640e+01] [ 3.58208760e-02 -1.50228496e-03 9.99357097e-01 1.45229349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:15.88, Z:14.52 [[ 9.94467335e-01 -9.87567780e-02 -3.58024825e-02 4.10153877e+02] [ 9.87525572e-02 9.95110224e-01 -1.89057128e-03 1.58770204e+01] [ 3.58141231e-02 -1.65547532e-03 9.99357097e-01 1.45241816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:15.88, Z:14.53 [[ 9.94308416e-01 -1.00344152e-01 -3.58025857e-02 4.10186923e+02] [ 1.00341028e-01 9.94951311e-01 -1.88861532e-03 1.58795224e+01] [ 3.58113411e-02 -1.71460212e-03 9.99357097e-01 1.45256042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:15.88, Z:14.53 [[ 9.94178323e-01 -1.01624909e-01 -3.58027888e-02 4.10220148e+02] [ 1.01622751e-01 9.94821222e-01 -1.88475663e-03 1.58820360e+01] [ 3.58089123e-02 -1.76459372e-03 9.99357097e-01 1.45268046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:15.88, Z:14.53 [[ 9.94061975e-01 -1.02756685e-01 -3.58029901e-02 4.10253305e+02] [ 1.02755397e-01 9.94704876e-01 -1.88092419e-03 1.58845415e+01] [ 3.58066864e-02 -1.80919524e-03 9.99357097e-01 1.45282989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:15.89, Z:14.53 [[ 9.93848858e-01 -1.04797797e-01 -3.58031934e-02 4.10284621e+02] [ 1.04797968e-01 9.94491761e-01 -1.87704788e-03 1.58874167e+01] [ 3.58026913e-02 -1.88660003e-03 9.99357097e-01 1.45295568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:15.89, Z:14.53 [[ 9.93749891e-01 -1.05732107e-01 -3.58032940e-02 4.10316911e+02] [ 1.05732952e-01 9.94392793e-01 -1.87512661e-03 1.58896519e+01] [ 3.58007986e-02 -1.92218109e-03 9.99357097e-01 1.45308501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:15.89, Z:14.53 [[ 9.93660070e-01 -1.06572888e-01 -3.58034271e-02 4.10348453e+02] [ 1.06574369e-01 9.94302971e-01 -1.87258113e-03 1.58917568e+01] [ 3.57990203e-02 -1.95501854e-03 9.99357097e-01 1.45314445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:15.89, Z:14.53 [[ 9.93583440e-01 -1.07284901e-01 -3.58035927e-02 4.10381673e+02] [ 1.07286956e-01 9.94226340e-01 -1.86940973e-03 1.58939753e+01] [ 3.57974344e-02 -1.98384394e-03 9.99357097e-01 1.45323783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:15.90, Z:14.53 [[ 9.93512556e-01 -1.07939282e-01 -3.58037930e-02 4.10413354e+02] [ 1.07941899e-01 9.94155454e-01 -1.86556674e-03 1.58973100e+01] [ 3.57959040e-02 -2.01126542e-03 9.99357097e-01 1.45324749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:15.90, Z:14.53 [[ 9.93576100e-01 -1.07352743e-01 -3.58039293e-02 4.10446489e+02] [ 1.07355074e-01 9.94218999e-01 -1.86294543e-03 1.58999677e+01] [ 3.57969391e-02 -1.99275543e-03 9.99357097e-01 1.45328651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:15.90, Z:14.53 [[ 9.93711285e-01 -1.06094047e-01 -3.58041334e-02 4.10478401e+02] [ 1.06095705e-01 9.94354185e-01 -1.85901487e-03 1.59027429e+01] [ 3.57992203e-02 -1.95134072e-03 9.99357097e-01 1.45335751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:15.91, Z:14.53 [[ 9.93868906e-01 -1.04607062e-01 -3.58044595e-02 4.10511259e+02] [ 1.04607985e-01 9.94511808e-01 -1.85271252e-03 1.59060529e+01] [ 3.58017646e-02 -1.90407899e-03 9.99357097e-01 1.45346593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:15.91, Z:14.54 [[ 9.94114144e-01 -1.02250161e-01 -3.58046611e-02 4.10544009e+02] [ 1.02249699e-01 9.94757046e-01 -1.84880916e-03 1.59094612e+01] [ 3.58059799e-02 -1.82308849e-03 9.99357097e-01 1.45363231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:15.92, Z:14.54 [[ 9.94749276e-01 -9.58743464e-02 -3.58048615e-02 4.10575615e+02] [ 9.58699023e-02 9.95392163e-01 -1.84492032e-03 1.59157575e+01] [ 3.58167590e-02 -1.59737542e-03 9.99357097e-01 1.45393504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.61, Y:15.92, Z:14.54 [[ 9.95170562e-01 -9.13977812e-02 -3.58049971e-02 4.10607575e+02] [ 9.13905393e-02 9.95813424e-01 -1.84228534e-03 1.59199709e+01] [ 3.58234775e-02 -1.43884986e-03 9.99357097e-01 1.45408937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:15.92, Z:14.54 [[ 9.95588119e-01 -8.67311216e-02 -3.58051656e-02 4.10639857e+02] [ 8.67209838e-02 9.96230942e-01 -1.83900421e-03 1.59242921e+01] [ 3.58297127e-02 -1.27416844e-03 9.99357097e-01 1.45424607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:15.93, Z:14.54 [[ 9.96038757e-01 -8.13927251e-02 -3.58052976e-02 4.10671097e+02] [ 8.13792338e-02 9.96681518e-01 -1.83642957e-03 1.59282625e+01] [ 3.58359504e-02 -1.08465266e-03 9.99357097e-01 1.45439359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.70, Y:15.93, Z:14.55 [[ 9.96846224e-01 -7.08206981e-02 -3.58055160e-02 4.10703061e+02] [ 7.08005414e-02 9.97488810e-01 -1.83216184e-03 1.59344120e+01] [ 3.58453565e-02 -7.08666306e-04 9.99357097e-01 1.45458041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.74, Y:15.94, Z:14.55 [[ 9.97202228e-01 -6.56176178e-02 -3.58056478e-02 4.10735332e+02] [ 6.55942006e-02 9.97844704e-01 -1.82958256e-03 1.59381114e+01] [ 3.58485289e-02 -5.24179045e-04 9.99357097e-01 1.45467875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:15.94, Z:14.55 [[ 9.97516688e-01 -6.06498353e-02 -3.58057791e-02 4.10766939e+02] [ 6.06233106e-02 9.98159044e-01 -1.82700925e-03 1.59416804e+01] [ 3.58506700e-02 -3.48192653e-04 9.99357097e-01 1.45474689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:15.95, Z:14.55 [[ 9.98012144e-01 -5.18623420e-02 -3.58058453e-02 4.10797021e+02] [ 5.18302078e-02 9.98654243e-01 -1.82571093e-03 1.59471091e+01] [ 3.58523450e-02 -3.37427191e-05 9.99357097e-01 1.45479043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:15.95, Z:14.55 [[ 9.98170861e-01 -4.87121243e-02 -3.58058781e-02 4.10826258e+02] [ 4.86779867e-02 9.98812857e-01 -1.82506722e-03 1.59504663e+01] [ 3.58522743e-02 7.87708613e-05 9.99357097e-01 1.45487148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:15.95, Z:14.55 [[ 9.98295639e-01 -4.60842850e-02 -3.58058124e-02 4.10854708e+02] [ 4.60484112e-02 9.98937540e-01 -1.82635544e-03 1.59533978e+01] [ 3.58519364e-02 1.74441892e-04 9.99357097e-01 1.45493517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:15.96, Z:14.55 [[ 9.98377780e-01 -4.42691631e-02 -3.58057146e-02 4.10882481e+02] [ 4.42320537e-02 9.99019611e-01 -1.82827032e-03 1.59558757e+01] [ 3.58515471e-02 2.41544171e-04 9.99357097e-01 1.45500960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.91, Y:15.96, Z:14.55 [[ 9.98409156e-01 -4.35562240e-02 -3.58051901e-02 4.10910286e+02] [ 4.35182900e-02 9.99050939e-01 -1.83848600e-03 1.59581136e+01] [ 3.58512863e-02 2.77380613e-04 9.99357098e-01 1.45509718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.94, Y:15.96, Z:14.55 [[ 9.98405795e-01 -4.36336402e-02 -3.58046647e-02 4.10938481e+02] [ 4.35953910e-02 9.99047559e-01 -1.84866251e-03 1.59600183e+01] [ 3.58512267e-02 2.84797007e-04 9.99357098e-01 1.45520244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.97, Y:15.96, Z:14.55 [[ 9.98366516e-01 -4.45237581e-02 -3.58041219e-02 4.10965179e+02] [ 4.44857062e-02 9.99008291e-01 -1.85911604e-03 1.59612651e+01] [ 3.58513894e-02 2.63307557e-04 9.99357098e-01 1.45533323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.99, Y:15.96, Z:14.55 [[ 9.98300342e-01 -4.59837923e-02 -3.58038861e-02 4.10992112e+02] [ 4.59465165e-02 9.98942163e-01 -1.86364585e-03 1.59623982e+01] [ 3.58517089e-02 2.15414447e-04 9.99357098e-01 1.45543253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:15.96, Z:14.56 [[ 9.98191546e-01 -4.82880590e-02 -3.58036525e-02 4.11019677e+02] [ 4.82521043e-02 9.98833442e-01 -1.86812195e-03 1.59633700e+01] [ 3.58520935e-02 1.37141960e-04 9.99357098e-01 1.45553395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:15.96, Z:14.56 [[ 9.98051291e-01 -5.11053527e-02 -3.58031207e-02 4.11048094e+02] [ 5.10708463e-02 9.98693267e-01 -1.87825929e-03 1.59643556e+01] [ 3.58523247e-02 4.61034353e-05 9.99357098e-01 1.45561731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:15.97, Z:14.56 [[ 9.97625006e-01 -5.88431726e-02 -3.58026391e-02 4.11075761e+02] [ 5.88133176e-02 9.98267214e-01 -1.88739579e-03 1.59671854e+01] [ 3.58516611e-02 -2.22758744e-04 9.99357098e-01 1.45567305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:15.97, Z:14.56 [[ 9.97485627e-01 -6.11718837e-02 -3.57830259e-02 4.11107140e+02] [ 6.11302769e-02 9.98127245e-01 -2.25668724e-03 1.59650515e+01] [ 3.58540589e-02 6.35868070e-05 9.99357035e-01 1.45578042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:15.97, Z:14.56 [[ 9.97247545e-01 -6.49272376e-02 -3.58020653e-02 4.11138306e+02] [ 6.49009378e-02 9.97889908e-01 -1.89749568e-03 1.59655950e+01] [ 3.58497187e-02 -4.31314704e-04 9.99357099e-01 1.45584809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:15.97, Z:14.56 [[ 9.96997896e-01 -6.86542223e-02 -3.58021336e-02 4.11169075e+02] [ 6.86303700e-02 9.97640354e-01 -1.89620519e-03 1.59658640e+01] [ 3.58478357e-02 -5.66601089e-04 9.99357099e-01 1.45594006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:15.97, Z:14.56 [[ 9.96430365e-01 -7.64508185e-02 -3.58022358e-02 4.11201334e+02] [ 7.64320616e-02 9.97072992e-01 -1.89427424e-03 1.59656712e+01] [ 3.58422612e-02 -8.48926318e-04 9.99357099e-01 1.45606878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.23, Y:15.97, Z:14.56 [[ 9.96119222e-01 -8.04032694e-02 -3.58023728e-02 4.11232387e+02] [ 8.03871553e-02 9.96761921e-01 -1.89168093e-03 1.59662688e+01] [ 3.58385392e-02 -9.93711168e-04 9.99357099e-01 1.45619083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:15.97, Z:14.56 [[ 9.95809947e-01 -8.41470861e-02 -3.58024748e-02 4.11264809e+02] [ 8.41334574e-02 9.96452703e-01 -1.88974915e-03 1.59672073e+01] [ 3.58344896e-02 -1.13035498e-03 9.99357099e-01 1.45636136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:15.97, Z:14.57 [[ 9.95502987e-01 -8.77039163e-02 -3.58026108e-02 4.11296862e+02] [ 8.76926765e-02 9.96145789e-01 -1.88716871e-03 1.59680368e+01] [ 3.58301320e-02 -1.26094467e-03 9.99357099e-01 1.45651464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:15.97, Z:14.57 [[ 9.95222653e-01 -9.08296955e-02 -3.58027474e-02 4.11329971e+02] [ 9.08205676e-02 9.95865489e-01 -1.88457288e-03 1.59687726e+01] [ 3.58258957e-02 -1.37605622e-03 9.99357099e-01 1.45665978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.36, Y:15.97, Z:14.57 [[ 9.94722411e-01 -9.61533844e-02 -3.58029531e-02 4.11361599e+02] [ 9.61478368e-02 9.95365288e-01 -1.88065719e-03 1.59686487e+01] [ 3.58178483e-02 -1.57164463e-03 9.99357099e-01 1.45678163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.39, Y:15.97, Z:14.57 [[ 9.94511320e-01 -9.83126203e-02 -3.58031234e-02 4.11394022e+02] [ 9.83085851e-02 9.95154208e-01 -1.87740945e-03 1.59697791e+01] [ 3.58142019e-02 -1.65264946e-03 9.99357099e-01 1.45688746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.43, Y:15.97, Z:14.57 [[ 9.94334825e-01 -1.00081868e-01 -3.58032910e-02 4.11427311e+02] [ 1.00079092e-01 9.94977720e-01 -1.87420776e-03 1.59711225e+01] [ 3.58110510e-02 -1.71957079e-03 9.99357099e-01 1.45694604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:15.97, Z:14.57 [[ 9.94054712e-01 -1.02826749e-01 -3.58034949e-02 4.11459392e+02] [ 1.02825888e-01 9.94697612e-01 -1.87030453e-03 1.59726702e+01] [ 3.58059682e-02 -1.82234111e-03 9.99357099e-01 1.45701045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.49, Y:15.97, Z:14.57 [[ 9.93919828e-01 -1.04122342e-01 -3.58038299e-02 4.11491895e+02] [ 1.04122550e-01 9.94562728e-01 -1.86386926e-03 1.59742281e+01] [ 3.58032252e-02 -1.87544946e-03 9.99357099e-01 1.45715404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.52, Y:15.98, Z:14.57 [[ 9.93807902e-01 -1.05185193e-01 -3.58040307e-02 4.11524375e+02] [ 1.05186227e-01 9.94450802e-01 -1.86000351e-03 1.59761798e+01] [ 3.58009919e-02 -1.91760472e-03 9.99357099e-01 1.45724162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.56, Y:15.98, Z:14.57 [[ 9.93707284e-01 -1.06131479e-01 -3.58042306e-02 4.11557642e+02] [ 1.06133264e-01 9.94350182e-01 -1.85614789e-03 1.59780243e+01] [ 3.57989389e-02 -1.95555219e-03 9.99357099e-01 1.45730706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.59, Y:15.98, Z:14.57 [[ 9.93507973e-01 -1.07981250e-01 -3.58044308e-02 4.11590104e+02] [ 1.07984371e-01 9.94150866e-01 -1.85227840e-03 1.59805362e+01] [ 3.57950172e-02 -2.02606557e-03 9.99357099e-01 1.45734026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.62, Y:15.98, Z:14.57 [[ 9.93519356e-01 -1.07876401e-01 -3.58046291e-02 4.11623584e+02] [ 1.07879592e-01 9.94162249e-01 -1.84843736e-03 1.59821713e+01] [ 3.57950133e-02 -2.02613050e-03 9.99357099e-01 1.45746039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.66, Y:15.98, Z:14.58 [[ 9.93439625e-01 -1.08608129e-01 -3.58048236e-02 4.11655293e+02] [ 1.08611929e-01 9.94082515e-01 -1.84466130e-03 1.59843789e+01] [ 3.57932943e-02 -2.05627135e-03 9.99357099e-01 1.45753344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.69, Y:15.99, Z:14.58 [[ 9.93363302e-01 -1.09303946e-01 -3.58049844e-02 4.11688198e+02] [ 1.09308309e-01 9.94006188e-01 -1.84153464e-03 1.59866452e+01] [ 3.57916631e-02 -2.08446937e-03 9.99357099e-01 1.45761410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.72, Y:15.99, Z:14.58 [[ 9.93292370e-01 -1.09946611e-01 -3.58051810e-02 4.11721125e+02] [ 1.09951527e-01 9.93935252e-01 -1.83770559e-03 1.59887331e+01] [ 3.57900811e-02 -2.11145538e-03 9.99357099e-01 1.45769156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.75, Y:15.99, Z:14.58 [[ 9.93276721e-01 -1.10087833e-01 -3.58053777e-02 4.11753472e+02] [ 1.10092979e-01 9.93919601e-01 -1.83386403e-03 1.59912678e+01] [ 3.57895528e-02 -2.12038623e-03 9.99357099e-01 1.45766825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.78, Y:15.99, Z:14.58 [[ 9.93313020e-01 -1.09759780e-01 -3.58055117e-02 4.11784990e+02] [ 1.09764807e-01 9.93955901e-01 -1.83124402e-03 1.59935906e+01] [ 3.57900966e-02 -2.11118656e-03 9.99357099e-01 1.45775645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.82, Y:16.00, Z:14.58 [[ 9.93385741e-01 -1.09099619e-01 -3.58056114e-02 4.11817976e+02] [ 1.09104290e-01 9.94028625e-01 -1.82929332e-03 1.59963528e+01] [ 3.57913779e-02 -2.08935189e-03 9.99357099e-01 1.45785644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.85, Y:16.00, Z:14.58 [[ 9.93667966e-01 -1.06498435e-01 -3.58058103e-02 4.11850187e+02] [ 1.06501562e-01 9.94310859e-01 -1.82539149e-03 1.60003657e+01] [ 3.57965073e-02 -1.99954169e-03 9.99357099e-01 1.45793083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.88, Y:16.00, Z:14.58 [[ 9.93839628e-01 -1.04884286e-01 -3.58061377e-02 4.11883069e+02] [ 1.04886601e-01 9.94482525e-01 -1.81894697e-03 1.60033785e+01] [ 3.57993572e-02 -1.94784250e-03 9.99357099e-01 1.45820551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.91, Y:16.01, Z:14.58 [[ 9.94057802e-01 -1.02795878e-01 -3.58063395e-02 4.11914025e+02] [ 1.02796985e-01 9.94700702e-01 -1.81496612e-03 1.60062867e+01] [ 3.58031620e-02 -1.87660251e-03 9.99357099e-01 1.45828477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.95, Y:16.01, Z:14.59 [[ 9.94308236e-01 -1.00344561e-01 -3.58064391e-02 4.11946649e+02] [ 1.00344153e-01 9.94951137e-01 -1.81299901e-03 1.60093674e+01] [ 3.58075818e-02 -1.79028695e-03 9.99357099e-01 1.45852519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.98, Y:16.01, Z:14.59 [[ 9.94872969e-01 -9.45814997e-02 -3.58066336e-02 4.11977831e+02] [ 9.45775050e-02 9.95515858e-01 -1.80914885e-03 1.60139256e+01] [ 3.58171836e-02 -1.58662878e-03 9.99357099e-01 1.45878826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.01, Y:16.02, Z:14.59 [[ 9.95149727e-01 -9.16236842e-02 -3.58067300e-02 4.12010436e+02] [ 9.16178470e-02 9.95792601e-01 -1.80723964e-03 1.60170426e+01] [ 3.58216627e-02 -1.48206148e-03 9.99357099e-01 1.45900127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.04, Y:16.02, Z:14.59 [[ 9.95449471e-01 -8.83074985e-02 -3.58069285e-02 4.12042621e+02] [ 8.82996610e-02 9.96092324e-01 -1.80329729e-03 1.60198342e+01] [ 3.58262513e-02 -1.36664832e-03 9.99357099e-01 1.45912690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.08, Y:16.02, Z:14.59 [[ 9.95977040e-01 -8.21436977e-02 -3.58070925e-02 4.12075531e+02] [ 8.21319982e-02 9.96619835e-01 -1.80003425e-03 1.60232282e+01] [ 3.58339201e-02 -1.14811528e-03 9.99357099e-01 1.45927972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.11, Y:16.03, Z:14.59 [[ 9.96207513e-01 -7.92996154e-02 -3.58072894e-02 4.12107277e+02] [ 7.92862215e-02 9.96850274e-01 -1.79610882e-03 1.60250701e+01] [ 3.58369370e-02 -1.04972758e-03 9.99357099e-01 1.45940956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.14, Y:16.03, Z:14.60 [[ 9.96432137e-01 -7.64252767e-02 -3.58074518e-02 4.12139740e+02] [ 7.64101450e-02 9.97074859e-01 -1.79286518e-03 1.60269313e+01] [ 3.58397302e-02 -9.49584109e-04 9.99357099e-01 1.45955830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.17, Y:16.03, Z:14.60 [[ 9.96664323e-01 -7.33351450e-02 -3.58075819e-02 4.12171849e+02] [ 7.33181138e-02 9.97306998e-01 -1.79026401e-03 1.60288298e+01] [ 3.58424413e-02 -8.41052099e-04 9.99357099e-01 1.45970571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.20, Y:16.03, Z:14.60 [[ 9.97129681e-01 -6.67098687e-02 -3.58077123e-02 4.12203901e+02] [ 6.66886606e-02 9.97772232e-01 -1.78765196e-03 1.60309155e+01] [ 3.58471950e-02 -6.05447537e-04 9.99357099e-01 1.45981928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.24, Y:16.03, Z:14.60 [[ 9.97369472e-01 -6.30232852e-02 -3.58078423e-02 4.12236433e+02] [ 6.29997955e-02 9.98011944e-01 -1.78504383e-03 1.60325785e+01] [ 3.58491536e-02 -4.75538518e-04 9.99357099e-01 1.45987944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.395099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:412.27, Y:16.04, Z:14.60 [[ 9.97590381e-01 -5.94240747e-02 -3.58079711e-02 4.12266088e+02] [ 5.93983598e-02 9.98232767e-01 -1.78245589e-03 1.60353135e+01] [ 3.58506109e-02 -3.48773905e-04 9.99357099e-01 1.45986289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.30, Y:16.04, Z:14.60 [[ 9.97798549e-01 -5.58262800e-02 -3.57977886e-02 4.12296572e+02] [ 5.57909298e-02 9.98440497e-01 -1.98643488e-03 1.60361491e+01] [ 3.58528571e-02 -1.51300717e-05 9.99357080e-01 1.46001224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.33, Y:16.04, Z:14.60 [[ 9.97980458e-01 -5.24671029e-02 -3.58079410e-02 4.12327286e+02] [ 5.24369080e-02 9.98622648e-01 -1.78250379e-03 1.60376219e+01] [ 3.58521436e-02 -9.87537587e-05 9.99357100e-01 1.46011298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.36, Y:16.04, Z:14.60 [[ 9.98263704e-01 -4.67693083e-02 -3.58079410e-02 4.12355492e+02] [ 4.67354480e-02 9.98905712e-01 -1.78250379e-03 1.60378927e+01] [ 3.58521232e-02 1.05908672e-04 9.99357100e-01 1.46016019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.38, Y:16.04, Z:14.60 [[ 9.98427855e-01 -4.31233012e-02 -3.58078191e-02 4.12382861e+02] [ 4.30870088e-02 9.99069729e-01 -1.78494832e-03 1.60384702e+01] [ 3.58514810e-02 2.39290308e-04 9.99357100e-01 1.46020657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.41, Y:16.04, Z:14.60 [[ 9.98450502e-01 -4.26029188e-02 -3.57992400e-02 4.12412537e+02] [ 4.25601261e-02 9.99091991e-01 -1.95690577e-03 1.60392736e+01] [ 3.58501039e-02 4.30253384e-04 9.99357086e-01 1.46038746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.44, Y:16.04, Z:14.60 [[ 9.98499527e-01 -4.14307843e-02 -3.58076103e-02 4.12440243e+02] [ 4.13932436e-02 9.99141330e-01 -1.78942002e-03 1.60397414e+01] [ 3.58510005e-02 3.04541909e-04 9.99357100e-01 1.46048906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.47, Y:16.04, Z:14.61 [[ 9.98532044e-01 -4.06399822e-02 -3.58071003e-02 4.12467061e+02] [ 4.06015693e-02 9.99173796e-01 -1.79956717e-03 1.60390271e+01] [ 3.58506507e-02 3.43101023e-04 9.99357100e-01 1.46061013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.49, Y:16.04, Z:14.61 [[ 9.98484598e-01 -4.17896555e-02 -3.58068786e-02 4.12494681e+02] [ 4.17518238e-02 9.99126384e-01 -1.80396752e-03 1.60388718e+01] [ 3.58509844e-02 3.06231299e-04 9.99357100e-01 1.46072275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.52, Y:16.04, Z:14.61 [[ 9.98418101e-01 -4.33497368e-02 -3.58063712e-02 4.12522610e+02] [ 4.33125487e-02 9.99059924e-01 -1.81398398e-03 1.60383443e+01] [ 3.58513462e-02 2.60249247e-04 9.99357100e-01 1.46085273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.55, Y:16.04, Z:14.61 [[ 9.98340148e-01 -4.51097424e-02 -3.58058553e-02 4.12550515e+02] [ 4.50733225e-02 9.98982016e-01 -1.82411092e-03 1.60374907e+01] [ 3.58516907e-02 2.07194306e-04 9.99357100e-01 1.46098921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.58, Y:16.03, Z:14.61 [[ 9.98112405e-01 -4.98959473e-02 -3.58053314e-02 4.12578890e+02] [ 4.98622386e-02 9.98754420e-01 -1.83433685e-03 1.60342898e+01] [ 3.58522590e-02 4.55403915e-05 9.99357100e-01 1.46122079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.61, Y:16.03, Z:14.61 [[ 9.97963537e-01 -5.27901112e-02 -3.58048006e-02 4.12607205e+02] [ 5.27578948e-02 9.98605629e-01 -1.84463916e-03 1.60333170e+01] [ 3.58522542e-02 -4.81032890e-05 9.99357100e-01 1.46136533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.64, Y:16.03, Z:14.62 [[ 9.97636329e-01 -5.86498537e-02 -3.58043342e-02 4.12635766e+02] [ 5.86210853e-02 9.98278585e-01 -1.85364863e-03 1.60296414e+01] [ 3.58514163e-02 -2.49621718e-04 9.99357100e-01 1.46150798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.67, Y:16.03, Z:14.62 [[ 9.97636328e-01 -5.86499224e-02 -3.58042350e-02 4.12666703e+02] [ 5.86210853e-02 9.98278581e-01 -1.85556343e-03 1.60312457e+01] [ 3.58514295e-02 -2.47705624e-04 9.99357100e-01 1.46161918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.70, Y:16.03, Z:14.62 [[ 9.97272559e-01 -6.45406861e-02 -3.58042350e-02 4.12696215e+02] [ 6.45156425e-02 9.97914971e-01 -1.85556343e-03 1.60272357e+01] [ 3.58493414e-02 -4.59430733e-04 9.99357100e-01 1.46157392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.72, Y:16.03, Z:14.62 [[ 9.96956556e-01 -6.92509531e-02 -3.58040646e-02 4.12724661e+02] [ 6.92288266e-02 9.97599075e-01 -1.85884492e-03 1.60286006e+01] [ 3.58468285e-02 -6.25485754e-04 9.99357100e-01 1.46151171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.76, Y:16.02, Z:14.62 [[ 9.96773543e-01 -7.18466425e-02 -3.57849691e-02 4.12757519e+02] [ 7.18129382e-02 9.97415630e-01 -2.22795463e-03 1.60210317e+01] [ 3.58525585e-02 -3.49057545e-04 9.99357029e-01 1.46189497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.79, Y:16.02, Z:14.62 [[ 9.96776394e-01 -7.17971574e-02 -3.58048591e-02 4.12789318e+02] [ 7.17773048e-02 9.97418983e-01 -1.84121982e-03 1.60224508e+01] [ 3.58446405e-02 -7.34691829e-04 9.99357104e-01 1.46199729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.82, Y:16.02, Z:14.62 [[ 9.96657068e-01 -7.34349778e-02 -3.58049249e-02 4.12820275e+02] [ 7.34162272e-02 9.97299690e-01 -1.83993927e-03 1.60217874e+01] [ 3.58433564e-02 -7.94874026e-04 9.99357104e-01 1.46209374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.85, Y:16.02, Z:14.62 [[ 9.96568543e-01 -7.46266883e-02 -3.58049908e-02 4.12852153e+02] [ 7.46087521e-02 9.97211188e-01 -1.83865629e-03 1.60193382e+01] [ 3.58423502e-02 -8.39018668e-04 9.99357104e-01 1.46214681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.88, Y:16.02, Z:14.62 [[ 9.96581955e-01 -7.44473263e-02 -3.58050569e-02 4.12883004e+02] [ 7.44293208e-02 9.97224599e-01 -1.83736734e-03 1.60190592e+01] [ 3.58424706e-02 -8.33858934e-04 9.99357104e-01 1.46218154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.91, Y:16.02, Z:14.62 [[ 9.96636086e-01 -7.37190816e-02 -3.58051558e-02 4.12914586e+02] [ 7.37006757e-02 9.97278718e-01 -1.83543888e-03 1.60190373e+01] [ 3.58430267e-02 -8.09599558e-04 9.99357104e-01 1.46232172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.95, Y:16.02, Z:14.62 [[ 9.96815706e-01 -7.12491009e-02 -3.58052209e-02 4.12945639e+02] [ 7.12291482e-02 9.97458292e-01 -1.83416806e-03 1.60176927e+01] [ 3.58448973e-02 -7.22047860e-04 9.99357104e-01 1.46239182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.98, Y:16.02, Z:14.62 [[ 9.96934920e-01 -6.95611056e-02 -3.58052855e-02 4.12977433e+02] [ 6.95401103e-02 9.97577472e-01 -1.83290514e-03 1.60178263e+01] [ 3.58460452e-02 -6.62616371e-04 9.99357104e-01 1.46245320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.01, Y:16.02, Z:14.63 [[ 9.97059951e-01 -6.77453339e-02 -3.58053498e-02 4.13008046e+02] [ 6.77232134e-02 9.97702466e-01 -1.83164962e-03 1.60182148e+01] [ 3.58471715e-02 -5.98588863e-04 9.99357104e-01 1.46257478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.04, Y:16.02, Z:14.63 [[ 9.97206547e-01 -6.55521135e-02 -3.58053498e-02 4.13037441e+02] [ 6.55285799e-02 9.97849012e-01 -1.83164962e-03 1.60184962e+01] [ 3.58484014e-02 -5.19740729e-04 9.99357104e-01 1.46258602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.07, Y:16.02, Z:14.63 [[ 9.97483880e-01 -6.11873293e-02 -3.58053173e-02 4.13067629e+02] [ 6.11609615e-02 9.98126234e-01 -1.83228327e-03 1.60178684e+01] [ 3.58503391e-02 -3.62214613e-04 9.99357104e-01 1.46269095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.10, Y:16.02, Z:14.63 [[ 9.97624084e-01 -5.88572553e-02 -3.58051679e-02 4.13096873e+02] [ 5.88292825e-02 9.98266371e-01 -1.83519865e-03 1.60180920e+01] [ 3.58511098e-02 -2.75553966e-04 9.99357104e-01 1.46281656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.13, Y:16.02, Z:14.63 [[ 9.97745030e-01 -5.67701423e-02 -3.58051018e-02 4.13125215e+02] [ 5.67407796e-02 9.98387255e-01 -1.83648861e-03 1.60182728e+01] [ 3.58516150e-02 -1.99262006e-04 9.99357104e-01 1.46278094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.15, Y:16.02, Z:14.63 [[ 9.97839664e-01 -5.50818187e-02 -3.58050033e-02 4.13153767e+02] [ 5.50513006e-02 9.98481835e-01 -1.83840606e-03 1.60185955e+01] [ 3.58519081e-02 -1.36677511e-04 9.99357104e-01 1.46306631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.18, Y:16.02, Z:14.63 [[ 9.98012242e-01 -5.18613463e-02 -3.58045366e-02 4.13182102e+02] [ 5.18284315e-02 9.98654295e-01 -1.84745076e-03 1.60178948e+01] [ 3.58521655e-02 -1.19144932e-05 9.99357104e-01 1.46326538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.21, Y:16.02, Z:14.63 [[ 9.98062758e-01 -5.08801083e-02 -3.58042741e-02 4.13208929e+02] [ 5.08463803e-02 9.98704768e-01 -1.85252435e-03 1.60183210e+01] [ 3.58521559e-02 2.84178292e-05 9.99357104e-01 1.46332439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.24, Y:16.02, Z:14.64 [[ 9.98096714e-01 -5.02098724e-02 -3.58038910e-02 4.13236947e+02] [ 5.01754487e-02 9.98738687e-01 -1.85989981e-03 1.60183694e+01] [ 3.58521164e-02 5.98835930e-05 9.99357104e-01 1.46353653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.26, Y:16.02, Z:14.64 [[ 9.98145072e-01 -4.92395822e-02 -3.58033482e-02 4.13264492e+02] [ 4.92041617e-02 9.98786991e-01 -1.87028990e-03 1.60167649e+01] [ 3.58520107e-02 1.05146913e-04 9.99357104e-01 1.46358723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.29, Y:16.02, Z:14.64 [[ 9.98142976e-01 -4.92822149e-02 -3.58031126e-02 4.13292066e+02] [ 4.92466604e-02 9.98784888e-01 -1.87479048e-03 1.60165966e+01] [ 3.58520016e-02 1.08125226e-04 9.99357104e-01 1.46369757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.32, Y:16.02, Z:14.64 [[ 9.98127202e-01 -4.96010531e-02 -3.58025685e-02 4.13319650e+02] [ 4.95653330e-02 9.98769104e-01 -1.88512311e-03 1.60161218e+01] [ 3.58520034e-02 1.07026430e-04 9.99357105e-01 1.46378478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.35, Y:16.02, Z:14.64 [[ 9.98092125e-01 -5.03023396e-02 -3.58020230e-02 4.13347466e+02] [ 5.02667009e-02 9.98734032e-01 -1.89542721e-03 1.60156393e+01] [ 3.58520432e-02 9.21613914e-05 9.99357105e-01 1.46389152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.38, Y:16.01, Z:14.64 [[ 9.97991160e-01 -5.22675690e-02 -3.58014744e-02 4.13375386e+02] [ 5.22328246e-02 9.98633116e-01 -1.90573374e-03 1.60134354e+01] [ 3.58521460e-02 3.18932980e-05 9.99357105e-01 1.46395759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.40, Y:16.01, Z:14.64 [[ 9.97910520e-01 -5.37855703e-02 -3.58009267e-02 4.13403422e+02] [ 5.37514353e-02 9.98552509e-01 -1.91596725e-03 1.60132852e+01] [ 3.58521566e-02 -1.23873210e-05 9.99357105e-01 1.46408344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.43, Y:16.01, Z:14.64 [[ 9.97829925e-01 -5.52609657e-02 -3.58003661e-02 4.13430792e+02] [ 5.52274062e-02 9.98471944e-01 -1.92638533e-03 1.60130578e+01] [ 3.58521151e-02 -5.49564302e-05 9.99357105e-01 1.46405982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.46, Y:16.01, Z:14.64 [[ 9.97734274e-01 -5.69620027e-02 -3.58001230e-02 4.13458752e+02] [ 5.69293760e-02 9.98376341e-01 -1.93089362e-03 1.60129910e+01] [ 3.58519833e-02 -1.11559912e-04 9.99357105e-01 1.46421707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.49, Y:16.01, Z:14.64 [[ 9.97552585e-01 -6.00602312e-02 -3.57995615e-02 4.13486044e+02] [ 6.00292270e-02 9.98194732e-01 -1.94124868e-03 1.60113951e+01] [ 3.58515255e-02 -2.12522360e-04 9.99357105e-01 1.46426484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.51, Y:16.01, Z:14.64 [[ 9.97467360e-01 -6.14595287e-02 -3.57993177e-02 4.13512634e+02] [ 6.14292643e-02 9.98109543e-01 -1.94573269e-03 1.60110875e+01] [ 3.58512245e-02 -2.58320899e-04 9.99357105e-01 1.46429734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.54, Y:16.01, Z:14.64 [[ 9.97450235e-01 -6.17369889e-02 -3.57990756e-02 4.13540980e+02] [ 6.17067437e-02 9.98092418e-01 -1.95017791e-03 1.60127040e+01] [ 3.58511840e-02 -2.63838965e-04 9.99357105e-01 1.46439931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.57, Y:16.01, Z:14.64 [[ 9.97354475e-01 -6.32654477e-02 -3.57985303e-02 4.13569361e+02] [ 6.32358292e-02 9.97996687e-01 -1.96013657e-03 1.60126183e+01] [ 3.58508236e-02 -3.08798771e-04 9.99357105e-01 1.46447713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.60, Y:16.01, Z:14.65 [[ 9.97233338e-01 -6.51473209e-02 -3.57979859e-02 4.13598007e+02] [ 6.51185592e-02 9.97875590e-01 -1.97002941e-03 1.60105674e+01] [ 3.58502784e-02 -3.66534257e-04 9.99357105e-01 1.46471315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.63, Y:16.01, Z:14.65 [[ 9.97180220e-01 -6.59556637e-02 -3.57974868e-02 4.13626262e+02] [ 6.59270986e-02 9.97822480e-01 -1.97905783e-03 1.60104389e+01] [ 3.58500671e-02 -3.86547114e-04 9.99357105e-01 1.46486368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.65, Y:16.01, Z:14.65 [[ 9.97146280e-01 -6.64671137e-02 -3.57969164e-02 4.13653892e+02] [ 6.64385096e-02 9.97788538e-01 -1.98932076e-03 1.60105186e+01] [ 3.58499773e-02 -3.94649983e-04 9.99357105e-01 1.46499886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.68, Y:16.01, Z:14.65 [[ 9.97080116e-01 -6.74524703e-02 -3.57967395e-02 4.13681585e+02] [ 6.74243868e-02 9.97722397e-01 -1.99249856e-03 1.60087372e+01] [ 3.58496077e-02 -4.26892520e-04 9.99357105e-01 1.46512728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.71, Y:16.01, Z:14.65 [[ 9.97022895e-01 -6.82931320e-02 -3.57965659e-02 4.13709064e+02] [ 6.82654782e-02 9.97665195e-01 -1.99561302e-03 1.60085090e+01] [ 3.58492746e-02 -4.53997822e-04 9.99357105e-01 1.46521112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.74, Y:16.01, Z:14.65 [[ 9.96951517e-01 -6.93276158e-02 -3.57959989e-02 4.13738074e+02] [ 6.93002653e-02 9.97593830e-01 -2.00573216e-03 1.60082207e+01] [ 3.58489203e-02 -4.81054497e-04 9.99357105e-01 1.46531143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.77, Y:16.01, Z:14.65 [[ 9.96865148e-01 -7.05589088e-02 -3.57954817e-02 4.13765885e+02] [ 7.05320218e-02 9.97507481e-01 -2.01492010e-03 1.60078525e+01] [ 3.58484314e-02 -5.16124069e-04 9.99357105e-01 1.46532456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.79, Y:16.01, Z:14.65 [[ 9.96676279e-01 -7.31784886e-02 -3.57952986e-02 4.13793463e+02] [ 7.31531731e-02 9.97318675e-01 -2.01816823e-03 1.60058211e+01] [ 3.58470063e-02 -6.07079276e-04 9.99357105e-01 1.46535242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.82, Y:16.01, Z:14.65 [[ 9.96547945e-01 -7.49061489e-02 -3.57947229e-02 4.13822250e+02] [ 7.48815822e-02 9.97190370e-01 -2.02832813e-03 1.60057677e+01] [ 3.58460872e-02 -6.59039257e-04 9.99357105e-01 1.46545491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.85, Y:16.01, Z:14.66 [[ 9.96445482e-01 -7.62572949e-02 -3.57942125e-02 4.13850633e+02] [ 7.62332774e-02 9.97087928e-01 -2.03729609e-03 1.60057597e+01] [ 3.58453358e-02 -6.98655636e-04 9.99357105e-01 1.46553125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.88, Y:16.01, Z:14.66 [[ 9.96340495e-01 -7.76170059e-02 -3.57941039e-02 4.13879041e+02] [ 7.75937967e-02 9.96982971e-01 -2.03920079e-03 1.60060085e+01] [ 3.58443888e-02 -7.45662102e-04 9.99357105e-01 1.46569829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.91, Y:16.01, Z:14.66 [[ 9.96196455e-01 -7.94445850e-02 -3.57935997e-02 4.13908767e+02] [ 7.94222379e-02 9.96838961e-01 -2.04801405e-03 1.60057031e+01] [ 3.58431583e-02 -8.02583456e-04 9.99357105e-01 1.46588752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.94, Y:16.01, Z:14.66 [[ 9.96141847e-01 -8.01264229e-02 -3.57935257e-02 4.13938228e+02] [ 8.01044691e-02 9.96784367e-01 -2.04930523e-03 1.60067426e+01] [ 3.58426304e-02 -8.25822677e-04 9.99357105e-01 1.46600692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.97, Y:16.01, Z:14.66 [[ 9.96088154e-01 -8.07912024e-02 -3.57934520e-02 4.13967201e+02] [ 8.07696312e-02 9.96730687e-01 -2.05059287e-03 1.60078047e+01] [ 3.58421018e-02 -8.48452648e-04 9.99357105e-01 1.46605969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.00, Y:16.01, Z:14.66 [[ 9.96029707e-01 -8.15086439e-02 -3.57933423e-02 4.13997200e+02] [ 8.14874668e-02 9.96672253e-01 -2.05250629e-03 1.60092339e+01] [ 3.58415281e-02 -8.72351553e-04 9.99357105e-01 1.46619462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.03, Y:16.01, Z:14.66 [[ 9.95968815e-01 -8.22493874e-02 -3.57932694e-02 4.14026520e+02] [ 8.22286426e-02 9.96611375e-01 -2.05377595e-03 1.60105001e+01] [ 3.58409012e-02 -8.97735163e-04 9.99357105e-01 1.46628797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.06, Y:16.01, Z:14.66 [[ 9.95799836e-01 -8.42706018e-02 -3.57931965e-02 4.14056616e+02] [ 8.42511155e-02 9.96442435e-01 -2.05504573e-03 1.60112288e+01] [ 3.58390398e-02 -9.69202535e-04 9.99357105e-01 1.46636948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.09, Y:16.01, Z:14.66 [[ 9.95701016e-01 -8.54303178e-02 -3.57931214e-02 4.14086032e+02] [ 8.54115330e-02 9.96343636e-01 -2.05635268e-03 1.60124570e+01] [ 3.58379236e-02 -1.00963292e-03 9.99357105e-01 1.46645945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:16.01, Z:14.67 [[ 9.95617363e-01 -8.63997962e-02 -3.57930460e-02 4.14114751e+02] [ 8.63815901e-02 9.96260000e-01 -2.05766497e-03 1.60137974e+01] [ 3.58369618e-02 -1.04321325e-03 9.99357105e-01 1.46655158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.14, Y:16.02, Z:14.67 [[ 9.95466153e-01 -8.81249390e-02 -3.57929336e-02 4.14143838e+02] [ 8.81077763e-02 9.96108818e-01 -2.05961719e-03 1.60158889e+01] [ 3.58351605e-02 -1.10335659e-03 9.99357105e-01 1.46676785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.17, Y:16.02, Z:14.67 [[ 9.95339274e-01 -8.95480657e-02 -3.57892995e-02 4.14172981e+02] [ 8.95295566e-02 9.95981904e-01 -2.12267583e-03 1.60177712e+01] [ 3.58355762e-02 -1.09141750e-03 9.99357103e-01 1.46680487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.20, Y:16.02, Z:14.67 [[ 9.95242195e-01 -9.06192847e-02 -3.57927064e-02 4.14202565e+02] [ 9.06035900e-02 9.95884899e-01 -2.06358452e-03 1.60197289e+01] [ 3.58324163e-02 -1.18918131e-03 9.99357105e-01 1.46694089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.23, Y:16.02, Z:14.67 [[ 9.95143979e-01 -9.16915925e-02 -3.57926322e-02 4.14232349e+02] [ 9.16765442e-02 9.95786698e-01 -2.06486995e-03 1.60218665e+01] [ 3.58311583e-02 -1.22650193e-03 9.99357105e-01 1.46703500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.26, Y:16.02, Z:14.67 [[ 9.95045854e-01 -9.27504079e-02 -3.57925954e-02 4.14261826e+02] [ 9.27360206e-02 9.95688588e-01 -2.06550774e-03 1.60241214e+01] [ 3.58298555e-02 -1.26398795e-03 9.99357105e-01 1.46714804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.29, Y:16.03, Z:14.67 [[ 9.94848125e-01 -9.48477751e-02 -3.57925590e-02 4.14291024e+02] [ 9.48347201e-02 9.95490887e-01 -2.06613808e-03 1.60261507e+01] [ 3.58271350e-02 -1.33888372e-03 9.99357105e-01 1.46725780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.32, Y:16.03, Z:14.67 [[ 9.94786495e-01 -9.54920184e-02 -3.57925231e-02 4.14320994e+02] [ 9.54793572e-02 9.95429265e-01 -2.06676140e-03 1.60279343e+01] [ 3.58262841e-02 -1.36146077e-03 9.99357105e-01 1.46735209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.35, Y:16.03, Z:14.67 [[ 9.94773966e-01 -9.56224433e-02 -3.57925231e-02 4.14352514e+02] [ 9.56098664e-02 9.95416738e-01 -2.06676140e-03 1.60299220e+01] [ 3.58261053e-02 -1.36615791e-03 9.99357105e-01 1.46746405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.38, Y:16.03, Z:14.68 [[ 9.94744587e-01 -9.59275611e-02 -3.57925963e-02 4.14382961e+02] [ 9.59152270e-02 9.95387363e-01 -2.06549221e-03 1.60318632e+01] [ 3.58256357e-02 -1.37841780e-03 9.99357105e-01 1.46752577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.41, Y:16.03, Z:14.68 [[ 9.94750360e-01 -9.58676663e-02 -3.57926326e-02 4.14414083e+02] [ 9.58553160e-02 9.95393136e-01 -2.06486231e-03 1.60348515e+01] [ 3.58256944e-02 -1.37689159e-03 9.99357105e-01 1.46768809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.45, Y:16.04, Z:14.68 [[ 9.94759150e-01 -9.57763786e-02 -3.57927066e-02 4.14445718e+02] [ 9.57640154e-02 9.95401926e-01 -2.06357922e-03 1.60378117e+01] [ 3.58257713e-02 -1.37488899e-03 9.99357105e-01 1.46778942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.48, Y:16.04, Z:14.68 [[ 9.94825433e-01 -9.50854060e-02 -3.57927803e-02 4.14476604e+02] [ 9.50726423e-02 9.95468201e-01 -2.06230085e-03 1.60418080e+01] [ 3.58266693e-02 -1.35128486e-03 9.99357105e-01 1.46794300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.51, Y:16.04, Z:14.68 [[ 9.94893066e-01 -9.43750943e-02 -3.57928537e-02 4.14507045e+02] [ 9.43619175e-02 9.95535826e-01 -2.06102594e-03 1.60442726e+01] [ 3.58275777e-02 -1.32698188e-03 9.99357105e-01 1.46804115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.54, Y:16.05, Z:14.68 [[ 9.94929449e-01 -9.39907660e-02 -3.57928537e-02 4.14538119e+02] [ 9.39773409e-02 9.95572203e-01 -2.06102594e-03 1.60472368e+01] [ 3.58280876e-02 -1.31314181e-03 9.99357105e-01 1.46822960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.57, Y:16.05, Z:14.68 [[ 9.95029358e-01 -9.29270874e-02 -3.57929286e-02 4.14569185e+02] [ 9.29130220e-02 9.95672099e-01 -2.05972449e-03 1.60498924e+01] [ 3.58294245e-02 -1.27614282e-03 9.99357105e-01 1.46839578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.60, Y:16.05, Z:14.68 [[ 9.95112411e-01 -9.20334170e-02 -3.57930041e-02 4.14599474e+02] [ 9.20188215e-02 9.95755140e-01 -2.05841027e-03 1.60528165e+01] [ 3.58305104e-02 -1.24528045e-03 9.99357105e-01 1.46848068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.63, Y:16.06, Z:14.69 [[ 9.95330741e-01 -8.96413690e-02 -3.57930416e-02 4.14629103e+02] [ 8.96252521e-02 9.95973433e-01 -2.05775874e-03 1.60570245e+01] [ 3.58333788e-02 -1.15980985e-03 9.99357105e-01 1.46865487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.66, Y:16.06, Z:14.69 [[ 9.95444588e-01 -8.83681573e-02 -3.57930414e-02 4.14659097e+02] [ 8.83512183e-02 9.96087259e-01 -2.05776216e-03 1.60603626e+01] [ 3.58348332e-02 -1.11397061e-03 9.99357105e-01 1.46877205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.69, Y:16.06, Z:14.69 [[ 9.95549595e-01 -8.71771932e-02 -3.57930414e-02 4.14690414e+02] [ 8.71594853e-02 9.96192245e-01 -2.05776216e-03 1.60637163e+01] [ 3.58361402e-02 -1.07109878e-03 9.99357105e-01 1.46901207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.72, Y:16.07, Z:14.69 [[ 9.95761562e-01 -8.47216863e-02 -3.57931174e-02 4.14720151e+02] [ 8.47024411e-02 9.96404169e-01 -2.05643981e-03 1.60676996e+01] [ 3.58386364e-02 -9.84040698e-04 9.99357105e-01 1.46908297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.75, Y:16.07, Z:14.69 [[ 9.95867406e-01 -8.34683124e-02 -3.57931550e-02 4.14750066e+02] [ 8.34482819e-02 9.96509989e-01 -2.05578464e-03 1.60705416e+01] [ 3.58398294e-02 -9.39588376e-04 9.99357105e-01 1.46919693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.78, Y:16.07, Z:14.69 [[ 9.95970988e-01 -8.22231139e-02 -3.57931550e-02 4.14780097e+02] [ 8.22022800e-02 9.96613545e-01 -2.05578464e-03 1.60734999e+01] [ 3.58409761e-02 -8.94777094e-04 9.99357105e-01 1.46929844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.81, Y:16.08, Z:14.69 [[ 9.96092352e-01 -8.07395650e-02 -3.57931550e-02 4.14810685e+02] [ 8.07177740e-02 9.96734877e-01 -2.05578464e-03 1.60764251e+01] [ 3.58422691e-02 -8.41392447e-04 9.99357105e-01 1.46941359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.84, Y:16.08, Z:14.70 [[ 9.96336309e-01 -7.76711624e-02 -3.57931550e-02 4.14841171e+02] [ 7.76473926e-02 9.96978764e-01 -2.05578464e-03 1.60800755e+01] [ 3.58446906e-02 -7.30992282e-04 9.99357105e-01 1.46951491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.87, Y:16.08, Z:14.70 [[ 9.96458034e-01 -7.60936000e-02 -3.57931550e-02 4.14870337e+02] [ 7.60688130e-02 9.97100451e-01 -2.05578464e-03 1.60824285e+01] [ 3.58458031e-02 -6.74239697e-04 9.99357105e-01 1.46954672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.90, Y:16.08, Z:14.70 [[ 9.96577722e-01 -7.45097124e-02 -3.57931173e-02 4.14899900e+02] [ 7.44838807e-02 9.97220097e-01 -2.05644085e-03 1.60849055e+01] [ 3.58468407e-02 -6.16607148e-04 9.99357105e-01 1.46967717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.93, Y:16.09, Z:14.70 [[ 9.96682043e-01 -7.31010447e-02 -3.57930429e-02 4.14929371e+02] [ 7.30742586e-02 9.97324380e-01 -2.05773571e-03 1.60872094e+01] [ 3.58476969e-02 -5.64641835e-04 9.99357105e-01 1.46980720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.96, Y:16.09, Z:14.70 [[ 9.96849716e-01 -7.07778776e-02 -3.57929673e-02 4.14957510e+02] [ 7.07495473e-02 9.97491986e-01 -2.05904985e-03 1.60895986e+01] [ 3.58489332e-02 -4.79772975e-04 9.99357105e-01 1.46987867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.99, Y:16.09, Z:14.70 [[ 9.96919005e-01 -6.97952055e-02 -3.57928197e-02 4.14986970e+02] [ 6.97661502e-02 9.97561243e-01 -2.06161147e-03 1.60914424e+01] [ 3.58494203e-02 -4.41867580e-04 9.99357105e-01 1.46996098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.02, Y:16.09, Z:14.70 [[ 9.96951638e-01 -6.93275574e-02 -3.57927462e-02 4.15016437e+02] [ 6.92981550e-02 9.97593860e-01 -2.06288803e-03 1.60934033e+01] [ 3.58496388e-02 -4.23771675e-04 9.99357105e-01 1.47010561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.05, Y:16.10, Z:14.70 [[ 9.96992705e-01 -6.87344960e-02 -3.57926712e-02 4.15046308e+02] [ 6.87046649e-02 9.97634907e-01 -2.06418758e-03 1.60950246e+01] [ 3.58498991e-02 -4.01143526e-04 9.99357105e-01 1.47018594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.07, Y:16.10, Z:14.70 [[ 9.97017929e-01 -6.83676745e-02 -3.57925967e-02 4.15074702e+02] [ 6.83375608e-02 9.97660118e-01 -2.06547941e-03 1.60960000e+01] [ 3.58500582e-02 -3.86658745e-04 9.99357105e-01 1.47022272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.10, Y:16.10, Z:14.70 [[ 9.97003064e-01 -6.85841676e-02 -3.57924858e-02 4.15103466e+02] [ 6.85541245e-02 9.97645257e-01 -2.06739881e-03 1.60970883e+01] [ 3.58499945e-02 -3.92519576e-04 9.99357105e-01 1.47031177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.13, Y:16.10, Z:14.70 [[ 9.96954971e-01 -6.92800160e-02 -3.57919740e-02 4.15131812e+02] [ 6.92501044e-02 9.97597169e-01 -2.07622156e-03 1.60981241e+01] [ 3.58498126e-02 -4.08698534e-04 9.99357105e-01 1.47038908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.16, Y:16.10, Z:14.71 [[ 9.96912877e-01 -6.98833827e-02 -3.57914612e-02 4.15160502e+02] [ 6.98535438e-02 9.97555079e-01 -2.08502443e-03 1.60991101e+01] [ 3.58496625e-02 -4.21572702e-04 9.99357105e-01 1.47052692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.19, Y:16.10, Z:14.71 [[ 9.96885711e-01 -7.02701056e-02 -3.57909337e-02 4.15189020e+02] [ 7.02401921e-02 9.97527910e-01 -2.09404085e-03 1.60998796e+01] [ 3.58496037e-02 -4.26442656e-04 9.99357105e-01 1.47063668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.22, Y:16.10, Z:14.71 [[ 9.96792706e-01 -7.15773632e-02 -3.57908216e-02 4.15217355e+02] [ 7.15482232e-02 9.97434940e-01 -2.09595394e-03 1.60996041e+01] [ 3.58490389e-02 -4.71538098e-04 9.99357105e-01 1.47075670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.25, Y:16.10, Z:14.71 [[ 9.96732322e-01 -7.24134160e-02 -3.57907110e-02 4.15245688e+02] [ 7.23847470e-02 9.97374577e-01 -2.09784135e-03 1.61004471e+01] [ 3.58486571e-02 -4.99715283e-04 9.99357105e-01 1.47088309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.28, Y:16.10, Z:14.71 [[ 9.96690652e-01 -7.29849734e-02 -3.57902045e-02 4.15275690e+02] [ 7.29563637e-02 9.97332909e-01 -2.10644766e-03 1.61003794e+01] [ 3.58484878e-02 -5.11646478e-04 9.99357105e-01 1.47107509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.30, Y:16.10, Z:14.71 [[ 9.96678620e-01 -7.31491284e-02 -3.57901299e-02 4.15304902e+02] [ 7.31205790e-02 9.97320880e-01 -2.10771391e-03 1.61008999e+01] [ 3.58484213e-02 -5.16281633e-04 9.99357105e-01 1.47122478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.33, Y:16.10, Z:14.71 [[ 9.96676740e-01 -7.31747815e-02 -3.57900547e-02 4.15334562e+02] [ 7.31462028e-02 9.97318999e-01 -2.10899036e-03 1.61014781e+01] [ 3.58484264e-02 -5.15924957e-04 9.99357105e-01 1.47136144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.36, Y:16.10, Z:14.72 [[ 9.96665714e-01 -7.33248395e-02 -3.57899781e-02 4.15364131e+02] [ 7.32963109e-02 9.97307975e-01 -2.11028858e-03 1.61022402e+01] [ 3.58483672e-02 -5.20021095e-04 9.99357105e-01 1.47151732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.39, Y:16.10, Z:14.72 [[ 9.96663066e-01 -7.33608651e-02 -3.57899019e-02 4.15394214e+02] [ 7.33323133e-02 9.97305326e-01 -2.11158031e-03 1.61040437e+01] [ 3.58483672e-02 -5.20022195e-04 9.99357105e-01 1.47162546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.42, Y:16.10, Z:14.72 [[ 9.96674488e-01 -7.32055592e-02 -3.57898256e-02 4.15424253e+02] [ 7.31768609e-02 9.97316741e-01 -2.11287315e-03 1.61039191e+01] [ 3.58484663e-02 -5.13140329e-04 9.99357105e-01 1.47179886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.45, Y:16.10, Z:14.72 [[ 9.96677910e-01 -7.31589880e-02 -3.57897498e-02 4.15453898e+02] [ 7.31302136e-02 9.97320160e-01 -2.11415726e-03 1.61048604e+01] [ 3.58485086e-02 -5.10178210e-04 9.99357105e-01 1.47194250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.48, Y:16.11, Z:14.72 [[ 9.96660672e-01 -7.33934932e-02 -3.57896740e-02 4.15482457e+02] [ 7.33648239e-02 9.97302927e-01 -2.11543948e-03 1.61054973e+01] [ 3.58484061e-02 -5.17327800e-04 9.99357105e-01 1.47204542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.51, Y:16.11, Z:14.72 [[ 9.96684175e-01 -7.30738928e-02 -3.57891379e-02 4.15512243e+02] [ 7.30446933e-02 9.97326406e-01 -2.12446991e-03 1.61058480e+01] [ 3.58486956e-02 -4.96781069e-04 9.99357105e-01 1.47216616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.54, Y:16.10, Z:14.72 [[ 9.96718840e-01 -7.25995681e-02 -3.57890598e-02 4.15541191e+02] [ 7.25700158e-02 9.97361055e-01 -2.12578517e-03 1.61048177e+01] [ 3.58489455e-02 -4.78402505e-04 9.99357105e-01 1.47223190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.57, Y:16.11, Z:14.72 [[ 9.96741093e-01 -7.22934671e-02 -3.57889435e-02 4.15569822e+02] [ 7.22636474e-02 9.97383295e-01 -2.12774073e-03 1.61051127e+01] [ 3.58491162e-02 -4.65432980e-04 9.99357105e-01 1.47231263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.60, Y:16.11, Z:14.72 [[ 9.96730110e-01 -7.24449919e-02 -3.57884133e-02 4.15598327e+02] [ 7.24149510e-02 9.97372302e-01 -2.13662229e-03 1.61054392e+01] [ 3.58491597e-02 -4.61980423e-04 9.99357106e-01 1.47240703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.63, Y:16.11, Z:14.72 [[ 9.96732103e-01 -7.24178351e-02 -3.57878630e-02 4.15626030e+02] [ 7.23874472e-02 9.97374279e-01 -2.14579976e-03 1.61058573e+01] [ 3.58492883e-02 -4.51804535e-04 9.99357106e-01 1.47248408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.65, Y:16.10, Z:14.73 [[ 9.96704600e-01 -7.27954932e-02 -3.57876683e-02 4.15654315e+02] [ 7.27652322e-02 9.97346782e-01 -2.14904270e-03 1.61049699e+01] [ 3.58491564e-02 -4.62137247e-04 9.99357106e-01 1.47253747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.68, Y:16.11, Z:14.73 [[ 9.96667929e-01 -7.32961568e-02 -3.57870444e-02 4.15681941e+02] [ 7.32658472e-02 9.97310109e-01 -2.15938248e-03 1.61052457e+01] [ 3.58490556e-02 -4.69780856e-04 9.99357106e-01 1.47256549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.71, Y:16.11, Z:14.73 [[ 9.96627827e-01 -7.38397323e-02 -3.57864213e-02 4.15710055e+02] [ 7.38094040e-02 9.97270006e-01 -2.16965904e-03 1.61054942e+01] [ 3.58489317e-02 -4.79031858e-04 9.99357106e-01 1.47259274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.74, Y:16.11, Z:14.73 [[ 9.96609166e-01 -7.40914760e-02 -3.57857922e-02 4.15738312e+02] [ 7.40609391e-02 9.97251335e-01 -2.17998683e-03 1.61056584e+01] [ 3.58489475e-02 -4.77734522e-04 9.99357106e-01 1.47261771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.77, Y:16.11, Z:14.73 [[ 9.96558790e-01 -7.47660926e-02 -3.57855972e-02 4.15766377e+02] [ 7.47358756e-02 9.97200974e-01 -2.18318365e-03 1.61060141e+01] [ 3.58486605e-02 -4.98797083e-04 9.99357106e-01 1.47267165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.79, Y:16.11, Z:14.73 [[ 9.96498662e-01 -7.55635680e-02 -3.57849753e-02 4.15794437e+02] [ 7.55335007e-02 9.97140852e-01 -2.19332956e-03 1.61056679e+01] [ 3.58483966e-02 -5.17314485e-04 9.99357106e-01 1.47277432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.82, Y:16.11, Z:14.73 [[ 9.96464006e-01 -7.60195206e-02 -3.57843240e-02 4.15821846e+02] [ 7.59893675e-02 9.97106192e-01 -2.20390451e-03 1.61067801e+01] [ 3.58483108e-02 -5.23116632e-04 9.99357106e-01 1.47286776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.85, Y:16.11, Z:14.73 [[ 9.96433461e-01 -7.64189425e-02 -3.57841222e-02 4.15849629e+02] [ 7.63889293e-02 9.97075654e-01 -2.20717568e-03 1.61077300e+01] [ 3.58481471e-02 -5.34207083e-04 9.99357106e-01 1.47300733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.88, Y:16.11, Z:14.73 [[ 9.96407306e-01 -7.67595236e-02 -3.57834691e-02 4.15877845e+02] [ 7.67293516e-02 9.97049491e-01 -2.21771520e-03 1.61076627e+01] [ 3.58481204e-02 -5.35894748e-04 9.99357106e-01 1.47314984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.91, Y:16.11, Z:14.73 [[ 9.96368934e-01 -7.72561029e-02 -3.57832667e-02 4.15906176e+02] [ 7.72261338e-02 9.97011129e-01 -2.22097579e-03 1.61085086e+01] [ 3.58478990e-02 -5.50492061e-04 9.99357106e-01 1.47329655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.93, Y:16.11, Z:14.73 [[ 9.96337429e-01 -7.76616464e-02 -3.57826202e-02 4.15933851e+02] [ 7.76315664e-02 9.96979619e-01 -2.23134288e-03 1.61093302e+01] [ 3.58478328e-02 -5.54690429e-04 9.99357106e-01 1.47341656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.96, Y:16.11, Z:14.74 [[ 9.96275363e-01 -7.84539294e-02 -3.57824200e-02 4.15961960e+02] [ 7.84242451e-02 9.96917572e-01 -2.23454849e-03 1.61102343e+01] [ 3.58474324e-02 -5.79983672e-04 9.99357106e-01 1.47354151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.99, Y:16.11, Z:14.74 [[ 9.96105988e-01 -8.05762074e-02 -3.57817707e-02 4.15989823e+02] [ 8.05475196e-02 9.96748242e-01 -2.24489840e-03 1.61099946e+01] [ 3.58463024e-02 -6.45976134e-04 9.99357106e-01 1.47362269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.02, Y:16.11, Z:14.74 [[ 9.95984408e-01 -8.20656525e-02 -3.57811077e-02 4.16018643e+02] [ 8.20375474e-02 9.96626687e-01 -2.25541579e-03 1.61105851e+01] [ 3.58454990e-02 -6.89035362e-04 9.99357106e-01 1.47372658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.05, Y:16.11, Z:14.74 [[ 9.95860661e-01 -8.35541591e-02 -3.57805285e-02 4.16047639e+02] [ 8.35266854e-02 9.96502968e-01 -2.26456790e-03 1.61111671e+01] [ 3.58446169e-02 -7.33434857e-04 9.99357106e-01 1.47379264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.08, Y:16.11, Z:14.74 [[ 9.95729887e-01 -8.50986913e-02 -3.57799462e-02 4.16075742e+02] [ 8.50718847e-02 9.96372222e-01 -2.27373053e-03 1.61118565e+01] [ 3.58436360e-02 -7.79846017e-04 9.99357106e-01 1.47387494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.10, Y:16.11, Z:14.74 [[ 9.95608196e-01 -8.65108631e-02 -3.57797400e-02 4.16104694e+02] [ 8.64848512e-02 9.96250564e-01 -2.27697103e-03 1.61125974e+01] [ 3.58425689e-02 -8.27434466e-04 9.99357106e-01 1.47393797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.13, Y:16.11, Z:14.74 [[ 9.95425550e-01 -8.85879514e-02 -3.57791624e-02 4.16133093e+02] [ 8.85629550e-02 9.96067958e-01 -2.28601139e-03 1.61130584e+01] [ 3.58409903e-02 -8.93154206e-04 9.99357106e-01 1.47403442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.16, Y:16.11, Z:14.74 [[ 9.95365803e-01 -8.92569972e-02 -3.57785804e-02 4.16160787e+02] [ 8.92321067e-02 9.96008215e-01 -2.29508496e-03 1.61145238e+01] [ 3.58406123e-02 -9.08149012e-04 9.99357106e-01 1.47414012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.19, Y:16.12, Z:14.74 [[ 9.95251960e-01 -9.05176406e-02 -3.57783741e-02 4.16189265e+02] [ 9.04934484e-02 9.95894399e-01 -2.29829596e-03 1.61158954e+01] [ 3.58395187e-02 -9.50324894e-04 9.99357106e-01 1.47423975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.22, Y:16.12, Z:14.74 [[ 9.95196953e-01 -9.11206638e-02 -3.57777854e-02 4.16216661e+02] [ 9.10965330e-02 9.95839393e-01 -2.30742401e-03 1.61175707e+01] [ 3.58391821e-02 -9.62890863e-04 9.99357106e-01 1.47427011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.25, Y:16.12, Z:14.74 [[ 9.95129050e-01 -9.18593476e-02 -3.57775767e-02 4.16245098e+02] [ 9.18355776e-02 9.95771504e-01 -2.31065571e-03 1.61192669e+01] [ 3.58385467e-02 -9.86253797e-04 9.99357106e-01 1.47432929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.27, Y:16.12, Z:14.74 [[ 9.95063965e-01 -9.25619358e-02 -3.57769891e-02 4.16272575e+02] [ 9.25382938e-02 9.95706424e-01 -2.31971842e-03 1.61206278e+01] [ 3.58380955e-02 -1.00247331e-03 9.99357106e-01 1.47438885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.30, Y:16.12, Z:14.74 [[ 9.94870712e-01 -9.46165690e-02 -3.57766751e-02 4.16301197e+02] [ 9.45940801e-02 9.95513213e-01 -2.32455034e-03 1.61224791e+01] [ 3.58360938e-02 -1.07163463e-03 9.99357106e-01 1.47447317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.33, Y:16.12, Z:14.75 [[ 9.94779143e-01 -9.55747203e-02 -3.57760902e-02 4.16328736e+02] [ 9.55525281e-02 9.95421654e-01 -2.33351782e-03 1.61247575e+01] [ 3.58353202e-02 -1.09716101e-03 9.99357106e-01 1.47456851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.36, Y:16.13, Z:14.75 [[ 9.94658797e-01 -9.68192368e-02 -3.57758829e-02 4.16357444e+02] [ 9.67977344e-02 9.95301331e-01 -2.33669212e-03 1.61270663e+01] [ 3.58340206e-02 -1.13881304e-03 9.99357106e-01 1.47467958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.39, Y:16.13, Z:14.75 [[ 9.94552713e-01 -9.79031679e-02 -3.57752909e-02 4.16386095e+02] [ 9.78820413e-02 9.95195259e-01 -2.34572112e-03 1.61295892e+01] [ 3.58330534e-02 -1.16881520e-03 9.99357106e-01 1.47477325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.41, Y:16.13, Z:14.75 [[ 9.94501727e-01 -9.84197762e-02 -3.57751651e-02 4.16412226e+02] [ 9.83989144e-02 9.95144282e-01 -2.34763778e-03 1.61326734e+01] [ 3.58325050e-02 -1.18550758e-03 9.99357106e-01 1.47482923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.44, Y:16.14, Z:14.75 [[ 9.94265051e-01 -1.00788178e-01 -3.57596253e-02 4.16442728e+02] [ 1.00760336e-01 9.94907370e-01 -2.58449468e-03 1.61355736e+01] [ 3.58380013e-02 -1.03347913e-03 9.99357078e-01 1.47495501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.47, Y:16.14, Z:14.75 [[ 9.94023017e-01 -1.03142529e-01 -3.57751350e-02 4.16472535e+02] [ 1.03124699e-01 9.94665664e-01 -2.34821906e-03 1.61388596e+01] [ 3.58264997e-02 -1.35511623e-03 9.99357106e-01 1.47505807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.50, Y:16.14, Z:14.75 [[ 9.93897834e-01 -1.04341931e-01 -3.57750924e-02 4.16501724e+02] [ 1.04324853e-01 9.94540501e-01 -2.34886802e-03 1.61414706e+01] [ 3.58248638e-02 -1.39769640e-03 9.99357106e-01 1.47514967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.53, Y:16.14, Z:14.75 [[ 9.93771463e-01 -1.05538734e-01 -3.57750505e-02 4.16531983e+02] [ 1.05522407e-01 9.94414150e-01 -2.34950664e-03 1.61446969e+01] [ 3.58231804e-02 -1.44019679e-03 9.99357106e-01 1.47527278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.56, Y:16.15, Z:14.75 [[ 9.93681754e-01 -1.06380060e-01 -3.57750505e-02 4.16562789e+02] [ 1.06364277e-01 9.94324454e-01 -2.34950664e-03 1.61477238e+01] [ 3.58219482e-02 -1.47052548e-03 9.99357106e-01 1.47538450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.59, Y:16.15, Z:14.75 [[ 9.93603611e-01 -1.07107441e-01 -3.57751352e-02 4.16591860e+02] [ 1.07092175e-01 9.94246324e-01 -2.34821658e-03 1.61506766e+01] [ 3.58208081e-02 -1.49804055e-03 9.99357106e-01 1.47548460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.62, Y:16.16, Z:14.76 [[ 9.93535000e-01 -1.07742037e-01 -3.57750932e-02 4.16621800e+02] [ 1.07727159e-01 9.94177722e-01 -2.34885634e-03 1.61552903e+01] [ 3.58198712e-02 -1.52027815e-03 9.99357106e-01 1.47565310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.65, Y:16.16, Z:14.76 [[ 9.93592760e-01 -1.07208068e-01 -3.57750932e-02 4.16652605e+02] [ 1.07192844e-01 9.94235474e-01 -2.34885634e-03 1.61593159e+01] [ 3.58206830e-02 -1.50102733e-03 9.99357106e-01 1.47579106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.68, Y:16.16, Z:14.76 [[ 9.93691147e-01 -1.06292243e-01 -3.57751776e-02 4.16682663e+02] [ 1.06276473e-01 9.94333847e-01 -2.34757024e-03 1.61635811e+01] [ 3.58219985e-02 -1.46929993e-03 9.99357106e-01 1.47589847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.71, Y:16.17, Z:14.76 [[ 9.93855835e-01 -1.04741167e-01 -3.57752194e-02 4.16713359e+02] [ 1.04724416e-01 9.94498511e-01 -2.34693233e-03 1.61676682e+01] [ 3.58242229e-02 -1.41402657e-03 9.99357106e-01 1.47600575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.74, Y:16.17, Z:14.76 [[ 9.94341103e-01 -1.00029490e-01 -3.57753038e-02 4.16743404e+02] [ 1.00009740e-01 9.94983693e-01 -2.34564459e-03 1.61735156e+01] [ 3.58304776e-02 -1.24550801e-03 9.99357106e-01 1.47607363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.77, Y:16.18, Z:14.76 [[ 9.94604185e-01 -9.73788458e-02 -3.57753457e-02 4.16774762e+02] [ 9.73574061e-02 9.95246721e-01 -2.34500581e-03 1.61779301e+01] [ 3.58336495e-02 -1.15064227e-03 9.99357106e-01 1.47616801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.81, Y:16.18, Z:14.76 [[ 9.94869339e-01 -9.46314845e-02 -3.57754310e-02 4.16805244e+02] [ 9.46083171e-02 9.95511815e-01 -2.34370430e-03 1.61823085e+01] [ 3.58366524e-02 -1.05297377e-03 9.99357106e-01 1.47625683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.83, Y:16.19, Z:14.76 [[ 9.95322298e-01 -8.97420716e-02 -3.57754732e-02 4.16834043e+02] [ 8.97157709e-02 9.95964653e-01 -2.34305964e-03 1.61892032e+01] [ 3.58413778e-02 -8.77524652e-04 9.99357106e-01 1.47627306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.86, Y:16.19, Z:14.76 [[ 9.95507545e-01 -8.76632580e-02 -3.57754320e-02 4.16863981e+02] [ 8.76355932e-02 9.96149843e-01 -2.34368773e-03 1.61936921e+01] [ 3.58431463e-02 -8.02042394e-04 9.99357106e-01 1.47637968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.89, Y:16.20, Z:14.76 [[ 9.95670243e-01 -8.57956021e-02 -3.57754320e-02 4.16894135e+02] [ 8.57667325e-02 9.96312489e-01 -2.34368773e-03 1.61977236e+01] [ 3.58445878e-02 -7.34801779e-04 9.99357106e-01 1.47648151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.92, Y:16.20, Z:14.77 [[ 9.95798979e-01 -8.42882704e-02 -3.57754320e-02 4.16923979e+02] [ 8.42584286e-02 9.96441180e-01 -2.34368773e-03 1.62014123e+01] [ 3.58456591e-02 -6.80539839e-04 9.99357106e-01 1.47660453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.95, Y:16.21, Z:14.77 [[ 9.95943311e-01 -8.25653708e-02 -3.57754320e-02 4.16953785e+02] [ 8.25344180e-02 9.96585459e-01 -2.34368773e-03 1.62061561e+01] [ 3.58467828e-02 -6.18524346e-04 9.99357106e-01 1.47669146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.98, Y:16.21, Z:14.77 [[ 9.95981921e-01 -8.20983027e-02 -3.57754320e-02 4.16983525e+02] [ 8.20670488e-02 9.96624055e-01 -2.34368773e-03 1.62092942e+01] [ 3.58470689e-02 -6.01713521e-04 9.99357106e-01 1.47680651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.01, Y:16.21, Z:14.77 [[ 9.95973480e-01 -8.22006579e-02 -3.57753900e-02 4.17013685e+02] [ 8.21694469e-02 9.96615616e-01 -2.34432958e-03 1.62125194e+01] [ 3.58470178e-02 -6.04753913e-04 9.99357106e-01 1.47689143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.04, Y:16.22, Z:14.77 [[ 9.95956978e-01 -8.24003665e-02 -3.57753900e-02 4.17043049e+02] [ 8.23692843e-02 9.96599120e-01 -2.34432958e-03 1.62158121e+01] [ 3.58468958e-02 -6.11941864e-04 9.99357106e-01 1.47698192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.07, Y:16.22, Z:14.77 [[ 9.95869044e-01 -8.34563847e-02 -3.57754004e-02 4.17073530e+02] [ 8.34259891e-02 9.96511219e-01 -2.34417007e-03 1.62200238e+01] [ 3.58462239e-02 -6.50111765e-04 9.99357106e-01 1.47713911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.10, Y:16.22, Z:14.77 [[ 9.95811355e-01 -8.41419426e-02 -3.57754004e-02 4.17103863e+02] [ 8.41119891e-02 9.96453550e-01 -2.34417007e-03 1.62226937e+01] [ 3.58457678e-02 -6.74788924e-04 9.99357106e-01 1.47728054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.14, Y:16.23, Z:14.77 [[ 9.95764437e-01 -8.46953763e-02 -3.57754004e-02 4.17135409e+02] [ 8.46657797e-02 9.96406649e-01 -2.34417007e-03 1.62252423e+01] [ 3.58453872e-02 -6.94710987e-04 9.99357106e-01 1.47746160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.17, Y:16.23, Z:14.78 [[ 9.95685158e-01 -8.56223143e-02 -3.57754845e-02 4.17165487e+02] [ 8.55933617e-02 9.96327400e-01 -2.34288639e-03 1.62286074e+01] [ 3.58446988e-02 -7.29366784e-04 9.99357106e-01 1.47761639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.20, Y:16.23, Z:14.78 [[ 9.95640352e-01 -8.61417081e-02 -3.57756225e-02 4.17196768e+02] [ 8.61131663e-02 9.96282612e-01 -2.34077807e-03 1.62315831e+01] [ 3.58442692e-02 -7.50179021e-04 9.99357106e-01 1.47780096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.23, Y:16.23, Z:14.78 [[ 9.95622832e-01 -8.63439332e-02 -3.57757045e-02 4.17227553e+02] [ 8.63155669e-02 9.96265100e-01 -2.33952360e-03 1.62345166e+01] [ 3.58440895e-02 -7.58717104e-04 9.99357106e-01 1.47798753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.26, Y:16.24, Z:14.78 [[ 9.95625956e-01 -8.63078704e-02 -3.57757891e-02 4.17259311e+02] [ 8.62795273e-02 9.96268225e-01 -2.33822872e-03 1.62365636e+01] [ 3.58440895e-02 -7.58716972e-04 9.99357106e-01 1.47810166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.29, Y:16.24, Z:14.78 [[ 9.95579848e-01 -8.68380854e-02 -3.57758737e-02 4.17289197e+02] [ 8.68101308e-02 9.96222134e-01 -2.33693370e-03 1.62399760e+01] [ 3.58436521e-02 -7.79104180e-04 9.99357106e-01 1.47820524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.32, Y:16.24, Z:14.78 [[ 9.95602591e-01 -8.65768865e-02 -3.57760127e-02 4.17320696e+02] [ 8.65488399e-02 9.96244873e-01 -2.33480463e-03 1.62425581e+01] [ 3.58438093e-02 -7.71834851e-04 9.99357106e-01 1.47835544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.35, Y:16.24, Z:14.78 [[ 9.95663175e-01 -8.58773169e-02 -3.57760948e-02 4.17350694e+02] [ 8.58488643e-02 9.96305439e-01 -2.33354573e-03 1.62448219e+01] [ 3.58443164e-02 -7.47911554e-04 9.99357106e-01 1.47845187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.38, Y:16.25, Z:14.79 [[ 9.95757948e-01 -8.47713269e-02 -3.57761355e-02 4.17382029e+02] [ 8.47421833e-02 9.96400181e-01 -2.33292057e-03 1.62472995e+01] [ 3.58451127e-02 -7.08723634e-04 9.99357106e-01 1.47859567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.41, Y:16.25, Z:14.79 [[ 9.95918188e-01 -8.28675201e-02 -3.57762195e-02 4.17412877e+02] [ 8.28371950e-02 9.96560366e-01 -2.33163212e-03 1.62498444e+01] [ 3.58463790e-02 -6.41486841e-04 9.99357106e-01 1.47870746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.44, Y:16.25, Z:14.79 [[ 9.96247922e-01 -7.88044041e-02 -3.57763033e-02 4.17442600e+02] [ 7.87715060e-02 9.96889974e-01 -2.33034556e-03 1.62532915e+01] [ 3.58486796e-02 -4.96551371e-04 9.99357106e-01 1.47887706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.47, Y:16.26, Z:14.79 [[ 9.96444137e-01 -7.62832572e-02 -3.57763448e-02 4.17473068e+02] [ 7.62487574e-02 9.97086104e-01 -2.32970790e-03 1.62559647e+01] [ 3.58498140e-02 -4.06478063e-04 9.99357106e-01 1.47898352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.50, Y:16.26, Z:14.79 [[ 9.96600616e-01 -7.42109343e-02 -3.57763855e-02 4.17502934e+02] [ 7.41751221e-02 9.97242511e-01 -2.32908274e-03 1.62584070e+01] [ 3.58505760e-02 -3.32552475e-04 9.99357106e-01 1.47913376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.53, Y:16.26, Z:14.79 [[ 9.96728163e-01 -7.24777348e-02 -3.57763438e-02 4.17532829e+02] [ 7.24407834e-02 9.97369994e-01 -2.32972367e-03 1.62606315e+01] [ 3.58511049e-02 -2.69565182e-04 9.99357106e-01 1.47919339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.56, Y:16.26, Z:14.79 [[ 9.96894627e-01 -7.01509517e-02 -3.57763536e-02 4.17562404e+02] [ 7.01125076e-02 9.97536370e-01 -2.32957273e-03 1.62624623e+01] [ 3.58516357e-02 -1.86031329e-04 9.99357106e-01 1.47929329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.59, Y:16.26, Z:14.79 [[ 9.96943188e-01 -6.94574643e-02 -3.57762691e-02 4.17591853e+02] [ 6.94185273e-02 9.97584901e-01 -2.33086989e-03 1.62642121e+01] [ 3.58517622e-02 -1.59791055e-04 9.99357106e-01 1.47935825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.62, Y:16.27, Z:14.79 [[ 9.96970662e-01 -6.90620354e-02 -3.57761847e-02 4.17620523e+02] [ 6.90227974e-02 9.97612357e-01 -2.33216415e-03 1.62657937e+01] [ 3.58518280e-02 -1.44273118e-04 9.99357106e-01 1.47938006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.65, Y:16.27, Z:14.79 [[ 9.96959725e-01 -6.92198024e-02 -3.57760591e-02 4.17650289e+02] [ 6.91805968e-02 9.97601422e-01 -2.33409055e-03 1.62672241e+01] [ 3.58518127e-02 -1.48014842e-04 9.99357106e-01 1.47943390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.68, Y:16.27, Z:14.80 [[ 9.96855682e-01 -7.07023957e-02 -3.57759765e-02 4.17679657e+02] [ 7.06640991e-02 9.97497434e-01 -2.33535459e-03 1.62685582e+01] [ 3.58515600e-02 -2.00065659e-04 9.99357106e-01 1.47954125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.71, Y:16.27, Z:14.80 [[ 9.96757115e-01 -7.20787070e-02 -3.57758918e-02 4.17708901e+02] [ 7.20412500e-02 9.97398916e-01 -2.33665173e-03 1.62702051e+01] [ 3.58512586e-02 -2.48265727e-04 9.99357106e-01 1.47962336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.74, Y:16.27, Z:14.80 [[ 9.96644627e-01 -7.36177677e-02 -3.57758498e-02 4.17738199e+02] [ 7.35812786e-02 9.97286485e-01 -2.33729475e-03 1.62716786e+01] [ 3.58508379e-02 -3.02980520e-04 9.99357106e-01 1.47970382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.77, Y:16.27, Z:14.80 [[ 9.96316438e-01 -7.79336239e-02 -3.57757671e-02 4.17768454e+02] [ 7.78998697e-02 9.96958445e-01 -2.33856048e-03 1.62722809e+01] [ 3.58492056e-02 -4.56981341e-04 9.99357106e-01 1.47985048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.80, Y:16.27, Z:14.80 [[ 9.96095867e-01 -8.07038876e-02 -3.57757671e-02 4.17798129e+02] [ 8.06719189e-02 9.96737966e-01 -2.33856048e-03 1.62732673e+01] [ 3.58477962e-02 -5.56669346e-04 9.99357106e-01 1.47995192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.83, Y:16.27, Z:14.80 [[ 9.95820527e-01 -8.40331773e-02 -3.57757251e-02 4.17828978e+02] [ 8.40033321e-02 9.96462728e-01 -2.33920316e-03 1.62739638e+01] [ 3.58457473e-02 -6.75853589e-04 9.99357106e-01 1.48015227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.86, Y:16.27, Z:14.80 [[ 9.95544626e-01 -8.72410139e-02 -3.57757251e-02 4.17860286e+02] [ 8.72132378e-02 9.96186920e-01 -2.33920316e-03 1.62748253e+01] [ 3.58433838e-02 -7.91335683e-04 9.99357106e-01 1.48029309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.89, Y:16.27, Z:14.80 [[ 9.94959585e-01 -9.36777223e-02 -3.57758096e-02 4.17891645e+02] [ 9.36541471e-02 9.95602046e-01 -2.33790993e-03 1.62744435e+01] [ 3.58374793e-02 -1.02442704e-03 9.99357106e-01 1.48043535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:16.28, Z:14.81 [[ 9.94672143e-01 -9.66820231e-02 -3.57758949e-02 4.17922650e+02] [ 9.66604352e-02 9.95314674e-01 -2.33660409e-03 1.62753661e+01] [ 3.58341807e-02 -1.13395857e-03 9.99357106e-01 1.48054773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.95, Y:16.28, Z:14.81 [[ 9.94391240e-01 -9.95295870e-02 -3.57760224e-02 4.17954908e+02] [ 9.95099092e-02 9.95033832e-01 -2.33464959e-03 1.62762575e+01] [ 3.58307194e-02 -1.23851364e-03 9.99357106e-01 1.48071314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.99, Y:16.28, Z:14.81 [[ 9.94135765e-01 -1.02049721e-01 -3.57761916e-02 4.17986106e+02] [ 1.02031765e-01 9.94778408e-01 -2.33205348e-03 1.62771082e+01] [ 3.58273684e-02 -1.33193023e-03 9.99357106e-01 1.48078293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.02, Y:16.28, Z:14.81 [[ 9.93574402e-01 -1.07377660e-01 -3.57763177e-02 4.18018454e+02] [ 1.07363219e-01 9.94217134e-01 -2.33011780e-03 1.62770168e+01] [ 3.58196307e-02 -1.52591524e-03 9.99357106e-01 1.48097715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.05, Y:16.28, Z:14.81 [[ 9.93318982e-01 -1.09715285e-01 -3.57764856e-02 4.18050233e+02] [ 1.09702450e-01 9.93961747e-01 -2.32753678e-03 1.62780639e+01] [ 3.58158245e-02 -1.61278165e-03 9.99357106e-01 1.48110054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.08, Y:16.28, Z:14.81 [[ 9.93087974e-01 -1.11786885e-01 -3.57766527e-02 4.18081171e+02] [ 1.11775482e-01 9.93730766e-01 -2.32496529e-03 1.62793885e+01] [ 3.58122612e-02 -1.69005755e-03 9.99357106e-01 1.48120255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.11, Y:16.28, Z:14.81 [[ 9.92731452e-01 -1.14909910e-01 -3.57767774e-02 4.18113368e+02] [ 1.14900598e-01 9.93374278e-01 -2.32304545e-03 1.62808830e+01] [ 3.58066713e-02 -1.80461285e-03 9.99357106e-01 1.48141258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.14, Y:16.28, Z:14.81 [[ 9.92595632e-01 -1.16077218e-01 -3.57769471e-02 4.18144534e+02] [ 1.16068756e-01 9.93238471e-01 -2.32042836e-03 1.62827800e+01] [ 3.58043891e-02 -1.84933869e-03 9.99357106e-01 1.48147113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.18, Y:16.28, Z:14.82 [[ 9.92478942e-01 -1.17070709e-01 -3.57770737e-02 4.18176169e+02] [ 1.17062961e-01 9.93121789e-01 -2.31847546e-03 1.62847614e+01] [ 3.58024170e-02 -1.88713212e-03 9.99357106e-01 1.48161808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.21, Y:16.29, Z:14.82 [[ 9.92370637e-01 -1.17985201e-01 -3.57772406e-02 4.18208323e+02] [ 1.17978138e-01 9.93013492e-01 -2.31589685e-03 1.62868532e+01] [ 3.58005242e-02 -1.92270419e-03 9.99357106e-01 1.48170042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.24, Y:16.29, Z:14.82 [[ 9.92298224e-01 -1.18592629e-01 -3.57774086e-02 4.18240884e+02] [ 1.18586053e-01 9.92941084e-01 -2.31329788e-03 1.62890565e+01] [ 3.57991990e-02 -1.94722032e-03 9.99357106e-01 1.48181474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.27, Y:16.29, Z:14.82 [[ 9.92312019e-01 -1.18477092e-01 -3.57775787e-02 4.18271584e+02] [ 1.18470536e-01 9.92954880e-01 -2.31066520e-03 1.62921793e+01] [ 3.57992822e-02 -1.94568807e-03 9.99357106e-01 1.48180045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.30, Y:16.30, Z:14.82 [[ 9.92402715e-01 -1.17714937e-01 -3.57777050e-02 4.18303107e+02] [ 1.17707958e-01 9.93045571e-01 -2.30870683e-03 1.62950948e+01] [ 3.58006608e-02 -1.92015366e-03 9.99357106e-01 1.48186628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.33, Y:16.30, Z:14.82 [[ 9.92541409e-01 -1.16539690e-01 -3.57778280e-02 4.18334689e+02] [ 1.16532018e-01 9.93184257e-01 -2.30679995e-03 1.62984614e+01] [ 3.58028092e-02 -1.87966801e-03 9.99357106e-01 1.48202040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.37, Y:16.30, Z:14.82 [[ 9.92785858e-01 -1.14438519e-01 -3.57779934e-02 4.18365414e+02] [ 1.14429579e-01 9.93428690e-01 -2.30423189e-03 1.63019274e+01] [ 3.58065780e-02 -1.80645187e-03 9.99357106e-01 1.48214071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.40, Y:16.31, Z:14.82 [[ 9.93264930e-01 -1.10203022e-01 -3.57781167e-02 4.18396895e+02] [ 1.10191409e-01 9.93907718e-01 -2.30231619e-03 1.63075281e+01] [ 3.58138685e-02 -1.65563115e-03 9.99357106e-01 1.48242591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.43, Y:16.31, Z:14.83 [[ 9.93521299e-01 -1.07867241e-01 -3.57782864e-02 4.18429241e+02] [ 1.07854211e-01 9.94164061e-01 -2.29967461e-03 1.63110301e+01] [ 3.58175461e-02 -1.57406316e-03 9.99357106e-01 1.48256715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.46, Y:16.31, Z:14.83 [[ 9.93774259e-01 -1.05511248e-01 -3.57784552e-02 4.18461177e+02] [ 1.05496788e-01 9.94416991e-01 -2.29704640e-03 1.63143335e+01] [ 3.58210680e-02 -1.49176652e-03 9.99357106e-01 1.48270258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.49, Y:16.32, Z:14.83 [[ 9.93973315e-01 -1.03619201e-01 -3.57786230e-02 4.18492957e+02] [ 1.03603612e-01 9.94616020e-01 -2.29442948e-03 1.63177083e+01] [ 3.58237386e-02 -1.42619291e-03 9.99357106e-01 1.48288888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.52, Y:16.32, Z:14.83 [[ 9.94293796e-01 -1.00497389e-01 -3.57787909e-02 4.18524993e+02] [ 1.00479876e-01 9.94936451e-01 -2.29180889e-03 1.63222335e+01] [ 3.58279440e-02 -1.31631710e-03 9.99357106e-01 1.48304384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.56, Y:16.33, Z:14.83 [[ 9.94396811e-01 -9.94728530e-02 -3.57789579e-02 4.18556342e+02] [ 9.94547717e-02 9.95039450e-01 -2.28919895e-03 1.63255558e+01] [ 3.58291877e-02 -1.28201595e-03 9.99357106e-01 1.48307348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.59, Y:16.33, Z:14.83 [[ 9.94530292e-01 -9.81292843e-02 -3.57790822e-02 4.18588800e+02] [ 9.81104047e-02 9.95172908e-01 -2.28725426e-03 1.63286355e+01] [ 3.58308199e-02 -1.23555658e-03 9.99357106e-01 1.48316802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.62, Y:16.33, Z:14.83 [[ 9.94774676e-01 -9.56200268e-02 -3.57792446e-02 4.18620974e+02] [ 9.55996175e-02 9.95417246e-01 -2.28471051e-03 1.63334367e+01] [ 3.58337412e-02 -1.14770995e-03 9.99357106e-01 1.48341791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.65, Y:16.34, Z:14.84 [[ 9.94861009e-01 -9.47175100e-02 -3.57794084e-02 4.18652846e+02] [ 9.46966100e-02 9.95503563e-01 -2.28214234e-03 1.63368579e+01] [ 3.58346874e-02 -1.11777425e-03 9.99357106e-01 1.48356999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.69, Y:16.34, Z:14.84 [[ 9.94976708e-01 -9.34942415e-02 -3.57795713e-02 4.18685063e+02] [ 9.34726434e-02 9.95619239e-01 -2.27958495e-03 1.63401510e+01] [ 3.58359577e-02 -1.07627718e-03 9.99357106e-01 1.48371380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.72, Y:16.34, Z:14.84 [[ 9.95080951e-01 -9.23780869e-02 -3.57797334e-02 4.18716802e+02] [ 9.23558596e-02 9.95723461e-01 -2.27703797e-03 1.63432154e+01] [ 3.58370684e-02 -1.03863092e-03 9.99357106e-01 1.48382737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.75, Y:16.35, Z:14.84 [[ 9.95173571e-01 -9.13748445e-02 -3.57798965e-02 4.18749311e+02] [ 9.13520615e-02 9.95816061e-01 -2.27447356e-03 1.63464821e+01] [ 3.58380252e-02 -1.00507132e-03 9.99357106e-01 1.48392700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.78, Y:16.35, Z:14.84 [[ 9.95278194e-01 -9.02280653e-02 -3.57800594e-02 4.18780061e+02] [ 9.02046343e-02 9.95920661e-01 -2.27190671e-03 1.63496859e+01] [ 3.58390902e-02 -9.66347969e-04 9.99357106e-01 1.48396412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.81, Y:16.35, Z:14.84 [[ 9.95521126e-01 -8.75069524e-02 -3.57801808e-02 4.18812227e+02] [ 8.74818338e-02 9.96163529e-01 -2.26999452e-03 1.63541007e+01] [ 3.58415514e-02 -8.70288331e-04 9.99357106e-01 1.48406744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.84, Y:16.36, Z:14.84 [[ 9.95644153e-01 -8.60958096e-02 -3.57803406e-02 4.18844301e+02] [ 8.60698711e-02 9.96286523e-01 -2.26747149e-03 1.63571088e+01] [ 3.58426910e-02 -8.22014572e-04 9.99357106e-01 1.48419400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.87, Y:16.36, Z:14.84 [[ 9.95954023e-01 -8.24338539e-02 -3.57804997e-02 4.18871501e+02] [ 8.24056435e-02 9.96596297e-01 -2.26495937e-03 1.63594378e+01] [ 3.58454228e-02 -6.92719701e-04 9.99357106e-01 1.48440002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.90, Y:16.36, Z:14.85 [[ 9.95980419e-01 -8.21219050e-02 -3.57630714e-02 4.18903951e+02] [ 8.20835866e-02 9.96622210e-01 -2.54087375e-03 1.63625222e+01] [ 3.58509327e-02 -4.04900667e-04 9.99357067e-01 1.48456748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.94, Y:16.37, Z:14.85 [[ 9.96204457e-01 -7.93516702e-02 -3.57769677e-02 4.18935054e+02] [ 7.93194836e-02 9.96846546e-01 -2.32035342e-03 1.63659647e+01] [ 3.58482706e-02 -5.26264184e-04 9.99357106e-01 1.48467246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.97, Y:16.37, Z:14.85 [[ 9.96328379e-01 -7.77782966e-02 -3.57812600e-02 4.18965805e+02] [ 7.77475444e-02 9.96970535e-01 -2.25216103e-03 1.63685029e+01] [ 3.58480311e-02 -5.38013153e-04 9.99357108e-01 1.48478464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.00, Y:16.37, Z:14.85 [[ 9.96431608e-01 -7.64444028e-02 -3.57813410e-02 4.18996835e+02] [ 7.64128372e-02 9.97073724e-01 -2.25087239e-03 1.63711041e+01] [ 3.58487016e-02 -4.91313394e-04 9.99357108e-01 1.48492481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.03, Y:16.37, Z:14.85 [[ 9.96509296e-01 -7.54248765e-02 -3.57814216e-02 4.19028336e+02] [ 7.53926999e-02 9.97151383e-01 -2.24959146e-03 1.63736743e+01] [ 3.58491692e-02 -4.55919172e-04 9.99357108e-01 1.48508214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.06, Y:16.38, Z:14.85 [[ 9.96546928e-01 -7.49259961e-02 -3.57815025e-02 4.19059945e+02] [ 7.48935443e-02 9.97189000e-01 -2.24830336e-03 1.63757345e+01] [ 3.58493771e-02 -4.39263735e-04 9.99357108e-01 1.48521326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.09, Y:16.38, Z:14.85 [[ 9.96546980e-01 -7.49252575e-02 -3.57815849e-02 4.19090365e+02] [ 7.48928522e-02 9.97189055e-01 -2.24699196e-03 1.63776246e+01] [ 3.58493613e-02 -4.40551892e-04 9.99357108e-01 1.48528457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.12, Y:16.38, Z:14.85 [[ 9.96449300e-01 -7.62133092e-02 -3.57816257e-02 4.19120358e+02] [ 7.61817573e-02 9.97091417e-01 -2.24634120e-03 1.63781972e+01] [ 3.58487530e-02 -4.87542009e-04 9.99357108e-01 1.48527488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.15, Y:16.38, Z:14.85 [[ 9.96347441e-01 -7.75335379e-02 -3.57816656e-02 4.19151967e+02] [ 7.75028596e-02 9.96989601e-01 -2.24570637e-03 1.63793507e+01] [ 3.58480660e-02 -5.35677609e-04 9.99357108e-01 1.48535316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.18, Y:16.38, Z:14.85 [[ 9.96236589e-01 -7.89450783e-02 -3.57817441e-02 4.19183127e+02] [ 7.89153548e-02 9.96878794e-01 -2.24445388e-03 1.63804037e+01] [ 3.58472505e-02 -5.87721960e-04 9.99357108e-01 1.48549214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.21, Y:16.38, Z:14.86 [[ 9.96239418e-01 -7.89093389e-02 -3.57818245e-02 4.19214890e+02] [ 7.88796384e-02 9.96881623e-01 -2.24317118e-03 1.63823661e+01] [ 3.58472505e-02 -5.87721830e-04 9.99357108e-01 1.48560627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.25, Y:16.38, Z:14.86 [[ 9.96126412e-01 -8.03232638e-02 -3.57819049e-02 4.19245231e+02] [ 8.02945209e-02 9.96768661e-01 -2.24188836e-03 1.63833562e+01] [ 3.58463572e-02 -6.39886707e-04 9.99357108e-01 1.48566518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.28, Y:16.38, Z:14.86 [[ 9.95990655e-01 -8.19893935e-02 -3.57820369e-02 4.19276891e+02] [ 8.19618008e-02 9.96632955e-01 -2.23978021e-03 1.63845798e+01] [ 3.58451954e-02 -7.01960022e-04 9.99357108e-01 1.48576722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.31, Y:16.38, Z:14.86 [[ 9.95759226e-01 -8.47537820e-02 -3.57821160e-02 4.19308591e+02] [ 8.47280177e-02 9.96401602e-01 -2.23851535e-03 1.63846735e+01] [ 3.58430803e-02 -8.02725448e-04 9.99357108e-01 1.48592248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.34, Y:16.39, Z:14.86 [[ 9.95639312e-01 -8.61509830e-02 -3.57822389e-02 4.19339905e+02] [ 8.61261907e-02 9.96281726e-01 -2.23654851e-03 1.63856408e+01] [ 3.58418716e-02 -8.54992320e-04 9.99357108e-01 1.48593907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.37, Y:16.39, Z:14.86 [[ 9.95532714e-01 -8.73741228e-02 -3.57823607e-02 4.19370971e+02] [ 8.73501899e-02 9.96175161e-01 -2.23459803e-03 1.63865678e+01] [ 3.58407450e-02 -9.00980565e-04 9.99357108e-01 1.48603668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.40, Y:16.39, Z:14.86 [[ 9.95372762e-01 -8.91778091e-02 -3.57824379e-02 4.19403063e+02] [ 8.91550847e-02 9.96015252e-01 -2.23336215e-03 1.63867619e+01] [ 3.58390202e-02 -9.67158430e-04 9.99357108e-01 1.48620355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.43, Y:16.39, Z:14.86 [[ 9.95372494e-01 -8.91807402e-02 -3.57825992e-02 4.19434638e+02] [ 8.91581106e-02 9.96014987e-01 -2.23077494e-03 1.63876244e+01] [ 3.58389472e-02 -9.69856919e-04 9.99357108e-01 1.48621466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.47, Y:16.39, Z:14.86 [[ 9.95391718e-01 -8.89658625e-02 -3.57827192e-02 4.19467098e+02] [ 8.89431634e-02 9.96034209e-01 -2.22884769e-03 1.63890601e+01] [ 3.58391038e-02 -9.64051712e-04 9.99357108e-01 1.48643978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.50, Y:16.39, Z:14.87 [[ 9.95455348e-01 -8.82509828e-02 -3.57828808e-02 4.19499293e+02] [ 8.82279156e-02 9.96097826e-01 -2.22625081e-03 1.63903864e+01] [ 3.58397186e-02 -9.40915711e-04 9.99357108e-01 1.48655401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.53, Y:16.39, Z:14.87 [[ 9.95571720e-01 -8.69282762e-02 -3.57830425e-02 4.19531061e+02] [ 8.69044488e-02 9.96214170e-01 -2.22364921e-03 1.63916382e+01] [ 3.58408719e-02 -8.95903314e-04 9.99357108e-01 1.48665947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.56, Y:16.39, Z:14.87 [[ 9.95848524e-01 -8.36975484e-02 -3.57832042e-02 4.19562069e+02] [ 8.36717303e-02 9.96490897e-01 -2.22104287e-03 1.63921220e+01] [ 3.58435331e-02 -7.82220347e-04 9.99357108e-01 1.48667819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.59, Y:16.39, Z:14.87 [[ 9.96027715e-01 -8.15373830e-02 -3.57833246e-02 4.19593738e+02] [ 8.15102413e-02 9.96670034e-01 -2.21910229e-03 1.63933677e+01] [ 3.58451071e-02 -7.06420041e-04 9.99357108e-01 1.48680912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.62, Y:16.39, Z:14.87 [[ 9.96400020e-01 -7.68540704e-02 -3.57834029e-02 4.19624920e+02] [ 7.68239548e-02 9.97042206e-01 -2.21783909e-03 1.63942281e+01] [ 3.58480129e-02 -5.39167615e-04 9.99357108e-01 1.48695197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.66, Y:16.40, Z:14.87 [[ 9.96563509e-01 -7.47041872e-02 -3.57834832e-02 4.19655362e+02] [ 7.46727327e-02 9.97205631e-01 -2.21654214e-03 1.63956701e+01] [ 3.58490759e-02 -4.63125469e-04 9.99357108e-01 1.48705186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.69, Y:16.40, Z:14.87 [[ 9.96845094e-01 -7.08477133e-02 -3.57835230e-02 4.19686135e+02] [ 7.08137976e-02 9.97487091e-01 -2.21590025e-03 1.63966393e+01] [ 3.58505937e-02 -3.25057860e-04 9.99357108e-01 1.48715288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.72, Y:16.40, Z:14.87 [[ 9.96842538e-01 -7.08836685e-02 -3.57835230e-02 4.19716211e+02] [ 7.08497760e-02 9.97484536e-01 -2.21590025e-03 1.63985295e+01] [ 3.58505819e-02 -3.26350956e-04 9.99357108e-01 1.48726098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.75, Y:16.40, Z:14.87 [[ 9.96943217e-01 -6.94533531e-02 -3.57834429e-02 4.19746227e+02] [ 6.94184931e-02 9.97585163e-01 -2.21719175e-03 1.63998512e+01] [ 3.58510231e-02 -2.73618405e-04 9.99357108e-01 1.48735438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.78, Y:16.40, Z:14.87 [[ 9.97022868e-01 -6.83004453e-02 -3.57833628e-02 4.19775648e+02] [ 6.82647966e-02 9.97664771e-01 -2.21848381e-03 1.64009816e+01] [ 3.58513239e-02 -2.30864898e-04 9.99357108e-01 1.48744044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.80, Y:16.40, Z:14.88 [[ 9.97089124e-01 -6.73263310e-02 -3.57832830e-02 4.19804234e+02] [ 6.72900090e-02 9.97730989e-01 -2.21977053e-03 1.64016221e+01] [ 3.58515394e-02 -1.94548380e-04 9.99357108e-01 1.48752828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.83, Y:16.40, Z:14.88 [[ 9.97229117e-01 -6.52200310e-02 -3.57831641e-02 4.19832734e+02] [ 6.51822845e-02 9.97870900e-01 -2.22168601e-03 1.64007422e+01] [ 3.58518766e-02 -1.16898401e-04 9.99357108e-01 1.48763308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.86, Y:16.40, Z:14.88 [[ 9.97319182e-01 -6.38280655e-02 -3.57830461e-02 4.19860070e+02] [ 6.37893552e-02 9.97960908e-01 -2.22358418e-03 1.64011914e+01] [ 3.58520083e-02 -6.49542808e-05 9.99357108e-01 1.48770767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.89, Y:16.40, Z:14.88 [[ 9.97398304e-01 -6.25796319e-02 -3.57828511e-02 4.19888875e+02] [ 6.25400060e-02 9.98039974e-01 -2.22671826e-03 1.64018132e+01] [ 3.58520630e-02 -1.69347000e-05 9.99357108e-01 1.48784717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.92, Y:16.40, Z:14.88 [[ 9.97642713e-01 -5.85546260e-02 -3.57822954e-02 4.19916479e+02] [ 5.85120922e-02 9.98284197e-01 -2.23561234e-03 1.64013167e+01] [ 3.58518055e-02 1.36645392e-04 9.99357108e-01 1.48796492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.94, Y:16.40, Z:14.88 [[ 9.97764646e-01 -5.64392073e-02 -3.57816604e-02 4.19944598e+02] [ 5.63949507e-02 9.98406013e-01 -2.24572994e-03 1.64020090e+01] [ 3.58513721e-02 2.22804961e-04 9.99357108e-01 1.48813781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.97, Y:16.40, Z:14.88 [[ 9.97867821e-01 -5.45850846e-02 -3.57810108e-02 4.19972332e+02] [ 5.45392668e-02 9.98509078e-01 -2.25603317e-03 1.64025883e+01] [ 3.58508098e-02 2.99752810e-04 9.99357108e-01 1.48828445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.00, Y:16.40, Z:14.88 [[ 9.97958762e-01 -5.28968386e-02 -3.57803589e-02 4.19999909e+02] [ 5.28495671e-02 9.98599913e-01 -2.26632585e-03 1.64025760e+01] [ 3.58501447e-02 3.70723264e-04 9.99357108e-01 1.48840844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.03, Y:16.40, Z:14.89 [[ 9.98036729e-01 -5.14052614e-02 -3.57797036e-02 4.20028324e+02] [ 5.13566625e-02 9.98677781e-01 -2.27662352e-03 1.64021582e+01] [ 3.58494254e-02 4.34627729e-04 9.99357108e-01 1.48850460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.06, Y:16.40, Z:14.89 [[ 9.98136260e-01 -4.94354798e-02 -3.57790512e-02 4.20055969e+02] [ 4.93852501e-02 9.98777186e-01 -2.28683175e-03 1.63992162e+01] [ 3.58483507e-02 5.15612298e-04 9.99357108e-01 1.48870860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.08, Y:16.40, Z:14.89 [[ 9.98160909e-01 -4.89357409e-02 -3.57783865e-02 4.20082844e+02] [ 4.88848193e-02 9.98801781e-01 -2.29718330e-03 1.63985774e+01] [ 3.58479306e-02 5.43938612e-04 9.99357108e-01 1.48879535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.11, Y:16.40, Z:14.89 [[ 9.98145344e-01 -4.92524117e-02 -3.57780979e-02 4.20110711e+02] [ 4.92015326e-02 9.98786219e-01 -2.30167033e-03 1.63979628e+01] [ 3.58480339e-02 5.37064273e-04 9.99357108e-01 1.48894042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.14, Y:16.40, Z:14.89 [[ 9.98112859e-01 -4.99068639e-02 -3.57774509e-02 4.20139021e+02] [ 4.98560462e-02 9.98753739e-01 -2.31168360e-03 1.63969553e+01] [ 3.58482317e-02 5.23598883e-04 9.99357108e-01 1.48903959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.17, Y:16.40, Z:14.89 [[ 9.98054820e-01 -5.10548395e-02 -3.57768052e-02 4.20167394e+02] [ 5.10044023e-02 9.98695730e-01 -2.32163379e-03 1.63957967e+01] [ 3.58486732e-02 4.92343230e-04 9.99357108e-01 1.48913228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.20, Y:16.39, Z:14.89 [[ 9.97780398e-01 -5.61635627e-02 -3.57761388e-02 4.20195646e+02] [ 5.61160406e-02 9.98421530e-01 -2.33185766e-03 1.63921992e+01] [ 3.58506327e-02 3.19066602e-04 9.99357109e-01 1.48915839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.23, Y:16.39, Z:14.89 [[ 9.97702781e-01 -5.75309920e-02 -3.57679366e-02 4.20225188e+02] [ 5.74798550e-02 9.98343642e-01 -2.45719972e-03 1.63892216e+01] [ 3.58500573e-02 3.95619187e-04 9.99357102e-01 1.48927894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.25, Y:16.39, Z:14.89 [[ 9.97494963e-01 -6.10238108e-02 -3.57756052e-02 4.20252767e+02] [ 6.09791222e-02 9.98136299e-01 -2.33995956e-03 1.63873593e+01] [ 3.58517234e-02 1.52532878e-04 9.99357109e-01 1.48932607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.28, Y:16.38, Z:14.89 [[ 9.96941930e-01 -6.94760094e-02 -3.57753141e-02 4.20279884e+02] [ 6.94365987e-02 9.97583612e-01 -2.34440183e-03 1.63820186e+01] [ 3.58517467e-02 -1.46883638e-04 9.99357109e-01 1.48939856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.31, Y:16.38, Z:14.90 [[ 9.96591088e-01 -7.43395140e-02 -3.57748609e-02 4.20308060e+02] [ 7.43029872e-02 9.97232940e-01 -2.35129699e-03 1.63805726e+01] [ 3.58506640e-02 -3.14897405e-04 9.99357109e-01 1.48952200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.34, Y:16.38, Z:14.90 [[ 9.96199617e-01 -7.94136667e-02 -3.57742031e-02 4.20335609e+02] [ 7.93800511e-02 9.96841628e-01 -2.36126211e-03 1.63793251e+01] [ 3.58487314e-02 -4.87469667e-04 9.99357109e-01 1.48961414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.36, Y:16.38, Z:14.90 [[ 9.95750786e-01 -8.48563440e-02 -3.57739174e-02 4.20363166e+02] [ 8.48260821e-02 9.96392965e-01 -2.36558353e-03 1.63782647e+01] [ 3.58456144e-02 -6.79029590e-04 9.99357109e-01 1.48977264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.39, Y:16.37, Z:14.90 [[ 9.94858359e-01 -9.47476638e-02 -3.57732493e-02 4.20390001e+02] [ 9.47234238e-02 9.95500793e-01 -2.37564445e-03 1.63746079e+01] [ 3.58373848e-02 -1.02513491e-03 9.99357109e-01 1.48988817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.42, Y:16.37, Z:14.90 [[ 9.94409194e-01 -9.93511433e-02 -3.57729590e-02 4.20419061e+02] [ 9.93297202e-02 9.95051728e-01 -2.38000778e-03 1.63742025e+01] [ 3.58324011e-02 -1.18661639e-03 9.99357109e-01 1.49002139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.45, Y:16.37, Z:14.90 [[ 9.93969388e-01 -1.03659031e-01 -3.57723545e-02 4.20447384e+02] [ 1.03640067e-01 9.94611999e-01 -2.38905888e-03 1.63739836e+01] [ 3.58272605e-02 -1.33279781e-03 9.99357109e-01 1.49012131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.48, Y:16.37, Z:14.90 [[ 9.93556917e-01 -1.07540848e-01 -3.57717526e-02 4.20476145e+02] [ 1.07524071e-01 9.94199589e-01 -2.39803755e-03 1.63740701e+01] [ 3.58221487e-02 -1.46373768e-03 9.99357109e-01 1.49029554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.50, Y:16.37, Z:14.90 [[ 9.92897775e-01 -1.13465559e-01 -3.57711434e-02 4.20504454e+02] [ 1.13452291e-01 9.93540529e-01 -2.40709042e-03 1.63734164e+01] [ 3.58132026e-02 -1.66832343e-03 9.99357109e-01 1.49047169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.53, Y:16.37, Z:14.91 [[ 9.92660911e-01 -1.15519476e-01 -3.57710137e-02 4.20534276e+02] [ 1.15507469e-01 9.93303690e-01 -2.40901555e-03 1.63748504e+01] [ 3.58097682e-02 -1.74048368e-03 9.99357109e-01 1.49069916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.56, Y:16.38, Z:14.91 [[ 9.92496588e-01 -1.16922896e-01 -3.57709262e-02 4.20564039e+02] [ 1.16911751e-01 9.93139382e-01 -2.41031487e-03 1.63763795e+01] [ 3.58073365e-02 -1.78981233e-03 9.99357109e-01 1.49084029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.59, Y:16.38, Z:14.91 [[ 9.92385099e-01 -1.17865445e-01 -3.57708390e-02 4.20593777e+02] [ 1.17854864e-01 9.93027903e-01 -2.41160838e-03 1.63780283e+01] [ 3.58056865e-02 -1.82252313e-03 9.99357109e-01 1.49091048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.62, Y:16.38, Z:14.91 [[ 9.92321067e-01 -1.18403335e-01 -3.57707957e-02 4.20623037e+02] [ 1.18393079e-01 9.92963876e-01 -2.41224982e-03 1.63795832e+01] [ 3.58047264e-02 -1.84128832e-03 9.99357109e-01 1.49103985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.65, Y:16.38, Z:14.91 [[ 9.92309117e-01 -1.18503471e-01 -3.57707098e-02 4.20653561e+02] [ 1.18493234e-01 9.92951926e-01 -2.41352398e-03 1.63814763e+01] [ 3.58046061e-02 -1.84362525e-03 9.99357109e-01 1.49116131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.68, Y:16.38, Z:14.91 [[ 9.92294485e-01 -1.18625929e-01 -3.57707098e-02 4.20684017e+02] [ 1.18615772e-01 9.92937296e-01 -2.41352398e-03 1.63835768e+01] [ 3.58043784e-02 -1.84804380e-03 9.99357109e-01 1.49123643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.71, Y:16.39, Z:14.91 [[ 9.92279786e-01 -1.18748819e-01 -3.57707098e-02 4.20713571e+02] [ 1.18738741e-01 9.92922598e-01 -2.41352398e-03 1.63860855e+01] [ 3.58041492e-02 -1.85247798e-03 9.99357109e-01 1.49125248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.74, Y:16.39, Z:14.91 [[ 9.92263160e-01 -1.18887664e-01 -3.57707121e-02 4.20742878e+02] [ 1.18877678e-01 9.92905974e-01 -2.41348998e-03 1.63887780e+01] [ 3.58038879e-02 -1.85752197e-03 9.99357109e-01 1.49134880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:16.39, Z:14.92 [[ 9.92237216e-01 -1.19104024e-01 -3.57706272e-02 4.20772858e+02] [ 1.19094132e-01 9.92880031e-01 -2.41474692e-03 1.63926428e+01] [ 3.58035475e-02 -1.86407003e-03 9.99357109e-01 1.49151661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.80, Y:16.40, Z:14.92 [[ 9.92228607e-01 -1.19175728e-01 -3.57706272e-02 4.20801728e+02] [ 1.19165883e-01 9.92871422e-01 -2.41474692e-03 1.63955088e+01] [ 3.58034127e-02 -1.86665740e-03 9.99357109e-01 1.49159494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.83, Y:16.40, Z:14.92 [[ 9.92263181e-01 -1.18887533e-01 -3.57705834e-02 4.20832412e+02] [ 1.18877478e-01 9.92905993e-01 -2.41539608e-03 1.63984879e+01] [ 3.58039871e-02 -1.85560814e-03 9.99357109e-01 1.49172084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.86, Y:16.40, Z:14.92 [[ 9.92303638e-01 -1.18549380e-01 -3.57705834e-02 4.20863149e+02] [ 1.18539105e-01 9.92946447e-01 -2.41539608e-03 1.64019017e+01] [ 3.58046174e-02 -1.84340664e-03 9.99357109e-01 1.49184334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.89, Y:16.41, Z:14.92 [[ 9.92379640e-01 -1.17911473e-01 -3.57705834e-02 4.20893343e+02] [ 1.17900785e-01 9.93022442e-01 -2.41539608e-03 1.64058606e+01] [ 3.58057950e-02 -1.82038997e-03 9.99357109e-01 1.49194921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.92, Y:16.41, Z:14.92 [[ 9.92466153e-01 -1.17181061e-01 -3.57705834e-02 4.20923799e+02] [ 1.17169900e-01 9.93108947e-01 -2.41539608e-03 1.64099291e+01] [ 3.58071251e-02 -1.79403681e-03 9.99357109e-01 1.49208759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.95, Y:16.42, Z:14.92 [[ 9.92705509e-01 -1.15135738e-01 -3.57705834e-02 4.20954102e+02] [ 1.15123253e-01 9.93348279e-01 -2.41539608e-03 1.64159397e+01] [ 3.58107458e-02 -1.72024891e-03 9.99357109e-01 1.49226519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.98, Y:16.42, Z:14.92 [[ 9.92874621e-01 -1.13668167e-01 -3.57705834e-02 4.20984356e+02] [ 1.13654731e-01 9.93517372e-01 -2.41539608e-03 1.64199015e+01] [ 3.58132496e-02 -1.66731057e-03 9.99357109e-01 1.49240718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.01, Y:16.42, Z:14.93 [[ 9.93039044e-01 -1.12222630e-01 -3.57706275e-02 4.21014131e+02] [ 1.12208282e-01 9.93681775e-01 -2.41474279e-03 1.64240822e+01] [ 3.58156094e-02 -1.61582677e-03 9.99357109e-01 1.49256099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.275099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:421.04, Y:16.43, Z:14.93 [[ 9.93366747e-01 -1.09283890e-01 -3.57706275e-02 4.21044016e+02] [ 1.09267641e-01 9.94009432e-01 -2.41474279e-03 1.64302016e+01] [ 3.58202336e-02 -1.50984687e-03 9.99357109e-01 1.49273050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30509989300003 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:421.07, Y:16.43, Z:14.93 [[ 9.93562069e-01 -1.07493612e-01 -3.57706275e-02 4.21074608e+02] [ 1.07476204e-01 9.94204725e-01 -2.41474279e-03 1.64342867e+01] [ 3.58228963e-02 -1.44529443e-03 9.99357109e-01 1.49280908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.335099893 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:421.11, Y:16.44, Z:14.93 [[ 9.93562070e-01 -1.07493589e-01 -3.57706710e-02 4.21105516e+02] [ 1.07476204e-01 9.94204726e-01 -2.41409822e-03 1.64363723e+01] [ 3.58228702e-02 -1.44593953e-03 9.99357109e-01 1.49292020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:421.14, Y:16.44, Z:14.93 [[ 9.93778713e-01 -1.05471931e-01 -3.57706710e-02 4.21136843e+02] [ 1.05453239e-01 9.94421333e-01 -2.41409822e-03 1.64407285e+01] [ 3.58257379e-02 -1.37305369e-03 9.99357109e-01 1.49316825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.395099893 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:421.17, Y:16.45, Z:14.93 [[ 9.94018474e-01 -1.03187816e-01 -3.57707599e-02 4.21167246e+02] [ 1.03167695e-01 9.94661050e-01 -2.41277984e-03 1.64451305e+01] [ 3.58287511e-02 -1.29203910e-03 9.99357109e-01 1.49327755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:421.20, Y:16.45, Z:14.93 [[ 9.94244272e-01 -1.00989009e-01 -3.57707599e-02 4.21197642e+02] [ 1.00967467e-01 9.94886802e-01 -2.41277984e-03 1.64494972e+01] [ 3.58315212e-02 -1.21279048e-03 9.99357109e-01 1.49327890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.455099893 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:421.23, Y:16.46, Z:14.93 [[ 9.94721762e-01 -9.61720674e-02 -3.57708039e-02 4.21228200e+02] [ 9.61474364e-02 9.95364181e-01 -2.41212809e-03 1.64553432e+01] [ 3.58369562e-02 -1.03987479e-03 9.99357109e-01 1.49346478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:421.26, Y:16.46, Z:14.94 [[ 9.94931329e-01 -9.39792585e-02 -3.57708039e-02 4.21259544e+02] [ 9.39532116e-02 9.95573692e-01 -2.41212809e-03 1.64591772e+01] [ 3.58391613e-02 -9.60880101e-04 9.99357109e-01 1.49362918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.515099893 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:421.29, Y:16.46, Z:14.94 [[ 9.95138663e-01 -9.17577529e-02 -3.57708908e-02 4.21290310e+02] [ 9.17303182e-02 9.95780968e-01 -2.41083860e-03 1.64630482e+01] [ 3.58411854e-02 -8.82156496e-04 9.99357109e-01 1.49377828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:421.32, Y:16.47, Z:14.94 [[ 9.95356065e-01 -8.93686081e-02 -3.57708908e-02 4.21319317e+02] [ 8.93396316e-02 9.95998302e-01 -2.41083860e-03 1.64663989e+01] [ 3.58431998e-02 -7.96115385e-04 9.99357109e-01 1.49387562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.575099893 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:421.35, Y:16.47, Z:14.94 [[ 9.95708976e-01 -8.53468259e-02 -3.57708480e-02 4.21349443e+02] [ 8.53152323e-02 9.96351091e-01 -2.41147341e-03 1.64717369e+01] [ 3.58461350e-02 -6.50672481e-04 9.99357109e-01 1.49401406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.605099893 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:421.38, Y:16.48, Z:14.94 [[ 9.95892139e-01 -8.31822992e-02 -3.57708480e-02 4.21378324e+02] [ 8.31493100e-02 9.96534183e-01 -2.41147341e-03 1.64752788e+01] [ 3.58474646e-02 -5.72753912e-04 9.99357109e-01 1.49407608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.635099893 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:421.41, Y:16.48, Z:14.94 [[ 9.96034188e-01 -8.14637698e-02 -3.57708054e-02 4.21407682e+02] [ 8.14296500e-02 9.96676173e-01 -2.41210533e-03 1.64788765e+01] [ 3.58484086e-02 -5.10264786e-04 9.99357109e-01 1.49421144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.665099893 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:421.44, Y:16.48, Z:14.94 [[ 9.96163184e-01 -7.98709305e-02 -3.57707193e-02 4.21436258e+02] [ 7.98357384e-02 9.96805112e-01 -2.41338123e-03 1.64822707e+01] [ 3.58491948e-02 -4.51660257e-04 9.99357109e-01 1.49426975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.695099893 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:421.47, Y:16.49, Z:14.94 [[ 9.96329317e-01 -7.77711860e-02 -3.57705910e-02 4.21466077e+02] [ 7.77345728e-02 9.96971164e-01 -2.41528051e-03 1.64864880e+01] [ 3.58500870e-02 -3.74196834e-04 9.99357109e-01 1.49442678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.725099893 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:421.50, Y:16.49, Z:14.95 [[ 9.96355979e-01 -7.74289027e-02 -3.57705065e-02 4.21495919e+02] [ 7.73920242e-02 9.96997811e-01 -2.41653137e-03 1.64893484e+01] [ 3.58502261e-02 -3.60626424e-04 9.99357109e-01 1.49463258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.755099893 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:421.52, Y:16.49, Z:14.95 [[ 9.96370350e-01 -7.72437816e-02 -3.57704192e-02 4.21524711e+02] [ 7.72067374e-02 9.97012173e-01 -2.41782309e-03 1.64917881e+01] [ 3.58503052e-02 -3.52670126e-04 9.99357109e-01 1.49453438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.785099893 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:421.55, Y:16.49, Z:14.95 [[ 9.96339964e-01 -7.76348227e-02 -3.57702489e-02 4.21552986e+02] [ 7.75979400e-02 9.96981796e-01 -2.42033995e-03 1.64941000e+01] [ 3.58501897e-02 -3.64216207e-04 9.99357109e-01 1.49469946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.815099893 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:421.58, Y:16.50, Z:14.95 [[ 9.96282898e-01 -7.83640082e-02 -3.57696619e-02 4.21581716e+02] [ 7.83272850e-02 9.96924740e-01 -2.42898480e-03 1.64966670e+01] [ 3.58500058e-02 -3.81784480e-04 9.99357109e-01 1.49478519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.845099893 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:421.61, Y:16.50, Z:14.95 [[ 9.96097299e-01 -8.06889733e-02 -3.57695371e-02 4.21611197e+02] [ 8.06536822e-02 9.96739221e-01 -2.43082104e-03 1.64992132e+01] [ 3.58490410e-02 -4.63610599e-04 9.99357109e-01 1.49507743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.875099893 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:421.64, Y:16.50, Z:14.95 [[ 9.95967550e-01 -8.22750567e-02 -3.57694499e-02 4.21640676e+02] [ 8.22407418e-02 9.96609525e-01 -2.43210388e-03 1.65009114e+01] [ 3.58482759e-02 -5.19409546e-04 9.99357109e-01 1.49519445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.905099893 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:421.67, Y:16.50, Z:14.95 [[ 9.95803956e-01 -8.42320212e-02 -3.57693626e-02 4.21669628e+02] [ 8.41989217e-02 9.96445995e-01 -2.43338726e-03 1.65024544e+01] [ 3.58472072e-02 -5.88565098e-04 9.99357109e-01 1.49529538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93509989300003 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:421.70, Y:16.50, Z:14.95 [[ 9.95600744e-01 -8.66008903e-02 -3.57693192e-02 4.21700541e+02] [ 8.65692956e-02 9.96242858e-01 -2.43402371e-03 1.65038516e+01] [ 3.58457175e-02 -6.73208956e-04 9.99357109e-01 1.49542912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.965099893 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:421.73, Y:16.50, Z:14.95 [[ 9.95184164e-01 -9.12635481e-02 -3.57693192e-02 4.21729774e+02] [ 9.12349616e-02 9.95826419e-01 -2.43402371e-03 1.65043805e+01] [ 3.58421707e-02 -8.41110616e-04 9.99357109e-01 1.49548937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99509989300003 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:421.76, Y:16.51, Z:14.96 [[ 9.94997009e-01 -9.32818909e-02 -3.57692761e-02 4.21760037e+02] [ 9.32545844e-02 9.95639320e-01 -2.43465757e-03 1.65056726e+01] [ 3.58404072e-02 -9.13171971e-04 9.99357109e-01 1.49564440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.025099893 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:421.79, Y:16.51, Z:14.96 [[ 9.94810689e-01 -9.52483679e-02 -3.57692761e-02 4.21790182e+02] [ 9.52223309e-02 9.95453053e-01 -2.43465757e-03 1.65068269e+01] [ 3.58385322e-02 -9.84010465e-04 9.99357109e-01 1.49575589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05509989300003 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:421.82, Y:16.51, Z:14.96 [[ 9.94672935e-01 -9.66763103e-02 -3.57693185e-02 4.21821969e+02] [ 9.66512179e-02 9.95315336e-01 -2.43403471e-03 1.65081977e+01] [ 3.58370647e-02 -1.03607974e-03 9.99357109e-01 1.49588358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.085099893 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:421.85, Y:16.51, Z:14.96 [[ 9.94220322e-01 -1.01225007e-01 -3.57694030e-02 4.21848558e+02] [ 1.01202898e-01 9.94862832e-01 -2.43279261e-03 1.65119515e+01] [ 3.58319090e-02 -1.20123538e-03 9.99357109e-01 1.49581281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.115099893 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:421.88, Y:16.51, Z:14.96 [[ 9.94353996e-01 -9.99110449e-02 -3.57479323e-02 4.21881314e+02] [ 9.98768115e-02 9.94996019e-01 -2.74660353e-03 1.65106994e+01] [ 3.58434664e-02 -8.39293301e-04 9.99357064e-01 1.49614111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.145099893 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:421.91, Y:16.51, Z:14.96 [[ 9.94306783e-01 -1.00372360e-01 -3.57688489e-02 4.21910786e+02] [ 1.00349440e-01 9.94949263e-01 -2.44000465e-03 1.65121958e+01] [ 3.58330989e-02 -1.16327079e-03 9.99357111e-01 1.49621018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.175099893 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:421.94, Y:16.51, Z:14.96 [[ 9.94321484e-01 -1.00226633e-01 -3.57688076e-02 4.21942320e+02] [ 1.00203598e-01 9.94963960e-01 -2.44061063e-03 1.65143707e+01] [ 3.58332886e-02 -1.15741162e-03 9.99357111e-01 1.49642344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.205099893 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:421.97, Y:16.52, Z:14.96 [[ 9.94389631e-01 -9.95482156e-02 -3.57688937e-02 4.21973023e+02] [ 9.95247873e-02 9.95032093e-01 -2.43934741e-03 1.65164831e+01] [ 3.58340299e-02 -1.13422976e-03 9.99357111e-01 1.49642449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.235099893 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:422.00, Y:16.52, Z:14.97 [[ 9.94492887e-01 -9.85113227e-02 -3.57689364e-02 4.22004445e+02] [ 9.84872471e-02 9.95135325e-01 -2.43872123e-03 1.65189126e+01] [ 3.58351738e-02 -1.09749316e-03 9.99357111e-01 1.49664823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.265099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:422.04, Y:16.52, Z:14.97 [[ 9.94858762e-01 -9.47450314e-02 -3.57690230e-02 4.22035523e+02] [ 9.47185691e-02 9.95501106e-01 -2.43745050e-03 1.65215661e+01] [ 3.58390383e-02 -9.63071688e-04 9.99357111e-01 1.49676814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.295099893 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:422.07, Y:16.52, Z:14.97 [[ 9.95084554e-01 -9.23433874e-02 -3.57691097e-02 4.22066800e+02] [ 9.23154204e-02 9.95726834e-01 -2.43617685e-03 1.65240549e+01] [ 3.58412272e-02 -8.77838449e-04 9.99357111e-01 1.49691668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.325099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:422.10, Y:16.53, Z:14.97 [[ 9.95308548e-01 -8.98969330e-02 -3.57691975e-02 4.22097048e+02] [ 8.98674335e-02 9.95950760e-01 -2.43488755e-03 1.65264358e+01] [ 3.58432484e-02 -7.91021582e-04 9.99357111e-01 1.49700936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.355099893 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:422.13, Y:16.53, Z:14.97 [[ 9.95693889e-01 -8.55233318e-02 -3.57692411e-02 4.22127469e+02] [ 8.54910341e-02 9.96335966e-01 -2.43424774e-03 1.65289299e+01] [ 3.58463663e-02 -6.34183807e-04 9.99357111e-01 1.49710628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.385099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:422.16, Y:16.53, Z:14.97 [[ 9.95856817e-01 -8.36047933e-02 -3.57692411e-02 4.22158292e+02] [ 8.35712586e-02 9.96498831e-01 -2.43424774e-03 1.65313661e+01] [ 3.58475217e-02 -5.65118285e-04 9.99357111e-01 1.49720144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.415099893 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:422.19, Y:16.53, Z:14.97 [[ 9.95976111e-01 -8.21714561e-02 -3.57692411e-02 4.22187388e+02] [ 8.21369974e-02 9.96618075e-01 -2.43424774e-03 1.65336201e+01] [ 3.58482979e-02 -5.13525460e-04 9.99357111e-01 1.49724712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.445099893 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:422.22, Y:16.54, Z:14.97 [[ 9.96065155e-01 -8.10849653e-02 -3.57691986e-02 4.22217169e+02] [ 8.10497840e-02 9.96707080e-01 -2.43487122e-03 1.65358355e+01] [ 3.58488450e-02 -4.73795439e-04 9.99357111e-01 1.49728396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.475099893 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:422.25, Y:16.54, Z:14.97 [[ 9.96089286e-01 -8.07880202e-02 -3.57691147e-02 4.22245521e+02] [ 8.07526032e-02 9.96731199e-01 -2.43610394e-03 1.65370546e+01] [ 3.58490005e-02 -4.61872091e-04 9.99357111e-01 1.49725111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.505099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:422.27, Y:16.54, Z:14.97 [[ 9.96018617e-01 -8.16547222e-02 -3.57689896e-02 4.22274350e+02] [ 8.16197979e-02 9.96660557e-01 -2.43793867e-03 1.65384863e+01] [ 3.58486103e-02 -4.91225400e-04 9.99357111e-01 1.49732345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.535099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:422.30, Y:16.54, Z:14.97 [[ 9.95927728e-01 -8.27561550e-02 -3.57684086e-02 4.22303180e+02] [ 8.27216356e-02 9.96569689e-01 -2.44643394e-03 1.65397493e+01] [ 3.58481693e-02 -5.22349859e-04 9.99357111e-01 1.49745321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.565099893 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:422.33, Y:16.54, Z:14.98 [[ 9.95809728e-01 -8.41644075e-02 -3.57678261e-02 4.22332661e+02] [ 8.41304912e-02 9.96451722e-01 -2.45491991e-03 1.65411263e+01] [ 3.58475288e-02 -5.64531655e-04 9.99357111e-01 1.49768994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.595099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:422.36, Y:16.54, Z:14.98 [[ 9.95663881e-01 -8.58726078e-02 -3.57677378e-02 4.22361669e+02] [ 8.58397467e-02 9.96305929e-01 -2.45620608e-03 1.65424197e+01] [ 3.58465301e-02 -6.24737879e-04 9.99357111e-01 1.49779001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.625099893 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:422.39, Y:16.54, Z:14.98 [[ 9.95325870e-01 -8.97055212e-02 -3.57677461e-02 4.22391861e+02] [ 8.96751367e-02 9.95968040e-01 -2.45608477e-03 1.65426941e+01] [ 3.58438564e-02 -7.62872816e-04 9.99357111e-01 1.49803179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.655099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:422.42, Y:16.54, Z:14.98 [[ 9.95112870e-01 -9.20382806e-02 -3.57677461e-02 4.22421616e+02] [ 9.20094015e-02 9.95755109e-01 -2.45608477e-03 1.65440117e+01] [ 3.58419698e-02 -8.46887354e-04 9.99357111e-01 1.49810584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68509989300003 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:422.45, Y:16.55, Z:14.98 [[ 9.94902060e-01 -9.42897767e-02 -3.57677014e-02 4.22452017e+02] [ 9.42623275e-02 9.95544363e-01 -2.45673540e-03 1.65453082e+01] [ 3.58399786e-02 -9.27335681e-04 9.99357111e-01 1.49825146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.715099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:422.48, Y:16.55, Z:14.98 [[ 9.94690168e-01 -9.64994357e-02 -3.57677014e-02 4.22482908e+02] [ 9.64734133e-02 9.95332530e-01 -2.45673540e-03 1.65464964e+01] [ 3.58378303e-02 -1.00694170e-03 9.99357111e-01 1.49833598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74509989300003 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:422.51, Y:16.55, Z:14.98 [[ 9.94473273e-01 -9.87095422e-02 -3.57677911e-02 4.22513520e+02] [ 9.86849942e-02 9.95115693e-01 -2.45542872e-03 1.65472984e+01] [ 3.58354645e-02 -1.08788602e-03 9.99357111e-01 1.49840055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.775099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:422.54, Y:16.55, Z:14.98 [[ 9.94037242e-01 -1.03007877e-01 -3.57678357e-02 4.22544306e+02] [ 1.02986130e-01 9.94679763e-01 -2.45478008e-03 1.65469953e+01] [ 3.58304040e-02 -1.24344816e-03 9.99357111e-01 1.49847140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80509989300003 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:422.58, Y:16.55, Z:14.99 [[ 9.93865367e-01 -1.04653198e-01 -3.57678792e-02 4.22575360e+02] [ 1.04632538e-01 9.94507923e-01 -2.45414516e-03 1.65483043e+01] [ 3.58282734e-02 -1.30339409e-03 9.99357111e-01 1.49871049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.835099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:422.61, Y:16.55, Z:14.99 [[ 9.93751718e-01 -1.05726889e-01 -3.57679690e-02 4.22605665e+02] [ 1.05706970e-01 9.94394298e-01 -2.45283540e-03 1.65497948e+01] [ 3.58267951e-02 -1.34341423e-03 9.99357111e-01 1.49886044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:422.64, Y:16.55, Z:14.99 [[ 9.93729103e-01 -1.05939226e-01 -3.57680136e-02 4.22636352e+02] [ 1.05919467e-01 9.94371688e-01 -2.45218550e-03 1.65514586e+01] [ 3.58264827e-02 -1.35172083e-03 9.99357111e-01 1.49898329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.895099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:422.67, Y:16.55, Z:14.99 [[ 9.93797656e-01 -1.05294187e-01 -3.57680574e-02 4.22667698e+02] [ 1.05274035e-01 9.94440228e-01 -2.45154625e-03 1.65537295e+01] [ 3.58273288e-02 -1.32910680e-03 9.99357111e-01 1.49913725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:422.70, Y:16.56, Z:14.99 [[ 9.93915924e-01 -1.04171861e-01 -3.57681459e-02 4.22697760e+02] [ 1.04151029e-01 9.94558475e-01 -2.45025508e-03 1.65560132e+01] [ 3.58287602e-02 -1.28994167e-03 9.99357111e-01 1.49919246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.955099893 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:422.73, Y:16.56, Z:14.99 [[ 9.94105348e-01 -1.02348396e-01 -3.57681897e-02 4.22729176e+02] [ 1.02326408e-01 9.94747860e-01 -2.44961469e-03 1.65580854e+01] [ 3.58310443e-02 -1.22485533e-03 9.99357111e-01 1.49930011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:422.76, Y:16.56, Z:14.99 [[ 9.94295073e-01 -1.00488494e-01 -3.57682782e-02 4.22759600e+02] [ 1.00465350e-01 9.94937545e-01 -2.44832186e-03 1.65604625e+01] [ 3.58332311e-02 -1.15911824e-03 9.99357111e-01 1.49933998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.015099893 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:422.79, Y:16.56, Z:14.99 [[ 9.94702459e-01 -9.63724280e-02 -3.57683221e-02 4.22789981e+02] [ 9.63466489e-02 9.95344831e-01 -2.44768086e-03 1.65630817e+01] [ 3.58377034e-02 -1.01144380e-03 9.99357111e-01 1.49940717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:422.82, Y:16.57, Z:15.00 [[ 9.94872413e-01 -9.46018429e-02 -3.57683221e-02 4.22821280e+02] [ 9.45749205e-02 9.95514738e-01 -2.44768086e-03 1.65655085e+01] [ 3.58394469e-02 -9.47656054e-04 9.99357111e-01 1.49950277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.075099893 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:422.85, Y:16.57, Z:15.00 [[ 9.95014866e-01 -9.30915558e-02 -3.57684095e-02 4.22852765e+02] [ 9.30637043e-02 9.95657151e-01 -2.44640322e-03 1.65680268e+01] [ 3.58408121e-02 -8.94533107e-04 9.99357111e-01 1.49964660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.105099893 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:422.88, Y:16.57, Z:15.00 [[ 9.95112945e-01 -9.20371755e-02 -3.57684989e-02 4.22883394e+02] [ 9.20086905e-02 9.95755202e-01 -2.44509540e-03 1.65706544e+01] [ 3.58417085e-02 -8.57866658e-04 9.99357111e-01 1.49971455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.135099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:422.91, Y:16.57, Z:15.00 [[ 9.95192598e-01 -9.11718380e-02 -3.57685431e-02 4.22914149e+02] [ 9.11428178e-02 9.95834831e-01 -2.44444757e-03 1.65738530e+01] [ 3.58424259e-02 -8.27349679e-04 9.99357111e-01 1.49982862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.165099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:422.94, Y:16.58, Z:15.00 [[ 9.95188098e-01 -9.12209447e-02 -3.57685431e-02 4.22944862e+02] [ 9.11919562e-02 9.95830333e-01 -2.44444757e-03 1.65761180e+01] [ 3.58423850e-02 -8.29118288e-04 9.99357111e-01 1.49997774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.195099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:422.98, Y:16.58, Z:15.00 [[ 9.95125832e-01 -9.18977113e-02 -3.57685431e-02 4.22975148e+02] [ 9.18691595e-02 9.95768087e-01 -2.44444757e-03 1.65785494e+01] [ 3.58418129e-02 -8.53493070e-04 9.99357111e-01 1.50007451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.225099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:423.01, Y:16.58, Z:15.00 [[ 9.95125832e-01 -9.18977113e-02 -3.57685431e-02 4.23006056e+02] [ 9.18691595e-02 9.95768087e-01 -2.44444757e-03 1.65806616e+01] [ 3.58418129e-02 -8.53493070e-04 9.99357111e-01 1.50018565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.255099893 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:423.04, Y:16.58, Z:15.00 [[ 9.95050977e-01 -9.27047120e-02 -3.57685431e-02 4.23035961e+02] [ 9.26766810e-02 9.95693255e-01 -2.44444757e-03 1.65830327e+01] [ 3.58411089e-02 -8.82559917e-04 9.99357111e-01 1.50030972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.285099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:423.07, Y:16.59, Z:15.00 [[ 9.94719986e-01 -9.61912726e-02 -3.57685431e-02 4.23066515e+02] [ 9.61654927e-02 9.95362357e-01 -2.44444757e-03 1.65856555e+01] [ 3.58377959e-02 -1.00815872e-03 9.99357111e-01 1.50048123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.315099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:423.10, Y:16.59, Z:15.01 [[ 9.94531212e-01 -9.81237979e-02 -3.57685431e-02 4.23097301e+02] [ 9.80992661e-02 9.95173632e-01 -2.44444757e-03 1.65878462e+01] [ 3.58357695e-02 -1.07778843e-03 9.99357111e-01 1.50060032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.345099893 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:423.13, Y:16.59, Z:15.01 [[ 9.94331672e-01 -1.00125577e-01 -3.57686318e-02 4.23128468e+02] [ 1.00102385e-01 9.94974142e-01 -2.44314936e-03 1.65899925e+01] [ 3.58334855e-02 -1.15122455e-03 9.99357111e-01 1.50078971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.375099893 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:423.16, Y:16.59, Z:15.01 [[ 9.94008119e-01 -1.03288227e-01 -3.57687210e-02 4.23159376e+02] [ 1.03267126e-01 9.94650661e-01 -2.44184266e-03 1.65920582e+01] [ 3.58295956e-02 -1.26652159e-03 9.99357111e-01 1.50100516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.405099893 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:423.19, Y:16.59, Z:15.01 [[ 9.93901467e-01 -1.04309475e-01 -3.57688095e-02 4.23190927e+02] [ 1.04289081e-01 9.94544032e-01 -2.44054568e-03 1.65941869e+01] [ 3.58282281e-02 -1.30463435e-03 9.99357111e-01 1.50107718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43509989300003 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:423.22, Y:16.60, Z:15.01 [[ 9.93843992e-01 -1.04855629e-01 -3.57689418e-02 4.23222444e+02] [ 1.04835657e-01 9.94486570e-01 -2.43860588e-03 1.65963360e+01] [ 3.58274338e-02 -1.32626673e-03 9.99357111e-01 1.50125985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.465099893 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:423.25, Y:16.60, Z:15.01 [[ 9.93821097e-01 -1.05072376e-01 -3.57690295e-02 4.23253068e+02] [ 1.05052591e-01 9.94463681e-01 -2.43731781e-03 1.65985292e+01] [ 3.58270955e-02 -1.33537137e-03 9.99357111e-01 1.50138164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49509989300003 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:423.28, Y:16.60, Z:15.02 [[ 9.93821322e-01 -1.05070227e-01 -3.57690731e-02 4.23284680e+02] [ 1.05050464e-01 9.94463907e-01 -2.43667888e-03 1.66009005e+01] [ 3.58270746e-02 -1.33593428e-03 9.99357111e-01 1.50153714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.525099893 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:423.32, Y:16.60, Z:15.02 [[ 9.93868522e-01 -1.04622792e-01 -3.57691610e-02 4.23315438e+02] [ 1.04602785e-01 9.94511099e-01 -2.43538712e-03 1.66030008e+01] [ 3.58276246e-02 -1.32109928e-03 9.99357111e-01 1.50159620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55509989300003 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:423.35, Y:16.61, Z:15.02 [[ 9.94035186e-01 -1.03027211e-01 -3.57693022e-02 4.23346575e+02] [ 1.03006248e-01 9.94677733e-01 -2.43331206e-03 1.66054741e+01] [ 3.58296257e-02 -1.26566379e-03 9.99357111e-01 1.50170244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.585099893 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:423.38, Y:16.61, Z:15.02 [[ 9.94194149e-01 -1.01481749e-01 -3.57693904e-02 4.23377372e+02] [ 1.01459834e-01 9.94836664e-01 -2.43201493e-03 1.66080490e+01] [ 3.58315061e-02 -1.21126139e-03 9.99357111e-01 1.50183247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.615099893 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:423.41, Y:16.61, Z:15.02 [[ 9.94385704e-01 -9.95872328e-02 -3.57694792e-02 4.23408032e+02] [ 9.95641402e-02 9.95028177e-01 -2.43070694e-03 1.66107411e+01] [ 3.58337071e-02 -1.14429722e-03 9.99357111e-01 1.50190391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.645099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:423.44, Y:16.61, Z:15.02 [[ 9.94833018e-01 -9.50147803e-02 -3.57695233e-02 4.23439309e+02] [ 9.49887577e-02 9.95475379e-01 -2.43005792e-03 1.66141727e+01] [ 3.58385712e-02 -9.80200736e-04 9.99357111e-01 1.50201264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.675099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.47, Y:16.62, Z:15.02 [[ 9.95068390e-01 -9.25172051e-02 -3.57696105e-02 4.23470155e+02] [ 9.24896162e-02 9.95710687e-01 -2.42877445e-03 1.66168547e+01] [ 3.58408869e-02 -8.91520865e-04 9.99357111e-01 1.50212327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.50, Y:16.62, Z:15.02 [[ 9.95268065e-01 -9.03438660e-02 -3.57696105e-02 4.23501028e+02] [ 9.03148745e-02 9.95910299e-01 -2.42877445e-03 1.66194292e+01] [ 3.58427484e-02 -8.13246236e-04 9.99357111e-01 1.50222996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.53, Y:16.62, Z:15.02 [[ 9.95438600e-01 -8.84450257e-02 -3.57696974e-02 4.23531563e+02] [ 8.84148550e-02 9.96080780e-01 -2.42749448e-03 1.66215489e+01] [ 3.58442079e-02 -7.46150894e-04 9.99357111e-01 1.50230325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.765099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.56, Y:16.62, Z:15.02 [[ 9.95587691e-01 -8.67506470e-02 -3.57697404e-02 4.23560915e+02] [ 8.67194061e-02 9.96229820e-01 -2.42686013e-03 1.66236413e+01] [ 3.58454137e-02 -6.85778573e-04 9.99357111e-01 1.50233050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.795099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.59, Y:16.63, Z:15.02 [[ 9.95597085e-01 -8.66427953e-02 -3.57696977e-02 4.23589849e+02] [ 8.66114623e-02 9.96239209e-01 -2.42748864e-03 1.66256804e+01] [ 3.58454998e-02 -6.81265217e-04 9.99357111e-01 1.50238498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.62, Y:16.63, Z:15.02 [[ 9.95571081e-01 -8.69410933e-02 -3.57696554e-02 4.23618944e+02] [ 8.69099302e-02 9.96213214e-01 -2.42811238e-03 1.66277451e+01] [ 3.58453061e-02 -6.91379786e-04 9.99357111e-01 1.50243132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.65, Y:16.63, Z:15.03 [[ 9.95513914e-01 -8.75932872e-02 -3.57695703e-02 4.23649525e+02] [ 8.75624999e-02 9.96156065e-01 -2.42936540e-03 1.66298160e+01] [ 3.58448705e-02 -7.13605933e-04 9.99357111e-01 1.50252630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.68, Y:16.63, Z:15.03 [[ 9.95316293e-01 -8.98109962e-02 -3.57695703e-02 4.23678888e+02] [ 8.97816396e-02 9.95958511e-01 -2.42936540e-03 1.66316154e+01] [ 3.58431917e-02 -7.93463703e-04 9.99357111e-01 1.50258891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.71, Y:16.63, Z:15.03 [[ 9.95223288e-01 -9.08358348e-02 -3.57695272e-02 4.23709126e+02] [ 9.08071167e-02 9.95865534e-01 -2.42999934e-03 1.66336521e+01] [ 3.58423704e-02 -8.29735706e-04 9.99357111e-01 1.50268459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.74, Y:16.64, Z:15.03 [[ 9.95071088e-01 -9.24882186e-02 -3.57695272e-02 4.23739949e+02] [ 9.24605670e-02 9.95713382e-01 -2.42999934e-03 1.66357086e+01] [ 3.58409432e-02 -8.89248684e-04 9.99357111e-01 1.50279095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.77, Y:16.64, Z:15.03 [[ 9.94921350e-01 -9.40853275e-02 -3.57695272e-02 4.23770454e+02] [ 9.40587069e-02 9.95563687e-01 -2.42999934e-03 1.66379157e+01] [ 3.58394697e-02 -9.46777259e-04 9.99357111e-01 1.50291026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.80, Y:16.64, Z:15.03 [[ 9.94816008e-01 -9.51927016e-02 -3.57695272e-02 4.23801425e+02] [ 9.51667960e-02 9.95458375e-01 -2.42999934e-03 1.66402202e+01] [ 3.58383936e-02 -9.86669059e-04 9.99357111e-01 1.50303415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.83, Y:16.64, Z:15.03 [[ 9.94698467e-01 -9.64131447e-02 -3.57696114e-02 4.23832534e+02] [ 9.63880717e-02 9.95340867e-01 -2.42875950e-03 1.66425013e+01] [ 3.58371204e-02 -1.03188052e-03 9.99357111e-01 1.50317539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.86, Y:16.64, Z:15.03 [[ 9.94573762e-01 -9.76911480e-02 -3.57696950e-02 4.23862262e+02] [ 9.76669447e-02 9.95216195e-01 -2.42752831e-03 1.66447816e+01] [ 3.58357278e-02 -1.07916086e-03 9.99357111e-01 1.50333742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.89, Y:16.65, Z:15.03 [[ 9.94527623e-01 -9.81596703e-02 -3.57699021e-02 4.23892544e+02] [ 9.81358795e-02 9.95170071e-01 -2.42447202e-03 1.66467646e+01] [ 3.58351214e-02 -1.09910641e-03 9.99357111e-01 1.50348207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.92, Y:16.65, Z:15.04 [[ 9.94530972e-01 -9.81257303e-02 -3.57699021e-02 4.23923425e+02] [ 9.81019176e-02 9.95173420e-01 -2.42447203e-03 1.66490364e+01] [ 3.58351589e-02 -1.09788347e-03 9.99357111e-01 1.50361187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.95, Y:16.65, Z:15.04 [[ 9.94554585e-01 -9.78861140e-02 -3.57699021e-02 4.23953609e+02] [ 9.78621465e-02 9.95197027e-01 -2.42447202e-03 1.66512717e+01] [ 3.58354224e-02 -1.08924963e-03 9.99357111e-01 1.50368797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.98, Y:16.65, Z:15.04 [[ 9.94588883e-01 -9.75370031e-02 -3.57699021e-02 4.23983790e+02] [ 9.75128101e-02 9.95231317e-01 -2.42447202e-03 1.66534289e+01] [ 3.58358025e-02 -1.07667075e-03 9.99357111e-01 1.50380600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.01, Y:16.66, Z:15.04 [[ 9.94623067e-01 -9.71878012e-02 -3.57699021e-02 4.24013605e+02] [ 9.71633827e-02 9.95265492e-01 -2.42447203e-03 1.66557889e+01] [ 3.58361783e-02 -1.06408889e-03 9.99357111e-01 1.50390992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.04, Y:16.66, Z:15.04 [[ 9.94697753e-01 -9.64204177e-02 -3.57698618e-02 4.24044218e+02] [ 9.63954821e-02 9.95340158e-01 -2.42506730e-03 1.66584519e+01] [ 3.58370059e-02 -1.03584408e-03 9.99357111e-01 1.50398760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:16.66, Z:15.04 [[ 9.94928277e-01 -9.40119191e-02 -3.57698618e-02 4.24074748e+02] [ 9.39854283e-02 9.95570619e-01 -2.42506730e-03 1.66614940e+01] [ 3.58394087e-02 -9.49077749e-04 9.99357111e-01 1.50399087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.10, Y:16.66, Z:15.04 [[ 9.95064761e-01 -9.25561392e-02 -3.57698618e-02 4.24104934e+02] [ 9.25287086e-02 9.95707064e-01 -2.42506730e-03 1.66639115e+01] [ 3.58407589e-02 -8.96640103e-04 9.99357111e-01 1.50407108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.13, Y:16.67, Z:15.04 [[ 9.95192102e-01 -9.11767334e-02 -3.57698618e-02 4.24134439e+02] [ 9.11484125e-02 9.95834367e-01 -2.42506730e-03 1.66662631e+01] [ 3.58419674e-02 -8.46958289e-04 9.99357111e-01 1.50413881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:16.67, Z:15.04 [[ 9.95319898e-01 -8.97709333e-02 -3.57698223e-02 4.24163538e+02] [ 8.97416843e-02 9.95962121e-01 -2.42564949e-03 1.66686196e+01] [ 3.58431409e-02 -7.95746899e-04 9.99357111e-01 1.50423447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:16.67, Z:15.04 [[ 9.95589726e-01 -8.67272900e-02 -3.57697445e-02 4.24191791e+02] [ 8.66960364e-02 9.96231855e-01 -2.42679666e-03 1.66714171e+01] [ 3.58454284e-02 -6.85001242e-04 9.99357111e-01 1.50426951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.22, Y:16.67, Z:15.04 [[ 9.95738248e-01 -8.50051446e-02 -3.57696285e-02 4.24220888e+02] [ 8.49727190e-02 9.96380319e-01 -2.42850436e-03 1.66736169e+01] [ 3.58465892e-02 -6.21287915e-04 9.99357111e-01 1.50435782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.25, Y:16.68, Z:15.04 [[ 9.95834821e-01 -8.38662582e-02 -3.57695518e-02 4.24250755e+02] [ 8.38330577e-02 9.96476851e-01 -2.42963439e-03 1.66759770e+01] [ 3.58472947e-02 -5.79156366e-04 9.99357111e-01 1.50444408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.28, Y:16.68, Z:15.04 [[ 9.95916597e-01 -8.28895422e-02 -3.57694749e-02 4.24279488e+02] [ 8.28556714e-02 9.96558593e-01 -2.43076547e-03 1.66779725e+01] [ 3.58478626e-02 -5.42864180e-04 9.99357111e-01 1.50449859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.31, Y:16.68, Z:15.05 [[ 9.95966556e-01 -8.22873105e-02 -3.57689380e-02 4.24308247e+02] [ 8.22527688e-02 9.96608516e-01 -2.43864035e-03 1.66801039e+01] [ 3.58482974e-02 -5.13289953e-04 9.99357111e-01 1.50455643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:16.68, Z:15.05 [[ 9.95922040e-01 -8.28244004e-02 -3.57688239e-02 4.24336862e+02] [ 8.27901448e-02 9.96564015e-01 -2.44031345e-03 1.66820501e+01] [ 3.58480402e-02 -5.30944155e-04 9.99357111e-01 1.50463098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.37, Y:16.68, Z:15.05 [[ 9.95816235e-01 -8.40871875e-02 -3.57682931e-02 4.24365173e+02] [ 8.40534675e-02 9.96458239e-01 -2.44806868e-03 1.66841127e+01] [ 3.58474615e-02 -5.68622518e-04 9.99357111e-01 1.50474200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.39, Y:16.69, Z:15.05 [[ 9.95665936e-01 -8.58487715e-02 -3.57677644e-02 4.24393877e+02] [ 8.58159108e-02 9.96307984e-01 -2.45576917e-03 1.66858214e+01] [ 3.58465340e-02 -6.24317569e-04 9.99357111e-01 1.50483932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.42, Y:16.69, Z:15.05 [[ 9.95212843e-01 -9.09510942e-02 -3.57672345e-02 4.24421774e+02] [ 9.09212484e-02 9.95855039e-01 -2.46346200e-03 1.66865566e+01] [ 3.58430353e-02 -8.00332590e-04 9.99357111e-01 1.50498256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.45, Y:16.69, Z:15.05 [[ 9.94937668e-01 -9.39135844e-02 -3.57669507e-02 4.24449907e+02] [ 9.38855029e-02 9.95579943e-01 -2.46757606e-03 1.66879626e+01] [ 3.58405977e-02 -9.02913784e-04 9.99357111e-01 1.50512496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.48, Y:16.69, Z:15.05 [[ 9.94623659e-01 -9.71828742e-02 -3.57668388e-02 4.24479834e+02] [ 9.71568455e-02 9.95266020e-01 -2.46919696e-03 1.66894500e+01] [ 3.58374830e-02 -1.01907151e-03 9.99357112e-01 1.50533399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.51, Y:16.69, Z:15.06 [[ 9.94273894e-01 -1.00698370e-01 -3.57667646e-02 4.24510898e+02] [ 1.00674573e-01 9.94916342e-01 -2.47027167e-03 1.66907311e+01] [ 3.58336909e-02 -1.14467712e-03 9.99357112e-01 1.50571515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.54, Y:16.69, Z:15.06 [[ 9.93609867e-01 -1.07052162e-01 -3.57668528e-02 4.24541679e+02] [ 1.07032519e-01 9.94252455e-01 -2.46899356e-03 1.66910971e+01] [ 3.58255923e-02 -1.37499998e-03 9.99357112e-01 1.50561812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.57, Y:16.69, Z:15.06 [[ 9.93270921e-01 -1.10152638e-01 -3.57669411e-02 4.24570079e+02] [ 1.10135046e-01 9.93913569e-01 -2.46771418e-03 1.66926266e+01] [ 3.58210733e-02 -1.48808496e-03 9.99357112e-01 1.50562289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.60, Y:16.69, Z:15.06 [[ 9.92978814e-01 -1.12755536e-01 -3.57667985e-02 4.24600062e+02] [ 1.12739554e-01 9.93621504e-01 -2.46977929e-03 1.66941606e+01] [ 3.58171414e-02 -1.57989441e-03 9.99357112e-01 1.50564469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.63, Y:16.70, Z:15.06 [[ 9.92682559e-01 -1.15334638e-01 -3.57667255e-02 4.24628424e+02] [ 1.15320288e-01 9.93325287e-01 -2.47083545e-03 1.66957430e+01] [ 3.58129658e-02 -1.67187382e-03 9.99357112e-01 1.50567782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.66, Y:16.70, Z:15.06 [[ 9.92196284e-01 -1.19445734e-01 -3.57666166e-02 4.24660706e+02] [ 1.19433990e-01 9.92839065e-01 -2.47241079e-03 1.66978758e+01] [ 3.58058131e-02 -1.81863293e-03 9.99357112e-01 1.50604999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.69, Y:16.70, Z:15.06 [[ 9.92032387e-01 -1.20799338e-01 -3.57667934e-02 4.24692128e+02] [ 1.20788563e-01 9.92675185e-01 -2.46985054e-03 1.67004658e+01] [ 3.58031646e-02 -1.87004785e-03 9.99357112e-01 1.50594723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.72, Y:16.70, Z:15.06 [[ 9.91833918e-01 -1.22418115e-01 -3.57670790e-02 4.24723850e+02] [ 1.22408538e-01 9.92476735e-01 -2.46570797e-03 1.67046073e+01] [ 3.57998411e-02 -1.93262305e-03 9.99357112e-01 1.50642807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.76, Y:16.71, Z:15.07 [[ 9.91799555e-01 -1.22696155e-01 -3.57672614e-02 4.24755591e+02] [ 1.22686853e-01 9.92442376e-01 -2.46305974e-03 1.67081189e+01] [ 3.57991538e-02 -1.94531120e-03 9.99357112e-01 1.50656631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.79, Y:16.71, Z:15.07 [[ 9.91803086e-01 -1.22667550e-01 -3.57674428e-02 4.24787646e+02] [ 1.22658325e-01 9.92445909e-01 -2.46042268e-03 1.67118267e+01] [ 3.57990662e-02 -1.94691981e-03 9.99357112e-01 1.50668032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.82, Y:16.72, Z:15.07 [[ 9.91847338e-01 -1.22309179e-01 -3.57676247e-02 4.24818327e+02] [ 1.22299817e-01 9.92490158e-01 -2.45777442e-03 1.67152876e+01] [ 3.57996239e-02 -1.93663694e-03 9.99357112e-01 1.50677540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.85, Y:16.72, Z:15.07 [[ 9.91946184e-01 -1.21504880e-01 -3.57677603e-02 4.24849750e+02] [ 1.21495067e-01 9.92588997e-01 -2.45580031e-03 1.67205895e+01] [ 3.58010770e-02 -1.90958470e-03 9.99357112e-01 1.50699505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:16.72, Z:15.07 [[ 9.92046650e-01 -1.20681809e-01 -3.57679414e-02 4.24881222e+02] [ 1.20671558e-01 9.92689457e-01 -2.45315950e-03 1.67242891e+01] [ 3.58025100e-02 -1.88252454e-03 9.99357112e-01 1.50704574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:16.73, Z:15.07 [[ 9.92054823e-01 -1.20614563e-01 -3.57680761e-02 4.24913816e+02] [ 1.20604339e-01 9.92697630e-01 -2.45119344e-03 1.67264576e+01] [ 3.58025340e-02 -1.88206690e-03 9.99357112e-01 1.50716288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.95, Y:16.73, Z:15.07 [[ 9.92180631e-01 -1.19575197e-01 -3.57682421e-02 4.24945940e+02] [ 1.19564387e-01 9.92823429e-01 -2.44876987e-03 1.67303221e+01] [ 3.58043609e-02 -1.84698590e-03 9.99357112e-01 1.50735979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.98, Y:16.73, Z:15.07 [[ 9.92291532e-01 -1.18651323e-01 -3.57684202e-02 4.24977147e+02] [ 1.18640009e-01 9.92934320e-01 -2.44616432e-03 1.67341252e+01] [ 3.58059327e-02 -1.81625754e-03 9.99357112e-01 1.50746983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.01, Y:16.74, Z:15.08 [[ 9.92426330e-01 -1.17518466e-01 -3.57685527e-02 4.25009159e+02] [ 1.17506487e-01 9.93069107e-01 -2.44422536e-03 1.67383089e+01] [ 3.58078863e-02 -1.77732338e-03 9.99357112e-01 1.50764401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.04, Y:16.74, Z:15.08 [[ 9.92670145e-01 -1.15440810e-01 -3.57687322e-02 4.25040517e+02] [ 1.15427580e-01 9.93312898e-01 -2.44159673e-03 1.67443818e+01] [ 3.58114029e-02 -1.70499801e-03 9.99357112e-01 1.50774341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.07, Y:16.75, Z:15.08 [[ 9.92787558e-01 -1.14426613e-01 -3.57689126e-02 4.25071361e+02] [ 1.14412821e-01 9.93430298e-01 -2.43895097e-03 1.67482309e+01] [ 3.58130024e-02 -1.67106201e-03 9.99357112e-01 1.50783575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.10, Y:16.75, Z:15.08 [[ 9.92997029e-01 -1.12594296e-01 -3.57690468e-02 4.25102807e+02] [ 1.12579390e-01 9.93639745e-01 -2.43698126e-03 1.67538380e+01] [ 3.58159367e-02 -1.60694230e-03 9.99357112e-01 1.50798026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.14, Y:16.76, Z:15.08 [[ 9.93090279e-01 -1.11768778e-01 -3.57692231e-02 4.25135246e+02] [ 1.11753431e-01 9.93732985e-01 -2.43439006e-03 1.67578026e+01] [ 3.58171457e-02 -1.57976428e-03 9.99357112e-01 1.50812272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.17, Y:16.76, Z:15.08 [[ 9.93200353e-01 -1.10786318e-01 -3.57693990e-02 4.25167435e+02] [ 1.10770427e-01 9.93843045e-01 -2.43180272e-03 1.67619115e+01] [ 3.58185789e-02 -1.54692429e-03 9.99357112e-01 1.50830119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.20, Y:16.77, Z:15.08 [[ 9.93330510e-01 -1.09613116e-01 -3.57695760e-02 4.25198782e+02] [ 1.09596560e-01 9.93973185e-01 -2.42919626e-03 1.67658048e+01] [ 3.58202712e-02 -1.50722773e-03 9.99357112e-01 1.50840633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.23, Y:16.77, Z:15.09 [[ 9.93450211e-01 -1.08522835e-01 -3.57697077e-02 4.25230333e+02] [ 1.08505643e-01 9.94092870e-01 -2.42725641e-03 1.67700890e+01] [ 3.58218241e-02 -1.46985674e-03 9.99357112e-01 1.50857749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.26, Y:16.78, Z:15.09 [[ 9.93806078e-01 -1.05214044e-01 -3.57698835e-02 4.25262189e+02] [ 1.05194805e-01 9.94448678e-01 -2.42466297e-03 1.67756324e+01] [ 3.58264219e-02 -1.35316114e-03 9.99357112e-01 1.50875771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.29, Y:16.78, Z:15.09 [[ 9.93999281e-01 -1.03372780e-01 -3.57700589e-02 4.25294648e+02] [ 1.03352445e-01 9.94641848e-01 -2.42207171e-03 1.67793867e+01] [ 3.58287738e-02 -1.28938550e-03 9.99357112e-01 1.50889872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:16.78, Z:15.09 [[ 9.94219166e-01 -1.01236059e-01 -3.57702352e-02 4.25325212e+02] [ 1.01214436e-01 9.94861691e-01 -2.41946631e-03 1.67829091e+01] [ 3.58313739e-02 -1.21498438e-03 9.99357112e-01 1.50903964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.36, Y:16.79, Z:15.09 [[ 9.94395905e-01 -9.94849384e-02 -3.57705265e-02 4.25357300e+02] [ 9.94623387e-02 9.95038396e-01 -2.41515149e-03 1.67865943e+01] [ 3.58333185e-02 -1.15620347e-03 9.99357112e-01 1.50921722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.39, Y:16.79, Z:15.09 [[ 9.94537494e-01 -9.80593234e-02 -3.57706987e-02 4.25389516e+02] [ 9.80358944e-02 9.95179955e-01 -2.41259822e-03 1.67904498e+01] [ 3.58348601e-02 -1.10739306e-03 9.99357112e-01 1.50941250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.42, Y:16.80, Z:15.10 [[ 9.94804165e-01 -9.53158864e-02 -3.57708711e-02 4.25420854e+02] [ 9.52907775e-02 9.95446563e-01 -2.41003903e-03 1.67957885e+01] [ 3.58377057e-02 -1.01111726e-03 9.99357112e-01 1.50950508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.45, Y:16.80, Z:15.10 [[ 9.94919779e-01 -9.41013728e-02 -3.57709994e-02 4.25452649e+02] [ 9.40755482e-02 9.95562149e-01 -2.40813331e-03 1.67990382e+01] [ 3.58388617e-02 -9.69276921e-04 9.99357112e-01 1.50960021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.48, Y:16.80, Z:15.10 [[ 9.95029341e-01 -9.29356413e-02 -3.57711694e-02 4.25483712e+02] [ 9.29091549e-02 9.95671684e-01 -2.40560490e-03 1.68021240e+01] [ 3.58399070e-02 -9.29821665e-04 9.99357112e-01 1.50970575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.52, Y:16.80, Z:15.10 [[ 9.95154901e-01 -9.15813106e-02 -3.57712960e-02 4.25515618e+02] [ 9.15540176e-02 9.95797210e-01 -2.40372136e-03 1.68045965e+01] [ 3.58410927e-02 -8.82930770e-04 9.99357112e-01 1.50982214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.55, Y:16.81, Z:15.10 [[ 9.95386892e-01 -8.90243667e-02 -3.57714699e-02 4.25546785e+02] [ 8.89955167e-02 9.96029132e-01 -2.40113138e-03 1.68068838e+01] [ 3.58431853e-02 -7.93445738e-04 9.99357112e-01 1.50992972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:16.81, Z:15.10 [[ 9.95483361e-01 -8.79390115e-02 -3.57715992e-02 4.25579034e+02] [ 8.79095305e-02 9.96125574e-01 -2.39920290e-03 1.68089080e+01] [ 3.58439883e-02 -7.56297927e-04 9.99357112e-01 1.51007759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.61, Y:16.81, Z:15.10 [[ 9.95564291e-01 -8.70179510e-02 -3.57717676e-02 4.25611611e+02] [ 8.69879661e-02 9.96206479e-01 -2.39668932e-03 1.68109840e+01] [ 3.58446217e-02 -7.25655005e-04 9.99357112e-01 1.51020161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.64, Y:16.81, Z:15.10 [[ 9.95774129e-01 -8.45828105e-02 -3.57719421e-02 4.25642505e+02] [ 8.45513487e-02 9.96416247e-01 -2.39408240e-03 1.68127414e+01] [ 3.58462425e-02 -6.40600630e-04 9.99357112e-01 1.51016690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.67, Y:16.81, Z:15.10 [[ 9.95846058e-01 -8.37316402e-02 -3.57720720e-02 4.25673793e+02] [ 8.36996994e-02 9.96488152e-01 -2.39213975e-03 1.68145075e+01] [ 3.58467437e-02 -6.11908734e-04 9.99357112e-01 1.51016836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.71, Y:16.82, Z:15.10 [[ 9.95903397e-01 -8.30468149e-02 -3.57721997e-02 4.25705702e+02] [ 8.30145011e-02 9.96545473e-01 -2.39022878e-03 1.68160272e+01] [ 3.58471245e-02 -5.89174352e-04 9.99357112e-01 1.51022618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.74, Y:16.82, Z:15.10 [[ 9.95953028e-01 -8.24493962e-02 -3.57723675e-02 4.25737539e+02] [ 8.24167876e-02 9.96595089e-01 -2.38771516e-03 1.68166881e+01] [ 3.58474314e-02 -5.70191467e-04 9.99357112e-01 1.51028527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.77, Y:16.82, Z:15.10 [[ 9.95956087e-01 -8.24123694e-02 -3.57725435e-02 4.25770154e+02] [ 8.23798317e-02 9.96598151e-01 -2.38507515e-03 1.68178770e+01] [ 3.58474104e-02 -5.71506003e-04 9.99357112e-01 1.51042011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.80, Y:16.82, Z:15.11 [[ 9.95926880e-01 -8.27645037e-02 -3.57727194e-02 4.25801803e+02] [ 8.27322879e-02 9.96568960e-01 -2.38243398e-03 1.68190182e+01] [ 3.58471627e-02 -5.86828879e-04 9.99357112e-01 1.51052288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.83, Y:16.82, Z:15.11 [[ 9.95877355e-01 -8.33582507e-02 -3.57728503e-02 4.25833866e+02] [ 8.33264882e-02 9.96519458e-01 -2.38046681e-03 1.68202746e+01] [ 3.58467729e-02 -6.10172998e-04 9.99357112e-01 1.51065452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:16.82, Z:15.11 [[ 9.95803178e-01 -8.42396692e-02 -3.57730217e-02 4.25865949e+02] [ 8.42085677e-02 9.96445314e-01 -2.37788879e-03 1.68213823e+01] [ 3.58461723e-02 -6.44485703e-04 9.99357112e-01 1.51076809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:16.82, Z:15.11 [[ 9.95584393e-01 -8.67870654e-02 -3.57731956e-02 4.25897726e+02] [ 8.67577010e-02 9.96226610e-01 -2.37526861e-03 1.68210157e+01] [ 3.58443520e-02 -7.38819855e-04 9.99357112e-01 1.51089324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.93, Y:16.82, Z:15.11 [[ 9.95463581e-01 -8.81619287e-02 -3.57733695e-02 4.25928487e+02] [ 8.81335454e-02 9.96105842e-01 -2.37264700e-03 1.68217681e+01] [ 3.58432395e-02 -7.90950210e-04 9.99357112e-01 1.51105269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.96, Y:16.82, Z:15.11 [[ 9.95366913e-01 -8.92465852e-02 -3.57736604e-02 4.25960283e+02] [ 8.92190595e-02 9.96009212e-01 -2.36825309e-03 1.68225690e+01] [ 3.58422538e-02 -8.34411563e-04 9.99357112e-01 1.51119963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.99, Y:16.82, Z:15.11 [[ 9.95246517e-01 -9.05792621e-02 -3.57738299e-02 4.25992497e+02] [ 9.05526886e-02 9.95888856e-01 -2.36568912e-03 1.68237574e+01] [ 3.58410410e-02 -8.84972626e-04 9.99357112e-01 1.51132104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.02, Y:16.83, Z:15.11 [[ 9.95147701e-01 -9.16584681e-02 -3.57739991e-02 4.26024841e+02] [ 9.16326832e-02 9.95790072e-01 -2.36312864e-03 1.68250535e+01] [ 3.58399939e-02 -9.26405497e-04 9.99357112e-01 1.51143955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:16.83, Z:15.11 [[ 9.94984212e-01 -9.34164191e-02 -3.57741687e-02 4.26056373e+02] [ 9.33918615e-02 9.95626631e-01 -2.36055760e-03 1.68254722e+01] [ 3.58382299e-02 -9.92298665e-04 9.99357112e-01 1.51148707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.09, Y:16.83, Z:15.12 [[ 9.94905917e-01 -9.42465168e-02 -3.57744513e-02 4.26088475e+02] [ 9.42226493e-02 9.95548362e-01 -2.35626776e-03 1.68267477e+01] [ 3.58372664e-02 -1.02649885e-03 9.99357112e-01 1.51156988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:16.83, Z:15.12 [[ 9.94792700e-01 -9.54340628e-02 -3.57746236e-02 4.26119469e+02] [ 9.54110563e-02 9.95435177e-01 -2.35364859e-03 1.68274645e+01] [ 3.58359370e-02 -1.07190219e-03 9.99357112e-01 1.51162638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.15, Y:16.83, Z:15.12 [[ 9.94753411e-01 -9.58426767e-02 -3.57747518e-02 4.26151954e+02] [ 9.58200042e-02 9.95395899e-01 -2.35169770e-03 1.68288699e+01] [ 3.58354343e-02 -1.08857756e-03 9.99357112e-01 1.51176656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.18, Y:16.83, Z:15.12 [[ 9.94683289e-01 -9.65676454e-02 -3.57749237e-02 4.26183236e+02] [ 9.65455351e-02 9.95325797e-01 -2.34907964e-03 1.68302241e+01] [ 3.58345496e-02 -1.11731889e-03 9.99357112e-01 1.51186345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.21, Y:16.83, Z:15.12 [[ 9.94584755e-01 -9.75771999e-02 -3.57750517e-02 4.26214955e+02] [ 9.75558119e-02 9.95227288e-01 -2.34712956e-03 1.68317418e+01] [ 3.58333340e-02 -1.15564493e-03 9.99357112e-01 1.51199340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:16.83, Z:15.12 [[ 9.94506771e-01 -9.83687778e-02 -3.57752223e-02 4.26247342e+02] [ 9.83479947e-02 9.95149323e-01 -2.34452632e-03 1.68331544e+01] [ 3.58323164e-02 -1.18677408e-03 9.99357112e-01 1.51211306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:16.83, Z:15.12 [[ 9.94293249e-01 -1.00504014e-01 -3.57753927e-02 4.26278694e+02] [ 1.00484704e-01 9.94935847e-01 -2.34192388e-03 1.68342265e+01] [ 3.58295933e-02 -1.26632066e-03 9.99357112e-01 1.51224057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.31, Y:16.84, Z:15.12 [[ 9.94192670e-01 -1.01494023e-01 -3.57756752e-02 4.26311119e+02] [ 1.01475509e-01 9.94835291e-01 -2.33759961e-03 1.68357981e+01] [ 3.58281566e-02 -1.30633045e-03 9.99357112e-01 1.51235725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:16.84, Z:15.12 [[ 9.94084102e-01 -1.02551876e-01 -3.57758438e-02 4.26342847e+02] [ 1.02534139e-01 9.94726745e-01 -2.33501646e-03 1.68374733e+01] [ 3.58266490e-02 -1.34704259e-03 9.99357112e-01 1.51248665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.37, Y:16.84, Z:15.13 [[ 9.93995553e-01 -1.03406568e-01 -3.57760114e-02 4.26374901e+02] [ 1.03389475e-01 9.94638214e-01 -2.33244637e-03 1.68391967e+01] [ 3.58253783e-02 -1.38042170e-03 9.99357112e-01 1.51257152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.41, Y:16.84, Z:15.13 [[ 9.93661457e-01 -1.06569100e-01 -3.57761818e-02 4.26406452e+02] [ 1.06554147e-01 9.94304172e-01 -2.32982851e-03 1.68411280e+01] [ 3.58206946e-02 -1.49703974e-03 9.99357112e-01 1.51268732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.44, Y:16.84, Z:15.13 [[ 9.93531390e-01 -1.07774913e-01 -3.57763087e-02 4.26438580e+02] [ 1.07760810e-01 9.94174124e-01 -2.32787858e-03 1.68432778e+01] [ 3.58187673e-02 -1.54246354e-03 9.99357112e-01 1.51271698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:16.85, Z:15.13 [[ 9.93070326e-01 -1.11943609e-01 -3.57764760e-02 4.26470850e+02] [ 1.11932296e-01 9.93713115e-01 -2.32530466e-03 1.68455566e+01] [ 3.58118564e-02 -1.69535204e-03 9.99357112e-01 1.51262617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.50, Y:16.85, Z:15.13 [[ 9.92814960e-01 -1.14186198e-01 -3.57766443e-02 4.26502401e+02] [ 1.14176430e-01 9.93457774e-01 -2.32271182e-03 1.68477055e+01] [ 3.58078071e-02 -1.77882647e-03 9.99357112e-01 1.51272018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:16.85, Z:15.13 [[ 9.92501450e-01 -1.16879829e-01 -3.57767699e-02 4.26534591e+02] [ 1.16871874e-01 9.93144289e-01 -2.32077693e-03 1.68500427e+01] [ 3.58027467e-02 -1.87792368e-03 9.99357112e-01 1.51283541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:16.85, Z:15.13 [[ 9.92204734e-01 -1.19372410e-01 -3.57769879e-02 4.26566752e+02] [ 1.19366192e-01 9.92847593e-01 -2.31741020e-03 1.68524048e+01] [ 3.57977312e-02 -1.97121742e-03 9.99357112e-01 1.51308967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.60, Y:16.86, Z:15.13 [[ 9.91540978e-01 -1.24765712e-01 -3.57771655e-02 4.26599628e+02] [ 1.24763088e-01 9.92183861e-01 -2.31466577e-03 1.68554727e+01] [ 3.57863171e-02 -2.16858367e-03 9.99357112e-01 1.51324383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.63, Y:16.86, Z:15.13 [[ 9.91261939e-01 -1.26963553e-01 -3.57774228e-02 4.26631240e+02] [ 1.26962496e-01 9.91904827e-01 -2.31068203e-03 1.68580741e+01] [ 3.57811707e-02 -2.25189976e-03 9.99357112e-01 1.51325295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.66, Y:16.86, Z:15.13 [[ 9.91015202e-01 -1.28875253e-01 -3.57776361e-02 4.26664552e+02] [ 1.28875556e-01 9.91658090e-01 -2.30737384e-03 1.68609574e+01] [ 3.57765457e-02 -2.32422019e-03 9.99357112e-01 1.51343740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.70, Y:16.87, Z:15.14 [[ 9.90662158e-01 -1.31561510e-01 -3.57778934e-02 4.26695955e+02] [ 1.31563700e-01 9.91305043e-01 -2.30337747e-03 1.68651569e+01] [ 3.57698420e-02 -2.42520313e-03 9.99357112e-01 1.51359710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.73, Y:16.87, Z:15.14 [[ 9.90603093e-01 -1.32005394e-01 -3.57783161e-02 4.26728671e+02] [ 1.32008108e-01 9.91245976e-01 -2.29679318e-03 1.68684344e+01] [ 3.57683009e-02 -2.44781739e-03 9.99357112e-01 1.51377101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.76, Y:16.87, Z:15.14 [[ 9.90581595e-01 -1.32166554e-01 -3.57785681e-02 4.26761043e+02] [ 1.32169514e-01 9.91224476e-01 -2.29286161e-03 1.68729503e+01] [ 3.57676320e-02 -2.45756944e-03 9.99357112e-01 1.51398771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.79, Y:16.88, Z:15.14 [[ 9.90596095e-01 -1.32057784e-01 -3.57787351e-02 4.26794494e+02] [ 1.32060767e-01 9.91238976e-01 -2.29025168e-03 1.68750035e+01] [ 3.57677223e-02 -2.45625284e-03 9.99357112e-01 1.51410787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:16.88, Z:15.14 [[ 9.90627199e-01 -1.31824192e-01 -3.57789861e-02 4.26827395e+02] [ 1.31827165e-01 9.91270080e-01 -2.28632388e-03 1.68785291e+01] [ 3.57680312e-02 -2.45174768e-03 9.99357112e-01 1.51423814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.86, Y:16.88, Z:15.14 [[ 9.90737901e-01 -1.30989531e-01 -3.57792358e-02 4.26860317e+02] [ 1.30992102e-01 9.91380784e-01 -2.28241032e-03 1.68841629e+01] [ 3.57698187e-02 -2.42552690e-03 9.99357112e-01 1.51433563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:16.89, Z:15.14 [[ 9.90802686e-01 -1.30498528e-01 -3.57794863e-02 4.26892464e+02] [ 1.30500923e-01 9.91445570e-01 -2.27847651e-03 1.68880461e+01] [ 3.57707510e-02 -2.41173534e-03 9.99357112e-01 1.51445808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:16.89, Z:15.15 [[ 9.90918975e-01 -1.29612496e-01 -3.57796935e-02 4.26924931e+02] [ 1.29614433e-01 9.91561860e-01 -2.27521735e-03 1.68918573e+01] [ 3.57726761e-02 -2.38300865e-03 9.99357112e-01 1.51456956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.96, Y:16.89, Z:15.15 [[ 9.90932996e-01 -1.29505187e-01 -3.57799392e-02 4.26958384e+02] [ 1.29507193e-01 9.91575881e-01 -2.27134681e-03 1.68938905e+01] [ 3.57726760e-02 -2.38300701e-03 9.99357112e-01 1.51468968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.99, Y:16.90, Z:15.15 [[ 9.91059551e-01 -1.28533047e-01 -3.57801846e-02 4.26991526e+02] [ 1.28534562e-01 9.91702438e-01 -2.26747462e-03 1.68995459e+01] [ 3.57747417e-02 -2.35178800e-03 9.99357112e-01 1.51481600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:16.90, Z:15.15 [[ 9.91131527e-01 -1.27976783e-01 -3.57804299e-02 4.27024635e+02] [ 1.27978077e-01 9.91774414e-01 -2.26359706e-03 1.69033433e+01] [ 3.57758028e-02 -2.33558821e-03 9.99357112e-01 1.51489413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.06, Y:16.91, Z:15.15 [[ 9.91224029e-01 -1.27258272e-01 -3.57806743e-02 4.27057959e+02] [ 1.27259238e-01 9.91866916e-01 -2.25972807e-03 1.69070824e+01] [ 3.57772361e-02 -2.31352460e-03 9.99357112e-01 1.51495000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.09, Y:16.91, Z:15.15 [[ 9.91248358e-01 -1.27068555e-01 -3.57809252e-02 4.27088487e+02] [ 1.27069541e-01 9.91891246e-01 -2.25574833e-03 1.69131380e+01] [ 3.57774211e-02 -2.31065892e-03 9.99357112e-01 1.51491845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.12, Y:16.92, Z:15.15 [[ 9.91317516e-01 -1.26527855e-01 -3.57810491e-02 4.27120367e+02] [ 1.26528562e-01 9.91960404e-01 -2.25378071e-03 1.69173102e+01] [ 3.57785500e-02 -2.29311239e-03 9.99357112e-01 1.51491897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.15, Y:16.92, Z:15.15 [[ 9.91384180e-01 -1.26004404e-01 -3.57812541e-02 4.27152586e+02] [ 1.26004888e-01 9.92027068e-01 -2.25052140e-03 1.69217307e+01] [ 3.57795482e-02 -2.27748161e-03 9.99357112e-01 1.51498926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.19, Y:16.93, Z:15.15 [[ 9.91497026e-01 -1.25113303e-01 -3.57814156e-02 4.27185672e+02] [ 1.25113302e-01 9.92139914e-01 -2.24795093e-03 1.69259017e+01] [ 3.57814191e-02 -2.24789439e-03 9.99357112e-01 1.51509625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.22, Y:16.93, Z:15.15 [[ 9.91601500e-01 -1.24282491e-01 -3.57816596e-02 4.27218045e+02] [ 1.24282091e-01 9.92244388e-01 -2.24406042e-03 1.69303628e+01] [ 3.57830483e-02 -2.22180579e-03 9.99357112e-01 1.51525796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:16.94, Z:15.15 [[ 9.91888186e-01 -1.21973279e-01 -3.57819055e-02 4.27248914e+02] [ 1.21971524e-01 9.92531072e-01 -2.24013230e-03 1.69371742e+01] [ 3.57878893e-02 -2.14241278e-03 9.99357112e-01 1.51546923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.28, Y:16.94, Z:15.16 [[ 9.92043489e-01 -1.20703617e-01 -3.57820270e-02 4.27282173e+02] [ 1.20701109e-01 9.92686372e-01 -2.23818993e-03 1.69415650e+01] [ 3.57904882e-02 -2.09854859e-03 9.99357112e-01 1.51569258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.32, Y:16.95, Z:15.16 [[ 9.92152004e-01 -1.19808307e-01 -3.57822630e-02 4.27315304e+02] [ 1.19805354e-01 9.92794885e-01 -2.23441144e-03 1.69459676e+01] [ 3.57921487e-02 -2.07003089e-03 9.99357112e-01 1.51591209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.35, Y:16.95, Z:15.16 [[ 9.92321095e-01 -1.18399564e-01 -3.57825008e-02 4.27348015e+02] [ 1.18395836e-01 9.92963972e-01 -2.23059520e-03 1.69522725e+01] [ 3.57948357e-02 -2.02303241e-03 9.99357112e-01 1.51606613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.38, Y:16.96, Z:15.16 [[ 9.92372230e-01 -1.17970134e-01 -3.57827424e-02 4.27380571e+02] [ 1.17966267e-01 9.93015106e-01 -2.22671413e-03 1.69559977e+01] [ 3.57954895e-02 -2.01142728e-03 9.99357112e-01 1.51610460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.41, Y:16.96, Z:15.16 [[ 9.92419464e-01 -1.17572046e-01 -3.57829874e-02 4.27412419e+02] [ 1.17568063e-01 9.93062339e-01 -2.22276889e-03 1.69610043e+01] [ 3.57960727e-02 -2.00101741e-03 9.99357112e-01 1.51609639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:16.96, Z:15.16 [[ 9.92394057e-01 -1.17786184e-01 -3.57833902e-02 4.27444838e+02] [ 1.17782573e-01 9.93036935e-01 -2.21626590e-03 1.69641885e+01] [ 3.57952736e-02 -2.01525066e-03 9.99357112e-01 1.51617492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.48, Y:16.97, Z:15.16 [[ 9.92239366e-01 -1.19082208e-01 -3.57836296e-02 4.27477116e+02] [ 1.19079576e-01 9.92882249e-01 -2.21239334e-03 1.69686752e+01] [ 3.57923873e-02 -2.06587566e-03 9.99357112e-01 1.51616152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.51, Y:16.97, Z:15.16 [[ 9.92071129e-01 -1.20475695e-01 -3.57838280e-02 4.27509021e+02] [ 1.20474081e-01 9.92714015e-01 -2.20918024e-03 1.69728456e+01] [ 3.57892601e-02 -2.11935988e-03 9.99357112e-01 1.51607724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.54, Y:16.98, Z:15.16 [[ 9.92004474e-01 -1.21023258e-01 -3.57839895e-02 4.27540637e+02] [ 1.21022093e-01 9.92647361e-01 -2.20656151e-03 1.69760135e+01] [ 3.57879280e-02 -2.14173442e-03 9.99357112e-01 1.51607975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.57, Y:16.98, Z:15.16 [[ 9.91955848e-01 -1.21421055e-01 -3.57843887e-02 4.27571710e+02] [ 1.21420381e-01 9.92598736e-01 -2.20006735e-03 1.69791436e+01] [ 3.57866735e-02 -2.16258445e-03 9.99357112e-01 1.51605309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.60, Y:16.98, Z:15.16 [[ 9.91934271e-01 -1.21597169e-01 -3.57845075e-02 4.27603720e+02] [ 1.21596680e-01 9.92577159e-01 -2.19813471e-03 1.69825329e+01] [ 3.57861717e-02 -2.17087214e-03 9.99357112e-01 1.51610917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:16.98, Z:15.16 [[ 9.91946952e-01 -1.21493623e-01 -3.57846992e-02 4.27637181e+02] [ 1.21493178e-01 9.92589840e-01 -2.19500869e-03 1.69844907e+01] [ 3.57862084e-02 -2.17026466e-03 9.99357112e-01 1.51622932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:16.99, Z:15.16 [[ 9.91971426e-01 -1.21293562e-01 -3.57849279e-02 4.27669550e+02] [ 1.21293122e-01 9.92614314e-01 -2.19127481e-03 1.69881090e+01] [ 3.57864191e-02 -2.16678364e-03 9.99357112e-01 1.51635691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.70, Y:16.99, Z:15.17 [[ 9.92150310e-01 -1.19821468e-01 -3.57851615e-02 4.27701078e+02] [ 1.19820211e-01 9.92793197e-01 -2.18745310e-03 1.69928434e+01] [ 3.57893687e-02 -2.11750333e-03 9.99357112e-01 1.51653943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.73, Y:17.00, Z:15.17 [[ 9.92293867e-01 -1.18626694e-01 -3.57853172e-02 4.27733757e+02] [ 1.18624755e-01 9.92936752e-01 -2.18490305e-03 1.69962029e+01] [ 3.57917444e-02 -2.07695859e-03 9.99357112e-01 1.51668105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.77, Y:17.00, Z:15.17 [[ 9.92470577e-01 -1.17139009e-01 -3.57855496e-02 4.27766973e+02] [ 1.17136243e-01 9.93113460e-01 -2.18108965e-03 1.69995623e+01] [ 3.57946016e-02 -2.02711752e-03 9.99357112e-01 1.51686186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.80, Y:17.00, Z:15.17 [[ 9.92788409e-01 -1.14413951e-01 -3.57857873e-02 4.27798765e+02] [ 1.14409561e-01 9.93431282e-01 -2.17718293e-03 1.70043723e+01] [ 3.57998206e-02 -1.93275422e-03 9.99357112e-01 1.51704067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.83, Y:17.01, Z:15.17 [[ 9.92923050e-01 -1.13239362e-01 -3.57863710e-02 4.27831494e+02] [ 1.13234558e-01 9.93565920e-01 -2.16754534e-03 1.70075364e+01] [ 3.58015701e-02 -1.90004817e-03 9.99357112e-01 1.51716702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:17.01, Z:15.17 [[ 9.92981354e-01 -1.12726886e-01 -3.57865964e-02 4.27863982e+02] [ 1.12721884e-01 9.93624222e-01 -2.16381775e-03 1.70106283e+01] [ 3.58023494e-02 -1.88530189e-03 9.99357112e-01 1.51732345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.90, Y:17.01, Z:15.17 [[ 9.93036025e-01 -1.12244180e-01 -3.57868202e-02 4.27896436e+02] [ 1.12238998e-01 9.93678892e-01 -2.16011020e-03 1.70143839e+01] [ 3.58030676e-02 -1.87160959e-03 9.99357112e-01 1.51744413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.93, Y:17.02, Z:15.17 [[ 9.93043140e-01 -1.12181137e-01 -3.57870600e-02 4.27927943e+02] [ 1.12176058e-01 9.93686008e-01 -2.15612978e-03 1.70166382e+01] [ 3.58029779e-02 -1.87332142e-03 9.99357112e-01 1.51748619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.96, Y:17.02, Z:15.18 [[ 9.92973574e-01 -1.12795184e-01 -3.57872582e-02 4.27960682e+02] [ 1.12790621e-01 9.93616446e-01 -2.15283466e-03 1.70189741e+01] [ 3.58016377e-02 -1.89875916e-03 9.99357112e-01 1.51760719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.99, Y:17.02, Z:15.18 [[ 9.92942085e-01 -1.13071977e-01 -3.57874861e-02 4.27993834e+02] [ 1.13067729e-01 9.93584959e-01 -2.14904005e-03 1.70211537e+01] [ 3.58009041e-02 -1.91253747e-03 9.99357112e-01 1.51768035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:17.02, Z:15.18 [[ 9.92913820e-01 -1.13319840e-01 -3.57877180e-02 4.28026390e+02] [ 1.13315892e-01 9.93556695e-01 -2.14517075e-03 1.70233862e+01] [ 3.58002173e-02 -1.92534752e-03 9.99357112e-01 1.51777123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:17.03, Z:15.18 [[ 9.92870978e-01 -1.13694516e-01 -3.57879527e-02 4.28059383e+02] [ 1.13690952e-01 9.93513856e-01 -2.14124912e-03 1.70264791e+01] [ 3.57992751e-02 -1.94278230e-03 9.99357112e-01 1.51786737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:17.03, Z:15.18 [[ 9.92914308e-01 -1.13315414e-01 -3.57881854e-02 4.28091217e+02] [ 1.13311744e-01 9.93557185e-01 -2.13735251e-03 1.70291035e+01] [ 3.57998037e-02 -1.93301383e-03 9.99357112e-01 1.51796256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.12, Y:17.03, Z:15.18 [[ 9.92992876e-01 -1.12624719e-01 -3.57885679e-02 4.28124296e+02] [ 1.12620833e-01 9.93635752e-01 -2.13092879e-03 1.70318204e+01] [ 3.58007958e-02 -1.91454121e-03 9.99357112e-01 1.51808576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.16, Y:17.04, Z:15.18 [[ 9.93242060e-01 -1.10405485e-01 -3.57888017e-02 4.28155948e+02] [ 1.10400304e-01 9.93884927e-01 -2.12699442e-03 1.70353213e+01] [ 3.58047824e-02 -1.83847425e-03 9.99357112e-01 1.51816201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.19, Y:17.04, Z:15.18 [[ 9.93370713e-01 -1.09241690e-01 -3.57893753e-02 4.28189223e+02] [ 1.09236104e-01 9.94013577e-01 -2.11729820e-03 1.70381653e+01] [ 3.58064222e-02 -1.80622989e-03 9.99357112e-01 1.51827021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.22, Y:17.04, Z:15.18 [[ 9.93507595e-01 -1.07989646e-01 -3.57896045e-02 4.28221070e+02] [ 1.07983389e-01 9.94150452e-01 -2.11341638e-03 1.70408050e+01] [ 3.58084786e-02 -1.76498758e-03 9.99357112e-01 1.51835000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.25, Y:17.04, Z:15.18 [[ 9.93710096e-01 -1.06110015e-01 -3.57897940e-02 4.28253851e+02] [ 1.06102658e-01 9.94352942e-01 -2.11020274e-03 1.70445927e+01] [ 3.58116006e-02 -1.70046249e-03 9.99357112e-01 1.51840087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.29, Y:17.05, Z:15.18 [[ 9.93790640e-01 -1.05352922e-01 -3.57900211e-02 4.28285805e+02] [ 1.05345214e-01 9.94433482e-01 -2.10634381e-03 1.70473616e+01] [ 3.58127048e-02 -1.67704266e-03 9.99357112e-01 1.51847786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.32, Y:17.05, Z:15.19 [[ 9.93839173e-01 -1.04894039e-01 -3.57902087e-02 4.28318928e+02] [ 1.04886149e-01 9.94482012e-01 -2.10315163e-03 1.70499071e+01] [ 3.58133268e-02 -1.66370267e-03 9.99357112e-01 1.51861882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.35, Y:17.05, Z:15.19 [[ 9.93876468e-01 -1.04540000e-01 -3.57904368e-02 4.28351449e+02] [ 1.04532020e-01 9.94519306e-01 -2.09926227e-03 1.70522836e+01] [ 3.58137373e-02 -1.65483928e-03 9.99357112e-01 1.51871521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.38, Y:17.06, Z:15.19 [[ 9.93892859e-01 -1.04383969e-01 -3.57906658e-02 4.28383567e+02] [ 1.04376029e-01 9.94535698e-01 -2.09535124e-03 1.70552890e+01] [ 3.58138159e-02 -1.65313292e-03 9.99357112e-01 1.51878037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:17.06, Z:15.19 [[ 9.93792861e-01 -1.05331622e-01 -3.57910428e-02 4.28415541e+02] [ 1.05324526e-01 9.94435710e-01 -2.08889168e-03 1.70578634e+01] [ 3.58119174e-02 -1.69374900e-03 9.99357112e-01 1.51884712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:17.06, Z:15.19 [[ 9.93604991e-01 -1.07089272e-01 -3.57911955e-02 4.28446880e+02] [ 1.07083408e-01 9.94247852e-01 -2.08627271e-03 1.70602914e+01] [ 3.58087366e-02 -1.75971220e-03 9.99357112e-01 1.51879404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.48, Y:17.06, Z:15.19 [[ 9.93616180e-01 -1.06985371e-01 -3.57913092e-02 4.28480350e+02] [ 1.06979510e-01 9.94259041e-01 -2.08432009e-03 1.70621476e+01] [ 3.58088245e-02 -1.75792255e-03 9.99357112e-01 1.51891423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.51, Y:17.06, Z:15.19 [[ 9.93517051e-01 -1.07901977e-01 -3.57915267e-02 4.28513158e+02] [ 1.07896843e-01 9.94159918e-01 -2.08057752e-03 1.70644497e+01] [ 3.58069997e-02 -1.79470349e-03 9.99357112e-01 1.51902745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:17.07, Z:15.19 [[ 9.93406627e-01 -1.08913838e-01 -3.57917539e-02 4.28546106e+02] [ 1.08909500e-01 9.94049500e-01 -2.07666260e-03 1.70666664e+01] [ 3.58049523e-02 -1.83509164e-03 9.99357112e-01 1.51911345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:17.07, Z:15.19 [[ 9.93328802e-01 -1.09621277e-01 -3.57919818e-02 4.28578450e+02] [ 1.09617538e-01 9.93971679e-01 -2.07272741e-03 1.70688269e+01] [ 3.58034313e-02 -1.86452911e-03 9.99357112e-01 1.51921320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.61, Y:17.07, Z:15.19 [[ 9.93256118e-01 -1.10277868e-01 -3.57921330e-02 4.28610755e+02] [ 1.10274648e-01 9.93898997e-01 -2.07011203e-03 1.70714648e+01] [ 3.58020527e-02 -1.89081344e-03 9.99357112e-01 1.51927667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:17.07, Z:15.19 [[ 9.93247101e-01 -1.10358870e-01 -3.57926927e-02 4.28643348e+02] [ 1.10356051e-01 9.93889982e-01 -2.06039045e-03 1.70740302e+01] [ 3.58013810e-02 -1.90346339e-03 9.99357112e-01 1.51941384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:17.08, Z:15.20 [[ 9.93315948e-01 -1.09737394e-01 -3.57929123e-02 4.28675644e+02] [ 1.09734311e-01 9.93958828e-01 -2.05656791e-03 1.70767662e+01] [ 3.58023636e-02 -1.88488887e-03 9.99357112e-01 1.51951906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.71, Y:17.08, Z:15.20 [[ 9.93404581e-01 -1.08932002e-01 -3.57932734e-02 4.28708413e+02] [ 1.08928624e-01 9.94047459e-01 -2.05026429e-03 1.70794901e+01] [ 3.58035518e-02 -1.86217007e-03 9.99357112e-01 1.51966740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.74, Y:17.08, Z:15.20 [[ 9.93679479e-01 -1.06395105e-01 -3.57934925e-02 4.28740159e+02] [ 1.06390223e-01 9.94322348e-01 -2.04643128e-03 1.70833119e+01] [ 3.58079998e-02 -1.77458090e-03 9.99357112e-01 1.51976217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.77, Y:17.09, Z:15.20 [[ 9.93829677e-01 -1.04982798e-01 -3.57936374e-02 4.28771753e+02] [ 1.04977094e-01 9.94472540e-01 -2.04389338e-03 1.70859202e+01] [ 3.58103632e-02 -1.72623014e-03 9.99357112e-01 1.51985254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.80, Y:17.09, Z:15.20 [[ 9.93989893e-01 -1.03454793e-01 -3.57938177e-02 4.28804585e+02] [ 1.03448215e-01 9.94632747e-01 -2.04073140e-03 1.70885757e+01] [ 3.58128267e-02 -1.67434015e-03 9.99357112e-01 1.51996984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.84, Y:17.09, Z:15.20 [[ 9.94100779e-01 -1.02383734e-01 -3.57940320e-02 4.28837520e+02] [ 1.02376598e-01 9.94743627e-01 -2.03696658e-03 1.70911728e+01] [ 3.58144374e-02 -1.63952114e-03 9.99357112e-01 1.52021143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:17.09, Z:15.20 [[ 9.94241095e-01 -1.01011960e-01 -3.57942576e-02 4.28869569e+02] [ 1.01004080e-01 9.94883934e-01 -2.03299441e-03 1.70942606e+01] [ 3.58164885e-02 -1.59407945e-03 9.99357112e-01 1.52030220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.90, Y:17.10, Z:15.20 [[ 9.94311204e-01 -1.00319426e-01 -3.57944442e-02 4.28902674e+02] [ 1.00311216e-01 9.94954039e-01 -2.02970365e-03 1.70967296e+01] [ 3.58174455e-02 -1.57242714e-03 9.99357112e-01 1.52037598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:17.10, Z:15.20 [[ 9.94367648e-01 -9.97583246e-02 -3.57946632e-02 4.28935988e+02] [ 9.97498909e-02 9.95010480e-01 -2.02583315e-03 1.70994069e+01] [ 3.58181588e-02 -1.55609081e-03 9.99357112e-01 1.52045861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.97, Y:17.10, Z:15.21 [[ 9.94447603e-01 -9.89580246e-02 -3.57948834e-02 4.28968189e+02] [ 9.89492136e-02 9.95090431e-01 -2.02193581e-03 1.71017723e+01] [ 3.58192327e-02 -1.53116634e-03 9.99357112e-01 1.52054852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.00, Y:17.10, Z:15.21 [[ 9.94458270e-01 -9.88507096e-02 -3.57950654e-02 4.29001665e+02] [ 9.88419452e-02 9.95101098e-01 -2.01870842e-03 1.71035716e+01] [ 3.58192596e-02 -1.53053261e-03 9.99357112e-01 1.52066867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.03, Y:17.11, Z:15.21 [[ 9.94555028e-01 -9.78723306e-02 -3.57952827e-02 4.29033633e+02] [ 9.78630725e-02 9.95197849e-01 -2.01484730e-03 1.71059188e+01] [ 3.58205862e-02 -1.49915983e-03 9.99357112e-01 1.52079044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.07, Y:17.11, Z:15.21 [[ 9.94764312e-01 -9.57217210e-02 -3.57954624e-02 4.29066155e+02] [ 9.57111879e-02 9.95407114e-01 -2.01165068e-03 1.71088500e+01] [ 3.58236165e-02 -1.42490792e-03 9.99357112e-01 1.52097355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:17.11, Z:15.21 [[ 9.94859196e-01 -9.47304082e-02 -3.57956819e-02 4.29098460e+02] [ 9.47193752e-02 9.95501988e-01 -2.00773579e-03 1.71110434e+01] [ 3.58248662e-02 -1.39313022e-03 9.99357112e-01 1.52107065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.13, Y:17.11, Z:15.21 [[ 9.94949804e-01 -9.37738947e-02 -3.57958632e-02 4.29131366e+02] [ 9.37623600e-02 9.95592588e-01 -2.00449903e-03 1.71130551e+01] [ 3.58260658e-02 -1.36192869e-03 9.99357112e-01 1.52112462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:17.11, Z:15.21 [[ 9.95100342e-01 -9.21626278e-02 -3.57960784e-02 4.29162369e+02] [ 9.21501907e-02 9.95743109e-01 -2.00064795e-03 1.71147302e+01] [ 3.58280834e-02 -1.30776999e-03 9.99357112e-01 1.52107301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:17.12, Z:15.21 [[ 9.95154234e-01 -9.15788361e-02 -3.57961850e-02 4.29194788e+02] [ 9.15660904e-02 9.95796995e-01 -1.99874009e-03 1.71164078e+01] [ 3.58287757e-02 -1.28866204e-03 9.99357112e-01 1.52111825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.23, Y:17.12, Z:15.21 [[ 9.95180134e-01 -9.12969000e-02 -3.57963253e-02 4.29228144e+02] [ 9.12840626e-02 9.95822893e-01 -1.99622376e-03 1.71181469e+01] [ 3.58290493e-02 -1.28103177e-03 9.99357112e-01 1.52122087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.26, Y:17.12, Z:15.21 [[ 9.95080156e-01 -9.23801427e-02 -3.57965402e-02 4.29261551e+02] [ 9.23681437e-02 9.95722932e-01 -1.99236250e-03 1.71196587e+01] [ 3.58274907e-02 -1.32389958e-03 9.99357112e-01 1.52139370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.29, Y:17.12, Z:15.22 [[ 9.95045346e-01 -9.27542505e-02 -3.57967532e-02 4.29294630e+02] [ 9.27426309e-02 9.95688129e-01 -1.98852754e-03 1.71208725e+01] [ 3.58268466e-02 -1.34121000e-03 9.99357112e-01 1.52152033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:17.12, Z:15.22 [[ 9.94997470e-01 -9.32663455e-02 -3.57969653e-02 4.29327456e+02] [ 9.32551941e-02 9.95640261e-01 -1.98470255e-03 1.71224727e+01] [ 3.58260058e-02 -1.36347894e-03 9.99357112e-01 1.52167234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:17.12, Z:15.22 [[ 9.94903039e-01 -9.42682597e-02 -3.57971810e-02 4.29360325e+02] [ 9.42578956e-02 9.95545843e-01 -1.98080496e-03 1.71238638e+01] [ 3.58244617e-02 -1.40345808e-03 9.99357112e-01 1.52183527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.39, Y:17.13, Z:15.22 [[ 9.94884326e-01 -9.44654634e-02 -3.57973948e-02 4.29393310e+02] [ 9.44553658e-02 9.95527135e-01 -1.97693253e-03 1.71253473e+01] [ 3.58240298e-02 -1.41443684e-03 9.99357112e-01 1.52196993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:17.13, Z:15.22 [[ 9.94727616e-01 -9.61015135e-02 -3.57976115e-02 4.29426333e+02] [ 9.60926144e-02 9.95370442e-01 -1.97300101e-03 1.71262250e+01] [ 3.58214928e-02 -1.47728749e-03 9.99357112e-01 1.52210066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.46, Y:17.13, Z:15.22 [[ 9.94631677e-01 -9.70893524e-02 -3.57978274e-02 4.29458780e+02] [ 9.70812327e-02 9.95274513e-01 -1.96907616e-03 1.71273716e+01] [ 3.58198416e-02 -1.51679169e-03 9.99357112e-01 1.52220210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.49, Y:17.13, Z:15.22 [[ 9.94508832e-01 -9.83396502e-02 -3.57980057e-02 4.29492284e+02] [ 9.83324553e-02 9.95151679e-01 -1.96583025e-03 1.71285423e+01] [ 3.58177645e-02 -1.56507025e-03 9.99357112e-01 1.52232137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:17.13, Z:15.22 [[ 9.94374156e-01 -9.96921549e-02 -3.57982198e-02 4.29524594e+02] [ 9.96859746e-02 9.95017014e-01 -1.96192383e-03 1.71286207e+01] [ 3.58154261e-02 -1.61769407e-03 9.99357113e-01 1.52232329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.56, Y:17.13, Z:15.22 [[ 9.94364629e-01 -9.97870852e-02 -3.57983617e-02 4.29556861e+02] [ 9.97810594e-02 9.95007488e-01 -1.95933081e-03 1.71295881e+01] [ 3.58151538e-02 -1.62370920e-03 9.99357113e-01 1.52235615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.59, Y:17.13, Z:15.23 [[ 9.94375380e-01 -9.96798328e-02 -3.57985385e-02 4.29589865e+02] [ 9.96738540e-02 9.95018239e-01 -1.95609419e-03 1.71306265e+01] [ 3.58151819e-02 -1.62308640e-03 9.99357113e-01 1.52253188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.62, Y:17.13, Z:15.23 [[ 9.94408785e-01 -9.93459534e-02 -3.57987476e-02 4.29622714e+02] [ 9.93398965e-02 9.95051644e-01 -1.95226017e-03 1.71322822e+01] [ 3.58155518e-02 -1.61489922e-03 9.99357113e-01 1.52270533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.66, Y:17.13, Z:15.23 [[ 9.94489767e-01 -9.85319095e-02 -3.57989579e-02 4.29655525e+02] [ 9.85254652e-02 9.95132623e-01 -1.94839659e-03 1.71339599e+01] [ 3.58166901e-02 -1.58944851e-03 9.99357113e-01 1.52286408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.69, Y:17.14, Z:15.23 [[ 9.94562364e-01 -9.77963345e-02 -3.57991661e-02 4.29688704e+02] [ 9.77895524e-02 9.95205216e-01 -1.94456297e-03 1.71355515e+01] [ 3.58176880e-02 -1.56679529e-03 9.99357113e-01 1.52309199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:17.14, Z:15.23 [[ 9.94624544e-01 -9.71618280e-02 -3.57993779e-02 4.29721088e+02] [ 9.71547761e-02 9.95267393e-01 -1.94065642e-03 1.71366173e+01] [ 3.58185112e-02 -1.54785604e-03 9.99357113e-01 1.52327464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.75, Y:17.14, Z:15.23 [[ 9.94662928e-01 -9.67679617e-02 -3.57997265e-02 4.29753559e+02] [ 9.67608871e-02 9.95305777e-01 -1.93420418e-03 1.71367378e+01] [ 3.58188436e-02 -1.54013210e-03 9.99357113e-01 1.52347652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.79, Y:17.14, Z:15.24 [[ 9.94666321e-01 -9.67330292e-02 -3.57998646e-02 4.29785604e+02] [ 9.67260240e-02 9.95309171e-01 -1.93164399e-03 1.71371345e+01] [ 3.58187874e-02 -1.54143734e-03 9.99357113e-01 1.52353697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.82, Y:17.14, Z:15.24 [[ 9.94660549e-01 -9.67923029e-02 -3.58000366e-02 4.29818586e+02] [ 9.67854506e-02 9.95303400e-01 -1.92845264e-03 1.71375604e+01] [ 3.58185575e-02 -1.54676691e-03 9.99357113e-01 1.52361054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.85, Y:17.14, Z:15.24 [[ 9.94605690e-01 -9.73543250e-02 -3.58002420e-02 4.29852109e+02] [ 9.73479733e-02 9.95248546e-01 -1.92463091e-03 1.71381470e+01] [ 3.58175099e-02 -1.57083215e-03 9.99357113e-01 1.52374398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.89, Y:17.14, Z:15.24 [[ 9.94517627e-01 -9.82497746e-02 -3.58004454e-02 4.29885429e+02] [ 9.82441379e-02 9.95160489e-01 -1.92084005e-03 1.71387408e+01] [ 3.58159109e-02 -1.60687461e-03 9.99357113e-01 1.52390457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:17.14, Z:15.24 [[ 9.94264688e-01 -1.00777203e-01 -3.58006474e-02 4.29918127e+02] [ 1.00773335e-01 9.94907563e-01 -1.91706794e-03 1.71384800e+01] [ 3.58115316e-02 -1.70167768e-03 9.99357113e-01 1.52390757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:17.14, Z:15.24 [[ 9.94018347e-01 -1.03178633e-01 -3.58007868e-02 4.29949432e+02] [ 1.03176412e-01 9.94661230e-01 -1.91446144e-03 1.71375724e+01] [ 3.58071861e-02 -1.79078695e-03 9.99357113e-01 1.52370646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.98, Y:17.14, Z:15.24 [[ 9.93897617e-01 -1.04335148e-01 -3.58008907e-02 4.29982345e+02] [ 1.04333745e-01 9.94540503e-01 -1.91251639e-03 1.71379895e+01] [ 3.58049785e-02 -1.83439553e-03 9.99357113e-01 1.52380045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:17.14, Z:15.24 [[ 9.93642669e-01 -1.06735786e-01 -3.58010976e-02 4.30015275e+02] [ 1.06736076e-01 9.94285556e-01 -1.90863496e-03 1.71373189e+01] [ 3.58002339e-02 -1.92476753e-03 9.99357113e-01 1.52389779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:17.14, Z:15.24 [[ 9.93654172e-01 -1.06628580e-01 -3.58013034e-02 4.30048755e+02] [ 1.06628939e-01 9.94297059e-01 -1.90476743e-03 1.71390104e+01] [ 3.58002333e-02 -1.92477488e-03 9.99357113e-01 1.52401791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.08, Y:17.14, Z:15.24 [[ 9.93500086e-01 -1.08054762e-01 -3.58015083e-02 4.30082222e+02] [ 1.08056183e-01 9.94142972e-01 -1.90090726e-03 1.71395384e+01] [ 3.57972200e-02 -1.98002279e-03 9.99357113e-01 1.52419874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.12, Y:17.14, Z:15.24 [[ 9.93306380e-01 -1.09821090e-01 -3.58017175e-02 4.30115590e+02] [ 1.09823795e-01 9.93949262e-01 -1.89695996e-03 1.71392421e+01] [ 3.57934169e-02 -2.04761807e-03 9.99357113e-01 1.52434772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.15, Y:17.14, Z:15.24 [[ 9.93225656e-01 -1.10548719e-01 -3.58019265e-02 4.30147648e+02] [ 1.10552038e-01 9.93868534e-01 -1.89300709e-03 1.71399061e+01] [ 3.57916777e-02 -2.07779272e-03 9.99357113e-01 1.52442815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.18, Y:17.14, Z:15.25 [[ 9.93120417e-01 -1.11490119e-01 -3.58020995e-02 4.30180425e+02] [ 1.11494165e-01 9.93763292e-01 -1.88972943e-03 1.71409759e+01] [ 3.57894984e-02 -2.11499631e-03 9.99357113e-01 1.52461440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:17.14, Z:15.25 [[ 9.93058306e-01 -1.12041935e-01 -3.58023088e-02 4.30211596e+02] [ 1.12046480e-01 9.93701178e-01 -1.88575636e-03 1.71407077e+01] [ 3.57880802e-02 -2.13885667e-03 9.99357113e-01 1.52479096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.24, Y:17.14, Z:15.25 [[ 9.93099775e-01 -1.11673738e-01 -3.58024125e-02 4.30244402e+02] [ 1.11678116e-01 9.93742648e-01 -1.88378481e-03 1.71414863e+01] [ 3.57887535e-02 -2.12755971e-03 9.99357113e-01 1.52500367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:17.14, Z:15.25 [[ 9.93135499e-01 -1.11355521e-01 -3.58026209e-02 4.30277352e+02] [ 1.11359836e-01 9.93778372e-01 -1.87981561e-03 1.71423391e+01] [ 3.57891982e-02 -2.12006237e-03 9.99357113e-01 1.52516695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:17.14, Z:15.25 [[ 9.93200904e-01 -1.10770583e-01 -3.58028286e-02 4.30309531e+02] [ 1.10774661e-01 9.93843778e-01 -1.87585197e-03 1.71429753e+01] [ 3.57902076e-02 -2.10294833e-03 9.99357113e-01 1.52530767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.34, Y:17.14, Z:15.25 [[ 9.93300344e-01 -1.09875197e-01 -3.58031697e-02 4.30342855e+02] [ 1.09878930e-01 9.93943221e-01 -1.86931819e-03 1.71426677e+01] [ 3.57917095e-02 -2.07721959e-03 9.99357113e-01 1.52547361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.38, Y:17.14, Z:15.26 [[ 9.93305960e-01 -1.09824348e-01 -3.58033717e-02 4.30376360e+02] [ 1.09828188e-01 9.93948836e-01 -1.86544141e-03 1.71433139e+01] [ 3.57915905e-02 -2.07926538e-03 9.99357113e-01 1.52561715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:17.14, Z:15.26 [[ 9.93315529e-01 -1.09737706e-01 -3.58035735e-02 4.30408341e+02] [ 1.09741629e-01 9.93958404e-01 -1.86155971e-03 1.71428088e+01] [ 3.57915461e-02 -2.08002631e-03 9.99357113e-01 1.52570798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.44, Y:17.14, Z:15.26 [[ 9.93233141e-01 -1.10480860e-01 -3.58037403e-02 4.30441413e+02] [ 1.10485380e-01 9.93876012e-01 -1.85834750e-03 1.71430289e+01] [ 3.57897904e-02 -2.11001753e-03 9.99357113e-01 1.52583974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.47, Y:17.14, Z:15.26 [[ 9.93171930e-01 -1.11029706e-01 -3.58039403e-02 4.30473324e+02] [ 1.11034720e-01 9.93814798e-01 -1.85448545e-03 1.71426196e+01] [ 3.57883886e-02 -2.13365759e-03 9.99357113e-01 1.52598357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:17.14, Z:15.26 [[ 9.93081327e-01 -1.11837130e-01 -3.58041058e-02 4.30506490e+02] [ 1.11842781e-01 9.93724190e-01 -1.85128369e-03 1.71425848e+01] [ 3.57864483e-02 -2.16595550e-03 9.99357113e-01 1.52608362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.54, Y:17.14, Z:15.26 [[ 9.93038437e-01 -1.12217261e-01 -3.58043050e-02 4.30539114e+02] [ 1.12223297e-01 9.93681296e-01 -1.84742483e-03 1.71423202e+01] [ 3.57853811e-02 -2.18351327e-03 9.99357113e-01 1.52618585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.57, Y:17.14, Z:15.26 [[ 9.93001682e-01 -1.12541980e-01 -3.58045018e-02 4.30571544e+02] [ 1.12548364e-01 9.93644538e-01 -1.84360106e-03 1.71421820e+01] [ 3.57844302e-02 -2.19903915e-03 9.99357113e-01 1.52629860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:17.14, Z:15.26 [[ 9.93065071e-01 -1.11981208e-01 -3.58046646e-02 4.30604706e+02] [ 1.11987343e-01 9.93707929e-01 -1.84043384e-03 1.71408344e+01] [ 3.57854732e-02 -2.18199868e-03 9.99357113e-01 1.52634182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:17.14, Z:15.26 [[ 9.93137272e-01 -1.11338991e-01 -3.58048623e-02 4.30637110e+02] [ 1.11344849e-01 9.93780132e-01 -1.83658021e-03 1.71412218e+01] [ 3.57866438e-02 -2.16271071e-03 9.99357113e-01 1.52640804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:17.14, Z:15.27 [[ 9.93204149e-01 -1.10740717e-01 -3.58051873e-02 4.30669501e+02] [ 1.10746416e-01 9.93847011e-01 -1.83022321e-03 1.71418020e+01] [ 3.57875586e-02 -2.14751087e-03 9.99357113e-01 1.52651110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:17.14, Z:15.27 [[ 9.93269848e-01 -1.10149838e-01 -3.58053487e-02 4.30702996e+02] [ 1.10155267e-01 9.93912712e-01 -1.82705984e-03 1.71422464e+01] [ 3.57886416e-02 -2.12938430e-03 9.99357113e-01 1.52658202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:17.14, Z:15.27 [[ 9.93281791e-01 -1.10042025e-01 -3.58055374e-02 4.30735970e+02] [ 1.10047518e-01 9.93924655e-01 -1.82335483e-03 1.71414060e+01] [ 3.57886520e-02 -2.12920536e-03 9.99357113e-01 1.52661761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.77, Y:17.14, Z:15.27 [[ 9.93271931e-01 -1.10130926e-01 -3.58057310e-02 4.30768749e+02] [ 1.10136613e-01 9.93914793e-01 -1.81954487e-03 1.71413877e+01] [ 3.57882338e-02 -2.13621908e-03 9.99357113e-01 1.52669595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:17.14, Z:15.27 [[ 9.93236218e-01 -1.10452478e-01 -3.58059278e-02 4.30800600e+02] [ 1.10458512e-01 9.93879077e-01 -1.81566292e-03 1.71414806e+01] [ 3.57873070e-02 -2.15168735e-03 9.99357113e-01 1.52676151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:17.14, Z:15.27 [[ 9.93237612e-01 -1.10439890e-01 -3.58060905e-02 4.30833507e+02] [ 1.10446032e-01 9.93880470e-01 -1.81244916e-03 1.71417031e+01] [ 3.57871407e-02 -2.15444795e-03 9.99357113e-01 1.52679805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.87, Y:17.14, Z:15.27 [[ 9.93282876e-01 -1.10031989e-01 -3.58062851e-02 4.30866872e+02] [ 1.10038006e-01 9.93925735e-01 -1.80859698e-03 1.71413857e+01] [ 3.57877917e-02 -2.14360379e-03 9.99357113e-01 1.52677532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:17.14, Z:15.27 [[ 9.93420736e-01 -1.08780220e-01 -3.58064834e-02 4.30899307e+02] [ 1.08785568e-01 9.94063601e-01 -1.80466234e-03 1.71416135e+01] [ 3.57902334e-02 -2.10243962e-03 9.99357113e-01 1.52684490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.93, Y:17.14, Z:15.27 [[ 9.93507300e-01 -1.07986706e-01 -3.58066473e-02 4.30932212e+02] [ 1.07991657e-01 9.94150168e-01 -1.80140388e-03 1.71423710e+01] [ 3.57917121e-02 -2.07711128e-03 9.99357113e-01 1.52693034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:17.14, Z:15.27 [[ 9.93698262e-01 -1.06215037e-01 -3.58068343e-02 4.30965059e+02] [ 1.06218975e-01 9.94341137e-01 -1.79767911e-03 1.71427988e+01] [ 3.57951489e-02 -2.01701463e-03 9.99357113e-01 1.52690088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:17.14, Z:15.27 [[ 9.93786290e-01 -1.05388167e-01 -3.58070286e-02 4.30996879e+02] [ 1.05391710e-01 9.94429168e-01 -1.79380031e-03 1.71438349e+01] [ 3.57965990e-02 -1.99110981e-03 9.99357113e-01 1.52701021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:17.15, Z:15.27 [[ 9.93793687e-01 -1.05318289e-01 -3.58073378e-02 4.31029513e+02] [ 1.05322009e-01 9.94436564e-01 -1.78760689e-03 1.71454000e+01] [ 3.57963937e-02 -1.99478831e-03 9.99357113e-01 1.52712722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.06, Y:17.15, Z:15.27 [[ 9.93815771e-01 -1.05109653e-01 -3.58074630e-02 4.31062650e+02] [ 1.05113328e-01 9.94458648e-01 -1.78509548e-03 1.71466665e+01] [ 3.57966720e-02 -1.98978558e-03 9.99357113e-01 1.52719275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.10, Y:17.15, Z:15.27 [[ 9.93827473e-01 -1.04998887e-01 -3.58076611e-02 4.31096132e+02] [ 1.05002634e-01 9.94470349e-01 -1.78111400e-03 1.71482457e+01] [ 3.57966722e-02 -1.98977869e-03 9.99357113e-01 1.52731288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:17.15, Z:15.27 [[ 9.93849533e-01 -1.04789804e-01 -3.58078590e-02 4.31128168e+02] [ 1.04793559e-01 9.94492409e-01 -1.77712562e-03 1.71496428e+01] [ 3.57968686e-02 -1.98623750e-03 9.99357113e-01 1.52745168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.16, Y:17.15, Z:15.28 [[ 9.93842532e-01 -1.04856130e-01 -3.58080225e-02 4.31161563e+02] [ 1.04860046e-01 9.94485407e-01 -1.77382435e-03 1.71511287e+01] [ 3.57965522e-02 -1.99192882e-03 9.99357113e-01 1.52755006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:17.15, Z:15.28 [[ 9.93838747e-01 -1.04891927e-01 -3.58082169e-02 4.31193391e+02] [ 1.04896008e-01 9.94481621e-01 -1.76989288e-03 1.71520141e+01] [ 3.57962610e-02 -1.99715087e-03 9.99357113e-01 1.52763310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.23, Y:17.15, Z:15.28 [[ 9.93802505e-01 -1.05234695e-01 -3.58083773e-02 4.31226167e+02] [ 1.05239114e-01 9.94445377e-01 -1.76664015e-03 1.71530945e+01] [ 3.57953871e-02 -2.01275050e-03 9.99357113e-01 1.52771664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:17.15, Z:15.28 [[ 9.93780072e-01 -1.05446265e-01 -3.58085693e-02 4.31258703e+02] [ 1.05450961e-01 9.94422942e-01 -1.76274013e-03 1.71541932e+01] [ 3.57947372e-02 -2.02427204e-03 9.99357113e-01 1.52781327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:17.16, Z:15.28 [[ 9.93727790e-01 -1.05937771e-01 -3.58087617e-02 4.31290342e+02] [ 1.05942925e-01 9.94370657e-01 -1.75882380e-03 1.71557519e+01] [ 3.57935077e-02 -2.04589288e-03 9.99357113e-01 1.52792936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:17.16, Z:15.28 [[ 9.93742429e-01 -1.05800261e-01 -3.58090702e-02 4.31323094e+02] [ 1.05805554e-01 9.94385294e-01 -1.75251953e-03 1.71575663e+01] [ 3.57934298e-02 -2.04724548e-03 9.99357113e-01 1.52800296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:17.16, Z:15.28 [[ 9.93803472e-01 -1.05225267e-01 -3.58092625e-02 4.31356104e+02] [ 1.05230329e-01 9.94446339e-01 -1.74858122e-03 1.71592668e+01] [ 3.57943849e-02 -2.03047437e-03 9.99357113e-01 1.52804435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:17.16, Z:15.28 [[ 9.93887242e-01 -1.04431002e-01 -3.58094530e-02 4.31389145e+02] [ 1.04435690e-01 9.94530112e-01 -1.74467146e-03 1.71608727e+01] [ 3.57957771e-02 -2.00577823e-03 9.99357113e-01 1.52813105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.42, Y:17.16, Z:15.28 [[ 9.93974125e-01 -1.03600714e-01 -3.58096430e-02 4.31421447e+02] [ 1.03605006e-01 9.94616998e-01 -1.74076214e-03 1.71627325e+01] [ 3.57972239e-02 -1.97978574e-03 9.99357113e-01 1.52824792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:17.16, Z:15.28 [[ 9.94079839e-01 -1.02581341e-01 -3.58097999e-02 4.31453290e+02] [ 1.02585090e-01 9.94722715e-01 -1.73752859e-03 1.71647921e+01] [ 3.57990594e-02 -1.94630941e-03 9.99357113e-01 1.52847553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.49, Y:17.17, Z:15.29 [[ 9.94130713e-01 -1.02087087e-01 -3.58099551e-02 4.31485372e+02] [ 1.02090631e-01 9.94773590e-01 -1.73432593e-03 1.71667184e+01] [ 3.57998498e-02 -1.93171424e-03 9.99357113e-01 1.52855526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.52, Y:17.17, Z:15.29 [[ 9.94242603e-01 -1.00991511e-01 -3.58100778e-02 4.31517180e+02] [ 1.00994437e-01 9.94885483e-01 -1.73178820e-03 1.71684586e+01] [ 3.58018224e-02 -1.89480106e-03 9.99357113e-01 1.52862256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.55, Y:17.17, Z:15.29 [[ 9.94448202e-01 -9.89464535e-02 -3.58102304e-02 4.31548585e+02] [ 9.89481717e-02 9.95091087e-01 -1.72862606e-03 1.71709920e+01] [ 3.58054825e-02 -1.82432775e-03 9.99357113e-01 1.52865311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.58, Y:17.17, Z:15.29 [[ 9.94567323e-01 -9.77418094e-02 -3.58103206e-02 4.31580927e+02] [ 9.77428160e-02 9.95210209e-01 -1.72675627e-03 1.71728112e+01] [ 3.58075729e-02 -1.78282621e-03 9.99357113e-01 1.52877765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.61, Y:17.17, Z:15.29 [[ 9.94664078e-01 -9.67521790e-02 -3.58104391e-02 4.31613063e+02] [ 9.67526344e-02 9.95306965e-01 -1.72429409e-03 1.71745268e+01] [ 3.58092087e-02 -1.74966093e-03 9.99357113e-01 1.52888448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.64, Y:17.18, Z:15.29 [[ 9.94734444e-01 -9.60259864e-02 -3.58105586e-02 4.31643949e+02] [ 9.60260618e-02 9.95377331e-01 -1.72180881e-03 1.71762974e+01] [ 3.58103567e-02 -1.72600438e-03 9.99357113e-01 1.52898748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.68, Y:17.18, Z:15.29 [[ 9.94830791e-01 -9.50225597e-02 -3.58107569e-02 4.31676936e+02] [ 9.50221351e-02 9.95473678e-01 -1.71767496e-03 1.71783652e+01] [ 3.58118838e-02 -1.69401864e-03 9.99357113e-01 1.52917765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.71, Y:17.18, Z:15.29 [[ 9.94863382e-01 -9.46806633e-02 -3.58109428e-02 4.31709793e+02] [ 9.46801572e-02 9.95506269e-01 -1.71379037e-03 1.71803390e+01] [ 3.58122809e-02 -1.68559841e-03 9.99357113e-01 1.52929781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.74, Y:17.18, Z:15.29 [[ 9.94879623e-01 -9.45097801e-02 -3.58111292e-02 4.31742969e+02] [ 9.45093038e-02 9.95522510e-01 -1.70988586e-03 1.71826026e+01] [ 3.58123862e-02 -1.68335430e-03 9.99357113e-01 1.52943282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.78, Y:17.18, Z:15.30 [[ 9.94866288e-01 -9.46499799e-02 -3.58113138e-02 4.31775549e+02] [ 9.46497334e-02 9.95509175e-01 -1.70601089e-03 1.71848936e+01] [ 3.58119654e-02 -1.69227859e-03 9.99357113e-01 1.52953605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.81, Y:17.19, Z:15.30 [[ 9.94886178e-01 -9.44406142e-02 -3.58114988e-02 4.31808439e+02] [ 9.44403721e-02 9.95529065e-01 -1.70211923e-03 1.71868173e+01] [ 3.58121371e-02 -1.68863638e-03 9.99357113e-01 1.52964829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.84, Y:17.19, Z:15.30 [[ 9.94885752e-01 -9.44450322e-02 -3.58116843e-02 4.31840765e+02] [ 9.44449335e-02 9.95528639e-01 -1.69820757e-03 1.71890632e+01] [ 3.58119446e-02 -1.69270963e-03 9.99357113e-01 1.52972457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.87, Y:17.19, Z:15.30 [[ 9.94918977e-01 -9.40943316e-02 -3.58118086e-02 4.31872917e+02] [ 9.40941005e-02 9.95561864e-01 -1.69558314e-03 1.71909068e+01] [ 3.58124157e-02 -1.68271207e-03 9.99357113e-01 1.52979747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.91, Y:17.19, Z:15.30 [[ 9.94951546e-01 -9.37492591e-02 -3.58119631e-02 4.31905687e+02] [ 9.37489225e-02 9.95594433e-01 -1.69231333e-03 1.71929157e+01] [ 3.58128442e-02 -1.67356319e-03 9.99357113e-01 1.52993539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.94, Y:17.20, Z:15.30 [[ 9.95041492e-01 -9.27896505e-02 -3.58121472e-02 4.31936709e+02] [ 9.27888341e-02 9.95684378e-01 -1.68840750e-03 1.71960086e+01] [ 3.58142623e-02 -1.64293187e-03 9.99357113e-01 1.53010586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.97, Y:17.20, Z:15.30 [[ 9.95141415e-01 -9.17117200e-02 -3.58123518e-02 4.31969281e+02] [ 9.17103634e-02 9.95784301e-01 -1.68405817e-03 1.71986578e+01] [ 3.58158255e-02 -1.60848776e-03 9.99357113e-01 1.53029677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.00, Y:17.20, Z:15.30 [[ 9.95255778e-01 -9.04621425e-02 -3.58125359e-02 4.32001261e+02] [ 9.04601197e-02 9.95898661e-01 -1.68013384e-03 1.72013153e+01] [ 3.58176450e-02 -1.56744337e-03 9.99357113e-01 1.53044635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.03, Y:17.20, Z:15.31 [[ 9.95465598e-01 -8.81231751e-02 -3.58126880e-02 4.32033377e+02] [ 8.81197583e-02 9.96108476e-01 -1.67688386e-03 1.72049466e+01] [ 3.58210944e-02 -1.48652522e-03 9.99357113e-01 1.53075609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.07, Y:17.21, Z:15.31 [[ 9.95543076e-01 -8.72434886e-02 -3.58128098e-02 4.32066466e+02] [ 8.72395972e-02 9.96185951e-01 -1.67427898e-03 1.72072322e+01] [ 3.58222880e-02 -1.45747826e-03 9.99357113e-01 1.53095130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.10, Y:17.21, Z:15.31 [[ 9.95617261e-01 -8.63926968e-02 -3.58129953e-02 4.32098584e+02] [ 8.63883989e-02 9.96260134e-01 -1.67030302e-03 1.72093637e+01] [ 3.58233614e-02 -1.43084480e-03 9.99357113e-01 1.53108750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.13, Y:17.21, Z:15.31 [[ 9.95672779e-01 -8.57504388e-02 -3.58131173e-02 4.32130923e+02] [ 8.57458203e-02 9.96315649e-01 -1.66768216e-03 1.72123687e+01] [ 3.58241737e-02 -1.41035939e-03 9.99357113e-01 1.53120533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.16, Y:17.21, Z:15.31 [[ 9.95641472e-01 -8.61131213e-02 -3.58132691e-02 4.32162531e+02] [ 8.61088543e-02 9.96284344e-01 -1.66441678e-03 1.72145334e+01] [ 3.58235274e-02 -1.42667719e-03 9.99357113e-01 1.53133354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.19, Y:17.22, Z:15.31 [[ 9.95605497e-01 -8.65280061e-02 -3.58133892e-02 4.32194035e+02] [ 8.65241000e-02 9.96248372e-01 -1.66182735e-03 1.72165745e+01] [ 3.58228253e-02 -1.44419682e-03 9.99357113e-01 1.53137670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.23, Y:17.22, Z:15.32 [[ 9.95528930e-01 -8.74044632e-02 -3.58135387e-02 4.32225753e+02] [ 8.74012389e-02 9.96171809e-01 -1.65859965e-03 1.72186334e+01] [ 3.58214066e-02 -1.47896372e-03 9.99357113e-01 1.53152133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.26, Y:17.22, Z:15.31 [[ 9.95304876e-01 -8.99198901e-02 -3.58136581e-02 4.32257689e+02] [ 8.99183831e-02 9.95947761e-01 -1.65601841e-03 1.72203250e+01] [ 3.58174415e-02 -1.57206302e-03 9.99357113e-01 1.53149158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.29, Y:17.22, Z:15.32 [[ 9.95148504e-01 -9.16342024e-02 -3.58138066e-02 4.32290776e+02] [ 9.16339184e-02 9.95791390e-01 -1.65279955e-03 1.72221327e+01] [ 3.58145332e-02 -1.63697843e-03 9.99357113e-01 1.53162585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.32, Y:17.22, Z:15.32 [[ 9.94831152e-01 -9.50175653e-02 -3.58139822e-02 4.32322988e+02] [ 9.50196044e-02 9.95474036e-01 -1.64898513e-03 1.72242631e+01] [ 3.58085720e-02 -1.76256865e-03 9.99357113e-01 1.53174057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.35, Y:17.23, Z:15.32 [[ 9.94693452e-01 -9.64483632e-02 -3.58141013e-02 4.32354015e+02] [ 9.64514199e-02 9.95336332e-01 -1.64639564e-03 1.72260031e+01] [ 3.58058683e-02 -1.81666195e-03 9.99357113e-01 1.53174616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.39, Y:17.23, Z:15.32 [[ 9.94523900e-01 -9.81812456e-02 -3.58141900e-02 4.32385588e+02] [ 9.81854918e-02 9.95166772e-01 -1.64446242e-03 1.72280267e+01] [ 3.58025473e-02 -1.88097668e-03 9.99357113e-01 1.53179238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.42, Y:17.23, Z:15.32 [[ 9.94235011e-01 -1.01064734e-01 -3.58142756e-02 4.32417711e+02] [ 1.01070911e-01 9.94877868e-01 -1.64259738e-03 1.72308689e+01] [ 3.57968388e-02 -1.98665365e-03 9.99357113e-01 1.53192051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.44, Y:17.24, Z:15.32 [[ 9.93914221e-01 -1.04172218e-01 -3.58143931e-02 4.32444555e+02] [ 1.04180497e-01 9.94557054e-01 -1.64003130e-03 1.72363599e+01] [ 3.57903030e-02 -2.10111086e-03 9.99357113e-01 1.53175083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.48, Y:17.24, Z:15.32 [[ 9.94069787e-01 -1.02684365e-01 -3.57935690e-02 4.32479586e+02] [ 1.02675491e-01 9.94712708e-01 -2.09085831e-03 1.72350637e+01] [ 3.58190164e-02 -1.59666318e-03 9.99357018e-01 1.53213579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.51, Y:17.24, Z:15.32 [[ 9.94075272e-01 -1.02623992e-01 -3.58143827e-02 4.32511310e+02] [ 1.02631449e-01 9.94718107e-01 -1.63502473e-03 1.72374410e+01] [ 3.57930078e-02 -2.05034433e-03 9.99357122e-01 1.53223311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.54, Y:17.24, Z:15.33 [[ 9.94258512e-01 -1.00833187e-01 -3.58145278e-02 4.32542913e+02] [ 1.00839601e-01 9.94901358e-01 -1.63184208e-03 1.72407841e+01] [ 3.57964661e-02 -1.98904981e-03 9.99357122e-01 1.53256987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.57, Y:17.24, Z:15.33 [[ 9.94398243e-01 -9.94456881e-02 -3.58146436e-02 4.32574847e+02] [ 9.94512959e-02 9.95041097e-01 -1.62929607e-03 1.72434284e+01] [ 3.57990687e-02 -1.94164356e-03 9.99357122e-01 1.53282665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.61, Y:17.24, Z:15.33 [[ 9.94408852e-01 -9.93395111e-02 -3.58147590e-02 4.32608336e+02] [ 9.93451416e-02 9.95051705e-01 -1.62675430e-03 1.72448595e+01] [ 3.57991380e-02 -1.94036343e-03 9.99357122e-01 1.53294682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.64, Y:17.25, Z:15.33 [[ 9.94554988e-01 -9.78655572e-02 -3.58149323e-02 4.32640238e+02] [ 9.78703721e-02 9.95197848e-01 -1.62293099e-03 1.72476185e+01] [ 3.58017726e-02 -1.89112663e-03 9.99357122e-01 1.53318435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.67, Y:17.25, Z:15.33 [[ 9.94563308e-01 -9.77809166e-02 -3.58150510e-02 4.32669625e+02] [ 9.77857710e-02 9.95206168e-01 -1.62030633e-03 1.72526523e+01] [ 3.58017947e-02 -1.89070515e-03 9.99357122e-01 1.53326425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.70, Y:17.25, Z:15.33 [[ 9.94881199e-01 -9.44970331e-02 -3.58009837e-02 4.32704188e+02] [ 9.44886592e-02 9.95524068e-01 -1.92956102e-03 1.72528004e+01] [ 3.58230787e-02 -1.46310297e-03 9.99357077e-01 1.53346688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.74, Y:17.26, Z:15.34 [[ 9.95210955e-01 -9.09528818e-02 -3.58151999e-02 4.32736508e+02] [ 9.09535443e-02 9.95853828e-01 -1.61417256e-03 1.72561261e+01] [ 3.58135176e-02 -1.65107716e-03 9.99357126e-01 1.53358594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.77, Y:17.26, Z:15.34 [[ 9.95377467e-01 -8.91120713e-02 -3.58153174e-02 4.32767691e+02] [ 8.91116385e-02 9.96020341e-01 -1.61156025e-03 1.72584446e+01] [ 3.58163941e-02 -1.58745086e-03 9.99357126e-01 1.53360747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.80, Y:17.26, Z:15.34 [[ 9.95533320e-01 -8.73536290e-02 -3.58155451e-02 4.32800141e+02] [ 8.73522429e-02 9.96176192e-01 -1.60648458e-03 1.72609145e+01] [ 3.58189256e-02 -1.52925927e-03 9.99357126e-01 1.53371742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.83, Y:17.26, Z:15.34 [[ 9.95687215e-01 -8.55815916e-02 -3.58156598e-02 4.32832291e+02] [ 8.55791533e-02 9.96330084e-01 -1.60392219e-03 1.72636110e+01] [ 3.58214856e-02 -1.46806902e-03 9.99357126e-01 1.53379769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.86, Y:17.27, Z:15.34 [[ 9.95892488e-01 -8.31587795e-02 -3.58157741e-02 4.32862085e+02] [ 8.31548688e-02 9.96535350e-01 -1.60136677e-03 1.72662251e+01] [ 3.58248527e-02 -1.38346686e-03 9.99357126e-01 1.53372056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.89, Y:17.27, Z:15.34 [[ 9.96104871e-01 -8.05767896e-02 -3.58115391e-02 4.32893633e+02] [ 8.05678212e-02 9.96747686e-01 -1.69580539e-03 1.72703245e+01] [ 3.58317113e-02 -1.19605767e-03 9.99357122e-01 1.53379873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.93, Y:17.27, Z:15.34 [[ 9.96241236e-01 -7.88709075e-02 -3.58159243e-02 4.32925426e+02] [ 7.88643686e-02 9.96884075e-01 -1.59749332e-03 1.72726668e+01] [ 3.58303203e-02 -1.23311153e-03 9.99357127e-01 1.53395609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.96, Y:17.28, Z:15.34 [[ 9.96364788e-01 -7.72943823e-02 -3.58160376e-02 4.32957542e+02] [ 7.72869175e-02 9.97007617e-01 -1.59494934e-03 1.72752413e+01] [ 3.58321429e-02 -1.17895978e-03 9.99357127e-01 1.53407798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.99, Y:17.28, Z:15.34 [[ 9.96606581e-01 -7.41115818e-02 -3.58161503e-02 4.32988549e+02] [ 7.41021549e-02 9.97249384e-01 -1.59241328e-03 1.72788329e+01] [ 3.58356501e-02 -1.06704436e-03 9.99357127e-01 1.53422211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.02, Y:17.28, Z:15.34 [[ 9.96700626e-01 -7.28358407e-02 -3.58162343e-02 4.33020849e+02] [ 7.28256589e-02 9.97343418e-01 -1.59052309e-03 1.72814883e+01] [ 3.58369326e-02 -1.02306550e-03 9.99357127e-01 1.53439464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.05, Y:17.28, Z:15.35 [[ 9.96792009e-01 -7.15742920e-02 -3.58163457e-02 4.33052481e+02] [ 7.15633868e-02 9.97434790e-01 -1.58801079e-03 1.72839211e+01] [ 3.58381299e-02 -9.80222535e-04 9.99357127e-01 1.53454435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.09, Y:17.29, Z:15.35 [[ 9.96872331e-01 -7.04466989e-02 -3.58164562e-02 4.33085030e+02] [ 7.04351563e-02 9.97515100e-01 -1.58551314e-03 1.72863011e+01] [ 3.58391501e-02 -9.42183512e-04 9.99357127e-01 1.53473988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.12, Y:17.29, Z:15.35 [[ 9.96877286e-01 -7.03764831e-02 -3.58165678e-02 4.33117672e+02] [ 7.03649859e-02 9.97520056e-01 -1.58298834e-03 1.72876840e+01] [ 3.58391499e-02 -9.42187170e-04 9.99357127e-01 1.53485700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.15, Y:17.29, Z:15.35 [[ 9.97001794e-01 -6.85900000e-02 -3.58166791e-02 4.33149986e+02] [ 6.85774415e-02 9.97644544e-01 -1.58046719e-03 1.72907889e+01] [ 3.58407187e-02 -8.80487593e-04 9.99357127e-01 1.53500971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.18, Y:17.29, Z:15.35 [[ 9.97029938e-01 -6.81796111e-02 -3.58167910e-02 4.33182492e+02] [ 6.81668793e-02 9.97672685e-01 -1.57792527e-03 1.72926804e+01] [ 3.58410164e-02 -8.68280140e-04 9.99357127e-01 1.53518013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.21, Y:17.29, Z:15.35 [[ 9.97015362e-01 -6.83923824e-02 -3.58169045e-02 4.33214567e+02] [ 6.83798803e-02 9.97658113e-01 -1.57534626e-03 1.72945564e+01] [ 3.58407670e-02 -8.78511221e-04 9.99357127e-01 1.53532142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.25, Y:17.30, Z:15.35 [[ 9.96993331e-01 -6.87127366e-02 -3.58170178e-02 4.33246151e+02] [ 6.87005337e-02 9.97636088e-01 -1.57276615e-03 1.72961058e+01] [ 3.58404185e-02 -8.92610870e-04 9.99357127e-01 1.53540578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.28, Y:17.30, Z:15.35 [[ 9.97060693e-01 -6.77281992e-02 -3.58171020e-02 4.33278056e+02] [ 6.77154305e-02 9.97703439e-01 -1.57084596e-03 1.72964251e+01] [ 3.58412364e-02 -8.59141714e-04 9.99357127e-01 1.53507391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.31, Y:17.30, Z:15.36 [[ 9.96840480e-01 -7.08950140e-02 -3.58183662e-02 4.33309301e+02] [ 7.08853222e-02 9.97483280e-01 -1.54201719e-03 1.72994192e+01] [ 3.58375427e-02 -1.00185127e-03 9.99357127e-01 1.53560835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.34, Y:17.30, Z:15.36 [[ 9.96557011e-01 -7.47746598e-02 -3.58172277e-02 4.33341364e+02] [ 7.47665364e-02 9.97199833e-01 -1.56802349e-03 1.73003523e+01] [ 3.58341819e-02 -1.11530525e-03 9.99357127e-01 1.53570493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:17.30, Z:15.36 [[ 9.96370416e-01 -7.72211924e-02 -3.58173382e-02 4.33373728e+02] [ 7.72147381e-02 9.97013256e-01 -1.56549446e-03 1.73013430e+01] [ 3.58312504e-02 -1.20581402e-03 9.99357127e-01 1.53582316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.41, Y:17.30, Z:15.36 [[ 9.96170516e-01 -7.97584740e-02 -3.58174522e-02 4.33405821e+02] [ 7.97537506e-02 9.96813371e-01 -1.56288311e-03 1.73023473e+01] [ 3.58279684e-02 -1.29967808e-03 9.99357127e-01 1.53586371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.44, Y:17.30, Z:15.36 [[ 9.95950887e-01 -8.24555707e-02 -3.58177192e-02 4.33437966e+02] [ 8.24528086e-02 9.96593754e-01 -1.55673822e-03 1.73034258e+01] [ 3.58240770e-02 -1.40283674e-03 9.99357127e-01 1.53589775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.47, Y:17.30, Z:15.36 [[ 9.95523560e-01 -8.74638374e-02 -3.58178574e-02 4.33470868e+02] [ 8.74644232e-02 9.96166432e-01 -1.55355263e-03 1.73041921e+01] [ 3.58164269e-02 -1.58618999e-03 9.99357127e-01 1.53598572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.50, Y:17.31, Z:15.36 [[ 9.95351404e-01 -8.94016252e-02 -3.58180268e-02 4.33502665e+02] [ 8.94036030e-02 9.95994274e-01 -1.54963862e-03 1.73053748e+01] [ 3.58130898e-02 -1.65982567e-03 9.99357127e-01 1.53600468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.54, Y:17.31, Z:15.36 [[ 9.95211260e-01 -9.09483717e-02 -3.58181670e-02 4.33535163e+02] [ 9.09514653e-02 9.95854126e-01 -1.54638951e-03 1.73065844e+01] [ 3.58103110e-02 -1.71873052e-03 9.99357127e-01 1.53614627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.57, Y:17.31, Z:15.36 [[ 9.95110104e-01 -9.20485088e-02 -3.58183304e-02 4.33568546e+02] [ 9.20524493e-02 9.95752965e-01 -1.54259519e-03 1.73081505e+01] [ 3.58082023e-02 -1.76211298e-03 9.99357127e-01 1.53631453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.60, Y:17.31, Z:15.36 [[ 9.95053865e-01 -9.26544174e-02 -3.58184999e-02 4.33600173e+02] [ 9.26588910e-02 9.95696722e-01 -1.53865035e-03 1.73094623e+01] [ 3.58069257e-02 -1.78786250e-03 9.99357127e-01 1.53638670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.63, Y:17.31, Z:15.36 [[ 9.95000368e-01 -9.32270473e-02 -3.58187780e-02 4.33632000e+02] [ 9.32321242e-02 9.95643221e-01 -1.53214995e-03 1.73115870e+01] [ 3.58055613e-02 -1.81497099e-03 9.99357127e-01 1.53643640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.66, Y:17.31, Z:15.37 [[ 9.94996795e-01 -9.32651190e-02 -3.58189154e-02 4.33664910e+02] [ 9.32703361e-02 9.95639647e-01 -1.52892890e-03 1.73135186e+01] [ 3.58053281e-02 -1.81956293e-03 9.99357127e-01 1.53651882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.70, Y:17.32, Z:15.37 [[ 9.94989946e-01 -9.33381040e-02 -3.58190779e-02 4.33697897e+02] [ 9.33435053e-02 9.95632796e-01 -1.52511350e-03 1.73153762e+01] [ 3.58049999e-02 -1.82600569e-03 9.99357127e-01 1.53666966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.73, Y:17.32, Z:15.37 [[ 9.94990646e-01 -9.33305764e-02 -3.58192437e-02 4.33730369e+02] [ 9.33361130e-02 9.95633495e-01 -1.52121021e-03 1.73172864e+01] [ 3.58048142e-02 -1.82963904e-03 9.99357127e-01 1.53682461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.76, Y:17.32, Z:15.37 [[ 9.95003678e-01 -9.31914773e-02 -3.58194100e-02 4.33762235e+02] [ 9.31970650e-02 9.95646526e-01 -1.51728299e-03 1.73196811e+01] [ 3.58048690e-02 -1.82856172e-03 9.99357127e-01 1.53690515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.80, Y:17.32, Z:15.37 [[ 9.95007254e-01 -9.31532281e-02 -3.58195477e-02 4.33795336e+02] [ 9.31589080e-02 9.95650102e-01 -1.51402650e-03 1.73214350e+01] [ 3.58047727e-02 -1.83044260e-03 9.99357127e-01 1.53715204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.83, Y:17.32, Z:15.37 [[ 9.95014346e-01 -9.30773892e-02 -3.58197130e-02 4.33826002e+02] [ 9.30831609e-02 9.95657192e-01 -1.51010519e-03 1.73229993e+01] [ 3.58047115e-02 -1.83163579e-03 9.99357127e-01 1.53719388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.86, Y:17.32, Z:15.37 [[ 9.94994586e-01 -9.32883444e-02 -3.58197947e-02 4.33858061e+02] [ 9.32943221e-02 9.95637431e-01 -1.50816366e-03 1.73248295e+01] [ 3.58042225e-02 -1.84116879e-03 9.99357127e-01 1.53731828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.89, Y:17.33, Z:15.37 [[ 9.94987251e-01 -9.33665043e-02 -3.58199029e-02 4.33890466e+02] [ 9.33726249e-02 9.95630095e-01 -1.50559014e-03 1.73264868e+01] [ 3.58039450e-02 -1.84655536e-03 9.99357127e-01 1.53743628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.92, Y:17.33, Z:15.38 [[ 9.95001253e-01 -9.32171178e-02 -3.58200374e-02 4.33923038e+02] [ 9.32232571e-02 9.95644097e-01 -1.50238258e-03 1.73280412e+01] [ 3.58040566e-02 -1.84438800e-03 9.99357127e-01 1.53758792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.96, Y:17.33, Z:15.38 [[ 9.94999419e-01 -9.32366363e-02 -3.58201995e-02 4.33955662e+02] [ 9.32429273e-02 9.95642261e-01 -1.49850814e-03 1.73298068e+01] [ 3.58038203e-02 -1.84896553e-03 9.99357127e-01 1.53767970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.99, Y:17.33, Z:15.38 [[ 9.95007760e-01 -9.31475312e-02 -3.58203066e-02 4.33987880e+02] [ 9.31538567e-02 9.95650602e-01 -1.49594434e-03 1.73316363e+01] [ 3.58038533e-02 -1.84832348e-03 9.99357127e-01 1.53779169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.02, Y:17.33, Z:15.38 [[ 9.95006718e-01 -9.31586103e-02 -3.58204395e-02 4.34021226e+02] [ 9.31650576e-02 9.95649559e-01 -1.49275382e-03 1.73337493e+01] [ 3.58036677e-02 -1.85191324e-03 9.99357127e-01 1.53792211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.05, Y:17.34, Z:15.38 [[ 9.95098481e-01 -9.21731985e-02 -3.58205971e-02 4.34054286e+02] [ 9.21791452e-02 9.95741326e-01 -1.48896281e-03 1.73358946e+01] [ 3.58052913e-02 -1.82024739e-03 9.99357127e-01 1.53804886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.09, Y:17.34, Z:15.38 [[ 9.95149957e-01 -9.16157062e-02 -3.58207547e-02 4.34087160e+02] [ 9.16214292e-02 9.95792804e-01 -1.48516312e-03 1.73370492e+01] [ 3.58061140e-02 -1.80398872e-03 9.99357127e-01 1.53814062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.12, Y:17.34, Z:15.38 [[ 9.95177270e-01 -9.13184673e-02 -3.58209140e-02 4.34118316e+02] [ 9.13241367e-02 9.95820118e-01 -1.48130981e-03 1.73392131e+01] [ 3.58064578e-02 -1.79714819e-03 9.99357127e-01 1.53827741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.15, Y:17.34, Z:15.38 [[ 9.95175990e-01 -9.13350024e-02 -3.58143194e-02 4.34150968e+02] [ 9.13349450e-02 9.95818876e-01 -1.64110631e-03 1.73402427e+01] [ 3.58144657e-02 -1.63790929e-03 9.99357114e-01 1.53840204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.18, Y:17.34, Z:15.38 [[ 9.95232046e-01 -9.07193363e-02 -3.58214473e-02 4.34184034e+02] [ 9.07251296e-02 9.95874891e-01 -1.46707646e-03 1.73416130e+01] [ 3.58067722e-02 -1.78982395e-03 9.99357129e-01 1.53844160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.22, Y:17.34, Z:15.39 [[ 9.95272623e-01 -9.02730261e-02 -3.58216024e-02 4.34216346e+02] [ 9.02786674e-02 9.95915469e-01 -1.46327981e-03 1.73429159e+01] [ 3.58073827e-02 -1.77756420e-03 9.99357129e-01 1.53851091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.25, Y:17.34, Z:15.39 [[ 9.95331850e-01 -8.96175840e-02 -3.58217307e-02 4.34249710e+02] [ 8.96229150e-02 9.95974699e-01 -1.46013363e-03 1.73441316e+01] [ 3.58083911e-02 -1.75713042e-03 9.99357129e-01 1.53861812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.28, Y:17.35, Z:15.39 [[ 9.95357788e-01 -8.93289810e-02 -3.58218843e-02 4.34281969e+02] [ 8.93342611e-02 9.96000637e-01 -1.45635577e-03 1.73453978e+01] [ 3.58087143e-02 -1.75052651e-03 9.99357129e-01 1.53873672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.31, Y:17.35, Z:15.39 [[ 9.95336786e-01 -8.95626468e-02 -3.58219865e-02 4.34313615e+02] [ 8.95681683e-02 9.95979633e-01 -1.45383659e-03 1.73456275e+01] [ 3.58081784e-02 -1.76145268e-03 9.99357129e-01 1.53884724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.35, Y:17.35, Z:15.39 [[ 9.95320228e-01 -8.97464362e-02 -3.58220625e-02 4.34346348e+02] [ 8.97521437e-02 9.95963074e-01 -1.45196196e-03 1.73462673e+01] [ 3.58077599e-02 -1.76993979e-03 9.99357129e-01 1.53902960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.38, Y:17.35, Z:15.39 [[ 9.95293897e-01 -9.00379208e-02 -3.58222162e-02 4.34379466e+02] [ 9.00439531e-02 9.95936740e-01 -1.44816055e-03 1.73470246e+01] [ 3.58070505e-02 -1.78422859e-03 9.99357129e-01 1.53917028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.41, Y:17.35, Z:15.39 [[ 9.95217163e-01 -9.08821006e-02 -3.58223706e-02 4.34412120e+02] [ 9.08888157e-02 9.95859999e-01 -1.44432966e-03 1.73463661e+01] [ 3.58053297e-02 -1.81843117e-03 9.99357129e-01 1.53928373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.45, Y:17.35, Z:15.39 [[ 9.95226851e-01 -9.07758909e-02 -3.58225239e-02 4.34445619e+02] [ 9.07826742e-02 9.95869686e-01 -1.44051792e-03 1.73476209e+01] [ 3.58053299e-02 -1.81842240e-03 9.99357129e-01 1.53940386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.48, Y:17.35, Z:15.40 [[ 9.95153026e-01 -9.15816084e-02 -3.58226771e-02 4.34478260e+02] [ 9.15890493e-02 9.95795854e-01 -1.43669740e-03 1.73479740e+01] [ 3.58036484e-02 -1.85123118e-03 9.99357129e-01 1.53954048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.51, Y:17.35, Z:15.40 [[ 9.94962074e-01 -9.36333025e-02 -3.58228292e-02 4.34510677e+02] [ 9.36422054e-02 9.95604884e-01 -1.43289548e-03 1.73476828e+01] [ 3.57995504e-02 -1.92885207e-03 9.99357129e-01 1.53969667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.54, Y:17.35, Z:15.40 [[ 9.94877482e-01 -9.45277941e-02 -3.58230781e-02 4.34543433e+02] [ 9.45374992e-02 9.95520279e-01 -1.42664544e-03 1.73478469e+01] [ 3.57974584e-02 -1.96728679e-03 9.99357129e-01 1.53983732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.58, Y:17.35, Z:15.40 [[ 9.94719913e-01 -9.61716799e-02 -3.58232282e-02 4.34575750e+02] [ 9.61825829e-02 9.95362691e-01 -1.42286589e-03 1.73466112e+01] [ 3.57939442e-02 -2.03021758e-03 9.99357129e-01 1.53990636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.61, Y:17.35, Z:15.40 [[ 9.94653238e-01 -9.68587815e-02 -3.58233521e-02 4.34608583e+02] [ 9.68702407e-02 9.95296007e-01 -1.41974053e-03 1.73465181e+01] [ 3.57923536e-02 -2.05806723e-03 9.99357129e-01 1.54005181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:17.35, Z:15.40 [[ 9.94575740e-01 -9.76512841e-02 -3.58235035e-02 4.34641340e+02] [ 9.76633930e-02 9.95218497e-01 -1.41590908e-03 1.73466927e+01] [ 3.57904787e-02 -2.09041608e-03 9.99357129e-01 1.54019945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:17.35, Z:15.40 [[ 9.94511947e-01 -9.82987983e-02 -3.58236559e-02 4.34673331e+02] [ 9.83114645e-02 9.95154693e-01 -1.41204283e-03 1.73466422e+01] [ 3.57888814e-02 -2.11758261e-03 9.99357129e-01 1.54030249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.71, Y:17.35, Z:15.40 [[ 9.94385635e-01 -9.95684006e-02 -3.58237818e-02 4.34706793e+02] [ 9.95820022e-02 9.95028361e-01 -1.40884198e-03 1.73453778e+01] [ 3.57859550e-02 -2.16647170e-03 9.99357129e-01 1.54042635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.74, Y:17.35, Z:15.41 [[ 9.94270855e-01 -1.00708062e-01 -3.58239330e-02 4.34739945e+02] [ 1.00722538e-01 9.94913562e-01 -1.40498790e-03 1.73454006e+01] [ 3.57832104e-02 -2.21133894e-03 9.99357129e-01 1.54051855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:17.35, Z:15.41 [[ 9.94133453e-01 -1.02055442e-01 -3.58240827e-02 4.34772882e+02] [ 1.02070927e-01 9.94776137e-01 -1.40116045e-03 1.73450921e+01] [ 3.57799386e-02 -2.26365685e-03 9.99357129e-01 1.54066340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.295099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.80, Y:17.34, Z:15.41 [[ 9.94051681e-01 -1.02848819e-01 -3.58242319e-02 4.34803781e+02] [ 1.02864954e-01 9.94694349e-01 -1.39733456e-03 1.73448575e+01] [ 3.57778752e-02 -2.29603520e-03 9.99357129e-01 1.54054638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.84, Y:17.34, Z:15.41 [[ 9.93846197e-01 -1.04817697e-01 -3.58188135e-02 4.34837715e+02] [ 1.04830118e-01 9.94488957e-01 -1.53630196e-03 1.73423610e+01] [ 3.57824461e-02 -2.22804256e-03 9.99357120e-01 1.54081318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:17.34, Z:15.41 [[ 9.93798003e-01 -1.05271707e-01 -3.58245187e-02 4.34870905e+02] [ 1.05289701e-01 9.94440621e-01 -1.38918390e-03 1.73420099e+01] [ 3.57715984e-02 -2.39138470e-03 9.99357130e-01 1.54091012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:17.34, Z:15.41 [[ 9.93801589e-01 -1.05237801e-01 -3.58246667e-02 4.34904115e+02] [ 1.05255910e-01 9.94444204e-01 -1.38535753e-03 1.73417107e+01] [ 3.57714241e-02 -2.39398739e-03 9.99357130e-01 1.54105723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:17.34, Z:15.41 [[ 9.93892996e-01 -1.04370951e-01 -3.58248133e-02 4.34937535e+02] [ 1.04388636e-01 9.94535622e-01 -1.38155541e-03 1.73403328e+01] [ 3.57732473e-02 -2.36658516e-03 9.99357130e-01 1.54127266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:17.34, Z:15.41 [[ 9.93973149e-01 -1.03604788e-01 -3.58249638e-02 4.34969453e+02] [ 1.03622118e-01 9.94615784e-01 -1.37764275e-03 1.73401152e+01] [ 3.57748048e-02 -2.34291872e-03 9.99357130e-01 1.54137876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.00, Y:17.34, Z:15.42 [[ 9.94070998e-01 -1.02661644e-01 -3.58250878e-02 4.35002516e+02] [ 1.02678481e-01 9.94713648e-01 -1.37440956e-03 1.73397875e+01] [ 3.57768029e-02 -2.31220491e-03 9.99357130e-01 1.54150134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.03, Y:17.34, Z:15.42 [[ 9.94164732e-01 -1.01749885e-01 -3.58252353e-02 4.35034800e+02] [ 1.01766270e-01 9.94807392e-01 -1.37055579e-03 1.73395372e+01] [ 3.57786628e-02 -2.28324235e-03 9.99357130e-01 1.54156941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.07, Y:17.34, Z:15.42 [[ 9.94305650e-01 -1.00363430e-01 -3.58253569e-02 4.35068363e+02] [ 1.00379034e-01 9.94948330e-01 -1.36736784e-03 1.73372375e+01] [ 3.57816128e-02 -2.23653315e-03 9.99357130e-01 1.54166300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.10, Y:17.34, Z:15.42 [[ 9.94360113e-01 -9.98223393e-02 -3.58255044e-02 4.35101769e+02] [ 9.98377327e-02 9.95002798e-01 -1.36349238e-03 1.73367443e+01] [ 3.57825841e-02 -2.22093470e-03 9.99357130e-01 1.54175970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.13, Y:17.34, Z:15.42 [[ 9.94387232e-01 -9.95517745e-02 -3.58256510e-02 4.35133857e+02] [ 9.95671317e-02 9.95029918e-01 -1.35962915e-03 1.73362121e+01] [ 3.57829481e-02 -2.21505944e-03 9.99357130e-01 1.54183738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.17, Y:17.34, Z:15.42 [[ 9.94423367e-01 -9.91901277e-02 -3.58257720e-02 4.35166559e+02] [ 9.92053658e-02 9.95066056e-01 -1.35643381e-03 1.73356095e+01] [ 3.57835545e-02 -2.20523934e-03 9.99357130e-01 1.54194339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.20, Y:17.34, Z:15.42 [[ 9.94434093e-01 -9.90824844e-02 -3.58259187e-02 4.35200058e+02] [ 9.90977923e-02 9.95076780e-01 -1.35254924e-03 1.73367843e+01] [ 3.57835537e-02 -2.20524838e-03 9.99357130e-01 1.54206351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.23, Y:17.34, Z:15.42 [[ 9.94452863e-01 -9.88938625e-02 -3.58260646e-02 4.35232287e+02] [ 9.89091876e-02 9.95095550e-01 -1.34867371e-03 1.73361432e+01] [ 3.57837330e-02 -2.20233451e-03 9.99357130e-01 1.54212888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.26, Y:17.33, Z:15.42 [[ 9.94606264e-01 -9.73389210e-02 -3.58261608e-02 4.35264001e+02] [ 9.73533332e-02 9.95248972e-01 -1.34611299e-03 1.73334773e+01] [ 3.57869789e-02 -2.14894376e-03 9.99357130e-01 1.54216931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:17.33, Z:15.42 [[ 9.94690970e-01 -9.64694513e-02 -3.58262323e-02 4.35297007e+02] [ 9.64833701e-02 9.95333689e-01 -1.34420691e-03 1.73331076e+01] [ 3.57887309e-02 -2.11956516e-03 9.99357130e-01 1.54231742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:17.33, Z:15.42 [[ 9.94789432e-01 -9.54487107e-02 -3.58263765e-02 4.35329694e+02] [ 9.54621082e-02 9.95432162e-01 -1.34035301e-03 1.73323134e+01] [ 3.57906624e-02 -2.08669242e-03 9.99357130e-01 1.54246420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:17.33, Z:15.43 [[ 9.94882045e-01 -9.44784502e-02 -3.58265197e-02 4.35363207e+02] [ 9.44913587e-02 9.95524785e-01 -1.33651282e-03 1.73317557e+01] [ 3.57924600e-02 -2.05562392e-03 9.99357130e-01 1.54261901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:17.33, Z:15.43 [[ 9.94996774e-01 -9.32623696e-02 -3.58266638e-02 4.35395212e+02] [ 9.32746316e-02 9.95639527e-01 -1.33263931e-03 1.73309305e+01] [ 3.57947277e-02 -2.01574706e-03 9.99357130e-01 1.54276292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.43, Y:17.33, Z:15.43 [[ 9.95221543e-01 -9.08323900e-02 -3.58267590e-02 4.35426201e+02] [ 9.08431744e-02 9.95864322e-01 -1.33007505e-03 1.73287509e+01] [ 3.57994050e-02 -1.93089718e-03 9.99357130e-01 1.54294721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.46, Y:17.33, Z:15.43 [[ 9.95332713e-01 -8.96059656e-02 -3.58268298e-02 4.35458190e+02] [ 8.96160264e-02 9.95975504e-01 -1.32816714e-03 1.73281795e+01] [ 3.58016565e-02 -1.88868992e-03 9.99357130e-01 1.54310306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.49, Y:17.33, Z:15.43 [[ 9.95443851e-01 -8.83627208e-02 -3.58269252e-02 4.35490786e+02] [ 8.83720713e-02 9.96086653e-01 -1.32558850e-03 1.73277858e+01] [ 3.58038546e-02 -1.84655066e-03 9.99357130e-01 1.54320401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:17.33, Z:15.43 [[ 9.95703059e-01 -8.53922926e-02 -3.58270210e-02 4.35520969e+02] [ 8.53998184e-02 9.96345884e-01 -1.32299312e-03 1.73256599e+01] [ 3.58090783e-02 -1.74231280e-03 9.99357130e-01 1.54317987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:17.33, Z:15.43 [[ 9.95722221e-01 -8.51703520e-02 -3.58227589e-02 4.35553349e+02] [ 8.51735964e-02 9.96365089e-01 -1.43827055e-03 1.73251241e+01] [ 3.58150444e-02 -1.61903527e-03 9.99357124e-01 1.54334066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:17.32, Z:15.43 [[ 9.95816285e-01 -8.40616157e-02 -3.58269635e-02 4.35585143e+02] [ 8.40682266e-02 9.96459121e-01 -1.32455070e-03 1.73242104e+01] [ 3.58114484e-02 -1.69290012e-03 9.99357130e-01 1.54342843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:17.32, Z:15.44 [[ 9.95928740e-01 -8.27186006e-02 -3.58270607e-02 4.35616331e+02] [ 8.27244392e-02 9.96571583e-01 -1.32191439e-03 1.73237071e+01] [ 3.58135775e-02 -1.64724097e-03 9.99357130e-01 1.54351343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:17.32, Z:15.44 [[ 9.96065041e-01 -8.10607464e-02 -3.58272221e-02 4.35647138e+02] [ 8.10656724e-02 9.96707891e-01 -1.31752698e-03 1.73235791e+01] [ 3.58160747e-02 -1.59201529e-03 9.99357130e-01 1.54361445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:17.32, Z:15.44 [[ 9.96313486e-01 -7.79476571e-02 -3.58273808e-02 4.35678917e+02] [ 7.79507296e-02 9.96956348e-01 -1.31319729e-03 1.73226015e+01] [ 3.58206954e-02 -1.48441431e-03 9.99357131e-01 1.54379410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:17.32, Z:15.44 [[ 9.96440733e-01 -7.63037142e-02 -3.58274756e-02 4.35709684e+02] [ 7.63058190e-02 9.97083599e-01 -1.31060684e-03 1.73227855e+01] [ 3.58229925e-02 -1.42790283e-03 9.99357131e-01 1.54393669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:17.32, Z:15.44 [[ 9.96583952e-01 -7.44097744e-02 -3.58275460e-02 4.35740850e+02] [ 7.44107266e-02 9.97226820e-01 -1.30867819e-03 1.73231214e+01] [ 3.58255682e-02 -1.36174605e-03 9.99357131e-01 1.54408180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.77, Y:17.32, Z:15.44 [[ 9.96739025e-01 -7.23028291e-02 -3.58275928e-02 4.35771516e+02] [ 7.23024684e-02 9.97381895e-01 -1.30739616e-03 1.73231606e+01] [ 3.58283208e-02 -1.28729063e-03 9.99357131e-01 1.54411680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:17.32, Z:15.44 [[ 9.97039089e-01 -6.80404906e-02 -3.58266241e-02 4.35800941e+02] [ 6.80364287e-02 9.97681946e-01 -1.33392903e-03 1.73224062e+01] [ 3.58343373e-02 -1.10753618e-03 9.99357130e-01 1.54423000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.83, Y:17.32, Z:15.44 [[ 9.97164079e-01 -6.61829588e-02 -3.58275924e-02 4.35830145e+02] [ 6.61786519e-02 9.97806934e-01 -1.30739465e-03 1.73226415e+01] [ 3.58355474e-02 -1.06733478e-03 9.99357131e-01 1.54435276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.86, Y:17.32, Z:15.44 [[ 9.97275081e-01 -6.44887645e-02 -3.58275462e-02 4.35859484e+02] [ 6.44833199e-02 9.97917927e-01 -1.30866104e-03 1.73229098e+01] [ 3.58373445e-02 -1.00518408e-03 9.99357131e-01 1.54448534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:17.32, Z:15.45 [[ 9.97351183e-01 -6.33009389e-02 -3.58274992e-02 4.35888897e+02] [ 6.32946826e-02 9.97994022e-01 -1.30994637e-03 1.73230935e+01] [ 3.58385508e-02 -9.61213626e-04 9.99357131e-01 1.54464049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:17.32, Z:15.45 [[ 9.97456267e-01 -6.16229582e-02 -3.58274522e-02 4.35917088e+02] [ 6.16155743e-02 9.98099094e-01 -1.31122953e-03 1.73220324e+01] [ 3.58401494e-02 -8.99634930e-04 9.99357131e-01 1.54476435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:17.32, Z:15.45 [[ 9.97482310e-01 -6.12000113e-02 -3.58273607e-02 4.35946818e+02] [ 6.11922652e-02 9.98125133e-01 -1.31372510e-03 1.73218238e+01] [ 3.58405891e-02 -8.81939812e-04 9.99357131e-01 1.54488397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.98, Y:17.32, Z:15.45 [[ 9.97466165e-01 -6.14626126e-02 -3.58273142e-02 4.35975916e+02] [ 6.14549903e-02 9.98108990e-01 -1.31499147e-03 1.73218366e+01] [ 3.58403872e-02 -8.90107745e-04 9.99357131e-01 1.54500865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.00, Y:17.32, Z:15.45 [[ 9.97445716e-01 -6.17937732e-02 -3.58269817e-02 4.36004500e+02] [ 6.17860413e-02 9.98088539e-01 -1.32399020e-03 1.73215688e+01] [ 3.58403141e-02 -8.92999011e-04 9.99357131e-01 1.54513259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.03, Y:17.32, Z:15.45 [[ 9.97399650e-01 -6.25331093e-02 -3.58266434e-02 4.36033004e+02] [ 6.25255276e-02 9.98042475e-01 -1.33308222e-03 1.73212405e+01] [ 3.58398736e-02 -9.10464041e-04 9.99357131e-01 1.54521441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:17.32, Z:15.45 [[ 9.97229467e-01 -6.51908650e-02 -3.58265524e-02 4.36062008e+02] [ 6.51849087e-02 9.97872309e-01 -1.33552347e-03 1.73190723e+01] [ 3.58373884e-02 -1.00352719e-03 9.99357131e-01 1.54533777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:17.32, Z:15.45 [[ 9.97137538e-01 -6.65823777e-02 -3.58262145e-02 4.36091704e+02] [ 6.65769953e-02 9.97780385e-01 -1.34452609e-03 1.73184918e+01] [ 3.58362158e-02 -1.04452428e-03 9.99357131e-01 1.54542021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.12, Y:17.32, Z:15.45 [[ 9.97105437e-01 -6.70614134e-02 -3.58261659e-02 4.36122127e+02] [ 6.70562934e-02 9.97748286e-01 -1.34581859e-03 1.73157633e+01] [ 3.58357482e-02 -1.06044686e-03 9.99357131e-01 1.54548606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:17.32, Z:15.46 [[ 9.96852164e-01 -7.07222200e-02 -3.58347653e-02 4.36150709e+02] [ 7.07276650e-02 9.97495037e-01 -1.11728479e-03 1.73171949e+01] [ 3.58240174e-02 -1.42074151e-03 9.99357104e-01 1.54558096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:17.32, Z:15.46 [[ 9.96711172e-01 -7.26866379e-02 -3.58258540e-02 4.36180034e+02] [ 7.26848791e-02 9.97354038e-01 -1.35323344e-03 1.73168965e+01] [ 3.58294221e-02 -1.25521497e-03 9.99357132e-01 1.54564722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.21, Y:17.32, Z:15.46 [[ 9.96388318e-01 -7.69859082e-02 -3.58258292e-02 4.36209878e+02] [ 7.69868993e-02 9.97031185e-01 -1.35388934e-03 1.73154283e+01] [ 3.58236993e-02 -1.40911998e-03 9.99357132e-01 1.54564943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:17.32, Z:15.46 [[ 9.96226852e-01 -7.90479094e-02 -3.58258049e-02 4.36240546e+02] [ 7.90502080e-02 9.96869716e-01 -1.35453034e-03 1.73153123e+01] [ 3.58207328e-02 -1.48261784e-03 9.99357132e-01 1.54577323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:17.31, Z:15.46 [[ 9.96082469e-01 -8.08469282e-02 -3.58258049e-02 4.36271348e+02] [ 8.08503878e-02 9.96725328e-01 -1.35453034e-03 1.73149995e+01] [ 3.58179968e-02 -1.54730630e-03 9.99357132e-01 1.54579237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:17.31, Z:15.46 [[ 9.95942385e-01 -8.25546637e-02 -3.58258849e-02 4.36302193e+02] [ 8.25593016e-02 9.96585236e-01 -1.35241096e-03 1.73147429e+01] [ 3.58151958e-02 -1.61083664e-03 9.99357132e-01 1.54591787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.33, Y:17.31, Z:15.46 [[ 9.95709330e-01 -8.53196086e-02 -3.58258849e-02 4.36332647e+02] [ 8.53260313e-02 9.96352166e-01 -1.35241096e-03 1.73132752e+01] [ 3.58105852e-02 -1.71027237e-03 9.99357132e-01 1.54594692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:17.31, Z:15.46 [[ 9.95631155e-01 -8.62270443e-02 -3.58259643e-02 4.36364303e+02] [ 8.62341285e-02 9.96273984e-01 -1.35030472e-03 1.73136691e+01] [ 3.58089090e-02 -1.74501536e-03 9.99357132e-01 1.54611182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:17.31, Z:15.46 [[ 9.95605731e-01 -8.65200858e-02 -3.58260124e-02 4.36395153e+02] [ 8.65274051e-02 9.96248558e-01 -1.34902690e-03 1.73141913e+01] [ 3.58083311e-02 -1.75683298e-03 9.99357132e-01 1.54622891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:17.31, Z:15.46 [[ 9.95597944e-01 -8.66096274e-02 -3.58260607e-02 4.36425429e+02] [ 8.66170506e-02 9.96240769e-01 -1.34774316e-03 1.73149644e+01] [ 3.58081098e-02 -1.76133739e-03 9.99357132e-01 1.54634593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.46, Y:17.32, Z:15.46 [[ 9.95744604e-01 -8.49068683e-02 -3.58260847e-02 4.36456334e+02] [ 8.49132150e-02 9.96387440e-01 -1.34710635e-03 1.73154195e+01] [ 3.58110394e-02 -1.70073415e-03 9.99357132e-01 1.54648741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.49, Y:17.32, Z:15.47 [[ 9.95886422e-01 -8.32269374e-02 -3.58261336e-02 4.36487782e+02] [ 8.32322464e-02 9.96529268e-01 -1.34580550e-03 1.73164145e+01] [ 3.58137979e-02 -1.64162015e-03 9.99357132e-01 1.54661381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.52, Y:17.32, Z:15.47 [[ 9.96066418e-01 -8.10442783e-02 -3.58261825e-02 4.36518683e+02] [ 8.10482253e-02 9.96709274e-01 -1.34450089e-03 1.73178505e+01] [ 3.58172525e-02 -1.56443632e-03 9.99357132e-01 1.54673690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.55, Y:17.32, Z:15.47 [[ 9.96387881e-01 -7.69913796e-02 -3.58262313e-02 4.36548550e+02] [ 7.69927580e-02 9.97030747e-01 -1.34320004e-03 1.73217859e+01] [ 3.58232690e-02 -1.42001212e-03 9.99357132e-01 1.54694671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:17.32, Z:15.47 [[ 9.96679449e-01 -7.31235843e-02 -3.58192403e-02 4.36578755e+02] [ 7.31157831e-02 9.97322287e-01 -1.52939882e-03 1.73219207e+01] [ 3.58351618e-02 -1.09463144e-03 9.99357115e-01 1.54711811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:17.32, Z:15.47 [[ 9.96876639e-01 -7.03807230e-02 -3.58262450e-02 4.36608169e+02] [ 7.03778629e-02 9.97519501e-01 -1.34248501e-03 1.73236923e+01] [ 3.58318631e-02 -1.18308262e-03 9.99357132e-01 1.54725338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.64, Y:17.33, Z:15.47 [[ 9.97048971e-01 -6.78957562e-02 -3.58261963e-02 4.36637857e+02] [ 6.78912472e-02 9.97691823e-01 -1.34378231e-03 1.73253910e+01] [ 3.58347402e-02 -1.09246838e-03 9.99357132e-01 1.54732330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.67, Y:17.33, Z:15.47 [[ 9.97167394e-01 -6.61337627e-02 -3.58261474e-02 4.36666422e+02] [ 6.61280709e-02 9.97810237e-01 -1.34508614e-03 1.73271467e+01] [ 3.58366522e-02 -1.02783798e-03 9.99357132e-01 1.54734011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.70, Y:17.33, Z:15.47 [[ 9.97350758e-01 -6.33084401e-02 -3.58260745e-02 4.36695120e+02] [ 6.33008575e-02 9.97993581e-01 -1.34702504e-03 1.73286526e+01] [ 3.58394704e-02 -9.24364789e-04 9.99357132e-01 1.54731184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.72, Y:17.33, Z:15.47 [[ 9.97377745e-01 -6.28820312e-02 -3.58257424e-02 4.36722642e+02] [ 6.28738588e-02 9.98020561e-01 -1.35579909e-03 1.73298883e+01] [ 3.58400830e-02 -9.00258834e-04 9.99357132e-01 1.54736144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.75, Y:17.33, Z:15.47 [[ 9.97371401e-01 -6.29827977e-02 -3.58253614e-02 4.36750682e+02] [ 6.29743314e-02 9.98014212e-01 -1.36579418e-03 1.73313568e+01] [ 3.58402414e-02 -8.93874130e-04 9.99357132e-01 1.54742518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.78, Y:17.33, Z:15.47 [[ 9.97329545e-01 -6.36423518e-02 -3.58249807e-02 4.36778108e+02] [ 6.36339548e-02 9.97972358e-01 -1.37570755e-03 1.73332424e+01] [ 3.58398937e-02 -9.07651414e-04 9.99357132e-01 1.54748808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:17.33, Z:15.48 [[ 9.97298436e-01 -6.41282155e-02 -3.58246002e-02 4.36806132e+02] [ 6.41197784e-02 9.97941248e-01 -1.38554763e-03 1.73346282e+01] [ 3.58396989e-02 -9.15260944e-04 9.99357133e-01 1.54757609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:17.34, Z:15.48 [[ 9.97236847e-01 -6.50790048e-02 -3.58244821e-02 4.36834620e+02] [ 6.50710712e-02 9.97879666e-01 -1.38859416e-03 1.73360322e+01] [ 3.58388905e-02 -9.46380166e-04 9.99357133e-01 1.54778565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.86, Y:17.34, Z:15.48 [[ 9.97206716e-01 -6.55392767e-02 -3.58241279e-02 4.36863315e+02] [ 6.55313140e-02 9.97849534e-01 -1.39767089e-03 1.73371755e+01] [ 3.58386917e-02 -9.53835381e-04 9.99357133e-01 1.54791391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:17.34, Z:15.48 [[ 9.97164774e-01 -6.61743972e-02 -3.58240526e-02 4.36891761e+02] [ 6.61667746e-02 9.97807596e-01 -1.39959887e-03 1.73384833e+01] [ 3.58381294e-02 -9.74731329e-04 9.99357133e-01 1.54810349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.92, Y:17.34, Z:15.48 [[ 9.97148092e-01 -6.64253404e-02 -3.58239780e-02 4.36919944e+02] [ 6.64178111e-02 9.97790915e-01 -1.40150614e-03 1.73409161e+01] [ 3.58379353e-02 -9.81841035e-04 9.99357133e-01 1.54835312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.95, Y:17.34, Z:15.49 [[ 9.97131211e-01 -6.66784521e-02 -3.58236269e-02 4.36948308e+02] [ 6.66707659e-02 9.97774032e-01 -1.41042458e-03 1.73428015e+01] [ 3.58379296e-02 -9.82010272e-04 9.99357133e-01 1.54853439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:17.34, Z:15.49 [[ 9.97128865e-01 -6.67135735e-02 -3.58235301e-02 4.36978419e+02] [ 6.67058219e-02 9.97771686e-01 -1.41287808e-03 1.73440198e+01] [ 3.58379622e-02 -9.80816499e-04 9.99357133e-01 1.54864257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.01, Y:17.35, Z:15.49 [[ 9.97105673e-01 -6.70593407e-02 -3.58234804e-02 4.37008015e+02] [ 6.70517667e-02 9.97748496e-01 -1.41413752e-03 1.73457240e+01] [ 3.58376548e-02 -9.91983101e-04 9.99357133e-01 1.54878103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:17.35, Z:15.49 [[ 9.97033106e-01 -6.81297875e-02 -3.58234310e-02 4.37037688e+02] [ 6.81228588e-02 9.97675936e-01 -1.41538793e-03 1.73469910e+01] [ 3.58366051e-02 -1.02920590e-03 9.99357133e-01 1.54884695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.07, Y:17.35, Z:15.49 [[ 9.96979025e-01 -6.89166752e-02 -3.58233819e-02 4.37066090e+02] [ 6.89102093e-02 9.97621860e-01 -1.41662956e-03 1.73478006e+01] [ 3.58358183e-02 -1.05624679e-03 9.99357133e-01 1.54892713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:17.35, Z:15.49 [[ 9.96976656e-01 -6.89509849e-02 -3.58233087e-02 4.37096201e+02] [ 6.89444747e-02 9.97619490e-01 -1.41847747e-03 1.73490244e+01] [ 3.58358364e-02 -1.05563028e-03 9.99357133e-01 1.54903529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.13, Y:17.35, Z:15.49 [[ 9.96915790e-01 -6.98255042e-02 -3.58232599e-02 4.37125849e+02] [ 6.98195137e-02 9.97558630e-01 -1.41970869e-03 1.73498873e+01] [ 3.58349340e-02 -1.08583258e-03 9.99357133e-01 1.54908049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.15, Y:17.35, Z:15.49 [[ 9.96864730e-01 -7.05507485e-02 -3.58232115e-02 4.37154536e+02] [ 7.05451818e-02 9.97507573e-01 -1.42093041e-03 1.73508668e+01] [ 3.58341724e-02 -1.11067956e-03 9.99357133e-01 1.54914529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.18, Y:17.35, Z:15.49 [[ 9.96803535e-01 -7.14103261e-02 -3.58228717e-02 4.37182776e+02] [ 7.14050081e-02 9.97446380e-01 -1.42944410e-03 1.73527732e+01] [ 3.58334708e-02 -1.13305752e-03 9.99357133e-01 1.54918942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.21, Y:17.35, Z:15.49 [[ 9.96811276e-01 -7.13022218e-02 -3.58227994e-02 4.37212438e+02] [ 7.12967691e-02 9.97454120e-01 -1.43125541e-03 1.73543214e+01] [ 3.58336505e-02 -1.12735832e-03 9.99357133e-01 1.54932721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.24, Y:17.36, Z:15.50 [[ 9.96826990e-01 -7.10822236e-02 -3.58227492e-02 4.37242072e+02] [ 7.10765840e-02 9.97469833e-01 -1.43250965e-03 1.73559170e+01] [ 3.58339376e-02 -1.11819436e-03 9.99357133e-01 1.54950588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.27, Y:17.36, Z:15.50 [[ 9.96934056e-01 -6.95645181e-02 -3.58226971e-02 4.37271050e+02] [ 6.95578531e-02 9.97576889e-01 -1.43381154e-03 1.73574291e+01] [ 3.58356371e-02 -1.06233435e-03 9.99357133e-01 1.54960643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.30, Y:17.36, Z:15.50 [[ 9.97004524e-01 -6.85472046e-02 -3.58226195e-02 4.37300185e+02] [ 6.85398140e-02 9.97647349e-01 -1.43574842e-03 1.73589018e+01] [ 3.58367579e-02 -1.02382801e-03 9.99357133e-01 1.54968764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.33, Y:17.36, Z:15.50 [[ 9.97082812e-01 -6.73988775e-02 -3.58225687e-02 4.37329501e+02] [ 6.73907012e-02 9.97725628e-01 -1.43701345e-03 1.73606310e+01] [ 3.58379480e-02 -9.81286617e-04 9.99357133e-01 1.54979694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.36, Y:17.36, Z:15.50 [[ 9.97171517e-01 -6.60735449e-02 -3.58225171e-02 4.37358855e+02] [ 6.60644680e-02 9.97814320e-01 -1.43830049e-03 1.73625732e+01] [ 3.58392541e-02 -9.32363245e-04 9.99357133e-01 1.54992433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.39, Y:17.36, Z:15.50 [[ 9.97308966e-01 -6.39654388e-02 -3.58224650e-02 4.37387680e+02] [ 6.39549566e-02 9.97951748e-01 -1.43959464e-03 1.73645774e+01] [ 3.58411759e-02 -8.55303557e-04 9.99357133e-01 1.54999060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.42, Y:17.37, Z:15.50 [[ 9.97336680e-01 -6.35319064e-02 -3.58223876e-02 4.37416400e+02] [ 6.35210757e-02 9.97979456e-01 -1.44151908e-03 1.73659499e+01] [ 3.58415894e-02 -8.37796741e-04 9.99357133e-01 1.55009392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.45, Y:17.37, Z:15.50 [[ 9.97336997e-01 -6.35271272e-02 -3.58220271e-02 4.37445169e+02] [ 6.35159738e-02 9.97979768e-01 -1.45042303e-03 1.73669932e+01] [ 3.58417995e-02 -8.28710381e-04 9.99357133e-01 1.55021450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.47, Y:17.37, Z:15.50 [[ 9.97312633e-01 -6.39086896e-02 -3.58216603e-02 4.37473450e+02] [ 6.38974588e-02 9.97955402e-01 -1.45942655e-03 1.73680142e+01] [ 3.58416894e-02 -8.33408523e-04 9.99357133e-01 1.55033759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.50, Y:17.37, Z:15.50 [[ 9.97273903e-01 -6.45104477e-02 -3.58212903e-02 4.37501960e+02] [ 6.44992808e-02 9.97916673e-01 -1.46845268e-03 1.73687143e+01] [ 3.58413933e-02 -8.45997927e-04 9.99357133e-01 1.55047028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.53, Y:17.37, Z:15.51 [[ 9.97240376e-01 -6.50268712e-02 -3.58209104e-02 4.37530082e+02] [ 6.50157066e-02 9.97883147e-01 -1.47766003e-03 1.73696997e+01] [ 3.58411704e-02 -8.55339556e-04 9.99357133e-01 1.55056803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.56, Y:17.37, Z:15.51 [[ 9.97152608e-01 -6.63592028e-02 -3.58208297e-02 4.37559908e+02] [ 6.63488268e-02 9.97795392e-01 -1.47961461e-03 1.73705070e+01] [ 3.58400449e-02 -9.01268459e-04 9.99357133e-01 1.55074573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.59, Y:17.37, Z:15.51 [[ 9.97091057e-01 -6.72777532e-02 -3.58207754e-02 4.37588359e+02] [ 6.72679222e-02 9.97733849e-01 -1.48092793e-03 1.73716521e+01] [ 3.58392336e-02 -9.32969143e-04 9.99357133e-01 1.55085556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.62, Y:17.37, Z:15.51 [[ 9.97026910e-01 -6.82218488e-02 -3.58206730e-02 4.37616603e+02] [ 6.82125377e-02 9.97669709e-01 -1.48340122e-03 1.73725432e+01] [ 3.58384008e-02 -9.64428074e-04 9.99357133e-01 1.55088930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.65, Y:17.37, Z:15.51 [[ 9.96902379e-01 -7.00180819e-02 -3.58205935e-02 4.37645869e+02] [ 7.00098601e-02 9.97545194e-01 -1.48531770e-03 1.73729658e+01] [ 3.58366600e-02 -1.02707799e-03 9.99357133e-01 1.55104778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.67, Y:17.37, Z:15.51 [[ 9.96840319e-01 -7.08961696e-02 -3.58205405e-02 4.37674758e+02] [ 7.08884682e-02 9.97483140e-01 -1.48659578e-03 1.73735308e+01] [ 3.58357792e-02 -1.05736463e-03 9.99357133e-01 1.55099136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.70, Y:17.37, Z:15.51 [[ 9.96758262e-01 -7.20406986e-02 -3.58204615e-02 4.37703915e+02] [ 7.20336670e-02 9.97401090e-01 -1.48849752e-03 1.73743806e+01] [ 3.58345997e-02 -1.09660699e-03 9.99357133e-01 1.55113324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.73, Y:17.38, Z:15.51 [[ 9.96707920e-01 -7.27339047e-02 -3.58204094e-02 4.37733130e+02] [ 7.27272752e-02 9.97350753e-01 -1.48974898e-03 1.73750876e+01] [ 3.58338675e-02 -1.12027617e-03 9.99357133e-01 1.55123581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.76, Y:17.38, Z:15.51 [[ 9.96622558e-01 -7.38943763e-02 -3.58203574e-02 4.37763054e+02] [ 7.38884505e-02 9.97265398e-01 -1.49099825e-03 1.73766521e+01] [ 3.58325794e-02 -1.16074822e-03 9.99357133e-01 1.55144846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.79, Y:17.38, Z:15.51 [[ 9.96630236e-01 -7.37907771e-02 -3.58203038e-02 4.37792897e+02] [ 7.37847382e-02 9.97273075e-01 -1.49228454e-03 1.73780552e+01] [ 3.58327414e-02 -1.15573584e-03 9.99357133e-01 1.55149433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.82, Y:17.38, Z:15.52 [[ 9.96635327e-01 -7.37219996e-02 -3.58202772e-02 4.37822650e+02] [ 7.37158934e-02 9.97278165e-01 -1.49292310e-03 1.73796936e+01] [ 3.58328416e-02 -1.15262384e-03 9.99357133e-01 1.55162772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.85, Y:17.38, Z:15.52 [[ 9.96658822e-01 -7.34037057e-02 -3.58202263e-02 4.37852146e+02] [ 7.33973504e-02 9.97301658e-01 -1.49414313e-03 1.73812091e+01] [ 3.58332467e-02 -1.13995877e-03 9.99357133e-01 1.55179590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.88, Y:17.38, Z:15.52 [[ 9.96689808e-01 -7.29817848e-02 -3.58201755e-02 4.37882705e+02] [ 7.29751137e-02 9.97332641e-01 -1.49536097e-03 1.73828853e+01] [ 3.58337643e-02 -1.12357034e-03 9.99357133e-01 1.55204913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.91, Y:17.38, Z:15.52 [[ 9.96730662e-01 -7.24217025e-02 -3.58201755e-02 4.37912438e+02] [ 7.24146702e-02 9.97373490e-01 -1.49536097e-03 1.73843943e+01] [ 3.58343900e-02 -1.10343407e-03 9.99357133e-01 1.55203334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.94, Y:17.39, Z:15.52 [[ 9.96810068e-01 -7.13204425e-02 -3.58201484e-02 4.37942131e+02] [ 7.13126767e-02 9.97452888e-01 -1.49600923e-03 1.73857801e+01] [ 3.58356065e-02 -1.06319360e-03 9.99357133e-01 1.55219550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.97, Y:17.39, Z:15.52 [[ 9.96852339e-01 -7.07271820e-02 -3.58200936e-02 4.37971464e+02] [ 7.07189865e-02 9.97495154e-01 -1.49732068e-03 1.73871065e+01] [ 3.58362710e-02 -1.04055309e-03 9.99357133e-01 1.55225425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.00, Y:17.39, Z:15.52 [[ 9.96835698e-01 -7.09613497e-02 -3.58200664e-02 4.38000891e+02] [ 7.09532819e-02 9.97478515e-01 -1.49797073e-03 1.73887753e+01] [ 3.58360447e-02 -1.04832057e-03 9.99357133e-01 1.55237584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.03, Y:17.39, Z:15.53 [[ 9.96776180e-01 -7.17925735e-02 -3.58200134e-02 4.38031481e+02] [ 7.17849963e-02 9.97419003e-01 -1.49923791e-03 1.73897836e+01] [ 3.58351961e-02 -1.07693489e-03 9.99357133e-01 1.55250409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.06, Y:17.39, Z:15.53 [[ 9.96720277e-01 -7.25645666e-02 -3.58200134e-02 4.38059755e+02] [ 7.25574872e-02 9.97363105e-01 -1.49923791e-03 1.73906075e+01] [ 3.58343513e-02 -1.10468934e-03 9.99357133e-01 1.55250170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.09, Y:17.39, Z:15.53 [[ 9.96633542e-01 -7.37462916e-02 -3.58199322e-02 4.38089069e+02] [ 7.37399049e-02 9.97276377e-01 -1.50117464e-03 1.73916799e+01] [ 3.58330783e-02 -1.14523739e-03 9.99357133e-01 1.55259317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.12, Y:17.39, Z:15.53 [[ 9.96478145e-01 -7.58171632e-02 -3.58198776e-02 4.38119369e+02] [ 7.58120656e-02 9.97120992e-01 -1.50247518e-03 1.73922188e+01] [ 3.58306653e-02 -1.21839523e-03 9.99357133e-01 1.55262925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.15, Y:17.39, Z:15.53 [[ 9.96393918e-01 -7.69161612e-02 -3.58198776e-02 4.38150207e+02] [ 7.69117726e-02 9.97036771e-01 -1.50247518e-03 1.73932128e+01] [ 3.58292997e-02 -1.25791315e-03 9.99357133e-01 1.55278208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.18, Y:17.39, Z:15.53 [[ 9.96353757e-01 -7.74346614e-02 -3.58198776e-02 4.38180874e+02] [ 7.74306074e-02 9.96996612e-01 -1.50247518e-03 1.73940500e+01] [ 3.58286403e-02 -1.27655809e-03 9.99357133e-01 1.55291318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.21, Y:17.39, Z:15.53 [[ 9.96347834e-01 -7.75107990e-02 -3.58199672e-02 4.38211268e+02] [ 7.75068708e-02 9.96990689e-01 -1.50033818e-03 1.73949506e+01] [ 3.58284661e-02 -1.28143487e-03 9.99357133e-01 1.55303555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.24, Y:17.40, Z:15.53 [[ 9.96345294e-01 -7.75434298e-02 -3.58199941e-02 4.38242138e+02] [ 7.75395458e-02 9.96988149e-01 -1.49969422e-03 1.73961984e+01] [ 3.58284011e-02 -1.28325280e-03 9.99357133e-01 1.55320051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.27, Y:17.40, Z:15.53 [[ 9.96435614e-01 -7.63740433e-02 -3.58199941e-02 4.38272104e+02] [ 7.63694048e-02 9.97078465e-01 -1.49969422e-03 1.73977965e+01] [ 3.58298824e-02 -1.24120290e-03 9.99357133e-01 1.55324985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.30, Y:17.40, Z:15.53 [[ 9.96471647e-01 -7.59024224e-02 -3.58200823e-02 4.38302801e+02] [ 7.58975555e-02 9.97114496e-01 -1.49758382e-03 1.73992650e+01] [ 3.58303936e-02 -1.22635687e-03 9.99357133e-01 1.55340429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.33, Y:17.40, Z:15.54 [[ 9.96491255e-01 -7.56445615e-02 -3.58200823e-02 4.38333303e+02] [ 7.56395282e-02 9.97134103e-01 -1.49758382e-03 1.74005764e+01] [ 3.58307097e-02 -1.21708494e-03 9.99357133e-01 1.55354438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.36, Y:17.40, Z:15.54 [[ 9.96525486e-01 -7.51922676e-02 -3.58200823e-02 4.38362607e+02] [ 7.51869425e-02 9.97168331e-01 -1.49758382e-03 1.74013045e+01] [ 3.58312585e-02 -1.20082202e-03 9.99357133e-01 1.55368853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.39, Y:17.40, Z:15.54 [[ 9.96451117e-01 -7.61725658e-02 -3.58177685e-02 4.38391844e+02] [ 7.61658884e-02 9.97093950e-01 -1.55286228e-03 1.74025844e+01] [ 3.58319658e-02 -1.18074081e-03 9.99357131e-01 1.55383579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.42, Y:17.40, Z:15.54 [[ 9.96405498e-01 -7.67660569e-02 -3.58197603e-02 4.38422287e+02] [ 7.67614639e-02 9.97048350e-01 -1.50547217e-03 1.74038507e+01] [ 3.58296021e-02 -1.24951649e-03 9.99357133e-01 1.55397185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.45, Y:17.41, Z:15.54 [[ 9.96356496e-01 -7.73994742e-02 -3.58197603e-02 4.38452493e+02] [ 7.73952899e-02 9.96999349e-01 -1.50547217e-03 1.74050971e+01] [ 3.58288005e-02 -1.27229376e-03 9.99357133e-01 1.55405632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.48, Y:17.41, Z:15.54 [[ 9.96315757e-01 -7.79221252e-02 -3.58197603e-02 4.38483275e+02] [ 7.79182781e-02 9.96958613e-01 -1.50547217e-03 1.74065230e+01] [ 3.58281282e-02 -1.29108840e-03 9.99357133e-01 1.55414663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.51, Y:17.41, Z:15.54 [[ 9.96221915e-01 -7.91128353e-02 -3.58197603e-02 4.38514012e+02] [ 7.91097565e-02 9.96864775e-01 -1.50547217e-03 1.74085907e+01] [ 3.58265595e-02 -1.33390815e-03 9.99357133e-01 1.55422012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.54, Y:17.41, Z:15.54 [[ 9.96192130e-01 -7.94870069e-02 -3.58197603e-02 4.38544283e+02] [ 7.94841695e-02 9.96834992e-01 -1.50547217e-03 1.74101132e+01] [ 3.58260560e-02 -1.34736437e-03 9.99357133e-01 1.55427646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.58, Y:17.41, Z:15.54 [[ 9.96189619e-01 -7.95184665e-02 -3.58197870e-02 4.38575043e+02] [ 7.95156722e-02 9.96832480e-01 -1.50483634e-03 1.74117488e+01] [ 3.58259894e-02 -1.34913211e-03 9.99357133e-01 1.55436055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.61, Y:17.41, Z:15.54 [[ 9.96160383e-01 -7.98838705e-02 -3.58198135e-02 4.38605616e+02] [ 7.98813347e-02 9.96803245e-01 -1.50420589e-03 1.74136229e+01] [ 3.58254681e-02 -1.36290420e-03 9.99357133e-01 1.55446477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.64, Y:17.42, Z:15.55 [[ 9.96208528e-01 -7.92804717e-02 -3.58214510e-02 4.38636328e+02] [ 7.92789425e-02 9.96851394e-01 -1.46532802e-03 1.74163253e+01] [ 3.58248353e-02 -1.38011449e-03 9.99357132e-01 1.55468492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.67, Y:17.42, Z:15.55 [[ 9.96217320e-01 -7.91707962e-02 -3.58194938e-02 4.38667200e+02] [ 7.91675311e-02 9.96860179e-01 -1.51170340e-03 1.74183983e+01] [ 3.58267098e-02 -1.32975578e-03 9.99357133e-01 1.55478451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.70, Y:17.42, Z:15.55 [[ 9.96241061e-01 -7.88714649e-02 -3.58195488e-02 4.38697875e+02] [ 7.88680535e-02 9.96883919e-01 -1.51039917e-03 1.74203015e+01] [ 3.58270596e-02 -1.32029642e-03 9.99357133e-01 1.55484520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.73, Y:17.42, Z:15.55 [[ 9.96240717e-01 -7.88757958e-02 -3.58195761e-02 4.38728901e+02] [ 7.88724103e-02 9.96883576e-01 -1.50975282e-03 1.74223583e+01] [ 3.58270300e-02 -1.32109906e-03 9.99357133e-01 1.55490761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.76, Y:17.42, Z:15.55 [[ 9.96459423e-01 -7.60629509e-02 -3.58196298e-02 4.38761415e+02] [ 7.60577964e-02 9.97102270e-01 -1.50847737e-03 1.74215910e+01] [ 3.58305734e-02 -1.22122561e-03 9.99357133e-01 1.55466146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.79, Y:17.43, Z:15.55 [[ 9.96193316e-01 -7.94654127e-02 -3.58346894e-02 4.38788861e+02] [ 7.94753167e-02 9.96836171e-01 -1.15023815e-03 1.74261545e+01] [ 3.58127187e-02 -1.70211373e-03 9.99357069e-01 1.55502785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.82, Y:17.43, Z:15.55 [[ 9.96205564e-01 -7.93187516e-02 -3.58191275e-02 4.38818865e+02] [ 7.93153702e-02 9.96848418e-01 -1.51759546e-03 1.74282370e+01] [ 3.58266144e-02 -1.32917032e-03 9.99357137e-01 1.55510747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.85, Y:17.43, Z:15.55 [[ 9.96239397e-01 -7.88926613e-02 -3.58191547e-02 4.38849938e+02] [ 7.88890280e-02 9.96882250e-01 -1.51695415e-03 1.74310525e+01] [ 3.58271561e-02 -1.31448881e-03 9.99357137e-01 1.55530424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.88, Y:17.43, Z:15.55 [[ 9.96288934e-01 -7.82645728e-02 -3.58192100e-02 4.38880126e+02] [ 7.82605812e-02 9.96931785e-01 -1.51564672e-03 1.74332388e+01] [ 3.58279304e-02 -1.29321014e-03 9.99357137e-01 1.55539331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.91, Y:17.44, Z:15.56 [[ 9.96339256e-01 -7.76213221e-02 -3.58192375e-02 4.38911480e+02] [ 7.76169387e-02 9.96982104e-01 -1.51499804e-03 1.74355394e+01] [ 3.58287349e-02 -1.27072753e-03 9.99357137e-01 1.55558670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.94, Y:17.44, Z:15.56 [[ 9.96462862e-01 -7.60180439e-02 -3.58192930e-02 4.38942920e+02] [ 7.60126734e-02 9.97105703e-01 -1.51368329e-03 1.74389210e+01] [ 3.58306886e-02 -1.21439104e-03 9.99357137e-01 1.55571808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.97, Y:17.44, Z:15.56 [[ 9.96516447e-01 -7.53123153e-02 -3.58193484e-02 4.38973696e+02] [ 7.53065366e-02 9.97159284e-01 -1.51237177e-03 1.74413077e+01] [ 3.58314960e-02 -1.19032772e-03 9.99357137e-01 1.55583977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.01, Y:17.44, Z:15.56 [[ 9.96519199e-01 -7.52758675e-02 -3.58194036e-02 4.39005494e+02] [ 7.52701123e-02 9.97162036e-01 -1.51106209e-03 1.74426208e+01] [ 3.58314960e-02 -1.19032815e-03 9.99357137e-01 1.55595390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.04, Y:17.44, Z:15.56 [[ 9.96555457e-01 -7.47943054e-02 -3.58194588e-02 4.39035268e+02] [ 7.47882866e-02 9.97198292e-01 -1.50975283e-03 1.74449360e+01] [ 3.58320241e-02 -1.17432353e-03 9.99357137e-01 1.55605887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.07, Y:17.45, Z:15.56 [[ 9.96595842e-01 -7.42542063e-02 -3.58195498e-02 4.39066741e+02] [ 7.42479167e-02 9.97238675e-01 -1.50759046e-03 1.74471699e+01] [ 3.58325853e-02 -1.15706857e-03 9.99357137e-01 1.55617037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.10, Y:17.45, Z:15.56 [[ 9.96661867e-01 -7.33626521e-02 -3.58196048e-02 4.39096967e+02] [ 7.33558343e-02 9.97304694e-01 -1.50628428e-03 1.74490927e+01] [ 3.58335650e-02 -1.12632089e-03 9.99357137e-01 1.55624512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.13, Y:17.45, Z:15.56 [[ 9.96793297e-01 -7.15546884e-02 -3.58196951e-02 4.39128121e+02] [ 7.15467818e-02 9.97436111e-01 -1.50413203e-03 1.74522500e+01] [ 3.58354851e-02 -1.06347519e-03 9.99357137e-01 1.55636912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.16, Y:17.45, Z:15.56 [[ 9.96903646e-01 -7.00004711e-02 -3.58197493e-02 4.39158313e+02] [ 6.99916088e-02 9.97546448e-01 -1.50284023e-03 1.74543253e+01] [ 3.58370633e-02 -1.00889498e-03 9.99357137e-01 1.55643047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.19, Y:17.46, Z:15.57 [[ 9.97002996e-01 -6.85708725e-02 -3.58198386e-02 4.39188878e+02] [ 6.85611649e-02 9.97645786e-01 -1.50071024e-03 1.74566310e+01] [ 3.58384160e-02 -9.59637253e-04 9.99357137e-01 1.55654865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.22, Y:17.46, Z:15.57 [[ 9.97276890e-01 -6.44650548e-02 -3.58198386e-02 4.39219533e+02] [ 6.44527005e-02 9.97919635e-01 -1.50071024e-03 1.74604353e+01] [ 3.58420636e-02 -8.12061687e-04 9.99357137e-01 1.55668392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.25, Y:17.46, Z:15.57 [[ 9.97274586e-01 -6.45006970e-02 -3.58198386e-02 4.39249640e+02] [ 6.44883657e-02 9.97917331e-01 -1.50071024e-03 1.74617253e+01] [ 3.58420346e-02 -8.13342665e-04 9.99357137e-01 1.55679202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.28, Y:17.47, Z:15.57 [[ 9.97540397e-01 -6.02503012e-02 -3.58197849e-02 4.39279169e+02] [ 6.02351850e-02 9.98183083e-01 -1.50199125e-03 1.74653236e+01] [ 3.58451987e-02 -6.59314424e-04 9.99357137e-01 1.55693216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.31, Y:17.47, Z:15.57 [[ 9.97681862e-01 -5.78606045e-02 -3.58197312e-02 4.39307768e+02] [ 5.78439030e-02 9.98324508e-01 -1.50326930e-03 1.74673937e+01] [ 3.58466956e-02 -5.72168545e-04 9.99357137e-01 1.55700081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.34, Y:17.47, Z:15.57 [[ 9.97800259e-01 -5.57816824e-02 -3.58196515e-02 4.39336185e+02] [ 5.57635737e-02 9.98442867e-01 -1.50516764e-03 1.74693135e+01] [ 3.58478363e-02 -4.95575115e-04 9.99357137e-01 1.55712576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.36, Y:17.47, Z:15.57 [[ 9.97908018e-01 -5.38197592e-02 -3.58192731e-02 4.39363782e+02] [ 5.38000659e-02 9.98550580e-01 -1.51411742e-03 1.74713509e+01] [ 3.58488454e-02 -4.16129337e-04 9.99357137e-01 1.55717931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.39, Y:17.47, Z:15.57 [[ 9.98056118e-01 -5.09997577e-02 -3.58191392e-02 4.39391621e+02] [ 5.09781353e-02 9.98698617e-01 -1.51728007e-03 1.74734176e+01] [ 3.58499057e-02 -3.11662271e-04 9.99357137e-01 1.55728579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.42, Y:17.47, Z:15.57 [[ 9.98079879e-01 -5.05329143e-02 -3.58187116e-02 4.39419104e+02] [ 5.05106315e-02 9.98722356e-01 -1.52730846e-03 1.74747472e+01] [ 3.58501273e-02 -2.84849902e-04 9.99357137e-01 1.55739362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.45, Y:17.48, Z:15.57 [[ 9.98085206e-01 -5.04278927e-02 -3.58182750e-02 4.39445681e+02] [ 5.04051773e-02 9.98727668e-01 -1.53748009e-03 1.74758328e+01] [ 3.58502341e-02 -2.70890363e-04 9.99357137e-01 1.55744342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.47, Y:17.48, Z:15.58 [[ 9.98031009e-01 -5.14895104e-02 -3.58180852e-02 4.39473109e+02] [ 5.14673202e-02 9.98673489e-01 -1.54188773e-03 1.74761203e+01] [ 3.58499632e-02 -3.04609096e-04 9.99357137e-01 1.55754655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.50, Y:17.48, Z:15.58 [[ 9.97963256e-01 -5.27867062e-02 -3.58176482e-02 4.39501177e+02] [ 5.27649891e-02 9.98605752e-01 -1.55197467e-03 1.74770796e+01] [ 3.58496331e-02 -3.41104121e-04 9.99357137e-01 1.55762542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.53, Y:17.48, Z:15.58 [[ 9.97880164e-01 -5.43351159e-02 -3.58172107e-02 4.39528699e+02] [ 5.43140358e-02 9.98522682e-01 -1.56200510e-03 1.74781200e+01] [ 3.58491690e-02 -3.86683361e-04 9.99357137e-01 1.55775402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.56, Y:17.48, Z:15.58 [[ 9.97762989e-01 -5.64462358e-02 -3.58167611e-02 4.39556489e+02] [ 5.64261475e-02 9.98405538e-01 -1.57224825e-03 1.74790293e+01] [ 3.58484001e-02 -4.52270730e-04 9.99357137e-01 1.55782971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.58, Y:17.48, Z:15.58 [[ 9.97544962e-01 -6.01767475e-02 -3.58163065e-02 4.39584650e+02] [ 6.01586926e-02 9.98187571e-01 -1.58253715e-03 1.74794163e+01] [ 3.58466239e-02 -5.76010215e-04 9.99357137e-01 1.55786082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.61, Y:17.48, Z:15.58 [[ 9.97444085e-01 -6.18264134e-02 -3.58160940e-02 4.39612818e+02] [ 6.18092493e-02 9.98086718e-01 -1.58733049e-03 1.74801247e+01] [ 3.58457067e-02 -6.30492474e-04 9.99357137e-01 1.55792783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.64, Y:17.48, Z:15.58 [[ 9.97329786e-01 -6.36436277e-02 -3.58160106e-02 4.39642257e+02] [ 6.36275670e-02 9.97972448e-01 -1.58921011e-03 1.74811897e+01] [ 3.58445349e-02 -6.93919036e-04 9.99357137e-01 1.55810661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.67, Y:17.48, Z:15.58 [[ 9.97243391e-01 -6.49833617e-02 -3.58159534e-02 4.39672109e+02] [ 6.49681180e-02 9.97886073e-01 -1.59049991e-03 1.74821090e+01] [ 3.58435971e-02 -7.40779557e-04 9.99357137e-01 1.55824597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.70, Y:17.48, Z:15.58 [[ 9.97154858e-01 -6.63280484e-02 -3.58158964e-02 4.39702670e+02] [ 6.63136254e-02 9.97797559e-01 -1.59178132e-03 1.74831907e+01] [ 3.58425938e-02 -7.87829460e-04 9.99357137e-01 1.55843374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.73, Y:17.48, Z:15.59 [[ 9.96978218e-01 -6.89322394e-02 -3.58158964e-02 4.39733127e+02] [ 6.89194951e-02 9.97620955e-01 -1.59178132e-03 1.74841224e+01] [ 3.58404138e-02 -8.81442193e-04 9.99357137e-01 1.55863257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.76, Y:17.49, Z:15.59 [[ 9.96910741e-01 -6.99013245e-02 -3.58158964e-02 4.39763355e+02] [ 6.98892050e-02 9.97553490e-01 -1.59178132e-03 1.74852852e+01] [ 3.58395401e-02 -9.16280629e-04 9.99357137e-01 1.55878254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.79, Y:17.49, Z:15.59 [[ 9.96827168e-01 -7.10831878e-02 -3.58158964e-02 4.39793763e+02] [ 7.10718303e-02 9.97469930e-01 -1.59178132e-03 1.74863982e+01] [ 3.58384286e-02 -9.58770446e-04 9.99357137e-01 1.55884385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.82, Y:17.49, Z:15.59 [[ 9.96713487e-01 -7.26597875e-02 -3.58159252e-02 4.39824410e+02] [ 7.26494700e-02 9.97356267e-01 -1.59113326e-03 1.74874897e+01] [ 3.58368489e-02 -1.01610401e-03 9.99357137e-01 1.55899344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.86, Y:17.49, Z:15.59 [[ 9.96525018e-01 -7.52004585e-02 -3.58159252e-02 4.39856001e+02] [ 7.51917796e-02 9.97167822e-01 -1.59113326e-03 1.74881234e+01] [ 3.58341421e-02 -1.10745906e-03 9.99357137e-01 1.55916399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.89, Y:17.49, Z:15.59 [[ 9.96431734e-01 -7.64265372e-02 -3.58159838e-02 4.39886772e+02] [ 7.64186966e-02 9.97074549e-01 -1.58981264e-03 1.74891907e+01] [ 3.58327098e-02 -1.15287104e-03 9.99357137e-01 1.55926505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.92, Y:17.49, Z:15.59 [[ 9.96345424e-01 -7.75435933e-02 -3.58160129e-02 4.39917784e+02] [ 7.75364970e-02 9.96988248e-01 -1.58915768e-03 1.74902005e+01] [ 3.58313729e-02 -1.19369820e-03 9.99357137e-01 1.55937221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.95, Y:17.49, Z:15.59 [[ 9.96260720e-01 -7.86243346e-02 -3.58160712e-02 4.39948865e+02] [ 7.86179827e-02 9.96903552e-01 -1.58784304e-03 1.74912860e+01] [ 3.58300117e-02 -1.23388161e-03 9.99357137e-01 1.55948722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.98, Y:17.49, Z:15.60 [[ 9.96124888e-01 -8.03269041e-02 -3.58161291e-02 4.39980624e+02] [ 8.03216979e-02 9.96767730e-01 -1.58653573e-03 1.74921044e+01] [ 3.58278032e-02 -1.29642458e-03 9.99357137e-01 1.55966447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.01, Y:17.49, Z:15.60 [[ 9.96099515e-01 -8.06409114e-02 -3.58161875e-02 4.40012094e+02] [ 8.06359552e-02 9.96742359e-01 -1.58521510e-03 1.74932599e+01] [ 3.58273444e-02 -1.30904050e-03 9.99357137e-01 1.55979724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.04, Y:17.49, Z:15.60 [[ 9.96084346e-01 -8.08279805e-02 -3.58163836e-02 4.40043847e+02] [ 8.08233045e-02 9.96727192e-01 -1.58077262e-03 1.74945470e+01] [ 3.58269341e-02 -1.32021561e-03 9.99357137e-01 1.55994755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.08, Y:17.50, Z:15.60 [[ 9.96125238e-01 -8.03224018e-02 -3.58164997e-02 4.40076252e+02] [ 8.03174942e-02 9.96768082e-01 -1.57813709e-03 1.74963350e+01] [ 3.58275035e-02 -1.30466933e-03 9.99357137e-01 1.56003022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.11, Y:17.50, Z:15.60 [[ 9.96173583e-01 -7.97205251e-02 -3.58166152e-02 4.40107958e+02] [ 7.97153233e-02 9.96816425e-01 -1.57551260e-03 1.74980498e+01] [ 3.58281910e-02 -1.28564903e-03 9.99357137e-01 1.56010807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.14, Y:17.50, Z:15.60 [[ 9.96238640e-01 -7.89033166e-02 -3.58167313e-02 4.40139065e+02] [ 7.88976825e-02 9.96881478e-01 -1.57286704e-03 1.74998381e+01] [ 3.58291405e-02 -1.25890618e-03 9.99357137e-01 1.56016693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.17, Y:17.50, Z:15.60 [[ 9.96317614e-01 -7.78997305e-02 -3.58168177e-02 4.40170168e+02] [ 7.78935196e-02 9.96960447e-01 -1.57089745e-03 1.75013716e+01] [ 3.58303231e-02 -1.22478519e-03 9.99357137e-01 1.56025393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.20, Y:17.50, Z:15.60 [[ 9.96489781e-01 -7.56654968e-02 -3.58168741e-02 4.40201652e+02] [ 7.56578907e-02 9.97132599e-01 -1.56961053e-03 1.75034093e+01] [ 3.58329381e-02 -1.14572830e-03 9.99357137e-01 1.56034165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.23, Y:17.51, Z:15.60 [[ 9.96580178e-01 -7.44653964e-02 -3.58169583e-02 4.40233009e+02] [ 7.44570852e-02 9.97222987e-01 -1.56768772e-03 1.75054614e+01] [ 3.58342326e-02 -1.10449981e-03 9.99357137e-01 1.56049724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.26, Y:17.51, Z:15.61 [[ 9.96696404e-01 -7.28932081e-02 -3.58170135e-02 4.40263076e+02] [ 7.28839282e-02 9.97339200e-01 -1.56642608e-03 1.75075247e+01] [ 3.58358934e-02 -1.04923339e-03 9.99357137e-01 1.56063211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.29, Y:17.51, Z:15.61 [[ 9.96987131e-01 -6.88025860e-02 -3.58171046e-02 4.40294119e+02] [ 6.87907433e-02 9.97629885e-01 -1.56434001e-03 1.75106238e+01] [ 3.58398445e-02 -9.04258389e-04 9.99357137e-01 1.56093258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.32, Y:17.51, Z:15.61 [[ 9.97051028e-01 -6.78705743e-02 -3.58166656e-02 4.40324460e+02] [ 6.78577693e-02 9.97693763e-01 -1.57440888e-03 1.75132344e+01] [ 3.58409199e-02 -8.60673041e-04 9.99357137e-01 1.56108163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.35, Y:17.52, Z:15.61 [[ 9.97135558e-01 -6.66168761e-02 -3.58171985e-02 4.40354393e+02] [ 6.66037016e-02 9.97778285e-01 -1.56218873e-03 1.75154411e+01] [ 3.58416911e-02 -8.27844077e-04 9.99357137e-01 1.56129005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.38, Y:17.52, Z:15.61 [[ 9.97216207e-01 -6.53985134e-02 -3.58171985e-02 4.40383668e+02] [ 6.53845537e-02 9.97858918e-01 -1.56218873e-03 1.75177438e+01] [ 3.58426758e-02 -7.84051625e-04 9.99357137e-01 1.56142088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.41, Y:17.52, Z:15.62 [[ 9.97227945e-01 -6.52228782e-02 -3.58106325e-02 4.40413402e+02] [ 6.52034222e-02 9.97870524e-01 -1.71213995e-03 1.75187063e+01] [ 3.58460453e-02 -6.27581987e-04 9.99357127e-01 1.56164265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.44, Y:17.52, Z:15.62 [[ 9.97188214e-01 -6.58240621e-02 -3.58170067e-02 4.40442439e+02] [ 6.58102257e-02 9.97830928e-01 -1.56639555e-03 1.75195172e+01] [ 3.58424236e-02 -7.95134113e-04 9.99357138e-01 1.56173874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.47, Y:17.52, Z:15.62 [[ 9.97106365e-01 -6.70525165e-02 -3.58169803e-02 4.40472652e+02] [ 6.70394502e-02 9.97749095e-01 -1.56699922e-03 1.75204433e+01] [ 3.58414309e-02 -8.38685767e-04 9.99357138e-01 1.56192041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.50, Y:17.52, Z:15.62 [[ 9.96993714e-01 -6.87071879e-02 -3.58169803e-02 4.40501689e+02] [ 6.86951883e-02 9.97636465e-01 -1.56699922e-03 1.75212286e+01] [ 3.58399897e-02 -8.98165830e-04 9.99357138e-01 1.56195986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.53, Y:17.52, Z:15.62 [[ 9.96696211e-01 -7.28958768e-02 -3.58169522e-02 4.40531712e+02] [ 7.28865549e-02 9.97339006e-01 -1.56764182e-03 1.75216644e+01] [ 3.58359181e-02 -1.04811159e-03 9.99357138e-01 1.56197619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.56, Y:17.52, Z:15.62 [[ 9.96541904e-01 -7.49758599e-02 -3.58169522e-02 4.40562934e+02] [ 7.49678796e-02 9.97184717e-01 -1.56764182e-03 1.75225251e+01] [ 3.58336526e-02 -1.12290019e-03 9.99357138e-01 1.56213398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.59, Y:17.52, Z:15.62 [[ 9.96405876e-01 -7.67624390e-02 -3.58170076e-02 4.40594119e+02] [ 7.67556567e-02 9.97048703e-01 -1.56637520e-03 1.75234176e+01] [ 3.58315397e-02 -1.18841248e-03 9.99357138e-01 1.56222610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.63, Y:17.52, Z:15.62 [[ 9.96297202e-01 -7.81602451e-02 -3.58170640e-02 4.40625056e+02] [ 7.81544110e-02 9.96940038e-01 -1.56508405e-03 1.75242031e+01] [ 3.58297925e-02 -1.23997268e-03 9.99357138e-01 1.56231525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.66, Y:17.52, Z:15.62 [[ 9.96130812e-01 -8.02529643e-02 -3.58171482e-02 4.40656068e+02] [ 8.02485498e-02 9.96773659e-01 -1.56315494e-03 1.75249475e+01] [ 3.58270377e-02 -1.31716740e-03 9.99357138e-01 1.56248183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.69, Y:17.53, Z:15.63 [[ 9.96087975e-01 -8.07828873e-02 -3.58172040e-02 4.40686995e+02] [ 8.07788608e-02 9.96730824e-01 -1.56187569e-03 1.75264815e+01] [ 3.58262841e-02 -1.33750734e-03 9.99357138e-01 1.56262245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.72, Y:17.53, Z:15.63 [[ 9.96095396e-01 -8.06912830e-02 -3.58172873e-02 4.40718760e+02] [ 8.06872661e-02 9.96738246e-01 -1.55996152e-03 1.75278828e+01] [ 3.58263355e-02 -1.33612851e-03 9.99357138e-01 1.56277757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.75, Y:17.53, Z:15.63 [[ 9.96101004e-01 -8.06219780e-02 -3.58173972e-02 4.40751219e+02] [ 8.06180071e-02 9.96743854e-01 -1.55743561e-03 1.75296361e+01] [ 3.58263341e-02 -1.33616400e-03 9.99357138e-01 1.56294062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.78, Y:17.53, Z:15.63 [[ 9.96173599e-01 -7.97199212e-02 -3.58175080e-02 4.40783676e+02] [ 7.97154599e-02 9.96816446e-01 -1.55488248e-03 1.75315249e+01] [ 3.58274362e-02 -1.30627625e-03 9.99357138e-01 1.56307449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.82, Y:17.53, Z:15.63 [[ 9.96233802e-01 -7.89639728e-02 -3.58176214e-02 4.40816032e+02] [ 7.89591175e-02 9.96876646e-01 -1.55226636e-03 1.75329685e+01] [ 3.58283234e-02 -1.28170756e-03 9.99357138e-01 1.56318023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.85, Y:17.53, Z:15.63 [[ 9.96279131e-01 -7.83899376e-02 -3.58177353e-02 4.40848625e+02] [ 7.83848065e-02 9.96921973e-01 -1.54963300e-03 1.75346091e+01] [ 3.58289630e-02 -1.26369923e-03 9.99357138e-01 1.56328261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.88, Y:17.54, Z:15.63 [[ 9.96303965e-01 -7.80736292e-02 -3.58178493e-02 4.40879606e+02] [ 7.80683888e-02 9.96946806e-01 -1.54699336e-03 1.75360377e+01] [ 3.58292699e-02 -1.25496617e-03 9.99357138e-01 1.56333546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.91, Y:17.54, Z:15.63 [[ 9.96306690e-01 -7.80388031e-02 -3.58179341e-02 4.40911401e+02] [ 7.80336108e-02 9.96949532e-01 -1.54502837e-03 1.75373783e+01] [ 3.58292448e-02 -1.25568062e-03 9.99357138e-01 1.56344957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.94, Y:17.54, Z:15.64 [[ 9.96317754e-01 -7.78974030e-02 -3.58179880e-02 4.40942529e+02] [ 7.78921643e-02 9.96960595e-01 -1.54377808e-03 1.75386213e+01] [ 3.58293789e-02 -1.25184710e-03 9.99357138e-01 1.56354332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.98, Y:17.54, Z:15.64 [[ 9.96235666e-01 -7.89402650e-02 -3.58180417e-02 4.40975026e+02] [ 7.89357440e-02 9.96878513e-01 -1.54253047e-03 1.75400891e+01] [ 3.58280039e-02 -1.29059990e-03 9.99357138e-01 1.56378168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.01, Y:17.54, Z:15.64 [[ 9.96177711e-01 -7.96682324e-02 -3.58181550e-02 4.41007340e+02] [ 7.96642759e-02 9.96820562e-01 -1.53989481e-03 1.75416193e+01] [ 3.58269541e-02 -1.31941850e-03 9.99357138e-01 1.56392861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.04, Y:17.54, Z:15.64 [[ 9.96021121e-01 -8.16025574e-02 -3.58182683e-02 4.41039737e+02] [ 8.15999439e-02 9.96663978e-01 -1.53725628e-03 1.75429088e+01] [ 3.58242218e-02 -1.39162896e-03 9.99357138e-01 1.56400932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.07, Y:17.54, Z:15.64 [[ 9.95934215e-01 -8.26564154e-02 -3.58183810e-02 4.41070794e+02] [ 8.26545766e-02 9.96577075e-01 -1.53462401e-03 1.75438118e+01] [ 3.58226239e-02 -1.43216856e-03 9.99357138e-01 1.56408934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.10, Y:17.55, Z:15.64 [[ 9.95839141e-01 -8.37940471e-02 -3.58184651e-02 4.41102247e+02] [ 8.37930133e-02 9.96482003e-01 -1.53266067e-03 1.75450630e+01] [ 3.58208836e-02 -1.47505363e-03 9.99357138e-01 1.56411649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.14, Y:17.54, Z:15.64 [[ 9.95910512e-01 -8.29414512e-02 -3.58185479e-02 4.41136137e+02] [ 8.29399365e-02 9.96553372e-01 -1.53072189e-03 1.75443728e+01] [ 3.58220550e-02 -1.44632607e-03 9.99357138e-01 1.56404141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.17, Y:17.55, Z:15.64 [[ 9.95647344e-01 -8.60391315e-02 -3.58278286e-02 4.41165449e+02] [ 8.60474345e-02 9.96290176e-01 -1.31299795e-03 1.75482785e+01] [ 3.58078829e-02 -1.77560981e-03 9.99357115e-01 1.56435521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.20, Y:17.55, Z:15.64 [[ 9.95546262e-01 -8.72047409e-02 -3.58186164e-02 4.41197077e+02] [ 8.72060460e-02 9.96189123e-01 -1.52884695e-03 1.75509517e+01] [ 3.58154387e-02 -1.60156204e-03 9.99357138e-01 1.56446756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.23, Y:17.55, Z:15.65 [[ 9.95528556e-01 -8.74065977e-02 -3.58187268e-02 4.41228862e+02] [ 8.74081262e-02 9.96171416e-01 -1.52625604e-03 1.75530973e+01] [ 3.58149966e-02 -1.61141632e-03 9.99357138e-01 1.56460768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.26, Y:17.56, Z:15.65 [[ 9.95534441e-01 -8.73394953e-02 -3.58188366e-02 4.41261142e+02] [ 8.73410731e-02 9.96177301e-01 -1.52367443e-03 1.75552297e+01] [ 3.58149889e-02 -1.61158525e-03 9.99357138e-01 1.56480108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.29, Y:17.56, Z:15.65 [[ 9.95604529e-01 -8.65368410e-02 -3.58189479e-02 4.41292703e+02] [ 8.65379946e-02 9.96247390e-01 -1.52105456e-03 1.75583453e+01] [ 3.58161606e-02 -1.58533111e-03 9.99357138e-01 1.56499173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.32, Y:17.56, Z:15.65 [[ 9.95669506e-01 -8.57859254e-02 -3.58191320e-02 4.41324344e+02] [ 8.57867503e-02 9.96312367e-01 -1.51670494e-03 1.75606510e+01] [ 3.58171562e-02 -1.56267007e-03 9.99357138e-01 1.56515089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.36, Y:17.56, Z:15.65 [[ 9.95786265e-01 -8.44197661e-02 -3.58192437e-02 4.41355131e+02] [ 8.44198038e-02 9.96429127e-01 -1.51406406e-03 1.75630034e+01] [ 3.58191546e-02 -1.51616933e-03 9.99357138e-01 1.56522506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.39, Y:17.57, Z:15.65 [[ 9.95892707e-01 -8.31545835e-02 -3.58194299e-02 4.41387168e+02] [ 8.31539632e-02 9.96535569e-01 -1.50964549e-03 1.75655810e+01] [ 3.58208699e-02 -1.47508262e-03 9.99357138e-01 1.56538629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.42, Y:17.57, Z:15.65 [[ 9.96091008e-01 -8.07444425e-02 -3.58195394e-02 4.41418231e+02] [ 8.07423600e-02 9.96733866e-01 -1.50704345e-03 1.75692633e+01] [ 3.58242333e-02 -1.39100171e-03 9.99357138e-01 1.56547351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.45, Y:17.57, Z:15.66 [[ 9.96199295e-01 -7.93972290e-02 -3.58196208e-02 4.41449995e+02] [ 7.93943467e-02 9.96842150e-01 -1.50510543e-03 1.75713240e+01] [ 3.58260090e-02 -1.34449042e-03 9.99357138e-01 1.56563643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.48, Y:17.57, Z:15.66 [[ 9.96314601e-01 -7.79369119e-02 -3.58197303e-02 4.41481038e+02] [ 7.79331810e-02 9.96957452e-01 -1.50249391e-03 1.75730315e+01] [ 3.58278468e-02 -1.29458890e-03 9.99357138e-01 1.56565148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.51, Y:17.57, Z:15.66 [[ 9.96382591e-01 -7.70627418e-02 -3.58199113e-02 4.41512740e+02] [ 7.70586023e-02 9.97025440e-01 -1.49816834e-03 1.75749458e+01] [ 3.58288157e-02 -1.26748345e-03 9.99357138e-01 1.56582939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.54, Y:17.58, Z:15.66 [[ 9.96489121e-01 -7.56727089e-02 -3.58200195e-02 4.41544293e+02] [ 7.56677657e-02 9.97131963e-01 -1.49557594e-03 1.75772935e+01] [ 3.58304607e-02 -1.22009569e-03 9.99357138e-01 1.56590143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.58, Y:17.58, Z:15.66 [[ 9.96544709e-01 -7.49370614e-02 -3.58201001e-02 4.41576077e+02] [ 7.49317130e-02 9.97187549e-01 -1.49364403e-03 1.75792713e+01] [ 3.58312871e-02 -1.19557840e-03 9.99357138e-01 1.56611118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.61, Y:17.58, Z:15.66 [[ 9.96549391e-01 -7.48747254e-02 -3.58202093e-02 4.41607374e+02] [ 7.48694310e-02 9.97192231e-01 -1.49101928e-03 1.75811431e+01] [ 3.58312741e-02 -1.19596433e-03 9.99357138e-01 1.56614389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.64, Y:17.58, Z:15.66 [[ 9.96531389e-01 -7.51138995e-02 -3.58202906e-02 4.41639381e+02] [ 7.51088295e-02 9.97174231e-01 -1.48906424e-03 1.75830254e+01] [ 3.58309201e-02 -1.20652084e-03 9.99357138e-01 1.56627533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.67, Y:17.58, Z:15.66 [[ 9.96485645e-01 -7.57182886e-02 -3.58203984e-02 4.41671012e+02] [ 7.57137018e-02 9.97128490e-01 -1.48646603e-03 1.75843925e+01] [ 3.58300924e-02 -1.23085290e-03 9.99357138e-01 1.56630469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.70, Y:17.59, Z:15.66 [[ 9.96445604e-01 -7.62433303e-02 -3.58205654e-02 4.41703280e+02] [ 7.62392271e-02 9.97088453e-01 -1.48243102e-03 1.75857383e+01] [ 3.58292976e-02 -1.25377034e-03 9.99357138e-01 1.56638452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.74, Y:17.59, Z:15.67 [[ 9.96323384e-01 -7.78241215e-02 -3.58206692e-02 4.41735395e+02] [ 7.78211284e-02 9.96966239e-01 -1.47991945e-03 1.75873866e+01] [ 3.58271712e-02 -1.31312654e-03 9.99357138e-01 1.56656456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.77, Y:17.59, Z:15.67 [[ 9.96282603e-01 -7.83444188e-02 -3.58207748e-02 4.41767133e+02] [ 7.83418534e-02 9.96925459e-01 -1.47735777e-03 1.75887139e+01] [ 3.58263851e-02 -1.33440005e-03 9.99357138e-01 1.56674467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.80, Y:17.59, Z:15.67 [[ 9.96239611e-01 -7.88891742e-02 -3.58208816e-02 4.41799003e+02] [ 7.88870534e-02 9.96882469e-01 -1.47476421e-03 1.75901302e+01] [ 3.58255518e-02 -1.35658528e-03 9.99357138e-01 1.56692555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.83, Y:17.59, Z:15.67 [[ 9.96211554e-01 -7.92426419e-02 -3.58209884e-02 4.41830625e+02] [ 7.92408425e-02 9.96854413e-01 -1.47216457e-03 1.75914888e+01] [ 3.58249686e-02 -1.37189795e-03 9.99357138e-01 1.56702420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.86, Y:17.59, Z:15.67 [[ 9.96203562e-01 -7.93429672e-02 -3.58211653e-02 4.41862365e+02] [ 7.93413876e-02 9.96846422e-01 -1.46784842e-03 1.75928545e+01] [ 3.58246639e-02 -1.37982513e-03 9.99357138e-01 1.56721754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.89, Y:17.59, Z:15.67 [[ 9.96254480e-01 -7.87010058e-02 -3.58212716e-02 4.41894604e+02] [ 7.86991053e-02 9.96897339e-01 -1.46524876e-03 1.75941918e+01] [ 3.58254469e-02 -1.35934139e-03 9.99357138e-01 1.56737282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.93, Y:17.60, Z:15.67 [[ 9.96284531e-01 -7.83196131e-02 -3.58213776e-02 4.41927094e+02] [ 7.83175597e-02 9.96927390e-01 -1.46265378e-03 1.75954597e+01] [ 3.58258669e-02 -1.34822354e-03 9.99357138e-01 1.56749480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.96, Y:17.60, Z:15.68 [[ 9.96301272e-01 -7.81063112e-02 -3.58214844e-02 4.41958317e+02] [ 7.81042142e-02 9.96944131e-01 -1.46003231e-03 1.75967386e+01] [ 3.58260564e-02 -1.34317684e-03 9.99357138e-01 1.56759697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.99, Y:17.60, Z:15.68 [[ 9.96296375e-01 -7.81687134e-02 -3.58215640e-02 4.41989722e+02] [ 7.81667269e-02 9.96939234e-01 -1.45807699e-03 1.75980555e+01] [ 3.58258986e-02 -1.34737760e-03 9.99357138e-01 1.56770148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.02, Y:17.60, Z:15.68 [[ 9.96237570e-01 -7.89146012e-02 -3.58216428e-02 4.42022185e+02] [ 7.89131656e-02 9.96880430e-01 -1.45613885e-03 1.75990732e+01] [ 3.58248053e-02 -1.37613900e-03 9.99357138e-01 1.56789838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.05, Y:17.60, Z:15.68 [[ 9.96196023e-01 -7.94373089e-02 -3.58217490e-02 4.42053990e+02] [ 7.94363045e-02 9.96838884e-01 -1.45352131e-03 1.75996515e+01] [ 3.58239761e-02 -1.39755521e-03 9.99357138e-01 1.56802818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.09, Y:17.60, Z:15.68 [[ 9.96120345e-01 -8.03806701e-02 -3.58218555e-02 4.42085707e+02] [ 8.03803689e-02 9.96763207e-01 -1.45089360e-03 1.76002741e+01] [ 3.58225313e-02 -1.43410932e-03 9.99357138e-01 1.56814580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.12, Y:17.60, Z:15.68 [[ 9.95952949e-01 -8.24288186e-02 -3.58219609e-02 4.42117338e+02] [ 8.24299329e-02 9.96595810e-01 -1.44828667e-03 1.76002757e+01] [ 3.58193967e-02 -1.51037645e-03 9.99357138e-01 1.56817398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.15, Y:17.60, Z:15.68 [[ 9.95876200e-01 -8.33509167e-02 -3.58220394e-02 4.42149351e+02] [ 8.33526960e-02 9.96519060e-01 -1.44634234e-03 1.76011682e+01] [ 3.58178989e-02 -1.54548565e-03 9.99357138e-01 1.56832007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.18, Y:17.60, Z:15.68 [[ 9.95802364e-01 -8.42284111e-02 -3.58221442e-02 4.42181035e+02] [ 8.42308503e-02 9.96445222e-01 -1.44374040e-03 1.76021989e+01] [ 3.58164084e-02 -1.57964957e-03 9.99357138e-01 1.56841676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.21, Y:17.60, Z:15.68 [[ 9.95762407e-01 -8.46994401e-02 -3.58222483e-02 4.42212494e+02] [ 8.47022763e-02 9.96405263e-01 -1.44115280e-03 1.76032118e+01] [ 3.58155416e-02 -1.59918019e-03 9.99357138e-01 1.56844699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.24, Y:17.60, Z:15.69 [[ 9.95733269e-01 -8.50412688e-02 -3.58223257e-02 4.42244703e+02] [ 8.50443948e-02 9.96376124e-01 -1.43922605e-03 1.76040607e+01] [ 3.58149037e-02 -1.61340275e-03 9.99357138e-01 1.56858597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.28, Y:17.60, Z:15.69 [[ 9.95675986e-01 -8.57093057e-02 -3.58224323e-02 4.42276431e+02] [ 8.57129584e-02 9.96318837e-01 -1.43656883e-03 1.76044289e+01] [ 3.58136914e-02 -1.64008956e-03 9.99357138e-01 1.56859398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.31, Y:17.61, Z:15.69 [[ 9.95674090e-01 -8.57312798e-02 -3.58225377e-02 4.42307353e+02] [ 8.57350413e-02 9.96316941e-01 -1.43393512e-03 1.76052641e+01] [ 3.58135343e-02 -1.64351470e-03 9.99357138e-01 1.56865562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.34, Y:17.61, Z:15.69 [[ 9.95698450e-01 -8.54478550e-02 -3.58226156e-02 4.42339078e+02] [ 8.54515035e-02 9.96341302e-01 -1.43198807e-03 1.76060689e+01] [ 3.58139117e-02 -1.63526805e-03 9.99357138e-01 1.56881160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.37, Y:17.61, Z:15.69 [[ 9.95787859e-01 -8.43994829e-02 -3.58227190e-02 4.42370997e+02] [ 8.44025476e-02 9.96430714e-01 -1.42939439e-03 1.76074664e+01] [ 3.58154976e-02 -1.60015517e-03 9.99357138e-01 1.56900242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.40, Y:17.61, Z:15.69 [[ 9.95879081e-01 -8.33161499e-02 -3.58228216e-02 4.42403498e+02] [ 8.33186076e-02 9.96521938e-01 -1.42682066e-03 1.76088740e+01] [ 3.58171048e-02 -1.56376676e-03 9.99357138e-01 1.56916739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.43, Y:17.61, Z:15.69 [[ 9.95889289e-01 -8.31939995e-02 -3.58229238e-02 4.42433289e+02] [ 8.31964707e-02 9.96532146e-01 -1.42424965e-03 1.76123637e+01] [ 3.58171841e-02 -1.56194586e-03 9.99357138e-01 1.56928364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.47, Y:17.61, Z:15.69 [[ 9.96012543e-01 -8.17091082e-02 -3.58139082e-02 4.42465707e+02] [ 8.17024653e-02 9.96655397e-01 -1.65140889e-03 1.76138180e+01] [ 3.58290600e-02 -1.28126062e-03 9.99357112e-01 1.56949181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.50, Y:17.61, Z:15.70 [[ 9.96447307e-01 -7.62238824e-02 -3.58145749e-02 4.42498983e+02] [ 7.62143044e-02 9.97090120e-01 -1.63457559e-03 1.76130796e+01] [ 3.58349524e-02 -1.10081447e-03 9.99357116e-01 1.56963042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.53, Y:17.61, Z:15.70 [[ 9.96624468e-01 -7.38670750e-02 -3.58235392e-02 4.42530734e+02] [ 7.38641745e-02 9.97267319e-01 -1.40623433e-03 1.76143713e+01] [ 3.58295193e-02 -1.24458861e-03 9.99357142e-01 1.56971809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.56, Y:17.62, Z:15.70 [[ 9.96793849e-01 -7.15450228e-02 -3.58236391e-02 4.42562206e+02] [ 7.15407162e-02 9.97436693e-01 -1.40368423e-03 1.76157440e+01] [ 3.58322387e-02 -1.16366500e-03 9.99357142e-01 1.56982973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.59, Y:17.62, Z:15.70 [[ 9.96965728e-01 -6.91086053e-02 -3.58237135e-02 4.42593422e+02] [ 6.91027958e-02 9.97608560e-01 -1.40178264e-03 1.76172701e+01] [ 3.58349185e-02 -1.07798951e-03 9.99357142e-01 1.56995306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.62, Y:17.62, Z:15.70 [[ 9.97256081e-01 -6.47840042e-02 -3.58237634e-02 4.42624781e+02] [ 6.47754526e-02 9.97898882e-01 -1.40050651e-03 1.76186220e+01] [ 3.58392239e-02 -9.23836860e-04 9.99357142e-01 1.57004490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.65, Y:17.62, Z:15.70 [[ 9.97288089e-01 -6.42893658e-02 -3.58238129e-02 4.42653538e+02] [ 6.42805409e-02 9.97930886e-01 -1.39923952e-03 1.76223123e+01] [ 3.58396456e-02 -9.07329165e-04 9.99357142e-01 1.57018775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.68, Y:17.62, Z:15.70 [[ 9.97464107e-01 -6.15063323e-02 -3.58095724e-02 4.42684650e+02] [ 6.14826952e-02 9.98106594e-01 -1.76193721e-03 1.76211202e+01] [ 3.58501407e-02 -4.44199901e-04 9.99357078e-01 1.57030288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.71, Y:17.62, Z:15.70 [[ 9.97521344e-01 -6.05625995e-02 -3.58237369e-02 4.42714808e+02] [ 6.05513672e-02 9.98164102e-01 -1.39939535e-03 1.76220323e+01] [ 3.58427192e-02 -7.73249512e-04 9.99357144e-01 1.57046180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.74, Y:17.62, Z:15.70 [[ 9.97577089e-01 -5.96373371e-02 -3.58237369e-02 4.42744174e+02] [ 5.96255086e-02 9.98219836e-01 -1.39939535e-03 1.76227903e+01] [ 3.58434210e-02 -7.40003787e-04 9.99357144e-01 1.57049022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.77, Y:17.62, Z:15.71 [[ 9.97670482e-01 -5.80540329e-02 -3.58237113e-02 4.42774652e+02] [ 5.80411608e-02 9.98313209e-01 -1.40005057e-03 1.76232115e+01] [ 3.58445628e-02 -6.82460656e-04 9.99357144e-01 1.57063192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.80, Y:17.62, Z:15.71 [[ 9.97733084e-01 -5.69680084e-02 -3.58237113e-02 4.42803663e+02] [ 5.69544367e-02 9.98375797e-01 -1.40005057e-03 1.76238740e+01] [ 3.58452844e-02 -6.43442519e-04 9.99357144e-01 1.57066037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.83, Y:17.62, Z:15.71 [[ 9.97783989e-01 -5.60693504e-02 -3.58237176e-02 4.42832029e+02] [ 5.60552056e-02 9.98426689e-01 -1.39988867e-03 1.76248076e+01] [ 3.58458466e-02 -6.11319360e-04 9.99357144e-01 1.57070457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.86, Y:17.63, Z:15.71 [[ 9.97913617e-01 -5.37129373e-02 -3.58236429e-02 4.42861694e+02] [ 5.36972063e-02 9.98556280e-01 -1.40179752e-03 1.76257044e+01] [ 3.58472183e-02 -5.24756716e-04 9.99357144e-01 1.57082055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24509989300003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:442.89, Y:17.63, Z:15.71 [[ 9.98003290e-01 -5.20202189e-02 -3.58235928e-02 4.42889655e+02] [ 5.20033520e-02 9.98645925e-01 -1.40307637e-03 1.76267852e+01] [ 3.58480733e-02 -4.62672072e-04 9.99357144e-01 1.57088378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.275099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:442.92, Y:17.63, Z:15.71 [[ 9.97990441e-01 -5.22704181e-02 -3.58173438e-02 4.42918017e+02] [ 5.22480362e-02 9.98632918e-01 -1.56124089e-03 1.76280652e+01] [ 3.58499853e-02 -3.13282390e-04 9.99357134e-01 1.57099040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.95, Y:17.63, Z:15.71 [[ 9.98028688e-01 -5.15353372e-02 -3.58168430e-02 4.42946662e+02] [ 5.15120306e-02 9.98671134e-01 -1.57382140e-03 1.76283082e+01] [ 3.58503546e-02 -2.74279406e-04 9.99357132e-01 1.57110267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.97, Y:17.63, Z:15.71 [[ 9.98086578e-01 -5.03975616e-02 -3.58227285e-02 4.42974520e+02] [ 5.03788280e-02 9.98729163e-01 -1.42597877e-03 1.76287432e+01] [ 3.58490695e-02 -3.81456810e-04 9.99357143e-01 1.57115577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.00, Y:17.63, Z:15.71 [[ 9.98173093e-01 -4.86540511e-02 -3.58226015e-02 4.43002756e+02] [ 4.86340808e-02 9.98815640e-01 -1.42916318e-03 1.76287256e+01] [ 3.58497092e-02 -3.15647063e-04 9.99357143e-01 1.57122942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.03, Y:17.63, Z:15.71 [[ 9.98176150e-01 -4.85916038e-02 -3.58221968e-02 4.43030594e+02] [ 4.85712319e-02 9.98818684e-01 -1.43923538e-03 1.76290640e+01] [ 3.58498142e-02 -3.03317791e-04 9.99357143e-01 1.57136350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.06, Y:17.63, Z:15.72 [[ 9.98152824e-01 -4.90687260e-02 -3.58217797e-02 4.43058312e+02] [ 4.90482913e-02 9.98795356e-01 -1.44954257e-03 1.76295273e+01] [ 3.58497544e-02 -3.10132076e-04 9.99357143e-01 1.57154579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.09, Y:17.63, Z:15.72 [[ 9.98153072e-01 -4.90639878e-02 -3.58213508e-02 4.43085581e+02] [ 4.90431724e-02 9.98795592e-01 -1.46006638e-03 1.76296519e+01] [ 3.58498439e-02 -2.99422940e-04 9.99357143e-01 1.57160769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.11, Y:17.63, Z:15.72 [[ 9.98077010e-01 -5.05878082e-02 -3.58211644e-02 4.43113050e+02] [ 5.05678102e-02 9.98719556e-01 -1.46462548e-03 1.76286221e+01] [ 3.58493896e-02 -3.49588815e-04 9.99357143e-01 1.57171581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.515099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:443.14, Y:17.63, Z:15.72 [[ 9.98037093e-01 -5.13695975e-02 -3.58207365e-02 4.43139902e+02] [ 5.13497299e-02 9.98679643e-01 -1.47501535e-03 1.76286652e+01] [ 3.58492113e-02 -3.67265111e-04 9.99357143e-01 1.57163649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.17, Y:17.63, Z:15.72 [[ 9.97961989e-01 -5.28105614e-02 -3.58177893e-02 4.43168916e+02] [ 5.27890723e-02 9.98604488e-01 -1.54604846e-03 1.76289089e+01] [ 3.58494528e-02 -3.47890269e-04 9.99357141e-01 1.57194335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.20, Y:17.63, Z:15.72 [[ 9.97907359e-01 -5.38315409e-02 -3.58199355e-02 4.43196989e+02] [ 5.38125551e-02 9.98549936e-01 -1.49461459e-03 1.76291090e+01] [ 3.58484517e-02 -4.36075351e-04 9.99357143e-01 1.57202053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.22, Y:17.63, Z:15.72 [[ 9.97789294e-01 -5.59773713e-02 -3.58197991e-02 4.43224652e+02] [ 5.59596503e-02 9.98431908e-01 -1.49787537e-03 1.76282256e+01] [ 3.58474775e-02 -5.09899425e-04 9.99357143e-01 1.57219357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.25, Y:17.63, Z:15.72 [[ 9.97709139e-01 -5.73885595e-02 -3.58193669e-02 4.43253160e+02] [ 5.73713791e-02 9.98351767e-01 -1.50813958e-03 1.76285935e+01] [ 3.58468782e-02 -5.50321834e-04 9.99357143e-01 1.57233966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.28, Y:17.63, Z:15.72 [[ 9.97649307e-01 -5.84197033e-02 -3.58189819e-02 4.43282136e+02] [ 5.84028607e-02 9.98291943e-01 -1.51722965e-03 1.76289515e+01] [ 3.58464371e-02 -5.78267902e-04 9.99357143e-01 1.57243692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.31, Y:17.63, Z:15.73 [[ 9.97572796e-01 -5.97120080e-02 -3.58189001e-02 4.43311956e+02] [ 5.96959287e-02 9.98215452e-01 -1.51915836e-03 1.76292414e+01] [ 3.58456915e-02 -6.22771452e-04 9.99357143e-01 1.57258858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.34, Y:17.63, Z:15.73 [[ 9.97391700e-01 -6.26642362e-02 -3.58188445e-02 4.43340917e+02] [ 6.26500119e-02 9.98034400e-01 -1.52046864e-03 1.76280449e+01] [ 3.58437180e-02 -7.27548231e-04 9.99357143e-01 1.57255919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.37, Y:17.63, Z:15.73 [[ 9.97267064e-01 -6.46174860e-02 -3.58187616e-02 4.43370094e+02] [ 6.46044505e-02 9.97909789e-01 -1.52241769e-03 1.76280061e+01] [ 3.58422677e-02 -7.95794391e-04 9.99357143e-01 1.57283950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.40, Y:17.63, Z:15.73 [[ 9.97151952e-01 -6.63702132e-02 -3.58187058e-02 4.43400766e+02] [ 6.63582603e-02 9.97794698e-01 -1.52372980e-03 1.76272208e+01] [ 3.58408450e-02 -8.57476863e-04 9.99357143e-01 1.57295544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.43, Y:17.63, Z:15.73 [[ 9.97001816e-01 -6.85879315e-02 -3.58200407e-02 4.43429879e+02] [ 6.85785325e-02 9.97644605e-01 -1.49241810e-03 1.76276644e+01] [ 3.58380322e-02 -9.68542265e-04 9.99357142e-01 1.57307337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.46, Y:17.63, Z:15.73 [[ 9.96736351e-01 -7.23441706e-02 -3.58185276e-02 4.43460531e+02] [ 7.23359200e-02 9.97379156e-01 -1.52789078e-03 1.76269248e+01] [ 3.58351868e-02 -1.06806186e-03 9.99357143e-01 1.57318450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.49, Y:17.63, Z:15.73 [[ 9.96638300e-01 -7.36826444e-02 -3.58185276e-02 4.43491106e+02] [ 7.36752571e-02 9.97281115e-01 -1.52789078e-03 1.76271256e+01] [ 3.58337201e-02 -1.11618476e-03 9.99357143e-01 1.57328528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.52, Y:17.63, Z:15.73 [[ 9.96520626e-01 -7.52573876e-02 -3.58185276e-02 4.43522938e+02] [ 7.52510160e-02 9.97163452e-01 -1.52789078e-03 1.76273669e+01] [ 3.58319117e-02 -1.17280592e-03 9.99357143e-01 1.57339132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.55, Y:17.63, Z:15.73 [[ 9.96310949e-01 -7.79841141e-02 -3.58185828e-02 4.43553473e+02] [ 7.79795481e-02 9.96953790e-01 -1.52659601e-03 1.76267170e+01] [ 3.58285221e-02 -1.27215258e-03 9.99357143e-01 1.57341361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.59, Y:17.63, Z:15.74 [[ 9.96218779e-01 -7.91528313e-02 -3.58186101e-02 4.43585116e+02] [ 7.91490426e-02 9.96861626e-01 -1.52595322e-03 1.76271963e+01] [ 3.58269814e-02 -1.31482544e-03 9.99357143e-01 1.57364161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.62, Y:17.63, Z:15.74 [[ 9.96115711e-01 -8.04395021e-02 -3.58186664e-02 4.43615719e+02] [ 8.04365911e-02 9.96758562e-01 -1.52463236e-03 1.76275445e+01] [ 3.58252030e-02 -1.36242117e-03 9.99357143e-01 1.57368809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.65, Y:17.63, Z:15.74 [[ 9.95881633e-01 -8.32873957e-02 -3.58187619e-02 4.43646502e+02] [ 8.32864036e-02 9.96524489e-01 -1.52238359e-03 1.76275208e+01] [ 3.58210688e-02 -1.46710200e-03 9.99357143e-01 1.57372656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.68, Y:17.63, Z:15.74 [[ 9.95766890e-01 -8.46481901e-02 -3.58187892e-02 4.43676343e+02] [ 8.46480995e-02 9.96409747e-01 -1.52174290e-03 1.76283333e+01] [ 3.58190034e-02 -1.51669124e-03 9.99357143e-01 1.57382049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.71, Y:17.63, Z:15.74 [[ 9.95667094e-01 -8.58140462e-02 -3.58188154e-02 4.43707997e+02] [ 8.58147304e-02 9.96309951e-01 -1.52112549e-03 1.76292108e+01] [ 3.58171761e-02 -1.55924739e-03 9.99357143e-01 1.57394852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.74, Y:17.63, Z:15.74 [[ 9.95570087e-01 -8.69322230e-02 -3.58188678e-02 4.43740235e+02] [ 8.69336736e-02 9.96212942e-01 -1.51988885e-03 1.76301956e+01] [ 3.58153470e-02 -1.60070989e-03 9.99357143e-01 1.57422669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.77, Y:17.63, Z:15.74 [[ 9.95483091e-01 -8.79227900e-02 -3.58189773e-02 4.43771389e+02] [ 8.79249730e-02 9.96125944e-01 -1.51730477e-03 1.76308879e+01] [ 3.58136183e-02 -1.63893137e-03 9.99357143e-01 1.57435088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.80, Y:17.63, Z:15.74 [[ 9.95287169e-01 -9.01135181e-02 -3.58190588e-02 4.43802068e+02] [ 9.01171851e-02 9.95930016e-01 -1.51537820e-03 1.76315842e+01] [ 3.58098319e-02 -1.71967628e-03 9.99357143e-01 1.57449346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.83, Y:17.63, Z:15.75 [[ 9.95191701e-01 -9.11617653e-02 -3.58191395e-02 4.43834118e+02] [ 9.11661780e-02 9.95834543e-01 -1.51346811e-03 1.76326226e+01] [ 3.58079069e-02 -1.75930314e-03 9.99357143e-01 1.57462249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.87, Y:17.63, Z:15.75 [[ 9.95098978e-01 -9.21683587e-02 -3.58192458e-02 4.43866405e+02] [ 9.21735121e-02 9.95741814e-01 -1.51094913e-03 1.76339000e+01] [ 3.58059825e-02 -1.79804175e-03 9.99357143e-01 1.57476592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.90, Y:17.64, Z:15.75 [[ 9.95018693e-01 -9.30310427e-02 -3.58193517e-02 4.43898372e+02] [ 9.30368437e-02 9.95661524e-01 -1.50843455e-03 1.76350613e+01] [ 3.58042815e-02 -1.83159885e-03 9.99357143e-01 1.57488972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.93, Y:17.64, Z:15.75 [[ 9.94840333e-01 -9.49193262e-02 -3.58194569e-02 4.43930096e+02] [ 9.49264371e-02 9.95483151e-01 -1.50593234e-03 1.76366028e+01] [ 3.58006079e-02 -1.90205119e-03 9.99357143e-01 1.57504958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.96, Y:17.64, Z:15.75 [[ 9.94785474e-01 -9.54925064e-02 -3.58195614e-02 4.43962209e+02] [ 9.55000771e-02 9.95428287e-01 -1.50344213e-03 1.76383055e+01] [ 3.57993721e-02 -1.92516848e-03 9.99357143e-01 1.57518956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.99, Y:17.64, Z:15.75 [[ 9.94762416e-01 -9.57323725e-02 -3.58196650e-02 4.43993981e+02] [ 9.57401869e-02 9.95405226e-01 -1.50096958e-03 1.76399485e+01] [ 3.57987731e-02 -1.93627330e-03 9.99357143e-01 1.57539284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.03, Y:17.64, Z:15.76 [[ 9.94747686e-01 -9.58852757e-02 -3.58197703e-02 4.44026390e+02] [ 9.58932793e-02 9.95390493e-01 -1.49845159e-03 1.76416561e+01] [ 3.57983383e-02 -1.94429399e-03 9.99357143e-01 1.57552006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.06, Y:17.64, Z:15.76 [[ 9.94738230e-01 -9.59832795e-02 -3.58198754e-02 4.44057456e+02] [ 9.59914367e-02 9.95381036e-01 -1.49593671e-03 1.76439278e+01] [ 3.57980096e-02 -1.95033587e-03 9.99357143e-01 1.57564221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.09, Y:17.65, Z:15.76 [[ 9.94763975e-01 -9.57160679e-02 -3.58199535e-02 4.44089643e+02] [ 9.57241198e-02 9.95406782e-01 -1.49406240e-03 1.76460045e+01] [ 3.57984305e-02 -1.94259408e-03 9.99357143e-01 1.57584412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.12, Y:17.65, Z:15.76 [[ 9.94850224e-01 -9.48153741e-02 -3.58200584e-02 4.44121678e+02] [ 9.48229344e-02 9.95493037e-01 -1.49154439e-03 1.76490471e+01] [ 3.58000401e-02 -1.91269978e-03 9.99357143e-01 1.57611002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.15, Y:17.65, Z:15.76 [[ 9.94945033e-01 -9.38152294e-02 -3.58201664e-02 4.44153118e+02] [ 9.38222367e-02 9.95587852e-01 -1.48894509e-03 1.76513672e+01] [ 3.58018083e-02 -1.87930961e-03 9.99357143e-01 1.57619180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.19, Y:17.65, Z:15.76 [[ 9.95032586e-01 -9.28819853e-02 -3.58202468e-02 4.44185063e+02] [ 9.28884593e-02 9.95675410e-01 -1.48700867e-03 1.76536978e+01] [ 3.58034553e-02 -1.84766546e-03 9.99357143e-01 1.57632990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.22, Y:17.66, Z:15.76 [[ 9.95131778e-01 -9.18131049e-02 -3.58203551e-02 4.44216819e+02] [ 9.18189822e-02 9.95774609e-01 -1.48439599e-03 1.76559399e+01] [ 3.58052871e-02 -1.81181892e-03 9.99357143e-01 1.57640756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.25, Y:17.66, Z:15.76 [[ 9.95235895e-01 -9.06774956e-02 -3.58204627e-02 4.44248121e+02] [ 9.06827327e-02 9.95878731e-01 -1.48179528e-03 1.76582864e+01] [ 3.58072024e-02 -1.77356159e-03 9.99357143e-01 1.57646707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.28, Y:17.66, Z:15.76 [[ 9.95503094e-01 -8.76953790e-02 -3.58205428e-02 4.44279987e+02] [ 8.76987597e-02 9.96145942e-01 -1.47985639e-03 1.76620486e+01] [ 3.58122649e-02 -1.66821556e-03 9.99357143e-01 1.57649702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.31, Y:17.66, Z:15.77 [[ 9.95659717e-01 -8.58988327e-02 -3.58206475e-02 4.44312515e+02] [ 8.59011446e-02 9.96302570e-01 -1.47731685e-03 1.76643772e+01] [ 3.58151030e-02 -1.60612974e-03 9.99357143e-01 1.57668320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.34, Y:17.67, Z:15.77 [[ 9.95814079e-01 -8.40903885e-02 -3.58207546e-02 4.44344746e+02] [ 8.40916263e-02 9.96456935e-01 -1.47471473e-03 1.76666802e+01] [ 3.58178487e-02 -1.54368383e-03 9.99357143e-01 1.57676416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.38, Y:17.67, Z:15.77 [[ 9.95987146e-01 -8.20150656e-02 -3.58208607e-02 4.44376677e+02] [ 8.20150564e-02 9.96630003e-01 -1.47213406e-03 1.76690637e+01] [ 3.58208817e-02 -1.47162331e-03 9.99357143e-01 1.57691317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.41, Y:17.67, Z:15.77 [[ 9.96360809e-01 -7.73433640e-02 -3.58209676e-02 4.44407688e+02] [ 7.73404336e-02 9.97003660e-01 -1.46952749e-03 1.76723780e+01] [ 3.58272940e-02 -1.30622957e-03 9.99357143e-01 1.57694866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.44, Y:17.68, Z:15.77 [[ 9.96549707e-01 -7.48701092e-02 -3.58210472e-02 4.44439249e+02] [ 7.48656530e-02 9.97192549e-01 -1.46758671e-03 1.76750253e+01] [ 3.58303597e-02 -1.21924298e-03 9.99357143e-01 1.57716480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.47, Y:17.68, Z:15.77 [[ 9.96703218e-01 -7.27979357e-02 -3.58211538e-02 4.44470914e+02] [ 7.27922366e-02 9.97346050e-01 -1.46497872e-03 1.76777858e+01] [ 3.58327337e-02 -1.14735289e-03 9.99357143e-01 1.57730553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.50, Y:17.68, Z:15.77 [[ 9.96934888e-01 -6.95533664e-02 -3.58212073e-02 4.44502539e+02] [ 6.95456218e-02 9.97577698e-01 -1.46367010e-03 1.76812484e+01] [ 3.58362407e-02 -1.03202435e-03 9.99357143e-01 1.57742059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.53, Y:17.68, Z:15.77 [[ 9.96994001e-01 -6.87007938e-02 -3.58212609e-02 4.44532912e+02] [ 6.86925467e-02 9.97636805e-01 -1.46235668e-03 1.76832001e+01] [ 3.58370734e-02 -1.00269280e-03 9.99357143e-01 1.57739858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.56, Y:17.68, Z:15.78 [[ 9.97019447e-01 -6.83304769e-02 -3.58213502e-02 4.44564086e+02] [ 6.83220697e-02 9.97662249e-01 -1.46016659e-03 1.76849274e+01] [ 3.58373827e-02 -9.91574297e-04 9.99357143e-01 1.57757270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.60, Y:17.69, Z:15.78 [[ 9.96969931e-01 -6.90491386e-02 -3.58214030e-02 4.44595752e+02] [ 6.90412413e-02 9.97612740e-01 -1.45886993e-03 1.76866173e+01] [ 3.58366217e-02 -1.01870467e-03 9.99357143e-01 1.57769009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.63, Y:17.69, Z:15.78 [[ 9.96926264e-01 -6.96767390e-02 -3.58214558e-02 4.44627254e+02] [ 6.96692930e-02 9.97569078e-01 -1.45757147e-03 1.76882434e+01] [ 3.58359355e-02 -1.04256422e-03 9.99357143e-01 1.57781525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.66, Y:17.69, Z:15.78 [[ 9.96861842e-01 -7.05924063e-02 -3.58215086e-02 4.44658445e+02] [ 7.05855974e-02 9.97504663e-01 -1.45627301e-03 1.76902027e+01] [ 3.58349237e-02 -1.07677959e-03 9.99357143e-01 1.57795420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.69, Y:17.69, Z:15.78 [[ 9.96779383e-01 -7.17473197e-02 -3.58215612e-02 4.44689740e+02] [ 7.17413020e-02 9.97422212e-01 -1.45497812e-03 1.76921040e+01] [ 3.58336116e-02 -1.11959324e-03 9.99357143e-01 1.57808640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.72, Y:17.69, Z:15.78 [[ 9.96576041e-01 -7.45184939e-02 -3.58216135e-02 4.44722237e+02] [ 7.45143097e-02 9.97218885e-01 -1.45369048e-03 1.76935829e+01] [ 3.58303163e-02 -1.22050969e-03 9.99357143e-01 1.57819349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.75, Y:17.69, Z:15.78 [[ 9.96451957e-01 -7.61597122e-02 -3.58217190e-02 4.44753790e+02] [ 7.61566804e-02 9.97094807e-01 -1.45108467e-03 1.76948415e+01] [ 3.58281642e-02 -1.28212704e-03 9.99357143e-01 1.57829328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.79, Y:17.70, Z:15.78 [[ 9.96327264e-01 -7.77739267e-02 -3.58217718e-02 4.44785302e+02] [ 7.77719832e-02 9.96970118e-01 -1.44978148e-03 1.76960172e+01] [ 3.58259912e-02 -1.34147341e-03 9.99357143e-01 1.57834861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.82, Y:17.70, Z:15.78 [[ 9.96207378e-01 -7.92947321e-02 -3.58218505e-02 4.44817113e+02] [ 7.92938398e-02 9.96850235e-01 -1.44783260e-03 1.76971780e+01] [ 3.58238256e-02 -1.39811055e-03 9.99357143e-01 1.57846287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.85, Y:17.70, Z:15.79 [[ 9.96213080e-01 -7.92230217e-02 -3.58219544e-02 4.44849758e+02] [ 7.92221756e-02 9.96855937e-01 -1.44525814e-03 1.76984363e+01] [ 3.58238256e-02 -1.39810810e-03 9.99357143e-01 1.57858000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.88, Y:17.70, Z:15.79 [[ 9.96061833e-01 -8.11024313e-02 -3.58220582e-02 4.44882256e+02] [ 8.11028906e-02 9.96704690e-01 -1.44268121e-03 1.76995747e+01] [ 3.58210184e-02 -1.46827277e-03 9.99357143e-01 1.57874252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.91, Y:17.70, Z:15.79 [[ 9.95734803e-01 -8.50233807e-02 -3.58221611e-02 4.44912974e+02] [ 8.50264628e-02 9.96377653e-01 -1.44012157e-03 1.77012051e+01] [ 3.58148448e-02 -1.61185248e-03 9.99357143e-01 1.57885707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.95, Y:17.70, Z:15.79 [[ 9.95576904e-01 -8.68527232e-02 -3.58222377e-02 4.44945611e+02] [ 8.68570550e-02 9.96219747e-01 -1.43821312e-03 1.77024070e+01] [ 3.58117333e-02 -1.67956230e-03 9.99357143e-01 1.57898880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.98, Y:17.70, Z:15.79 [[ 9.95219795e-01 -9.08532918e-02 -3.58223376e-02 4.44978172e+02] [ 9.08602966e-02 9.95862614e-01 -1.43572170e-03 1.77039541e+01] [ 3.58045667e-02 -1.82596956e-03 9.99357143e-01 1.57925156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.01, Y:17.71, Z:15.79 [[ 9.95039604e-01 -9.28059251e-02 -3.58224444e-02 4.45010604e+02] [ 9.28142871e-02 9.95682406e-01 -1.43305167e-03 1.77054221e+01] [ 3.58007733e-02 -1.89889147e-03 9.99357143e-01 1.57936124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.04, Y:17.71, Z:15.79 [[ 9.94882015e-01 -9.44802700e-02 -3.58225502e-02 4.45042117e+02] [ 9.44898088e-02 9.95524801e-01 -1.43040080e-03 1.77071033e+01] [ 3.57973818e-02 -1.96178589e-03 9.99357143e-01 1.57942668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.07, Y:17.71, Z:15.79 [[ 9.94732276e-01 -9.60439221e-02 -3.58226819e-02 4.45073289e+02] [ 9.60545900e-02 9.95375044e-01 -1.42709494e-03 1.77089104e+01] [ 3.57940674e-02 -2.02135563e-03 9.99357143e-01 1.57942390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.11, Y:17.71, Z:15.80 [[ 9.94504163e-01 -9.83778434e-02 -3.58227584e-02 4.45105704e+02] [ 9.83900885e-02 9.95146903e-01 -1.42517182e-03 1.77118592e+01] [ 3.57891124e-02 -2.10726506e-03 9.99357143e-01 1.57966912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.14, Y:17.71, Z:15.80 [[ 9.94463993e-01 -9.87830385e-02 -3.58228584e-02 4.45137979e+02] [ 9.87956359e-02 9.95106727e-01 -1.42265362e-03 1.77141446e+01] [ 3.57881015e-02 -2.12436428e-03 9.99357143e-01 1.57986830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.17, Y:17.72, Z:15.80 [[ 9.94414059e-01 -9.92844133e-02 -3.58229627e-02 4.45170034e+02] [ 9.92974291e-02 9.95056784e-01 -1.42002357e-03 1.77175138e+01] [ 3.57868683e-02 -2.14503670e-03 9.99357143e-01 1.57996581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.20, Y:17.72, Z:15.80 [[ 9.94463014e-01 -9.87928243e-02 -3.58230664e-02 4.45201723e+02] [ 9.88056165e-02 9.95105744e-01 -1.41740228e-03 1.77197641e+01] [ 3.57877683e-02 -2.12996602e-03 9.99357143e-01 1.58005715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.23, Y:17.72, Z:15.80 [[ 9.94526657e-01 -9.81500198e-02 -3.58231953e-02 4.45232890e+02] [ 9.81625139e-02 9.95169393e-01 -1.41413638e-03 1.77223622e+01] [ 3.57889451e-02 -2.11009858e-03 9.99357143e-01 1.58019545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.27, Y:17.73, Z:15.80 [[ 9.94622729e-01 -9.71715738e-02 -3.58233563e-02 4.45265644e+02] [ 9.71835823e-02 9.95265474e-01 -1.41004706e-03 1.77253303e+01] [ 3.57907662e-02 -2.07897724e-03 9.99357143e-01 1.58043509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.30, Y:17.73, Z:15.81 [[ 9.94919652e-01 -9.40827456e-02 -3.58235090e-02 4.45297715e+02] [ 9.40928979e-02 9.95562429e-01 -1.40615738e-03 1.77297609e+01] [ 3.57968347e-02 -1.97172416e-03 9.99357143e-01 1.58057019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.33, Y:17.73, Z:15.81 [[ 9.95111482e-01 -9.20315506e-02 -3.58236352e-02 4.45330589e+02] [ 9.20404935e-02 9.95754277e-01 -1.40293463e-03 1.77325809e+01] [ 3.58006522e-02 -1.90114870e-03 9.99357143e-01 1.58081045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.36, Y:17.74, Z:15.81 [[ 9.95315976e-01 -8.97929010e-02 -3.58237869e-02 4.45363837e+02] [ 8.98005374e-02 9.95958787e-01 -1.39905029e-03 1.77356522e+01] [ 3.58046401e-02 -1.82449821e-03 9.99357143e-01 1.58098736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.40, Y:17.74, Z:15.81 [[ 9.95551604e-01 -8.71415451e-02 -3.58239377e-02 4.45396437e+02] [ 8.71476084e-02 9.96194433e-01 -1.39517707e-03 1.77387616e+01] [ 3.58091852e-02 -1.73299972e-03 9.99357143e-01 1.58121025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.43, Y:17.74, Z:15.81 [[ 9.96046322e-01 -8.12918201e-02 -3.58240895e-02 4.45428583e+02] [ 8.12942475e-02 9.96689174e-01 -1.39126783e-03 1.77441125e+01] [ 3.58185809e-02 -1.52652520e-03 9.99357143e-01 1.58145543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.46, Y:17.75, Z:15.82 [[ 9.96300130e-01 -7.81196451e-02 -3.58241904e-02 4.45459864e+02] [ 7.81201188e-02 9.96942987e-01 -1.38866546e-03 1.77475221e+01] [ 3.58231574e-02 -1.41506244e-03 9.99357143e-01 1.58156407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.49, Y:17.75, Z:15.82 [[ 9.96550914e-01 -7.48525012e-02 -3.58242654e-02 4.45491722e+02] [ 7.48509366e-02 9.97193770e-01 -1.38672718e-03 1.77509761e+01] [ 3.58275343e-02 -1.29953558e-03 9.99357143e-01 1.58175224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.52, Y:17.76, Z:15.82 [[ 9.97024155e-01 -6.82601641e-02 -3.58243643e-02 4.45522700e+02] [ 6.82544399e-02 9.97666986e-01 -1.38416739e-03 1.77558705e+01] [ 3.58352691e-02 -1.06512361e-03 9.99357143e-01 1.58181039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.55, Y:17.76, Z:15.82 [[ 9.97252904e-01 -6.48325208e-02 -3.58244379e-02 4.45554768e+02] [ 6.48246554e-02 9.97895713e-01 -1.38225982e-03 1.77586733e+01] [ 3.58386684e-02 -9.43844231e-04 9.99357143e-01 1.58192853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.59, Y:17.76, Z:15.82 [[ 9.97468455e-01 -6.14270640e-02 -3.58245351e-02 4.45586072e+02] [ 6.14170944e-02 9.98111235e-01 -1.37973707e-03 1.77615471e+01] [ 3.58416242e-02 -8.23994648e-04 9.99357143e-01 1.58206489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.62, Y:17.76, Z:15.82 [[ 9.97669824e-01 -5.80648093e-02 -3.58245844e-02 4.45617412e+02] [ 5.80527193e-02 9.98312567e-01 -1.37845514e-03 1.77644102e+01] [ 3.58441726e-02 -7.04471445e-04 9.99357143e-01 1.58223420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.65, Y:17.77, Z:15.82 [[ 9.98050083e-01 -5.11138666e-02 -3.58246352e-02 4.45647996e+02] [ 5.10973471e-02 9.98692728e-01 -1.37713420e-03 1.77685756e+01] [ 3.58481933e-02 -4.56094914e-04 9.99357143e-01 1.58235534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.68, Y:17.77, Z:15.82 [[ 9.98216338e-01 -4.77570450e-02 -3.58246604e-02 4.45678165e+02] [ 4.77383878e-02 9.98858925e-01 -1.37647937e-03 1.77710650e+01] [ 3.58495183e-02 -3.36187335e-04 9.99357143e-01 1.58246592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.71, Y:17.77, Z:15.83 [[ 9.98356947e-01 -4.47213603e-02 -3.58246604e-02 4.45707769e+02] [ 4.47007492e-02 9.98999474e-01 -1.37647937e-03 1.77732492e+01] [ 3.58503749e-02 -2.27171417e-04 9.99357143e-01 1.58256056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.74, Y:17.78, Z:15.83 [[ 9.98470318e-01 -4.21143881e-02 -3.58246110e-02 4.45735811e+02] [ 4.20920533e-02 9.99112787e-01 -1.37776284e-03 1.77752230e+01] [ 3.58508506e-02 -1.32276136e-04 9.99357143e-01 1.58261507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.76, Y:17.78, Z:15.83 [[ 9.98603673e-01 -3.88240926e-02 -3.58244884e-02 4.45763927e+02] [ 3.87995267e-02 9.99246061e-01 -1.38094444e-03 1.77768555e+01] [ 3.58510928e-02 -1.09570090e-05 9.99357143e-01 1.58266611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.79, Y:17.78, Z:15.83 [[ 9.98637283e-01 -3.79501162e-02 -3.58240861e-02 4.45790593e+02] [ 3.79246166e-02 9.99279634e-01 -1.39130277e-03 1.77778977e+01] [ 3.58510797e-02 3.07920916e-05 9.99357143e-01 1.58269435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.82, Y:17.78, Z:15.83 [[ 9.98644605e-01 -3.77571250e-02 -3.58239113e-02 4.45818003e+02] [ 3.77313403e-02 9.99286945e-01 -1.39578752e-03 1.77787458e+01] [ 3.58510678e-02 4.22114843e-05 9.99357143e-01 1.58280930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.85, Y:17.78, Z:15.83 [[ 9.98621214e-01 -3.83711801e-02 -3.58234977e-02 4.45845539e+02] [ 3.83454125e-02 9.99263555e-01 -1.40632402e-03 1.77789097e+01] [ 3.58510780e-02 3.07182060e-05 9.99357143e-01 1.58283329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.87, Y:17.78, Z:15.83 [[ 9.98558968e-01 -3.99584005e-02 -3.58233697e-02 4.45873901e+02] [ 3.99335371e-02 9.99201344e-01 -1.40957781e-03 1.77792896e+01] [ 3.58510836e-02 -2.30073014e-05 9.99357143e-01 1.58297017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.90, Y:17.78, Z:15.83 [[ 9.98478806e-01 -4.19140823e-02 -3.58229626e-02 4.45901667e+02] [ 4.18901087e-02 9.99121215e-01 -1.41984820e-03 1.77791625e+01] [ 3.58509936e-02 -8.29394642e-05 9.99357143e-01 1.58302640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.93, Y:17.78, Z:15.83 [[ 9.98247833e-01 -4.70957424e-02 -3.58225522e-02 4.45928774e+02] [ 4.70747344e-02 9.98890346e-01 -1.43012996e-03 1.77774857e+01] [ 3.58501546e-02 -2.58712992e-04 9.99357143e-01 1.58310571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.96, Y:17.78, Z:15.83 [[ 9.98092164e-01 -5.02871504e-02 -3.58222572e-02 4.45957260e+02] [ 5.02679329e-02 9.98734734e-01 -1.43748133e-03 1.77769079e+01] [ 3.58492193e-02 -3.65971969e-04 9.99357143e-01 1.58318737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.99, Y:17.78, Z:15.83 [[ 9.97929077e-01 -5.34261091e-02 -3.58219004e-02 4.45985900e+02] [ 5.34085956e-02 9.98571695e-01 -1.44631735e-03 1.77762024e+01] [ 3.58480069e-02 -4.69875251e-04 9.99357143e-01 1.58323257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.02, Y:17.78, Z:15.83 [[ 9.97788469e-01 -5.59907981e-02 -3.58218079e-02 4.46015569e+02] [ 5.59748542e-02 9.98431128e-01 -1.44860587e-03 1.77754164e+01] [ 3.58467166e-02 -5.59718233e-04 9.99357143e-01 1.58337203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.05, Y:17.77, Z:15.83 [[ 9.97645601e-01 -5.84832909e-02 -3.58184197e-02 4.46045174e+02] [ 5.84659557e-02 9.98288227e-01 -1.53209894e-03 1.77744800e+01] [ 3.58467089e-02 -5.65666366e-04 9.99357140e-01 1.58331012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.07, Y:17.77, Z:15.84 [[ 9.97236443e-01 -6.50896410e-02 -3.58164220e-02 4.46074709e+02] [ 6.50748002e-02 9.97879136e-01 -1.58118558e-03 1.77718645e+01] [ 3.58433791e-02 -7.53930628e-04 9.99357135e-01 1.58350100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.11, Y:17.77, Z:15.84 [[ 9.97115419e-01 -6.69153003e-02 -3.58215468e-02 4.46106700e+02] [ 6.69061653e-02 9.97758211e-01 -1.45502460e-03 1.77709965e+01] [ 3.58386059e-02 -9.45854872e-04 9.99357143e-01 1.58364924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.14, Y:17.77, Z:15.84 [[ 9.97027822e-01 -6.82079962e-02 -3.58216512e-02 4.46137222e+02] [ 6.81997870e-02 9.97670627e-01 -1.45245124e-03 1.77703396e+01] [ 3.58372780e-02 -9.94894687e-04 9.99357143e-01 1.58373494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.17, Y:17.77, Z:15.84 [[ 9.96940478e-01 -6.94729476e-02 -3.58216770e-02 4.46168753e+02] [ 6.94655768e-02 9.97583293e-01 -1.45181477e-03 1.77683942e+01] [ 3.58359683e-02 -1.04100054e-03 9.99357143e-01 1.58388909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.20, Y:17.77, Z:15.84 [[ 9.96946242e-01 -6.93901625e-02 -3.58217286e-02 4.46199808e+02] [ 6.93827841e-02 9.97589056e-01 -1.45054057e-03 1.77679584e+01] [ 3.58360176e-02 -1.03930029e-03 9.99357143e-01 1.58397059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.23, Y:17.77, Z:15.84 [[ 9.96970879e-01 -6.90352373e-02 -3.58218056e-02 4.46230974e+02] [ 6.90276985e-02 9.97613692e-01 -1.44863572e-03 1.77675977e+01] [ 3.58363306e-02 -1.02844917e-03 9.99357143e-01 1.58404653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.26, Y:17.77, Z:15.84 [[ 9.97014916e-01 -6.83962781e-02 -3.58218576e-02 4.46260858e+02] [ 6.83883734e-02 9.97657725e-01 -1.44734861e-03 1.77673445e+01] [ 3.58369462e-02 -1.00677042e-03 9.99357143e-01 1.58408645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.29, Y:17.77, Z:15.84 [[ 9.97092391e-01 -6.72573844e-02 -3.58218834e-02 4.46292630e+02] [ 6.72487685e-02 9.97735190e-01 -1.44670961e-03 1.77671841e+01] [ 3.58380556e-02 -9.66474401e-04 9.99357143e-01 1.58419716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.32, Y:17.77, Z:15.84 [[ 9.97276861e-01 -6.44643477e-02 -3.58219352e-02 4.46324156e+02] [ 6.44539775e-02 9.97919634e-01 -1.44542535e-03 1.77662310e+01] [ 3.58405909e-02 -8.67376954e-04 9.99357143e-01 1.58429361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.36, Y:17.77, Z:15.84 [[ 9.97394143e-01 -6.26235555e-02 -3.58219877e-02 4.46355644e+02] [ 6.26120456e-02 9.98036896e-01 -1.44412451e-03 1.77664971e+01] [ 3.58421016e-02 -8.02526597e-04 9.99357143e-01 1.58443247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.39, Y:17.77, Z:15.85 [[ 9.97512014e-01 -6.07170745e-02 -3.58220401e-02 4.46385060e+02] [ 6.07043828e-02 9.98154746e-01 -1.44282381e-03 1.77667770e+01] [ 3.58435433e-02 -7.35320751e-04 9.99357143e-01 1.58451733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.41, Y:17.77, Z:15.85 [[ 9.97648136e-01 -5.84378268e-02 -3.58220141e-02 4.46414228e+02] [ 5.84236435e-02 9.98290837e-01 -1.44346854e-03 1.77669455e+01] [ 3.58451416e-02 -6.52778885e-04 9.99357143e-01 1.58461606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.44, Y:17.77, Z:15.85 [[ 9.97905806e-01 -5.38589733e-02 -3.58219617e-02 4.46444411e+02] [ 5.38417942e-02 9.98548433e-01 -1.44476611e-03 1.77661448e+01] [ 3.58477774e-02 -4.86978203e-04 9.99357143e-01 1.58469392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.47, Y:17.77, Z:15.85 [[ 9.98041319e-01 -5.12866141e-02 -3.58219090e-02 4.46473486e+02] [ 5.12677318e-02 9.98683898e-01 -1.44607229e-03 1.77661055e+01] [ 3.58489279e-02 -3.93268127e-04 9.99357143e-01 1.58471771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.50, Y:17.77, Z:15.85 [[ 9.98142401e-01 -4.92802545e-02 -3.58218306e-02 4.46502700e+02] [ 4.92600109e-02 9.98784939e-01 -1.44801179e-03 1.77663457e+01] [ 3.58496633e-02 -3.19261799e-04 9.99357143e-01 1.58482282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.53, Y:17.77, Z:15.85 [[ 9.98245328e-01 -4.71496410e-02 -3.58214566e-02 4.46529365e+02] [ 4.71276961e-02 9.98887810e-01 -1.45720640e-03 1.77663249e+01] [ 3.58503231e-02 -2.33533238e-04 9.99357143e-01 1.58482816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.56, Y:17.77, Z:15.85 [[ 9.98402896e-01 -4.36864049e-02 -3.58211488e-02 4.46557012e+02] [ 4.36619613e-02 9.99045288e-01 -1.46473319e-03 1.77650763e+01] [ 3.58509389e-02 -1.01627751e-04 9.99357143e-01 1.58484804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.59, Y:17.76, Z:15.85 [[ 9.98448549e-01 -4.26306295e-02 -3.58207348e-02 4.46585137e+02] [ 4.26051458e-02 9.99090900e-01 -1.47478902e-03 1.77648327e+01] [ 3.58510414e-02 -5.36466736e-05 9.99357143e-01 1.58493390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.61, Y:17.76, Z:15.85 [[ 9.98490144e-01 -4.16453851e-02 -3.58203181e-02 4.46613253e+02] [ 4.16189069e-02 9.99132455e-01 -1.48484114e-03 1.77643365e+01] [ 3.58510791e-02 -8.20324476e-06 9.99357143e-01 1.58504684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.64, Y:17.76, Z:15.85 [[ 9.98522356e-01 -4.08661254e-02 -3.58198866e-02 4.46640228e+02] [ 4.08387751e-02 9.99164631e-01 -1.49517877e-03 1.77638230e+01] [ 3.58510659e-02 3.01291326e-05 9.99357143e-01 1.58511877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.67, Y:17.76, Z:15.85 [[ 9.98530829e-01 -4.06587299e-02 -3.58196993e-02 4.46667911e+02] [ 4.06310857e-02 9.99173091e-01 -1.49965265e-03 1.77619558e+01] [ 3.58510536e-02 4.20561367e-05 9.99357143e-01 1.58526667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.70, Y:17.76, Z:15.85 [[ 9.98505197e-01 -4.12838020e-02 -3.58192622e-02 4.46695323e+02] [ 4.12561880e-02 9.99147460e-01 -1.51002128e-03 1.77615366e+01] [ 3.58510643e-02 2.99978823e-05 9.99357144e-01 1.58537084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.72, Y:17.76, Z:15.85 [[ 9.98382378e-01 -4.41545218e-02 -3.58190723e-02 4.46723213e+02] [ 4.41285934e-02 9.99024711e-01 -1.51451155e-03 1.77584676e+01] [ 3.58510109e-02 -6.85836344e-05 9.99357144e-01 1.58547879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.75, Y:17.76, Z:15.86 [[ 9.98277198e-01 -4.64721548e-02 -3.58186359e-02 4.46750279e+02] [ 4.64473497e-02 9.98919576e-01 -1.52476411e-03 1.77571253e+01] [ 3.58507957e-02 -1.41543469e-04 9.99357144e-01 1.58553690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.78, Y:17.76, Z:15.86 [[ 9.98264487e-01 -4.67446457e-02 -3.58183344e-02 4.46778640e+02] [ 4.67197631e-02 9.98906861e-01 -1.53181348e-03 1.77584187e+01] [ 3.58507841e-02 -1.44269101e-04 9.99357144e-01 1.58563894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.81, Y:17.76, Z:15.86 [[ 9.98119970e-01 -4.97353349e-02 -3.58179138e-02 4.46806313e+02] [ 4.97120263e-02 9.98762403e-01 -1.54158766e-03 1.77568927e+01] [ 3.58502570e-02 -2.41891640e-04 9.99357144e-01 1.58569893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.83, Y:17.76, Z:15.86 [[ 9.97934367e-01 -5.33301705e-02 -3.58174742e-02 4.46834712e+02] [ 5.33088119e-02 9.98576869e-01 -1.55173409e-03 1.77556318e+01] [ 3.58492555e-02 -3.60858215e-04 9.99357144e-01 1.58578795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.86, Y:17.75, Z:15.86 [[ 9.97486475e-01 -6.11381496e-02 -3.58170225e-02 4.46862758e+02] [ 6.11214480e-02 9.98129114e-01 -1.56209039e-03 1.77517908e+01] [ 3.58455163e-02 -6.31024244e-04 9.99357144e-01 1.58578019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.89, Y:17.75, Z:15.86 [[ 9.97225060e-01 -6.52637252e-02 -3.58165657e-02 4.46891923e+02] [ 6.52493085e-02 9.97867754e-01 -1.57249609e-03 1.77505087e+01] [ 3.58428229e-02 -7.68873637e-04 9.99357144e-01 1.58587609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.92, Y:17.75, Z:15.86 [[ 9.96958109e-01 -6.92223401e-02 -3.58161575e-02 4.46921299e+02] [ 6.92101432e-02 9.97600849e-01 -1.58173894e-03 1.77495184e+01] [ 3.58397208e-02 -9.01913923e-04 9.99357144e-01 1.58598408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.95, Y:17.75, Z:15.86 [[ 9.96670751e-01 -7.32435711e-02 -3.58160993e-02 4.46950770e+02] [ 7.32339200e-02 9.97313535e-01 -1.58305393e-03 1.77484649e+01] [ 3.58358292e-02 -1.04516981e-03 9.99357144e-01 1.58609147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.98, Y:17.74, Z:15.86 [[ 9.96143108e-01 -8.01006696e-02 -3.58160705e-02 4.46980025e+02] [ 8.00954187e-02 9.96785943e-01 -1.58370599e-03 1.77449557e+01] [ 3.58278115e-02 -1.29110535e-03 9.99357144e-01 1.58606776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.01, Y:17.74, Z:15.86 [[ 9.95856252e-01 -8.35914836e-02 -3.58160420e-02 4.47010264e+02] [ 8.35884626e-02 9.96499101e-01 -1.58435150e-03 1.77442912e+01] [ 3.58230919e-02 -1.41602153e-03 9.99357144e-01 1.58616085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.04, Y:17.74, Z:15.86 [[ 9.95601304e-01 -8.65751429e-02 -3.58160420e-02 4.47041500e+02] [ 8.65740481e-02 9.96244159e-01 -1.58435150e-03 1.77436671e+01] [ 3.58186881e-02 -1.52335732e-03 9.99357144e-01 1.58622517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.07, Y:17.74, Z:15.86 [[ 9.95127607e-01 -9.18599603e-02 -3.58160996e-02 4.47069712e+02] [ 9.18623256e-02 9.95770459e-01 -1.58304671e-03 1.77422608e+01] [ 3.58100326e-02 -1.71481673e-03 9.99357144e-01 1.58635083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.10, Y:17.74, Z:15.86 [[ 9.94813897e-01 -9.51996743e-02 -3.58096713e-02 4.47100945e+02] [ 9.51989996e-02 9.95456762e-01 -1.72779606e-03 1.77427476e+01] [ 3.58114651e-02 -1.69020935e-03 9.99357134e-01 1.58643395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.13, Y:17.74, Z:15.87 [[ 9.94612261e-01 -9.72813998e-02 -3.58158994e-02 4.47133448e+02] [ 9.72871165e-02 9.95255092e-01 -1.58727206e-03 1.77429471e+01] [ 3.58003683e-02 -1.90570532e-03 9.99357144e-01 1.58654244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.16, Y:17.74, Z:15.87 [[ 9.94438182e-01 -9.90450124e-02 -3.58160148e-02 4.47164116e+02] [ 9.90519627e-02 9.95081001e-01 -1.58466333e-03 1.77435808e+01] [ 3.57967888e-02 -1.97179684e-03 9.99357144e-01 1.58665950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.20, Y:17.74, Z:15.87 [[ 9.94235716e-01 -1.01057151e-01 -3.58161008e-02 4.47196099e+02] [ 1.01065472e-01 9.94878518e-01 -1.58271746e-03 1.77437799e+01] [ 3.57926142e-02 -2.04617692e-03 9.99357144e-01 1.58671645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.23, Y:17.74, Z:15.87 [[ 9.94186188e-01 -1.01543204e-01 -3.58162159e-02 4.47227285e+02] [ 1.01551933e-01 9.94828984e-01 -1.58010843e-03 1.77447806e+01] [ 3.57914589e-02 -2.06628397e-03 9.99357144e-01 1.58678447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.26, Y:17.75, Z:15.87 [[ 9.94174473e-01 -1.01657810e-01 -3.58163017e-02 4.47259166e+02] [ 1.01666683e-01 9.94817267e-01 -1.57816150e-03 1.77459763e+01] [ 3.57911078e-02 -2.07235670e-03 9.99357144e-01 1.58687224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.29, Y:17.75, Z:15.87 [[ 9.94207511e-01 -1.01334143e-01 -3.58164144e-02 4.47291295e+02] [ 1.01342899e-01 9.94850308e-01 -1.57559878e-03 1.77478562e+01] [ 3.57916328e-02 -2.06326712e-03 9.99357144e-01 1.58700471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.32, Y:17.75, Z:15.87 [[ 9.94270387e-01 -1.00715309e-01 -3.58165299e-02 4.47323067e+02] [ 1.00723759e-01 9.94913187e-01 -1.57296778e-03 1.77495261e+01] [ 3.57927599e-02 -2.04362025e-03 9.99357144e-01 1.58708908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.35, Y:17.75, Z:15.87 [[ 9.94347495e-01 -9.99511239e-02 -3.58166452e-02 4.47353737e+02] [ 9.99591742e-02 9.94990300e-01 -1.57033932e-03 1.77510658e+01] [ 3.57941717e-02 -2.01873931e-03 9.99357144e-01 1.58715752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:17.75, Z:15.87 [[ 9.94469143e-01 -9.87333656e-02 -3.58168365e-02 4.47384130e+02] [ 9.87407859e-02 9.95111956e-01 -1.56596305e-03 1.77526101e+01] [ 3.57963751e-02 -1.97928066e-03 9.99357144e-01 1.58723057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.41, Y:17.75, Z:15.87 [[ 9.94521891e-01 -9.82014491e-02 -3.58145751e-02 4.47414325e+02] [ 9.82066704e-02 9.95164727e-01 -1.61762964e-03 1.77545901e+01] [ 3.58002554e-02 -1.90846208e-03 9.99357143e-01 1.58736392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.45, Y:17.76, Z:15.87 [[ 9.94592627e-01 -9.74819479e-02 -3.58158684e-02 4.47445880e+02] [ 9.74877643e-02 9.95235456e-01 -1.58810423e-03 1.77566984e+01] [ 3.58000337e-02 -1.91209219e-03 9.99357144e-01 1.58746435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.48, Y:17.76, Z:15.88 [[ 9.94776809e-01 -9.55838061e-02 -3.58166939e-02 4.47477291e+02] [ 9.55890723e-02 9.95419644e-01 -1.56926315e-03 1.77598329e+01] [ 3.58026369e-02 -1.86261796e-03 9.99357144e-01 1.58752724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.51, Y:17.76, Z:15.88 [[ 9.94834639e-01 -9.49799596e-02 -3.58168849e-02 4.47509599e+02] [ 9.49849926e-02 9.95477475e-01 -1.56489180e-03 1.77621725e+01] [ 3.58035355e-02 -1.84525799e-03 9.99357144e-01 1.58768635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.54, Y:17.76, Z:15.88 [[ 9.94882239e-01 -9.44800157e-02 -3.58169970e-02 4.47541611e+02] [ 9.44848179e-02 9.95525077e-01 -1.56232201e-03 1.77643732e+01] [ 3.58043269e-02 -1.82983602e-03 9.99357144e-01 1.58782779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.57, Y:17.77, Z:15.88 [[ 9.94916933e-01 -9.41139309e-02 -3.58171096e-02 4.47573169e+02] [ 9.41185894e-02 9.95559771e-01 -1.55973588e-03 1.77662751e+01] [ 3.58048664e-02 -1.81924820e-03 9.99357144e-01 1.58792393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.60, Y:17.77, Z:15.88 [[ 9.94958344e-01 -9.36750929e-02 -3.58171934e-02 4.47604757e+02] [ 9.36795370e-02 9.95601184e-01 -1.55781022e-03 1.77691547e+01] [ 3.58055682e-02 -1.80538182e-03 9.99357144e-01 1.58806526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.64, Y:17.77, Z:15.88 [[ 9.94980330e-01 -9.34412319e-02 -3.58173071e-02 4.47636797e+02] [ 9.34456190e-02 9.95623171e-01 -1.55519159e-03 1.77713644e+01] [ 3.58058599e-02 -1.79958539e-03 9.99357144e-01 1.58817487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:17.77, Z:15.88 [[ 9.95014506e-01 -9.30765608e-02 -3.58174200e-02 4.47668754e+02] [ 9.30808058e-02 9.95657347e-01 -1.55258638e-03 1.77736812e+01] [ 3.58063868e-02 -1.78906835e-03 9.99357144e-01 1.58827872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.70, Y:17.78, Z:15.88 [[ 9.95112480e-01 -9.20231279e-02 -3.58175319e-02 4.47700551e+02] [ 9.20267852e-02 9.95755326e-01 -1.55000131e-03 1.77767973e+01] [ 3.58081341e-02 -1.75374666e-03 9.99357144e-01 1.58838553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.73, Y:17.78, Z:15.89 [[ 9.95183059e-01 -9.12566449e-02 -3.58176432e-02 4.47731931e+02] [ 9.12598995e-02 9.95825907e-01 -1.54742470e-03 1.77792175e+01] [ 3.58093498e-02 -1.72874367e-03 9.99357144e-01 1.58850516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:17.78, Z:15.89 [[ 9.95270635e-01 -9.02964719e-02 -3.58177261e-02 4.47763640e+02] [ 9.02991753e-02 9.95913485e-01 -1.54550448e-03 1.77817722e+01] [ 3.58109100e-02 -1.69611590e-03 9.99357144e-01 1.58860507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:17.79, Z:15.89 [[ 9.95490151e-01 -8.78433010e-02 -3.58177805e-02 4.47794665e+02] [ 8.78444654e-02 9.96133006e-01 -1.54424242e-03 1.77851837e+01] [ 3.58149247e-02 -1.60911566e-03 9.99357144e-01 1.58869573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.83, Y:17.79, Z:15.89 [[ 9.95629843e-01 -8.62455679e-02 -3.58178354e-02 4.47825423e+02] [ 8.62457464e-02 9.96272699e-01 -1.54296663e-03 1.77876108e+01] [ 3.58174056e-02 -1.55291233e-03 9.99357144e-01 1.58878479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.86, Y:17.79, Z:15.89 [[ 9.95758188e-01 -8.47508612e-02 -3.58179175e-02 4.47856176e+02] [ 8.47501432e-02 9.96401043e-01 -1.54105940e-03 1.77901757e+01] [ 3.58196165e-02 -1.50105112e-03 9.99357144e-01 1.58894049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.89, Y:17.79, Z:15.89 [[ 9.95917380e-01 -8.28591922e-02 -3.58179731e-02 4.47887761e+02] [ 8.28572995e-02 9.96560233e-01 -1.53976589e-03 1.77926192e+01] [ 3.58223514e-02 -1.43430092e-03 9.99357144e-01 1.58909230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.92, Y:17.79, Z:15.89 [[ 9.96052368e-01 -8.12203738e-02 -3.58180291e-02 4.47918470e+02] [ 8.12174701e-02 9.96695217e-01 -1.53846102e-03 1.77949624e+01] [ 3.58246127e-02 -1.37666197e-03 9.99357144e-01 1.58919394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.95, Y:17.80, Z:15.89 [[ 9.96273793e-01 -7.84576103e-02 -3.58180569e-02 4.47948889e+02] [ 7.84529470e-02 9.96916632e-01 -1.53781443e-03 1.77989247e+01] [ 3.58282699e-02 -1.27794791e-03 9.99357144e-01 1.58933857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.98, Y:17.80, Z:15.89 [[ 9.96370755e-01 -7.72164700e-02 -3.58180842e-02 4.47979634e+02] [ 7.72110287e-02 9.97013588e-01 -1.53717835e-03 1.78013928e+01] [ 3.58298121e-02 -1.23395157e-03 9.99357144e-01 1.58942466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.01, Y:17.80, Z:15.90 [[ 9.96421573e-01 -7.65578919e-02 -3.58181113e-02 4.48010736e+02] [ 7.65520483e-02 9.97064403e-01 -1.53654794e-03 1.78037580e+01] [ 3.58305986e-02 -1.21090027e-03 9.99357144e-01 1.58956282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.04, Y:17.81, Z:15.90 [[ 9.96458586e-01 -7.60746085e-02 -3.58181658e-02 4.48040597e+02] [ 7.60684989e-02 9.97101412e-01 -1.53527546e-03 1.78068113e+01] [ 3.58311392e-02 -1.19479569e-03 9.99357144e-01 1.58968412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.07, Y:17.81, Z:15.90 [[ 9.96453608e-01 -7.61397685e-02 -3.58181928e-02 4.48072004e+02] [ 7.61337236e-02 9.97096435e-01 -1.53464426e-03 1.78089826e+01] [ 3.58310399e-02 -1.19777058e-03 9.99357144e-01 1.58979098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.10, Y:17.81, Z:15.90 [[ 9.96410792e-01 -7.66980211e-02 -3.58182463e-02 4.48103357e+02] [ 7.66923812e-02 9.97053623e-01 -1.53339447e-03 1.78113050e+01] [ 3.58303206e-02 -1.21909581e-03 9.99357144e-01 1.58998239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.13, Y:17.81, Z:15.90 [[ 9.96360131e-01 -7.73533307e-02 -3.58183020e-02 4.48133839e+02] [ 7.73481603e-02 9.97002966e-01 -1.53209252e-03 1.78134891e+01] [ 3.58294658e-02 -1.24396386e-03 9.99357144e-01 1.59001813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.16, Y:17.82, Z:15.90 [[ 9.96326710e-01 -7.77826148e-02 -3.58183296e-02 4.48164859e+02] [ 7.77777446e-02 9.96969547e-01 -1.53144681e-03 1.78155147e+01] [ 3.58289038e-02 -1.26004753e-03 9.99357144e-01 1.59008624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.20, Y:17.82, Z:15.90 [[ 9.96227109e-01 -7.90480314e-02 -3.58183819e-02 4.48196312e+02] [ 7.90440216e-02 9.96869952e-01 -1.53022359e-03 1.78180372e+01] [ 3.58272298e-02 -1.30677873e-03 9.99357144e-01 1.59022273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.23, Y:17.82, Z:15.90 [[ 9.96187708e-01 -7.95430129e-02 -3.58184351e-02 4.48228037e+02] [ 7.95393673e-02 9.96830553e-01 -1.52897648e-03 1.78199423e+01] [ 3.58265299e-02 -1.32582810e-03 9.99357144e-01 1.59039521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:17.82, Z:15.91 [[ 9.96170657e-01 -7.97562375e-02 -3.58184898e-02 4.48259359e+02] [ 7.97527755e-02 9.96813504e-01 -1.52769543e-03 1.78216835e+01] [ 3.58261975e-02 -1.33477861e-03 9.99357144e-01 1.59050698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.29, Y:17.82, Z:15.91 [[ 9.96170241e-01 -7.97613983e-02 -3.58185712e-02 4.48289992e+02] [ 7.97580083e-02 9.96813088e-01 -1.52578278e-03 1.78236191e+01] [ 3.58261192e-02 -1.33687850e-03 9.99357144e-01 1.59062203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.32, Y:17.83, Z:15.91 [[ 9.96195712e-01 -7.94425544e-02 -3.58187588e-02 4.48321247e+02] [ 7.94391172e-02 9.96838559e-01 -1.52136813e-03 1.78253673e+01] [ 3.58263812e-02 -1.32983017e-03 9.99357144e-01 1.59076107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.35, Y:17.83, Z:15.91 [[ 9.96232338e-01 -7.89819002e-02 -3.58188123e-02 4.48352892e+02] [ 7.89782111e-02 9.96875184e-01 -1.52010538e-03 1.78273443e+01] [ 3.58269459e-02 -1.31452758e-03 9.99357144e-01 1.59091393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.38, Y:17.83, Z:15.91 [[ 9.96306612e-01 -7.80393777e-02 -3.58188682e-02 4.48383805e+02] [ 7.80351277e-02 9.96949453e-01 -1.51878695e-03 1.78291283e+01] [ 3.58281263e-02 -1.28195248e-03 9.99357144e-01 1.59091800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.41, Y:17.83, Z:15.91 [[ 9.96493241e-01 -7.56189351e-02 -3.58189518e-02 4.48414816e+02] [ 7.56131944e-02 9.97136071e-01 -1.51681448e-03 1.78317695e+01] [ 3.58310687e-02 -1.19688999e-03 9.99357144e-01 1.59106217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.45, Y:17.83, Z:15.91 [[ 9.96609553e-01 -7.40702212e-02 -3.58190079e-02 4.48446572e+02] [ 7.40635291e-02 9.97252374e-01 -1.51548743e-03 1.78335848e+01] [ 3.58328432e-02 -1.14253289e-03 9.99357144e-01 1.59113746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.48, Y:17.84, Z:15.91 [[ 9.96736363e-01 -7.23437492e-02 -3.58190636e-02 4.48478093e+02] [ 7.23359909e-02 9.97379171e-01 -1.51417084e-03 1.78351138e+01] [ 3.58347287e-02 -1.08177832e-03 9.99357144e-01 1.59123688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.51, Y:17.84, Z:15.91 [[ 9.96972393e-01 -6.90147694e-02 -3.58191192e-02 4.48508573e+02] [ 6.90049118e-02 9.97615173e-01 -1.51285367e-03 1.78368282e+01] [ 3.58381061e-02 -9.63421813e-04 9.99357144e-01 1.59130118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.54, Y:17.84, Z:15.91 [[ 9.97104792e-01 -6.70747566e-02 -3.58191468e-02 4.48538699e+02] [ 6.70636718e-02 9.97747552e-01 -1.51220013e-03 1.78383089e+01] [ 3.58398965e-02 -8.94341506e-04 9.99357144e-01 1.59137733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.57, Y:17.84, Z:15.91 [[ 9.97231467e-01 -6.51643261e-02 -3.58191468e-02 4.48569027e+02] [ 6.51520099e-02 9.97874205e-01 -1.51220013e-03 1.78399363e+01] [ 3.58415441e-02 -8.25675849e-04 9.99357144e-01 1.59148074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.60, Y:17.84, Z:15.92 [[ 9.97507492e-01 -6.07930350e-02 -3.58191468e-02 4.48598350e+02] [ 6.07779019e-02 9.98150169e-01 -1.51220013e-03 1.78416511e+01] [ 3.58448187e-02 -6.68581629e-04 9.99357144e-01 1.59159665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.63, Y:17.84, Z:15.92 [[ 9.97651922e-01 -5.83749556e-02 -3.58190929e-02 4.48627766e+02] [ 5.83582189e-02 9.98294560e-01 -1.51347642e-03 1.78429387e+01] [ 3.58463547e-02 -5.80415799e-04 9.99357144e-01 1.59168337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.66, Y:17.84, Z:15.92 [[ 9.97772258e-01 -5.62806987e-02 -3.58190393e-02 4.48656150e+02] [ 5.62625676e-02 9.98414858e-01 -1.51474409e-03 1.78440150e+01] [ 3.58475119e-02 -5.03901487e-04 9.99357144e-01 1.59174884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.69, Y:17.84, Z:15.92 [[ 9.98018406e-01 -5.17328142e-02 -3.58186632e-02 4.48685030e+02] [ 5.17114373e-02 9.98660906e-01 -1.52358530e-03 1.78448403e+01] [ 3.58495180e-02 -3.31668385e-04 9.99357144e-01 1.59189392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.71, Y:17.85, Z:15.92 [[ 9.98003499e-01 -5.20198661e-02 -3.58182775e-02 4.48713385e+02] [ 5.19983507e-02 9.98645995e-01 -1.53259828e-03 1.78461155e+01] [ 3.58495050e-02 -3.32952912e-04 9.99357144e-01 1.59199600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.74, Y:17.85, Z:15.92 [[ 9.98097711e-01 -5.01800912e-02 -3.58178340e-02 4.48740882e+02] [ 5.01570219e-02 9.98740153e-01 -1.54289537e-03 1.78468699e+01] [ 3.58501316e-02 -2.56555543e-04 9.99357144e-01 1.59209501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.77, Y:17.85, Z:15.92 [[ 9.98194289e-01 -4.82211263e-02 -3.58173852e-02 4.48767687e+02] [ 4.81964249e-02 9.98836669e-01 -1.55324392e-03 1.78476652e+01] [ 3.58506169e-02 -1.75830706e-04 9.99357145e-01 1.59214484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.80, Y:17.85, Z:15.92 [[ 9.98258635e-01 -4.68703124e-02 -3.58171904e-02 4.48795058e+02] [ 4.68445810e-02 9.98900975e-01 -1.55772360e-03 1.78484122e+01] [ 3.58508374e-02 -1.22830244e-04 9.99357145e-01 1.59232798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.82, Y:17.85, Z:15.92 [[ 9.98333762e-01 -4.52422590e-02 -3.58167360e-02 4.48822961e+02] [ 4.52151077e-02 9.98976043e-01 -1.56810320e-03 1.78481212e+01] [ 3.58510057e-02 -5.39672040e-05 9.99357145e-01 1.59246294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.85, Y:17.85, Z:15.93 [[ 9.98341047e-01 -4.50815634e-02 -3.58162758e-02 4.48850085e+02] [ 4.50539342e-02 9.98983309e-01 -1.57854307e-03 1.78482131e+01] [ 3.58510249e-02 -3.77397941e-05 9.99357145e-01 1.59254374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.88, Y:17.85, Z:15.93 [[ 9.98320693e-01 -4.55302298e-02 -3.58160762e-02 4.48877813e+02] [ 4.55027271e-02 9.98962960e-01 -1.58306003e-03 1.78479209e+01] [ 3.58510106e-02 -4.93275516e-05 9.99357145e-01 1.59260613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.90, Y:17.85, Z:15.93 [[ 9.98272755e-01 -4.65698122e-02 -3.58156194e-02 4.48904502e+02] [ 4.65426100e-02 9.98915035e-01 -1.59332832e-03 1.78473717e+01] [ 3.58509617e-02 -7.63761549e-05 9.99357145e-01 1.59265777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.93, Y:17.85, Z:15.93 [[ 9.98101672e-01 -5.01030525e-02 -3.58153040e-02 4.48932870e+02] [ 5.00778707e-02 9.98744034e-01 -1.60038588e-03 1.78454871e+01] [ 3.58505055e-02 -1.96206341e-04 9.99357145e-01 1.59279755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.96, Y:17.84, Z:15.93 [[ 9.97979956e-01 -5.24719449e-02 -3.58148392e-02 4.48961049e+02] [ 5.24479169e-02 9.98622362e-01 -1.61072205e-03 1.78449419e+01] [ 3.58500170e-02 -2.70945384e-04 9.99357145e-01 1.59292323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.99, Y:17.84, Z:15.93 [[ 9.97824227e-01 -5.53547081e-02 -3.58143698e-02 4.48988839e+02] [ 5.53321638e-02 9.98466686e-01 -1.62109189e-03 1.78444084e+01] [ 3.58491902e-02 -3.64121815e-04 9.99357145e-01 1.59305079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.02, Y:17.84, Z:15.93 [[ 9.97467436e-01 -6.14498081e-02 -3.58138942e-02 4.49015933e+02] [ 6.14308146e-02 9.98110011e-01 -1.63153106e-03 1.78416737e+01] [ 3.58464636e-02 -5.72677594e-04 9.99357145e-01 1.59315840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.05, Y:17.84, Z:15.93 [[ 9.97250244e-01 -6.48794161e-02 -3.58135660e-02 4.49045038e+02] [ 6.48623749e-02 9.97892874e-01 -1.63870389e-03 1.78412051e+01] [ 3.58444205e-02 -6.88755086e-04 9.99357145e-01 1.59323850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.07, Y:17.84, Z:15.93 [[ 9.96987465e-01 -6.87998014e-02 -3.58131522e-02 4.49073599e+02] [ 6.87849639e-02 9.97630149e-01 -1.64769915e-03 1.78407847e+01] [ 3.58416417e-02 -8.20670980e-04 9.99357145e-01 1.59331918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.10, Y:17.84, Z:15.93 [[ 9.96730053e-01 -7.24337615e-02 -3.58127358e-02 4.49102907e+02] [ 7.24209437e-02 9.97372780e-01 -1.65670043e-03 1.78399922e+01] [ 3.58386489e-02 -9.42309018e-04 9.99357145e-01 1.59339009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.13, Y:17.84, Z:15.93 [[ 9.96097271e-01 -8.06701729e-02 -3.58127063e-02 4.49132324e+02] [ 8.06626454e-02 9.96740082e-01 -1.65733765e-03 1.78378182e+01] [ 3.58296575e-02 -1.23787812e-03 9.99357145e-01 1.59346578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.16, Y:17.84, Z:15.94 [[ 9.95756448e-01 -8.47735246e-02 -3.58126486e-02 4.49162494e+02] [ 8.47686009e-02 9.96399284e-01 -1.65858334e-03 1.78375431e+01] [ 3.58243014e-02 -1.38424307e-03 9.99357145e-01 1.59359161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.19, Y:17.84, Z:15.94 [[ 9.95025976e-01 -9.29556970e-02 -3.58126486e-02 4.49193610e+02] [ 9.29560576e-02 9.95668831e-01 -1.65858334e-03 1.78361579e+01] [ 3.58117127e-02 -1.67866912e-03 9.99357145e-01 1.59367890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.23, Y:17.84, Z:15.94 [[ 9.95032748e-01 -9.28831523e-02 -3.58127088e-02 4.49226245e+02] [ 9.28835127e-02 9.95675603e-01 -1.65728353e-03 1.78376107e+01] [ 3.58117741e-02 -1.67735880e-03 9.99357145e-01 1.59379606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.26, Y:17.84, Z:15.94 [[ 9.94682343e-01 -9.65633384e-02 -3.58128294e-02 4.49258459e+02] [ 9.65661706e-02 9.95325191e-01 -1.65467252e-03 1.78379306e+01] [ 3.58051920e-02 -1.81243426e-03 9.99357145e-01 1.59391422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.29, Y:17.84, Z:15.94 [[ 9.94038011e-01 -1.02984784e-01 -3.58129521e-02 4.49290531e+02] [ 1.02991863e-01 9.94680827e-01 -1.65201339e-03 1.78375225e+01] [ 3.57925890e-02 -2.04627854e-03 9.99357145e-01 1.59397495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.32, Y:17.84, Z:15.94 [[ 9.93808828e-01 -1.05173366e-01 -3.58130746e-02 4.49322378e+02] [ 1.05181956e-01 9.94451626e-01 -1.64935309e-03 1.78382025e+01] [ 3.57878382e-02 -2.12774756e-03 9.99357145e-01 1.59404729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.35, Y:17.84, Z:15.94 [[ 9.93616525e-01 -1.06974835e-01 -3.58131966e-02 4.49354791e+02] [ 1.06984686e-01 9.94259305e-01 -1.64670002e-03 1.78391125e+01] [ 3.57837594e-02 -2.19527524e-03 9.99357145e-01 1.59412800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:17.84, Z:15.94 [[ 9.93427226e-01 -1.08718685e-01 -3.58133179e-02 4.49386213e+02] [ 1.08729759e-01 9.94069986e-01 -1.64405585e-03 1.78401641e+01] [ 3.57796841e-02 -2.26072358e-03 9.99357145e-01 1.59415031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:17.84, Z:15.94 [[ 9.93426928e-01 -1.08721377e-01 -3.58134082e-02 4.49417329e+02] [ 1.08732523e-01 9.94069687e-01 -1.64208645e-03 1.78417394e+01] [ 3.57795534e-02 -2.26278932e-03 9.99357145e-01 1.59421302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.45, Y:17.84, Z:15.94 [[ 9.93474308e-01 -1.08287546e-01 -3.58134975e-02 4.49449656e+02] [ 1.08298482e-01 9.94117070e-01 -1.64013699e-03 1.78439099e+01] [ 3.57804156e-02 -2.24911345e-03 9.99357145e-01 1.59434592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.48, Y:17.85, Z:15.94 [[ 9.93583344e-01 -1.07282447e-01 -3.58136182e-02 4.49481238e+02] [ 1.07292827e-01 9.94226115e-01 -1.63749766e-03 1.78461320e+01] [ 3.57825093e-02 -2.21555394e-03 9.99357145e-01 1.59444896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.51, Y:17.85, Z:15.95 [[ 9.93756212e-01 -1.05669155e-01 -3.58137080e-02 4.49512110e+02] [ 1.05678562e-01 9.94398998e-01 -1.63553206e-03 1.78486562e+01] [ 3.57859406e-02 -2.15942103e-03 9.99357145e-01 1.59456612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.54, Y:17.85, Z:15.95 [[ 9.94219377e-01 -1.01218586e-01 -3.58137964e-02 4.49543699e+02] [ 1.01225184e-01 9.94862198e-01 -1.63359250e-03 1.78527290e+01] [ 3.57951422e-02 -2.00110882e-03 9.99357145e-01 1.59473149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.57, Y:17.86, Z:15.95 [[ 9.94512872e-01 -9.82929810e-02 -3.58139144e-02 4.49574620e+02] [ 9.82977811e-02 9.95155709e-01 -1.63100303e-03 1.78556567e+01] [ 3.58007375e-02 -1.89837481e-03 9.99357145e-01 1.59484699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.61, Y:17.86, Z:15.95 [[ 9.94811121e-01 -9.52270499e-02 -3.58140019e-02 4.49607015e+02] [ 9.52299376e-02 9.95453969e-01 -1.62907775e-03 1.78590234e+01] [ 3.58063227e-02 -1.78994050e-03 9.99357145e-01 1.59499771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.64, Y:17.86, Z:15.95 [[ 9.95457467e-01 -8.82144038e-02 -3.58141206e-02 4.49638347e+02] [ 8.82128553e-02 9.96100320e-01 -1.62646524e-03 1.78644479e+01] [ 3.58179346e-02 -1.54018886e-03 9.99357145e-01 1.59511938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.67, Y:17.87, Z:15.95 [[ 9.95782635e-01 -8.44647063e-02 -3.58142090e-02 4.49669269e+02] [ 8.44608066e-02 9.96425478e-01 -1.62451678e-03 1.78679634e+01] [ 3.58234046e-02 -1.40723138e-03 9.99357145e-01 1.59522763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.70, Y:17.87, Z:15.95 [[ 9.96074001e-01 -8.09562992e-02 -3.58142673e-02 4.49700085e+02] [ 8.09501812e-02 9.96716827e-01 -1.62322995e-03 1.78716574e+01] [ 3.58280935e-02 -1.28231428e-03 9.99357145e-01 1.59531956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.73, Y:17.88, Z:15.95 [[ 9.96587010e-01 -7.43751641e-02 -3.58143257e-02 4.49731033e+02] [ 7.43648465e-02 9.97229782e-01 -1.62194012e-03 1.78769096e+01] [ 3.58357443e-02 -1.04692238e-03 9.99357145e-01 1.59540078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.76, Y:17.88, Z:15.95 [[ 9.96827506e-01 -7.10791996e-02 -3.58143841e-02 4.49761396e+02] [ 7.10668029e-02 9.97470242e-01 -1.62064864e-03 1.78802373e+01] [ 3.58389768e-02 -9.29706632e-04 9.99357145e-01 1.59547468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.79, Y:17.88, Z:15.96 [[ 9.97055175e-01 -6.78108089e-02 -3.58144131e-02 4.49791957e+02] [ 6.77963280e-02 9.97697867e-01 -1.62000917e-03 1.78838010e+01] [ 3.58418177e-02 -8.12847172e-04 9.99357145e-01 1.59559087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.82, Y:17.89, Z:15.96 [[ 9.97249672e-01 -6.48877396e-02 -3.58144131e-02 4.49820359e+02] [ 6.48713748e-02 9.97892319e-01 -1.62000917e-03 1.78875439e+01] [ 3.58440464e-02 -7.07776603e-04 9.99357145e-01 1.59568221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.85, Y:17.89, Z:15.96 [[ 9.97662102e-01 -5.82036470e-02 -3.58143288e-02 4.49849646e+02] [ 5.81829093e-02 9.98304622e-01 -1.62187053e-03 1.78929306e+01] [ 3.58480087e-02 -4.65703086e-04 9.99357145e-01 1.59584849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.88, Y:17.90, Z:15.96 [[ 9.97835075e-01 -5.51588758e-02 -3.58142709e-02 4.49878502e+02] [ 5.51361316e-02 9.98477527e-01 -1.62314798e-03 1.78962875e+01] [ 3.58492757e-02 -3.55026372e-04 9.99357145e-01 1.59599190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.91, Y:17.90, Z:15.96 [[ 9.97980011e-01 -5.24715670e-02 -3.58138613e-02 4.49906501e+02] [ 5.24467703e-02 9.98622387e-01 -1.63213518e-03 1.78995112e+01] [ 3.58501644e-02 -2.49483078e-04 9.99357145e-01 1.59611586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.93, Y:17.90, Z:15.96 [[ 9.98122656e-01 -4.96846431e-02 -3.58133934e-02 4.49933916e+02] [ 4.96576867e-02 9.98764946e-01 -1.64233931e-03 1.79022534e+01] [ 3.58507609e-02 -1.39154195e-04 9.99357145e-01 1.59627322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.96, Y:17.91, Z:15.96 [[ 9.98304305e-01 -4.58906297e-02 -3.58129113e-02 4.49961854e+02] [ 4.58608576e-02 9.98946470e-01 -1.65278473e-03 1.79057843e+01] [ 3.58510287e-02 7.57128975e-06 9.99357145e-01 1.59642712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.99, Y:17.91, Z:15.97 [[ 9.98332776e-01 -4.52674188e-02 -3.58124287e-02 4.49988760e+02] [ 4.52368730e-02 9.98974904e-01 -1.66317746e-03 1.79077786e+01] [ 3.58510052e-02 4.03622859e-05 9.99357145e-01 1.59650569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.02, Y:17.91, Z:15.97 [[ 9.98323155e-01 -4.54793617e-02 -3.58120921e-02 4.50016805e+02] [ 4.54486933e-02 9.98965278e-01 -1.67039330e-03 1.79094178e+01] [ 3.58510049e-02 3.99795223e-05 9.99357145e-01 1.59672335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.04, Y:17.91, Z:15.97 [[ 9.98187395e-01 -4.83686186e-02 -3.58106180e-02 4.50044999e+02] [ 4.83386807e-02 9.98829553e-01 -1.70184008e-03 1.79105494e+01] [ 3.58510192e-02 -3.22827118e-05 9.99357145e-01 1.59676972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.07, Y:17.91, Z:15.97 [[ 9.98062630e-01 -5.08775712e-02 -3.58114555e-02 4.50072060e+02] [ 5.08498865e-02 9.98704888e-01 -1.68403129e-03 1.79112912e+01] [ 3.58507550e-02 -1.40239748e-04 9.99357145e-01 1.59683437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.10, Y:17.91, Z:15.97 [[ 9.97895581e-01 -5.40551998e-02 -3.58112440e-02 4.50098608e+02] [ 5.40293992e-02 9.98537918e-01 -1.68851679e-03 1.79118071e+01] [ 3.58501581e-02 -2.49896550e-04 9.99357145e-01 1.59690942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.13, Y:17.91, Z:15.97 [[ 9.97466158e-01 -6.14722964e-02 -3.58109115e-02 4.50126782e+02] [ 6.14510198e-02 9.98108660e-01 -1.69553850e-03 1.79109090e+01] [ 3.58474096e-02 -5.09374763e-04 9.99357145e-01 1.59697676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.16, Y:17.91, Z:15.97 [[ 9.97200102e-01 -6.56473265e-02 -3.58104114e-02 4.50155799e+02] [ 6.56283629e-02 9.97842677e-01 -1.70603505e-03 1.79112696e+01] [ 3.58451535e-02 -6.48920350e-04 9.99357145e-01 1.59704371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.19, Y:17.91, Z:15.97 [[ 9.96931225e-01 -6.96114461e-02 -3.58103184e-02 4.50185711e+02] [ 6.95949674e-02 9.97573869e-01 -1.70798635e-03 1.79113522e+01] [ 3.58423332e-02 -7.89473016e-04 9.99357145e-01 1.59710348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.22, Y:17.91, Z:15.97 [[ 9.96637334e-01 -7.36997177e-02 -3.58102877e-02 4.50215176e+02] [ 7.36858518e-02 9.97280039e-01 -1.70862998e-03 1.79115284e+01] [ 3.58388106e-02 -9.35827119e-04 9.99357145e-01 1.59717958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.25, Y:17.91, Z:15.97 [[ 9.96098415e-01 -8.06571269e-02 -3.58102579e-02 4.50245507e+02] [ 8.06477267e-02 9.96741201e-01 -1.70925284e-03 1.79103602e+01] [ 3.58314229e-02 -1.18543185e-03 9.99357145e-01 1.59732830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.28, Y:17.91, Z:15.97 [[ 9.95868163e-01 -8.34519452e-02 -3.58102579e-02 4.50276635e+02] [ 8.34443488e-02 9.96510973e-01 -1.70925284e-03 1.79105342e+01] [ 3.58279555e-02 -1.28597317e-03 9.99357145e-01 1.59745615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.31, Y:17.91, Z:15.98 [[ 9.95700744e-01 -8.54262823e-02 -3.58103196e-02 4.50308505e+02] [ 8.54200068e-02 9.96343568e-01 -1.70795973e-03 1.79108000e+01] [ 3.58252863e-02 -1.35830097e-03 9.99357145e-01 1.59757871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.34, Y:17.91, Z:15.98 [[ 9.95558289e-01 -8.70706887e-02 -3.58104439e-02 4.50340367e+02] [ 8.70655686e-02 9.96201124e-01 -1.70534889e-03 1.79113171e+01] [ 3.58228904e-02 -1.42008244e-03 9.99357145e-01 1.59770685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.37, Y:17.91, Z:15.98 [[ 9.95450153e-01 -8.82983398e-02 -3.58105672e-02 4.50372140e+02] [ 8.82941056e-02 9.96092993e-01 -1.70275718e-03 1.79113017e+01] [ 3.58210057e-02 -1.46685210e-03 9.99357145e-01 1.59786134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.40, Y:17.91, Z:15.98 [[ 9.95466561e-01 -8.81131085e-02 -3.58106922e-02 4.50403684e+02] [ 8.81088493e-02 9.96109402e-01 -1.70012321e-03 1.79122308e+01] [ 3.58211704e-02 -1.46282308e-03 9.99357145e-01 1.59798729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.44, Y:17.91, Z:15.98 [[ 9.95504240e-01 -8.76863507e-02 -3.58107853e-02 4.50436215e+02] [ 8.76818864e-02 9.96147079e-01 -1.69816029e-03 1.79132210e+01] [ 3.58217147e-02 -1.44943144e-03 9.99357145e-01 1.59809397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.47, Y:17.91, Z:15.98 [[ 9.95640676e-01 -8.61233041e-02 -3.58109090e-02 4.50468651e+02] [ 8.61179243e-02 9.96283508e-01 -1.69554719e-03 1.79137459e+01] [ 3.58238442e-02 -1.39580541e-03 9.99357145e-01 1.59818364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.50, Y:17.91, Z:15.98 [[ 9.95691518e-01 -8.55334464e-02 -3.58110320e-02 4.50500797e+02] [ 8.55277793e-02 9.96334348e-01 -1.69294577e-03 1.79145270e+01] [ 3.58245647e-02 -1.37718630e-03 9.99357145e-01 1.59829250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.53, Y:17.92, Z:15.98 [[ 9.95735243e-01 -8.50228610e-02 -3.58111542e-02 4.50532508e+02] [ 8.50169572e-02 9.96378071e-01 -1.69035650e-03 1.79151890e+01] [ 3.58251677e-02 -1.36140783e-03 9.99357145e-01 1.59839489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.56, Y:17.92, Z:15.99 [[ 9.95735853e-01 -8.50156629e-02 -3.58112784e-02 4.50564659e+02] [ 8.50098491e-02 9.96378682e-01 -1.68772135e-03 1.79160842e+01] [ 3.58250771e-02 -1.36378672e-03 9.99357145e-01 1.59850477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.60, Y:17.92, Z:15.99 [[ 9.95679378e-01 -8.56744934e-02 -3.58114025e-02 4.50595645e+02] [ 8.56691997e-02 9.96322211e-01 -1.68508362e-03 1.79166128e+01] [ 3.58240645e-02 -1.39013119e-03 9.99357145e-01 1.59861333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.63, Y:17.92, Z:15.99 [[ 9.95685572e-01 -8.56024475e-02 -3.58114948e-02 4.50628281e+02] [ 8.55971778e-02 9.96328405e-01 -1.68311982e-03 1.79180884e+01] [ 3.58240887e-02 -1.38950477e-03 9.99357145e-01 1.59873047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.66, Y:17.92, Z:15.99 [[ 9.95621374e-01 -8.63458632e-02 -3.58116164e-02 4.50660047e+02] [ 8.63411665e-02 9.96264211e-01 -1.68052942e-03 1.79190825e+01] [ 3.58229385e-02 -1.41884573e-03 9.99357145e-01 1.59881665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.69, Y:17.92, Z:15.99 [[ 9.95528708e-01 -8.74077552e-02 -3.58116772e-02 4.50691610e+02] [ 8.74037907e-02 9.96171550e-01 -1.67923255e-03 1.79201407e+01] [ 3.58213520e-02 -1.45835213e-03 9.99357145e-01 1.59888514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.72, Y:17.92, Z:15.99 [[ 9.95412881e-01 -8.87169959e-02 -3.58118798e-02 4.50723712e+02] [ 8.87140325e-02 9.96055729e-01 -1.67489991e-03 1.79211756e+01] [ 3.58192202e-02 -1.50979932e-03 9.99357145e-01 1.59895857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:17.92, Z:15.99 [[ 9.95288869e-01 -9.00975414e-02 -3.58120018e-02 4.50755174e+02] [ 9.00955634e-02 9.95931721e-01 -1.67228896e-03 1.79222630e+01] [ 3.58169777e-02 -1.56209189e-03 9.99357145e-01 1.59899684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.79, Y:17.92, Z:15.99 [[ 9.95043405e-01 -9.27691532e-02 -3.58120926e-02 4.50787187e+02] [ 9.27689709e-02 9.95686260e-01 -1.67034249e-03 1.79232557e+01] [ 3.58125648e-02 -1.66018770e-03 9.99357145e-01 1.59911862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.82, Y:17.92, Z:15.99 [[ 9.94974897e-01 -9.35010178e-02 -3.58122149e-02 4.50819375e+02] [ 9.35014027e-02 9.95617751e-01 -1.66771465e-03 1.79248816e+01] [ 3.58112099e-02 -1.68915812e-03 9.99357145e-01 1.59925039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.85, Y:17.93, Z:15.99 [[ 9.94915529e-01 -9.41305856e-02 -3.58123367e-02 4.50850556e+02] [ 9.41314714e-02 9.95558383e-01 -1.66509497e-03 1.79267971e+01] [ 3.58100084e-02 -1.71443911e-03 9.99357145e-01 1.59935127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.88, Y:17.93, Z:16.00 [[ 9.94824046e-01 -9.50925236e-02 -3.58124273e-02 4.50882576e+02] [ 9.50941010e-02 9.95466898e-01 -1.66314556e-03 1.79294163e+01] [ 3.58082386e-02 -1.75101338e-03 9.99357145e-01 1.59960920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.91, Y:17.93, Z:16.00 [[ 9.94800217e-01 -9.53414405e-02 -3.58125492e-02 4.50914025e+02] [ 9.53432731e-02 9.95443069e-01 -1.66051514e-03 1.79313100e+01] [ 3.58076698e-02 -1.76260484e-03 9.99357145e-01 1.59976056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.95, Y:17.93, Z:16.00 [[ 9.94776833e-01 -9.55850813e-02 -3.58126401e-02 4.50945985e+02] [ 9.55871419e-02 9.95419684e-01 -1.65855402e-03 1.79332179e+01] [ 3.58071399e-02 -1.77333679e-03 9.99357145e-01 1.59991858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.98, Y:17.94, Z:16.00 [[ 9.94745999e-01 -9.59053892e-02 -3.58127619e-02 4.50976745e+02] [ 9.59077513e-02 9.95388849e-01 -1.65591876e-03 1.79359094e+01] [ 3.58064354e-02 -1.78750290e-03 9.99357145e-01 1.60008250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.01, Y:17.94, Z:16.00 [[ 9.94731024e-01 -9.60605111e-02 -3.58129637e-02 4.51009242e+02] [ 9.60631307e-02 9.95373873e-01 -1.65154211e-03 1.79381467e+01] [ 3.58059364e-02 -1.79746524e-03 9.99357145e-01 1.60023710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.04, Y:17.94, Z:16.00 [[ 9.94643694e-01 -9.69605353e-02 -3.58130853e-02 4.51040029e+02] [ 9.69638314e-02 9.95286540e-01 -1.64890169e-03 1.79412133e+01] [ 3.58041601e-02 -1.83250430e-03 9.99357145e-01 1.60034293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.07, Y:17.94, Z:16.00 [[ 9.94550181e-01 -9.79149938e-02 -3.58132865e-02 4.51071634e+02] [ 9.79190642e-02 9.95193023e-01 -1.64452008e-03 1.79434422e+01] [ 3.58021560e-02 -1.87124576e-03 9.99357145e-01 1.60045795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.10, Y:17.95, Z:16.01 [[ 9.94446827e-01 -9.89591188e-02 -3.58134076e-02 4.51102333e+02] [ 9.89639589e-02 9.95089664e-01 -1.64187819e-03 1.79452888e+01] [ 3.58000306e-02 -1.91147604e-03 9.99357145e-01 1.60054234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.13, Y:17.95, Z:16.01 [[ 9.94347650e-01 -9.99507049e-02 -3.58134978e-02 4.51134714e+02] [ 9.99562567e-02 9.94990481e-01 -1.63990963e-03 1.79472110e+01] [ 3.57979995e-02 -1.94914289e-03 9.99357145e-01 1.60063338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.17, Y:17.95, Z:16.01 [[ 9.94126137e-01 -1.02130350e-01 -3.58136157e-02 4.51166722e+02] [ 1.02137404e-01 9.94768953e-01 -1.63732949e-03 1.79499627e+01] [ 3.57934941e-02 -2.03019770e-03 9.99357145e-01 1.60069170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.20, Y:17.95, Z:16.01 [[ 9.94051830e-01 -1.02851036e-01 -3.58137355e-02 4.51198676e+02] [ 1.02858650e-01 9.94694640e-01 -1.63470605e-03 1.79523041e+01] [ 3.57918619e-02 -2.05876994e-03 9.99357145e-01 1.60079697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.23, Y:17.95, Z:16.01 [[ 9.94027205e-01 -1.03088712e-01 -3.58138559e-02 4.51230739e+02] [ 1.03096575e-01 9.94670012e-01 -1.63206299e-03 1.79549175e+01] [ 3.57912158e-02 -2.06997086e-03 9.99357145e-01 1.60092716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.26, Y:17.96, Z:16.01 [[ 9.94069762e-01 -1.02677490e-01 -3.58139755e-02 4.51263713e+02] [ 1.02685181e-01 9.94712571e-01 -1.62943502e-03 1.79579102e+01] [ 3.57919179e-02 -2.05779246e-03 9.99357145e-01 1.60105015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.30, Y:17.96, Z:16.01 [[ 9.94283701e-01 -1.00584630e-01 -3.58141534e-02 4.51295757e+02] [ 1.00591109e-01 9.94926523e-01 -1.62551431e-03 1.79625266e+01] [ 3.57959529e-02 -1.98636301e-03 9.99357145e-01 1.60114425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.33, Y:17.97, Z:16.01 [[ 9.94445169e-01 -9.89754758e-02 -3.58142711e-02 4.51327704e+02] [ 9.89810074e-02 9.95087999e-01 -1.62291875e-03 1.79656746e+01] [ 3.57989805e-02 -1.93102891e-03 9.99357145e-01 1.60128281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.36, Y:17.97, Z:16.01 [[ 9.94654238e-01 -9.68518261e-02 -3.58143879e-02 4.51360087e+02] [ 9.68560778e-02 9.95297079e-01 -1.62033638e-03 1.79687058e+01] [ 3.58028882e-02 -1.85716669e-03 9.99357145e-01 1.60139287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.39, Y:17.97, Z:16.01 [[ 9.94875720e-01 -9.45495746e-02 -3.58145048e-02 4.51392232e+02] [ 9.45524315e-02 9.95518569e-01 -1.61774796e-03 1.79716398e+01] [ 3.58069619e-02 -1.77689035e-03 9.99357145e-01 1.60149287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.42, Y:17.98, Z:16.02 [[ 9.95248966e-01 -9.05362320e-02 -3.58146218e-02 4.51424530e+02] [ 9.05365892e-02 9.95891820e-01 -1.61515347e-03 1.79759748e+01] [ 3.58137188e-02 -1.63505388e-03 9.99357145e-01 1.60159731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.46, Y:17.98, Z:16.02 [[ 9.95417950e-01 -8.86589459e-02 -3.58147424e-02 4.51455717e+02] [ 8.86581868e-02 9.96060804e-01 -1.61247524e-03 1.79790045e+01] [ 3.58166215e-02 -1.57018333e-03 9.99357145e-01 1.60169229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.49, Y:17.98, Z:16.02 [[ 9.95579258e-01 -8.68287936e-02 -3.58148320e-02 4.51486574e+02] [ 8.68269242e-02 9.96222110e-01 -1.61048346e-03 1.79818883e+01] [ 3.58193638e-02 -1.50632777e-03 9.99357145e-01 1.60177399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.52, Y:17.99, Z:16.02 [[ 9.95820954e-01 -8.40113816e-02 -3.58150271e-02 4.51518564e+02] [ 8.40078495e-02 9.96463798e-01 -1.60613191e-03 1.79855454e+01] [ 3.58233113e-02 -1.40932360e-03 9.99357145e-01 1.60189780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.55, Y:17.99, Z:16.02 [[ 9.95903536e-01 -8.30266362e-02 -3.58151430e-02 4.51550329e+02] [ 8.30225614e-02 9.96546378e-01 -1.60354373e-03 1.79878208e+01] [ 3.58245878e-02 -1.37649004e-03 9.99357145e-01 1.60199994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.58, Y:17.99, Z:16.02 [[ 9.95977196e-01 -8.21382486e-02 -3.58152583e-02 4.51582137e+02] [ 8.21336929e-02 9.96620035e-01 -1.60096484e-03 1.79899158e+01] [ 3.58257044e-02 -1.34711495e-03 9.99357145e-01 1.60209060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.61, Y:17.99, Z:16.02 [[ 9.96013490e-01 -8.16969254e-02 -3.58153731e-02 4.51614614e+02] [ 8.16921772e-02 9.96656327e-01 -1.59839193e-03 1.79919426e+01] [ 3.58262019e-02 -1.33381589e-03 9.99357145e-01 1.60220225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.65, Y:17.99, Z:16.02 [[ 9.96080855e-01 -8.08713824e-02 -3.58154900e-02 4.51645388e+02] [ 8.08661957e-02 9.96723689e-01 -1.59576723e-03 1.79940415e+01] [ 3.58271992e-02 -1.30674924e-03 9.99357145e-01 1.60222362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.68, Y:18.00, Z:16.02 [[ 9.96117897e-01 -8.04138031e-02 -3.58155771e-02 4.51677407e+02] [ 8.04083914e-02 9.96760729e-01 -1.59381057e-03 1.79960995e+01] [ 3.58277251e-02 -1.29224971e-03 9.99357145e-01 1.60234285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.71, Y:18.00, Z:16.02 [[ 9.96136140e-01 -8.01874419e-02 -3.58156923e-02 4.51709499e+02] [ 8.01819772e-02 9.96778972e-01 -1.59121739e-03 1.79982524e+01] [ 3.58279246e-02 -1.28670388e-03 9.99357145e-01 1.60245150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.74, Y:18.00, Z:16.03 [[ 9.96168041e-01 -7.97901082e-02 -3.58158086e-02 4.51741245e+02] [ 7.97844813e-02 9.96810871e-01 -1.58859634e-03 1.80001574e+01] [ 3.58283416e-02 -1.27503681e-03 9.99357145e-01 1.60255023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.77, Y:18.00, Z:16.03 [[ 9.96191337e-01 -7.94986744e-02 -3.58159246e-02 4.51772947e+02] [ 7.94929535e-02 9.96834166e-01 -1.58597527e-03 1.80025678e+01] [ 3.58286203e-02 -1.26717880e-03 9.99357145e-01 1.60265139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.80, Y:18.00, Z:16.03 [[ 9.96188348e-01 -7.95360712e-02 -3.58160407e-02 4.51803721e+02] [ 7.95304686e-02 9.96831178e-01 -1.58335083e-03 1.80041614e+01] [ 3.58284795e-02 -1.27115085e-03 9.99357145e-01 1.60272591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.84, Y:18.01, Z:16.03 [[ 9.96170326e-01 -7.97614319e-02 -3.58161270e-02 4.51835450e+02] [ 7.97560450e-02 9.96813158e-01 -1.58139580e-03 1.80057116e+01] [ 3.58281210e-02 -1.28121306e-03 9.99357145e-01 1.60283820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.87, Y:18.01, Z:16.03 [[ 9.96147708e-01 -8.00433665e-02 -3.58162389e-02 4.51867213e+02] [ 8.00382526e-02 9.96790542e-01 -1.57885736e-03 1.80072482e+01] [ 3.58276652e-02 -1.29389404e-03 9.99357145e-01 1.60296706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.90, Y:18.01, Z:16.03 [[ 9.96117521e-01 -8.04181164e-02 -3.58163498e-02 4.51899162e+02] [ 8.04133349e-02 9.96760358e-01 -1.57633727e-03 1.80096361e+01] [ 3.58270837e-02 -1.30989495e-03 9.99357145e-01 1.60316031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.93, Y:18.01, Z:16.03 [[ 9.96119565e-01 -8.03927410e-02 -3.58164624e-02 4.51929820e+02] [ 8.03880352e-02 9.96762403e-01 -1.57377455e-03 1.80117872e+01] [ 3.58270232e-02 -1.31154742e-03 9.99357145e-01 1.60327211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.96, Y:18.01, Z:16.03 [[ 9.96126812e-01 -8.03028580e-02 -3.58165462e-02 4.51962141e+02] [ 8.02981627e-02 9.96769650e-01 -1.57186481e-03 1.80142483e+01] [ 3.58270714e-02 -1.31022617e-03 9.99357145e-01 1.60343218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.99, Y:18.02, Z:16.04 [[ 9.96128678e-01 -8.02796614e-02 -3.58166606e-02 4.51994434e+02] [ 8.02750449e-02 9.96771516e-01 -1.56925352e-03 1.80157927e+01] [ 3.58270062e-02 -1.31200561e-03 9.99357146e-01 1.60357970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.03, Y:18.02, Z:16.04 [[ 9.96130718e-01 -8.02542862e-02 -3.58167761e-02 4.52025916e+02] [ 8.02497481e-02 9.96773557e-01 -1.56661396e-03 1.80171285e+01] [ 3.58269428e-02 -1.31373497e-03 9.99357146e-01 1.60368060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.06, Y:18.02, Z:16.04 [[ 9.96097264e-01 -8.06684118e-02 -3.58168620e-02 4.52057933e+02] [ 8.06642115e-02 9.96740105e-01 -1.56464796e-03 1.80186378e+01] [ 3.58263204e-02 -1.33059737e-03 9.99357146e-01 1.60383079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.09, Y:18.02, Z:16.04 [[ 9.96015705e-01 -8.16692133e-02 -3.58169764e-02 4.52089258e+02] [ 8.16657532e-02 9.96658550e-01 -1.56202316e-03 1.80198613e+01] [ 3.58248650e-02 -1.36922076e-03 9.99357146e-01 1.60391729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.12, Y:18.02, Z:16.04 [[ 9.95950911e-01 -8.24555751e-02 -3.58170616e-02 4.52121750e+02] [ 8.24526928e-02 9.96593759e-01 -1.56006725e-03 1.80214404e+01] [ 3.58236963e-02 -1.39946278e-03 9.99357146e-01 1.60405277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.15, Y:18.02, Z:16.04 [[ 9.95863544e-01 -8.35040783e-02 -3.58171754e-02 4.52152705e+02] [ 8.35019668e-02 9.96506395e-01 -1.55745116e-03 1.80228064e+01] [ 3.58220978e-02 -1.43979576e-03 9.99357146e-01 1.60412368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.18, Y:18.02, Z:16.04 [[ 9.95748079e-01 -8.48698251e-02 -3.58172600e-02 4.52183601e+02] [ 8.48686651e-02 9.96390932e-01 -1.55550336e-03 1.80240930e+01] [ 3.58200083e-02 -1.49087356e-03 9.99357146e-01 1.60424572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.22, Y:18.02, Z:16.04 [[ 9.95510485e-01 -8.76127347e-02 -3.58173433e-02 4.52215624e+02] [ 8.76134148e-02 9.96153340e-01 -1.55358214e-03 1.80244858e+01] [ 3.58156797e-02 -1.59147244e-03 9.99357146e-01 1.60434674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.25, Y:18.03, Z:16.04 [[ 9.95376998e-01 -8.91164552e-02 -3.58174564e-02 4.52246773e+02] [ 8.91182002e-02 9.96019850e-01 -1.55097079e-03 1.80250467e+01] [ 3.58131145e-02 -1.64818660e-03 9.99357146e-01 1.60439911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.28, Y:18.03, Z:16.05 [[ 9.95233081e-01 -9.07095245e-02 -3.58175407e-02 4.52279009e+02] [ 9.07123684e-02 9.95875929e-01 -1.54902132e-03 1.80258930e+01] [ 3.58103376e-02 -1.70745668e-03 9.99357146e-01 1.60451279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.31, Y:18.03, Z:16.04 [[ 9.94975357e-01 -9.34940317e-02 -3.58176549e-02 4.52310114e+02] [ 9.34987693e-02 9.95618194e-01 -1.54637569e-03 1.80263849e+01] [ 3.58052858e-02 -1.81030095e-03 9.99357146e-01 1.60449399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.34, Y:18.03, Z:16.05 [[ 9.94854850e-01 -9.47677048e-02 -3.58177397e-02 4.52342497e+02] [ 9.47733360e-02 9.95497679e-01 -1.54440965e-03 1.80277954e+01] [ 3.58028369e-02 -1.85810325e-03 9.99357146e-01 1.60459031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.38, Y:18.03, Z:16.05 [[ 9.94780571e-01 -9.55442081e-02 -3.58178756e-02 4.52375043e+02] [ 9.55504546e-02 9.95423395e-01 -1.54124980e-03 1.80289255e+01] [ 3.58012089e-02 -1.88920894e-03 9.99357146e-01 1.60475549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.41, Y:18.03, Z:16.05 [[ 9.94729689e-01 -9.60724370e-02 -3.58180401e-02 4.52407509e+02] [ 9.60791623e-02 9.95372509e-01 -1.53741894e-03 1.80302363e+01] [ 3.57999960e-02 -1.91205102e-03 9.99357146e-01 1.60488517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.44, Y:18.03, Z:16.05 [[ 9.94732824e-01 -9.60399256e-02 -3.58181762e-02 4.52440055e+02] [ 9.60467440e-02 9.95375642e-01 -1.53424195e-03 1.80315419e+01] [ 3.57998886e-02 -1.91405837e-03 9.99357146e-01 1.60511481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.47, Y:18.03, Z:16.05 [[ 9.94772501e-01 -9.56280147e-02 -3.58183446e-02 4.52471027e+02] [ 9.56347085e-02 9.95415321e-01 -1.53029835e-03 1.80326745e+01] [ 3.58004684e-02 -1.90317823e-03 9.99357146e-01 1.60519856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.50, Y:18.03, Z:16.05 [[ 9.94835925e-01 -9.49659033e-02 -3.58184279e-02 4.52504066e+02] [ 9.49722393e-02 9.95478748e-01 -1.52834613e-03 1.80339944e+01] [ 3.58016246e-02 -1.88130268e-03 9.99357146e-01 1.60541387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.54, Y:18.04, Z:16.06 [[ 9.94941778e-01 -9.38503420e-02 -3.58185990e-02 4.52536448e+02] [ 9.38561015e-02 9.95584606e-01 -1.52432759e-03 1.80354345e+01] [ 3.58035044e-02 -1.84517686e-03 9.99357146e-01 1.60556446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.57, Y:18.04, Z:16.06 [[ 9.95258965e-01 -9.04245637e-02 -3.58188673e-02 4.52568487e+02] [ 9.04283375e-02 9.95901808e-01 -1.51799488e-03 1.80371233e+01] [ 3.58093388e-02 -1.72824261e-03 9.99357146e-01 1.60571996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.60, Y:18.04, Z:16.06 [[ 9.95441261e-01 -8.83951038e-02 -3.58190063e-02 4.52601028e+02] [ 8.83976849e-02 9.96084110e-01 -1.51470929e-03 1.80388829e+01] [ 3.58126359e-02 -1.65851311e-03 9.99357146e-01 1.60587218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.63, Y:18.04, Z:16.06 [[ 9.95447791e-01 -8.83214889e-02 -3.58191180e-02 4.52633673e+02] [ 8.83241175e-02 9.96090640e-01 -1.51206355e-03 1.80402041e+01] [ 3.58126359e-02 -1.65851166e-03 9.99357146e-01 1.60598930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.66, Y:18.04, Z:16.06 [[ 9.95885092e-01 -8.32458247e-02 -3.58192295e-02 4.52664359e+02] [ 8.32452712e-02 9.96527946e-01 -1.50941636e-03 1.80418600e+01] [ 3.58205158e-02 -1.47857623e-03 9.99357146e-01 1.60605841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.70, Y:18.04, Z:16.06 [[ 9.96097278e-01 -8.06671493e-02 -3.58193125e-02 4.52696807e+02] [ 8.06650022e-02 9.96740129e-01 -1.50744472e-03 1.80435234e+01] [ 3.58241474e-02 -1.38780333e-03 9.99357146e-01 1.60618886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.73, Y:18.05, Z:16.06 [[ 9.96322734e-01 -7.78330235e-02 -3.58194227e-02 4.52727648e+02] [ 7.78291418e-02 9.96965576e-01 -1.50482116e-03 1.80450829e+01] [ 3.58278562e-02 -1.28850740e-03 9.99357146e-01 1.60629879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.76, Y:18.05, Z:16.06 [[ 9.96527518e-01 -7.51656104e-02 -3.58195047e-02 4.52758650e+02] [ 7.51600780e-02 9.97170349e-01 -1.50286700e-03 1.80466458e+01] [ 3.58311119e-02 -1.19454845e-03 9.99357146e-01 1.60639719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.79, Y:18.05, Z:16.06 [[ 9.96834890e-01 -7.09729510e-02 -3.58195853e-02 4.52791085e+02] [ 7.09647836e-02 9.97477692e-01 -1.50094486e-03 1.80480179e+01] [ 3.58357637e-02 -1.04573492e-03 9.99357146e-01 1.60649052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.82, Y:18.05, Z:16.07 [[ 9.96969672e-01 -6.90537652e-02 -3.58196933e-02 4.52821934e+02] [ 6.90444530e-02 9.97612459e-01 -1.49836210e-03 1.80492212e+01] [ 3.58376399e-02 -9.79329563e-04 9.99357146e-01 1.60655146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.85, Y:18.05, Z:16.07 [[ 9.97066472e-01 -6.76416710e-02 -3.58197469e-02 4.52853173e+02] [ 6.76314944e-02 9.97709246e-01 -1.49707926e-03 1.80502119e+01] [ 3.58389576e-02 -9.29855480e-04 9.99357146e-01 1.60657913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.88, Y:18.05, Z:16.06 [[ 9.97170629e-01 -6.60884139e-02 -3.58198002e-02 4.52882898e+02] [ 6.60772819e-02 9.97813387e-01 -1.49580207e-03 1.80511838e+01] [ 3.58403314e-02 -8.75305151e-04 9.99357146e-01 1.60646607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.91, Y:18.05, Z:16.07 [[ 9.97230389e-01 -6.51821585e-02 -3.58167177e-02 4.52913186e+02] [ 6.51677966e-02 9.97873086e-01 -1.56950296e-03 1.80517773e+01] [ 3.58428422e-02 -7.68940530e-04 9.99357143e-01 1.60665821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.94, Y:18.05, Z:16.07 [[ 9.97254848e-01 -6.48052156e-02 -3.58197169e-02 4.52944030e+02] [ 6.47931855e-02 9.97897590e-01 -1.49777886e-03 1.80526486e+01] [ 3.58414730e-02 -8.27206332e-04 9.99357146e-01 1.60676429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.97, Y:18.05, Z:16.07 [[ 9.97264337e-01 -6.46590255e-02 -3.58197169e-02 4.52973350e+02] [ 6.46469012e-02 9.97907077e-01 -1.49777886e-03 1.80536390e+01] [ 3.58415939e-02 -8.21952257e-04 9.99357146e-01 1.60683683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.00, Y:18.05, Z:16.07 [[ 9.97290321e-01 -6.42570033e-02 -3.58197230e-02 4.53004349e+02] [ 6.42446252e-02 9.97933057e-01 -1.49763321e-03 1.80536909e+01] [ 3.58419191e-02 -8.07649574e-04 9.99357146e-01 1.60692196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.03, Y:18.05, Z:16.07 [[ 9.97274550e-01 -6.45013066e-02 -3.58197230e-02 4.53033435e+02] [ 6.44890860e-02 9.97917289e-01 -1.49763321e-03 1.80543416e+01] [ 3.58417201e-02 -8.16429711e-04 9.99357146e-01 1.60698935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.06, Y:18.05, Z:16.07 [[ 9.97247704e-01 -6.49150722e-02 -3.58196970e-02 4.53063035e+02] [ 6.49030960e-02 9.97890447e-01 -1.49825376e-03 1.80548190e+01] [ 3.58413927e-02 -8.30679116e-04 9.99357146e-01 1.60712159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.09, Y:18.06, Z:16.07 [[ 9.97194211e-01 -6.57317087e-02 -3.58196715e-02 4.53092751e+02] [ 6.57202369e-02 9.97836963e-01 -1.49886375e-03 1.80550693e+01] [ 3.58407151e-02 -8.59419039e-04 9.99357146e-01 1.60721119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.12, Y:18.06, Z:16.07 [[ 9.97114151e-01 -6.69352173e-02 -3.58196462e-02 4.53123238e+02] [ 6.69244996e-02 9.97756916e-01 -1.49946801e-03 1.80552733e+01] [ 3.58396669e-02 -9.02071126e-04 9.99357146e-01 1.60740164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.15, Y:18.05, Z:16.08 [[ 9.96893451e-01 -7.01455713e-02 -3.58196462e-02 4.53154190e+02] [ 7.01369234e-02 9.97536247e-01 -1.49946801e-03 1.80542726e+01] [ 3.58365765e-02 -1.01746994e-03 9.99357146e-01 1.60762938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.18, Y:18.06, Z:16.08 [[ 9.96613051e-01 -7.40228268e-02 -3.58196462e-02 4.53183915e+02] [ 7.40166793e-02 9.97255876e-01 -1.49946801e-03 1.80562369e+01] [ 3.58323475e-02 -1.15686188e-03 9.99357146e-01 1.60760780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.22, Y:18.05, Z:16.08 [[ 9.96607195e-01 -7.41050836e-02 -3.58125137e-02 4.53216277e+02] [ 7.40928887e-02 9.97249947e-01 -1.66938245e-03 1.80539838e+01] [ 3.58377371e-02 -9.89734038e-04 9.99357132e-01 1.60781116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.25, Y:18.05, Z:16.08 [[ 9.96228029e-01 -7.90357886e-02 -3.58197997e-02 4.53247317e+02] [ 7.90330426e-02 9.96870876e-01 -1.49480202e-03 1.80520784e+01] [ 3.58258580e-02 -1.34178409e-03 9.99357147e-01 1.60791851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.28, Y:18.05, Z:16.08 [[ 9.96062242e-01 -8.10983795e-02 -3.58198542e-02 4.53278649e+02] [ 8.10970116e-02 9.96705094e-01 -1.49349457e-03 1.80515854e+01] [ 3.58229512e-02 -1.41726958e-03 9.99357147e-01 1.60797350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.31, Y:18.05, Z:16.08 [[ 9.95894150e-01 -8.31370829e-02 -3.58199357e-02 4.53310373e+02] [ 8.31371011e-02 9.96537003e-01 -1.49153766e-03 1.80514559e+01] [ 3.58198935e-02 -1.49255198e-03 9.99357147e-01 1.60802456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.34, Y:18.05, Z:16.08 [[ 9.95665367e-01 -8.58335438e-02 -3.58201129e-02 4.53341953e+02] [ 8.58354560e-02 9.96308217e-01 -1.48726978e-03 1.80506580e+01] [ 3.58155305e-02 -1.59381271e-03 9.99357147e-01 1.60809957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.37, Y:18.05, Z:16.08 [[ 9.95628015e-01 -8.62656947e-02 -3.58201896e-02 4.53373833e+02] [ 8.62679523e-02 9.96270864e-01 -1.48542009e-03 1.80510408e+01] [ 3.58147520e-02 -1.61120855e-03 9.99357147e-01 1.60821624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.41, Y:18.05, Z:16.08 [[ 9.95599567e-01 -8.65933502e-02 -3.58202969e-02 4.53405809e+02] [ 8.65959124e-02 9.96242415e-01 -1.48282878e-03 1.80517477e+01] [ 3.58141022e-02 -1.62558760e-03 9.99357147e-01 1.60832848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.44, Y:18.05, Z:16.08 [[ 9.95628623e-01 -8.62585820e-02 -3.58204052e-02 4.53436747e+02] [ 8.62610222e-02 9.96271472e-01 -1.48020851e-03 1.80524209e+01] [ 3.58145285e-02 -1.61616680e-03 9.99357147e-01 1.60839816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.47, Y:18.05, Z:16.09 [[ 9.95764329e-01 -8.46775863e-02 -3.58204858e-02 4.53468606e+02] [ 8.46790759e-02 9.96407180e-01 -1.47825513e-03 1.80528146e+01] [ 3.58169643e-02 -1.56125191e-03 9.99357147e-01 1.60854698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.50, Y:18.05, Z:16.09 [[ 9.95862865e-01 -8.35107106e-02 -3.58205930e-02 4.53499786e+02] [ 8.35115403e-02 9.96505718e-01 -1.47565330e-03 1.80536448e+01] [ 3.58186586e-02 -1.52188457e-03 9.99357147e-01 1.60863891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:18.05, Z:16.09 [[ 9.95994213e-01 -8.19292806e-02 -3.58206727e-02 4.53531714e+02] [ 8.19291591e-02 9.96637066e-01 -1.47371604e-03 1.80544924e+01] [ 3.58209506e-02 -1.46694495e-03 9.99357147e-01 1.60875960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.56, Y:18.06, Z:16.09 [[ 9.96259195e-01 -7.86415100e-02 -3.58207805e-02 4.53562739e+02] [ 7.86393610e-02 9.96902045e-01 -1.47109125e-03 1.80558861e+01] [ 3.58254981e-02 -1.35133510e-03 9.99357147e-01 1.60881525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.59, Y:18.06, Z:16.09 [[ 9.96407637e-01 -7.67377816e-02 -3.58208608e-02 4.53594179e+02] [ 7.67344745e-02 9.97050481e-01 -1.46913324e-03 1.80573672e+01] [ 3.58279445e-02 -1.28483935e-03 9.99357147e-01 1.60889362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.63, Y:18.06, Z:16.09 [[ 9.96515020e-01 -7.53304515e-02 -3.58209132e-02 4.53625737e+02] [ 7.53262825e-02 9.97157859e-01 -1.46785373e-03 1.80590070e+01] [ 3.58296792e-02 -1.23551794e-03 9.99357147e-01 1.60900476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.66, Y:18.06, Z:16.09 [[ 9.96608743e-01 -7.40801727e-02 -3.58209667e-02 4.53656216e+02] [ 7.40752441e-02 9.97251577e-01 -1.46654637e-03 1.80605353e+01] [ 3.58311576e-02 -1.19187392e-03 9.99357147e-01 1.60904538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.69, Y:18.06, Z:16.09 [[ 9.96780401e-01 -7.17334522e-02 -3.58209933e-02 4.53687467e+02] [ 7.17270334e-02 9.97423222e-01 -1.46589760e-03 1.80620511e+01] [ 3.58338444e-02 -1.10815559e-03 9.99357147e-01 1.60914183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.72, Y:18.06, Z:16.09 [[ 9.96834970e-01 -7.09710819e-02 -3.58210472e-02 4.53717718e+02] [ 7.09642188e-02 9.97477787e-01 -1.46457865e-03 1.80635866e+01] [ 3.58346416e-02 -1.08206942e-03 9.99357147e-01 1.60918471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.75, Y:18.06, Z:16.09 [[ 9.96905131e-01 -6.99786469e-02 -3.58210739e-02 4.53747773e+02] [ 6.99711673e-02 9.97547940e-01 -1.46392479e-03 1.80646831e+01] [ 3.58356820e-02 -1.04704822e-03 9.99357147e-01 1.60932182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.78, Y:18.07, Z:16.09 [[ 9.96992050e-01 -6.87292061e-02 -3.58210739e-02 4.53777866e+02] [ 6.87209209e-02 9.97634849e-01 -1.46392479e-03 1.80661227e+01] [ 3.58369661e-02 -1.00213581e-03 9.99357147e-01 1.60944628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.81, Y:18.07, Z:16.10 [[ 9.97014694e-01 -6.83999356e-02 -3.58210739e-02 4.53807527e+02] [ 6.83914382e-02 9.97657490e-01 -1.46392479e-03 1.80679516e+01] [ 3.58372951e-02 -9.90300238e-04 9.99357147e-01 1.60961396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.84, Y:18.07, Z:16.10 [[ 9.97067545e-01 -6.76251666e-02 -3.58210474e-02 4.53837861e+02] [ 6.76161463e-02 9.97710335e-01 -1.46457424e-03 1.80694079e+01] [ 3.58380712e-02 -9.61801740e-04 9.99357147e-01 1.60976015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.87, Y:18.07, Z:16.10 [[ 9.97101606e-01 -6.71210887e-02 -3.58210474e-02 4.53866978e+02] [ 6.71117434e-02 9.97744391e-01 -1.46457424e-03 1.80705411e+01] [ 3.58385529e-02 -9.43683616e-04 9.99357147e-01 1.60987951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.90, Y:18.07, Z:16.10 [[ 9.97118790e-01 -6.68653401e-02 -3.58210210e-02 4.53896506e+02] [ 6.68558069e-02 9.97761572e-01 -1.46521868e-03 1.80720562e+01] [ 3.58388106e-02 -9.33846189e-04 9.99357147e-01 1.61002357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.93, Y:18.07, Z:16.10 [[ 9.97114967e-01 -6.69223448e-02 -3.58209705e-02 4.53926441e+02] [ 6.69128040e-02 9.97757749e-01 -1.46645268e-03 1.80735370e+01] [ 3.58387893e-02 -9.34659665e-04 9.99357147e-01 1.61016306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.96, Y:18.07, Z:16.10 [[ 9.97106688e-01 -6.70455908e-02 -3.58209705e-02 4.53957300e+02] [ 6.70361295e-02 9.97749471e-01 -1.46645268e-03 1.80749784e+01] [ 3.58386735e-02 -9.39089445e-04 9.99357147e-01 1.61029715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.99, Y:18.08, Z:16.10 [[ 9.97105214e-01 -6.70675072e-02 -3.58209705e-02 4.53987249e+02] [ 6.70580600e-02 9.97747997e-01 -1.46645268e-03 1.80762097e+01] [ 3.58386529e-02 -9.39877178e-04 9.99357147e-01 1.61039851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.02, Y:18.08, Z:16.10 [[ 9.97093897e-01 -6.72355441e-02 -3.58209765e-02 4.54016969e+02] [ 6.72262105e-02 9.97736682e-01 -1.46630593e-03 1.80776930e+01] [ 3.58384901e-02 -9.46063815e-04 9.99357147e-01 1.61049046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.05, Y:18.08, Z:16.11 [[ 9.97102084e-01 -6.71140288e-02 -3.58209502e-02 4.54046157e+02] [ 6.71045938e-02 9.97744868e-01 -1.46694799e-03 1.80790013e+01] [ 3.58386220e-02 -9.41053413e-04 9.99357147e-01 1.61054720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.08, Y:18.08, Z:16.11 [[ 9.97087493e-01 -6.73304952e-02 -3.58208977e-02 4.54076995e+02] [ 6.73211537e-02 9.97730277e-01 -1.46822958e-03 1.80802436e+01] [ 3.58384508e-02 -9.47550811e-04 9.99357147e-01 1.61054765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.11, Y:18.08, Z:16.11 [[ 9.97067931e-01 -6.76195605e-02 -3.58208977e-02 4.54107285e+02] [ 6.76104054e-02 9.97710718e-01 -1.46822958e-03 1.80814314e+01] [ 3.58381746e-02 -9.57940789e-04 9.99357147e-01 1.61058932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.14, Y:18.08, Z:16.11 [[ 9.97041892e-01 -6.80024154e-02 -3.58208977e-02 4.54136864e+02] [ 6.79935070e-02 9.97684683e-01 -1.46822958e-03 1.80826418e+01] [ 3.58378041e-02 -9.71702063e-04 9.99357147e-01 1.61064815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.17, Y:18.08, Z:16.11 [[ 9.97021333e-01 -6.83031932e-02 -3.58208713e-02 4.54166958e+02] [ 6.82944557e-02 9.97664127e-01 -1.46887164e-03 1.80838013e+01] [ 3.58375270e-02 -9.81870552e-04 9.99357147e-01 1.61079034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.20, Y:18.08, Z:16.11 [[ 9.96993128e-01 -6.87136619e-02 -3.58208713e-02 4.54196523e+02] [ 6.87051891e-02 9.97635925e-01 -1.46887164e-03 1.80847651e+01] [ 3.58371197e-02 -9.96624809e-04 9.99357147e-01 1.61084900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.23, Y:18.09, Z:16.11 [[ 9.96983867e-01 -6.88478979e-02 -3.58208780e-02 4.54226937e+02] [ 6.88395175e-02 9.97626666e-01 -1.46871016e-03 1.80859831e+01] [ 3.58369806e-02 -1.00161162e-03 9.99357147e-01 1.61094507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.26, Y:18.09, Z:16.11 [[ 9.96976337e-01 -6.89568594e-02 -3.58208780e-02 4.54255959e+02] [ 6.89485492e-02 9.97619136e-01 -1.46871016e-03 1.80872300e+01] [ 3.58368710e-02 -1.00552829e-03 9.99357147e-01 1.61102932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.29, Y:18.09, Z:16.11 [[ 9.96988675e-01 -6.87782503e-02 -3.58208520e-02 4.54286338e+02] [ 6.87698022e-02 9.97631473e-01 -1.46934408e-03 1.80885003e+01] [ 3.58370682e-02 -9.98473495e-04 9.99357147e-01 1.61112754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.32, Y:18.09, Z:16.11 [[ 9.97002371e-01 -6.85794412e-02 -3.58208520e-02 4.54317137e+02] [ 6.85708649e-02 9.97645166e-01 -1.46934408e-03 1.80897024e+01] [ 3.58372666e-02 -9.91327267e-04 9.99357147e-01 1.61127564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.35, Y:18.09, Z:16.11 [[ 9.97001610e-01 -6.85904917e-02 -3.58208520e-02 4.54346175e+02] [ 6.85819225e-02 9.97644406e-01 -1.46934408e-03 1.80918847e+01] [ 3.58372556e-02 -9.91724478e-04 9.99357147e-01 1.61143683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.38, Y:18.09, Z:16.12 [[ 9.96991553e-01 -6.87365273e-02 -3.58208573e-02 4.54376585e+02] [ 6.87280569e-02 9.97634350e-01 -1.46921459e-03 1.80934983e+01] [ 3.58371064e-02 -9.97103387e-04 9.99357147e-01 1.61155559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.41, Y:18.10, Z:16.12 [[ 9.96979073e-01 -6.89173063e-02 -3.58208573e-02 4.54405650e+02] [ 6.89089525e-02 9.97621871e-01 -1.46921459e-03 1.80952896e+01] [ 3.58369250e-02 -1.00360156e-03 9.99357147e-01 1.61168213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.44, Y:18.10, Z:16.12 [[ 9.96946059e-01 -6.93932544e-02 -3.58208313e-02 4.54436418e+02] [ 6.93851847e-02 9.97588861e-01 -1.46984713e-03 1.80969085e+01] [ 3.58364598e-02 -1.02007670e-03 9.99357147e-01 1.61186621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.47, Y:18.10, Z:16.12 [[ 9.96896778e-01 -7.00976592e-02 -3.58208313e-02 4.54466709e+02] [ 7.00900438e-02 9.97539586e-01 -1.46984713e-03 1.80982701e+01] [ 3.58357301e-02 -1.04539777e-03 9.99357147e-01 1.61193997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.50, Y:18.10, Z:16.12 [[ 9.96829176e-01 -7.10525313e-02 -3.58208313e-02 4.54497393e+02] [ 7.10455316e-02 9.97471991e-01 -1.46984713e-03 1.80994704e+01] [ 3.58347123e-02 -1.07972350e-03 9.99357147e-01 1.61202669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.53, Y:18.10, Z:16.12 [[ 9.96686452e-01 -7.30272680e-02 -3.58208575e-02 4.54528653e+02] [ 7.30215647e-02 9.97329280e-01 -1.46920807e-03 1.81007707e+01] [ 3.58324823e-02 -1.15135529e-03 9.99357147e-01 1.61218294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.56, Y:18.10, Z:16.12 [[ 9.96600383e-01 -7.41925737e-02 -3.58209114e-02 4.54558842e+02] [ 7.41876692e-02 9.97243218e-01 -1.46789466e-03 1.81022917e+01] [ 3.58310678e-02 -1.19456554e-03 9.99357147e-01 1.61224808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:18.10, Z:16.12 [[ 9.96501735e-01 -7.55059768e-02 -3.58209381e-02 4.54590563e+02] [ 7.55019430e-02 9.97144575e-01 -1.46724263e-03 1.81039740e+01] [ 3.58294397e-02 -1.24244060e-03 9.99357147e-01 1.61238113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.62, Y:18.11, Z:16.12 [[ 9.96504480e-01 -7.54697200e-02 -3.58209913e-02 4.54622362e+02] [ 7.54657096e-02 9.97147320e-01 -1.46594058e-03 1.81052467e+01] [ 3.58294396e-02 -1.24244017e-03 9.99357147e-01 1.61249526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.65, Y:18.11, Z:16.13 [[ 9.96435257e-01 -7.63782094e-02 -3.58210446e-02 4.54652424e+02] [ 7.63748318e-02 9.97078101e-01 -1.46463811e-03 1.81067328e+01] [ 3.58282456e-02 -1.27640921e-03 9.99357147e-01 1.61256681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.68, Y:18.11, Z:16.13 [[ 9.96326683e-01 -7.77816919e-02 -3.58210710e-02 4.54683451e+02] [ 7.77792430e-02 9.96969531e-01 -1.46399208e-03 1.81089685e+01] [ 3.58263881e-02 -1.32752142e-03 9.99357147e-01 1.61269925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.71, Y:18.11, Z:16.13 [[ 9.96345430e-01 -7.75411626e-02 -3.58211229e-02 4.54714669e+02] [ 7.75386041e-02 9.96988277e-01 -1.46272175e-03 1.81104223e+01] [ 3.58266607e-02 -1.32014373e-03 9.99357147e-01 1.61280006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.75, Y:18.11, Z:16.13 [[ 9.96447269e-01 -7.62212651e-02 -3.58212004e-02 4.54746207e+02] [ 7.62179232e-02 9.97090113e-01 -1.46082187e-03 1.81127974e+01] [ 3.58283104e-02 -1.27458553e-03 9.99357147e-01 1.61299489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.78, Y:18.11, Z:16.13 [[ 9.96551514e-01 -7.48459500e-02 -3.58212770e-02 4.54777946e+02] [ 7.48417885e-02 9.97194353e-01 -1.45893977e-03 1.81147498e+01] [ 3.58299709e-02 -1.22701980e-03 9.99357147e-01 1.61315753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.81, Y:18.12, Z:16.13 [[ 9.96658394e-01 -7.34089720e-02 -3.58213284e-02 4.54808002e+02] [ 7.34039290e-02 9.97301228e-01 -1.45767588e-03 1.81166252e+01] [ 3.58316613e-02 -1.17662135e-03 9.99357147e-01 1.61329174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.84, Y:18.12, Z:16.14 [[ 9.96781151e-01 -7.17228569e-02 -3.58213539e-02 4.54839444e+02] [ 7.17167489e-02 9.97423975e-01 -1.45704884e-03 1.81183884e+01] [ 3.58335809e-02 -1.11663223e-03 9.99357147e-01 1.61351812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.87, Y:18.12, Z:16.14 [[ 9.96907062e-01 -6.99509578e-02 -3.58214074e-02 4.54869533e+02] [ 6.99437544e-02 9.97549874e-01 -1.45573357e-03 1.81200967e+01] [ 3.58354704e-02 -1.05425264e-03 9.99357147e-01 1.61358350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.90, Y:18.12, Z:16.14 [[ 9.97133931e-01 -6.66389411e-02 -3.58214339e-02 4.54899356e+02] [ 6.66296258e-02 9.97776716e-01 -1.45508153e-03 1.81229141e+01] [ 3.58387578e-02 -9.35857573e-04 9.99357147e-01 1.61369368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.93, Y:18.12, Z:16.14 [[ 9.97248921e-01 -6.48953942e-02 -3.58214594e-02 4.54929494e+02] [ 6.48849777e-02 9.97891690e-01 -1.45445248e-03 1.81246116e+01] [ 3.58403239e-02 -8.73823428e-04 9.99357147e-01 1.61379003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.96, Y:18.13, Z:16.14 [[ 9.97393240e-01 -6.26382335e-02 -3.58214594e-02 4.54959184e+02] [ 6.26263623e-02 9.98035983e-01 -1.45445248e-03 1.81265547e+01] [ 3.58422098e-02 -7.92706623e-04 9.99357147e-01 1.61381364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.99, Y:18.13, Z:16.14 [[ 9.97452580e-01 -6.16860989e-02 -3.58214341e-02 4.54989132e+02] [ 6.16735918e-02 9.98095312e-01 -1.45507579e-03 1.81280941e+01] [ 3.58429634e-02 -7.57867405e-04 9.99357147e-01 1.61398499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.02, Y:18.13, Z:16.14 [[ 9.97500289e-01 -6.09097580e-02 -3.58214341e-02 4.55018597e+02] [ 6.08967506e-02 9.98143010e-01 -1.45507579e-03 1.81296250e+01] [ 3.58435424e-02 -7.29970422e-04 9.99357147e-01 1.61401841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.05, Y:18.13, Z:16.14 [[ 9.97507594e-01 -6.07900257e-02 -3.58214080e-02 4.55048580e+02] [ 6.07769181e-02 9.98150313e-01 -1.45571847e-03 1.81312541e+01] [ 3.58436428e-02 -7.25024556e-04 9.99357147e-01 1.61419280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.08, Y:18.13, Z:16.14 [[ 9.97451136e-01 -6.17094679e-02 -3.58214080e-02 4.55077789e+02] [ 6.16969527e-02 9.98093867e-01 -1.45571847e-03 1.81333824e+01] [ 3.58429592e-02 -7.58063676e-04 9.99357147e-01 1.61435681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.11, Y:18.14, Z:16.15 [[ 9.97402133e-01 -6.24965146e-02 -3.58213819e-02 4.55107752e+02] [ 6.24844836e-02 9.98044873e-01 -1.45635939e-03 1.81351096e+01] [ 3.58423640e-02 -7.85704590e-04 9.99357147e-01 1.61450159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.14, Y:18.14, Z:16.15 [[ 9.97278536e-01 -6.44387402e-02 -3.58213819e-02 4.55136661e+02] [ 6.44279609e-02 9.97921298e-01 -1.45635939e-03 1.81372631e+01] [ 3.58407659e-02 -8.55502634e-04 9.99357147e-01 1.61464298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.17, Y:18.14, Z:16.15 [[ 9.97190649e-01 -6.57848030e-02 -3.58213562e-02 4.55166126e+02] [ 6.57748685e-02 9.97833425e-01 -1.45699167e-03 1.81386439e+01] [ 3.58395945e-02 -9.03246523e-04 9.99357147e-01 1.61473879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.20, Y:18.14, Z:16.15 [[ 9.97116115e-01 -6.69050533e-02 -3.58213308e-02 4.55196883e+02] [ 6.68958185e-02 9.97758901e-01 -1.45761715e-03 1.81400706e+01] [ 3.58385736e-02 -9.42883689e-04 9.99357147e-01 1.61494324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.23, Y:18.14, Z:16.15 [[ 9.96959436e-01 -6.92005395e-02 -3.58213308e-02 4.55226881e+02] [ 6.91927846e-02 9.97602242e-01 -1.45761715e-03 1.81416611e+01] [ 3.58363078e-02 -1.02539245e-03 9.99357147e-01 1.61512168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.26, Y:18.14, Z:16.15 [[ 9.96854347e-01 -7.06982535e-02 -3.58213308e-02 4.55257355e+02] [ 7.06914644e-02 9.97497164e-01 -1.45761715e-03 1.81432394e+01] [ 3.58347268e-02 -1.07923033e-03 9.99357147e-01 1.61522951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.29, Y:18.14, Z:16.15 [[ 9.96716604e-01 -7.26143333e-02 -3.58213567e-02 4.55289562e+02] [ 7.26088028e-02 9.97359433e-01 -1.45697902e-03 1.81448584e+01] [ 3.58325656e-02 -1.14875064e-03 9.99357147e-01 1.61544648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.32, Y:18.15, Z:16.16 [[ 9.96582075e-01 -7.44378241e-02 -3.58214628e-02 4.55319683e+02] [ 7.44335636e-02 9.97224914e-01 -1.45436515e-03 1.81463324e+01] [ 3.58303150e-02 -1.21692489e-03 9.99357147e-01 1.61550379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.35, Y:18.15, Z:16.16 [[ 9.96247916e-01 -7.87839498e-02 -3.58214891e-02 4.55351974e+02] [ 7.87825164e-02 9.96890767e-01 -1.45371911e-03 1.81477925e+01] [ 3.58246414e-02 -1.37384242e-03 9.99357147e-01 1.61573074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.38, Y:18.15, Z:16.16 [[ 9.96065126e-01 -8.10621915e-02 -3.58215931e-02 4.55384126e+02] [ 8.10623205e-02 9.96707978e-01 -1.45115143e-03 1.81490177e+01] [ 3.58213011e-02 -1.45834012e-03 9.99357147e-01 1.61585687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.42, Y:18.15, Z:16.16 [[ 9.95880048e-01 -8.33050747e-02 -3.58216982e-02 4.55415074e+02] [ 8.33067447e-02 9.96522899e-01 -1.44855174e-03 1.81502210e+01] [ 3.58178142e-02 -1.54160529e-03 9.99357147e-01 1.61591130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.45, Y:18.15, Z:16.16 [[ 9.95695896e-01 -8.54779654e-02 -3.58217765e-02 4.55447148e+02] [ 8.54811078e-02 9.96338741e-01 -1.44661175e-03 1.81514499e+01] [ 3.58142772e-02 -1.62169977e-03 9.99357147e-01 1.61599424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.48, Y:18.15, Z:16.16 [[ 9.95531391e-01 -8.73730041e-02 -3.58218782e-02 4.55479134e+02] [ 8.73774605e-02 9.96174229e-01 -1.44409127e-03 1.81529195e+01] [ 3.58110064e-02 -1.69238656e-03 9.99357147e-01 1.61616786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.51, Y:18.16, Z:16.16 [[ 9.95265177e-01 -9.03549259e-02 -3.58219820e-02 4.55510260e+02] [ 9.03614007e-02 9.95907997e-01 -1.44150972e-03 1.81550452e+01] [ 3.58056459e-02 -1.80224005e-03 9.99357147e-01 1.61625526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:18.16, Z:16.16 [[ 9.95195145e-01 -9.11230098e-02 -3.58220593e-02 4.55542050e+02] [ 9.11300499e-02 9.95837960e-01 -1.43958642e-03 1.81568941e+01] [ 3.58041459e-02 -1.83179663e-03 9.99357147e-01 1.61638375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.57, Y:18.16, Z:16.16 [[ 9.95139752e-01 -9.17259294e-02 -3.58221609e-02 4.55574436e+02] [ 9.17334498e-02 9.95782561e-01 -1.43705468e-03 1.81585430e+01] [ 3.58028983e-02 -1.85602015e-03 9.99357147e-01 1.61646204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.61, Y:18.16, Z:16.17 [[ 9.95086307e-01 -9.23038871e-02 -3.58222621e-02 4.55606250e+02] [ 9.23118715e-02 9.95729110e-01 -1.43452739e-03 1.81609547e+01] [ 3.58016816e-02 -1.87934149e-03 9.99357147e-01 1.61657247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.64, Y:18.16, Z:16.17 [[ 9.95090626e-01 -9.22572728e-02 -3.58223639e-02 4.55637216e+02] [ 9.22653185e-02 9.95733428e-01 -1.43198190e-03 1.81627219e+01] [ 3.58016359e-02 -1.88021004e-03 9.99357147e-01 1.61662594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.67, Y:18.16, Z:16.17 [[ 9.95098656e-01 -9.21705928e-02 -3.58224395e-02 4.55670363e+02] [ 9.21786505e-02 9.95741458e-01 -1.43008806e-03 1.81646436e+01] [ 3.58017002e-02 -1.87898543e-03 9.99357147e-01 1.61683320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:18.17, Z:16.17 [[ 9.95118328e-01 -9.19578976e-02 -3.58225952e-02 4.55701074e+02] [ 9.19659583e-02 9.95761130e-01 -1.42617732e-03 1.81664021e+01] [ 3.58018961e-02 -1.87524410e-03 9.99357147e-01 1.61687141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.73, Y:18.17, Z:16.17 [[ 9.95166629e-01 -9.14336741e-02 -3.58226721e-02 4.55733135e+02] [ 9.14414656e-02 9.95809435e-01 -1.42424261e-03 1.81681922e+01] [ 3.58027786e-02 -1.85831892e-03 9.99357147e-01 1.61704724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.77, Y:18.17, Z:16.17 [[ 9.95357749e-01 -8.93290599e-02 -3.58227724e-02 4.55765674e+02] [ 8.93355829e-02 9.96000568e-01 -1.42171424e-03 1.81709646e+01] [ 3.58065021e-02 -1.78513397e-03 9.99357147e-01 1.61740466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.80, Y:18.17, Z:16.17 [[ 9.95504752e-01 -8.76755696e-02 -3.58229315e-02 4.55796944e+02] [ 8.76811692e-02 9.96147581e-01 -1.41769346e-03 1.81727839e+01] [ 3.58092237e-02 -1.72967594e-03 9.99357147e-01 1.61748201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.83, Y:18.17, Z:16.18 [[ 9.95698862e-01 -8.54428918e-02 -3.58230102e-02 4.55829243e+02] [ 8.54471213e-02 9.96341701e-01 -1.41570319e-03 1.81745050e+01] [ 3.58129207e-02 -1.65135904e-03 9.99357147e-01 1.61773692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.86, Y:18.18, Z:16.18 [[ 9.96125689e-01 -8.03138662e-02 -3.58231147e-02 4.55860177e+02] [ 8.03148801e-02 9.96768541e-01 -1.41305342e-03 1.81768534e+01] [ 3.58208416e-02 -1.46955035e-03 9.99357147e-01 1.61799943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.89, Y:18.18, Z:16.18 [[ 9.96362278e-01 -7.73234110e-02 -3.58231925e-02 4.55891011e+02] [ 7.73225661e-02 9.97005130e-01 -1.41107795e-03 1.81785717e+01] [ 3.58250161e-02 -1.36399633e-03 9.99357147e-01 1.61814815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.92, Y:18.18, Z:16.18 [[ 9.96598570e-01 -7.42157893e-02 -3.58232693e-02 4.55922003e+02] [ 7.42130097e-02 9.97241417e-01 -1.40912713e-03 1.81799147e+01] [ 3.58290273e-02 -1.25421855e-03 9.99357147e-01 1.61829256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.95, Y:18.18, Z:16.19 [[ 9.96827975e-01 -7.10681148e-02 -3.58233445e-02 4.55953628e+02] [ 7.10633739e-02 9.97470810e-01 -1.40721082e-03 1.81813158e+01] [ 3.58327483e-02 -1.14298062e-03 9.99357147e-01 1.61850389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.99, Y:18.18, Z:16.18 [[ 9.97233136e-01 -6.51364161e-02 -3.58234466e-02 4.55985186e+02] [ 6.51279442e-02 9.97875933e-01 -1.40460850e-03 1.81822652e+01] [ 3.58388464e-02 -9.32385294e-04 9.99357147e-01 1.61849913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.02, Y:18.18, Z:16.19 [[ 9.97399816e-01 -6.25322454e-02 -3.58235224e-02 4.56016256e+02] [ 6.25221646e-02 9.98042590e-01 -1.40267293e-03 1.81833184e+01] [ 3.58411133e-02 -8.40738441e-04 9.99357147e-01 1.61869126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.05, Y:18.18, Z:16.19 [[ 9.97557066e-01 -5.99714206e-02 -3.58235732e-02 4.56046482e+02] [ 5.99597363e-02 9.98199813e-01 -1.40137272e-03 1.81843587e+01] [ 3.58431264e-02 -7.50022740e-04 9.99357147e-01 1.61872584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.08, Y:18.19, Z:16.19 [[ 9.97718664e-01 -5.72200902e-02 -3.58235732e-02 4.56076644e+02] [ 5.72066333e-02 9.98361376e-01 -1.40137272e-03 1.81852627e+01] [ 3.58450585e-02 -6.51170296e-04 9.99357147e-01 1.61876234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.11, Y:18.19, Z:16.19 [[ 9.97983209e-01 -5.24040803e-02 -3.58235479e-02 4.56105145e+02] [ 5.23874984e-02 9.98625848e-01 -1.40201930e-03 1.81854420e+01] [ 3.58477925e-02 -4.77514340e-04 9.99357147e-01 1.61876069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.13, Y:18.19, Z:16.19 [[ 9.98100823e-01 -5.01141321e-02 -3.58234725e-02 4.56133519e+02] [ 5.00960067e-02 9.98743420e-01 -1.40394461e-03 1.81856256e+01] [ 3.58488149e-02 -3.93334646e-04 9.99357147e-01 1.61893908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.16, Y:18.19, Z:16.19 [[ 9.98217905e-01 -4.77254497e-02 -3.58231086e-02 4.56162637e+02] [ 4.77054555e-02 9.98860447e-01 -1.41316983e-03 1.81856142e+01] [ 3.58497304e-02 -2.98306286e-04 9.99357147e-01 1.61906311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.19, Y:18.19, Z:16.19 [[ 9.98337344e-01 -4.51583698e-02 -3.58227445e-02 4.56190629e+02] [ 4.51363944e-02 9.98979821e-01 -1.42233909e-03 1.81857085e+01] [ 3.58504294e-02 -1.96935290e-04 9.99357147e-01 1.61905236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.22, Y:18.19, Z:16.19 [[ 9.98429952e-01 -4.30623999e-02 -3.58226155e-02 4.56218883e+02] [ 4.30389595e-02 9.99072378e-01 -1.42558071e-03 1.81856187e+01] [ 3.58507746e-02 -1.18425612e-04 9.99357147e-01 1.61928415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.25, Y:18.18, Z:16.19 [[ 9.98600080e-01 -3.89184720e-02 -3.58222491e-02 4.56246547e+02] [ 3.88920375e-02 9.99242389e-01 -1.43472862e-03 1.81840202e+01] [ 3.58509472e-02 3.95198632e-05 9.99357147e-01 1.61936414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.27, Y:18.18, Z:16.19 [[ 9.98647368e-01 -3.76856850e-02 -3.58221194e-02 4.56274676e+02] [ 3.76583416e-02 9.99289638e-01 -1.43795989e-03 1.81838566e+01] [ 3.58508632e-02 8.70132471e-05 9.99357147e-01 1.61944355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.30, Y:18.18, Z:16.20 [[ 9.98677517e-01 -3.68784876e-02 -3.58217060e-02 4.56302704e+02] [ 3.68502584e-02 9.99319749e-01 -1.44818539e-03 1.81833114e+01] [ 3.58507451e-02 1.26231063e-04 9.99357147e-01 1.61955834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:18.18, Z:16.20 [[ 9.98691488e-01 -3.64986060e-02 -3.58212851e-02 4.56329759e+02] [ 3.64697617e-02 9.99333693e-01 -1.45852342e-03 1.81823914e+01] [ 3.58506512e-02 1.50221196e-04 9.99357147e-01 1.61957554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.36, Y:18.18, Z:16.20 [[ 9.98612729e-01 -3.85935912e-02 -3.58211021e-02 4.56356684e+02] [ 3.85659334e-02 9.99254987e-01 -1.46300404e-03 1.81784546e+01] [ 3.58508775e-02 7.95002191e-05 9.99357148e-01 1.61951161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.39, Y:18.18, Z:16.20 [[ 9.98518893e-01 -4.09497473e-02 -3.58209215e-02 4.56385146e+02] [ 4.09234469e-02 9.99161207e-01 -1.46741202e-03 1.81766214e+01] [ 3.58509653e-02 -6.76950026e-07 9.99357148e-01 1.61957484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.41, Y:18.17, Z:16.20 [[ 9.98378860e-01 -4.42328196e-02 -3.58205115e-02 4.56413240e+02] [ 4.42082748e-02 9.99021244e-01 -1.47735282e-03 1.81746646e+01] [ 3.58507995e-02 -1.08605191e-04 9.99357148e-01 1.61964839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.44, Y:18.17, Z:16.20 [[ 9.98003963e-01 -5.20097048e-02 -3.58200998e-02 4.56440973e+02] [ 5.19898094e-02 9.98646508e-01 -1.48726964e-03 1.81694442e+01] [ 3.58489700e-02 -3.77979162e-04 9.99357148e-01 1.61981587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.47, Y:18.17, Z:16.20 [[ 9.97746621e-01 -5.67329826e-02 -3.58196656e-02 4.56468939e+02] [ 5.67157562e-02 9.98389243e-01 -1.49765273e-03 1.81671649e+01] [ 3.58469352e-02 -5.37261474e-04 9.99357148e-01 1.61992337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.50, Y:18.17, Z:16.20 [[ 9.97732125e-01 -5.69876310e-02 -3.58192263e-02 4.56498141e+02] [ 5.69701940e-02 9.98374741e-01 -1.50808814e-03 1.81684259e+01] [ 3.58469531e-02 -5.35960292e-04 9.99357148e-01 1.62002851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.53, Y:18.17, Z:16.20 [[ 9.97437551e-01 -6.19301400e-02 -3.58188394e-02 4.56526245e+02] [ 6.19155591e-02 9.98080238e-01 -1.51722245e-03 1.81664087e+01] [ 3.58440375e-02 -7.04408819e-04 9.99357148e-01 1.62011484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.56, Y:18.16, Z:16.20 [[ 9.97157252e-01 -6.62907082e-02 -3.58183937e-02 4.56555249e+02] [ 6.62785624e-02 9.97799989e-01 -1.52767214e-03 1.81641723e+01] [ 3.58408633e-02 -8.50662285e-04 9.99357148e-01 1.62015880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.58, Y:18.16, Z:16.20 [[ 9.96573813e-01 -7.45498696e-02 -3.58183109e-02 4.56584529e+02] [ 7.45429797e-02 9.97216629e-01 -1.52961063e-03 1.81591187e+01] [ 3.58326475e-02 -1.14563372e-03 9.99357148e-01 1.62011434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.61, Y:18.16, Z:16.20 [[ 9.96322913e-01 -7.78312771e-02 -3.58182297e-02 4.56614566e+02] [ 7.78264359e-02 9.96965747e-01 -1.53151067e-03 1.81572903e+01] [ 3.58287475e-02 -1.26172599e-03 9.99357148e-01 1.62018631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.64, Y:18.16, Z:16.20 [[ 9.96105253e-01 -8.05691206e-02 -3.58181754e-02 4.56644191e+02] [ 8.05660005e-02 9.96748098e-01 -1.53277843e-03 1.81555205e+01] [ 3.58251928e-02 -1.35891849e-03 9.99357148e-01 1.62019428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.67, Y:18.15, Z:16.20 [[ 9.95757324e-01 -8.47609113e-02 -3.58181485e-02 4.56674839e+02] [ 8.47604743e-02 9.96400176e-01 -1.53340721e-03 1.81515510e+01] [ 3.58191825e-02 -1.50906180e-03 9.99357148e-01 1.62037063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.71, Y:18.15, Z:16.20 [[ 9.95635475e-01 -8.61803973e-02 -3.58181485e-02 4.56706448e+02] [ 8.61808768e-02 9.96278327e-01 -1.53340721e-03 1.81505284e+01] [ 3.58169947e-02 -1.56012483e-03 9.99357148e-01 1.62049359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.74, Y:18.15, Z:16.21 [[ 9.95516769e-01 -8.75409522e-02 -3.58182040e-02 4.56736592e+02] [ 8.75423568e-02 9.96159620e-01 -1.53210955e-03 1.81497268e+01] [ 3.58147708e-02 -1.61036924e-03 9.99357148e-01 1.62062290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.77, Y:18.15, Z:16.21 [[ 9.95417106e-01 -8.86669856e-02 -3.58182951e-02 4.56766822e+02] [ 8.86691939e-02 9.96059955e-01 -1.52997741e-03 1.81489134e+01] [ 3.58128279e-02 -1.65301366e-03 9.99357148e-01 1.62072554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.80, Y:18.15, Z:16.21 [[ 9.95155073e-01 -9.15610356e-02 -3.58183850e-02 4.56798402e+02] [ 9.15651890e-02 9.95797912e-01 -1.52786877e-03 1.81468829e+01] [ 3.58077663e-02 -1.75925083e-03 9.99357148e-01 1.62085418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.83, Y:18.15, Z:16.21 [[ 9.95022903e-01 -9.29863559e-02 -3.58184387e-02 4.56829725e+02] [ 9.29914752e-02 9.95665735e-01 -1.52660995e-03 1.81466359e+01] [ 3.58051460e-02 -1.81179759e-03 9.99357148e-01 1.62097873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:18.15, Z:16.21 [[ 9.94901685e-01 -9.42744532e-02 -3.58184934e-02 4.56861248e+02] [ 9.42804509e-02 9.95544509e-01 -1.52532581e-03 1.81465168e+01] [ 3.58027037e-02 -1.85943448e-03 9.99357148e-01 1.62103695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.89, Y:18.15, Z:16.21 [[ 9.94777860e-01 -9.55721786e-02 -3.58185487e-02 4.56892190e+02] [ 9.55790614e-02 9.95420675e-01 -1.52402579e-03 1.81466318e+01] [ 3.58001784e-02 -1.90743615e-03 9.99357148e-01 1.62110329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.92, Y:18.15, Z:16.21 [[ 9.94493788e-01 -9.84841825e-02 -3.58186039e-02 4.56923126e+02] [ 9.84929939e-02 9.95136579e-01 -1.52272632e-03 1.81461554e+01] [ 3.57943674e-02 -2.01353967e-03 9.99357148e-01 1.62115022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:18.15, Z:16.21 [[ 9.94385423e-01 -9.95723566e-02 -3.58186594e-02 4.56954581e+02] [ 9.95819183e-02 9.95028204e-01 -1.52142017e-03 1.81467098e+01] [ 3.57920677e-02 -2.05401277e-03 9.99357148e-01 1.62120769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.99, Y:18.15, Z:16.21 [[ 9.94306890e-01 -1.00353506e-01 -3.58187423e-02 4.56985850e+02] [ 1.00363643e-01 9.94949662e-01 -1.51946605e-03 1.81472940e+01] [ 3.57903293e-02 -2.08408390e-03 9.99357148e-01 1.62128237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.02, Y:18.15, Z:16.21 [[ 9.94183906e-01 -1.01564637e-01 -3.58187954e-02 4.57017177e+02] [ 1.01575602e-01 9.94826664e-01 -1.51821239e-03 1.81481170e+01] [ 3.57876895e-02 -2.12893339e-03 9.99357148e-01 1.62138681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.05, Y:18.15, Z:16.22 [[ 9.94135547e-01 -1.02036876e-01 -3.58188488e-02 4.57047959e+02] [ 1.02048191e-01 9.94778300e-01 -1.51695303e-03 1.81496387e+01] [ 3.57865986e-02 -2.14719179e-03 9.99357148e-01 1.62151779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.08, Y:18.15, Z:16.22 [[ 9.94083181e-01 -1.02545769e-01 -3.58189035e-02 4.57079123e+02] [ 1.02557460e-01 9.94725927e-01 -1.51565838e-03 1.81512779e+01] [ 3.57854164e-02 -2.16680527e-03 9.99357148e-01 1.62162930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.11, Y:18.15, Z:16.22 [[ 9.94049106e-01 -1.02875542e-01 -3.58189583e-02 4.57110446e+02] [ 1.02887493e-01 9.94691847e-01 -1.51436317e-03 1.81530529e+01] [ 3.57846167e-02 -2.17997146e-03 9.99357148e-01 1.62173959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.14, Y:18.15, Z:16.22 [[ 9.94037369e-01 -1.02988868e-01 -3.58190130e-02 4.57141932e+02] [ 1.03000938e-01 9.94680108e-01 -1.51306783e-03 1.81547321e+01] [ 3.57842889e-02 -2.18534597e-03 9.99357148e-01 1.62184078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.17, Y:18.16, Z:16.22 [[ 9.94036851e-01 -1.02993853e-01 -3.58190676e-02 4.57173277e+02] [ 1.03005973e-01 9.94679589e-01 -1.51177483e-03 1.81577896e+01] [ 3.57841989e-02 -2.18681804e-03 9.99357148e-01 1.62197239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.20, Y:18.16, Z:16.22 [[ 9.94081773e-01 -1.02559331e-01 -3.58191492e-02 4.57204887e+02] [ 1.02571240e-01 9.94724515e-01 -1.50983846e-03 1.81601796e+01] [ 3.57850339e-02 -2.17311165e-03 9.99357148e-01 1.62215018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.24, Y:18.16, Z:16.22 [[ 9.94164646e-01 -1.01752846e-01 -3.58192038e-02 4.57235793e+02] [ 1.01764280e-01 9.94807396e-01 -1.50854256e-03 1.81624580e+01] [ 3.57867074e-02 -2.14537579e-03 9.99357148e-01 1.62228268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:18.17, Z:16.22 [[ 9.94251494e-01 -1.00900674e-01 -3.58192854e-02 4.57267188e+02] [ 1.00911626e-01 9.94894253e-01 -1.50660352e-03 1.81651799e+01] [ 3.57884184e-02 -2.11663954e-03 9.99357148e-01 1.62245358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:18.17, Z:16.23 [[ 9.94361526e-01 -9.98104740e-02 -3.58193398e-02 4.57298066e+02] [ 9.98207680e-02 9.95004296e-01 -1.50530872e-03 1.81680109e+01] [ 3.57906425e-02 -2.07869293e-03 9.99357148e-01 1.62262375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:18.17, Z:16.23 [[ 9.94590991e-01 -9.74973322e-02 -3.58194210e-02 4.57329430e+02] [ 9.75062006e-02 9.95233782e-01 -1.50337256e-03 1.81729741e+01] [ 3.57952727e-02 -1.99737485e-03 9.99357148e-01 1.62281692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:18.18, Z:16.23 [[ 9.94709822e-01 -9.62773757e-02 -3.58195012e-02 4.57360111e+02] [ 9.62855244e-02 9.95352623e-01 -1.50146007e-03 1.81760712e+01] [ 3.57975911e-02 -1.95538238e-03 9.99357148e-01 1.62295109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:18.18, Z:16.23 [[ 9.94939191e-01 -9.38774097e-02 -3.58195274e-02 4.57390799e+02] [ 9.38840301e-02 9.95582009e-01 -1.50083415e-03 1.81805773e+01] [ 3.58021715e-02 -1.86964287e-03 9.99357148e-01 1.62300659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.42, Y:18.18, Z:16.23 [[ 9.95095879e-01 -9.22016797e-02 -3.58195806e-02 4.57423110e+02] [ 9.22072632e-02 9.95738707e-01 -1.49956336e-03 1.81830390e+01] [ 3.58052051e-02 -1.81061618e-03 9.99357148e-01 1.62308305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:18.19, Z:16.23 [[ 9.95258995e-01 -9.04239071e-02 -3.58196892e-02 4.57454066e+02] [ 9.04284355e-02 9.95901831e-01 -1.49696491e-03 1.81857252e+01] [ 3.58082555e-02 -1.74925067e-03 9.99357148e-01 1.62314777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:18.19, Z:16.23 [[ 9.95442137e-01 -8.83849323e-02 -3.58197700e-02 4.57486282e+02] [ 8.83882134e-02 9.96084981e-01 -1.49502851e-03 1.81887400e+01] [ 3.58116729e-02 -1.67783110e-03 9.99357148e-01 1.62323604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:18.19, Z:16.23 [[ 9.95665540e-01 -8.58316340e-02 -3.58198785e-02 4.57517908e+02] [ 8.58333599e-02 9.96308390e-01 -1.49242423e-03 1.81918945e+01] [ 3.58157427e-02 -1.58858515e-03 9.99357148e-01 1.62330520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.55, Y:18.20, Z:16.23 [[ 9.96184080e-01 -7.95877609e-02 -3.58199325e-02 4.57549101e+02] [ 7.95855030e-02 9.96826928e-01 -1.49112831e-03 1.81970216e+01] [ 3.58249488e-02 -1.36530906e-03 9.99357148e-01 1.62335774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:18.20, Z:16.23 [[ 9.96490246e-01 -7.56579092e-02 -3.58199860e-02 4.57579874e+02] [ 7.56531620e-02 9.97133080e-01 -1.48984194e-03 1.82002596e+01] [ 3.58300113e-02 -1.22528224e-03 9.99357148e-01 1.62343235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:18.20, Z:16.23 [[ 9.96791724e-01 -7.15764175e-02 -3.58200395e-02 4.57609969e+02] [ 7.15690840e-02 9.97434534e-01 -1.48855490e-03 1.82035877e+01] [ 3.58346898e-02 -1.07982821e-03 9.99357148e-01 1.62349676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:18.21, Z:16.24 [[ 9.97410721e-01 -6.23600238e-02 -3.58201282e-02 4.57639132e+02] [ 6.23468258e-02 9.98053437e-01 -1.48641797e-03 1.82082916e+01] [ 3.58430951e-02 -7.50702070e-04 9.99357148e-01 1.62352676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.67, Y:18.21, Z:16.24 [[ 9.97697107e-01 -5.75969052e-02 -3.58201019e-02 4.57668572e+02] [ 5.75806158e-02 9.98339752e-01 -1.48704938e-03 1.82114754e+01] [ 3.58462812e-02 -5.78918662e-04 9.99357148e-01 1.62368608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.70, Y:18.21, Z:16.24 [[ 9.97962678e-01 -5.27960020e-02 -3.58200475e-02 4.57695938e+02] [ 5.27765738e-02 9.98605236e-01 -1.48836027e-03 1.82145865e+01] [ 3.58486664e-02 -4.05131377e-04 9.99357148e-01 1.62381943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.72, Y:18.22, Z:16.24 [[ 9.98184149e-01 -4.84286866e-02 -3.58199122e-02 4.57722499e+02] [ 4.84063303e-02 9.98826613e-01 -1.49160924e-03 1.82176138e+01] [ 3.58501182e-02 -2.45009803e-04 9.99357148e-01 1.62398082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:18.22, Z:16.24 [[ 9.98359092e-01 -4.46775004e-02 -3.58196131e-02 4.57750173e+02] [ 4.46524737e-02 9.99001457e-01 -1.49875649e-03 1.82205825e+01] [ 3.58508064e-02 -1.03137165e-04 9.99357148e-01 1.62416453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.78, Y:18.22, Z:16.24 [[ 9.98495459e-01 -4.15187351e-02 -3.58191770e-02 4.57777992e+02] [ 4.14913049e-02 9.99137725e-01 -1.50910817e-03 1.82229760e+01] [ 3.58509473e-02 2.06532620e-05 9.99357148e-01 1.62429403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.81, Y:18.23, Z:16.24 [[ 9.98647899e-01 -3.76748174e-02 -3.58187389e-02 4.57805261e+02] [ 3.76445446e-02 9.99290038e-01 -1.51943646e-03 1.82251467e+01] [ 3.58505534e-02 1.69001916e-04 9.99357148e-01 1.62445251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.83, Y:18.23, Z:16.25 [[ 9.98654096e-01 -3.75103765e-02 -3.58185486e-02 4.57832900e+02] [ 3.74798376e-02 9.99296222e-01 -1.52390832e-03 1.82263158e+01] [ 3.58505027e-02 1.79383903e-04 9.99357148e-01 1.62453551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.86, Y:18.23, Z:16.25 [[ 9.98640619e-01 -3.78678806e-02 -3.58181173e-02 4.57860125e+02] [ 3.78372104e-02 9.99282739e-01 -1.53397938e-03 1.82270232e+01] [ 3.58505149e-02 1.76636479e-04 9.99357148e-01 1.62463439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.89, Y:18.23, Z:16.25 [[ 9.98485690e-01 -4.17540742e-02 -3.58179302e-02 4.57887642e+02] [ 4.17257469e-02 9.99127918e-01 -1.53833660e-03 1.82268458e+01] [ 3.58509258e-02 4.14771931e-05 9.99357148e-01 1.62469234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.92, Y:18.23, Z:16.25 [[ 9.98364432e-01 -4.45597145e-02 -3.58174865e-02 4.57915412e+02] [ 4.45328239e-02 9.99006721e-01 -1.54859770e-03 1.82270518e+01] [ 3.58509149e-02 -4.89889548e-05 9.99357148e-01 1.62475234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.94, Y:18.23, Z:16.25 [[ 9.98217333e-01 -4.77419783e-02 -3.58170402e-02 4.57943740e+02] [ 4.77167673e-02 9.98859690e-01 -1.55885237e-03 1.82270965e+01] [ 3.58506204e-02 -1.52999923e-04 9.99357148e-01 1.62484683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.97, Y:18.23, Z:16.25 [[ 9.98057245e-01 -5.09794870e-02 -3.58165899e-02 4.57971077e+02] [ 5.09559908e-02 9.98699667e-01 -1.56913242e-03 1.82269041e+01] [ 3.58500099e-02 -2.58985846e-04 9.99357148e-01 1.62488314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:18.23, Z:16.25 [[ 9.97864744e-01 -5.46181163e-02 -3.58163941e-02 4.57999316e+02] [ 5.45968026e-02 9.98507242e-01 -1.57358768e-03 1.82268913e+01] [ 3.58488753e-02 -3.85232931e-04 9.99357148e-01 1.62499565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:18.23, Z:16.25 [[ 9.97511477e-01 -6.07295046e-02 -3.58159380e-02 4.58027127e+02] [ 6.07117567e-02 9.98154083e-01 -1.58390097e-03 1.82250025e+01] [ 3.58460143e-02 -5.94489119e-04 9.99357148e-01 1.62503826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.05, Y:18.22, Z:16.25 [[ 9.97360371e-01 -6.31628186e-02 -3.58154788e-02 4.58054627e+02] [ 6.31462681e-02 9.98003010e-01 -1.59421792e-03 1.82245548e+01] [ 3.58446509e-02 -6.71604055e-04 9.99357148e-01 1.62515253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:18.22, Z:16.25 [[ 9.97202879e-01 -6.56024382e-02 -3.58153363e-02 4.58083025e+02] [ 6.55873451e-02 9.97845553e-01 -1.59741336e-03 1.82244455e+01] [ 3.58429683e-02 -7.56087622e-04 9.99357148e-01 1.62524690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:18.22, Z:16.25 [[ 9.96920229e-01 -6.97663737e-02 -3.58149380e-02 4.58111574e+02] [ 6.97536458e-02 9.97562955e-01 -1.60629347e-03 1.82232772e+01] [ 3.58397207e-02 -8.96876050e-04 9.99357148e-01 1.62537804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:18.22, Z:16.25 [[ 9.96806184e-01 -7.13775195e-02 -3.58145382e-02 4.58140238e+02] [ 7.13655121e-02 9.97448923e-01 -1.61515950e-03 1.82232972e+01] [ 3.58384586e-02 -9.45921876e-04 9.99357148e-01 1.62544715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:18.22, Z:16.26 [[ 9.96706718e-01 -7.27533210e-02 -3.58144292e-02 4.58171198e+02] [ 7.27421142e-02 9.97349472e-01 -1.61757111e-03 1.82234622e+01] [ 3.58371858e-02 -9.92973316e-04 9.99357148e-01 1.62556085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:18.22, Z:16.26 [[ 9.96493660e-01 -7.56155589e-02 -3.58144292e-02 4.58200424e+02] [ 7.56061982e-02 9.97136443e-01 -1.61757111e-03 1.82219866e+01] [ 3.58341861e-02 -1.09589348e-03 9.99357148e-01 1.62552311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:18.22, Z:16.26 [[ 9.96369588e-01 -7.72332375e-02 -3.58143998e-02 4.58230409e+02] [ 7.72248969e-02 9.97012385e-01 -1.61822224e-03 1.82219199e+01] [ 3.58323807e-02 -1.15341591e-03 9.99357148e-01 1.62556299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:18.22, Z:16.26 [[ 9.96228106e-01 -7.90372975e-02 -3.58143423e-02 4.58260242e+02] [ 7.90300751e-02 9.96870917e-01 -1.61949503e-03 1.82221233e+01] [ 3.58302767e-02 -1.21702370e-03 9.99357148e-01 1.62562915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:18.22, Z:16.26 [[ 9.96079393e-01 -8.08899223e-02 -3.58142841e-02 4.58289560e+02] [ 8.08838493e-02 9.96722216e-01 -1.62077988e-03 1.82219749e+01] [ 3.58279974e-02 -1.28237172e-03 9.99357148e-01 1.62567924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:18.22, Z:16.26 [[ 9.95804319e-01 -8.42086561e-02 -3.58142553e-02 4.58320525e+02] [ 8.42047023e-02 9.96447158e-01 -1.62141746e-03 1.82211124e+01] [ 3.58235503e-02 -1.40111419e-03 9.99357148e-01 1.62577895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:18.22, Z:16.26 [[ 9.95692548e-01 -8.55201051e-02 -3.58142553e-02 4.58351138e+02] [ 8.55169980e-02 9.96335392e-01 -1.62141746e-03 1.82215612e+01] [ 3.58216739e-02 -1.44829431e-03 9.99357148e-01 1.62586131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.38, Y:18.22, Z:16.26 [[ 9.95631181e-01 -8.62315945e-02 -3.58142846e-02 4.58382905e+02] [ 8.62289700e-02 9.96274028e-01 -1.62076915e-03 1.82223121e+01] [ 3.58206031e-02 -1.47454057e-03 9.99357148e-01 1.62594460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:18.22, Z:16.26 [[ 9.95665066e-01 -8.58394339e-02 -3.58143426e-02 4.58413153e+02] [ 8.58366023e-02 9.96307912e-01 -1.61948651e-03 1.82227690e+01] [ 3.58211287e-02 -1.46171534e-03 9.99357148e-01 1.62597186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:18.22, Z:16.26 [[ 9.95665067e-01 -8.58394111e-02 -3.58143714e-02 4.58444101e+02] [ 8.58366023e-02 9.96307913e-01 -1.61885023e-03 1.82241676e+01] [ 3.58211027e-02 -1.46235132e-03 9.99357148e-01 1.62608298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.48, Y:18.23, Z:16.26 [[ 9.95759630e-01 -8.47354107e-02 -3.58143714e-02 4.58475224e+02] [ 8.47318891e-02 9.96402472e-01 -1.61885023e-03 1.82253196e+01] [ 3.58227021e-02 -1.42263363e-03 9.99357148e-01 1.62622791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.51, Y:18.23, Z:16.26 [[ 9.95924857e-01 -8.27708035e-02 -3.58144297e-02 4.58505773e+02] [ 8.27660601e-02 9.96567691e-01 -1.61755863e-03 1.82265989e+01] [ 3.58253901e-02 -1.35325240e-03 9.99357148e-01 1.62633282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.54, Y:18.23, Z:16.26 [[ 9.96130972e-01 -8.02521720e-02 -3.58144586e-02 4.58535789e+02] [ 8.02458261e-02 9.96773792e-01 -1.61691794e-03 1.82280294e+01] [ 3.58286749e-02 -1.26329878e-03 9.99357148e-01 1.62649997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.57, Y:18.23, Z:16.27 [[ 9.96641018e-01 -7.36478537e-02 -3.58144586e-02 4.58566266e+02] [ 7.36372472e-02 9.97283782e-01 -1.61691794e-03 1.82306039e+01] [ 3.58362613e-02 -1.02579140e-03 9.99357148e-01 1.62675839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.60, Y:18.23, Z:16.27 [[ 9.96918128e-01 -6.97966344e-02 -3.58144586e-02 4.58595908e+02] [ 6.97835446e-02 9.97560847e-01 -1.61691794e-03 1.82328240e+01] [ 3.58399571e-02 -8.87325064e-04 9.99357148e-01 1.62696138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.62, Y:18.24, Z:16.27 [[ 9.97166433e-01 -6.61546158e-02 -3.58143997e-02 4.58624552e+02] [ 6.61391315e-02 9.97809098e-01 -1.61822259e-03 1.82350680e+01] [ 3.58429867e-02 -7.55096042e-04 9.99357148e-01 1.62709959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.65, Y:18.24, Z:16.27 [[ 9.97589423e-01 -5.94363450e-02 -3.58143119e-02 4.58652743e+02] [ 5.94164626e-02 9.98231967e-01 -1.62016334e-03 1.82368138e+01] [ 3.58472876e-02 -5.11701913e-04 9.99357148e-01 1.62724939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.68, Y:18.24, Z:16.27 [[ 9.97741763e-01 -5.68219861e-02 -3.58139004e-02 4.58679896e+02] [ 5.68000953e-02 9.98384242e-01 -1.62920834e-03 1.82379191e+01] [ 3.58486087e-02 -4.08703755e-04 9.99357148e-01 1.62734322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.71, Y:18.24, Z:16.27 [[ 9.97845050e-01 -5.49784980e-02 -3.58136963e-02 4.58707832e+02] [ 5.49552596e-02 9.98487481e-01 -1.63368193e-03 1.82390804e+01] [ 3.58493448e-02 -3.37989557e-04 9.99357148e-01 1.62746692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.73, Y:18.24, Z:16.28 [[ 9.97930061e-01 -5.34135377e-02 -3.58132201e-02 4.58734746e+02] [ 5.33889196e-02 9.98572441e-01 -1.64405526e-03 1.82400953e+01] [ 3.58499095e-02 -2.71376970e-04 9.99357149e-01 1.62754406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.76, Y:18.24, Z:16.28 [[ 9.97988274e-01 -5.23148362e-02 -3.58128915e-02 4.58761899e+02] [ 5.22892551e-02 9.98630616e-01 -1.65118318e-03 1.82409788e+01] [ 3.58502313e-02 -2.24767966e-04 9.99357149e-01 1.62761355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.79, Y:18.24, Z:16.28 [[ 9.98030550e-01 -5.15021604e-02 -3.58126864e-02 4.58789753e+02] [ 5.14758971e-02 9.98672865e-01 -1.65561993e-03 1.82414261e+01] [ 3.58504261e-02 -1.91130894e-04 9.99357149e-01 1.62773822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.82, Y:18.24, Z:16.28 [[ 9.98001178e-01 -5.20685626e-02 -3.58122035e-02 4.58817882e+02] [ 5.20422913e-02 9.98643492e-01 -1.66600085e-03 1.82423944e+01] [ 3.58503702e-02 -2.01078316e-04 9.99357149e-01 1.62784893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.84, Y:18.24, Z:16.28 [[ 9.97969309e-01 -5.26761621e-02 -3.58117206e-02 4.58844660e+02] [ 5.26499117e-02 9.98611625e-01 -1.67631671e-03 1.82428271e+01] [ 3.58503024e-02 -2.12571298e-04 9.99357149e-01 1.62790985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.87, Y:18.24, Z:16.28 [[ 9.97908840e-01 -5.38096979e-02 -3.58115110e-02 4.58872882e+02] [ 5.37840168e-02 9.98551178e-01 -1.68078349e-03 1.82430143e+01] [ 3.58500689e-02 -2.48818208e-04 9.99357149e-01 1.62805097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.90, Y:18.24, Z:16.28 [[ 9.97735652e-01 -5.69310096e-02 -3.58110189e-02 4.58900373e+02] [ 5.69069641e-02 9.98378053e-01 -1.69120202e-03 1.82416774e+01] [ 3.58492172e-02 -3.50523819e-04 9.99357149e-01 1.62812102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.93, Y:18.24, Z:16.28 [[ 9.97603282e-01 -5.92053918e-02 -3.58108054e-02 4.58927847e+02] [ 5.91826489e-02 9.98245731e-01 -1.69571211e-03 1.82416927e+01] [ 3.58483789e-02 -4.27730351e-04 9.99357149e-01 1.62824215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.95, Y:18.24, Z:16.28 [[ 9.97470330e-01 -6.14049126e-02 -3.58103069e-02 4.58954901e+02] [ 6.13832108e-02 9.98112814e-01 -1.70617401e-03 1.82417507e+01] [ 3.58474937e-02 -4.96293666e-04 9.99357149e-01 1.62833269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.98, Y:18.24, Z:16.28 [[ 9.97208327e-01 -6.55224450e-02 -3.58100903e-02 4.58981609e+02] [ 6.55032330e-02 9.97850891e-01 -1.71070893e-03 1.82400541e+01] [ 3.58452203e-02 -6.39743496e-04 9.99357149e-01 1.62835789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.01, Y:18.24, Z:16.28 [[ 9.97050517e-01 -6.78816590e-02 -3.58098778e-02 4.59009677e+02] [ 6.78638081e-02 9.97693120e-01 -1.71514577e-03 1.82398719e+01] [ 3.58436956e-02 -7.20107694e-04 9.99357149e-01 1.62845420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.04, Y:18.24, Z:16.29 [[ 9.96917106e-01 -6.98138358e-02 -3.58093801e-02 4.59037713e+02] [ 6.97968595e-02 9.97559733e-01 -1.72547516e-03 1.82398137e+01] [ 3.58424576e-02 -7.79226567e-04 9.99357149e-01 1.62859161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.07, Y:18.24, Z:16.29 [[ 9.96794664e-01 -7.15410444e-02 -3.58088816e-02 4.59065629e+02] [ 7.15248124e-02 9.97437311e-01 -1.73575816e-03 1.82401192e+01] [ 3.58412925e-02 -8.31029067e-04 9.99357149e-01 1.62871893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.09, Y:18.24, Z:16.29 [[ 9.96730243e-01 -7.24332936e-02 -3.58083813e-02 4.59093732e+02] [ 7.24172684e-02 9.97372895e-01 -1.74601922e-03 1.82396582e+01] [ 3.58407788e-02 -8.52834991e-04 9.99357149e-01 1.62887355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.12, Y:18.24, Z:16.29 [[ 9.96748266e-01 -7.21849334e-02 -3.58082262e-02 4.59121882e+02] [ 7.21686341e-02 9.97390911e-01 -1.74919374e-03 1.82399563e+01] [ 3.58410648e-02 -8.40724945e-04 9.99357149e-01 1.62894385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.15, Y:18.24, Z:16.29 [[ 9.96789239e-01 -7.16170367e-02 -3.58080010e-02 4.59151075e+02] [ 7.16002062e-02 9.97431870e-01 -1.75379255e-03 1.82404799e+01] [ 3.58416428e-02 -8.15698715e-04 9.99357149e-01 1.62907516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.18, Y:18.24, Z:16.29 [[ 9.96874453e-01 -7.04211811e-02 -3.58075716e-02 4.59178820e+02] [ 7.04032665e-02 9.97517054e-01 -1.76251554e-03 1.82410796e+01] [ 3.58427818e-02 -7.63963293e-04 9.99357149e-01 1.62916724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.21, Y:18.24, Z:16.29 [[ 9.96959176e-01 -6.92114841e-02 -3.58074193e-02 4.59206947e+02] [ 6.91926788e-02 9.97601752e-01 -1.76560349e-03 1.82415727e+01] [ 3.58437443e-02 -7.17376667e-04 9.99357149e-01 1.62934631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.23, Y:18.24, Z:16.30 [[ 9.97247169e-01 -6.49303423e-02 -3.58069060e-02 4.59234745e+02] [ 6.49084067e-02 9.97889646e-01 -1.77595424e-03 1.82414940e+01] [ 3.58466540e-02 -5.53103876e-04 9.99357149e-01 1.62950144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.26, Y:18.24, Z:16.30 [[ 9.97385274e-01 -6.27735382e-02 -3.58063848e-02 4.59261569e+02] [ 6.27498382e-02 9.98027688e-01 -1.78640043e-03 1.82427321e+01] [ 3.58479021e-02 -4.65115374e-04 9.99357149e-01 1.62958521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.29, Y:18.24, Z:16.30 [[ 9.97523136e-01 -6.05435468e-02 -3.58060256e-02 4.59289633e+02] [ 6.05181533e-02 9.98165485e-01 -1.79357211e-03 1.82437900e+01] [ 3.58489281e-02 -3.77784869e-04 9.99357149e-01 1.62975781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:18.24, Z:16.30 [[ 9.97770893e-01 -5.63135082e-02 -3.58054929e-02 4.59317668e+02] [ 5.62850121e-02 9.98413112e-01 -1.80414387e-03 1.82441270e+01] [ 3.58502713e-02 -2.15190361e-04 9.99357149e-01 1.62974342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.35, Y:18.24, Z:16.30 [[ 9.97834494e-01 -5.51751776e-02 -3.58053278e-02 4.59346074e+02] [ 5.51458314e-02 9.98476675e-01 -1.80741382e-03 1.82449647e+01] [ 3.58505091e-02 -1.71014717e-04 9.99357149e-01 1.62983751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.37, Y:18.25, Z:16.30 [[ 9.97882952e-01 -5.42920667e-02 -3.58048408e-02 4.59373563e+02] [ 5.42618078e-02 9.98525090e-01 -1.81701044e-03 1.82457151e+01] [ 3.58506811e-02 -1.29671652e-04 9.99357149e-01 1.62996739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.40, Y:18.25, Z:16.30 [[ 9.97886836e-01 -5.42209682e-02 -3.58043045e-02 4.59401347e+02] [ 5.41902866e-02 9.98528955e-01 -1.82751721e-03 1.82453612e+01] [ 3.58507245e-02 -1.16590159e-04 9.99357149e-01 1.63009628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:18.25, Z:16.30 [[ 9.97848253e-01 -5.49268013e-02 -3.58037681e-02 4.59428749e+02] [ 5.48961989e-02 9.98490375e-01 -1.83796796e-03 1.82455895e+01] [ 3.58506715e-02 -1.31477650e-04 9.99357149e-01 1.63016361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.46, Y:18.25, Z:16.30 [[ 9.97760296e-01 -5.65022018e-02 -3.58035352e-02 4.59456454e+02] [ 5.64724509e-02 9.98402458e-01 -1.84249342e-03 1.82459405e+01] [ 3.58504424e-02 -1.83546608e-04 9.99357149e-01 1.63026713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:18.25, Z:16.30 [[ 9.97653894e-01 -5.83511116e-02 -3.58030035e-02 4.59484558e+02] [ 5.83221822e-02 9.98296094e-01 -1.85276699e-03 1.82460208e+01] [ 3.58501096e-02 -2.39689095e-04 9.99357149e-01 1.63044583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.51, Y:18.24, Z:16.31 [[ 9.97352214e-01 -6.32988529e-02 -3.58024584e-02 4.59511505e+02] [ 6.32727332e-02 9.97994534e-01 -1.86324119e-03 1.82449734e+01] [ 3.58485988e-02 -4.07011673e-04 9.99357150e-01 1.63053628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.54, Y:18.24, Z:16.31 [[ 9.97140753e-01 -6.65471166e-02 -3.58022217e-02 4.59540028e+02] [ 6.65229264e-02 9.97783149e-01 -1.86777899e-03 1.82447491e+01] [ 3.58471488e-02 -5.19230009e-04 9.99357150e-01 1.63068753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.57, Y:18.24, Z:16.31 [[ 9.96882989e-01 -7.03032010e-02 -3.58017544e-02 4.59568024e+02] [ 7.02811110e-02 9.97525460e-01 -1.87669399e-03 1.82444559e+01] [ 3.58450991e-02 -6.45342756e-04 9.99357150e-01 1.63083235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:18.24, Z:16.31 [[ 9.96622106e-01 -7.39097440e-02 -3.58012138e-02 4.59595571e+02] [ 7.38896104e-02 9.97264641e-01 -1.88695043e-03 1.82438019e+01] [ 3.58427487e-02 -7.64761227e-04 9.99357150e-01 1.63092778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.62, Y:18.24, Z:16.31 [[ 9.95960088e-01 -8.23516149e-02 -3.58010461e-02 4.59623315e+02] [ 8.23368123e-02 9.96602768e-01 -1.89012697e-03 1.82412462e+01] [ 3.58350766e-02 -1.06525299e-03 9.99357150e-01 1.63106613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.65, Y:18.24, Z:16.31 [[ 9.95590680e-01 -8.67036400e-02 -3.58005083e-02 4.59652420e+02] [ 8.66912825e-02 9.96233412e-01 -1.90025855e-03 1.82410311e+01] [ 3.58304219e-02 -1.21171228e-03 9.99357150e-01 1.63124951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.68, Y:18.24, Z:16.31 [[ 9.95205328e-01 -9.10204073e-02 -3.58000107e-02 4.59681461e+02] [ 9.10105021e-02 9.95848102e-01 -1.90958697e-03 1.82409272e+01] [ 3.58251841e-02 -1.35774583e-03 9.99357150e-01 1.63131749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.71, Y:18.24, Z:16.31 [[ 9.94504833e-01 -9.83793877e-02 -3.57999050e-02 4.59709797e+02] [ 9.83741662e-02 9.95147662e-01 -1.91156791e-03 1.82392697e+01] [ 3.58142506e-02 -1.62072227e-03 9.99357150e-01 1.63132245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.74, Y:18.24, Z:16.32 [[ 9.94149632e-01 -1.01906247e-01 -3.57998019e-02 4.59738083e+02] [ 1.01903236e-01 9.94792475e-01 -1.91349641e-03 1.82393533e+01] [ 3.58083708e-02 -1.74581392e-03 9.99357150e-01 1.63152124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.77, Y:18.24, Z:16.32 [[ 9.93833694e-01 -1.04942836e-01 -3.57993126e-02 4.59766545e+02] [ 1.04941462e-01 9.94476542e-01 -1.92260671e-03 1.82394876e+01] [ 3.58033404e-02 -1.84608088e-03 9.99357150e-01 1.63155277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.80, Y:18.24, Z:16.32 [[ 9.93242344e-01 -1.10399560e-01 -3.57992086e-02 4.59796197e+02] [ 1.10401647e-01 9.93885191e-01 -1.92454130e-03 1.82385732e+01] [ 3.57927718e-02 -2.04075570e-03 9.99357150e-01 1.63174053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.83, Y:18.24, Z:16.32 [[ 9.93004704e-01 -1.12517023e-01 -3.57991390e-02 4.59826717e+02] [ 1.12520434e-01 9.93647545e-01 -1.92583460e-03 1.82395380e+01] [ 3.57884158e-02 -2.11577186e-03 9.99357150e-01 1.63184651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.86, Y:18.24, Z:16.32 [[ 9.92786700e-01 -1.14424601e-01 -3.57991390e-02 4.59857012e+02] [ 1.14429247e-01 9.93429534e-01 -1.92583460e-03 1.82406803e+01] [ 3.57842849e-02 -2.18452556e-03 9.99357150e-01 1.63194244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.89, Y:18.24, Z:16.32 [[ 9.92601207e-01 -1.16022692e-01 -3.57991390e-02 4.59887057e+02] [ 1.16028374e-01 9.93244032e-01 -1.92583460e-03 1.82418855e+01] [ 3.57807217e-02 -2.24213013e-03 9.99357150e-01 1.63203871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.92, Y:18.24, Z:16.32 [[ 9.92367014e-01 -1.18009032e-01 -3.57991390e-02 4.59917324e+02] [ 1.18016000e-01 9.93009826e-01 -1.92583460e-03 1.82437989e+01] [ 3.57761627e-02 -2.31373645e-03 9.99357150e-01 1.63207419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.95, Y:18.25, Z:16.32 [[ 9.92305420e-01 -1.18525844e-01 -3.57991390e-02 4.59947558e+02] [ 1.18533147e-01 9.92948228e-01 -1.92583460e-03 1.82459811e+01] [ 3.57749529e-02 -2.33236849e-03 9.99357150e-01 1.63219236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.98, Y:18.25, Z:16.32 [[ 9.92307134e-01 -1.18511493e-01 -3.57991390e-02 4.59977535e+02] [ 1.18518786e-01 9.92949943e-01 -1.92583460e-03 1.82481271e+01] [ 3.57749866e-02 -2.33185110e-03 9.99357150e-01 1.63228139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.01, Y:18.25, Z:16.32 [[ 9.92315699e-01 -1.18439752e-01 -3.57991390e-02 4.60008319e+02] [ 1.18446999e-01 9.92958509e-01 -1.92583460e-03 1.82505921e+01] [ 3.57751551e-02 -2.32926468e-03 9.99357150e-01 1.63240469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.04, Y:18.25, Z:16.33 [[ 9.92513147e-01 -1.16773606e-01 -3.57991390e-02 4.60038732e+02] [ 1.16779773e-01 9.93155967e-01 -1.92583460e-03 1.82541975e+01] [ 3.57790152e-02 -2.26919918e-03 9.99357150e-01 1.63255491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.07, Y:18.26, Z:16.33 [[ 9.92658463e-01 -1.15531804e-01 -3.57991390e-02 4.60067790e+02] [ 1.15537167e-01 9.93301291e-01 -1.92583460e-03 1.82568147e+01] [ 3.57818262e-02 -2.22443510e-03 9.99357150e-01 1.63266007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.10, Y:18.26, Z:16.33 [[ 9.92844556e-01 -1.13921517e-01 -3.57991041e-02 4.60098473e+02] [ 1.13925814e-01 9.93487392e-01 -1.92648483e-03 1.82593808e+01] [ 3.57854266e-02 -2.16574210e-03 9.99357150e-01 1.63280676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.13, Y:18.26, Z:16.33 [[ 9.93236589e-01 -1.10451356e-01 -3.57991041e-02 4.60128308e+02] [ 1.10453407e-01 9.93879436e-01 -1.92648483e-03 1.82637434e+01] [ 3.57927762e-02 -2.04067778e-03 9.99357150e-01 1.63297677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.16, Y:18.27, Z:16.33 [[ 9.93452524e-01 -1.08491962e-01 -3.57991041e-02 4.60159140e+02] [ 1.08492745e-01 9.94095374e-01 -1.92648483e-03 1.82669568e+01] [ 3.57967319e-02 -1.97007184e-03 9.99357150e-01 1.63313202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.19, Y:18.27, Z:16.33 [[ 9.93674336e-01 -1.06441246e-01 -3.57991041e-02 4.60188127e+02] [ 1.06440702e-01 9.94317186e-01 -1.92648483e-03 1.82701689e+01] [ 3.58007218e-02 -1.89618324e-03 9.99357150e-01 1.63323799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.22, Y:18.27, Z:16.33 [[ 9.93674334e-01 -1.06441269e-01 -3.57990692e-02 4.60219062e+02] [ 1.06440702e-01 9.94317184e-01 -1.92713237e-03 1.82718345e+01] [ 3.58007561e-02 -1.89553609e-03 9.99357150e-01 1.63334914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.25, Y:18.28, Z:16.33 [[ 9.93871584e-01 -1.04583466e-01 -3.57990692e-02 4.60249913e+02] [ 1.04581697e-01 9.94514432e-01 -1.92713237e-03 1.82750171e+01] [ 3.58042371e-02 -1.82860530e-03 9.99357150e-01 1.63345750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.28, Y:18.28, Z:16.34 [[ 9.94056366e-01 -1.02812291e-01 -3.57990692e-02 4.60280013e+02] [ 1.02809376e-01 9.94699210e-01 -1.92713237e-03 1.82778537e+01] [ 3.58074387e-02 -1.76480176e-03 9.99357150e-01 1.63353284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.31, Y:18.28, Z:16.34 [[ 9.94360291e-01 -9.98300520e-02 -3.57990692e-02 4.60308985e+02] [ 9.98252091e-02 9.95003123e-01 -1.92713237e-03 1.82823832e+01] [ 3.58125714e-02 -1.65738567e-03 9.99357150e-01 1.63360192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.34, Y:18.29, Z:16.34 [[ 9.94502821e-01 -9.84000416e-02 -3.57990348e-02 4.60339730e+02] [ 9.83942513e-02 9.95145645e-01 -1.92777114e-03 1.82857433e+01] [ 3.58149463e-02 -1.60524539e-03 9.99357150e-01 1.63369811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.37, Y:18.29, Z:16.34 [[ 9.94645957e-01 -9.69425039e-02 -3.57990348e-02 4.60370140e+02] [ 9.69357716e-02 9.95288772e-01 -1.92777114e-03 1.82891050e+01] [ 3.58172604e-02 -1.55275729e-03 9.99357150e-01 1.63378742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:18.29, Z:16.34 [[ 9.94787916e-01 -9.54747689e-02 -3.57990348e-02 4.60400265e+02] [ 9.54670881e-02 9.95430720e-01 -1.92777114e-03 1.82921423e+01] [ 3.58195125e-02 -1.49990617e-03 9.99357150e-01 1.63385313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.43, Y:18.30, Z:16.34 [[ 9.94941733e-01 -9.38582786e-02 -3.57990348e-02 4.60429826e+02] [ 9.38495533e-02 9.95584524e-01 -1.92777114e-03 1.82950186e+01] [ 3.58219023e-02 -1.44170346e-03 9.99357150e-01 1.63392031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.46, Y:18.30, Z:16.34 [[ 9.95225463e-01 -9.08003870e-02 -3.57990002e-02 4.60460388e+02] [ 9.07896635e-02 9.95868223e-01 -1.92841254e-03 1.82993199e+01] [ 3.58261874e-02 -1.33097392e-03 9.99357150e-01 1.63404984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:18.30, Z:16.34 [[ 9.95354727e-01 -8.93722532e-02 -3.57990002e-02 4.60489817e+02] [ 8.93606074e-02 9.95997471e-01 -1.92841254e-03 1.83028380e+01] [ 3.58280603e-02 -1.27956587e-03 9.99357150e-01 1.63418623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.52, Y:18.31, Z:16.34 [[ 9.95515331e-01 -8.75651607e-02 -3.57990046e-02 4.60519594e+02] [ 8.75523510e-02 9.96158053e-01 -1.92833238e-03 1.83061414e+01] [ 3.58303214e-02 -1.21460256e-03 9.99357150e-01 1.63430062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.55, Y:18.31, Z:16.34 [[ 9.95662735e-01 -8.58728923e-02 -3.57989366e-02 4.60548979e+02] [ 8.58589448e-02 9.96305434e-01 -1.92959422e-03 1.83096653e+01] [ 3.58323749e-02 -1.15243386e-03 9.99357150e-01 1.63433131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.58, Y:18.31, Z:16.35 [[ 9.95903691e-01 -8.30338927e-02 -3.57940023e-02 4.60577917e+02] [ 8.30148364e-02 9.96546262e-01 -2.02082549e-03 1.83140535e+01] [ 3.58381763e-02 -9.58885683e-04 9.99357146e-01 1.63450564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.61, Y:18.32, Z:16.35 [[ 9.95997924e-01 -8.18938476e-02 -3.57985034e-02 4.60607573e+02] [ 8.18770422e-02 9.96640555e-01 -1.93767022e-03 1.83169113e+01] [ 3.58369236e-02 -1.00116006e-03 9.99357150e-01 1.63459573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.64, Y:18.32, Z:16.35 [[ 9.96149406e-01 -8.00301986e-02 -3.57984354e-02 4.60637408e+02] [ 8.00121457e-02 9.96792003e-01 -1.93892593e-03 1.83206112e+01] [ 3.58387668e-02 -9.32849717e-04 9.99357150e-01 1.63469688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.67, Y:18.32, Z:16.35 [[ 9.96212594e-01 -7.92397878e-02 -3.57983656e-02 4.60667052e+02] [ 7.92211788e-02 9.96855175e-01 -1.94021320e-03 1.83232379e+01] [ 3.58395281e-02 -9.03123904e-04 9.99357150e-01 1.63484965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.70, Y:18.33, Z:16.35 [[ 9.96247500e-01 -7.87997564e-02 -3.57982955e-02 4.60695992e+02] [ 7.87808172e-02 9.96890071e-01 -1.94150634e-03 1.83259097e+01] [ 3.58399556e-02 -8.85998139e-04 9.99357150e-01 1.63498838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.73, Y:18.33, Z:16.35 [[ 9.96292394e-01 -7.82301434e-02 -3.57981911e-02 4.60725907e+02] [ 7.82107677e-02 9.96934952e-01 -1.94343029e-03 1.83283942e+01] [ 3.58405027e-02 -8.63579188e-04 9.99357150e-01 1.63514139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.76, Y:18.33, Z:16.35 [[ 9.96360157e-01 -7.73623471e-02 -3.57981201e-02 4.60755477e+02] [ 7.73423648e-02 9.97002696e-01 -1.94473742e-03 1.83314390e+01] [ 3.58412717e-02 -8.31052378e-04 9.99357150e-01 1.63526221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.79, Y:18.33, Z:16.35 [[ 9.96393582e-01 -7.69306768e-02 -3.57980492e-02 4.60785300e+02] [ 7.69103693e-02 9.97036112e-01 -1.94604134e-03 1.83335794e+01] [ 3.58416580e-02 -8.14218078e-04 9.99357150e-01 1.63533937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:18.34, Z:16.35 [[ 9.96410420e-01 -7.67123144e-02 -3.57979782e-02 4.60814781e+02] [ 7.66918193e-02 9.97052944e-01 -1.94734651e-03 1.83354435e+01] [ 3.58418650e-02 -8.05055715e-04 9.99357150e-01 1.63541940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.84, Y:18.34, Z:16.35 [[ 9.96405641e-01 -7.67743989e-02 -3.57979077e-02 4.60844580e+02] [ 7.67538972e-02 9.97048164e-01 -1.94864142e-03 1.83372774e+01] [ 3.58418439e-02 -8.05991620e-04 9.99357150e-01 1.63548047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.87, Y:18.34, Z:16.35 [[ 9.96367129e-01 -7.72726241e-02 -3.57978373e-02 4.60874572e+02] [ 7.72523974e-02 9.97009661e-01 -1.94993277e-03 1.83390066e+01] [ 3.58414661e-02 -8.22619842e-04 9.99357150e-01 1.63547670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.90, Y:18.34, Z:16.36 [[ 9.96301581e-01 -7.81132442e-02 -3.57977674e-02 4.60903300e+02] [ 7.80935135e-02 9.96944129e-01 -1.95121528e-03 1.83408424e+01] [ 3.58407898e-02 -8.51574569e-04 9.99357150e-01 1.63551396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.93, Y:18.34, Z:16.36 [[ 9.96257979e-01 -7.86674551e-02 -3.57976318e-02 4.60933216e+02] [ 7.86479926e-02 9.96900535e-01 -1.95370016e-03 1.83425382e+01] [ 3.58403709e-02 -8.69022512e-04 9.99357150e-01 1.63560352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.96, Y:18.34, Z:16.36 [[ 9.96133898e-01 -8.02233831e-02 -3.57975625e-02 4.60963202e+02] [ 8.02048787e-02 9.96776482e-01 -1.95496878e-03 1.83443641e+01] [ 3.58390027e-02 -9.23728493e-04 9.99357150e-01 1.63566664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.99, Y:18.35, Z:16.36 [[ 9.96082382e-01 -8.08605461e-02 -3.57974936e-02 4.60991742e+02] [ 8.08424074e-02 9.96724976e-01 -1.95623005e-03 1.83458604e+01] [ 3.58384378e-02 -9.45389280e-04 9.99357150e-01 1.63576651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.02, Y:18.35, Z:16.36 [[ 9.96038046e-01 -8.14048976e-02 -3.57973909e-02 4.61021468e+02] [ 8.13870427e-02 9.96680649e-01 -1.95810695e-03 1.83474808e+01] [ 3.58379663e-02 -9.63094764e-04 9.99357150e-01 1.63586616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.05, Y:18.35, Z:16.36 [[ 9.96022800e-01 -8.15912556e-02 -3.57973234e-02 4.61050306e+02] [ 8.15734766e-02 9.96665405e-01 -1.95934114e-03 1.83488878e+01] [ 3.58378189e-02 -9.68563673e-04 9.99357150e-01 1.63596588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.08, Y:18.35, Z:16.36 [[ 9.95989972e-01 -8.19910630e-02 -3.57972228e-02 4.61079914e+02] [ 8.19734760e-02 9.96632582e-01 -1.96117806e-03 1.83503444e+01] [ 3.58374776e-02 -9.81109097e-04 9.99357150e-01 1.63614780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.11, Y:18.35, Z:16.36 [[ 9.95978679e-01 -8.21281640e-02 -3.57971522e-02 4.61109335e+02] [ 8.21106192e-02 9.96621290e-01 -1.96246474e-03 1.83521667e+01] [ 3.58373776e-02 -9.84753292e-04 9.99357150e-01 1.63626717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:18.35, Z:16.36 [[ 9.96003183e-01 -8.18304805e-02 -3.57970805e-02 4.61138957e+02] [ 8.18126967e-02 9.96645788e-01 -1.96377226e-03 1.83535862e+01] [ 3.58377059e-02 -9.72732262e-04 9.99357150e-01 1.63637862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.17, Y:18.35, Z:16.36 [[ 9.96031857e-01 -8.14807588e-02 -3.57970080e-02 4.61168347e+02] [ 8.14627020e-02 9.96674454e-01 -1.96509267e-03 1.83548921e+01] [ 3.58380806e-02 -9.58826094e-04 9.99357150e-01 1.63643928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.20, Y:18.36, Z:16.36 [[ 9.96108724e-01 -8.05356229e-02 -3.57969721e-02 4.61198207e+02] [ 8.05169328e-02 9.96751303e-01 -1.96574740e-03 1.83556378e+01] [ 3.58389912e-02 -9.24164258e-04 9.99357150e-01 1.63648148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.23, Y:18.36, Z:16.37 [[ 9.96164217e-01 -7.98463138e-02 -3.57969013e-02 4.61227401e+02] [ 7.98271329e-02 9.96806782e-01 -1.96703529e-03 1.83568740e+01] [ 3.58396545e-02 -8.98073820e-04 9.99357150e-01 1.63655393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.26, Y:18.36, Z:16.37 [[ 9.96250124e-01 -7.87672334e-02 -3.57968299e-02 4.61255816e+02] [ 7.87473099e-02 9.96892666e-01 -1.96833264e-03 1.83581394e+01] [ 3.58406373e-02 -8.57952419e-04 9.99357150e-01 1.63663479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.29, Y:18.36, Z:16.37 [[ 9.96501140e-01 -7.55253073e-02 -3.57967237e-02 4.61285027e+02] [ 7.55032239e-02 9.97143611e-01 -1.97026281e-03 1.83594744e+01] [ 3.58432791e-02 -7.39398908e-04 9.99357150e-01 1.63680358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.31, Y:18.36, Z:16.37 [[ 9.96676351e-01 -7.31768541e-02 -3.57966509e-02 4.61313299e+02] [ 7.31532093e-02 9.97318766e-01 -1.97158520e-03 1.83608815e+01] [ 3.58449461e-02 -6.53607549e-04 9.99357150e-01 1.63683878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.34, Y:18.36, Z:16.37 [[ 9.96824042e-01 -7.11367408e-02 -3.57965424e-02 4.61342216e+02] [ 7.11117106e-02 9.97466405e-01 -1.97355232e-03 1.83625282e+01] [ 3.58462406e-02 -5.78268966e-04 9.99357150e-01 1.63692639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.37, Y:18.36, Z:16.37 [[ 9.97237300e-01 -6.50877269e-02 -3.57960337e-02 4.61370101e+02] [ 6.50584702e-02 9.97879484e-01 -1.98273614e-03 1.83636153e+01] [ 3.58491795e-02 -3.51576763e-04 9.99357150e-01 1.63698223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.40, Y:18.36, Z:16.37 [[ 9.97419087e-01 -6.22400303e-02 -3.57958537e-02 4.61397637e+02] [ 6.22088237e-02 9.98061180e-01 -1.98598120e-03 1.83648439e+01] [ 3.58500595e-02 -2.45962393e-04 9.99357150e-01 1.63715074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.42, Y:18.37, Z:16.37 [[ 9.97602826e-01 -5.92224618e-02 -3.57952749e-02 4.61424094e+02] [ 5.91889406e-02 9.98244802e-01 -1.99635985e-03 1.83659624e+01] [ 3.58506764e-02 -1.27110169e-04 9.99357150e-01 1.63727085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.45, Y:18.37, Z:16.37 [[ 9.97764444e-01 -5.64343103e-02 -3.57950236e-02 4.61452399e+02] [ 5.63988339e-02 9.98406314e-01 -2.00085515e-03 1.83671592e+01] [ 3.58508944e-02 -2.24154627e-05 9.99357150e-01 1.63741993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.48, Y:18.37, Z:16.37 [[ 9.98000702e-01 -5.20898838e-02 -3.57944393e-02 4.61479549e+02] [ 5.20512402e-02 9.98642390e-01 -2.01125442e-03 1.83676020e+01] [ 3.58506104e-02 1.44088368e-04 9.99357150e-01 1.63748106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.51, Y:18.37, Z:16.38 [[ 9.98065046e-01 -5.08423096e-02 -3.57941859e-02 4.61507361e+02] [ 5.08027026e-02 9.98706675e-01 -2.01575388e-03 1.83683785e+01] [ 3.58503779e-02 1.93412107e-04 9.99357150e-01 1.63755184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.54, Y:18.37, Z:16.38 [[ 9.98086595e-01 -5.04179218e-02 -3.57936177e-02 4.61535753e+02] [ 5.03776820e-02 9.98728184e-01 -2.02579357e-03 1.83690293e+01] [ 3.58502311e-02 2.18717923e-04 9.99357150e-01 1.63766308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.56, Y:18.37, Z:16.38 [[ 9.98067499e-01 -5.07949443e-02 -3.57930276e-02 4.61563701e+02] [ 5.07545748e-02 9.98709080e-01 -2.03616631e-03 1.83695513e+01] [ 3.58502486e-02 2.15571518e-04 9.99357150e-01 1.63773406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.59, Y:18.37, Z:16.38 [[ 9.97936237e-01 -5.33120015e-02 -3.57924319e-02 4.61590599e+02] [ 5.32728766e-02 9.98577895e-01 -2.04658473e-03 1.83677977e+01] [ 3.58506388e-02 1.35595261e-04 9.99357150e-01 1.63770550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.62, Y:18.37, Z:16.38 [[ 9.97804712e-01 -5.57197283e-02 -3.57920211e-02 4.61618137e+02] [ 5.56818950e-02 9.98446448e-01 -2.05374454e-03 1.83674420e+01] [ 3.58508504e-02 5.62684259e-05 9.99357150e-01 1.63785203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.65, Y:18.37, Z:16.38 [[ 9.97415850e-01 -6.22944217e-02 -3.57914393e-02 4.61645921e+02] [ 6.22604564e-02 9.98057802e-01 -2.06383269e-03 1.83651373e+01] [ 3.58504905e-02 -1.69891913e-04 9.99357150e-01 1.63798057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.67, Y:18.36, Z:16.38 [[ 9.97167434e-01 -6.61522663e-02 -3.57908572e-02 4.61674047e+02] [ 6.61204240e-02 9.97809495e-01 -2.07388013e-03 1.83648157e+01] [ 3.58496490e-02 -2.98500921e-04 9.99357150e-01 1.63812366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.70, Y:18.36, Z:16.38 [[ 9.96883984e-01 -7.02949518e-02 -3.57902628e-02 4.61701864e+02] [ 7.02654111e-02 9.97526154e-01 -2.08408785e-03 1.83643276e+01] [ 3.58482240e-02 -4.37223731e-04 9.99357150e-01 1.63826287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.73, Y:18.36, Z:16.38 [[ 9.96256704e-01 -7.86872319e-02 -3.57896578e-02 4.61729530e+02] [ 7.86627287e-02 9.96899086e-01 -2.09442577e-03 1.83616978e+01] [ 3.58434817e-02 -7.28726424e-04 9.99357150e-01 1.63838830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.76, Y:18.36, Z:16.38 [[ 9.95893288e-01 -8.31607077e-02 -3.57890497e-02 4.61757114e+02] [ 8.31387184e-02 9.96535761e-01 -2.10476613e-03 1.83613998e+01] [ 3.58401017e-02 -8.79333255e-04 9.99357150e-01 1.63847485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.79, Y:18.36, Z:16.39 [[ 9.95511665e-01 -8.76109695e-02 -3.57888609e-02 4.61786344e+02] [ 8.75917368e-02 9.96154227e-01 -2.10797064e-03 1.83612581e+01] [ 3.58359064e-02 -1.03629912e-03 9.99357150e-01 1.63857465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.82, Y:18.36, Z:16.39 [[ 9.95109880e-01 -9.20625993e-02 -3.57883327e-02 4.61815261e+02] [ 9.20459198e-02 9.95752513e-01 -2.11690053e-03 1.83614975e+01] [ 3.58312096e-02 -1.18762137e-03 9.99357150e-01 1.63867568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.84, Y:18.36, Z:16.39 [[ 9.94302339e-01 -1.00409622e-01 -3.57877910e-02 4.61844294e+02] [ 1.00398008e-01 9.94945084e-01 -2.12601845e-03 1.83605551e+01] [ 3.58203595e-02 -1.47911782e-03 9.99357150e-01 1.63873944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.87, Y:18.36, Z:16.39 [[ 9.93876755e-01 -1.04538355e-01 -3.57872515e-02 4.61872555e+02] [ 1.04529086e-01 9.94519538e-01 -2.13506291e-03 1.83614728e+01] [ 3.58143168e-02 -1.61881929e-03 9.99357150e-01 1.63883242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.90, Y:18.36, Z:16.39 [[ 9.93497739e-01 -1.08081098e-01 -3.57871364e-02 4.61902502e+02] [ 1.08074051e-01 9.94140550e-01 -2.13698890e-03 1.83625627e+01] [ 3.58084116e-02 -1.74456718e-03 9.99357150e-01 1.63893928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.93, Y:18.36, Z:16.39 [[ 9.92796347e-01 -1.14344652e-01 -3.57870594e-02 4.61931568e+02] [ 1.14341613e-01 9.93439190e-01 -2.13827767e-03 1.83636945e+01] [ 3.57967679e-02 -1.96907583e-03 9.99357150e-01 1.63904188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.96, Y:18.37, Z:16.39 [[ 9.92549733e-01 -1.16465944e-01 -3.57870212e-02 4.61960706e+02] [ 1.16464256e-01 9.93192581e-01 -2.13891710e-03 1.83654569e+01] [ 3.57925150e-02 -2.04492719e-03 9.99357150e-01 1.63914454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.99, Y:18.37, Z:16.39 [[ 9.92390167e-01 -1.17817865e-01 -3.57869835e-02 4.61991314e+02] [ 1.17817030e-01 9.93033016e-01 -2.13954787e-03 1.83675586e+01] [ 3.57897331e-02 -2.09304983e-03 9.99357150e-01 1.63926386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.02, Y:18.37, Z:16.39 [[ 9.92297400e-01 -1.18596633e-01 -3.57869835e-02 4.62022118e+02] [ 1.18596302e-01 9.92940250e-01 -2.13954787e-03 1.83699722e+01] [ 3.57880795e-02 -2.12113612e-03 9.99357150e-01 1.63939881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.05, Y:18.37, Z:16.39 [[ 9.92186946e-01 -1.19517178e-01 -3.57869835e-02 4.62051028e+02] [ 1.19517444e-01 9.92829796e-01 -2.13954787e-03 1.83740745e+01] [ 3.57860962e-02 -2.15433733e-03 9.99357150e-01 1.63945745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.08, Y:18.38, Z:16.40 [[ 9.92235247e-01 -1.19115532e-01 -3.57869458e-02 4.62081151e+02] [ 1.19115515e-01 9.92878096e-01 -2.14017896e-03 1.83771210e+01] [ 3.57870031e-02 -2.13921949e-03 9.99357150e-01 1.63954748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.11, Y:18.38, Z:16.40 [[ 9.92235247e-01 -1.19115532e-01 -3.57869458e-02 4.62112076e+02] [ 1.19115515e-01 9.92878096e-01 -2.14017896e-03 1.83789704e+01] [ 3.57870031e-02 -2.13921949e-03 9.99357150e-01 1.63965862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.14, Y:18.38, Z:16.40 [[ 9.92284855e-01 -1.18701560e-01 -3.57869458e-02 4.62142854e+02] [ 1.18701274e-01 9.92927705e-01 -2.14017896e-03 1.83822222e+01] [ 3.57878925e-02 -2.12428891e-03 9.99357150e-01 1.63973186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.17, Y:18.39, Z:16.40 [[ 9.92451601e-01 -1.17299249e-01 -3.57869458e-02 4.62172839e+02] [ 1.17298055e-01 9.93094450e-01 -2.14017896e-03 1.83871835e+01] [ 3.57908586e-02 -2.07371512e-03 9.99357150e-01 1.63972188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.20, Y:18.39, Z:16.40 [[ 9.92583159e-01 -1.16180744e-01 -3.57869832e-02 4.62203223e+02] [ 1.16178848e-01 9.93226005e-01 -2.13955329e-03 1.83907002e+01] [ 3.57931372e-02 -2.03400592e-03 9.99357150e-01 1.63983126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.23, Y:18.39, Z:16.40 [[ 9.92724579e-01 -1.14966090e-01 -3.57869832e-02 4.62233265e+02] [ 1.14963408e-01 9.93367423e-01 -2.13955329e-03 1.83944831e+01] [ 3.57955993e-02 -1.99020640e-03 9.99357150e-01 1.63987058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.26, Y:18.40, Z:16.40 [[ 9.93061082e-01 -1.12022218e-01 -3.57870211e-02 4.62264540e+02] [ 1.12017652e-01 9.93703915e-01 -2.13891863e-03 1.84010291e+01] [ 3.58013094e-02 -1.88470124e-03 9.99357150e-01 1.64009211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.29, Y:18.41, Z:16.40 [[ 9.93243619e-01 -1.10392019e-01 -3.57870991e-02 4.62294516e+02] [ 1.10386445e-01 9.93886444e-01 -2.13761238e-03 1.84054983e+01] [ 3.58042880e-02 -1.82724079e-03 9.99357150e-01 1.64020903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.33, Y:18.41, Z:16.40 [[ 9.93460713e-01 -1.08420908e-01 -3.57871378e-02 4.62325902e+02] [ 1.08414082e-01 9.94103526e-01 -2.13696455e-03 1.84097788e+01] [ 3.58078115e-02 -1.75683935e-03 9.99357150e-01 1.64037684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.36, Y:18.41, Z:16.40 [[ 9.93659470e-01 -1.06583929e-01 -3.57872157e-02 4.62356910e+02] [ 1.06575961e-01 9.94302270e-01 -2.13566012e-03 1.84142157e+01] [ 3.58109368e-02 -1.69193800e-03 9.99357150e-01 1.64049276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.39, Y:18.42, Z:16.41 [[ 9.94144417e-01 -1.01961498e-01 -3.57872938e-02 4.62387707e+02] [ 1.01950588e-01 9.94787174e-01 -2.13435021e-03 1.84210305e+01] [ 3.58183624e-02 -1.52668332e-03 9.99357150e-01 1.64058201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.42, Y:18.43, Z:16.41 [[ 9.94415385e-01 -9.92839062e-02 -3.57875474e-02 4.62418547e+02] [ 9.92714184e-02 9.95058113e-01 -2.13008952e-03 1.84252021e+01] [ 3.58221730e-02 -1.43448680e-03 9.99357150e-01 1.64067238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.45, Y:18.43, Z:16.41 [[ 9.94677992e-01 -9.66174818e-02 -3.57876239e-02 4.62449274e+02] [ 9.66033171e-02 9.95320686e-01 -2.12880242e-03 1.84295181e+01] [ 3.58258419e-02 -1.33973026e-03 9.99357150e-01 1.64077081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.48, Y:18.43, Z:16.41 [[ 9.94950880e-01 -9.37655942e-02 -3.57877009e-02 4.62479283e+02] [ 9.37496335e-02 9.95593531e-01 -2.12750877e-03 1.84337523e+01] [ 3.58294906e-02 -1.23831712e-03 9.99357150e-01 1.64086849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.51, Y:18.44, Z:16.41 [[ 9.95439927e-01 -8.84227557e-02 -3.57878247e-02 4.62510122e+02] [ 8.84034200e-02 9.96082486e-01 -2.12542388e-03 1.84406874e+01] [ 3.58355612e-02 -1.04803431e-03 9.99357150e-01 1.64094642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.54, Y:18.44, Z:16.41 [[ 9.95676309e-01 -8.57199780e-02 -3.57879003e-02 4.62541175e+02] [ 8.56989437e-02 9.96318814e-01 -2.12415022e-03 1.84447734e+01] [ 3.58382405e-02 -9.52019202e-04 9.99357150e-01 1.64105398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.57, Y:18.45, Z:16.41 [[ 9.95884589e-01 -8.32652785e-02 -3.57879753e-02 4.62572723e+02] [ 8.32427059e-02 9.96527042e-01 -2.12288463e-03 1.84489063e+01] [ 3.58404478e-02 -8.64939823e-04 9.99357150e-01 1.64115477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.60, Y:18.45, Z:16.41 [[ 9.96174159e-01 -7.97261562e-02 -3.57880498e-02 4.62601487e+02] [ 7.97013461e-02 9.96816530e-01 -2.12162855e-03 1.84525584e+01] [ 3.58432689e-02 -7.38844202e-04 9.99357150e-01 1.64119196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.63, Y:18.46, Z:16.41 [[ 9.96302844e-01 -7.81062749e-02 -3.57778218e-02 4.62631489e+02] [ 7.80742197e-02 9.96944909e-01 -2.29432597e-03 1.84579313e+01] [ 3.58477185e-02 -5.07482032e-04 9.99357135e-01 1.64143467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.66, Y:18.46, Z:16.42 [[ 9.96373199e-01 -7.71988470e-02 -3.57880688e-02 4.62661413e+02] [ 7.71724130e-02 9.97015505e-01 -2.12147303e-03 1.84610300e+01] [ 3.58450348e-02 -6.48072757e-04 9.99357150e-01 1.64155940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.69, Y:18.46, Z:16.42 [[ 9.96422533e-01 -7.65594585e-02 -3.57880688e-02 4.62691242e+02] [ 7.65326124e-02 9.97064822e-01 -2.12147303e-03 1.84638818e+01] [ 3.58454433e-02 -6.25070869e-04 9.99357150e-01 1.64164820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.72, Y:18.47, Z:16.42 [[ 9.96423059e-01 -7.65526291e-02 -3.57880311e-02 4.62720291e+02] [ 7.65257557e-02 9.97065347e-01 -2.12210901e-03 1.84677244e+01] [ 3.58454586e-02 -6.24187775e-04 9.99357150e-01 1.64174783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.75, Y:18.47, Z:16.42 [[ 9.96413612e-01 -7.66755113e-02 -3.57879939e-02 4.62750747e+02] [ 7.66486946e-02 9.97055902e-01 -2.12273642e-03 1.84699795e+01] [ 3.58453924e-02 -6.27979554e-04 9.99357150e-01 1.64188922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.78, Y:18.47, Z:16.42 [[ 9.96475107e-01 -7.58721383e-02 -3.57879939e-02 4.62778954e+02] [ 7.58448038e-02 9.97117375e-01 -2.12273642e-03 1.84718727e+01] [ 3.58458871e-02 -5.99079377e-04 9.99357150e-01 1.64191815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.81, Y:18.47, Z:16.42 [[ 9.96347973e-01 -7.75286260e-02 -3.57774786e-02 4.62808609e+02] [ 7.74960238e-02 9.96990010e-01 -2.29919273e-03 1.84735021e+01] [ 3.58480420e-02 -4.81816321e-04 9.99357136e-01 1.64204609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.84, Y:18.48, Z:16.42 [[ 9.96306128e-01 -7.80598864e-02 -3.57876183e-02 4.62838867e+02] [ 7.80337467e-02 9.96948445e-01 -2.12873590e-03 1.84750695e+01] [ 3.58445794e-02 -6.71769319e-04 9.99357151e-01 1.64214979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.87, Y:18.48, Z:16.42 [[ 9.96255876e-01 -7.86986415e-02 -3.57876183e-02 4.62869366e+02] [ 7.86729137e-02 9.96898210e-01 -2.12873590e-03 1.84765142e+01] [ 3.58441413e-02 -6.94750557e-04 9.99357151e-01 1.64227949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.90, Y:18.48, Z:16.42 [[ 9.96174810e-01 -7.97182244e-02 -3.57876183e-02 4.62898953e+02] [ 7.96931539e-02 9.96817170e-01 -2.12873590e-03 1.84778578e+01] [ 3.58434115e-02 -7.31435096e-04 9.99357151e-01 1.64234116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.93, Y:18.48, Z:16.42 [[ 9.96127606e-01 -8.03059278e-02 -3.57875800e-02 4.62929349e+02] [ 8.02812132e-02 9.96769980e-01 -2.12938001e-03 1.84794145e+01] [ 3.58429872e-02 -7.51936126e-04 9.99357151e-01 1.64244188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.96, Y:18.48, Z:16.43 [[ 9.96099355e-01 -8.06555924e-02 -3.57875800e-02 4.62960322e+02] [ 8.06311032e-02 9.96741737e-01 -2.12938001e-03 1.84805592e+01] [ 3.58427211e-02 -7.64518003e-04 9.99357151e-01 1.64250902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.99, Y:18.48, Z:16.43 [[ 9.96090798e-01 -8.07612034e-02 -3.57875800e-02 4.62990933e+02] [ 8.07367824e-02 9.96733183e-01 -2.12938001e-03 1.84814920e+01] [ 3.58426398e-02 -7.68318226e-04 9.99357151e-01 1.64258053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.02, Y:18.48, Z:16.43 [[ 9.96095011e-01 -8.07092259e-02 -3.57875800e-02 4.63021940e+02] [ 8.06847713e-02 9.96737394e-01 -2.12938001e-03 1.84817136e+01] [ 3.58426799e-02 -7.66447905e-04 9.99357151e-01 1.64266255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.05, Y:18.48, Z:16.43 [[ 9.96121904e-01 -8.03766263e-02 -3.57875800e-02 4.63052529e+02] [ 8.03519572e-02 9.96764279e-01 -2.12938001e-03 1.84828449e+01] [ 3.58429338e-02 -7.54480027e-04 9.99357151e-01 1.64278255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.08, Y:18.48, Z:16.43 [[ 9.96153662e-01 -7.99820492e-02 -3.57876182e-02 4.63082928e+02] [ 7.99571488e-02 9.96796029e-01 -2.12873805e-03 1.84841134e+01] [ 3.58432165e-02 -7.40925705e-04 9.99357151e-01 1.64287523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.11, Y:18.49, Z:16.43 [[ 9.96221091e-01 -7.91377505e-02 -3.57876182e-02 4.63112053e+02] [ 7.91123057e-02 9.96863437e-01 -2.12873805e-03 1.84852430e+01] [ 3.58438316e-02 -7.10547244e-04 9.99357151e-01 1.64296813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.14, Y:18.49, Z:16.43 [[ 9.96374167e-01 -7.71865762e-02 -3.57875804e-02 4.63142820e+02] [ 7.71598506e-02 9.97016461e-01 -2.12937343e-03 1.84860215e+01] [ 3.58451658e-02 -6.39711676e-04 9.99357151e-01 1.64308091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.17, Y:18.49, Z:16.43 [[ 9.96489854e-01 -7.56784035e-02 -3.57875804e-02 4.63172389e+02] [ 7.56507058e-02 9.97132106e-01 -2.12937343e-03 1.84870526e+01] [ 3.58460930e-02 -5.85456695e-04 9.99357151e-01 1.64310251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.20, Y:18.49, Z:16.43 [[ 9.96603602e-01 -7.41654438e-02 -3.57875422e-02 4.63200990e+02] [ 7.41367480e-02 9.97245810e-01 -2.13001517e-03 1.84880661e+01] [ 3.58469500e-02 -5.30391211e-04 9.99357151e-01 1.64318952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.23, Y:18.49, Z:16.43 [[ 9.96850210e-01 -7.07739230e-02 -3.57870251e-02 4.63230416e+02] [ 7.07427316e-02 9.97492302e-01 -2.13866799e-03 1.84885044e+01] [ 3.58486440e-02 -3.99740277e-04 9.99357151e-01 1.64340457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.26, Y:18.49, Z:16.44 [[ 9.96969931e-01 -6.90670066e-02 -3.57869473e-02 4.63259443e+02] [ 6.90346691e-02 9.97611966e-01 -2.13996970e-03 1.84892482e+01] [ 3.58492881e-02 -3.37054623e-04 9.99357151e-01 1.64351207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.29, Y:18.49, Z:16.44 [[ 9.97072945e-01 -6.75636608e-02 -3.57867960e-02 4.63288485e+02] [ 6.75302646e-02 9.97714926e-01 -2.14249587e-03 1.84899986e+01] [ 3.58497754e-02 -2.80467138e-04 9.99357151e-01 1.64363166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.32, Y:18.49, Z:16.44 [[ 9.97287086e-01 -6.43258287e-02 -3.57862508e-02 4.63317482e+02] [ 6.42900227e-02 9.97928937e-01 -2.15156508e-03 1.84890087e+01] [ 3.58505364e-02 -1.54970807e-04 9.99357151e-01 1.64372568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.35, Y:18.49, Z:16.44 [[ 9.97372622e-01 -6.29860011e-02 -3.57857001e-02 4.63345252e+02] [ 6.29490057e-02 9.98014406e-01 -2.16068457e-03 1.84892067e+01] [ 3.58507371e-02 -9.76666106e-05 9.99357151e-01 1.64384787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.37, Y:18.49, Z:16.44 [[ 9.97443937e-01 -6.18467586e-02 -3.57850645e-02 4.63372598e+02] [ 6.18086542e-02 9.98085656e-01 -2.17116172e-03 1.84894284e+01] [ 3.58508389e-02 -4.62145796e-05 9.99357151e-01 1.64390632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.40, Y:18.49, Z:16.44 [[ 9.97546092e-01 -6.01767686e-02 -3.57847887e-02 4.63400734e+02] [ 6.01374273e-02 9.98187736e-01 -2.17569731e-03 1.84877186e+01] [ 3.58508637e-02 1.83532216e-05 9.99357151e-01 1.64398620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.43, Y:18.49, Z:16.44 [[ 9.97574127e-01 -5.97105985e-02 -3.57841525e-02 4.63428424e+02] [ 5.96705838e-02 9.98215729e-01 -2.18611067e-03 1.84873910e+01] [ 3.58508379e-02 4.55461756e-05 9.99357151e-01 1.64406980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.46, Y:18.49, Z:16.44 [[ 9.97579586e-01 -5.96197092e-02 -3.57835094e-02 4.63455471e+02] [ 5.95792602e-02 9.98221161e-01 -2.19658738e-03 1.84872135e+01] [ 3.58508162e-02 5.93157075e-05 9.99357151e-01 1.64419834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.48, Y:18.48, Z:16.44 [[ 9.97580126e-01 -5.96109414e-02 -3.57830730e-02 4.63483474e+02] [ 5.95702325e-02 9.98221684e-01 -2.20367437e-03 1.84849997e+01] [ 3.58508025e-02 6.67357779e-05 9.99357151e-01 1.64425458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.51, Y:18.48, Z:16.44 [[ 9.97568314e-01 -5.98086598e-02 -3.57824326e-02 4.63510030e+02] [ 5.97677068e-02 9.98209857e-01 -2.21402448e-03 1.84849054e+01] [ 3.58507948e-02 7.00067243e-05 9.99357151e-01 1.64429079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.54, Y:18.49, Z:16.44 [[ 9.97511690e-01 -6.07459069e-02 -3.57821546e-02 4.63537561e+02] [ 6.07053959e-02 9.98153261e-01 -2.21850823e-03 1.84850260e+01] [ 3.58508396e-02 4.08180316e-05 9.99357151e-01 1.64444119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.57, Y:18.48, Z:16.45 [[ 9.97461740e-01 -6.15610344e-02 -3.57815131e-02 4.63565282e+02] [ 6.15206783e-02 9.98103321e-01 -2.22880642e-03 1.84849576e+01] [ 3.58508547e-02 2.18461702e-05 9.99357151e-01 1.64455665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.59, Y:18.48, Z:16.45 [[ 9.97326322e-01 -6.37176310e-02 -3.57808631e-02 4.63591333e+02] [ 6.36782896e-02 9.97967966e-01 -2.23919262e-03 1.84827057e+01] [ 3.58508313e-02 -4.52584195e-05 9.99357151e-01 1.64475067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.62, Y:18.48, Z:16.45 [[ 9.97146532e-01 -6.64764059e-02 -3.57726214e-02 4.63621112e+02] [ 6.64341423e-02 9.97787997e-01 -2.37011510e-03 1.84821909e+01] [ 3.58510490e-02 -1.31713691e-05 9.99357144e-01 1.64487144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.65, Y:18.48, Z:16.45 [[ 9.96785487e-01 -7.16833605e-02 -3.57797169e-02 4.63648403e+02] [ 7.16484834e-02 9.97427390e-01 -2.25766775e-03 1.84795625e+01] [ 3.58495069e-02 -3.13152009e-04 9.99357151e-01 1.64502040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.68, Y:18.48, Z:16.45 [[ 9.96558123e-01 -7.47780212e-02 -3.57792613e-02 4.63676175e+02] [ 7.47448789e-02 9.97200117e-01 -2.26486641e-03 1.84789466e+01] [ 3.58484457e-02 -4.17245529e-04 9.99357151e-01 1.64512876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.70, Y:18.48, Z:16.45 [[ 9.96291077e-01 -7.82558714e-02 -3.57786118e-02 4.63704206e+02] [ 7.82246034e-02 9.96933165e-01 -2.27507961e-03 1.84783902e+01] [ 3.58469231e-02 -5.32126204e-04 9.99357151e-01 1.64523442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.73, Y:18.48, Z:16.45 [[ 9.96032985e-01 -8.14753309e-02 -3.57779586e-02 4.63731415e+02] [ 8.14457709e-02 9.96675155e-01 -2.28530655e-03 1.84777796e+01] [ 3.58451985e-02 -6.37722711e-04 9.99357151e-01 1.64529288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.76, Y:18.48, Z:16.45 [[ 9.95554746e-01 -8.71246547e-02 -3.57776750e-02 4.63759298e+02] [ 8.70985793e-02 9.96197066e-01 -2.28973711e-03 1.84757004e+01] [ 3.58411075e-02 -8.36626015e-04 9.99357151e-01 1.64538529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.79, Y:18.48, Z:16.45 [[ 9.95365607e-01 -8.92598103e-02 -3.57770210e-02 4.63787605e+02] [ 8.92347471e-02 9.96007967e-01 -2.29991082e-03 1.84758270e+01] [ 3.58394876e-02 -9.03301295e-04 9.99357151e-01 1.64548399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.82, Y:18.48, Z:16.46 [[ 9.95226295e-01 -9.08001553e-02 -3.57764375e-02 4.63816788e+02] [ 9.07757615e-02 9.95868681e-01 -2.30895255e-03 1.84762180e+01] [ 3.58382869e-02 -9.49703064e-04 9.99357151e-01 1.64558597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.85, Y:18.48, Z:16.46 [[ 9.95112211e-01 -9.20422539e-02 -3.57758533e-02 4.63845907e+02] [ 9.20183380e-02 9.95754615e-01 -2.31796928e-03 1.84767413e+01] [ 3.58373221e-02 -9.85395027e-04 9.99357151e-01 1.64567782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.87, Y:18.48, Z:16.46 [[ 9.95104709e-01 -9.21235484e-02 -3.57752669e-02 4.63873755e+02] [ 9.20993612e-02 9.95747103e-01 -2.32698380e-03 1.84758535e+01] [ 3.58374884e-02 -9.79286689e-04 9.99357151e-01 1.64577225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.90, Y:18.48, Z:16.46 [[ 9.95108396e-01 -9.20837922e-02 -3.57750592e-02 4.63901997e+02] [ 9.20594647e-02 9.95750785e-01 -2.33017265e-03 1.84767758e+01] [ 3.58376144e-02 -9.74658436e-04 9.99357151e-01 1.64592375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.93, Y:18.48, Z:16.46 [[ 9.95085519e-01 -9.23309035e-02 -3.57744789e-02 4.63931184e+02] [ 9.23064166e-02 9.95727902e-01 -2.33904876e-03 1.84787261e+01] [ 3.58376133e-02 -9.74660398e-04 9.99357151e-01 1.64602886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.96, Y:18.48, Z:16.46 [[ 9.95107897e-01 -9.20896418e-02 -3.57738962e-02 4.63959975e+02] [ 9.20646802e-02 9.95750261e-01 -2.34792673e-03 1.84797836e+01] [ 3.58380862e-02 -9.57071889e-04 9.99357151e-01 1.64622601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.99, Y:18.48, Z:16.46 [[ 9.95226754e-01 -9.07963626e-02 -3.57733004e-02 4.63987759e+02] [ 9.07702414e-02 9.95869072e-01 -2.35696973e-03 1.84803261e+01] [ 3.58395277e-02 -9.01431783e-04 9.99357151e-01 1.64631144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.02, Y:18.48, Z:16.46 [[ 9.95274054e-01 -9.02764813e-02 -3.57730894e-02 4.64015930e+02] [ 9.02499098e-02 9.95916354e-01 -2.36016710e-03 1.84816883e+01] [ 3.58400724e-02 -8.79505017e-04 9.99357151e-01 1.64640404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.04, Y:18.48, Z:16.47 [[ 9.95302209e-01 -8.99658046e-02 -3.57724372e-02 4.64043315e+02] [ 8.99386790e-02 9.95944485e-01 -2.37001156e-03 1.84829297e+01] [ 3.58405816e-02 -8.58448012e-04 9.99357151e-01 1.64653673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.07, Y:18.48, Z:16.47 [[ 9.95370082e-01 -8.92120045e-02 -3.57717572e-02 4.64071115e+02] [ 8.91840254e-02 9.96012321e-01 -2.38023162e-03 1.84842128e+01] [ 3.58414562e-02 -8.21057965e-04 9.99357151e-01 1.64670362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.10, Y:18.48, Z:16.47 [[ 9.95350123e-01 -8.94366726e-02 -3.57660984e-02 4.64100300e+02] [ 8.94057955e-02 9.95992233e-01 -2.46495062e-03 1.84845223e+01] [ 3.58432132e-02 -7.44207582e-04 9.99357148e-01 1.64666962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.13, Y:18.49, Z:16.47 [[ 9.95349321e-01 -8.94436522e-02 -3.57709576e-02 4.64127446e+02] [ 8.94153893e-02 9.95991549e-01 -2.39229520e-03 1.84855350e+01] [ 3.58415471e-02 -8.17304689e-04 9.99357151e-01 1.64675618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.16, Y:18.49, Z:16.47 [[ 9.95301807e-01 -8.99709578e-02 -3.57706640e-02 4.64155642e+02] [ 8.99428776e-02 9.95944042e-01 -2.39667754e-03 1.84868841e+01] [ 3.58412110e-02 -8.31898964e-04 9.99357151e-01 1.64686913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.18, Y:18.49, Z:16.47 [[ 9.95249471e-01 -9.05483264e-02 -3.57699797e-02 4.64183063e+02] [ 9.05202535e-02 9.95891706e-01 -2.40684672e-03 1.84884142e+01] [ 3.58409621e-02 -8.42494710e-04 9.99357151e-01 1.64704525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.21, Y:18.49, Z:16.47 [[ 9.95161648e-01 -9.15087627e-02 -3.57692739e-02 4.64210188e+02] [ 9.14809345e-02 9.95803894e-01 -2.41729007e-03 1.84892955e+01] [ 3.58403855e-02 -8.66612237e-04 9.99357151e-01 1.64714586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.24, Y:18.49, Z:16.47 [[ 9.95076075e-01 -9.24347634e-02 -3.57689680e-02 4.64238326e+02] [ 9.24073705e-02 9.95718340e-01 -2.42180923e-03 1.84904569e+01] [ 3.58396768e-02 -8.95431853e-04 9.99357151e-01 1.64733804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.26, Y:18.49, Z:16.47 [[ 9.95023639e-01 -9.29977933e-02 -3.57682641e-02 4.64264990e+02] [ 9.29703919e-02 9.95665903e-01 -2.43216047e-03 1.84915760e+01] [ 3.58394265e-02 -9.05332369e-04 9.99357151e-01 1.64746684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.29, Y:18.49, Z:16.48 [[ 9.94909125e-01 -9.42165953e-02 -3.57640372e-02 4.64293853e+02] [ 9.41877515e-02 9.95551328e-01 -2.49421328e-03 1.84927410e+01] [ 3.58399310e-02 -8.87018692e-04 9.99357150e-01 1.64764359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:18.49, Z:16.48 [[ 9.94787925e-01 -9.54875484e-02 -3.57646874e-02 4.64321238e+02] [ 9.54598675e-02 9.95430178e-01 -2.48468084e-03 1.84935496e+01] [ 3.58385052e-02 -9.42361819e-04 9.99357150e-01 1.64764773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:18.49, Z:16.48 [[ 9.94512059e-01 -9.83181912e-02 -3.57672725e-02 4.64348985e+02] [ 9.82936960e-02 9.95154441e-01 -2.44689256e-03 1.84939455e+01] [ 3.58345342e-02 -1.08223326e-03 9.99357151e-01 1.64779273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.38, Y:18.50, Z:16.48 [[ 9.94392620e-01 -9.95191852e-02 -3.57665803e-02 4.64376692e+02] [ 9.94951037e-02 9.95035018e-01 -2.45697008e-03 1.84951604e+01] [ 3.58335155e-02 -1.11540669e-03 9.99357151e-01 1.64790760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.40, Y:18.50, Z:16.48 [[ 9.94287010e-01 -1.00569102e-01 -3.57658719e-02 4.64404980e+02] [ 1.00545330e-01 9.94929419e-01 -2.46723815e-03 1.84968890e+01] [ 3.58326461e-02 -1.14294855e-03 9.99357151e-01 1.64800903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.43, Y:18.50, Z:16.48 [[ 9.94368805e-01 -9.97573696e-02 -3.57651618e-02 4.64432087e+02] [ 9.97327046e-02 9.95011181e-01 -2.47748940e-03 1.84982446e+01] [ 3.58338837e-02 -1.10341815e-03 9.99357151e-01 1.64799269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.46, Y:18.50, Z:16.48 [[ 9.94507458e-01 -9.83655992e-02 -3.57648536e-02 4.64460084e+02] [ 9.83398756e-02 9.95149792e-01 -2.48193037e-03 1.84997302e+01] [ 3.58355232e-02 -1.04881300e-03 9.99357151e-01 1.64817066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.49, Y:18.50, Z:16.48 [[ 9.94690699e-01 -9.64952908e-02 -3.57641287e-02 4.64487714e+02] [ 9.64679857e-02 9.95332967e-01 -2.49233261e-03 1.85014260e+01] [ 3.58377147e-02 -9.70993392e-04 9.99357151e-01 1.64831007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.52, Y:18.50, Z:16.48 [[ 9.94921299e-01 -9.40881885e-02 -3.57634024e-02 4.64515925e+02] [ 9.40589565e-02 9.95563483e-01 -2.50271111e-03 1.85035182e+01] [ 3.58402131e-02 -8.73867724e-04 9.99357151e-01 1.64849309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.54, Y:18.51, Z:16.49 [[ 9.95479393e-01 -8.79875541e-02 -3.57626618e-02 4.64543374e+02] [ 8.79540075e-02 9.96121366e-01 -2.51324994e-03 1.85062023e+01] [ 3.58450863e-02 -6.43580907e-04 9.99357151e-01 1.64875817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.57, Y:18.51, Z:16.49 [[ 9.95694135e-01 -8.55233183e-02 -3.57624326e-02 4.64570850e+02] [ 8.54880659e-02 9.96336017e-01 -2.51650722e-03 1.85084954e+01] [ 3.58466197e-02 -5.51589714e-04 9.99357151e-01 1.64898732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.60, Y:18.51, Z:16.49 [[ 9.95887518e-01 -8.32415284e-02 -3.57617070e-02 4.64598830e+02] [ 8.32044366e-02 9.96529296e-01 -2.52677668e-03 1.85107093e+01] [ 3.58479215e-02 -4.59147330e-04 9.99357151e-01 1.64908670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.63, Y:18.51, Z:16.49 [[ 9.96023303e-01 -8.16010545e-02 -3.57609760e-02 4.64626531e+02] [ 8.15625357e-02 9.96664997e-01 -2.53708052e-03 1.85125277e+01] [ 3.58487415e-02 -3.89764568e-04 9.99357151e-01 1.64907882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.66, Y:18.51, Z:16.49 [[ 9.96218546e-01 -7.91821491e-02 -3.57602452e-02 4.64655707e+02] [ 7.91417040e-02 9.96860121e-01 -2.54733924e-03 1.85138888e+01] [ 3.58496662e-02 -2.92420146e-04 9.99357151e-01 1.64904067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.68, Y:18.52, Z:16.49 [[ 9.96227056e-01 -7.90753014e-02 -3.57595977e-02 4.64683031e+02] [ 7.90344623e-02 9.96868606e-01 -2.55639755e-03 1.85152121e+01] [ 3.58497682e-02 -2.79488169e-04 9.99357151e-01 1.64910412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.71, Y:18.52, Z:16.49 [[ 9.96188689e-01 -7.95574221e-02 -3.57590875e-02 4.64710604e+02] [ 7.95166381e-02 9.96830243e-01 -2.56351477e-03 1.85163809e+01] [ 3.58496865e-02 -2.89697999e-04 9.99357151e-01 1.64923249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.74, Y:18.52, Z:16.49 [[ 9.95978566e-01 -8.21464237e-02 -3.57583594e-02 4.64737122e+02] [ 8.21069441e-02 9.96620202e-01 -2.57363078e-03 1.85164069e+01] [ 3.58489179e-02 -3.72728523e-04 9.99357151e-01 1.64933555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.77, Y:18.52, Z:16.49 [[ 9.95761024e-01 -8.47428339e-02 -3.57579982e-02 4.64765426e+02] [ 8.47048475e-02 9.96402750e-01 -2.57863972e-03 1.85173544e+01] [ 3.58478889e-02 -4.61166854e-04 9.99357151e-01 1.64944726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.79, Y:18.52, Z:16.50 [[ 9.95525260e-01 -8.74692746e-02 -3.57572729e-02 4.64793346e+02] [ 8.74326858e-02 9.96167066e-01 -2.58865827e-03 1.85179508e+01] [ 3.58466457e-02 -5.49279709e-04 9.99357152e-01 1.64954687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.82, Y:18.52, Z:16.50 [[ 9.95210610e-01 -9.09795361e-02 -3.57570481e-02 4.64820931e+02] [ 9.09450996e-02 9.95852535e-01 -2.59175947e-03 1.85186901e+01] [ 3.58445441e-02 -6.72581777e-04 9.99357152e-01 1.64972174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.85, Y:18.52, Z:16.50 [[ 9.94476875e-01 -9.86774093e-02 -3.57563193e-02 4.64848750e+02] [ 9.86475809e-02 9.95119031e-01 -2.60177530e-03 1.85183975e+01] [ 3.58385303e-02 -9.39869034e-04 9.99357152e-01 1.64991198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.88, Y:18.52, Z:16.50 [[ 9.94090623e-01 -1.02495714e-01 -3.57555768e-02 4.64877014e+02] [ 1.02467987e-01 9.94732873e-01 -2.61194038e-03 1.85194419e+01] [ 3.58349603e-02 -1.06729652e-03 9.99357152e-01 1.65007884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.90, Y:18.52, Z:16.50 [[ 9.93678224e-01 -1.06419649e-01 -3.57553436e-02 4.64903944e+02] [ 1.06394342e-01 9.94320575e-01 -2.61512881e-03 1.85202635e+01] [ 3.58305748e-02 -1.20556971e-03 9.99357152e-01 1.65019026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.93, Y:18.52, Z:16.50 [[ 9.92989375e-01 -1.12666235e-01 -3.57550191e-02 4.64931925e+02] [ 1.12644810e-01 9.93631866e-01 -2.61955782e-03 1.85194405e+01] [ 3.58224620e-02 -1.42642423e-03 9.99357152e-01 1.65031413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.96, Y:18.52, Z:16.50 [[ 9.92608327e-01 -1.15975612e-01 -3.57542665e-02 4.64959707e+02] [ 1.15955960e-01 9.93250874e-01 -2.62978939e-03 1.85207720e+01] [ 3.58179479e-02 -1.53556945e-03 9.99357152e-01 1.65038754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.99, Y:18.52, Z:16.50 [[ 9.92248614e-01 -1.19014176e-01 -3.57535129e-02 4.64987354e+02] [ 1.18996125e-01 9.92891209e-01 -2.63999542e-03 1.85224677e+01] [ 3.58135455e-02 -1.63499769e-03 9.99357152e-01 1.65044740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.02, Y:18.52, Z:16.51 [[ 9.91901819e-01 -1.21870922e-01 -3.57527599e-02 4.65015655e+02] [ 1.21854356e-01 9.92544454e-01 -2.65015465e-03 1.85245910e+01] [ 3.58091803e-02 -1.72793631e-03 9.99357152e-01 1.65051298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.04, Y:18.53, Z:16.51 [[ 9.91523740e-01 -1.24909837e-01 -3.57520083e-02 4.65043888e+02] [ 1.24894877e-01 9.92166414e-01 -2.66025523e-03 1.85270914e+01] [ 3.58042339e-02 -1.82753645e-03 9.99357152e-01 1.65060841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.07, Y:18.53, Z:16.51 [[ 9.91178064e-01 -1.27624026e-01 -3.57512583e-02 4.65072049e+02] [ 1.27610465e-01 9.91820770e-01 -2.67029648e-03 1.85295634e+01] [ 3.57996345e-02 -1.91549538e-03 9.99357152e-01 1.65075272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.10, Y:18.53, Z:16.51 [[ 9.90518947e-01 -1.32642821e-01 -3.57504786e-02 4.65099860e+02] [ 1.32632141e-01 9.91161707e-01 -2.68069476e-03 1.85323364e+01] [ 3.57900803e-02 -2.08638357e-03 9.99357152e-01 1.65081331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.13, Y:18.53, Z:16.51 [[ 9.90191665e-01 -1.35064380e-01 -3.57502370e-02 4.65127938e+02] [ 1.35055156e-01 9.90834447e-01 -2.68391341e-03 1.85348726e+01] [ 3.57850674e-02 -2.17066513e-03 9.99357152e-01 1.65096552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.16, Y:18.54, Z:16.51 [[ 9.89907449e-01 -1.37132111e-01 -3.57494910e-02 4.65157622e+02] [ 1.37123873e-01 9.90550244e-01 -2.69381308e-03 1.85379334e+01] [ 3.57810753e-02 -2.23548304e-03 9.99357152e-01 1.65110185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.19, Y:18.54, Z:16.51 [[ 9.89661443e-01 -1.38896394e-01 -3.57493927e-02 4.65186848e+02] [ 1.38889255e-01 9.90304252e-01 -2.69511704e-03 1.85415799e+01] [ 3.57771176e-02 -2.29795310e-03 9.99357152e-01 1.65120728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.22, Y:18.55, Z:16.51 [[ 9.89363683e-01 -1.41001738e-01 -3.57492939e-02 4.65217030e+02] [ 1.40995920e-01 9.90006505e-01 -2.69642717e-03 1.85476381e+01] [ 3.57722344e-02 -2.37275745e-03 9.99357152e-01 1.65129869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.25, Y:18.55, Z:16.51 [[ 9.89276511e-01 -1.41612050e-01 -3.57492939e-02 4.65246949e+02] [ 1.41606629e-01 9.89919336e-01 -2.69642717e-03 1.85519026e+01] [ 3.57707639e-02 -2.39482492e-03 9.99357152e-01 1.65139132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.28, Y:18.56, Z:16.51 [[ 9.89243751e-01 -1.41840719e-01 -3.57492939e-02 4.65276933e+02] [ 1.41835446e-01 9.89886577e-01 -2.69642717e-03 1.85562419e+01] [ 3.57702093e-02 -2.40309333e-03 9.99357152e-01 1.65146275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.31, Y:18.56, Z:16.52 [[ 9.89306994e-01 -1.41398937e-01 -3.57492939e-02 4.65307477e+02] [ 1.41393377e-01 9.89949818e-01 -2.69642717e-03 1.85630026e+01] [ 3.57712789e-02 -2.38711914e-03 9.99357152e-01 1.65155531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.34, Y:18.57, Z:16.52 [[ 9.89396698e-01 -1.40769893e-01 -3.57492939e-02 4.65337658e+02] [ 1.40763924e-01 9.90039518e-01 -2.69642717e-03 1.85676591e+01] [ 3.57727895e-02 -2.36437476e-03 9.99357152e-01 1.65161856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.37, Y:18.57, Z:16.52 [[ 9.89579582e-01 -1.39478455e-01 -3.57492939e-02 4.65368093e+02] [ 1.39471647e-01 9.90222394e-01 -2.69642717e-03 1.85726259e+01] [ 3.57758449e-02 -2.31768363e-03 9.99357152e-01 1.65169643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.40, Y:18.58, Z:16.52 [[ 9.90017126e-01 -1.36338091e-01 -3.57493431e-02 4.65399077e+02] [ 1.36329267e-01 9.90659913e-01 -2.69577427e-03 1.85820196e+01] [ 3.57829779e-02 -2.20481905e-03 9.99357152e-01 1.65188280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.43, Y:18.59, Z:16.52 [[ 9.90296307e-01 -1.34295204e-01 -3.57494407e-02 4.65430285e+02] [ 1.34285101e-01 9.90939076e-01 -2.69447911e-03 1.85879857e+01] [ 3.57873734e-02 -2.13228455e-03 9.99357152e-01 1.65202954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.46, Y:18.60, Z:16.52 [[ 9.90924501e-01 -1.29578562e-01 -3.57495385e-02 4.65460148e+02] [ 1.29565445e-01 9.91567215e-01 -2.69318091e-03 1.85965056e+01] [ 3.57970489e-02 -1.96316594e-03 9.99357152e-01 1.65222236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.49, Y:18.60, Z:16.52 [[ 9.91288338e-01 -1.26765130e-01 -3.57495870e-02 4.65491400e+02] [ 1.26750212e-01 9.91931013e-01 -2.69253705e-03 1.86018988e+01] [ 3.58024439e-02 -1.86218717e-03 9.99357152e-01 1.65235602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.52, Y:18.61, Z:16.52 [[ 9.91920095e-01 -1.21722988e-01 -3.57496828e-02 4.65521394e+02] [ 1.21704848e-01 9.92562687e-01 -2.69126475e-03 1.86099720e+01] [ 3.58113900e-02 -1.68139011e-03 9.99357152e-01 1.65240595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.55, Y:18.62, Z:16.52 [[ 9.92511989e-01 -1.16798580e-01 -3.57497303e-02 4.65551861e+02] [ 1.16777273e-01 9.93154484e-01 -2.69063417e-03 1.86184784e+01] [ 3.58192672e-02 -1.50426936e-03 9.99357152e-01 1.65248690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.58, Y:18.62, Z:16.53 [[ 9.92755652e-01 -1.14709048e-01 -3.57498253e-02 4.65581839e+02] [ 1.14686434e-01 9.93398102e-01 -2.68937098e-03 1.86236865e+01] [ 3.58223038e-02 -1.43013176e-03 9.99357152e-01 1.65256575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.61, Y:18.63, Z:16.53 [[ 9.92950591e-01 -1.13009121e-01 -3.57499857e-02 4.65614181e+02] [ 1.12985484e-01 9.93593005e-01 -2.68723747e-03 1.86288466e+01] [ 3.58246180e-02 -1.37093541e-03 9.99357152e-01 1.65266904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.65, Y:18.63, Z:16.53 [[ 9.92954707e-01 -1.12972896e-01 -3.57501817e-02 4.65645916e+02] [ 1.12949330e-01 9.93597122e-01 -2.68462739e-03 1.86312001e+01] [ 3.58245678e-02 -1.37224566e-03 9.99357152e-01 1.65278314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.68, Y:18.64, Z:16.53 [[ 9.93134932e-01 -1.11377394e-01 -3.57502794e-02 4.65677155e+02] [ 1.11352842e-01 9.93777311e-01 -2.68332569e-03 1.86357530e+01] [ 3.58266783e-02 -1.31599074e-03 9.99357152e-01 1.65290236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.71, Y:18.64, Z:16.53 [[ 9.93293037e-01 -1.09958414e-01 -3.57503766e-02 4.65708326e+02] [ 1.09932991e-01 9.93935382e-01 -2.68202980e-03 1.86399792e+01] [ 3.58284760e-02 -1.26610431e-03 9.99357152e-01 1.65298809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.74, Y:18.65, Z:16.53 [[ 9.93581415e-01 -1.07321361e-01 -3.57504734e-02 4.65740104e+02] [ 1.07294280e-01 9.94223693e-01 -2.68073927e-03 1.86460716e+01] [ 3.58316682e-02 -1.17228857e-03 9.99357152e-01 1.65312061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.77, Y:18.65, Z:16.53 [[ 9.93739852e-01 -1.05844213e-01 -3.57506674e-02 4.65770783e+02] [ 1.05816270e-01 9.94382092e-01 -2.67814970e-03 1.86503255e+01] [ 3.58332900e-02 -1.12161816e-03 9.99357152e-01 1.65321350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.80, Y:18.65, Z:16.53 [[ 9.93739854e-01 -1.05844144e-01 -3.57508117e-02 4.65801677e+02] [ 1.05816270e-01 9.94382097e-01 -2.67622153e-03 1.86526372e+01] [ 3.58332295e-02 -1.12354954e-03 9.99357152e-01 1.65332459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.83, Y:18.66, Z:16.53 [[ 9.93920684e-01 -1.04132382e-01 -3.57508117e-02 4.65832755e+02] [ 1.04103402e-01 9.94562879e-01 -2.67622153e-03 1.86572012e+01] [ 3.58351115e-02 -1.06182918e-03 9.99357152e-01 1.65340072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.86, Y:18.66, Z:16.53 [[ 9.94084865e-01 -1.02553174e-01 -3.57509079e-02 4.65863940e+02] [ 1.02523220e-01 9.94727015e-01 -2.67493520e-03 1.86619587e+01] [ 3.58367170e-02 -1.00618561e-03 9.99357152e-01 1.65348293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.89, Y:18.67, Z:16.54 [[ 9.94490611e-01 -9.85408048e-02 -3.57510048e-02 4.65894547e+02] [ 9.85083061e-02 9.95132637e-01 -2.67364067e-03 1.86679114e+01] [ 3.58404543e-02 -8.62860379e-04 9.99357152e-01 1.65351539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.92, Y:18.67, Z:16.54 [[ 9.94669254e-01 -9.67209087e-02 -3.57511016e-02 4.65924636e+02] [ 9.66872819e-02 9.95311222e-01 -2.67234489e-03 1.86716010e+01] [ 3.58419443e-02 -7.98577539e-04 9.99357152e-01 1.65363021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.95, Y:18.67, Z:16.54 [[ 9.94864644e-01 -9.46899917e-02 -3.57511496e-02 4.65954324e+02] [ 9.46550774e-02 9.95506544e-01 -2.67170244e-03 1.86748681e+01] [ 3.58434869e-02 -7.26045541e-04 9.99357152e-01 1.65370389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.99, Y:18.68, Z:16.54 [[ 9.95192826e-01 -9.11761527e-02 -3.57511954e-02 4.65985652e+02] [ 9.11389938e-02 9.95834599e-01 -2.67108966e-03 1.86791522e+01] [ 3.58458170e-02 -6.00078704e-04 9.99357152e-01 1.65378776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.02, Y:18.68, Z:16.54 [[ 9.95331348e-01 -8.96512818e-02 -3.57512894e-02 4.66015328e+02] [ 8.96131849e-02 9.95973066e-01 -2.66983099e-03 1.86823093e+01] [ 3.58466751e-02 -5.46420426e-04 9.99357152e-01 1.65390552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.05, Y:18.69, Z:16.54 [[ 9.95447894e-01 -8.83477924e-02 -3.57513360e-02 4.66046335e+02] [ 8.83088776e-02 9.96089563e-01 -2.66920710e-03 1.86857021e+01] [ 3.58473512e-02 -5.00103767e-04 9.99357152e-01 1.65397843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.08, Y:18.69, Z:16.54 [[ 9.95518810e-01 -8.75450413e-02 -3.57514331e-02 4.66077560e+02] [ 8.75056558e-02 9.96160450e-01 -2.66790522e-03 1.86889152e+01] [ 3.58477256e-02 -4.72502774e-04 9.99357152e-01 1.65411933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.11, Y:18.69, Z:16.54 [[ 9.95554866e-01 -8.71340195e-02 -3.57515301e-02 4.66108234e+02] [ 8.70944158e-02 9.96196493e-01 -2.66660458e-03 1.86919534e+01] [ 3.58479009e-02 -4.59007466e-04 9.99357152e-01 1.65419214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.14, Y:18.69, Z:16.54 [[ 9.95535016e-01 -8.73604979e-02 -3.57515782e-02 4.66139657e+02] [ 8.73210633e-02 9.96176653e-01 -2.66595980e-03 1.86939629e+01] [ 3.58477871e-02 -4.67809491e-04 9.99357152e-01 1.65426565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.17, Y:18.70, Z:16.54 [[ 9.95480329e-01 -8.79814362e-02 -3.57516742e-02 4.66170838e+02] [ 8.79424481e-02 9.96121993e-01 -2.66467236e-03 1.86958644e+01] [ 3.58474706e-02 -4.91460833e-04 9.99357152e-01 1.65431779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.20, Y:18.70, Z:16.54 [[ 9.95276597e-01 -9.02568937e-02 -3.57517722e-02 4.66201293e+02] [ 9.02194198e-02 9.95918351e-01 -2.66335596e-03 1.86973346e+01] [ 3.58462323e-02 -5.74728293e-04 9.99357152e-01 1.65433683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.23, Y:18.70, Z:16.54 [[ 9.95160488e-01 -9.15281967e-02 -3.57518209e-02 4.66232809e+02] [ 9.14915661e-02 9.95802291e-01 -2.66270302e-03 1.86991171e+01] [ 3.58454576e-02 -6.21173247e-04 9.99357152e-01 1.65440455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.26, Y:18.70, Z:16.54 [[ 9.95017672e-01 -9.30678928e-02 -3.57519172e-02 4.66264380e+02] [ 9.30323017e-02 9.95659534e-01 -2.66140845e-03 1.87008584e+01] [ 3.58444289e-02 -6.77934711e-04 9.99357152e-01 1.65445928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.30, Y:18.70, Z:16.55 [[ 9.94836710e-01 -9.49827009e-02 -3.57520133e-02 4.66295919e+02] [ 9.49483916e-02 9.95478642e-01 -2.66011745e-03 1.87024757e+01] [ 3.58430308e-02 -7.48213669e-04 9.99357152e-01 1.65453242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.33, Y:18.70, Z:16.55 [[ 9.94396425e-01 -9.94863594e-02 -3.57521088e-02 4.66326619e+02] [ 9.94550033e-02 9.95038508e-01 -2.65883352e-03 1.87030170e+01] [ 3.58392427e-02 -9.11791546e-04 9.99357152e-01 1.65457228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.36, Y:18.70, Z:16.55 [[ 9.94111905e-01 -1.02290256e-01 -3.57522654e-02 4.66358101e+02] [ 1.02260786e-01 9.94754077e-01 -2.65672658e-03 1.87042266e+01] [ 3.58364690e-02 -1.01497125e-03 9.99357152e-01 1.65463369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.39, Y:18.71, Z:16.55 [[ 9.93845418e-01 -1.04847762e-01 -3.57523597e-02 4.66389608e+02] [ 1.04819990e-01 9.94487666e-01 -2.65545592e-03 1.87054548e+01] [ 3.58336994e-02 -1.10844930e-03 9.99357152e-01 1.65469989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.42, Y:18.71, Z:16.55 [[ 9.93563679e-01 -1.07484703e-01 -3.57526740e-02 4.66421755e+02] [ 1.07458788e-01 9.94206005e-01 -2.65121772e-03 1.87068656e+01] [ 3.58304885e-02 -1.20778539e-03 9.99357152e-01 1.65477256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.45, Y:18.71, Z:16.55 [[ 9.93015488e-01 -1.12436533e-01 -3.57528627e-02 4.66453747e+02] [ 1.12413912e-01 9.93657938e-01 -2.64867132e-03 1.87079931e+01] [ 3.58239232e-02 -1.38894753e-03 9.99357152e-01 1.65483408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.48, Y:18.71, Z:16.55 [[ 9.92777679e-01 -1.14517247e-01 -3.57530538e-02 4.66484990e+02] [ 1.14496065e-01 9.93420178e-01 -2.64608872e-03 1.87098159e+01] [ 3.58208278e-02 -1.46660617e-03 9.99357152e-01 1.65496762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.52, Y:18.71, Z:16.55 [[ 9.92492912e-01 -1.16959515e-01 -3.57531961e-02 4.66517032e+02] [ 1.16939983e-01 9.93135463e-01 -2.64416488e-03 1.87120549e+01] [ 3.58170272e-02 -1.55666324e-03 9.99357152e-01 1.65503032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.55, Y:18.71, Z:16.55 [[ 9.91921375e-01 -1.21711466e-01 -3.57533904e-02 4.66547789e+02] [ 1.21695106e-01 9.92564015e-01 -2.64153399e-03 1.87140975e+01] [ 3.58090337e-02 -1.73081862e-03 9.99357152e-01 1.65514272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.58, Y:18.72, Z:16.55 [[ 9.91635876e-01 -1.24016024e-01 -3.57535353e-02 4.66579465e+02] [ 1.24001229e-01 9.92278554e-01 -2.63957169e-03 1.87163866e+01] [ 3.58048155e-02 -1.81598833e-03 9.99357152e-01 1.65520934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.61, Y:18.72, Z:16.55 [[ 9.91420889e-01 -1.25723075e-01 -3.57537295e-02 4.66610623e+02] [ 1.25709481e-01 9.92063593e-01 -2.63693935e-03 1.87187528e+01] [ 3.58014974e-02 -1.88026603e-03 9.99357152e-01 1.65533562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.64, Y:18.72, Z:16.55 [[ 9.91266115e-01 -1.26937579e-01 -3.57538740e-02 4.66642549e+02] [ 1.26924843e-01 9.91908837e-01 -2.63497871e-03 1.87214448e+01] [ 3.57990614e-02 -1.92608972e-03 9.99357152e-01 1.65543861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.67, Y:18.73, Z:16.56 [[ 9.91074538e-01 -1.28424710e-01 -3.57540646e-02 4.66673833e+02] [ 1.28413031e-01 9.91717280e-01 -2.63238890e-03 1.87250140e+01] [ 3.57959875e-02 -1.98239420e-03 9.99357152e-01 1.65556381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.71, Y:18.73, Z:16.56 [[ 9.91068717e-01 -1.28469585e-01 -3.57542066e-02 4.66706331e+02] [ 1.28458004e-01 9.91711461e-01 -2.63045891e-03 1.87280813e+01] [ 3.57957904e-02 -1.98594849e-03 9.99357152e-01 1.65571434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.74, Y:18.73, Z:16.56 [[ 9.91093030e-01 -1.28281833e-01 -3.57543919e-02 4.66737902e+02] [ 1.28270222e-01 9.91735773e-01 -2.62793772e-03 1.87313233e+01] [ 3.57960262e-02 -1.98169303e-03 9.99357152e-01 1.65584633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.77, Y:18.73, Z:16.56 [[ 9.91191431e-01 -1.27519243e-01 -3.57545799e-02 4.66769562e+02] [ 1.27507229e-01 9.91834167e-01 -2.62537835e-03 1.87347559e+01] [ 3.57974002e-02 -1.95671487e-03 9.99357152e-01 1.65595504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.80, Y:18.74, Z:16.56 [[ 9.91463991e-01 -1.25382422e-01 -3.57547677e-02 4.66801249e+02] [ 1.25369115e-01 9.92106701e-01 -2.62281789e-03 1.87395203e+01] [ 3.58013999e-02 -1.88211407e-03 9.99357152e-01 1.65602344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.83, Y:18.74, Z:16.56 [[ 9.91614662e-01 -1.24185126e-01 -3.57549566e-02 4.66832664e+02] [ 1.24171136e-01 9.92257357e-01 -2.62023980e-03 1.87431756e+01] [ 3.58035136e-02 -1.84146536e-03 9.99357152e-01 1.65613618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.87, Y:18.75, Z:16.56 [[ 9.91772097e-01 -1.22921444e-01 -3.57550971e-02 4.66865136e+02] [ 1.22906704e-01 9.92414775e-01 -2.61832112e-03 1.87470732e+01] [ 3.58057345e-02 -1.79776330e-03 9.99357152e-01 1.65621200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.90, Y:18.75, Z:16.56 [[ 9.92018123e-01 -1.20919820e-01 -3.57552889e-02 4.66895814e+02] [ 1.20903877e-01 9.92660773e-01 -2.61569971e-03 1.87529694e+01] [ 3.58091627e-02 -1.72813152e-03 9.99357152e-01 1.65633240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.93, Y:18.76, Z:16.56 [[ 9.92159690e-01 -1.19752655e-01 -3.57554316e-02 4.66927674e+02] [ 1.19736026e-01 9.92802323e-01 -2.61374799e-03 1.87572397e+01] [ 3.58110788e-02 -1.68795789e-03 9.99357152e-01 1.65644140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.96, Y:18.76, Z:16.57 [[ 9.92329540e-01 -1.18336888e-01 -3.57556223e-02 4.66958300e+02] [ 1.18319435e-01 9.92972151e-01 -2.61113611e-03 1.87611869e+01] [ 3.58133309e-02 -1.63947755e-03 9.99357152e-01 1.65653046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.99, Y:18.77, Z:16.57 [[ 9.92494612e-01 -1.16944307e-01 -3.57557644e-02 4.66990371e+02] [ 1.16926023e-01 9.93137200e-01 -2.60918896e-03 1.87653508e+01] [ 3.58155095e-02 -1.59117334e-03 9.99357152e-01 1.65664358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.02, Y:18.77, Z:16.57 [[ 9.92901104e-01 -1.13441214e-01 -3.57559551e-02 4.67021996e+02] [ 1.13420757e-01 9.93543627e-01 -2.60657229e-03 1.87709453e+01] [ 3.58207941e-02 -1.46739898e-03 9.99357152e-01 1.65674052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.05, Y:18.77, Z:16.57 [[ 9.93160592e-01 -1.11146465e-01 -3.57561442e-02 4.67052631e+02] [ 1.11124617e-01 9.93803068e-01 -2.60397625e-03 1.87748236e+01] [ 3.58239886e-02 -1.38722122e-03 9.99357152e-01 1.65688369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.08, Y:18.78, Z:16.57 [[ 9.93451993e-01 -1.08510950e-01 -3.57562850e-02 4.67084192e+02] [ 1.08487466e-01 9.94094412e-01 -2.60204165e-03 1.87789257e+01] [ 3.58274731e-02 -1.29410530e-03 9.99357152e-01 1.65704194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.12, Y:18.79, Z:16.57 [[ 9.94086014e-01 -1.02540099e-01 -3.57564671e-02 4.67115666e+02] [ 1.02512846e-01 9.94728284e-01 -2.59953690e-03 1.87850497e+01] [ 3.58345259e-02 -1.08133392e-03 9.99357152e-01 1.65724056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.15, Y:18.79, Z:16.57 [[ 9.94384536e-01 -9.96034905e-02 -3.57566543e-02 4.67147287e+02] [ 9.95744333e-02 9.95026727e-01 -2.59695869e-03 1.87894511e+01] [ 3.58374929e-02 -9.78073031e-04 9.99357152e-01 1.65734590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.18, Y:18.79, Z:16.57 [[ 9.94663827e-01 -9.67745766e-02 -3.57568425e-02 4.67177863e+02] [ 9.67437859e-02 9.95305937e-01 -2.59436480e-03 1.87933654e+01] [ 3.58400662e-02 -8.78731498e-04 9.99357152e-01 1.65743236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.21, Y:18.80, Z:16.57 [[ 9.95131309e-01 -9.18428839e-02 -3.57569826e-02 4.67208404e+02] [ 9.18089800e-02 9.95773263e-01 -2.59243283e-03 1.87988092e+01] [ 3.58439437e-02 -7.03001030e-04 9.99357152e-01 1.65745895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.24, Y:18.80, Z:16.58 [[ 9.95309019e-01 -8.98964523e-02 -3.57572901e-02 4.67240361e+02] [ 8.98614456e-02 9.95950913e-01 -2.58818409e-03 1.88021066e+01] [ 3.58451743e-02 -6.37158816e-04 9.99357152e-01 1.65751936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.27, Y:18.81, Z:16.58 [[ 9.95449392e-01 -8.83284301e-02 -3.57574735e-02 4.67272792e+02] [ 8.82925033e-02 9.96091235e-01 -2.58564876e-03 1.88052713e+01] [ 3.58460922e-02 -5.83234362e-04 9.99357152e-01 1.65759074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.30, Y:18.81, Z:16.58 [[ 9.95543320e-01 -8.72633305e-02 -3.57576566e-02 4.67304562e+02] [ 8.72268080e-02 9.96185129e-01 -2.58311369e-03 1.88083149e+01] [ 3.58466569e-02 -5.47424674e-04 9.99357152e-01 1.65769286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.34, Y:18.81, Z:16.58 [[ 9.95603720e-01 -8.65714183e-02 -3.57578387e-02 4.67336631e+02] [ 8.65345404e-02 9.96245509e-01 -2.58059094e-03 1.88114152e+01] [ 3.58469916e-02 -5.25042196e-04 9.99357152e-01 1.65781459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.37, Y:18.81, Z:16.58 [[ 9.95642242e-01 -8.61271778e-02 -3.57580197e-02 4.67367564e+02] [ 8.60901037e-02 9.96284020e-01 -2.57807936e-03 1.88149589e+01] [ 3.58471863e-02 -5.11566912e-04 9.99357152e-01 1.65797672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.40, Y:18.82, Z:16.58 [[ 9.95636813e-01 -8.61898490e-02 -3.57581545e-02 4.67399320e+02] [ 8.61528825e-02 9.96278598e-01 -2.57620829e-03 1.88177226e+01] [ 3.58471271e-02 -5.15700278e-04 9.99357152e-01 1.65812579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.43, Y:18.82, Z:16.58 [[ 9.95595202e-01 -8.66691098e-02 -3.57583313e-02 4.67431777e+02] [ 8.66325405e-02 9.96237009e-01 -2.57375291e-03 1.88202073e+01] [ 3.58468379e-02 -5.35419031e-04 9.99357152e-01 1.65825396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.46, Y:18.82, Z:16.58 [[ 9.95448582e-01 -8.83371295e-02 -3.57585200e-02 4.67463558e+02] [ 8.83017298e-02 9.96090455e-01 -2.57112872e-03 1.88222669e+01] [ 3.58458465e-02 -5.98112728e-04 9.99357152e-01 1.65832126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.49, Y:18.82, Z:16.58 [[ 9.95357696e-01 -8.93553151e-02 -3.57587082e-02 4.67494671e+02] [ 8.93206661e-02 9.95999609e-01 -2.56850818e-03 1.88242825e+01] [ 3.58451692e-02 -6.37407247e-04 9.99357152e-01 1.65841426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.52, Y:18.83, Z:16.59 [[ 9.95042684e-01 -9.27974203e-02 -3.57588483e-02 4.67523676e+02] [ 9.27650619e-02 9.95684717e-01 -2.56655545e-03 1.88288861e+01] [ 3.58427085e-02 -7.63339553e-04 9.99357152e-01 1.65862769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.56, Y:18.83, Z:16.59 [[ 9.95086907e-01 -9.23290739e-02 -3.57405831e-02 4.67557124e+02] [ 9.22872832e-02 9.95728427e-01 -2.82077927e-03 1.88280223e+01] [ 3.58483545e-02 -4.91480790e-04 9.99357120e-01 1.65870105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.59, Y:18.83, Z:16.59 [[ 9.94742032e-01 -9.59665018e-02 -3.57592125e-02 4.67590793e+02] [ 9.59364012e-02 9.95384172e-01 -2.56063675e-03 1.88289234e+01] [ 3.58398895e-02 -8.83437159e-04 9.99357154e-01 1.65881633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.62, Y:18.83, Z:16.59 [[ 9.94411119e-01 -9.93339227e-02 -3.57672716e-02 4.67620947e+02] [ 9.93100510e-02 9.95053527e-01 -2.44780312e-03 1.88309522e+01] [ 3.58334996e-02 -1.11792692e-03 9.99357149e-01 1.65890521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.65, Y:18.83, Z:16.59 [[ 9.94105654e-01 -1.02348471e-01 -3.57594681e-02 4.67653059e+02] [ 1.02322625e-01 9.94747979e-01 -2.55694033e-03 1.88322385e+01] [ 3.58333575e-02 -1.11713379e-03 9.99357155e-01 1.65897823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.68, Y:18.83, Z:16.59 [[ 9.93782166e-01 -1.05443129e-01 -3.57596514e-02 4.67684989e+02] [ 1.05419375e-01 9.94424573e-01 -2.55437358e-03 1.88333331e+01] [ 3.58296172e-02 -1.23126920e-03 9.99357155e-01 1.65903929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.72, Y:18.83, Z:16.59 [[ 9.93102481e-01 -1.11663316e-01 -3.57598343e-02 4.67715877e+02] [ 1.11643677e-01 9.93745026e-01 -2.55181033e-03 1.88332223e+01] [ 3.58211011e-02 -1.45815023e-03 9.99357155e-01 1.65908109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.75, Y:18.84, Z:16.59 [[ 9.93110336e-01 -1.11593388e-01 -3.57599707e-02 4.67748467e+02] [ 1.11573772e-01 9.93752882e-01 -2.54989742e-03 1.88354854e+01] [ 3.58211257e-02 -1.45754534e-03 9.99357155e-01 1.65919823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.78, Y:18.84, Z:16.59 [[ 9.92780049e-01 -1.14494480e-01 -3.57601500e-02 4.67780194e+02] [ 1.14476833e-01 9.93422652e-01 -2.54738024e-03 1.88365418e+01] [ 3.58166041e-02 -1.56472042e-03 9.99357155e-01 1.65925314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.81, Y:18.84, Z:16.59 [[ 9.92424093e-01 -1.17539855e-01 -3.57603309e-02 4.67811518e+02] [ 1.17524270e-01 9.93066750e-01 -2.54483916e-03 1.88378106e+01] [ 3.58115156e-02 -1.67714709e-03 9.99357155e-01 1.65930810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.84, Y:18.84, Z:16.59 [[ 9.92115661e-01 -1.20115383e-01 -3.57604656e-02 4.67844241e+02] [ 1.20101534e-01 9.92758357e-01 -2.54294506e-03 1.88392346e+01] [ 3.58069478e-02 -1.77199116e-03 9.99357155e-01 1.65939351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.88, Y:18.84, Z:16.59 [[ 9.91621575e-01 -1.24128243e-01 -3.57607450e-02 4.67876852e+02] [ 1.24117136e-01 9.92264325e-01 -2.53900994e-03 1.88405632e+01] [ 3.57992743e-02 -1.92078421e-03 9.99357155e-01 1.65942314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.91, Y:18.84, Z:16.60 [[ 9.91445253e-01 -1.25528720e-01 -3.57610225e-02 4.67909456e+02] [ 1.25518662e-01 9.92088020e-01 -2.53509505e-03 1.88426844e+01] [ 3.57963092e-02 -1.97526775e-03 9.99357155e-01 1.65954739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.94, Y:18.84, Z:16.60 [[ 9.91421462e-01 -1.25716404e-01 -3.57612981e-02 4.67941213e+02] [ 1.25706608e-01 9.92064233e-01 -2.53120137e-03 1.88447285e+01] [ 3.57957183e-02 -1.98594412e-03 9.99357155e-01 1.65964461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.97, Y:18.85, Z:16.60 [[ 9.91165344e-01 -1.27721495e-01 -3.57558557e-02 4.67973210e+02] [ 1.27710230e-01 9.91808094e-01 -2.60820517e-03 1.88478752e+01] [ 3.57960710e-02 -1.98122597e-03 9.99357151e-01 1.65984110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.01, Y:18.85, Z:16.60 [[ 9.91145022e-01 -1.27877434e-01 -3.57618098e-02 4.68005526e+02] [ 1.27869304e-01 9.91787816e-01 -2.52383976e-03 1.88503006e+01] [ 3.57908694e-02 -2.07134653e-03 9.99357155e-01 1.65994444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.04, Y:18.85, Z:16.60 [[ 9.91123419e-01 -1.28044699e-01 -3.57620331e-02 4.68038552e+02] [ 1.28036791e-01 9.91766216e-01 -2.52067167e-03 1.88529092e+01] [ 3.57903349e-02 -2.08055923e-03 9.99357155e-01 1.66004081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.07, Y:18.86, Z:16.60 [[ 9.91046631e-01 -1.28637602e-01 -3.57622984e-02 4.68071199e+02] [ 1.28630214e-01 9.91689434e-01 -2.51690318e-03 1.88564882e+01] [ 3.57888618e-02 -2.10574367e-03 9.99357155e-01 1.66007324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.10, Y:18.86, Z:16.60 [[ 9.91004166e-01 -1.28964265e-01 -3.57625629e-02 4.68104459e+02] [ 1.28957224e-01 9.91646973e-01 -2.51313860e-03 1.88591773e+01] [ 3.57879423e-02 -2.12131002e-03 9.99357155e-01 1.66009632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.14, Y:18.86, Z:16.60 [[ 9.90987151e-01 -1.29094876e-01 -3.57628263e-02 4.68136424e+02] [ 1.29088055e-01 9.91629960e-01 -2.50938558e-03 1.88615694e+01] [ 3.57874388e-02 -2.12978483e-03 9.99357155e-01 1.66010444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.17, Y:18.86, Z:16.60 [[ 9.90965802e-01 -1.29258604e-01 -3.57630011e-02 4.68169003e+02] [ 1.29251979e-01 9.91608613e-01 -2.50689064e-03 1.88640810e+01] [ 3.57869371e-02 -2.13819578e-03 9.99357155e-01 1.66014769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.20, Y:18.87, Z:16.60 [[ 9.90866052e-01 -1.30021006e-01 -3.57631776e-02 4.68200667e+02] [ 1.30014966e-01 9.91508869e-01 -2.50437091e-03 1.88680993e+01] [ 3.57851286e-02 -2.16825219e-03 9.99357155e-01 1.66004239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.23, Y:18.87, Z:16.60 [[ 9.91062423e-01 -1.28515570e-01 -3.57634224e-02 4.68231356e+02] [ 1.28508680e-01 9.91705231e-01 -2.50086961e-03 1.88709285e+01] [ 3.57881738e-02 -2.11739230e-03 9.99357155e-01 1.66023624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.26, Y:18.87, Z:16.60 [[ 9.91210344e-01 -1.27369626e-01 -3.57635697e-02 4.68263388e+02] [ 1.27362068e-01 9.91853144e-01 -2.49876230e-03 1.88746322e+01] [ 3.57904754e-02 -2.07812316e-03 9.99357155e-01 1.66036757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.30, Y:18.88, Z:16.61 [[ 9.91397729e-01 -1.25902732e-01 -3.57637410e-02 4.68295749e+02] [ 1.25894311e-01 9.92040519e-01 -2.49630728e-03 1.88786832e+01] [ 3.57933721e-02 -2.02761817e-03 9.99357155e-01 1.66054245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.33, Y:18.88, Z:16.61 [[ 9.91679022e-01 -1.23667541e-01 -3.57639133e-02 4.68328345e+02] [ 1.23657760e-01 9.92321792e-01 -2.49383607e-03 1.88833043e+01] [ 3.57977172e-02 -1.94940049e-03 9.99357155e-01 1.66071077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.36, Y:18.89, Z:16.61 [[ 9.92371859e-01 -1.17978882e-01 -3.57641733e-02 4.68359312e+02] [ 1.17965549e-01 9.93014566e-01 -2.49010284e-03 1.88903979e+01] [ 3.58081246e-02 -1.74783236e-03 9.99357155e-01 1.66095487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.39, Y:18.89, Z:16.61 [[ 9.92757028e-01 -1.14692623e-01 -3.57643019e-02 4.68391712e+02] [ 1.14677230e-01 9.93399689e-01 -2.48825361e-03 1.88948570e+01] [ 3.58136307e-02 -1.63111981e-03 9.99357155e-01 1.66109483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.42, Y:18.90, Z:16.61 [[ 9.93126736e-01 -1.11445902e-01 -3.57644682e-02 4.68424388e+02] [ 1.11428493e-01 9.93769345e-01 -2.48586124e-03 1.88992054e+01] [ 3.58186712e-02 -1.51640554e-03 9.99357155e-01 1.66131184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.46, Y:18.90, Z:16.61 [[ 9.93508139e-01 -1.07992882e-01 -3.57647313e-02 4.68457082e+02] [ 1.07973375e-01 9.94150688e-01 -2.48207061e-03 1.89033201e+01] [ 3.58235782e-02 -1.39568140e-03 9.99357155e-01 1.66149387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.49, Y:18.91, Z:16.62 [[ 9.93859764e-01 -1.04707373e-01 -3.57650030e-02 4.68488364e+02] [ 1.04685883e-01 9.94502250e-01 -2.47814936e-03 1.89075567e+01] [ 3.58278564e-02 -1.28115798e-03 9.99357155e-01 1.66159405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.52, Y:18.91, Z:16.62 [[ 9.94545198e-01 -9.79831858e-02 -3.57651371e-02 4.68519908e+02] [ 9.79574206e-02 9.95187526e-01 -2.47621243e-03 1.89137501e+01] [ 3.58356455e-02 -1.04075539e-03 9.99357155e-01 1.66170630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.55, Y:18.92, Z:16.62 [[ 9.94843977e-01 -9.49015507e-02 -3.57653155e-02 4.68551601e+02] [ 9.48738882e-02 9.95486226e-01 -2.47363360e-03 1.89179693e+01] [ 3.58386306e-02 -9.32315058e-04 9.99357155e-01 1.66180258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.58, Y:18.92, Z:16.62 [[ 9.95098351e-01 -9.21959804e-02 -3.57655370e-02 4.68583291e+02] [ 9.21666869e-02 9.95740528e-01 -2.47042615e-03 1.89222264e+01] [ 3.58409581e-02 -8.38074062e-04 9.99357155e-01 1.66188667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.62, Y:18.93, Z:16.62 [[ 9.95370922e-01 -8.92050494e-02 -3.57657132e-02 4.68615082e+02] [ 8.91739178e-02 9.96013013e-01 -2.46787324e-03 1.89261934e+01] [ 3.58432625e-02 -7.32919507e-04 9.99357155e-01 1.66197307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.65, Y:18.93, Z:16.62 [[ 9.95760836e-01 -8.47417190e-02 -3.57658887e-02 4.68647248e+02] [ 8.47078005e-02 9.96402785e-01 -2.46532697e-03 1.89317107e+01] [ 3.58461471e-02 -5.74773718e-04 9.99357155e-01 1.66205119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.68, Y:18.94, Z:16.62 [[ 9.95938386e-01 -8.26288110e-02 -3.57660676e-02 4.68678084e+02] [ 8.25936238e-02 9.96580267e-01 -2.46272800e-03 1.89351041e+01] [ 3.58472495e-02 -5.01323789e-04 9.99357155e-01 1.66210576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.71, Y:18.94, Z:16.62 [[ 9.96080543e-01 -8.08970407e-02 -3.57662008e-02 4.68710502e+02] [ 8.08608071e-02 9.96722366e-01 -2.46079286e-03 1.89385631e+01] [ 3.58480431e-02 -4.40935967e-04 9.99357155e-01 1.66222446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.74, Y:18.94, Z:16.62 [[ 9.96313689e-01 -7.79730651e-02 -3.57663741e-02 4.68742841e+02] [ 7.79350383e-02 9.96955409e-01 -2.45827083e-03 1.89431610e+01] [ 3.58491590e-02 -3.38244859e-04 9.99357155e-01 1.66239087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.77, Y:18.95, Z:16.63 [[ 9.96411611e-01 -7.67115076e-02 -3.57665510e-02 4.68774547e+02] [ 7.66727608e-02 9.97053287e-01 -2.45569408e-03 1.89462942e+01] [ 3.58495373e-02 -2.95438122e-04 9.99357155e-01 1.66251830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.81, Y:18.95, Z:16.63 [[ 9.96496819e-01 -7.55964990e-02 -3.57667265e-02 4.68807040e+02] [ 7.55571260e-02 9.97138457e-01 -2.45313626e-03 1.89493122e+01] [ 3.58498270e-02 -2.57888582e-04 9.99357155e-01 1.66266298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.84, Y:18.95, Z:16.63 [[ 9.96536553e-01 -7.50708181e-02 -3.57669050e-02 4.68838161e+02] [ 7.50312002e-02 9.97178176e-01 -2.45052971e-03 1.89523211e+01] [ 3.58499404e-02 -2.41591386e-04 9.99357155e-01 1.66274907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.87, Y:18.96, Z:16.63 [[ 9.96526642e-01 -7.52022027e-02 -3.57670379e-02 4.68869521e+02] [ 7.51627390e-02 9.97168274e-01 -2.44858836e-03 1.89551944e+01] [ 3.58498947e-02 -2.48265001e-04 9.99357155e-01 1.66279495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.90, Y:18.96, Z:16.63 [[ 9.96460161e-01 -7.60779731e-02 -3.57671667e-02 4.68901965e+02] [ 7.60391409e-02 9.97101832e-01 -2.44670659e-03 1.89574737e+01] [ 3.58496479e-02 -2.81658985e-04 9.99357155e-01 1.66293968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.93, Y:18.96, Z:16.63 [[ 9.96353779e-01 -7.74586567e-02 -3.57673440e-02 4.68934435e+02] [ 7.74208068e-02 9.96995509e-01 -2.44411222e-03 1.89595365e+01] [ 3.58491989e-02 -3.33936173e-04 9.99357155e-01 1.66303049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.97, Y:18.96, Z:16.63 [[ 9.96198376e-01 -7.94322324e-02 -3.57675216e-02 4.68966285e+02] [ 7.93957473e-02 9.96840185e-01 -2.44150954e-03 1.89618711e+01] [ 3.58484374e-02 -4.07561271e-04 9.99357155e-01 1.66317198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.00, Y:18.96, Z:16.63 [[ 9.95730255e-01 -8.50995364e-02 -3.57676988e-02 4.68997074e+02] [ 8.50667972e-02 9.96372266e-01 -2.43891127e-03 1.89637475e+01] [ 3.58454933e-02 -6.14145841e-04 9.99357155e-01 1.66336666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.03, Y:18.97, Z:16.64 [[ 9.95432109e-01 -8.85188045e-02 -3.57678309e-02 4.69029638e+02] [ 8.84883401e-02 9.96074232e-01 -2.43697256e-03 1.89653247e+01] [ 3.58431326e-02 -7.39195250e-04 9.99357155e-01 1.66350803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.06, Y:18.97, Z:16.64 [[ 9.95072870e-01 -9.24696311e-02 -3.57680049e-02 4.69061621e+02] [ 9.24418078e-02 9.95715113e-01 -2.43441599e-03 1.89668194e+01] [ 3.58398526e-02 -8.84037720e-04 9.99357155e-01 1.66366742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.09, Y:18.97, Z:16.64 [[ 9.94247455e-01 -1.00958588e-01 -3.57681793e-02 4.69094125e+02] [ 1.00936339e-01 9.94889914e-01 -2.43184999e-03 1.89676341e+01] [ 3.58309170e-02 -1.19244841e-03 9.99357155e-01 1.66376574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.13, Y:18.97, Z:16.64 [[ 9.93799312e-01 -1.05278375e-01 -3.57685885e-02 4.69127053e+02] [ 1.05259135e-01 9.94441869e-01 -2.42581685e-03 1.89689282e+01] [ 3.58251680e-02 -1.35419558e-03 9.99357155e-01 1.66384611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.16, Y:18.97, Z:16.64 [[ 9.93351513e-01 -1.09422857e-01 -3.57688421e-02 4.69158625e+02] [ 1.09406433e-01 9.93994148e-01 -2.42207167e-03 1.89700706e+01] [ 3.58190497e-02 -1.50737286e-03 9.99357155e-01 1.66387309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.19, Y:18.97, Z:16.64 [[ 9.92917593e-01 -1.13292696e-01 -3.57689677e-02 4.69192046e+02] [ 1.13278842e-01 9.93560288e-01 -2.42021486e-03 1.89714594e+01] [ 3.58128186e-02 -1.64879334e-03 9.99357155e-01 1.66396004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.23, Y:18.97, Z:16.64 [[ 9.92110678e-01 -1.20153921e-01 -3.57692198e-02 4.69225072e+02] [ 1.20144644e-01 9.92753456e-01 -2.41648413e-03 1.89725718e+01] [ 3.58003666e-02 -1.90006048e-03 9.99357155e-01 1.66408728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.26, Y:18.97, Z:16.64 [[ 9.91794760e-01 -1.22734260e-01 -3.57694885e-02 4.69257017e+02] [ 1.22726799e-01 9.92437561e-01 -2.41249955e-03 1.89744494e+01] [ 3.57950803e-02 -1.99717041e-03 9.99357155e-01 1.66415806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.29, Y:18.98, Z:16.64 [[ 9.91528819e-01 -1.24864441e-01 -3.57697112e-02 4.69288820e+02] [ 1.24858480e-01 9.92171636e-01 -2.40919392e-03 1.89768277e+01] [ 3.57905155e-02 -2.07736655e-03 9.99357155e-01 1.66426939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.32, Y:18.98, Z:16.64 [[ 9.91329812e-01 -1.26434568e-01 -3.57701395e-02 4.69321679e+02] [ 1.26429854e-01 9.91972640e-01 -2.40281721e-03 1.89794864e+01] [ 3.57867989e-02 -2.14042919e-03 9.99357155e-01 1.66445474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.35, Y:18.98, Z:16.65 [[ 9.91057085e-01 -1.28554786e-01 -3.57704036e-02 4.69353305e+02] [ 1.28551588e-01 9.91699922e-01 -2.39887935e-03 1.89830085e+01] [ 3.57818939e-02 -2.22091581e-03 9.99357155e-01 1.66455154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.39, Y:18.99, Z:16.65 [[ 9.90970333e-01 -1.29221755e-01 -3.57706217e-02 4.69386183e+02] [ 1.29219107e-01 9.91613172e-01 -2.39562239e-03 1.89860424e+01] [ 3.57801862e-02 -2.24825707e-03 9.99357155e-01 1.66472580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.42, Y:18.99, Z:16.65 [[ 9.90928913e-01 -1.29538926e-01 -3.57708834e-02 4.69417830e+02] [ 1.29536625e-01 9.91571754e-01 -2.39170808e-03 1.89890250e+01] [ 3.57792169e-02 -2.26362682e-03 9.99357155e-01 1.66481669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.45, Y:18.99, Z:16.65 [[ 9.90890443e-01 -1.29832692e-01 -3.57715269e-02 4.69449478e+02] [ 1.29830928e-01 9.91533285e-01 -2.38204568e-03 1.89919905e+01] [ 3.57779270e-02 -2.28390425e-03 9.99357155e-01 1.66488703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.48, Y:19.00, Z:16.65 [[ 9.90872922e-01 -1.29966229e-01 -3.57719487e-02 4.69482019e+02] [ 1.29964780e-01 9.91515765e-01 -2.37569458e-03 1.89959540e+01] [ 3.57772111e-02 -2.29508201e-03 9.99357155e-01 1.66497288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.51, Y:19.00, Z:16.65 [[ 9.90942068e-01 -1.29437893e-01 -3.57722058e-02 4.69514234e+02] [ 1.29436241e-01 9.91584910e-01 -2.37181628e-03 1.89989217e+01] [ 3.57781824e-02 -2.27988732e-03 9.99357155e-01 1.66503848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.54, Y:19.00, Z:16.65 [[ 9.90969780e-01 -1.29225379e-01 -3.57728373e-02 4.69544479e+02] [ 1.29223933e-01 9.91612623e-01 -2.36225410e-03 1.90033813e+01] [ 3.57780602e-02 -2.28178431e-03 9.99357155e-01 1.66493090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.58, Y:19.01, Z:16.65 [[ 9.91129885e-01 -1.27996687e-01 -3.57547125e-02 4.69577988e+02] [ 1.27984589e-01 9.91772653e-01 -2.63637600e-03 1.90070590e+01] [ 3.57979935e-02 -1.96306113e-03 9.99357118e-01 1.66522354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.61, Y:19.01, Z:16.65 [[ 9.91151615e-01 -1.27823004e-01 -3.57736711e-02 4.69609761e+02] [ 1.27821179e-01 9.91794452e-01 -2.34748695e-03 1.90104281e+01] [ 3.57801913e-02 -2.24591733e-03 9.99357160e-01 1.66528340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.64, Y:19.01, Z:16.65 [[ 9.91183945e-01 -1.27572021e-01 -3.57738402e-02 4.69640736e+02] [ 1.27570126e-01 9.91826781e-01 -2.34490641e-03 1.90135186e+01] [ 3.57805973e-02 -2.23943972e-03 9.99357160e-01 1.66529157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.67, Y:19.02, Z:16.65 [[ 9.91186263e-01 -1.27553917e-01 -3.57741695e-02 4.69673244e+02] [ 1.27552191e-01 9.91829100e-01 -2.33987160e-03 1.90166635e+01] [ 3.57803222e-02 -2.24382513e-03 9.99357160e-01 1.66533047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.71, Y:19.02, Z:16.65 [[ 9.91170549e-01 -1.27675914e-01 -3.57743365e-02 4.69705447e+02] [ 1.27674359e-01 9.91813387e-01 -2.33731566e-03 1.90199101e+01] [ 3.57798848e-02 -2.25078704e-03 9.99357160e-01 1.66542224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.74, Y:19.02, Z:16.66 [[ 9.91080528e-01 -1.28372785e-01 -3.57745064e-02 4.69737449e+02] [ 1.28371776e-01 9.91723367e-01 -2.33471328e-03 1.90246222e+01] [ 3.57781275e-02 -2.27854805e-03 9.99357160e-01 1.66555357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.77, Y:19.03, Z:16.66 [[ 9.91113010e-01 -1.28121719e-01 -3.57746753e-02 4.69768945e+02] [ 1.28120641e-01 9.91755848e-01 -2.33212198e-03 1.90277688e+01] [ 3.57785389e-02 -2.27207788e-03 9.99357160e-01 1.66567566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.80, Y:19.03, Z:16.66 [[ 9.91117519e-01 -1.28086713e-01 -3.57750933e-02 4.69800611e+02] [ 1.28085843e-01 9.91760358e-01 -2.32569187e-03 1.90311009e+01] [ 3.57782096e-02 -2.27724901e-03 9.99357160e-01 1.66585440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.83, Y:19.03, Z:16.66 [[ 9.91131270e-01 -1.27980219e-01 -3.57752592e-02 4.69834065e+02] [ 1.27979371e-01 9.91774109e-01 -2.32313693e-03 1.90331829e+01] [ 3.57782914e-02 -2.27596153e-03 9.99357160e-01 1.66597456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.87, Y:19.04, Z:16.66 [[ 9.91176254e-01 -1.27631294e-01 -3.57755084e-02 4.69866414e+02] [ 1.27630358e-01 9.91819093e-01 -2.31929377e-03 1.90368789e+01] [ 3.57788467e-02 -2.26721204e-03 9.99357160e-01 1.66615562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.90, Y:19.04, Z:16.66 [[ 9.91241305e-01 -1.27124916e-01 -3.57761208e-02 4.69898767e+02] [ 1.27123992e-01 9.91884144e-01 -2.30980814e-03 1.90420110e+01] [ 3.57794011e-02 -2.25842606e-03 9.99357160e-01 1.66632825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.93, Y:19.05, Z:16.67 [[ 9.91356903e-01 -1.26219186e-01 -3.57799971e-02 4.69930327e+02] [ 1.26219839e-01 9.91999744e-01 -2.24962846e-03 1.90451084e+01] [ 3.57776942e-02 -2.28596076e-03 9.99357159e-01 1.66664165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.96, Y:19.05, Z:16.67 [[ 9.91391893e-01 -1.25945051e-01 -3.57765035e-02 4.69962427e+02] [ 1.25943576e-01 9.92034731e-01 -2.30388119e-03 1.90484180e+01] [ 3.57816964e-02 -2.22177164e-03 9.99357160e-01 1.66684880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.99, Y:19.05, Z:16.67 [[ 9.91381263e-01 -1.26028653e-01 -3.57766687e-02 4.69994319e+02] [ 1.26027324e-01 9.92024101e-01 -2.30131214e-03 1.90527858e+01] [ 3.57813489e-02 -2.22736009e-03 9.99357160e-01 1.66718420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.03, Y:19.06, Z:16.67 [[ 9.91353072e-01 -1.26250172e-01 -3.57768332e-02 4.70026900e+02] [ 1.26249079e-01 9.91995910e-01 -2.29875252e-03 1.90558023e+01] [ 3.57806901e-02 -2.23791685e-03 9.99357160e-01 1.66735255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.06, Y:19.06, Z:16.67 [[ 9.91325245e-01 -1.26468407e-01 -3.57770867e-02 4.70058768e+02] [ 1.26467598e-01 9.91968084e-01 -2.29480070e-03 1.90582664e+01] [ 3.57799479e-02 -2.24974834e-03 9.99357160e-01 1.66746944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.09, Y:19.06, Z:16.67 [[ 9.91145876e-01 -1.27866368e-01 -3.57777109e-02 4.70090712e+02] [ 1.27866816e-01 9.91788715e-01 -2.28502677e-03 1.90608321e+01] [ 3.57761080e-02 -2.30998713e-03 9.99357160e-01 1.66746667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.12, Y:19.06, Z:16.68 [[ 9.91013526e-01 -1.28887946e-01 -3.57783167e-02 4.70124156e+02] [ 1.28889399e-01 9.91656364e-01 -2.27550201e-03 1.90634531e+01] [ 3.57730802e-02 -2.35639248e-03 9.99357160e-01 1.66753959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.16, Y:19.07, Z:16.68 [[ 9.90898447e-01 -1.29769639e-01 -3.57785988e-02 4.70156221e+02] [ 1.29771825e-01 9.91541283e-01 -2.27105764e-03 1.90660964e+01] [ 3.57706721e-02 -2.39266656e-03 9.99357160e-01 1.66760039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.19, Y:19.07, Z:16.68 [[ 9.90758936e-01 -1.30830347e-01 -3.57791935e-02 4.70189552e+02] [ 1.30833559e-01 9.91401768e-01 -2.26164960e-03 1.90685457e+01] [ 3.57674481e-02 -2.44036966e-03 9.99357161e-01 1.66766923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.22, Y:19.07, Z:16.68 [[ 9.90672070e-01 -1.31486431e-01 -3.57794337e-02 4.70222106e+02] [ 1.31490205e-01 9.91314899e-01 -2.25784359e-03 1.90711208e+01] [ 3.57655614e-02 -2.46786248e-03 9.99357161e-01 1.66773494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.25, Y:19.07, Z:16.68 [[ 9.90756711e-01 -1.30847090e-01 -3.57795976e-02 4.70253905e+02] [ 1.30850542e-01 9.91399541e-01 -2.25524224e-03 1.90731605e+01] [ 3.57669685e-02 -2.44738337e-03 9.99357161e-01 1.66781796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.29, Y:19.08, Z:16.68 [[ 9.90797139e-01 -1.30540438e-01 -3.57802049e-02 4.70286642e+02] [ 1.30544039e-01 9.91439969e-01 -2.24556651e-03 1.90754726e+01] [ 3.57670624e-02 -2.44599160e-03 9.99357161e-01 1.66800008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.32, Y:19.08, Z:16.68 [[ 9.90969812e-01 -1.29223030e-01 -3.57804485e-02 4.70318909e+02] [ 1.29225917e-01 9.91612645e-01 -2.24167823e-03 1.90775221e+01] [ 3.57700216e-02 -2.40232581e-03 9.99357161e-01 1.66815872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.35, Y:19.08, Z:16.68 [[ 9.91268837e-01 -1.26908666e-01 -3.57810489e-02 4.70350901e+02] [ 1.26910398e-01 9.91911674e-01 -2.23205296e-03 1.90802078e+01] [ 3.57749070e-02 -2.32842261e-03 9.99357161e-01 1.66840501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.38, Y:19.08, Z:16.69 [[ 9.91422481e-01 -1.25702577e-01 -3.57816390e-02 4.70384130e+02] [ 1.25703868e-01 9.92065319e-01 -2.22255305e-03 1.90822377e+01] [ 3.57771038e-02 -2.29440137e-03 9.99357161e-01 1.66859261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.42, Y:19.08, Z:16.69 [[ 9.91551949e-01 -1.24677146e-01 -3.57818728e-02 4.70417369e+02] [ 1.24677907e-01 9.92194788e-01 -2.21878250e-03 1.90839015e+01] [ 3.57792191e-02 -2.26117091e-03 9.99357161e-01 1.66874335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.45, Y:19.08, Z:16.69 [[ 9.91743462e-01 -1.23144410e-01 -3.57821049e-02 4.70450666e+02] [ 1.23144313e-01 9.92386302e-01 -2.21503246e-03 1.90845894e+01] [ 3.57824397e-02 -2.20961877e-03 9.99357161e-01 1.66886485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.48, Y:19.09, Z:16.69 [[ 9.91860188e-01 -1.22200618e-01 -3.57823422e-02 4.70483240e+02] [ 1.22200047e-01 9.92503027e-01 -2.21119337e-03 1.90856499e+01] [ 3.57842921e-02 -2.17940921e-03 9.99357161e-01 1.66890454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.52, Y:19.09, Z:16.69 [[ 9.91895823e-01 -1.21910861e-01 -3.57829242e-02 4.70516700e+02] [ 1.21910443e-01 9.92538662e-01 -2.20173371e-03 1.90866041e+01] [ 3.57843510e-02 -2.17842166e-03 9.99357161e-01 1.66898187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.55, Y:19.09, Z:16.69 [[ 9.91911086e-01 -1.21786548e-01 -3.57831667e-02 4.70549212e+02] [ 1.21786190e-01 9.92553925e-01 -2.19778676e-03 1.90876460e+01] [ 3.57843834e-02 -2.17788649e-03 9.99357161e-01 1.66902909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.58, Y:19.09, Z:16.69 [[ 9.91946067e-01 -1.21501248e-01 -3.57833274e-02 4.70580282e+02] [ 1.21500800e-01 9.92588906e-01 -2.19516584e-03 1.90879244e+01] [ 3.57848492e-02 -2.17021680e-03 9.99357161e-01 1.66905130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.61, Y:19.09, Z:16.69 [[ 9.92012289e-01 -1.20959289e-01 -3.57836407e-02 4.70612544e+02] [ 1.20958674e-01 9.92655128e-01 -2.19004721e-03 1.90894009e+01] [ 3.57857210e-02 -2.15578797e-03 9.99357161e-01 1.66917857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.65, Y:19.09, Z:16.69 [[ 9.92099044e-01 -1.20245608e-01 -3.57837948e-02 4.70645978e+02] [ 1.20244621e-01 9.92741883e-01 -2.18752734e-03 1.90909229e+01] [ 3.57871123e-02 -2.13256505e-03 9.99357161e-01 1.66938353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.68, Y:19.09, Z:16.69 [[ 9.92189648e-01 -1.19495630e-01 -3.57840378e-02 4.70677653e+02] [ 1.19494300e-01 9.92832486e-01 -2.18354505e-03 1.90921465e+01] [ 3.57884792e-02 -2.10949776e-03 9.99357161e-01 1.66947288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.71, Y:19.09, Z:16.70 [[ 9.92416967e-01 -1.17592747e-01 -3.57841978e-02 4.70710197e+02] [ 1.17590278e-01 9.93059802e-01 -2.18091927e-03 1.90926196e+01] [ 3.57923087e-02 -2.04349248e-03 9.99357161e-01 1.66967223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.74, Y:19.09, Z:16.70 [[ 9.92621036e-01 -1.15857473e-01 -3.57844307e-02 4.70742788e+02] [ 1.15854018e-01 9.93263866e-01 -2.17709085e-03 1.90937282e+01] [ 3.57956142e-02 -1.98474390e-03 9.99357161e-01 1.66983964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.77, Y:19.09, Z:16.70 [[ 9.92887146e-01 -1.13554276e-01 -3.57846661e-02 4.70774896e+02] [ 1.13549469e-01 9.93529967e-01 -2.17321446e-03 1.90945997e+01] [ 3.57999159e-02 -1.90557314e-03 9.99357161e-01 1.66997857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.81, Y:19.10, Z:16.70 [[ 9.93381903e-01 -1.09141374e-01 -3.57848609e-02 4.70806791e+02] [ 1.09133826e-01 9.94024697e-01 -2.17000261e-03 1.90951339e+01] [ 3.58078726e-02 -1.74969747e-03 9.99357161e-01 1.67016944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.84, Y:19.10, Z:16.70 [[ 9.93613200e-01 -1.07015148e-01 -3.57850160e-02 4.70839459e+02] [ 1.07006317e-01 9.94255978e-01 -2.16744106e-03 1.90961333e+01] [ 3.58114152e-02 -1.67562471e-03 9.99357161e-01 1.67034712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.87, Y:19.10, Z:16.70 [[ 9.93856621e-01 -1.04730284e-01 -3.57852504e-02 4.70872473e+02] [ 1.04720114e-01 9.94499380e-01 -2.16356461e-03 1.90971925e+01] [ 3.58150001e-02 -1.59716248e-03 9.99357161e-01 1.67047383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.91, Y:19.10, Z:16.71 [[ 9.94091371e-01 -1.02478022e-01 -3.57854860e-02 4.70905810e+02] [ 1.02466536e-01 9.94734108e-01 -2.15966169e-03 1.90982116e+01] [ 3.58183613e-02 -1.51991374e-03 9.99357161e-01 1.67058506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.94, Y:19.10, Z:16.71 [[ 9.94492724e-01 -9.85068733e-02 -3.57857231e-02 4.70937868e+02] [ 9.84929618e-02 9.95135413e-01 -2.15572551e-03 1.90988064e+01] [ 3.58239941e-02 -1.38078852e-03 9.99357161e-01 1.67067058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.97, Y:19.10, Z:16.71 [[ 9.94653648e-01 -9.68684245e-02 -3.57858815e-02 4.70969340e+02] [ 9.68535488e-02 9.95296315e-01 -2.15309193e-03 1.90999539e+01] [ 3.58261226e-02 -1.32440888e-03 9.99357161e-01 1.67069706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.00, Y:19.10, Z:16.71 [[ 9.94814993e-01 -9.51970539e-02 -3.57861895e-02 4.71001404e+02] [ 9.51812827e-02 9.95457638e-01 -2.14796091e-03 1.91010310e+01] [ 3.58281152e-02 -1.26935170e-03 9.99357161e-01 1.67075094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.03, Y:19.10, Z:16.71 [[ 9.94949555e-01 -9.37801703e-02 -3.57863414e-02 4.71033133e+02] [ 9.37635750e-02 9.95592180e-01 -2.14542696e-03 1.91021099e+01] [ 3.58298002e-02 -1.22086370e-03 9.99357161e-01 1.67082776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.07, Y:19.10, Z:16.71 [[ 9.95258676e-01 -9.04405570e-02 -3.57864941e-02 4.71066663e+02] [ 9.04218967e-02 9.95901244e-01 -2.14287683e-03 1.91019835e+01] [ 3.58336170e-02 -1.10316592e-03 9.99357161e-01 1.67073537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.10, Y:19.10, Z:16.71 [[ 9.95223618e-01 -9.08245813e-02 -3.57889141e-02 4.71097940e+02] [ 9.08076240e-02 9.95866234e-01 -2.10237164e-03 1.91040429e+01] [ 3.58319181e-02 -1.15757635e-03 9.99357160e-01 1.67101484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.13, Y:19.11, Z:16.71 [[ 9.95328962e-01 -8.96636743e-02 -3.57866436e-02 4.71131262e+02] [ 8.96446038e-02 9.95971518e-01 -2.14033526e-03 1.91052423e+01] [ 3.58343880e-02 -1.07774181e-03 9.99357161e-01 1.67114439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.16, Y:19.11, Z:16.71 [[ 9.95486035e-01 -8.79025285e-02 -3.57868770e-02 4.71163123e+02] [ 8.78824616e-02 9.96128560e-01 -2.13642465e-03 1.91055714e+01] [ 3.58361274e-02 -1.01825795e-03 9.99357161e-01 1.67132877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.19, Y:19.11, Z:16.71 [[ 9.95527283e-01 -8.74340711e-02 -3.57870321e-02 4.71193814e+02] [ 8.74137953e-02 9.96169802e-01 -2.13382415e-03 1.91068765e+01] [ 3.58365296e-02 -1.00400014e-03 9.99357161e-01 1.67145580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.23, Y:19.11, Z:16.72 [[ 9.95573934e-01 -8.69012247e-02 -3.57871475e-02 4.71225873e+02] [ 8.68806746e-02 9.96216444e-01 -2.13188685e-03 1.91081248e+01] [ 3.58370084e-02 -9.86760537e-04 9.99357161e-01 1.67162999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.26, Y:19.11, Z:16.72 [[ 9.95510923e-01 -8.76200443e-02 -3.57873000e-02 4.71257405e+02] [ 8.76000501e-02 9.96153451e-01 -2.12932406e-03 1.91090917e+01] [ 3.58362138e-02 -1.01520391e-03 9.99357161e-01 1.67182027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.29, Y:19.11, Z:16.72 [[ 9.95419768e-01 -8.86495684e-02 -3.57874135e-02 4.71290155e+02] [ 8.86303074e-02 9.96062319e-01 -2.12741488e-03 1.91103363e+01] [ 3.58350884e-02 -1.05417863e-03 9.99357161e-01 1.67205659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.32, Y:19.11, Z:16.72 [[ 9.95287197e-01 -9.01256925e-02 -3.57876494e-02 4.71321645e+02] [ 9.01075272e-02 9.95929779e-01 -2.12343818e-03 1.91110488e+01] [ 3.58333621e-02 -1.11130576e-03 9.99357161e-01 1.67225282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.35, Y:19.11, Z:16.72 [[ 9.95078303e-01 -9.24034885e-02 -3.57878062e-02 4.71353286e+02] [ 9.23868891e-02 9.95720927e-01 -2.12079226e-03 1.91116944e+01] [ 3.58306362e-02 -1.19596973e-03 9.99357161e-01 1.67242425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.38, Y:19.11, Z:16.72 [[ 9.94526820e-01 -9.81612151e-02 -3.57879988e-02 4.71384879e+02] [ 9.81484522e-02 9.95169532e-01 -2.11753686e-03 1.91111729e+01] [ 3.58229860e-02 -1.40658949e-03 9.99357161e-01 1.67248150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.42, Y:19.11, Z:16.73 [[ 9.94218916e-01 -1.01232203e-01 -3.57881124e-02 4.71416696e+02] [ 1.01221494e-01 9.94861665e-01 -2.11561641e-03 1.91117791e+01] [ 3.58183896e-02 -1.51914036e-03 9.99357161e-01 1.67253826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.45, Y:19.11, Z:16.72 [[ 9.93744673e-01 -1.05786221e-01 -3.57882635e-02 4.71447790e+02] [ 1.05778549e-01 9.94387467e-01 -2.11305598e-03 1.91114605e+01] [ 3.58109329e-02 -1.68579246e-03 9.99357161e-01 1.67212349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.48, Y:19.11, Z:16.72 [[ 9.93589954e-01 -1.07229643e-01 -3.57883762e-02 4.71479743e+02] [ 1.07222974e-01 9.94232758e-01 -2.11114595e-03 1.91127130e+01] [ 3.58083534e-02 -1.73972272e-03 9.99357161e-01 1.67230918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.51, Y:19.11, Z:16.72 [[ 9.93498458e-01 -1.08074025e-01 -3.57885317e-02 4.71511005e+02] [ 1.08067997e-01 9.94141269e-01 -2.10850619e-03 1.91143183e+01] [ 3.58067311e-02 -1.77279728e-03 9.99357161e-01 1.67225385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.54, Y:19.12, Z:16.72 [[ 9.93426169e-01 -1.08736465e-01 -3.57886474e-02 4.71544378e+02] [ 1.08730936e-01 9.94068985e-01 -2.10654090e-03 1.91162330e+01] [ 3.58054422e-02 -1.79864026e-03 9.99357161e-01 1.67246662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.58, Y:19.12, Z:16.73 [[ 9.93362606e-01 -1.09315551e-01 -3.57888752e-02 4.71576209e+02] [ 1.09310536e-01 9.94005425e-01 -2.10266451e-03 1.91181889e+01] [ 3.58041900e-02 -1.82339283e-03 9.99357161e-01 1.67274338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.61, Y:19.12, Z:16.73 [[ 9.93394673e-01 -1.09023707e-01 -3.57890289e-02 4.71607207e+02] [ 1.09018597e-01 9.94037492e-01 -2.10004430e-03 1.91198193e+01] [ 3.58045912e-02 -1.81549689e-03 9.99357161e-01 1.67282604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.64, Y:19.12, Z:16.73 [[ 9.93497187e-01 -1.08085508e-01 -3.57891434e-02 4.71638965e+02] [ 1.08079861e-01 9.94140001e-01 -2.09809096e-03 1.91216067e+01] [ 3.58061923e-02 -1.78363819e-03 9.99357161e-01 1.67299061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.67, Y:19.12, Z:16.73 [[ 9.93767306e-01 -1.05573047e-01 -3.57892971e-02 4.71671030e+02] [ 1.05565869e-01 9.94410105e-01 -2.09546593e-03 1.91239487e+01] [ 3.58104634e-02 -1.69572272e-03 9.99357161e-01 1.67317797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.70, Y:19.13, Z:16.73 [[ 9.93882622e-01 -1.04481813e-01 -3.57894500e-02 4.71702901e+02] [ 1.04474024e-01 9.94525414e-01 -2.09285187e-03 1.91263103e+01] [ 3.58121825e-02 -1.65901875e-03 9.99357161e-01 1.67342552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.74, Y:19.13, Z:16.74 [[ 9.93975512e-01 -1.03594330e-01 -3.57896015e-02 4.71735278e+02] [ 1.03586060e-01 9.94618298e-01 -2.09025838e-03 1.91282794e+01] [ 3.58135314e-02 -1.62963816e-03 9.99357161e-01 1.67370141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.77, Y:19.13, Z:16.74 [[ 9.94076893e-01 -1.02616881e-01 -3.57897536e-02 4.71767347e+02] [ 1.02608073e-01 9.94719672e-01 -2.08765017e-03 1.91302300e+01] [ 3.58150001e-02 -1.59703285e-03 9.99357161e-01 1.67396520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.80, Y:19.13, Z:16.74 [[ 9.94204228e-01 -1.01375712e-01 -3.57899068e-02 4.71799522e+02] [ 1.01366196e-01 9.94846997e-01 -2.08502028e-03 1.91314155e+01] [ 3.58168517e-02 -1.55495072e-03 9.99357161e-01 1.67409930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.83, Y:19.13, Z:16.74 [[ 9.94215335e-01 -1.01266661e-01 -3.57900972e-02 4.71832989e+02] [ 1.01257191e-01 9.94858104e-01 -2.08174651e-03 1.91332756e+01] [ 3.58168798e-02 -1.55430041e-03 9.99357161e-01 1.67421944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.87, Y:19.13, Z:16.74 [[ 9.94273700e-01 -1.00691915e-01 -3.57903250e-02 4.71865296e+02] [ 1.00682215e-01 9.94916466e-01 -2.07782248e-03 1.91342352e+01] [ 3.58176036e-02 -1.53752494e-03 9.99357161e-01 1.67435285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.90, Y:19.13, Z:16.75 [[ 9.94370626e-01 -9.97300536e-02 -3.57906928e-02 4.71897929e+02] [ 9.97199599e-02 9.95013386e-01 -2.07146908e-03 1.91343219e+01] [ 3.58188061e-02 -1.50923844e-03 9.99357161e-01 1.67453347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.93, Y:19.14, Z:16.75 [[ 9.94365089e-01 -9.97851933e-02 -3.57908444e-02 4.71929771e+02] [ 9.97752296e-02 9.95007851e-01 -2.06884506e-03 1.91357105e+01] [ 3.58186113e-02 -1.51385242e-03 9.99357161e-01 1.67469240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.96, Y:19.14, Z:16.75 [[ 9.94281364e-01 -1.00615960e-01 -3.57910331e-02 4.71961642e+02] [ 1.00606651e-01 9.94924135e-01 -2.06557577e-03 1.91368622e+01] [ 3.58171926e-02 -1.54705247e-03 9.99357161e-01 1.67488375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.99, Y:19.14, Z:16.75 [[ 9.94220704e-01 -1.01213550e-01 -3.57911835e-02 4.71993440e+02] [ 1.01204721e-01 9.94863482e-01 -2.06296633e-03 1.91382661e+01] [ 3.58161416e-02 -1.57119289e-03 9.99357161e-01 1.67495984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.03, Y:19.14, Z:16.75 [[ 9.94131394e-01 -1.02086971e-01 -3.57913708e-02 4.72025662e+02] [ 1.02078823e-01 9.94774181e-01 -2.05971201e-03 1.91393625e+01] [ 3.58146013e-02 -1.60591663e-03 9.99357161e-01 1.67505534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.06, Y:19.14, Z:16.75 [[ 9.94026012e-01 -1.03107963e-01 -3.57915514e-02 4.72059093e+02] [ 1.03100589e-01 9.94668809e-01 -2.05656848e-03 1.91402531e+01] [ 3.58127884e-02 -1.64584747e-03 9.99357161e-01 1.67519580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.09, Y:19.14, Z:16.75 [[ 9.93818003e-01 -1.05093887e-01 -3.57917734e-02 4.72091509e+02] [ 1.05087936e-01 9.94460815e-01 -2.05269829e-03 1.91407847e+01] [ 3.58092422e-02 -1.72127509e-03 9.99357161e-01 1.67523256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.12, Y:19.14, Z:16.75 [[ 9.93777736e-01 -1.05473931e-01 -3.57919205e-02 4.72124826e+02] [ 1.05468318e-01 9.94420550e-01 -2.05012950e-03 1.91427001e+01] [ 3.58084565e-02 -1.73754061e-03 9.99357161e-01 1.67535498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.16, Y:19.14, Z:16.75 [[ 9.93791394e-01 -1.05345093e-01 -3.57921436e-02 4.72156302e+02] [ 1.05339537e-01 9.94434208e-01 -2.04622751e-03 1.91448421e+01] [ 3.58084920e-02 -1.73680454e-03 9.99357161e-01 1.67548500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.19, Y:19.15, Z:16.76 [[ 9.93856246e-01 -1.04731430e-01 -3.57923281e-02 4.72187845e+02] [ 1.04725593e-01 9.94499058e-01 -2.04299418e-03 1.91471376e+01] [ 3.58094023e-02 -1.71793026e-03 9.99357161e-01 1.67558885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.22, Y:19.15, Z:16.76 [[ 9.94000037e-01 -1.03357766e-01 -3.57924368e-02 4.72220282e+02] [ 1.03351109e-01 9.94642842e-01 -2.04108911e-03 1.91496611e+01] [ 3.58116534e-02 -1.67034539e-03 9.99357161e-01 1.67568738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.25, Y:19.15, Z:16.76 [[ 9.93689594e-01 -1.06300905e-01 -3.57925790e-02 4.72252671e+02] [ 1.06296242e-01 9.94332416e-01 -2.03859184e-03 1.91527603e+01] [ 3.58064257e-02 -1.77888914e-03 9.99357161e-01 1.67574718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.28, Y:19.15, Z:16.76 [[ 9.93564321e-01 -1.07465443e-01 -3.57927245e-02 4.72284352e+02] [ 1.07461625e-01 9.94207148e-01 -2.03603459e-03 1.91547776e+01] [ 3.58041859e-02 -1.82341302e-03 9.99357161e-01 1.67581104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.32, Y:19.16, Z:16.76 [[ 9.93554074e-01 -1.07560088e-01 -3.57928709e-02 4.72317006e+02] [ 1.07556424e-01 9.94196902e-01 -2.03345731e-03 1.91562764e+01] [ 3.58038802e-02 -1.82940340e-03 9.99357161e-01 1.67593480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.35, Y:19.16, Z:16.76 [[ 9.93564020e-01 -1.07466620e-01 -3.57975404e-02 4.72350471e+02] [ 1.07465862e-01 9.94206861e-01 -1.95090929e-03 1.91580736e+01] [ 3.57998179e-02 -1.90866025e-03 9.99357158e-01 1.67605246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.38, Y:19.16, Z:16.76 [[ 9.93326349e-01 -1.09641608e-01 -3.57977917e-02 4.72380831e+02] [ 1.09642417e-01 9.93969191e-01 -1.94645636e-03 1.91612040e+01] [ 3.57953147e-02 -1.99149001e-03 9.99357158e-01 1.67603723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.41, Y:19.16, Z:16.76 [[ 9.93337947e-01 -1.09537838e-01 -3.57936378e-02 4.72414296e+02] [ 1.09535935e-01 9.93980784e-01 -2.02006156e-03 1.91630400e+01] [ 3.57994613e-02 -1.91408578e-03 9.99357161e-01 1.67615976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.45, Y:19.17, Z:16.76 [[ 9.93216596e-01 -1.10632699e-01 -3.57938539e-02 4.72446695e+02] [ 1.10631642e-01 9.93859434e-01 -2.01622487e-03 1.91652933e+01] [ 3.57971198e-02 -1.95738484e-03 9.99357161e-01 1.67616572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.48, Y:19.17, Z:16.76 [[ 9.93228366e-01 -1.10526935e-01 -3.57939964e-02 4.72480163e+02] [ 1.10525901e-01 9.93871204e-01 -2.01369275e-03 1.91670855e+01] [ 3.57971896e-02 -1.95610694e-03 9.99357161e-01 1.67628587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.51, Y:19.17, Z:16.76 [[ 9.93113499e-01 -1.11554261e-01 -3.57942104e-02 4.72511920e+02] [ 1.11554028e-01 9.93756338e-01 -2.00988201e-03 1.91690382e+01] [ 3.57949343e-02 -1.99694740e-03 9.99357161e-01 1.67636243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.55, Y:19.17, Z:16.76 [[ 9.93125556e-01 -1.11446818e-01 -3.57943546e-02 4.72545389e+02] [ 1.11446609e-01 9.93768396e-01 -2.00731061e-03 1.91708266e+01] [ 3.57950067e-02 -1.99564797e-03 9.99357161e-01 1.67648258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.58, Y:19.17, Z:16.77 [[ 9.93137605e-01 -1.11339328e-01 -3.57945713e-02 4.72578857e+02] [ 1.11339188e-01 9.93780444e-01 -2.00343894e-03 1.91726107e+01] [ 3.57950065e-02 -1.99564796e-03 9.99357161e-01 1.67660269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.61, Y:19.17, Z:16.77 [[ 9.93040217e-01 -1.12204544e-01 -3.57947875e-02 4.72609941e+02] [ 1.12205103e-01 9.93683056e-01 -1.99956725e-03 1.91745301e+01] [ 3.57930344e-02 -2.03070714e-03 9.99357161e-01 1.67658457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.64, Y:19.18, Z:16.77 [[ 9.93000534e-01 -1.12555164e-01 -3.57948945e-02 4.72642647e+02] [ 1.12556019e-01 9.93643373e-01 -1.99765086e-03 1.91765985e+01] [ 3.57922056e-02 -2.04526246e-03 9.99357161e-01 1.67678736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.67, Y:19.18, Z:16.77 [[ 9.92999571e-01 -1.12563591e-01 -3.57951090e-02 4.72673956e+02] [ 1.12564590e-01 9.93642409e-01 -1.99380033e-03 1.91786479e+01] [ 3.57919677e-02 -2.04941890e-03 9.99357161e-01 1.67686685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.71, Y:19.18, Z:16.77 [[ 9.93049717e-01 -1.12120304e-01 -3.57952151e-02 4.72706245e+02] [ 1.12121085e-01 9.93692555e-01 -1.99189332e-03 1.91811374e+01] [ 3.57927704e-02 -2.03534925e-03 9.99357161e-01 1.67703515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.74, Y:19.19, Z:16.77 [[ 9.93274073e-01 -1.10114984e-01 -3.57953522e-02 4.72737933e+02] [ 1.10114555e-01 9.93916912e-01 -1.98942669e-03 1.91853954e+01] [ 3.57966716e-02 -1.96554331e-03 9.99357161e-01 1.67738258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.77, Y:19.19, Z:16.78 [[ 9.93450356e-01 -1.08513011e-01 -3.57954926e-02 4.72769894e+02] [ 1.08511637e-01 9.94093193e-01 -1.98689657e-03 1.91884533e+01] [ 3.57996597e-02 -1.91034439e-03 9.99357161e-01 1.67759877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.80, Y:19.19, Z:16.78 [[ 9.93615639e-01 -1.06988942e-01 -3.57956364e-02 4.72802189e+02] [ 1.06986674e-01 9.94258475e-01 -1.98430236e-03 1.91914178e+01] [ 3.58024133e-02 -1.85802224e-03 9.99357161e-01 1.67779155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.83, Y:19.19, Z:16.78 [[ 9.93768021e-01 -1.05564112e-01 -3.57957796e-02 4.72833146e+02] [ 1.05561016e-01 9.94410853e-01 -1.98171639e-03 1.91940384e+01] [ 3.58049099e-02 -1.80927248e-03 9.99357161e-01 1.67791418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.87, Y:19.20, Z:16.78 [[ 9.93972961e-01 -1.03616634e-01 -3.57958862e-02 4.72866399e+02] [ 1.03612347e-01 9.94615786e-01 -1.97978924e-03 1.91970368e+01] [ 3.58082926e-02 -1.74103881e-03 9.99357161e-01 1.67808419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.90, Y:19.20, Z:16.78 [[ 9.94038200e-01 -1.02988814e-01 -3.57960988e-02 4.72898319e+02] [ 1.02984259e-01 9.94681023e-01 -1.97593815e-03 1.91993031e+01] [ 3.58091997e-02 -1.72227671e-03 9.99357161e-01 1.67813683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.93, Y:19.20, Z:16.78 [[ 9.94050494e-01 -1.02870028e-01 -3.57962745e-02 4.72931624e+02] [ 1.02865511e-01 9.94693317e-01 -1.97275016e-03 1.92016025e+01] [ 3.58092518e-02 -1.72118879e-03 9.99357161e-01 1.67823748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.96, Y:19.20, Z:16.78 [[ 9.93903618e-01 -1.04279478e-01 -3.57964808e-02 4.72963866e+02] [ 1.04276007e-01 9.94546448e-01 -1.96899861e-03 1.92041658e+01] [ 3.58065890e-02 -1.77571924e-03 9.99357161e-01 1.67835506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.00, Y:19.21, Z:16.78 [[ 9.93790865e-01 -1.05348561e-01 -3.57966221e-02 4.72996245e+02] [ 1.05345874e-01 9.94433698e-01 -1.96642568e-03 1.92059151e+01] [ 3.58045275e-02 -1.81681058e-03 9.99357161e-01 1.67835843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.03, Y:19.21, Z:16.78 [[ 9.93612806e-01 -1.07014808e-01 -3.57969716e-02 4.73028480e+02] [ 1.07013428e-01 9.94255643e-01 -1.96004419e-03 1.92074774e+01] [ 3.58010947e-02 -1.88323164e-03 9.99357161e-01 1.67845637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.06, Y:19.21, Z:16.78 [[ 9.93238925e-01 -1.10430997e-01 -3.57971103e-02 4.73060468e+02] [ 1.10431920e-01 9.93881763e-01 -1.95750632e-03 1.92088475e+01] [ 3.57942645e-02 -2.00887215e-03 9.99357161e-01 1.67847509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.09, Y:19.21, Z:16.78 [[ 9.93091610e-01 -1.11747981e-01 -3.57972537e-02 4.73091384e+02] [ 1.11749851e-01 9.93734446e-01 -1.95488184e-03 1.92103344e+01] [ 3.57914181e-02 -2.05896100e-03 9.99357161e-01 1.67841967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.12, Y:19.21, Z:16.79 [[ 9.92897197e-01 -1.13462355e-01 -3.57973605e-02 4.73123449e+02] [ 1.13465404e-01 9.93540028e-01 -1.95292344e-03 1.92124261e+01] [ 3.57876939e-02 -2.12270977e-03 9.99357161e-01 1.67850718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.16, Y:19.21, Z:16.79 [[ 9.92898324e-01 -1.13452449e-01 -3.57974977e-02 4.73155251e+02] [ 1.13455582e-01 9.93541155e-01 -1.95040572e-03 1.92146354e+01] [ 3.57875655e-02 -2.12487136e-03 9.99357161e-01 1.67854512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.19, Y:19.22, Z:16.79 [[ 9.92948811e-01 -1.13009667e-01 -3.57976686e-02 4.73186833e+02] [ 1.13012627e-01 9.93591644e-01 -1.94726294e-03 1.92173555e+01] [ 3.57883240e-02 -2.11205614e-03 9.99357161e-01 1.67872337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.22, Y:19.22, Z:16.79 [[ 9.93080261e-01 -1.11848616e-01 -3.57978021e-02 4.73220160e+02] [ 1.11850912e-01 9.93723096e-01 -1.94480584e-03 1.92202427e+01] [ 3.57906266e-02 -2.07266854e-03 9.99357161e-01 1.67905183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.25, Y:19.22, Z:16.79 [[ 9.93284112e-01 -1.10023520e-01 -3.57980132e-02 4.73251914e+02] [ 1.10024775e-01 9.93926950e-01 -1.94091355e-03 1.92231561e+01] [ 3.57941562e-02 -2.01078975e-03 9.99357161e-01 1.67909095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.28, Y:19.23, Z:16.80 [[ 9.93784006e-01 -1.05412654e-01 -3.57983599e-02 4.73283751e+02] [ 1.05411156e-01 9.94426843e-01 -1.93449688e-03 1.92273571e+01] [ 3.58027705e-02 -1.85107444e-03 9.99357161e-01 1.67958813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.32, Y:19.23, Z:16.80 [[ 9.94061887e-01 -1.02759096e-01 -3.57985001e-02 4.73315271e+02] [ 1.02755976e-01 9.94704719e-01 -1.93189915e-03 1.92304197e+01] [ 3.58074572e-02 -1.75808249e-03 9.99357161e-01 1.67981124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.35, Y:19.23, Z:16.80 [[ 9.94520164e-01 -9.82247573e-02 -3.57986059e-02 4.73348807e+02] [ 9.82187755e-02 9.95162975e-01 -1.92993606e-03 1.92320871e+01] [ 3.58150147e-02 -1.59673491e-03 9.99357161e-01 1.67960305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.38, Y:19.24, Z:16.80 [[ 9.94897033e-01 -9.43295499e-02 -3.58026411e-02 4.73378579e+02] [ 9.43237484e-02 9.95539849e-01 -1.85484634e-03 1.92369880e+01] [ 3.58179228e-02 -1.53165820e-03 9.99357159e-01 1.68025565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.41, Y:19.24, Z:16.80 [[ 9.95140306e-01 -9.17290027e-02 -3.57989151e-02 4.73411593e+02] [ 9.17190309e-02 9.95783067e-01 -1.92416984e-03 1.92395292e+01] [ 3.58244557e-02 -1.36862284e-03 9.99357161e-01 1.68039914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.44, Y:19.24, Z:16.81 [[ 9.95321705e-01 -8.97392135e-02 -3.57991215e-02 4.73444039e+02] [ 8.97280949e-02 9.95964448e-01 -1.92032210e-03 1.92417863e+01] [ 3.58269805e-02 -1.30084871e-03 9.99357161e-01 1.68054328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.48, Y:19.24, Z:16.81 [[ 9.95458578e-01 -8.82078684e-02 -3.57993285e-02 4.73476946e+02] [ 8.81958998e-02 9.96101305e-01 -1.91645685e-03 1.92437806e+01] [ 3.58288044e-02 -1.24960057e-03 9.99357161e-01 1.68061441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.51, Y:19.25, Z:16.81 [[ 9.95555828e-01 -8.71033093e-02 -3.57995348e-02 4.73508621e+02] [ 8.70907663e-02 9.96198545e-01 -1.91259483e-03 1.92454481e+01] [ 3.58300378e-02 -1.21371399e-03 9.99357161e-01 1.68069171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.54, Y:19.25, Z:16.81 [[ 9.95654349e-01 -8.59697723e-02 -3.57996729e-02 4.73541006e+02] [ 8.59565905e-02 9.96297052e-01 -1.91000639e-03 1.92469630e+01] [ 3.58313114e-02 -1.17551166e-03 9.99357161e-01 1.68072670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.57, Y:19.25, Z:16.81 [[ 9.95661128e-01 -8.58911676e-02 -3.57998099e-02 4.73572366e+02] [ 8.58780275e-02 9.96303832e-01 -1.90743431e-03 1.92486304e+01] [ 3.58313196e-02 -1.17525886e-03 9.99357161e-01 1.68070016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.60, Y:19.25, Z:16.81 [[ 9.95665249e-01 -8.58433324e-02 -3.57999120e-02 4.73604084e+02] [ 8.58302303e-02 9.96307955e-01 -1.90551585e-03 1.92502249e+01] [ 3.58313130e-02 -1.17545878e-03 9.99357161e-01 1.68080590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.64, Y:19.25, Z:16.81 [[ 9.95667017e-01 -8.58227749e-02 -3.58000446e-02 4.73636641e+02] [ 8.58097491e-02 9.96309724e-01 -1.90302267e-03 1.92518984e+01] [ 3.58312552e-02 -1.17721594e-03 9.99357161e-01 1.68099778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.67, Y:19.25, Z:16.81 [[ 9.95668269e-01 -8.58081866e-02 -3.58001834e-02 4.73668790e+02] [ 8.57952453e-02 9.96310978e-01 -1.90040782e-03 1.92538836e+01] [ 3.58311863e-02 -1.17930975e-03 9.99357161e-01 1.68075738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.70, Y:19.26, Z:16.81 [[ 9.95675084e-01 -8.57283334e-02 -3.58019578e-02 4.73700734e+02] [ 8.57165430e-02 9.96317815e-01 -1.86693026e-03 1.92553404e+01] [ 3.58301772e-02 -1.20996411e-03 9.99357161e-01 1.68108379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.73, Y:19.26, Z:16.81 [[ 9.95699294e-01 -8.54473907e-02 -3.58002670e-02 4.73733771e+02] [ 8.54342739e-02 9.96341999e-01 -1.89880901e-03 1.92571373e+01] [ 3.58315579e-02 -1.16792702e-03 9.99357161e-01 1.68121955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.77, Y:19.26, Z:16.81 [[ 9.95760859e-01 -8.47268510e-02 -3.58004659e-02 4.73766272e+02] [ 8.47134041e-02 9.96403557e-01 -1.89505050e-03 1.92588618e+01] [ 3.58322733e-02 -1.14576222e-03 9.99357161e-01 1.68145133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.665099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:473.80, Y:19.26, Z:16.81 [[ 9.95949077e-01 -8.24848601e-02 -3.58006033e-02 4.73795254e+02] [ 8.24700596e-02 9.96591746e-01 -1.89245262e-03 1.92596061e+01] [ 3.58346844e-02 -1.06769144e-03 9.99357161e-01 1.68131614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.83, Y:19.26, Z:16.82 [[ 9.95774135e-01 -8.45773441e-02 -3.57846989e-02 4.73829778e+02] [ 8.45531469e-02 9.96416560e-01 -2.19170695e-03 1.92619932e+01] [ 3.58418354e-02 -8.43263810e-04 9.99357119e-01 1.68165497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.86, Y:19.26, Z:16.82 [[ 9.95800837e-01 -8.42556888e-02 -3.58004439e-02 4.73862946e+02] [ 8.42419701e-02 9.96443527e-01 -1.89414843e-03 1.92632944e+01] [ 3.58327134e-02 -1.12970533e-03 9.99357164e-01 1.68183277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.89, Y:19.26, Z:16.82 [[ 9.95801624e-01 -8.42463052e-02 -3.58006478e-02 4.73894271e+02] [ 8.42327191e-02 9.96444316e-01 -1.89028673e-03 1.92646854e+01] [ 3.58326017e-02 -1.13323531e-03 9.99357164e-01 1.68196351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.93, Y:19.27, Z:16.82 [[ 9.95810607e-01 -8.41399578e-02 -3.58008769e-02 4.73927749e+02] [ 8.41264593e-02 9.96453302e-01 -1.88593834e-03 1.92663592e+01] [ 3.58325847e-02 -1.13376361e-03 9.99357164e-01 1.68208361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.96, Y:19.27, Z:16.82 [[ 9.95793311e-01 -8.43443172e-02 -3.58010777e-02 4.73960978e+02] [ 8.43310878e-02 9.96436012e-01 -1.88211810e-03 1.92678625e+01] [ 3.58322291e-02 -1.14494321e-03 9.99357164e-01 1.68222907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.99, Y:19.27, Z:16.82 [[ 9.95749991e-01 -8.48541276e-02 -3.58012799e-02 4.73993243e+02] [ 8.48413657e-02 9.96392701e-01 -1.87826324e-03 1.92689855e+01] [ 3.58315124e-02 -1.16714888e-03 9.99357164e-01 1.68241515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.02, Y:19.27, Z:16.83 [[ 9.95771790e-01 -8.45978810e-02 -3.58014137e-02 4.74023950e+02] [ 8.45850453e-02 9.96414498e-01 -1.87571098e-03 1.92703107e+01] [ 3.58317288e-02 -1.16048412e-03 9.99357164e-01 1.68254399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.06, Y:19.27, Z:16.83 [[ 9.95795402e-01 -8.43193947e-02 -3.58016384e-02 4.74056486e+02] [ 8.43065337e-02 9.96438110e-01 -1.87141227e-03 1.92715215e+01] [ 3.58319132e-02 -1.15476830e-03 9.99357164e-01 1.68266933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.09, Y:19.27, Z:16.83 [[ 9.95896634e-01 -8.31151199e-02 -3.58018389e-02 4.74087236e+02] [ 8.31016198e-02 9.96539328e-01 -1.86756745e-03 1.92720417e+01] [ 3.58331636e-02 -1.11528667e-03 9.99357164e-01 1.68273412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.12, Y:19.27, Z:16.83 [[ 9.95954072e-01 -8.24238965e-02 -3.58020623e-02 4.74119687e+02] [ 8.24101044e-02 9.96596760e-01 -1.86327616e-03 1.92732730e+01] [ 3.58337978e-02 -1.09471421e-03 9.99357164e-01 1.68290883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.15, Y:19.27, Z:16.83 [[ 9.96032590e-01 -8.14695241e-02 -3.58021964e-02 4.74151801e+02] [ 8.14552088e-02 9.96675266e-01 -1.86069575e-03 1.92746832e+01] [ 3.58347536e-02 -1.06296178e-03 9.99357164e-01 1.68294962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.18, Y:19.28, Z:16.83 [[ 9.96112117e-01 -8.04912430e-02 -3.58023634e-02 4.74183584e+02] [ 8.04764122e-02 9.96754783e-01 -1.85747618e-03 1.92759447e+01] [ 3.58356875e-02 -1.03099122e-03 9.99357164e-01 1.68302118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.22, Y:19.28, Z:16.83 [[ 9.96248928e-01 -7.87797910e-02 -3.58024949e-02 4.74215998e+02] [ 7.87639473e-02 9.96891569e-01 -1.85493793e-03 1.92765665e+01] [ 3.58373369e-02 -9.71965897e-04 9.99357164e-01 1.68292792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.25, Y:19.28, Z:16.83 [[ 9.96310407e-01 -7.79983647e-02 -3.58026257e-02 4.74248210e+02] [ 7.79821077e-02 9.96953038e-01 -1.85240994e-03 1.92779603e+01] [ 3.58380214e-02 -9.46388918e-04 9.99357164e-01 1.68298928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.28, Y:19.28, Z:16.83 [[ 9.96425728e-01 -7.65109843e-02 -3.58027573e-02 4.74279418e+02] [ 7.64938595e-02 9.97068336e-01 -1.84986344e-03 1.92790594e+01] [ 3.58393305e-02 -8.95439554e-04 9.99357164e-01 1.68300383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.31, Y:19.28, Z:16.83 [[ 9.96457984e-01 -7.60896396e-02 -3.58029795e-02 4.74311056e+02] [ 7.60723978e-02 9.97100589e-01 -1.84555245e-03 1.92805124e+01] [ 3.58395994e-02 -8.84603025e-04 9.99357164e-01 1.68302410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.34, Y:19.28, Z:16.83 [[ 9.96485729e-01 -7.57253750e-02 -3.58030759e-02 4.74343594e+02] [ 7.57079655e-02 9.97128329e-01 -1.84368152e-03 1.92821923e+01] [ 3.58398747e-02 -8.73375714e-04 9.99357164e-01 1.68317909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.38, Y:19.28, Z:16.83 [[ 9.96519163e-01 -7.52840449e-02 -3.58032046e-02 4.74375573e+02] [ 7.52664407e-02 9.97161759e-01 -1.84117813e-03 1.92835709e+01] [ 3.58401978e-02 -8.60010484e-04 9.99357164e-01 1.68339946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.41, Y:19.29, Z:16.84 [[ 9.96551626e-01 -7.48530352e-02 -3.58033372e-02 4.74407358e+02] [ 7.48352457e-02 9.97194217e-01 -1.83859655e-03 1.92850603e+01] [ 3.58405053e-02 -8.47095152e-04 9.99357164e-01 1.68353928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.44, Y:19.29, Z:16.84 [[ 9.96597975e-01 -7.42333299e-02 -3.58034695e-02 4.74438266e+02] [ 7.42152336e-02 9.97240557e-01 -1.83601496e-03 1.92866009e+01] [ 3.58409654e-02 -8.27394065e-04 9.99357164e-01 1.68366759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.47, Y:19.29, Z:16.84 [[ 9.96684708e-01 -7.30594843e-02 -3.58036886e-02 4.74471499e+02] [ 7.30407849e-02 9.97327273e-01 -1.83173337e-03 1.92874887e+01] [ 3.58418206e-02 -7.89468873e-04 9.99357164e-01 1.68384455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.50, Y:19.29, Z:16.84 [[ 9.96606549e-01 -7.41171735e-02 -3.58054575e-02 4.74502131e+02] [ 7.41003981e-02 9.97249167e-01 -1.79714403e-03 1.92896193e+01] [ 3.58401619e-02 -8.62153140e-04 9.99357163e-01 1.68400429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.53, Y:19.29, Z:16.84 [[ 9.96579584e-01 -7.44797623e-02 -3.58036105e-02 4.74534155e+02] [ 7.44619253e-02 9.97222172e-01 -1.83321736e-03 1.92911025e+01] [ 3.58406918e-02 -8.39058779e-04 9.99357164e-01 1.68411830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.57, Y:19.29, Z:16.84 [[ 9.96458633e-01 -7.60807818e-02 -3.58037431e-02 4.74566289e+02] [ 7.60640704e-02 9.97101252e-01 -1.83062256e-03 1.92921241e+01] [ 3.58392323e-02 -8.99238787e-04 9.99357164e-01 1.68423526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.60, Y:19.29, Z:16.84 [[ 9.96366017e-01 -7.72841640e-02 -3.58038748e-02 4.74597835e+02] [ 7.72683213e-02 9.97008658e-01 -1.82804449e-03 1.92932340e+01] [ 3.58380520e-02 -9.45103894e-04 9.99357164e-01 1.68433770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.63, Y:19.29, Z:16.85 [[ 9.96234757e-01 -7.89580747e-02 -3.58040777e-02 4.74630302e+02] [ 7.89434548e-02 9.96877427e-01 -1.82406199e-03 1.92941616e+01] [ 3.58363012e-02 -1.00930363e-03 9.99357164e-01 1.68453724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.66, Y:19.29, Z:16.85 [[ 9.95945357e-01 -8.25282042e-02 -3.58042112e-02 4.74661464e+02] [ 8.25159820e-02 9.96588077e-01 -1.82143700e-03 1.92945758e+01] [ 3.58323699e-02 -1.14036793e-03 9.99357164e-01 1.68467744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.69, Y:19.30, Z:16.85 [[ 9.95815524e-01 -8.40802775e-02 -3.58043105e-02 4.74692238e+02] [ 8.40691272e-02 9.96458264e-01 -1.81948261e-03 1.92956616e+01] [ 3.58304837e-02 -1.19816811e-03 9.99357164e-01 1.68480574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.72, Y:19.30, Z:16.85 [[ 9.95683955e-01 -8.56242146e-02 -3.58044081e-02 4.74724426e+02] [ 8.56141301e-02 9.96326712e-01 -1.81755946e-03 1.92968522e+01] [ 3.58285153e-02 -1.25564846e-03 9.99357164e-01 1.68494599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.76, Y:19.30, Z:16.85 [[ 9.95492387e-01 -8.78233596e-02 -3.58045370e-02 4.74756389e+02] [ 8.78147861e-02 9.96135166e-01 -1.81501736e-03 1.92979991e+01] [ 3.58255593e-02 -1.33733180e-03 9.99357164e-01 1.68508608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.79, Y:19.30, Z:16.85 [[ 9.95422225e-01 -8.86150130e-02 -3.58046649e-02 4.74789630e+02] [ 8.86070414e-02 9.96065011e-01 -1.81249026e-03 1.92995158e+01] [ 3.58243878e-02 -1.36835234e-03 9.99357164e-01 1.68521945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.82, Y:19.30, Z:16.85 [[ 9.95378826e-01 -8.91010867e-02 -3.58048632e-02 4.74821793e+02] [ 8.90935701e-02 9.96021619e-01 -1.80856464e-03 1.93008823e+01] [ 3.58235629e-02 -1.38977614e-03 9.99357164e-01 1.68530117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.85, Y:19.30, Z:16.85 [[ 9.95309575e-01 -8.98712921e-02 -3.58050272e-02 4.74853626e+02] [ 8.98643897e-02 9.95952375e-01 -1.80531222e-03 1.93018905e+01] [ 3.58223476e-02 -1.42075238e-03 9.99357164e-01 1.68542826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.89, Y:19.30, Z:16.86 [[ 9.95314425e-01 -8.98174464e-02 -3.58053326e-02 4.74886192e+02] [ 8.98107274e-02 9.95957226e-01 -1.79923515e-03 1.93032099e+01] [ 3.58221824e-02 -1.42489827e-03 9.99357164e-01 1.68552333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.92, Y:19.30, Z:16.86 [[ 9.95326321e-01 -8.96854466e-02 -3.58055262e-02 4.74918746e+02] [ 8.96787811e-02 9.95969122e-01 -1.79537409e-03 1.93045613e+01] [ 3.58222174e-02 -1.42401285e-03 9.99357164e-01 1.68561234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.95, Y:19.31, Z:16.86 [[ 9.95378807e-01 -8.91009608e-02 -3.58057198e-02 4.74951833e+02] [ 8.90940568e-02 9.96021606e-01 -1.79150447e-03 1.93064818e+01] [ 3.58228953e-02 -1.40685125e-03 9.99357164e-01 1.68574288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.98, Y:19.31, Z:16.86 [[ 9.95443160e-01 -8.83790226e-02 -3.58059151e-02 4.74984031e+02] [ 8.83717929e-02 9.96085956e-01 -1.78759178e-03 1.93090045e+01] [ 3.58237548e-02 -1.38478691e-03 9.99357164e-01 1.68579611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.02, Y:19.31, Z:16.86 [[ 9.95536417e-01 -8.73238088e-02 -3.58021528e-02 4.75015712e+02] [ 8.73131852e-02 9.96179169e-01 -1.86311710e-03 1.93105647e+01] [ 3.58280533e-02 -1.27119908e-03 9.99357161e-01 1.68589328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.05, Y:19.31, Z:16.86 [[ 9.95631157e-01 -8.62351445e-02 -3.58064021e-02 4.75046909e+02] [ 8.62268922e-02 9.96273940e-01 -1.77752368e-03 1.93127122e+01] [ 3.58262703e-02 -1.31771681e-03 9.99357164e-01 1.68597203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.08, Y:19.32, Z:16.86 [[ 9.95924117e-01 -8.27831350e-02 -3.58064942e-02 4.75079915e+02] [ 8.27727212e-02 9.96566869e-01 -1.77566473e-03 1.93156695e+01] [ 3.58305609e-02 -1.19537364e-03 9.99357164e-01 1.68611952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.11, Y:19.32, Z:16.86 [[ 9.96109105e-01 -8.05265963e-02 -3.58066815e-02 4.75111683e+02] [ 8.05148622e-02 9.96751833e-01 -1.77188142e-03 1.93176829e+01] [ 3.58330590e-02 -1.11798281e-03 9.99357164e-01 1.68625483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.14, Y:19.32, Z:16.86 [[ 9.96299792e-01 -7.81319211e-02 -3.58068059e-02 4.75143311e+02] [ 7.81187324e-02 9.96942492e-01 -1.76936304e-03 1.93201495e+01] [ 3.58355700e-02 -1.03436626e-03 9.99357164e-01 1.68642737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.18, Y:19.32, Z:16.87 [[ 9.96481813e-01 -7.57750655e-02 -3.58069293e-02 4.75175642e+02] [ 7.57604464e-02 9.97124482e-01 -1.76686273e-03 1.93226909e+01] [ 3.58378500e-02 -9.52102369e-04 9.99357164e-01 1.68663495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.21, Y:19.33, Z:16.87 [[ 9.96850977e-01 -7.07529874e-02 -3.58070571e-02 4.75206211e+02] [ 7.07352234e-02 9.97493567e-01 -1.76426798e-03 1.93257295e+01] [ 3.58421364e-02 -7.74107928e-04 9.99357164e-01 1.68680245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.24, Y:19.33, Z:16.87 [[ 9.97172903e-01 -6.60608891e-02 -3.58072782e-02 4.75237147e+02] [ 6.60402626e-02 9.97815407e-01 -1.75977009e-03 1.93292686e+01] [ 3.58453058e-02 -6.09927008e-04 9.99357164e-01 1.68691065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.27, Y:19.33, Z:16.87 [[ 9.97329708e-01 -6.36496520e-02 -3.58074895e-02 4.75269191e+02] [ 6.36276268e-02 9.97972166e-01 -1.75546005e-03 1.93316180e+01] [ 3.58466122e-02 -5.27573116e-04 9.99357164e-01 1.68705188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.30, Y:19.33, Z:16.87 [[ 9.97331938e-01 -6.36146271e-02 -3.58076129e-02 4.75300981e+02] [ 6.35926698e-02 9.97974398e-01 -1.75293954e-03 1.93331438e+01] [ 3.58465935e-02 -5.28839115e-04 9.99357164e-01 1.68716597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.33, Y:19.34, Z:16.87 [[ 9.97610918e-01 -5.90784820e-02 -3.58076743e-02 4.75331888e+02] [ 5.90536483e-02 9.98253274e-01 -1.75168446e-03 1.93352960e+01] [ 3.58486149e-02 -3.67074259e-04 9.99357164e-01 1.68732556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.36, Y:19.34, Z:16.87 [[ 9.97755538e-01 -5.65834927e-02 -3.58077360e-02 4.75362241e+02] [ 5.65570981e-02 9.98397832e-01 -1.75042105e-03 1.93369962e+01] [ 3.58494109e-02 -2.78689338e-04 9.99357164e-01 1.68743255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.39, Y:19.34, Z:16.88 [[ 9.97904329e-01 -5.38957635e-02 -3.58077667e-02 4.75392703e+02] [ 5.38676614e-02 9.98546550e-01 -1.74979419e-03 1.93384575e+01] [ 3.58500284e-02 -1.82753454e-04 9.99357164e-01 1.68754950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.42, Y:19.34, Z:16.88 [[ 9.98166078e-01 -4.88086521e-02 -3.58077667e-02 4.75422607e+02] [ 4.87772769e-02 9.98808147e-01 -1.74979419e-03 1.93397398e+01] [ 3.58504942e-02 -2.01463187e-08 9.99357164e-01 1.68777409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.45, Y:19.34, Z:16.88 [[ 9.98270409e-01 -4.66261609e-02 -3.58077044e-02 4.75450840e+02] [ 4.65933363e-02 9.98912406e-01 -1.75106674e-03 1.93409725e+01] [ 3.58504057e-02 7.96376949e-05 9.99357164e-01 1.68787339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.48, Y:19.34, Z:16.88 [[ 9.98370755e-01 -4.44260565e-02 -3.58072668e-02 4.75479757e+02] [ 4.43914978e-02 9.99012661e-01 -1.75997102e-03 1.93421182e+01] [ 3.58501014e-02 1.67565395e-04 9.99357164e-01 1.68801294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.51, Y:19.34, Z:16.88 [[ 9.98463592e-01 -4.22886025e-02 -3.58068237e-02 4.75507591e+02] [ 4.22523480e-02 9.99105405e-01 -1.76894012e-03 1.93429411e+01] [ 3.58495971e-02 2.53299927e-04 9.99357164e-01 1.68812896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.53, Y:19.34, Z:16.88 [[ 9.98592680e-01 -3.91224819e-02 -3.58063038e-02 4.75534567e+02] [ 3.90838175e-02 9.99234351e-01 -1.77940084e-03 1.93422432e+01] [ 3.58485034e-02 3.77449612e-04 9.99357165e-01 1.68816808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.56, Y:19.34, Z:16.88 [[ 9.98611428e-01 -3.86411826e-02 -3.58060782e-02 4.75562355e+02] [ 3.86020466e-02 9.99253071e-01 -1.78392900e-03 1.93418077e+01] [ 3.58482668e-02 3.99263989e-04 9.99357165e-01 1.68825326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.59, Y:19.34, Z:16.88 [[ 9.98597748e-01 -3.89935904e-02 -3.58055605e-02 4.75590285e+02] [ 3.89543104e-02 9.99239382e-01 -1.79425989e-03 1.93414712e+01] [ 3.58482908e-02 3.96962968e-04 9.99357165e-01 1.68832580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.62, Y:19.34, Z:16.88 [[ 9.98555740e-01 -4.00553773e-02 -3.58050402e-02 4.75617099e+02] [ 4.00164095e-02 9.99197393e-01 -1.80458423e-03 1.93410940e+01] [ 3.58485861e-02 3.69188794e-04 9.99357165e-01 1.68840588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.65, Y:19.34, Z:16.89 [[ 9.98386325e-01 -4.40768737e-02 -3.58046810e-02 4.75645022e+02] [ 4.40402359e-02 9.99028115e-01 -1.81168372e-03 1.93383773e+01] [ 3.58497363e-02 2.31913658e-04 9.99357165e-01 1.68852006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.67, Y:19.34, Z:16.89 [[ 9.98247510e-01 -4.71165658e-02 -3.58041554e-02 4.75672854e+02] [ 4.70815119e-02 9.98889389e-01 -1.82201160e-03 1.93371834e+01] [ 3.58502378e-02 1.33104775e-04 9.99357165e-01 1.68861117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.70, Y:19.34, Z:16.89 [[ 9.98081165e-01 -5.05181963e-02 -3.58036294e-02 4.75700997e+02] [ 5.04849614e-02 9.98723141e-01 -1.83229051e-03 1.93356928e+01] [ 3.58504772e-02 2.12298022e-05 9.99357165e-01 1.68866321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.73, Y:19.33, Z:16.89 [[ 9.97641488e-01 -5.85627872e-02 -3.58030985e-02 4.75728802e+02] [ 5.85343585e-02 9.98283694e-01 -1.84260649e-03 1.93308783e+01] [ 3.58495576e-02 -2.57450726e-04 9.99357165e-01 1.68864279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.76, Y:19.33, Z:16.89 [[ 9.97393113e-01 -6.26510510e-02 -3.58025658e-02 4.75758547e+02] [ 6.26248852e-02 9.98035415e-01 -1.85289919e-03 1.93294192e+01] [ 3.58483147e-02 -3.94062677e-04 9.99357165e-01 1.68869929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.79, Y:19.33, Z:16.89 [[ 9.97134858e-01 -6.66352331e-02 -3.58025328e-02 4.75789641e+02] [ 6.66116107e-02 9.97777259e-01 -1.85353710e-03 1.93279203e+01] [ 3.58464639e-02 -5.36637922e-04 9.99357165e-01 1.68879402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.82, Y:19.33, Z:16.89 [[ 9.96845628e-01 -7.08305544e-02 -3.58026002e-02 4.75820491e+02] [ 7.08096822e-02 9.97488124e-01 -1.85223279e-03 1.93267000e+01] [ 3.58438632e-02 -6.88780582e-04 9.99357165e-01 1.68885927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.85, Y:19.33, Z:16.89 [[ 9.96848142e-01 -7.07951437e-02 -3.58026337e-02 4.75852275e+02] [ 7.07742719e-02 9.97490639e-01 -1.85158614e-03 1.93283146e+01] [ 3.58438752e-02 -6.88155128e-04 9.99357165e-01 1.68897341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.88, Y:19.32, Z:16.89 [[ 9.96306797e-01 -7.80444294e-02 -3.58026994e-02 4.75884305e+02] [ 7.80282773e-02 9.96949429e-01 -1.85031434e-03 1.93244794e+01] [ 3.58378875e-02 -9.50142202e-04 9.99357165e-01 1.68906091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.92, Y:19.32, Z:16.89 [[ 9.96051523e-01 -8.12374620e-02 -3.58027654e-02 4.75916848e+02] [ 8.12234157e-02 9.96694205e-01 -1.84903602e-03 1.93235762e+01] [ 3.58346198e-02 -1.06628776e-03 9.99357165e-01 1.68916802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.95, Y:19.32, Z:16.89 [[ 9.95813701e-01 -8.41024667e-02 -3.58029009e-02 4.75948041e+02] [ 8.40903637e-02 9.96456422e-01 -1.84640970e-03 1.93229034e+01] [ 3.58313181e-02 -1.17199888e-03 9.99357165e-01 1.68923127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.98, Y:19.32, Z:16.89 [[ 9.95585287e-01 -8.67645204e-02 -3.58030018e-02 4.75978816e+02] [ 8.67542061e-02 9.96228039e-01 -1.84445016e-03 1.93223974e+01] [ 3.58279871e-02 -1.26975355e-03 9.99357165e-01 1.68931634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.01, Y:19.32, Z:16.89 [[ 9.95191644e-01 -9.11686875e-02 -3.58030971e-02 4.76010804e+02] [ 9.11612837e-02 9.95834437e-01 -1.84259798e-03 1.93206592e+01] [ 3.58219443e-02 -1.43011819e-03 9.99357165e-01 1.68947210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.04, Y:19.32, Z:16.89 [[ 9.95015309e-01 -9.30734291e-02 -3.58032318e-02 4.76041800e+02] [ 9.30673499e-02 9.95658115e-01 -1.83997672e-03 1.93207529e+01] [ 3.58190313e-02 -1.50130690e-03 9.99357165e-01 1.68948765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.07, Y:19.32, Z:16.90 [[ 9.94678076e-01 -9.66107971e-02 -3.58033322e-02 4.76074132e+02] [ 9.66070738e-02 9.95320901e-01 -1.83802261e-03 1.93202689e+01] [ 3.58133776e-02 -1.63061436e-03 9.99357165e-01 1.68964797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.11, Y:19.32, Z:16.90 [[ 9.94685059e-01 -9.65388318e-02 -3.58034647e-02 4.76106762e+02] [ 9.65351548e-02 9.95327883e-01 -1.83543637e-03 1.93218827e+01] [ 3.58133777e-02 -1.63061188e-03 9.99357165e-01 1.68976510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.14, Y:19.32, Z:16.90 [[ 9.94362674e-01 -9.98046882e-02 -3.58035973e-02 4.76139379e+02] [ 9.98032152e-02 9.95005507e-01 -1.83284764e-03 1.93218667e+01] [ 3.58077032e-02 -1.75079884e-03 9.99357165e-01 1.68993400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.17, Y:19.32, Z:16.90 [[ 9.94214780e-01 -1.01267293e-01 -3.58037298e-02 4.76171908e+02] [ 1.01266859e-01 9.94857615e-01 -1.83025423e-03 1.93228880e+01] [ 3.58049582e-02 -1.80606545e-03 9.99357165e-01 1.69005839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.20, Y:19.32, Z:16.90 [[ 9.94106331e-01 -1.02326372e-01 -3.58038617e-02 4.76203955e+02] [ 1.02326716e-01 9.94749166e-01 -1.82767152e-03 1.93241041e+01] [ 3.58028805e-02 -1.84679174e-03 9.99357165e-01 1.69012547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.24, Y:19.33, Z:16.90 [[ 9.93861977e-01 -1.04673025e-01 -3.58040257e-02 4.76236463e+02] [ 1.04675001e-01 9.94504809e-01 -1.82445354e-03 1.93255591e+01] [ 3.57982468e-02 -1.93453144e-03 9.99357165e-01 1.69016528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.27, Y:19.33, Z:16.90 [[ 9.93780845e-01 -1.05440478e-01 -3.58041536e-02 4.76268550e+02] [ 1.05443041e-01 9.94423675e-01 -1.82193872e-03 1.93275477e+01] [ 3.57966041e-02 -1.96469105e-03 9.99357165e-01 1.69022067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.30, Y:19.33, Z:16.90 [[ 9.93713624e-01 -1.06072086e-01 -3.58042816e-02 4.76300491e+02] [ 1.06075149e-01 9.94356451e-01 -1.81942079e-03 1.93297561e+01] [ 3.57952081e-02 -1.98996126e-03 9.99357165e-01 1.69028818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.33, Y:19.33, Z:16.90 [[ 9.93614729e-01 -1.06994458e-01 -3.58044113e-02 4.76331340e+02] [ 1.06998209e-01 9.94257553e-01 -1.81686377e-03 1.93321275e+01] [ 3.57932008e-02 -2.02574529e-03 9.99357165e-01 1.69032513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.36, Y:19.33, Z:16.90 [[ 9.93489805e-01 -1.08148253e-01 -3.58045079e-02 4.76362089e+02] [ 1.08152818e-01 9.94132624e-01 -1.81495884e-03 1.93346835e+01] [ 3.57907140e-02 -2.06921533e-03 9.99357165e-01 1.69032101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.39, Y:19.34, Z:16.90 [[ 9.93404961e-01 -1.08924812e-01 -3.58046025e-02 4.76394582e+02] [ 1.08929947e-01 9.94047775e-01 -1.81309107e-03 1.93369598e+01] [ 3.57889760e-02 -2.09905979e-03 9.99357165e-01 1.69048120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.43, Y:19.34, Z:16.91 [[ 9.93342875e-01 -1.09489492e-01 -3.58048025e-02 4.76426590e+02] [ 1.09495135e-01 9.93985685e-01 -1.80913232e-03 1.93395870e+01] [ 3.57875421e-02 -2.12336299e-03 9.99357165e-01 1.69051597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.46, Y:19.34, Z:16.91 [[ 9.93223890e-01 -1.10563545e-01 -3.58051310e-02 4.76459536e+02] [ 1.10570117e-01 9.93866691e-01 -1.80260727e-03 1.93438146e+01] [ 3.57848297e-02 -2.16858492e-03 9.99357165e-01 1.69076180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.49, Y:19.35, Z:16.91 [[ 9.93196408e-01 -1.10810075e-01 -3.58053302e-02 4.76491061e+02] [ 1.10816949e-01 9.93839207e-01 -1.79864118e-03 1.93468378e+01] [ 3.57840486e-02 -2.18143351e-03 9.99357165e-01 1.69087511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.52, Y:19.35, Z:16.91 [[ 9.93215366e-01 -1.10639968e-01 -3.58054950e-02 4.76523589e+02] [ 1.10646850e-01 9.93858165e-01 -1.79535542e-03 1.93497003e+01] [ 3.57842216e-02 -2.17859064e-03 9.99357165e-01 1.69101372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.56, Y:19.35, Z:16.91 [[ 9.93293705e-01 -1.09934383e-01 -3.58056869e-02 4.76556141e+02] [ 1.09940946e-01 9.93936506e-01 -1.79151907e-03 1.93529036e+01] [ 3.57855289e-02 -2.15700649e-03 9.99357165e-01 1.69117833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.335099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:476.59, Y:19.36, Z:16.91 [[ 9.93421471e-01 -1.08773705e-01 -3.58058863e-02 4.76588133e+02] [ 1.08779660e-01 9.94064279e-01 -1.78752649e-03 1.93562598e+01] [ 3.57877884e-02 -2.11918495e-03 9.99357165e-01 1.69130394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:476.62, Y:19.36, Z:16.92 [[ 9.93761844e-01 -1.05618765e-01 -3.58060512e-02 4.76619825e+02] [ 1.05622799e-01 9.94404667e-01 -1.78421608e-03 1.93614135e+01] [ 3.57941511e-02 -2.00884947e-03 9.99357165e-01 1.69151105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.65, Y:19.36, Z:16.92 [[ 9.93960063e-01 -1.03736723e-01 -3.58062128e-02 4.76652521e+02] [ 1.03739656e-01 9.94602892e-01 -1.78096669e-03 1.93649003e+01] [ 3.57977145e-02 -1.94431442e-03 9.99357165e-01 1.69169320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.68, Y:19.37, Z:16.92 [[ 9.94218526e-01 -1.01229561e-01 -3.58064088e-02 4.76684020e+02] [ 1.01231015e-01 9.94861359e-01 -1.77701718e-03 1.93683918e+01] [ 3.58022992e-02 -1.85797570e-03 9.99357165e-01 1.69183301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.72, Y:19.37, Z:16.92 [[ 9.94775318e-01 -9.56031146e-02 -3.58065710e-02 4.76716379e+02] [ 9.56010488e-02 9.95418150e-01 -1.77374369e-03 1.93733133e+01] [ 3.58120861e-02 -1.65866930e-03 9.99357165e-01 1.69201383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.75, Y:19.38, Z:16.92 [[ 9.95009476e-01 -9.31344102e-02 -3.58067678e-02 4.76749667e+02] [ 9.31308923e-02 9.95652301e-01 -1.76976107e-03 1.93764959e+01] [ 3.58159165e-02 -1.57378721e-03 9.99357165e-01 1.69216221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.78, Y:19.38, Z:16.92 [[ 9.95254915e-01 -9.04738357e-02 -3.58069623e-02 4.76782382e+02] [ 9.04687409e-02 9.95897730e-01 -1.76581703e-03 1.93795438e+01] [ 3.58198328e-02 -1.48197272e-03 9.99357165e-01 1.69230733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.81, Y:19.38, Z:16.92 [[ 9.95683424e-01 -8.56292451e-02 -3.58071545e-02 4.76813247e+02] [ 8.56211622e-02 9.96326208e-01 -1.76191175e-03 1.93830748e+01] [ 3.58264776e-02 -1.31154386e-03 9.99357165e-01 1.69237881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.85, Y:19.39, Z:16.92 [[ 9.95902758e-01 -8.30393280e-02 -3.58073667e-02 4.76845094e+02] [ 8.30297287e-02 9.96545521e-01 -1.75758930e-03 1.93855149e+01] [ 3.58296199e-02 -1.22268791e-03 9.99357165e-01 1.69243568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.88, Y:19.39, Z:16.92 [[ 9.96122045e-01 -8.03660044e-02 -3.58074909e-02 4.76876731e+02] [ 8.03547710e-02 9.96764782e-01 -1.75505385e-03 1.93879184e+01] [ 3.58326926e-02 -1.12905490e-03 9.99357165e-01 1.69249560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.91, Y:19.39, Z:16.93 [[ 9.96354851e-01 -7.74262552e-02 -3.58076199e-02 4.76907818e+02] [ 7.74132198e-02 9.96997554e-01 -1.75241897e-03 1.93899036e+01] [ 3.58357927e-02 -1.02595201e-03 9.99357165e-01 1.69251327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.94, Y:19.39, Z:16.93 [[ 9.96566064e-01 -7.46584736e-02 -3.58077158e-02 4.76939441e+02] [ 7.46437235e-02 9.97208730e-01 -1.75045644e-03 1.93920899e+01] [ 3.58384532e-02 -9.28375755e-04 9.99357165e-01 1.69256923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.97, Y:19.39, Z:16.93 [[ 9.97054424e-01 -6.78253289e-02 -3.58078394e-02 4.76971343e+02] [ 6.78062647e-02 9.97696976e-01 -1.74792544e-03 1.93947205e+01] [ 3.58439267e-02 -6.85219039e-04 9.99357165e-01 1.69263172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.00, Y:19.40, Z:16.93 [[ 9.97339455e-01 -6.34964689e-02 -3.58079617e-02 4.77002193e+02] [ 6.34747055e-02 9.97981921e-01 -1.74541709e-03 1.93967393e+01] [ 3.58465262e-02 -5.32126497e-04 9.99357165e-01 1.69279042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.03, Y:19.40, Z:16.93 [[ 9.97591596e-01 -5.94036382e-02 -3.58080239e-02 4.77032708e+02] [ 5.93792848e-02 9.98233970e-01 -1.74413816e-03 1.93990297e+01] [ 3.58483940e-02 -3.86317275e-04 9.99357165e-01 1.69292056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.06, Y:19.40, Z:16.93 [[ 9.98090586e-01 -5.03285778e-02 -3.58080548e-02 4.77063164e+02] [ 5.02984060e-02 9.98732712e-01 -1.74350485e-03 1.94020579e+01] [ 3.58504238e-02 -6.09123054e-05 9.99357165e-01 1.69321543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.09, Y:19.40, Z:16.93 [[ 9.98288793e-01 -4.62306057e-02 -3.58080548e-02 4.77091866e+02] [ 4.61977980e-02 9.98930790e-01 -1.74350485e-03 1.94039979e+01] [ 3.58503717e-02 8.62680674e-05 9.99357165e-01 1.69340899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.12, Y:19.41, Z:16.93 [[ 9.98452282e-01 -4.25538514e-02 -3.58079594e-02 4.77119000e+02] [ 4.25186094e-02 9.99094150e-01 -1.74546164e-03 1.94054571e+01] [ 3.58497989e-02 2.20255517e-04 9.99357165e-01 1.69348527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.15, Y:19.41, Z:16.94 [[ 9.98659012e-01 -3.73896138e-02 -3.58077386e-02 4.77146390e+02] [ 3.73508908e-02 9.99300680e-01 -1.74997947e-03 1.94060421e+01] [ 3.58481286e-02 4.10181836e-04 9.99357165e-01 1.69367654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.17, Y:19.41, Z:16.94 [[ 9.98704999e-01 -3.61409209e-02 -3.58072333e-02 4.77173662e+02] [ 3.61010271e-02 9.99346595e-01 -1.76025942e-03 1.94065740e+01] [ 3.58474540e-02 4.65301982e-04 9.99357165e-01 1.69378786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.20, Y:19.41, Z:16.94 [[ 9.98703262e-01 -3.61892422e-02 -3.58068850e-02 4.77201359e+02] [ 3.61491265e-02 9.99344844e-01 -1.76731532e-03 1.94069063e+01] [ 3.58473837e-02 4.70635958e-04 9.99357165e-01 1.69390192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.23, Y:19.41, Z:16.94 [[ 9.98667608e-01 -3.71606181e-02 -3.58063827e-02 4.77229305e+02] [ 3.71207636e-02 9.99309206e-01 -1.77743490e-03 1.94069003e+01] [ 3.58476984e-02 4.45906390e-04 9.99357165e-01 1.69403871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.26, Y:19.41, Z:16.94 [[ 9.98589354e-01 -3.92076657e-02 -3.58058680e-02 4.77256048e+02] [ 3.91687569e-02 9.99231011e-01 -1.78774269e-03 1.94063498e+01] [ 3.58484269e-02 3.82749480e-04 9.99357165e-01 1.69414481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.28, Y:19.40, Z:16.94 [[ 9.98298891e-01 -4.60139206e-02 -3.58056446e-02 4.77284243e+02] [ 4.59792267e-02 9.98940788e-01 -1.79220686e-03 1.94028341e+01] [ 3.58501853e-02 1.42842276e-04 9.99357165e-01 1.69427177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.31, Y:19.40, Z:16.94 [[ 9.98085395e-01 -5.04334989e-02 -3.58051268e-02 4.77312069e+02] [ 5.04012784e-02 9.98727421e-01 -1.80249255e-03 1.94013734e+01] [ 3.58504679e-02 -5.58267575e-06 9.99357165e-01 1.69435643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.34, Y:19.40, Z:16.94 [[ 9.97814269e-01 -5.55402067e-02 -3.58045993e-02 4.77340215e+02] [ 5.55108982e-02 9.98456435e-01 -1.81290921e-03 1.94000679e+01] [ 3.58500220e-02 -1.78598790e-04 9.99357165e-01 1.69441912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.37, Y:19.40, Z:16.94 [[ 9.97186172e-01 -6.58618351e-02 -3.58044358e-02 4.77369208e+02] [ 6.58390570e-02 9.97828603e-01 -1.81613411e-03 1.93953078e+01] [ 3.58463040e-02 -5.46306466e-04 9.99357165e-01 1.69444007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.40, Y:19.39, Z:16.95 [[ 9.96843099e-01 -7.08654449e-02 -3.58039709e-02 4.77399690e+02] [ 7.08455638e-02 9.97485626e-01 -1.82525196e-03 1.93934465e+01] [ 3.58432937e-02 -7.17062692e-04 9.99357165e-01 1.69450168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.43, Y:19.39, Z:16.95 [[ 9.96485916e-01 -7.57224863e-02 -3.58039709e-02 4.77430625e+02] [ 7.57057367e-02 9.97128532e-01 -1.82525196e-03 1.93915196e+01] [ 3.58393736e-02 -8.91728130e-04 9.99357165e-01 1.69453808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.46, Y:19.39, Z:16.95 [[ 9.96125868e-01 -8.03201750e-02 -3.58039709e-02 4.77461699e+02] [ 8.03063910e-02 9.96768555e-01 -1.82525196e-03 1.93896534e+01] [ 3.58348769e-02 -1.05710700e-03 9.99357165e-01 1.69464490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.49, Y:19.39, Z:16.95 [[ 9.95433700e-01 -8.84862651e-02 -3.58040370e-02 4.77493329e+02] [ 8.84777986e-02 9.96076479e-01 -1.82395481e-03 1.93852247e+01] [ 3.58249541e-02 -1.35223629e-03 9.99357165e-01 1.69469584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.53, Y:19.38, Z:16.95 [[ 9.95124828e-01 -9.18946814e-02 -3.58042565e-02 4.77525108e+02] [ 9.18885713e-02 9.95767633e-01 -1.81963592e-03 1.93844241e+01] [ 3.58199346e-02 -1.47923710e-03 9.99357165e-01 1.69480545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.56, Y:19.38, Z:16.95 [[ 9.94883667e-01 -9.44697555e-02 -3.58043890e-02 4.77557807e+02] [ 9.44654027e-02 9.95526487e-01 -1.81702552e-03 1.93837712e+01] [ 3.58158715e-02 -1.57454701e-03 9.99357165e-01 1.69489927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.59, Y:19.38, Z:16.95 [[ 9.94449512e-01 -9.89353554e-02 -3.58045221e-02 4.77589047e+02] [ 9.89339830e-02 9.95092345e-01 -1.81439938e-03 1.93819495e+01] [ 3.58083141e-02 -1.73795540e-03 9.99357165e-01 1.69490318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.62, Y:19.38, Z:16.95 [[ 9.94295758e-01 -1.00468776e-01 -3.58046212e-02 4.77620896e+02] [ 1.00468465e-01 9.94938592e-01 -1.81244142e-03 1.93820554e+01] [ 3.58054932e-02 -1.79513251e-03 9.99357165e-01 1.69502286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.65, Y:19.38, Z:16.95 [[ 9.94176549e-01 -1.01641570e-01 -3.58047512e-02 4.77653095e+02] [ 1.01642110e-01 9.94819384e-01 -1.80986927e-03 1.93824042e+01] [ 3.58032185e-02 -1.83994088e-03 9.99357165e-01 1.69515986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.68, Y:19.38, Z:16.95 [[ 9.94003692e-01 -1.03318302e-01 -3.58048827e-02 4.77684677e+02] [ 1.03320019e-01 9.94646524e-01 -1.80726358e-03 1.93812149e+01] [ 3.57999255e-02 -1.90293451e-03 9.99357165e-01 1.69520062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.72, Y:19.38, Z:16.95 [[ 9.93916109e-01 -1.04157433e-01 -3.58049807e-02 4.77716529e+02] [ 1.04159763e-01 9.94558940e-01 -1.80532018e-03 1.93816308e+01] [ 3.57982012e-02 -1.93510151e-03 9.99357165e-01 1.69532877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.75, Y:19.38, Z:16.95 [[ 9.93888837e-01 -1.04417302e-01 -3.58051119e-02 4.77747804e+02] [ 1.04419894e-01 9.94531667e-01 -1.80271446e-03 1.93820896e+01] [ 3.57975522e-02 -1.94706822e-03 9.99357165e-01 1.69539045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.78, Y:19.38, Z:16.96 [[ 9.93814343e-01 -1.05123882e-01 -3.58053297e-02 4.77779576e+02] [ 1.05127086e-01 9.94457169e-01 -1.79837779e-03 1.93832966e+01] [ 3.57959193e-02 -1.97685635e-03 9.99357165e-01 1.69554865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.81, Y:19.38, Z:16.96 [[ 9.93754686e-01 -1.05686299e-01 -3.58054605e-02 4.77810774e+02] [ 1.05689961e-01 9.94397510e-01 -1.79576983e-03 1.93840074e+01] [ 3.57946490e-02 -1.99972304e-03 9.99357165e-01 1.69561695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.84, Y:19.39, Z:16.96 [[ 9.93860533e-01 -1.04686217e-01 -3.58055579e-02 4.77840655e+02] [ 1.04689302e-01 9.94503360e-01 -1.79382617e-03 1.93855522e+01] [ 3.57965365e-02 -1.96564582e-03 9.99357165e-01 1.69579084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.87, Y:19.39, Z:16.96 [[ 9.93877828e-01 -1.04524588e-01 -3.57976742e-02 4.77873306e+02] [ 1.04521924e-01 9.94520669e-01 -1.95097052e-03 1.93871515e+01] [ 3.58054513e-02 -1.80261544e-03 9.99357153e-01 1.69591223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.91, Y:19.39, Z:16.96 [[ 9.93784877e-01 -1.05404375e-01 -3.57985443e-02 4.77906854e+02] [ 1.05402908e-01 9.94427719e-01 -1.93350787e-03 1.93885998e+01] [ 3.58028650e-02 -1.85177978e-03 9.99357156e-01 1.69603459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.94, Y:19.39, Z:16.96 [[ 9.93783035e-01 -1.05419156e-01 -3.58061660e-02 4.77938117e+02] [ 1.05423204e-01 9.94425854e-01 -1.78021859e-03 1.93901243e+01] [ 3.57942464e-02 -2.00564972e-03 9.99357168e-01 1.69614209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.97, Y:19.39, Z:16.96 [[ 9.93781350e-01 -1.05435004e-01 -3.58062625e-02 4.77969120e+02] [ 1.05439132e-01 9.94424169e-01 -1.77827594e-03 1.93918994e+01] [ 3.57941053e-02 -2.00816377e-03 9.99357168e-01 1.69626722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.00, Y:19.39, Z:16.96 [[ 9.93761085e-01 -1.05625802e-01 -3.58063575e-02 4.78000965e+02] [ 1.05630122e-01 9.94403903e-01 -1.77636155e-03 1.93937861e+01] [ 3.57936112e-02 -2.01695092e-03 9.99357168e-01 1.69644949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.03, Y:19.40, Z:16.97 [[ 9.93700735e-01 -1.06192024e-01 -3.58064828e-02 4.78032582e+02] [ 1.06196801e-01 9.94343549e-01 -1.77383092e-03 1.93959405e+01] [ 3.57923119e-02 -2.03987685e-03 9.99357168e-01 1.69662551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.07, Y:19.40, Z:16.97 [[ 9.93625377e-01 -1.06894791e-01 -3.58066070e-02 4.78065022e+02] [ 1.06900113e-01 9.94268187e-01 -1.77132059e-03 1.93985840e+01] [ 3.57907152e-02 -2.06770124e-03 9.99357168e-01 1.69686032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.10, Y:19.40, Z:16.97 [[ 9.93531903e-01 -1.07760083e-01 -3.58067347e-02 4.78096284e+02] [ 1.07766058e-01 9.94174707e-01 -1.76873659e-03 1.94007085e+01] [ 3.57887492e-02 -2.10145440e-03 9.99357168e-01 1.69695912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.13, Y:19.40, Z:16.97 [[ 9.93444981e-01 -1.08558471e-01 -3.58068295e-02 4.78128469e+02] [ 1.08565031e-01 9.94087779e-01 -1.76681411e-03 1.94028316e+01] [ 3.57869343e-02 -2.13213696e-03 9.99357168e-01 1.69711948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.16, Y:19.40, Z:16.97 [[ 9.93367911e-01 -1.09261406e-01 -3.58069563e-02 4.78161315e+02] [ 1.09268514e-01 9.94010704e-01 -1.76424153e-03 1.94046369e+01] [ 3.57852613e-02 -2.16003197e-03 9.99357168e-01 1.69723086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.19, Y:19.41, Z:16.97 [[ 9.93101847e-01 -1.11653793e-01 -3.58071516e-02 4.78192142e+02] [ 1.11662591e-01 9.93744619e-01 -1.76026792e-03 1.94066726e+01] [ 3.57797048e-02 -2.25019401e-03 9.99357168e-01 1.69726454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.22, Y:19.41, Z:16.97 [[ 9.92937532e-01 -1.13105695e-01 -3.58072483e-02 4.78223466e+02] [ 1.13115504e-01 9.93580289e-01 -1.75829993e-03 1.94086859e+01] [ 3.57762498e-02 -2.30447293e-03 9.99357168e-01 1.69736215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.26, Y:19.41, Z:16.98 [[ 9.92798492e-01 -1.14319677e-01 -3.58073437e-02 4.78255411e+02] [ 1.14330342e-01 9.93441235e-01 -1.75635349e-03 1.94108062e+01] [ 3.57732776e-02 -2.35016075e-03 9.99357168e-01 1.69750010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.29, Y:19.41, Z:16.98 [[ 9.92544529e-01 -1.16504004e-01 -3.58074712e-02 4.78287722e+02] [ 1.16516177e-01 9.93187246e-01 -1.75375123e-03 1.94142057e+01] [ 3.57678427e-02 -2.43147345e-03 9.99357168e-01 1.69760810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.32, Y:19.42, Z:16.98 [[ 9.92452013e-01 -1.17289451e-01 -3.58076298e-02 4.78319686e+02] [ 1.17302248e-01 9.93094718e-01 -1.75050620e-03 1.94165922e+01] [ 3.57656839e-02 -2.46302209e-03 9.99357168e-01 1.69775476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.35, Y:19.42, Z:16.98 [[ 9.92469593e-01 -1.17140562e-01 -3.58077553e-02 4.78351518e+02] [ 1.17153356e-01 9.93112298e-01 -1.74793599e-03 1.94191518e+01] [ 3.57658763e-02 -2.46022537e-03 9.99357168e-01 1.69788724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.38, Y:19.42, Z:16.98 [[ 9.92528878e-01 -1.16637140e-01 -3.58078805e-02 4.78383679e+02] [ 1.16649700e-01 9.93171587e-01 -1.74536714e-03 1.94219773e+01] [ 3.57669441e-02 -2.44465123e-03 9.99357168e-01 1.69803991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.41, Y:19.43, Z:16.98 [[ 9.92800329e-01 -1.14303517e-01 -3.58080062e-02 4.78414623e+02] [ 1.14314658e-01 9.93443064e-01 -1.74278414e-03 1.94263421e+01] [ 3.57724218e-02 -2.36314332e-03 9.99357168e-01 1.69821247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.45, Y:19.43, Z:16.98 [[ 9.93046406e-01 -1.12145467e-01 -3.58082353e-02 4.78446518e+02] [ 1.12155381e-01 9.93689161e-01 -1.73806500e-03 1.94291716e+01] [ 3.57771714e-02 -2.29010708e-03 9.99357168e-01 1.69838471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.48, Y:19.43, Z:16.99 [[ 9.93281192e-01 -1.10046517e-01 -3.58083574e-02 4.78478097e+02] [ 1.10055163e-01 9.93923965e-01 -1.73554416e-03 1.94325674e+01] [ 3.57817752e-02 -2.21701125e-03 9.99357168e-01 1.69859728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.51, Y:19.44, Z:16.99 [[ 9.93555059e-01 -1.07545793e-01 -3.58084800e-02 4.78509855e+02] [ 1.07552912e-01 9.94197851e-01 -1.73301234e-03 1.94358918e+01] [ 3.57870920e-02 -2.12946313e-03 9.99357168e-01 1.69882875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.54, Y:19.44, Z:16.99 [[ 9.94093553e-01 -1.02448774e-01 -3.58086057e-02 4.78541093e+02] [ 1.02452689e-01 9.94736373e-01 -1.73041110e-03 1.94410128e+01] [ 3.57974010e-02 -1.94849743e-03 9.99357168e-01 1.69897542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.57, Y:19.44, Z:16.99 [[ 9.94335999e-01 -1.00068265e-01 -3.58086992e-02 4.78573561e+02] [ 1.00070711e-01 9.94978827e-01 -1.72847448e-03 1.94439371e+01] [ 3.58018629e-02 -1.86471757e-03 9.99357168e-01 1.69909198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.61, Y:19.45, Z:16.99 [[ 9.94730063e-01 -9.60720073e-02 -3.58088215e-02 4.78606083e+02] [ 9.60719614e-02 9.95372895e-01 -1.72593684e-03 1.94472026e+01] [ 3.58089445e-02 -1.72338245e-03 9.99357168e-01 1.69921620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.64, Y:19.45, Z:16.99 [[ 9.94924662e-01 -9.40352947e-02 -3.58089428e-02 4.78638456e+02] [ 9.40340233e-02 9.95567493e-01 -1.72341597e-03 1.94494117e+01] [ 3.58122813e-02 -1.65258991e-03 9.99357168e-01 1.69931102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.67, Y:19.45, Z:16.99 [[ 9.95135754e-01 -9.17744115e-02 -3.58090631e-02 4.78670813e+02] [ 9.17717694e-02 9.95778580e-01 -1.72091320e-03 1.94515866e+01] [ 3.58158338e-02 -1.57371883e-03 9.99357168e-01 1.69939301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.70, Y:19.45, Z:17.00 [[ 9.95345462e-01 -8.94712963e-02 -3.58091836e-02 4.78702481e+02] [ 8.94672568e-02 9.95988282e-01 -1.71840243e-03 1.94538189e+01] [ 3.58192749e-02 -1.49334536e-03 9.99357168e-01 1.69951645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.73, Y:19.46, Z:17.00 [[ 9.95596780e-01 -8.66299306e-02 -3.58093065e-02 4.78733509e+02] [ 8.66241485e-02 9.96239586e-01 -1.71583699e-03 1.94560648e+01] [ 3.58232915e-02 -1.39366890e-03 9.99357168e-01 1.69953020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.77, Y:19.46, Z:17.00 [[ 9.96141551e-01 -8.01230150e-02 -3.58093979e-02 4.78765669e+02] [ 8.01131015e-02 9.96784306e-01 -1.71392763e-03 1.94595982e+01] [ 3.58315709e-02 -1.16148740e-03 9.99357168e-01 1.69967133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.80, Y:19.46, Z:17.00 [[ 9.96430591e-01 -7.64444658e-02 -3.58095207e-02 4.78797597e+02] [ 7.64322715e-02 9.97073307e-01 -1.71135758e-03 1.94619715e+01] [ 3.58355410e-02 -1.03175396e-03 9.99357168e-01 1.69980354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.83, Y:19.46, Z:17.00 [[ 9.96695611e-01 -7.29076763e-02 -3.58096443e-02 4.78829470e+02] [ 7.28932941e-02 9.97338282e-01 -1.70876704e-03 1.94643944e+01] [ 3.58389114e-02 -9.07162325e-04 9.99357168e-01 1.69994278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.86, Y:19.47, Z:17.00 [[ 9.97166608e-01 -6.61544946e-02 -3.58097693e-02 4.78860925e+02] [ 6.61358535e-02 9.97809169e-01 -1.70614306e-03 1.94671310e+01] [ 3.58441852e-02 -6.67000775e-04 9.99357168e-01 1.70008615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.89, Y:19.47, Z:17.00 [[ 9.97528778e-01 -6.04482536e-02 -3.58098622e-02 4.78892574e+02] [ 6.04260066e-02 9.98171225e-01 -1.70419108e-03 1.94652282e+01] [ 3.58473894e-02 -4.63867324e-04 9.99357168e-01 1.69972549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.92, Y:19.47, Z:17.00 [[ 9.97454217e-01 -6.16561804e-02 -3.58273754e-02 4.78919802e+02] [ 6.16479209e-02 9.98097064e-01 -1.33624073e-03 1.94704406e+01] [ 3.58415857e-02 -8.75844262e-04 9.99357100e-01 1.70032002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.95, Y:19.47, Z:17.00 [[ 9.97636583e-01 -5.86425457e-02 -3.58092319e-02 4.78949522e+02] [ 5.86187440e-02 9.98278970e-01 -1.71510825e-03 1.94719635e+01] [ 3.58481814e-02 -3.88037464e-04 9.99357172e-01 1.70044520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.98, Y:19.47, Z:17.01 [[ 9.97686962e-01 -5.77791475e-02 -3.58091708e-02 4.78978802e+02] [ 5.77547441e-02 9.98329326e-01 -1.71638378e-03 1.94731075e+01] [ 3.58485165e-02 -3.55735773e-04 9.99357172e-01 1.70054825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.01, Y:19.47, Z:17.01 [[ 9.97693456e-01 -5.76669354e-02 -3.58091094e-02 4.79008649e+02] [ 5.76424138e-02 9.98335816e-01 -1.71766266e-03 1.94739301e+01] [ 3.58485688e-02 -3.50422708e-04 9.99357172e-01 1.70066282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.04, Y:19.47, Z:17.01 [[ 9.97660402e-01 -5.82360238e-02 -3.58090479e-02 4.79037682e+02] [ 5.82118226e-02 9.98302774e-01 -1.71894449e-03 1.94747553e+01] [ 3.58483763e-02 -3.69587090e-04 9.99357172e-01 1.70074586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.07, Y:19.47, Z:17.01 [[ 9.97550037e-01 -6.00969395e-02 -3.58089563e-02 4.79066239e+02] [ 6.00738682e-02 9.98192451e-01 -1.72085096e-03 1.94738731e+01] [ 3.58476477e-02 -4.34547580e-04 9.99357172e-01 1.70085469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.10, Y:19.47, Z:17.01 [[ 9.97438631e-01 -6.19185103e-02 -3.58088654e-02 4.79096097e+02] [ 6.18965444e-02 9.98081084e-01 -1.72273933e-03 1.94740950e+01] [ 3.58468207e-02 -4.98118272e-04 9.99357172e-01 1.70097131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.13, Y:19.47, Z:17.01 [[ 9.97301224e-01 -6.40936624e-02 -3.58088038e-02 4.79126924e+02] [ 6.40730518e-02 9.97943722e-01 -1.72401832e-03 1.94744814e+01] [ 3.58456696e-02 -5.75013760e-04 9.99357172e-01 1.70110121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.16, Y:19.47, Z:17.01 [[ 9.97119657e-01 -6.68589538e-02 -3.58088038e-02 4.79157453e+02] [ 6.68401249e-02 9.97762209e-01 -1.72401832e-03 1.94746153e+01] [ 3.58439373e-02 -6.74412362e-04 9.99357172e-01 1.70120109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.19, Y:19.47, Z:17.01 [[ 9.96663744e-01 -7.33424288e-02 -3.58088038e-02 4.79188125e+02] [ 7.33277792e-02 9.97306405e-01 -1.72401832e-03 1.94732408e+01] [ 3.58387931e-02 -9.07513507e-04 9.99357172e-01 1.70123043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.22, Y:19.47, Z:17.01 [[ 9.96385423e-01 -7.70312650e-02 -3.58088352e-02 4.79219246e+02] [ 7.70190178e-02 9.97028134e-01 -1.72336769e-03 1.94731074e+01] [ 3.58351693e-02 -1.04082287e-03 9.99357172e-01 1.70130795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.25, Y:19.47, Z:17.01 [[ 9.96091364e-01 -8.07447629e-02 -3.58088976e-02 4.79250399e+02] [ 8.07349581e-02 9.96734118e-01 -1.72206857e-03 1.94728399e+01] [ 3.58309980e-02 -1.17569222e-03 9.99357172e-01 1.70136309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.28, Y:19.47, Z:17.01 [[ 9.95486666e-01 -8.78863877e-02 -3.58089597e-02 4.79282047e+02] [ 8.78812393e-02 9.96129473e-01 -1.72077661e-03 1.94713649e+01] [ 3.58215930e-02 -1.43392558e-03 9.99357172e-01 1.70132008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.31, Y:19.47, Z:17.01 [[ 9.95166826e-01 -9.14368695e-02 -3.58090525e-02 4.79312787e+02] [ 9.14340835e-02 9.95809647e-01 -1.71884367e-03 1.94717137e+01] [ 3.58161656e-02 -1.56363170e-03 9.99357172e-01 1.70137778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.35, Y:19.47, Z:17.01 [[ 9.94859092e-01 -9.47263645e-02 -3.58092514e-02 4.79345317e+02] [ 9.47258528e-02 9.95501920e-01 -1.71469033e-03 1.94720062e+01] [ 3.58106049e-02 -1.68618661e-03 9.99357172e-01 1.70141187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.38, Y:19.47, Z:17.02 [[ 9.94264539e-01 -1.00775568e-01 -3.58093687e-02 4.79377892e+02] [ 1.00779054e-01 9.94907358e-01 -1.71223664e-03 1.94715851e+01] [ 3.57995560e-02 -1.90641813e-03 9.99357172e-01 1.70152361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.41, Y:19.47, Z:17.02 [[ 9.94003708e-01 -1.03316548e-01 -3.58094884e-02 4.79410474e+02] [ 1.03321767e-01 9.94646515e-01 -1.70972920e-03 1.94722656e+01] [ 3.57944262e-02 -2.00042245e-03 9.99357172e-01 1.70165358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.44, Y:19.47, Z:17.02 [[ 9.93760573e-01 -1.05629517e-01 -3.58096082e-02 4.79442465e+02] [ 1.05636322e-01 9.94403365e-01 -1.70721764e-03 1.94730491e+01] [ 3.57895274e-02 -2.08622973e-03 9.99357172e-01 1.70176553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.47, Y:19.47, Z:17.02 [[ 9.93544878e-01 -1.07639394e-01 -3.58097274e-02 4.79474882e+02] [ 1.07647590e-01 9.94187653e-01 -1.70471353e-03 1.94738822e+01] [ 3.57850832e-02 -2.16112145e-03 9.99357172e-01 1.70187476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.51, Y:19.47, Z:17.02 [[ 9.93197507e-01 -1.10798770e-01 -3.58098471e-02 4.79507919e+02] [ 1.10809101e-01 9.93840252e-01 -1.70219390e-03 1.94745484e+01] [ 3.57778685e-02 -2.27744222e-03 9.99357172e-01 1.70196626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.54, Y:19.48, Z:17.02 [[ 9.93043285e-01 -1.12172525e-01 -3.58100309e-02 4.79538912e+02] [ 1.12183884e-01 9.93686013e-01 -1.69832011e-03 1.94759452e+01] [ 3.57744316e-02 -2.33080295e-03 9.99357172e-01 1.70201393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.57, Y:19.48, Z:17.02 [[ 9.92951829e-01 -1.12979205e-01 -3.58101218e-02 4.79571163e+02] [ 1.12991154e-01 9.93594546e-01 -1.69640008e-03 1.94775183e+01] [ 3.57723996e-02 -2.36178343e-03 9.99357172e-01 1.70216099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.60, Y:19.48, Z:17.02 [[ 9.92866870e-01 -1.13723374e-01 -3.58102405e-02 4.79602858e+02] [ 1.13735895e-01 9.93509576e-01 -1.69389157e-03 1.94792070e+01] [ 3.57704519e-02 -2.39110093e-03 9.99357172e-01 1.70231213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.63, Y:19.48, Z:17.02 [[ 9.92808930e-01 -1.14228050e-01 -3.58103602e-02 4.79633608e+02] [ 1.14240989e-01 9.93451627e-01 -1.69135697e-03 1.94809826e+01] [ 3.57690610e-02 -2.41181667e-03 9.99357172e-01 1.70240632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.67, Y:19.48, Z:17.03 [[ 9.92823783e-01 -1.14098853e-01 -3.58104493e-02 4.79665351e+02] [ 1.14111776e-01 9.93466481e-01 -1.68946806e-03 1.94829479e+01] [ 3.57692474e-02 -2.40904990e-03 9.99357172e-01 1.70251166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.70, Y:19.48, Z:17.03 [[ 9.92925136e-01 -1.13213420e-01 -3.58105666e-02 4.79696127e+02] [ 1.13225860e-01 9.93567843e-01 -1.68697720e-03 1.94846925e+01] [ 3.57712159e-02 -2.37964013e-03 9.99357172e-01 1.70253858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.73, Y:19.49, Z:17.03 [[ 9.93189251e-01 -1.10872492e-01 -3.58106540e-02 4.79727743e+02] [ 1.10883483e-01 9.93831985e-01 -1.68512068e-03 1.94880974e+01] [ 3.57766069e-02 -2.29716629e-03 9.99357172e-01 1.70276165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.76, Y:19.49, Z:17.03 [[ 9.93388762e-01 -1.09070418e-01 -3.58107697e-02 4.79758920e+02] [ 1.09080331e-01 9.94031514e-01 -1.68265822e-03 1.94906401e+01] [ 3.57805618e-02 -2.23471685e-03 9.99357172e-01 1.70288434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.79, Y:19.49, Z:17.03 [[ 9.93643716e-01 -1.06722732e-01 -3.58109554e-02 4.79790916e+02] [ 1.06731269e-01 9.94286487e-01 -1.67869695e-03 1.94931289e+01] [ 3.57855042e-02 -2.15412204e-03 9.99357172e-01 1.70301024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.82, Y:19.50, Z:17.03 [[ 9.93918279e-01 -1.04134638e-01 -3.58110692e-02 4.79822423e+02] [ 1.04141588e-01 9.94561069e-01 -1.67626637e-03 1.94957877e+01] [ 3.57908526e-02 -2.06334983e-03 9.99357172e-01 1.70309449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.86, Y:19.50, Z:17.03 [[ 9.93925266e-01 -1.04067867e-01 -3.58112495e-02 4.79855058e+02] [ 1.04074913e-01 9.94568055e-01 -1.67240588e-03 1.94972449e+01] [ 3.57907684e-02 -2.06480621e-03 9.99357172e-01 1.70321157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.89, Y:19.50, Z:17.03 [[ 9.94506008e-01 -9.83633374e-02 -3.58113615e-02 4.79885885e+02] [ 9.83667810e-02 9.95148827e-01 -1.67000354e-03 1.95021934e+01] [ 3.58019015e-02 -1.86181980e-03 9.99357172e-01 1.70335086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.92, Y:19.51, Z:17.04 [[ 9.94816522e-01 -9.51715741e-02 -3.58114449e-02 4.79918162e+02] [ 9.51730193e-02 9.95459348e-01 -1.66821312e-03 1.95056787e+01] [ 3.58076040e-02 -1.74871736e-03 9.99357172e-01 1.70351553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.95, Y:19.51, Z:17.04 [[ 9.95106410e-01 -9.20910683e-02 -3.58115549e-02 4.79949976e+02] [ 9.20906081e-02 9.95749238e-01 -1.66584712e-03 1.95090753e+01] [ 3.58127382e-02 -1.64021272e-03 9.99357172e-01 1.70372150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.98, Y:19.51, Z:17.04 [[ 9.95399470e-01 -8.88674340e-02 -3.58116642e-02 4.79981520e+02] [ 8.88649762e-02 9.96042293e-01 -1.66349594e-03 1.95124993e+01] [ 3.58177627e-02 -1.52655971e-03 9.99357172e-01 1.70390566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.01, Y:19.52, Z:17.04 [[ 9.95928669e-01 -8.27260745e-02 -3.58117725e-02 4.80012099e+02] [ 8.27197356e-02 9.96571466e-01 -1.66116117e-03 1.95173195e+01] [ 3.58264119e-02 -1.30794231e-03 9.99357172e-01 1.70417247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.04, Y:19.52, Z:17.04 [[ 9.96146701e-01 -8.00578639e-02 -3.58118531e-02 4.80043458e+02] [ 8.00498655e-02 9.96789479e-01 -1.65942164e-03 1.95204094e+01] [ 3.58297281e-02 -1.21370663e-03 9.99357172e-01 1.70431285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.08, Y:19.52, Z:17.05 [[ 9.96365140e-01 -7.72917531e-02 -3.58119059e-02 4.80075647e+02] [ 7.72820111e-02 9.97007894e-01 -1.65828143e-03 1.95229423e+01] [ 3.58329243e-02 -1.11536230e-03 9.99357172e-01 1.70455277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.11, Y:19.53, Z:17.05 [[ 9.96572423e-01 -7.45714688e-02 -3.58120244e-02 4.80107475e+02] [ 7.45600642e-02 9.97215150e-01 -1.65571822e-03 1.95253913e+01] [ 3.58357626e-02 -1.02010371e-03 9.99357172e-01 1.70463961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.14, Y:19.53, Z:17.05 [[ 9.96746204e-01 -7.22114623e-02 -3.58121430e-02 4.80139900e+02] [ 7.21986280e-02 9.97388904e-01 -1.65314799e-03 1.95280613e+01] [ 3.58380103e-02 -9.37818613e-04 9.99357172e-01 1.70474927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.17, Y:19.53, Z:17.05 [[ 9.97013938e-01 -6.84155648e-02 -3.58122615e-02 4.80172499e+02] [ 6.84003757e-02 9.97656586e-01 -1.65057746e-03 1.95293084e+01] [ 3.58412637e-02 -8.03923407e-04 9.99357172e-01 1.70459357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.20, Y:19.53, Z:17.05 [[ 9.97151157e-01 -6.63836878e-02 -3.58158625e-02 4.80202567e+02] [ 6.63699933e-02 9.97793842e-01 -1.57246738e-03 1.95336149e+01] [ 3.58412332e-02 -8.09110893e-04 9.99357169e-01 1.70497479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.23, Y:19.53, Z:17.05 [[ 9.97342615e-01 -6.34445688e-02 -3.58119511e-02 4.80233699e+02] [ 6.34259455e-02 9.97985172e-01 -1.65700535e-03 1.95341981e+01] [ 3.58449242e-02 -6.18804812e-04 9.99357173e-01 1.70493982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.26, Y:19.54, Z:17.05 [[ 9.97381644e-01 -6.28258782e-02 -3.58157157e-02 4.80262774e+02] [ 6.28097771e-02 9.98024273e-01 -1.57564083e-03 1.95367058e+01] [ 3.58439446e-02 -6.78061875e-04 9.99357169e-01 1.70526465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.29, Y:19.54, Z:17.05 [[ 9.97446186e-01 -6.17949056e-02 -3.58119506e-02 4.80293028e+02] [ 6.17752192e-02 9.98088712e-01 -1.65701542e-03 1.95379707e+01] [ 3.58458988e-02 -5.59507389e-04 9.99357173e-01 1.70542446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.32, Y:19.54, Z:17.06 [[ 9.97498307e-01 -6.09477715e-02 -3.58119506e-02 4.80323444e+02] [ 6.09275394e-02 9.98140816e-01 -1.65701542e-03 1.95394825e+01] [ 3.58463610e-02 -5.29063958e-04 9.99357173e-01 1.70562023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.965099893 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:480.35, Y:19.54, Z:17.06 [[ 9.97597010e-01 -5.93102764e-02 -3.58119506e-02 4.80352249e+02] [ 5.92889897e-02 9.98239485e-01 -1.65701542e-03 1.95408392e+01] [ 3.58471812e-02 -4.70220743e-04 9.99357173e-01 1.70566835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.38, Y:19.54, Z:17.06 [[ 9.97670098e-01 -5.80713670e-02 -3.58063137e-02 4.80381747e+02] [ 5.80449247e-02 9.98312388e-01 -1.77843909e-03 1.95416717e+01] [ 3.58491629e-02 -3.04079278e-04 9.99357166e-01 1.70593161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.41, Y:19.54, Z:17.06 [[ 9.97739900e-01 -5.68562030e-02 -3.58115036e-02 4.80411535e+02] [ 5.68329796e-02 9.98382308e-01 -1.66694644e-03 1.95424431e+01] [ 3.58483479e-02 -3.72095480e-04 9.99357172e-01 1.70604195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.44, Y:19.54, Z:17.06 [[ 9.97789179e-01 -5.59847642e-02 -3.58114440e-02 4.80440604e+02] [ 5.59609338e-02 9.98431565e-01 -1.66822540e-03 1.95430946e+01] [ 3.58486713e-02 -3.39504595e-04 9.99357172e-01 1.70615562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.47, Y:19.54, Z:17.06 [[ 9.97844130e-01 -5.49967315e-02 -3.58113320e-02 4.80470286e+02] [ 5.49721788e-02 9.98486489e-01 -1.67062616e-03 1.95434773e+01] [ 3.58490102e-02 -3.01602438e-04 9.99357172e-01 1.70632620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.50, Y:19.54, Z:17.06 [[ 9.97870274e-01 -5.45203513e-02 -3.58112710e-02 4.80498525e+02] [ 5.44954451e-02 9.98512619e-01 -1.67193377e-03 1.95437616e+01] [ 3.58491604e-02 -2.83178137e-04 9.99357172e-01 1.70639690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.53, Y:19.54, Z:17.07 [[ 9.97851713e-01 -5.48590813e-02 -3.58111800e-02 4.80526906e+02] [ 5.48343233e-02 9.98494064e-01 -1.67387992e-03 1.95439564e+01] [ 3.58490782e-02 -2.93397879e-04 9.99357172e-01 1.70656088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.56, Y:19.54, Z:17.07 [[ 9.97812483e-01 -5.55683251e-02 -3.58107534e-02 4.80555787e+02] [ 5.55436979e-02 9.98454839e-01 -1.68295742e-03 1.95424398e+01] [ 3.58489392e-02 -3.09785752e-04 9.99357172e-01 1.70669212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.58, Y:19.54, Z:17.07 [[ 9.97745058e-01 -5.67661460e-02 -3.58106626e-02 4.80584932e+02] [ 5.67422207e-02 9.98387441e-01 -1.68488732e-03 1.95422004e+01] [ 3.58485604e-02 -3.50888528e-04 9.99357172e-01 1.70684343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.61, Y:19.54, Z:17.07 [[ 9.97667770e-01 -5.81089339e-02 -3.58102323e-02 4.80613331e+02] [ 5.80855467e-02 9.98310172e-01 -1.69398358e-03 1.95419502e+01] [ 3.58481548e-02 -3.90024097e-04 9.99357172e-01 1.70692366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.64, Y:19.54, Z:17.07 [[ 9.97593153e-01 -5.93762138e-02 -3.58101408e-02 4.80642819e+02] [ 5.93535733e-02 9.98235582e-01 -1.69591631e-03 1.95418235e+01] [ 3.58476538e-02 -4.33625323e-04 9.99357172e-01 1.70702699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.67, Y:19.54, Z:17.07 [[ 9.97449763e-01 -6.17382318e-02 -3.58100803e-02 4.80672371e+02] [ 6.17170667e-02 9.98092242e-01 -1.69719360e-03 1.95399178e+01] [ 3.58465450e-02 -5.17227754e-04 9.99357172e-01 1.70715118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.70, Y:19.54, Z:17.07 [[ 9.97505642e-01 -6.08287500e-02 -3.58100189e-02 4.80703264e+02] [ 6.08069527e-02 9.98148100e-01 -1.69848717e-03 1.95374968e+01] [ 3.58470192e-02 -4.83247592e-04 9.99357172e-01 1.70723556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.73, Y:19.54, Z:17.07 [[ 9.97338505e-01 -6.35033408e-02 -3.58222227e-02 4.80731777e+02] [ 6.34925126e-02 9.97981275e-01 -1.44093213e-03 1.95393785e+01] [ 3.58414115e-02 -8.37345834e-04 9.99357139e-01 1.70733732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.76, Y:19.54, Z:17.07 [[ 9.97293815e-01 -6.42083014e-02 -3.58097765e-02 4.80762360e+02] [ 6.41885293e-02 9.97936337e-01 -1.70271484e-03 1.95394016e+01] [ 3.58452056e-02 -6.00469908e-04 9.99357174e-01 1.70749678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.79, Y:19.54, Z:17.08 [[ 9.97271080e-01 -6.45604581e-02 -3.58097765e-02 4.80791872e+02] [ 6.45409129e-02 9.97913609e-01 -1.70271484e-03 1.95390784e+01] [ 3.58449913e-02 -6.13127399e-04 9.99357174e-01 1.70753494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.82, Y:19.54, Z:17.08 [[ 9.97246106e-01 -6.49450867e-02 -3.58097832e-02 4.80821940e+02] [ 6.49257945e-02 9.97888642e-01 -1.70257216e-03 1.95385965e+01] [ 3.58447497e-02 -6.27095176e-04 9.99357174e-01 1.70763851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.85, Y:19.54, Z:17.08 [[ 9.97205247e-01 -6.55695047e-02 -3.58097238e-02 4.80851596e+02] [ 6.55505699e-02 9.97847794e-01 -1.70382208e-03 1.95358374e+01] [ 3.58443726e-02 -6.48287478e-04 9.99357174e-01 1.70776315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.88, Y:19.54, Z:17.08 [[ 9.97172376e-01 -6.60675482e-02 -3.58096634e-02 4.80880535e+02] [ 6.60488888e-02 9.97814931e-01 -1.70509073e-03 1.95353609e+01] [ 3.58440680e-02 -6.64919096e-04 9.99357174e-01 1.70782531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.91, Y:19.53, Z:17.08 [[ 9.97145329e-01 -6.64745645e-02 -3.58095733e-02 4.80910486e+02] [ 6.64560996e-02 9.97787890e-01 -1.70697932e-03 1.95349470e+01] [ 3.58438293e-02 -6.77658114e-04 9.99357174e-01 1.70803817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.94, Y:19.53, Z:17.08 [[ 9.97107015e-01 -6.70468462e-02 -3.58095118e-02 4.80940492e+02] [ 6.70287037e-02 9.97749585e-01 -1.70826944e-03 1.95328798e+01] [ 3.58434596e-02 -6.96937713e-04 9.99357174e-01 1.70815307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.97, Y:19.53, Z:17.08 [[ 9.97094044e-01 -6.72394999e-02 -3.58094500e-02 4.80969812e+02] [ 6.72214351e-02 9.97736617e-01 -1.70956298e-03 1.95325492e+01] [ 3.58433497e-02 -7.02567553e-04 9.99357174e-01 1.70822193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.00, Y:19.53, Z:17.08 [[ 9.97106315e-01 -6.70573161e-02 -3.58093882e-02 4.80999807e+02] [ 6.70390875e-02 9.97748883e-01 -1.71085789e-03 1.95321540e+01] [ 3.58435026e-02 -6.94721498e-04 9.99357174e-01 1.70823978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.03, Y:19.53, Z:17.08 [[ 9.97111395e-01 -6.69817675e-02 -3.58093267e-02 4.81029304e+02] [ 6.69634440e-02 9.97753961e-01 -1.71214446e-03 1.95319496e+01] [ 3.58435800e-02 -6.90717083e-04 9.99357174e-01 1.70839889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.06, Y:19.53, Z:17.08 [[ 9.97158579e-01 -6.62756819e-02 -3.58092629e-02 4.81058554e+02] [ 6.62568555e-02 9.97801129e-01 -1.71347672e-03 1.95316500e+01] [ 3.58440848e-02 -6.64001150e-04 9.99357174e-01 1.70831792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.09, Y:19.53, Z:17.08 [[ 9.97207195e-01 -6.55401191e-02 -3.58092729e-02 4.81087678e+02] [ 6.55208262e-02 9.97849731e-01 -1.71326894e-03 1.95315575e+01] [ 3.58445611e-02 -6.37769027e-04 9.99357174e-01 1.70841764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.12, Y:19.53, Z:17.09 [[ 9.97362922e-01 -6.31262801e-02 -3.58088526e-02 4.81116245e+02] [ 6.31051184e-02 9.98005400e-01 -1.72200770e-03 1.95302970e+01] [ 3.58461322e-02 -5.42255249e-04 9.99357174e-01 1.70867842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.15, Y:19.53, Z:17.09 [[ 9.97457024e-01 -6.16217742e-02 -3.58084114e-02 4.81145327e+02] [ 6.15993158e-02 9.98099458e-01 -1.73113508e-03 1.95306914e+01] [ 3.58470316e-02 -4.79040796e-04 9.99357174e-01 1.70879596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.17, Y:19.53, Z:17.09 [[ 9.97555805e-01 -6.00017165e-02 -3.58079699e-02 4.81173294e+02] [ 5.99778887e-02 9.98198189e-01 -1.74021819e-03 1.95312067e+01] [ 3.58478668e-02 -4.11721681e-04 9.99357174e-01 1.70897063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.20, Y:19.53, Z:17.09 [[ 9.97738182e-01 -5.68888830e-02 -3.58074626e-02 4.81201145e+02] [ 5.68626786e-02 9.98380474e-01 -1.75059511e-03 1.95306240e+01] [ 3.58490609e-02 -2.89472660e-04 9.99357174e-01 1.70914076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.23, Y:19.53, Z:17.09 [[ 9.97825302e-01 -5.53401217e-02 -3.58069547e-02 4.81229425e+02] [ 5.53125498e-02 9.98467536e-01 -1.76092379e-03 1.95307670e+01] [ 3.58495316e-02 -2.23479650e-04 9.99357174e-01 1.70904860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.26, Y:19.53, Z:17.09 [[ 9.97875930e-01 -5.44196894e-02 -3.58067972e-02 4.81257761e+02] [ 5.43914104e-02 9.98518133e-01 -1.76411981e-03 1.95310402e+01] [ 3.58497392e-02 -1.87209501e-04 9.99357174e-01 1.70934235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.29, Y:19.53, Z:17.09 [[ 9.97917347e-01 -5.36551755e-02 -3.58062913e-02 4.81285412e+02] [ 5.36260381e-02 9.98559512e-01 -1.77432955e-03 1.95310287e+01] [ 3.58499147e-02 -1.49515300e-04 9.99357174e-01 1.70945147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.31, Y:19.53, Z:17.10 [[ 9.97923845e-01 -5.35342960e-02 -3.58061346e-02 4.81312891e+02] [ 5.35049676e-02 9.98566001e-01 -1.77748548e-03 1.95309643e+01] [ 3.58499451e-02 -1.42010930e-04 9.99357174e-01 1.70955577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.34, Y:19.53, Z:17.10 [[ 9.97903318e-01 -5.39156775e-02 -3.58059799e-02 4.81341035e+02] [ 5.38864829e-02 9.98545480e-01 -1.78059662e-03 1.95306577e+01] [ 3.58499015e-02 -1.52595048e-04 9.99357174e-01 1.70975554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.37, Y:19.53, Z:17.10 [[ 9.97807204e-01 -5.56664330e-02 -3.58054704e-02 4.81368472e+02] [ 5.56379996e-02 9.98449401e-01 -1.79078464e-03 1.95280844e+01] [ 3.58496370e-02 -2.05286928e-04 9.99357174e-01 1.70976668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.40, Y:19.53, Z:17.10 [[ 9.97710610e-01 -5.73717900e-02 -3.58052489e-02 4.81396489e+02] [ 5.73442958e-02 9.98352848e-01 -1.79520072e-03 1.95272822e+01] [ 3.58492661e-02 -2.62135978e-04 9.99357174e-01 1.70984478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.42, Y:19.53, Z:17.10 [[ 9.97611534e-01 -5.90698444e-02 -3.58047500e-02 4.81424964e+02] [ 5.90430882e-02 9.98253803e-01 -1.80509783e-03 1.95263676e+01] [ 3.58488547e-02 -3.13236599e-04 9.99357174e-01 1.71003446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.45, Y:19.53, Z:17.10 [[ 9.97481689e-01 -6.12243620e-02 -3.58030469e-02 4.81452986e+02] [ 6.11977846e-02 9.98123965e-01 -1.83876830e-03 1.95255111e+01] [ 3.58484566e-02 -3.56929449e-04 9.99357174e-01 1.70996484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.48, Y:19.52, Z:17.10 [[ 9.97214964e-01 -6.54245913e-02 -3.58041648e-02 4.81480766e+02] [ 6.54015097e-02 9.97857376e-01 -1.81673798e-03 1.95226992e+01] [ 3.58463092e-02 -5.29968136e-04 9.99357174e-01 1.71021730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.51, Y:19.52, Z:17.10 [[ 9.97084071e-01 -6.73903225e-02 -3.58036304e-02 4.81508269e+02] [ 6.73681315e-02 9.97726514e-01 -1.82720984e-03 1.95222293e+01] [ 3.58453676e-02 -5.90141850e-04 9.99357174e-01 1.71024961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.54, Y:19.52, Z:17.10 [[ 9.96967676e-01 -6.90910307e-02 -3.58033981e-02 4.81535034e+02] [ 6.90697726e-02 9.97610150e-01 -1.83174973e-03 1.95216904e+01] [ 3.58443908e-02 -6.46737299e-04 9.99357174e-01 1.71031554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.56, Y:19.52, Z:17.10 [[ 9.96846388e-01 -7.08195751e-02 -3.58031700e-02 4.81563333e+02] [ 7.07992713e-02 9.97488893e-01 -1.83619731e-03 1.95214708e+01] [ 3.58433031e-02 -7.04431689e-04 9.99357174e-01 1.71046026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.59, Y:19.52, Z:17.11 [[ 9.96721644e-01 -7.25543643e-02 -3.58026445e-02 4.81591821e+02] [ 7.25348129e-02 9.97364172e-01 -1.84638706e-03 1.95199349e+01] [ 3.58422383e-02 -7.56604170e-04 9.99357174e-01 1.71059784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.62, Y:19.52, Z:17.11 [[ 9.96684221e-01 -7.30668749e-02 -3.58021762e-02 4.81619688e+02] [ 7.30473294e-02 9.97326749e-01 -1.85542285e-03 1.95202642e+01] [ 3.58420380e-02 -7.65982689e-04 9.99357174e-01 1.71071454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.65, Y:19.52, Z:17.11 [[ 9.96717674e-01 -7.26093747e-02 -3.58016384e-02 4.81647887e+02] [ 7.25891638e-02 9.97360182e-01 -1.86574360e-03 1.95206979e+01] [ 3.58425990e-02 -7.39191369e-04 9.99357174e-01 1.71079120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.68, Y:19.52, Z:17.11 [[ 9.96739504e-01 -7.23092003e-02 -3.58013942e-02 4.81675350e+02] [ 7.22886281e-02 9.97382001e-01 -1.87041780e-03 1.95212250e+01] [ 3.58429146e-02 -7.23714355e-04 9.99357174e-01 1.71095839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.70, Y:19.52, Z:17.11 [[ 9.96797677e-01 -7.15030819e-02 -3.58008429e-02 4.81702750e+02] [ 7.14816133e-02 9.97440144e-01 -1.88091155e-03 1.95216939e+01] [ 3.58436888e-02 -6.84213738e-04 9.99357174e-01 1.71099888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.73, Y:19.52, Z:17.11 [[ 9.96777548e-01 -7.17832717e-02 -3.58005932e-02 4.81731111e+02] [ 7.17618135e-02 9.97420015e-01 -1.88565238e-03 1.95232578e+01] [ 3.58435865e-02 -6.89539530e-04 9.99357174e-01 1.71110087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.76, Y:19.52, Z:17.11 [[ 9.96810814e-01 -7.13200999e-02 -3.58000603e-02 4.81759087e+02] [ 7.12979818e-02 9.97453259e-01 -1.89571589e-03 1.95237685e+01] [ 3.58440894e-02 -6.62801947e-04 9.99357174e-01 1.71121970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.79, Y:19.52, Z:17.11 [[ 9.96896236e-01 -7.01162546e-02 -3.57995263e-02 4.81788044e+02] [ 7.00930007e-02 9.97538641e-01 -1.90574628e-03 1.95230132e+01] [ 3.58450346e-02 -6.09464931e-04 9.99357174e-01 1.71145990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.82, Y:19.52, Z:17.12 [[ 9.96897463e-01 -7.00990506e-02 -3.57990490e-02 4.81815989e+02] [ 7.00754651e-02 9.97539855e-01 -1.91467072e-03 1.95234114e+01] [ 3.58451948e-02 -5.99904629e-04 9.99357174e-01 1.71159619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.84, Y:19.52, Z:17.12 [[ 9.96880734e-01 -7.03368366e-02 -3.57984971e-02 4.81844163e+02] [ 7.03130360e-02 9.97523118e-01 -1.92493410e-03 1.95235081e+01] [ 3.58452223e-02 -5.98171303e-04 9.99357175e-01 1.71176027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.87, Y:19.52, Z:17.12 [[ 9.96851929e-01 -7.07441834e-02 -3.57979400e-02 4.81870766e+02] [ 7.07202752e-02 9.97494310e-01 -1.93523961e-03 1.95219477e+01] [ 3.58451484e-02 -6.02492833e-04 9.99357175e-01 1.71187274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.90, Y:19.52, Z:17.12 [[ 9.96807411e-01 -7.13688255e-02 -3.57976984e-02 4.81898791e+02] [ 7.13451598e-02 9.97449801e-01 -1.93969905e-03 1.95219185e+01] [ 3.58448412e-02 -6.20486126e-04 9.99357175e-01 1.71191465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.93, Y:19.52, Z:17.12 [[ 9.96747037e-01 -7.22073999e-02 -3.57971471e-02 4.81925597e+02] [ 7.21839112e-02 9.97389433e-01 -1.94982102e-03 1.95220160e+01] [ 3.58444877e-02 -6.40499759e-04 9.99357175e-01 1.71194394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.95, Y:19.52, Z:17.12 [[ 9.96663216e-01 -7.33553995e-02 -3.57969076e-02 4.81953255e+02] [ 7.33324933e-02 9.97305633e-01 -1.95420657e-03 1.95219399e+01] [ 3.58438093e-02 -6.77390683e-04 9.99357175e-01 1.71199700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.98, Y:19.52, Z:17.12 [[ 9.96563454e-01 -7.46987469e-02 -3.57963579e-02 4.81980811e+02] [ 7.46763469e-02 9.97205889e-01 -1.96422513e-03 1.95218298e+01] [ 3.58430641e-02 -7.15666255e-04 9.99357175e-01 1.71208107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.01, Y:19.52, Z:17.12 [[ 9.96368231e-01 -7.72593604e-02 -3.57957990e-02 4.82008197e+02] [ 7.72382475e-02 9.97010710e-01 -1.97435789e-03 1.95200157e+01] [ 3.58413326e-02 -7.97617304e-04 9.99357175e-01 1.71210082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.04, Y:19.52, Z:17.12 [[ 9.96216137e-01 -7.91965076e-02 -3.57955563e-02 4.82035697e+02] [ 7.91764862e-02 9.96858650e-01 -1.97874915e-03 1.95201556e+01] [ 3.58398199e-02 -8.62904536e-04 9.99357175e-01 1.71219849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.06, Y:19.52, Z:17.12 [[ 9.96093716e-01 -8.07219187e-02 -3.57949959e-02 4.82064096e+02] [ 8.07025191e-02 9.96736248e-01 -1.98883468e-03 1.95201386e+01] [ 3.58387125e-02 -9.07680617e-04 9.99357175e-01 1.71231847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.09, Y:19.52, Z:17.12 [[ 9.95995163e-01 -8.19292043e-02 -3.57944267e-02 4.82091444e+02] [ 8.19102174e-02 9.96637708e-01 -1.99902716e-03 1.95204098e+01] [ 3.58378541e-02 -9.40907884e-04 9.99357175e-01 1.71242982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.12, Y:19.52, Z:17.13 [[ 9.95869422e-01 -8.34438237e-02 -3.57941795e-02 4.82119239e+02] [ 8.34256554e-02 9.96511990e-01 -2.00344371e-03 1.95198200e+01] [ 3.58365040e-02 -9.90984553e-04 9.99357175e-01 1.71257911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.15, Y:19.52, Z:17.13 [[ 9.95808211e-01 -8.41712367e-02 -3.57940041e-02 4.82146910e+02] [ 8.41534254e-02 9.96450789e-01 -2.00657170e-03 1.95204915e+01] [ 3.58358593e-02 -1.01402749e-03 9.99357175e-01 1.71272075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.17, Y:19.52, Z:17.13 [[ 9.95789839e-01 -8.43885462e-02 -3.57934340e-02 4.82174993e+02] [ 8.43705117e-02 9.96432411e-01 -2.01669012e-03 1.95213177e+01] [ 3.58359233e-02 -1.01171082e-03 9.99357175e-01 1.71284197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.20, Y:19.52, Z:17.13 [[ 9.95758558e-01 -8.47570953e-02 -3.57928577e-02 4.82203266e+02] [ 8.47389331e-02 9.96401127e-01 -2.02686833e-03 1.95222652e+01] [ 3.58358352e-02 -1.01477709e-03 9.99357175e-01 1.71295683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.23, Y:19.52, Z:17.13 [[ 9.95726568e-01 -8.51323386e-02 -3.57922673e-02 4.82230756e+02] [ 8.51140460e-02 9.96369133e-01 -2.03724084e-03 1.95232409e+01] [ 3.58357454e-02 -1.01788985e-03 9.99357175e-01 1.71304781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.26, Y:19.52, Z:17.13 [[ 9.95700547e-01 -8.54363918e-02 -3.57916755e-02 4.82257615e+02] [ 8.54179239e-02 9.96343106e-01 -2.04758458e-03 1.95240797e+01] [ 3.58357274e-02 -1.01846953e-03 9.99357175e-01 1.71312034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.28, Y:19.52, Z:17.13 [[ 9.95556469e-01 -8.70993241e-02 -3.57914186e-02 4.82284602e+02] [ 8.70817685e-02 9.96199054e-01 -2.05206526e-03 1.95239048e+01] [ 3.58341109e-02 -1.07383320e-03 9.99357175e-01 1.71316404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.31, Y:19.52, Z:17.13 [[ 9.95405387e-01 -8.88093888e-02 -3.57911640e-02 4.82312638e+02] [ 8.87927779e-02 9.96047998e-01 -2.05649749e-03 1.95247750e+01] [ 3.58323535e-02 -1.13094820e-03 9.99357175e-01 1.71325473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.34, Y:19.53, Z:17.13 [[ 9.95252184e-01 -9.05103618e-02 -3.57905716e-02 4.82340317e+02] [ 9.04944806e-02 9.95894812e-01 -2.06675602e-03 1.95254128e+01] [ 3.58307074e-02 -1.18190575e-03 9.99357175e-01 1.71333015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.37, Y:19.53, Z:17.13 [[ 9.95054833e-01 -9.26550380e-02 -3.57899756e-02 4.82368318e+02] [ 9.26401728e-02 9.95697486e-01 -2.07702585e-03 1.95260477e+01] [ 3.58284356e-02 -1.24883491e-03 9.99357175e-01 1.71343748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.40, Y:19.53, Z:17.14 [[ 9.94676248e-01 -9.66347913e-02 -3.57893765e-02 4.82396406e+02] [ 9.66221280e-02 9.95318948e-01 -2.08729809e-03 1.95262442e+01] [ 3.58235502e-02 -1.38185988e-03 9.99357175e-01 1.71350296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.43, Y:19.53, Z:17.14 [[ 9.94508685e-01 -9.83444951e-02 -3.57887787e-02 4.82425133e+02] [ 9.83325702e-02 9.95151399e-01 -2.09749775e-03 1.95273673e+01] [ 3.58215306e-02 -1.43322287e-03 9.99357175e-01 1.71365825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.45, Y:19.53, Z:17.14 [[ 9.94378595e-01 -9.96514547e-02 -3.57882296e-02 4.82452444e+02] [ 9.96400393e-02 9.95021318e-01 -2.10682529e-03 1.95285580e+01] [ 3.58199996e-02 -1.47095864e-03 9.99357175e-01 1.71370207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.48, Y:19.53, Z:17.14 [[ 9.94272077e-01 -1.00708792e-01 -3.57879383e-02 4.82480136e+02] [ 1.00697883e-01 9.94914809e-01 -2.11176297e-03 1.95299489e+01] [ 3.58186229e-02 -1.50410265e-03 9.99357175e-01 1.71376814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.51, Y:19.53, Z:17.14 [[ 9.94164372e-01 -1.01766622e-01 -3.57876503e-02 4.82507877e+02] [ 1.01756222e-01 9.94807113e-01 -2.11663212e-03 1.95316035e+01] [ 3.58172115e-02 -1.53733585e-03 9.99357175e-01 1.71387490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.54, Y:19.53, Z:17.14 [[ 9.94100281e-01 -1.02391009e-01 -3.57870366e-02 4.82536939e+02] [ 1.02380641e-01 9.94743022e-01 -2.12695766e-03 1.95334334e+01] [ 3.58166863e-02 -1.54949053e-03 9.99357175e-01 1.71399029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.56, Y:19.54, Z:17.14 [[ 9.94090470e-01 -1.02486411e-01 -3.57864868e-02 4.82564312e+02] [ 1.02475774e-01 9.94733207e-01 -2.13616908e-03 1.95359355e+01] [ 3.58169350e-02 -1.54370259e-03 9.99357175e-01 1.71396714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.59, Y:19.54, Z:17.14 [[ 9.94063690e-01 -1.02745940e-01 -3.57861930e-02 4.82591919e+02] [ 1.02735294e-01 9.94706427e-01 -2.14107875e-03 1.95381436e+01] [ 3.58167433e-02 -1.54813642e-03 9.99357175e-01 1.71410250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.62, Y:19.54, Z:17.14 [[ 9.94055183e-01 -1.02828424e-01 -3.57855919e-02 4.82620546e+02] [ 1.02817472e-01 9.94697914e-01 -2.15107850e-03 1.95409742e+01] [ 3.58170457e-02 -1.54109336e-03 9.99357176e-01 1.71427185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.65, Y:19.54, Z:17.14 [[ 9.94020092e-01 -1.03167284e-01 -3.57850343e-02 4.82649388e+02] [ 1.03156220e-01 9.94662821e-01 -2.16031548e-03 1.95432428e+01] [ 3.58169170e-02 -1.54405188e-03 9.99357176e-01 1.71436778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.68, Y:19.55, Z:17.14 [[ 9.94012669e-01 -1.03238970e-01 -3.57844728e-02 4.82677457e+02] [ 1.03227620e-01 9.94655393e-01 -2.16957622e-03 1.95454072e+01] [ 3.58172037e-02 -1.53735970e-03 9.99357176e-01 1.71445467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.71, Y:19.55, Z:17.15 [[ 9.93966823e-01 -1.03679513e-01 -3.57842741e-02 4.82706349e+02] [ 1.03668329e-01 9.94609550e-01 -2.17284916e-03 1.95475647e+01] [ 3.58166607e-02 -1.54995594e-03 9.99357176e-01 1.71456370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.73, Y:19.55, Z:17.15 [[ 9.93825164e-01 -1.05028890e-01 -3.57837352e-02 4.82734974e+02] [ 1.05018262e-01 9.94467900e-01 -2.18168766e-03 1.95498769e+01] [ 3.58149163e-02 -1.58972958e-03 9.99357176e-01 1.71466531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.76, Y:19.55, Z:17.15 [[ 9.93727810e-01 -1.05946230e-01 -3.57831823e-02 4.82763793e+02] [ 1.05935871e-01 9.94370551e-01 -2.19071864e-03 1.95521247e+01] [ 3.58138411e-02 -1.61374453e-03 9.99357176e-01 1.71476599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.79, Y:19.55, Z:17.15 [[ 9.93645528e-01 -1.06715364e-01 -3.57826291e-02 4.82792353e+02] [ 1.06705178e-01 9.94288271e-01 -2.19971856e-03 1.95541168e+01] [ 3.58129922e-02 -1.63245131e-03 9.99357176e-01 1.71486530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.82, Y:19.56, Z:17.15 [[ 9.93498501e-01 -1.08075624e-01 -3.57825115e-02 4.82821294e+02] [ 1.08066250e-01 9.94141257e-01 -2.20162960e-03 1.95562281e+01] [ 3.58108134e-02 -1.67956612e-03 9.99357176e-01 1.71496802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.85, Y:19.56, Z:17.15 [[ 9.93378244e-01 -1.09175620e-01 -3.57819451e-02 4.82849650e+02] [ 1.09166628e-01 9.94021006e-01 -2.21079698e-03 1.95581947e+01] [ 3.58093702e-02 -1.71003667e-03 9.99357176e-01 1.71501979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.88, Y:19.56, Z:17.15 [[ 9.93237816e-01 -1.10445926e-01 -3.57818248e-02 4.82878856e+02] [ 1.10437686e-01 9.93880587e-01 -2.21274236e-03 1.95603544e+01] [ 3.58072494e-02 -1.75388254e-03 9.99357176e-01 1.71514717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.91, Y:19.56, Z:17.15 [[ 9.93031899e-01 -1.12282295e-01 -3.57817453e-02 4.82908182e+02] [ 1.12275197e-01 9.93674684e-01 -2.21402672e-03 1.95625527e+01] [ 3.58040105e-02 -1.81880335e-03 9.99357176e-01 1.71523715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.94, Y:19.56, Z:17.15 [[ 9.92906152e-01 -1.13388916e-01 -3.57816661e-02 4.82936376e+02] [ 1.13382488e-01 9.93548944e-01 -2.21530516e-03 1.95649649e+01] [ 3.58020277e-02 -1.85742422e-03 9.99357176e-01 1.71535088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.97, Y:19.57, Z:17.15 [[ 9.92837049e-01 -1.13992447e-01 -3.57815170e-02 4.82965502e+02] [ 1.13986324e-01 9.93479844e-01 -2.21771178e-03 1.95674495e+01] [ 3.58010183e-02 -1.87677717e-03 9.99357176e-01 1.71548988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.99, Y:19.57, Z:17.16 [[ 9.92798307e-01 -1.14329395e-01 -3.57814366e-02 4.82994565e+02] [ 1.14323443e-01 9.93441104e-01 -2.21900788e-03 1.95700841e+01] [ 3.58004477e-02 -1.88762977e-03 9.99357176e-01 1.71562441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.03, Y:19.57, Z:17.16 [[ 9.92869303e-01 -1.13711210e-01 -3.57813967e-02 4.83025243e+02] [ 1.13704835e-01 9.93512095e-01 -2.21965127e-03 1.95740395e+01] [ 3.58016496e-02 -1.86469421e-03 9.99357176e-01 1.71579326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.06, Y:19.58, Z:17.16 [[ 9.92965665e-01 -1.12866648e-01 -3.57813967e-02 4.83055011e+02] [ 1.12859726e-01 9.93608452e-01 -2.21965127e-03 1.95770916e+01] [ 3.58032228e-02 -1.83424114e-03 9.99357176e-01 1.71586945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.09, Y:19.58, Z:17.16 [[ 9.93097862e-01 -1.11697498e-01 -3.57813573e-02 4.83085445e+02] [ 1.11689797e-01 9.93740640e-01 -2.22028568e-03 1.95803097e+01] [ 3.58053893e-02 -1.79145157e-03 9.99357176e-01 1.71599589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.12, Y:19.58, Z:17.16 [[ 9.93262546e-01 -1.10223447e-01 -3.57813573e-02 4.83115584e+02] [ 1.10214792e-01 9.93905312e-01 -2.22028568e-03 1.95837217e+01] [ 3.58080087e-02 -1.73830824e-03 9.99357176e-01 1.71612913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.15, Y:19.59, Z:17.16 [[ 9.93799050e-01 -1.05276504e-01 -3.57813573e-02 4.83146024e+02] [ 1.05264648e-01 9.94441765e-01 -2.22028568e-03 1.95879400e+01] [ 3.58162201e-02 -1.55999420e-03 9.99357176e-01 1.71625832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.18, Y:19.59, Z:17.16 [[ 9.93913747e-01 -1.04188091e-01 -3.57813573e-02 4.83176621e+02] [ 1.04175532e-01 9.94556448e-01 -2.22028568e-03 1.95926539e+01] [ 3.58179070e-02 -1.52076946e-03 9.99357176e-01 1.71628316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.21, Y:19.60, Z:17.16 [[ 9.94147078e-01 -1.01937622e-01 -3.57813984e-02 4.83205804e+02] [ 1.01923631e-01 9.94789750e-01 -2.21962331e-03 1.95961330e+01] [ 3.58212315e-02 -1.44033803e-03 9.99357176e-01 1.71638658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.24, Y:19.60, Z:17.16 [[ 9.94364710e-01 -9.97923709e-02 -3.57813592e-02 4.83235352e+02] [ 9.97769709e-02 9.95007350e-01 -2.22025489e-03 1.95995534e+01] [ 3.58242799e-02 -1.36241253e-03 9.99357176e-01 1.71649064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.27, Y:19.60, Z:17.17 [[ 9.94775789e-01 -9.56076887e-02 -3.57812821e-02 4.83266011e+02] [ 9.55895404e-02 9.95418357e-01 -2.22149670e-03 1.96046433e+01] [ 3.58297372e-02 -1.21042518e-03 9.99357176e-01 1.71664838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.30, Y:19.61, Z:17.17 [[ 9.94968629e-01 -9.35795217e-02 -3.57812821e-02 4.83295475e+02] [ 9.35600635e-02 9.95611159e-01 -2.22149670e-03 1.96078043e+01] [ 3.58321304e-02 -1.13737950e-03 9.99357176e-01 1.71676807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.33, Y:19.61, Z:17.17 [[ 9.95149169e-01 -9.16396828e-02 -3.57812849e-02 4.83325268e+02] [ 9.16189736e-02 9.95791659e-01 -2.22145270e-03 1.96109647e+01] [ 3.58342783e-02 -1.06756779e-03 9.99357176e-01 1.71697783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.35, Y:19.61, Z:17.17 [[ 9.95295330e-01 -9.00383926e-02 -3.57812037e-02 4.83354165e+02] [ 9.00166027e-02 9.95937785e-01 -2.22275852e-03 1.96143164e+01] [ 3.58359864e-02 -1.00860123e-03 9.99357176e-01 1.71706702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.38, Y:19.62, Z:17.17 [[ 9.95524220e-01 -8.74713795e-02 -3.57810829e-02 4.83382422e+02] [ 8.74478631e-02 9.96166614e-01 -2.22470199e-03 1.96185110e+01] [ 3.58385179e-02 -9.14234524e-04 9.99357176e-01 1.71713791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.41, Y:19.62, Z:17.17 [[ 9.95561938e-01 -8.70410838e-02 -3.57809669e-02 4.83410735e+02] [ 8.70172228e-02 9.96204319e-01 -2.22656655e-03 1.96213723e+01] [ 3.58389565e-02 -8.96875455e-04 9.99357176e-01 1.71730119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.44, Y:19.62, Z:17.17 [[ 9.95607190e-01 -8.65221683e-02 -3.57804023e-02 4.83439534e+02] [ 8.64976479e-02 9.96249547e-01 -2.23560309e-03 1.96241382e+01] [ 3.58396388e-02 -8.69138122e-04 9.99357176e-01 1.71737245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.47, Y:19.63, Z:17.17 [[ 9.95630574e-01 -8.62527328e-02 -3.57802584e-02 4.83468379e+02] [ 8.62279559e-02 9.96272920e-01 -2.23790325e-03 1.96269579e+01] [ 3.58399278e-02 -8.57133644e-04 9.99357176e-01 1.71741411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.50, Y:19.63, Z:17.18 [[ 9.95665632e-01 -8.58471314e-02 -3.57801395e-02 4.83497445e+02] [ 8.58220246e-02 9.96307966e-01 -2.23980285e-03 1.96310123e+01] [ 3.58403187e-02 -8.40629290e-04 9.99357176e-01 1.71763064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.53, Y:19.63, Z:17.18 [[ 9.95662504e-01 -8.58834405e-02 -3.57800578e-02 4.83527521e+02] [ 8.58583103e-02 9.96304837e-01 -2.24110737e-03 1.96329246e+01] [ 3.58403186e-02 -8.40628729e-04 9.99357176e-01 1.71773877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.56, Y:19.64, Z:17.18 [[ 9.95656221e-01 -8.59562862e-02 -3.57799761e-02 4.83555831e+02] [ 8.59311562e-02 9.96298554e-01 -2.24241133e-03 1.96357599e+01] [ 3.58402877e-02 -8.41943924e-04 9.99357176e-01 1.71788169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.59, Y:19.64, Z:17.18 [[ 9.95656474e-01 -8.59534088e-02 -3.57798544e-02 4.83585234e+02] [ 8.59282072e-02 9.96298804e-01 -2.24435123e-03 1.96387490e+01] [ 3.58403357e-02 -8.39895912e-04 9.99357176e-01 1.71803217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.61, Y:19.64, Z:17.18 [[ 9.95648424e-01 -8.60466322e-02 -3.57797747e-02 4.83614319e+02] [ 8.60214452e-02 9.96290755e-01 -2.24562094e-03 1.96416286e+01] [ 3.58402869e-02 -8.41978979e-04 9.99357176e-01 1.71817648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.64, Y:19.64, Z:17.18 [[ 9.95657076e-01 -8.59465025e-02 -3.57796944e-02 4.83643360e+02] [ 8.59212049e-02 9.96299402e-01 -2.24689876e-03 1.96441501e+01] [ 3.58404013e-02 -8.37093805e-04 9.99357176e-01 1.71829444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.67, Y:19.65, Z:17.18 [[ 9.95698353e-01 -8.54670064e-02 -3.57796139e-02 4.83673275e+02] [ 8.54413535e-02 9.96340665e-01 -2.24818021e-03 1.96474269e+01] [ 3.58408296e-02 -8.18549307e-04 9.99357176e-01 1.71844868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.70, Y:19.65, Z:17.19 [[ 9.95752950e-01 -8.48285724e-02 -3.57795326e-02 4.83703044e+02] [ 8.48024612e-02 9.96395244e-01 -2.24947404e-03 1.96502156e+01] [ 3.58413758e-02 -7.94272012e-04 9.99357176e-01 1.71856156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.73, Y:19.65, Z:17.19 [[ 9.95841859e-01 -8.37784145e-02 -3.57794510e-02 4.83732337e+02] [ 8.37515794e-02 9.96484123e-01 -2.25077145e-03 1.96527884e+01] [ 3.58422209e-02 -7.55173105e-04 9.99357176e-01 1.71864654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.76, Y:19.66, Z:17.19 [[ 9.95888336e-01 -8.32241049e-02 -3.57794596e-02 4.83761995e+02] [ 8.31969173e-02 9.96530585e-01 -2.25063398e-03 1.96559118e+01] [ 3.58426328e-02 -7.35360615e-04 9.99357176e-01 1.71873317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.79, Y:19.66, Z:17.19 [[ 9.96013328e-01 -8.17146638e-02 -3.57793792e-02 4.83791493e+02] [ 8.16864569e-02 9.96655533e-01 -2.25191179e-03 1.96589453e+01] [ 3.58437305e-02 -6.79756559e-04 9.99357176e-01 1.71873282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.82, Y:19.66, Z:17.19 [[ 9.96066746e-01 -8.10609555e-02 -3.57792983e-02 4.83821064e+02] [ 8.10322810e-02 9.96708931e-01 -2.25319661e-03 1.96612346e+01] [ 3.58441924e-02 -6.54943935e-04 9.99357176e-01 1.71877333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.85, Y:19.66, Z:17.19 [[ 9.96147462e-01 -8.00629881e-02 -3.57792172e-02 4.83849533e+02] [ 8.00336240e-02 9.96789615e-01 -2.25448387e-03 1.96632157e+01] [ 3.58448528e-02 -6.17742029e-04 9.99357176e-01 1.71876711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.88, Y:19.67, Z:17.19 [[ 9.96220157e-01 -7.91533836e-02 -3.57790589e-02 4.83877634e+02] [ 7.91233431e-02 9.96862279e-01 -2.25699299e-03 1.96653665e+01] [ 3.58454428e-02 -5.82496841e-04 9.99357176e-01 1.71876468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.91, Y:19.67, Z:17.19 [[ 9.96376380e-01 -7.71620134e-02 -3.57789393e-02 4.83906646e+02] [ 7.71306215e-02 9.97018437e-01 -2.25888662e-03 1.96679685e+01] [ 3.58465624e-02 -5.08950554e-04 9.99357176e-01 1.71883475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.93, Y:19.67, Z:17.19 [[ 9.96477356e-01 -7.58471278e-02 -3.57783701e-02 4.83934190e+02] [ 7.58145663e-02 9.97119355e-01 -2.26786695e-03 1.96702902e+01] [ 3.58473165e-02 -4.52643550e-04 9.99357176e-01 1.71893535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.96, Y:19.67, Z:17.19 [[ 9.96579290e-01 -7.44959207e-02 -3.57781684e-02 4.83963471e+02] [ 7.44623747e-02 9.97221238e-01 -2.27104443e-03 1.96726490e+01] [ 3.58479329e-02 -4.00851535e-04 9.99357176e-01 1.71907388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.99, Y:19.67, Z:17.19 [[ 9.96660118e-01 -7.34066559e-02 -3.57780866e-02 4.83991744e+02] [ 7.33723620e-02 9.97302027e-01 -2.27233219e-03 1.96745423e+01] [ 3.58483626e-02 -3.60379851e-04 9.99357176e-01 1.71916232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.02, Y:19.68, Z:17.19 [[ 9.96847586e-01 -7.08156674e-02 -3.57775155e-02 4.84019597e+02] [ 7.07793836e-02 9.97489386e-01 -2.28128982e-03 1.96763653e+01] [ 3.58492430e-02 -2.58212241e-04 9.99357176e-01 1.71921456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.05, Y:19.68, Z:17.19 [[ 9.96905759e-01 -6.99920790e-02 -3.57773130e-02 4.84048105e+02] [ 6.99551512e-02 9.97547522e-01 -2.28445995e-03 1.96783990e+01] [ 3.58494641e-02 -2.25416058e-04 9.99357176e-01 1.71933377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.08, Y:19.68, Z:17.19 [[ 9.96975494e-01 -6.89919454e-02 -3.57767373e-02 4.84075453e+02] [ 6.89540515e-02 9.97617201e-01 -2.29344191e-03 1.96802020e+01] [ 3.58497175e-02 -1.80445600e-04 9.99357176e-01 1.71941318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.10, Y:19.68, Z:17.20 [[ 9.97015841e-01 -6.84065661e-02 -3.57764391e-02 4.84103179e+02] [ 6.83681289e-02 9.97657515e-01 -2.29808355e-03 1.96822562e+01] [ 3.58498373e-02 -1.54742494e-04 9.99357176e-01 1.71952621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.13, Y:19.68, Z:17.20 [[ 9.97054607e-01 -6.78395371e-02 -3.57757872e-02 4.84131080e+02] [ 6.78003723e-02 9.97696237e-01 -2.30818835e-03 1.96841679e+01] [ 3.58499547e-02 -1.24221862e-04 9.99357176e-01 1.71961758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.16, Y:19.69, Z:17.20 [[ 9.97054147e-01 -6.78464668e-02 -3.57754931e-02 4.84158474e+02] [ 6.78071433e-02 9.97695767e-01 -2.31273702e-03 1.96860023e+01] [ 3.58499691e-02 -1.19909958e-04 9.99357176e-01 1.71971733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.19, Y:19.69, Z:17.20 [[ 9.97037063e-01 -6.80973939e-02 -3.57748467e-02 4.84185615e+02] [ 6.80578746e-02 9.97678671e-01 -2.32269393e-03 1.96875390e+01] [ 3.58499709e-02 -1.18948096e-04 9.99357176e-01 1.71984099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.21, Y:19.69, Z:17.20 [[ 9.96972966e-01 -6.90296044e-02 -3.57745661e-02 4.84213484e+02] [ 6.89905303e-02 9.97614601e-01 -2.32700757e-03 1.96889082e+01] [ 3.58498619e-02 -1.48142642e-04 9.99357176e-01 1.71995755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.24, Y:19.69, Z:17.20 [[ 9.96879662e-01 -7.03645306e-02 -3.57739182e-02 4.84241578e+02] [ 7.03259598e-02 9.97521327e-01 -2.33692471e-03 1.96905346e+01] [ 3.58496830e-02 -1.86202418e-04 9.99357176e-01 1.72009862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.27, Y:19.69, Z:17.20 [[ 9.96581057e-01 -7.44746454e-02 -3.57732445e-02 4.84269916e+02] [ 7.44383523e-02 9.97222855e-01 -2.34719232e-03 1.96918560e+01] [ 3.58487034e-02 -3.23733976e-04 9.99357176e-01 1.72023380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.30, Y:19.69, Z:17.20 [[ 9.96373299e-01 -7.72047540e-02 -3.57725588e-02 4.84298742e+02] [ 7.71698459e-02 9.97015174e-01 -2.35759702e-03 1.96932112e+01] [ 3.58478017e-02 -4.11516137e-04 9.99357176e-01 1.72032638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.33, Y:19.69, Z:17.20 [[ 9.96141770e-01 -8.01370125e-02 -3.57719600e-02 4.84327956e+02] [ 8.01036688e-02 9.96783728e-01 -2.36664802e-03 1.96944222e+01] [ 3.58465638e-02 -5.07948286e-04 9.99357176e-01 1.72042615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.36, Y:19.69, Z:17.21 [[ 9.95557146e-01 -8.70996089e-02 -3.57718743e-02 4.84356716e+02] [ 8.70707078e-02 9.96199320e-01 -2.36794323e-03 1.96947915e+01] [ 3.58421638e-02 -7.57259608e-04 9.99357176e-01 1.72051644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.39, Y:19.70, Z:17.21 [[ 9.95228048e-01 -9.07827847e-02 -3.57717465e-02 4.84386277e+02] [ 9.07561907e-02 9.95870322e-01 -2.36987205e-03 1.96956343e+01] [ 3.58391643e-02 -8.87944315e-04 9.99357176e-01 1.72063502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.42, Y:19.70, Z:17.21 [[ 9.94865565e-01 -9.46725678e-02 -3.57716598e-02 4.84415490e+02] [ 9.46484378e-02 9.95507936e-01 -2.37117934e-03 1.96966714e+01] [ 3.58354569e-02 -1.02672705e-03 9.99357176e-01 1.72072534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.45, Y:19.70, Z:17.21 [[ 9.94489812e-01 -9.85413882e-02 -3.57716168e-02 4.84445463e+02] [ 9.85197336e-02 9.95132271e-01 -2.37182817e-03 1.96980233e+01] [ 3.58312135e-02 -1.16545121e-03 9.99357176e-01 1.72083808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.48, Y:19.70, Z:17.21 [[ 9.93672292e-01 -1.06469561e-01 -3.57716168e-02 4.84477090e+02] [ 1.06453030e-01 9.94314903e-01 -2.37182817e-03 1.96999370e+01] [ 3.58207792e-02 -1.45117708e-03 9.99357176e-01 1.72096598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.51, Y:19.70, Z:17.21 [[ 9.93251718e-01 -1.10324114e-01 -3.57717022e-02 4.84508627e+02] [ 1.10310123e-01 9.93894389e-01 -2.37053933e-03 1.97018268e+01] [ 3.58148218e-02 -1.59143862e-03 9.99357176e-01 1.72108970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.54, Y:19.70, Z:17.21 [[ 9.92862419e-01 -1.13774319e-01 -3.57717875e-02 4.84539329e+02] [ 1.13762608e-01 9.93505136e-01 -2.36925226e-03 1.97036863e+01] [ 3.58090147e-02 -1.71715029e-03 9.99357176e-01 1.72120650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.57, Y:19.71, Z:17.21 [[ 9.92462235e-01 -1.17213827e-01 -3.57719149e-02 4.84571052e+02] [ 1.17204412e-01 9.93104990e-01 -2.36732639e-03 1.97059219e+01] [ 3.58027506e-02 -1.84314422e-03 9.99357176e-01 1.72136232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.60, Y:19.71, Z:17.22 [[ 9.92103465e-01 -1.20212640e-01 -3.57719982e-02 4.84601972e+02] [ 1.20205213e-01 9.92746246e-01 -2.36606699e-03 1.97083305e+01] [ 3.57969481e-02 -1.95259740e-03 9.99357176e-01 1.72154102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.63, Y:19.71, Z:17.22 [[ 9.91834936e-01 -1.22408392e-01 -3.57721227e-02 4.84634023e+02] [ 1.22402455e-01 9.92477733e-01 -2.36418418e-03 1.97108727e+01] [ 3.57924312e-02 -2.03371517e-03 9.99357176e-01 1.72176104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.67, Y:19.72, Z:17.22 [[ 9.91483671e-01 -1.25221694e-01 -3.57722938e-02 4.84665546e+02] [ 1.25217674e-01 9.92126482e-01 -2.36159195e-03 1.97150749e+01] [ 3.57863626e-02 -2.13784357e-03 9.99357176e-01 1.72202911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.70, Y:19.72, Z:17.22 [[ 9.91436314e-01 -1.25596046e-01 -3.57724648e-02 4.84697232e+02] [ 1.25592362e-01 9.92079127e-01 -2.35899831e-03 1.97185759e+01] [ 3.57853965e-02 -2.15395175e-03 9.99357176e-01 1.72220537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.73, Y:19.72, Z:17.22 [[ 9.91458388e-01 -1.25421618e-01 -3.57726383e-02 4.84728069e+02] [ 1.25417916e-01 9.92101201e-01 -2.35636458e-03 1.97224665e+01] [ 3.57856165e-02 -2.15029232e-03 9.99357176e-01 1.72231011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.76, Y:19.73, Z:17.22 [[ 9.91590454e-01 -1.24373151e-01 -3.57727675e-02 4.84760431e+02] [ 1.24368839e-01 9.92233263e-01 -2.35440207e-03 1.97263330e+01] [ 3.57877542e-02 -2.11441495e-03 9.99357176e-01 1.72245686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.79, Y:19.73, Z:17.23 [[ 9.92171980e-01 -1.19645557e-01 -3.57729391e-02 4.84793637e+02] [ 1.19638275e-01 9.92814762e-01 -2.35179173e-03 1.97318096e+01] [ 3.57972835e-02 -1.94643088e-03 9.99357176e-01 1.72251165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.82, Y:19.74, Z:17.23 [[ 9.92280352e-01 -1.18742817e-01 -3.57749450e-02 4.84824503e+02] [ 1.18736048e-01 9.92923140e-01 -2.32126494e-03 1.97369884e+01] [ 3.57974043e-02 -1.94442999e-03 9.99357176e-01 1.72272635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.86, Y:19.74, Z:17.23 [[ 9.92560848e-01 -1.16375397e-01 -3.57733186e-02 4.84856289e+02] [ 1.16366203e-01 9.93203606e-01 -2.34606414e-03 1.97413880e+01] [ 3.58032132e-02 -1.83419385e-03 9.99357176e-01 1.72287333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.89, Y:19.75, Z:17.23 [[ 9.92842317e-01 -1.13949077e-01 -3.57734874e-02 4.84888128e+02] [ 1.13938405e-01 9.93485052e-01 -2.34348826e-03 1.97458623e+01] [ 3.58074633e-02 -1.74925978e-03 9.99357176e-01 1.72299646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.92, Y:19.75, Z:17.23 [[ 9.93138200e-01 -1.11340746e-01 -3.57736549e-02 4.84919402e+02] [ 1.11328477e-01 9.93780907e-01 -2.34092887e-03 1.97504212e+01] [ 3.58118159e-02 -1.65776064e-03 9.99357176e-01 1.72311809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.95, Y:19.76, Z:17.23 [[ 9.93645463e-01 -1.06718886e-01 -3.57739224e-02 4.84950746e+02] [ 1.06703775e-01 9.94288109e-01 -2.33683254e-03 1.97577411e+01] [ 3.58189699e-02 -1.49522951e-03 9.99357176e-01 1.72335674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.98, Y:19.76, Z:17.24 [[ 9.93835966e-01 -1.04929921e-01 -3.57740851e-02 4.84982380e+02] [ 1.04913743e-01 9.94478586e-01 -2.33434015e-03 1.97621748e+01] [ 3.58215037e-02 -1.43324196e-03 9.99357176e-01 1.72351869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.01, Y:19.77, Z:17.24 [[ 9.94034592e-01 -1.03031221e-01 -3.57742480e-02 4.85014642e+02] [ 1.03013904e-01 9.94677183e-01 -2.33183981e-03 1.97661666e+01] [ 3.58240806e-02 -1.36731553e-03 9.99357176e-01 1.72368784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.05, Y:19.77, Z:17.24 [[ 9.94173989e-01 -1.01677289e-01 -3.57744134e-02 4.85045896e+02] [ 1.01659189e-01 9.94816558e-01 -2.32929984e-03 1.97698978e+01] [ 3.58258157e-02 -1.32106855e-03 9.99357176e-01 1.72374853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.08, Y:19.77, Z:17.24 [[ 9.94271734e-01 -1.00716933e-01 -3.57745366e-02 4.85077573e+02] [ 1.00698280e-01 9.94914288e-01 -2.32740598e-03 1.97736327e+01] [ 3.58270068e-02 -1.28836033e-03 9.99357176e-01 1.72389797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.11, Y:19.78, Z:17.24 [[ 9.94379912e-01 -9.96431693e-02 -3.57747012e-02 4.85109450e+02] [ 9.96239137e-02 9.95022447e-01 -2.32487391e-03 1.97787378e+01] [ 3.58282885e-02 -1.25220783e-03 9.99357176e-01 1.72398691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.14, Y:19.78, Z:17.24 [[ 9.94416308e-01 -9.92792269e-02 -3.57748710e-02 4.85140810e+02] [ 9.92598301e-02 9.95058839e-01 -2.32225726e-03 1.97821874e+01] [ 3.58286536e-02 -1.24171713e-03 9.99357176e-01 1.72403641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.17, Y:19.79, Z:17.24 [[ 9.94485622e-01 -9.85824341e-02 -3.57749974e-02 4.85173241e+02] [ 9.85626571e-02 9.95128142e-01 -2.32030906e-03 1.97857470e+01] [ 3.58294484e-02 -1.21856480e-03 9.99357176e-01 1.72413678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.21, Y:19.79, Z:17.24 [[ 9.94522280e-01 -9.82118738e-02 -3.57751612e-02 4.85205451e+02] [ 9.81919483e-02 9.95164795e-01 -2.31778064e-03 1.97894227e+01] [ 3.58298146e-02 -1.20774829e-03 9.99357176e-01 1.72428968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.24, Y:19.79, Z:17.24 [[ 9.94604320e-01 -9.73774730e-02 -3.57753315e-02 4.85237206e+02] [ 9.73571030e-02 9.95246821e-01 -2.31514927e-03 1.97926353e+01] [ 3.58307283e-02 -1.18032517e-03 9.99357176e-01 1.72436903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.27, Y:19.80, Z:17.24 [[ 9.94754065e-01 -9.58356110e-02 -3.57755004e-02 4.85269113e+02] [ 9.58143389e-02 9.95396536e-01 -2.31253623e-03 1.97967285e+01] [ 3.58324325e-02 -1.12740111e-03 9.99357176e-01 1.72448785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.30, Y:19.80, Z:17.25 [[ 9.94888915e-01 -9.44253551e-02 -3.57756718e-02 4.85300067e+02] [ 9.44032677e-02 9.95531359e-01 -2.30988218e-03 1.97994621e+01] [ 3.58339146e-02 -1.07926414e-03 9.99357176e-01 1.72457029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.33, Y:19.80, Z:17.25 [[ 9.95057690e-01 -9.26298280e-02 -3.57757993e-02 4.85331970e+02] [ 9.26066523e-02 9.95700096e-01 -2.30790485e-03 1.98020328e+01] [ 3.58357477e-02 -1.01657854e-03 9.99357176e-01 1.72469188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.36, Y:19.80, Z:17.25 [[ 9.95243050e-01 -9.06165083e-02 -3.57759658e-02 4.85364345e+02] [ 9.05921257e-02 9.95885411e-01 -2.30532169e-03 1.98048857e+01] [ 3.58376626e-02 -9.46665399e-04 9.99357176e-01 1.72484511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.40, Y:19.81, Z:17.25 [[ 9.95634483e-01 -8.62093111e-02 -3.57761340e-02 4.85396366e+02] [ 8.61821786e-02 9.96276733e-01 -2.30270748e-03 1.98085310e+01] [ 3.58414448e-02 -7.90610203e-04 9.99357176e-01 1.72495356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.43, Y:19.81, Z:17.25 [[ 9.95848494e-01 -8.37008516e-02 -3.57763006e-02 4.85428560e+02] [ 8.36721944e-02 9.96490679e-01 -2.30011606e-03 1.98109195e+01] [ 3.58432718e-02 -7.02914469e-04 9.99357176e-01 1.72501833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.46, Y:19.81, Z:17.25 [[ 9.95854578e-01 -8.36283708e-02 -3.57764678e-02 4.85461166e+02] [ 8.35997603e-02 9.96496764e-01 -2.29751383e-03 1.98129564e+01] [ 3.58432717e-02 -7.02914467e-04 9.99357176e-01 1.72513546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.49, Y:19.82, Z:17.25 [[ 9.96025302e-01 -8.15697934e-02 -3.57766347e-02 4.85493761e+02] [ 8.15399491e-02 9.96667432e-01 -2.29491158e-03 1.98151475e+01] [ 3.58446021e-02 -6.31434967e-04 9.99357176e-01 1.72521948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.53, Y:19.82, Z:17.25 [[ 9.96159009e-01 -7.99202718e-02 -3.57768003e-02 4.85525454e+02] [ 7.98894569e-02 9.96801093e-01 -2.29232699e-03 1.98169536e+01] [ 3.58455570e-02 -5.74666966e-04 9.99357176e-01 1.72531096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.56, Y:19.82, Z:17.25 [[ 9.96251628e-01 -7.87572344e-02 -3.57769669e-02 4.85556503e+02] [ 7.87257634e-02 9.96893681e-01 -2.28972361e-03 1.98185802e+01] [ 3.58461645e-02 -5.35428154e-04 9.99357176e-01 1.72542853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.59, Y:19.82, Z:17.26 [[ 9.96314545e-01 -7.79572093e-02 -3.57770908e-02 4.85587366e+02] [ 7.79252923e-02 9.96956576e-01 -2.28778522e-03 1.98193707e+01] [ 3.58465554e-02 -5.08586572e-04 9.99357176e-01 1.72553110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.62, Y:19.82, Z:17.26 [[ 9.96273985e-01 -7.84738181e-02 -3.57771724e-02 4.85618542e+02] [ 7.84422799e-02 9.96916035e-01 -2.28650848e-03 1.98205152e+01] [ 3.58462679e-02 -5.28454063e-04 9.99357176e-01 1.72561154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.65, Y:19.82, Z:17.26 [[ 9.96183295e-01 -7.96167751e-02 -3.57772535e-02 4.85649739e+02] [ 7.95860191e-02 9.96825383e-01 -2.28523918e-03 1.98216634e+01] [ 3.58456178e-02 -5.70852087e-04 9.99357176e-01 1.72571398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.68, Y:19.82, Z:17.26 [[ 9.96032900e-01 -8.14766513e-02 -3.57773352e-02 4.85680707e+02] [ 8.14471401e-02 9.96675046e-01 -2.28396002e-03 1.98228937e+01] [ 3.58444666e-02 -6.39062313e-04 9.99357176e-01 1.72580345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.71, Y:19.82, Z:17.26 [[ 9.95655315e-01 -8.59678384e-02 -3.57774166e-02 4.85711373e+02] [ 8.59412694e-02 9.96297590e-01 -2.28268326e-03 1.98227939e+01] [ 3.58411913e-02 -8.01990876e-04 9.99357176e-01 1.72578315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.74, Y:19.82, Z:17.26 [[ 9.95422441e-01 -8.86235704e-02 -3.57774571e-02 4.85743047e+02] [ 8.85987376e-02 9.96064785e-01 -2.28204937e-03 1.98235058e+01] [ 3.58389085e-02 -8.98234382e-04 9.99357176e-01 1.72584181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.78, Y:19.82, Z:17.26 [[ 9.95216604e-01 -9.09058796e-02 -3.57775366e-02 4.85775429e+02] [ 9.08825645e-02 9.95859005e-01 -2.28080266e-03 1.98239873e+01] [ 3.58367203e-02 -9.81661601e-04 9.99357176e-01 1.72587726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.81, Y:19.82, Z:17.26 [[ 9.94997063e-01 -9.32780892e-02 -3.57776953e-02 4.85808069e+02] [ 9.32563952e-02 9.95639520e-01 -2.27831001e-03 1.98247024e+01] [ 3.58342038e-02 -1.06958712e-03 9.99357176e-01 1.72594903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.84, Y:19.83, Z:17.26 [[ 9.94847178e-01 -9.48632567e-02 -3.57778577e-02 4.85839644e+02] [ 9.48426781e-02 9.95489672e-01 -2.27575596e-03 1.98256376e+01] [ 3.58323735e-02 -1.12923845e-03 9.99357176e-01 1.72612275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.87, Y:19.83, Z:17.26 [[ 9.94570552e-01 -9.77232621e-02 -3.57712406e-02 4.85870981e+02] [ 9.77008084e-02 9.95212988e-01 -2.37936131e-03 1.98272461e+01] [ 3.58325222e-02 -1.12843643e-03 9.99357172e-01 1.72614108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.90, Y:19.83, Z:17.26 [[ 9.94191542e-01 -1.01505984e-01 -3.57730877e-02 4.85902278e+02] [ 1.01487013e-01 9.94834087e-01 -2.35043786e-03 1.98277627e+01] [ 3.58268705e-02 -1.29371838e-03 9.99357174e-01 1.72621753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.93, Y:19.83, Z:17.26 [[ 9.94001069e-01 -1.03353029e-01 -3.57774478e-02 4.85933180e+02] [ 1.03337709e-01 9.94643710e-01 -2.28208299e-03 1.98290615e+01] [ 3.58216736e-02 -1.42876656e-03 9.99357177e-01 1.72630196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.97, Y:19.83, Z:17.26 [[ 9.93789777e-01 -1.05365294e-01 -3.57775687e-02 4.85965271e+02] [ 1.05351343e-01 9.94432449e-01 -2.28018563e-03 1.98305589e+01] [ 3.58186277e-02 -1.50318976e-03 9.99357177e-01 1.72642118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.00, Y:19.83, Z:17.26 [[ 9.93312250e-01 -1.09775805e-01 -3.57777285e-02 4.85997881e+02] [ 1.09764798e-01 9.93954980e-01 -2.27767603e-03 1.98312403e+01] [ 3.58114851e-02 -1.66469162e-03 9.99357177e-01 1.72648775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.03, Y:19.83, Z:17.27 [[ 9.93063830e-01 -1.12000770e-01 -3.57778904e-02 4.86028603e+02] [ 1.11991294e-01 9.93706583e-01 -2.27512919e-03 1.98323738e+01] [ 3.58075415e-02 -1.74746375e-03 9.99357177e-01 1.72660598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.06, Y:19.83, Z:17.27 [[ 9.92814503e-01 -1.14189691e-01 -3.57781599e-02 4.86060476e+02] [ 1.14181784e-01 9.93457278e-01 -2.27088412e-03 1.98338842e+01] [ 3.58033849e-02 -1.83064746e-03 9.99357177e-01 1.72667810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.09, Y:19.84, Z:17.27 [[ 9.92592876e-01 -1.16100363e-01 -3.57783207e-02 4.86092529e+02] [ 1.16093785e-01 9.93235666e-01 -2.26834731e-03 1.98356662e+01] [ 3.57996601e-02 -1.90209529e-03 9.99357177e-01 1.72675941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.12, Y:19.84, Z:17.27 [[ 9.92369361e-01 -1.17995552e-01 -3.57784863e-02 4.86123585e+02] [ 1.17990296e-01 9.93012163e-01 -2.26573264e-03 1.98375331e+01] [ 3.57958185e-02 -1.97307052e-03 9.99357177e-01 1.72684537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.15, Y:19.84, Z:17.27 [[ 9.92125394e-01 -1.20029550e-01 -3.57786095e-02 4.86154839e+02] [ 1.20025681e-01 9.92768206e-01 -2.26378507e-03 1.98397573e+01] [ 3.57915871e-02 -2.04839332e-03 9.99357177e-01 1.72688750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.19, Y:19.84, Z:17.27 [[ 9.92063780e-01 -1.20537662e-01 -3.57788735e-02 4.86186934e+02] [ 1.20534272e-01 9.92706595e-01 -2.25960540e-03 1.98421563e+01] [ 3.57902912e-02 -2.07090780e-03 9.99357177e-01 1.72692895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.22, Y:19.84, Z:17.27 [[ 9.92086388e-01 -1.20351398e-01 -3.57790362e-02 4.86218523e+02] [ 1.20347981e-01 9.92729202e-01 -2.25702557e-03 1.98444466e+01] [ 3.57905303e-02 -2.06677042e-03 9.99357177e-01 1.72700147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.25, Y:19.85, Z:17.27 [[ 9.92177300e-01 -1.19599575e-01 -3.57791575e-02 4.86250095e+02] [ 1.19595739e-01 9.92820111e-01 -2.25510114e-03 1.98469587e+01] [ 3.57919763e-02 -2.04157462e-03 9.99357177e-01 1.72705721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.28, Y:19.85, Z:17.27 [[ 9.92509822e-01 -1.16807950e-01 -3.57792769e-02 4.86282194e+02] [ 1.16802374e-01 9.93152621e-01 -2.25320604e-03 1.98518262e+01] [ 3.57974750e-02 -1.94277534e-03 9.99357177e-01 1.72715134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.31, Y:19.86, Z:17.27 [[ 9.92796133e-01 -1.14348892e-01 -3.57794403e-02 4.86313594e+02] [ 1.14341817e-01 9.93438918e-01 -2.25060831e-03 1.98557438e+01] [ 3.58020430e-02 -1.85669100e-03 9.99357177e-01 1.72726778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.35, Y:19.86, Z:17.27 [[ 9.93165960e-01 -1.11090901e-01 -3.57797084e-02 4.86345258e+02] [ 1.11081871e-01 9.93808720e-01 -2.24633702e-03 1.98598299e+01] [ 3.58077338e-02 -1.74349149e-03 9.99357177e-01 1.72740119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.38, Y:19.86, Z:17.28 [[ 9.93550475e-01 -1.07597650e-01 -3.57798718e-02 4.86376569e+02] [ 1.07586453e-01 9.94193201e-01 -2.24373204e-03 1.98642160e+01] [ 3.58135256e-02 -1.62016846e-03 9.99357177e-01 1.72755421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.41, Y:19.87, Z:17.28 [[ 9.93979400e-01 -1.03560289e-01 -3.57801430e-02 4.86408350e+02] [ 1.03546637e-01 9.94622079e-01 -2.23939841e-03 1.98686289e+01] [ 3.58196330e-02 -1.47899758e-03 9.99357177e-01 1.72771478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.44, Y:19.87, Z:17.28 [[ 9.94427412e-01 -9.91659793e-02 -3.57803076e-02 4.86440526e+02] [ 9.91495812e-02 9.95070026e-01 -2.23676638e-03 1.98728485e+01] [ 3.58257227e-02 -1.32330071e-03 9.99357177e-01 1.72787610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.47, Y:19.88, Z:17.28 [[ 9.95238955e-01 -9.06596957e-02 -3.57804708e-02 4.86471185e+02] [ 9.06378976e-02 9.95881409e-01 -2.23415185e-03 1.98792758e+01] [ 3.58356532e-02 -1.01955169e-03 9.99357177e-01 1.72810915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.50, Y:19.88, Z:17.28 [[ 9.95601083e-01 -8.65923358e-02 -3.57805924e-02 4.86503131e+02] [ 8.65679827e-02 9.96243445e-01 -2.23220335e-03 1.98833956e+01] [ 3.58394723e-02 -8.75069631e-04 9.99357177e-01 1.72821870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.53, Y:19.89, Z:17.28 [[ 9.95899415e-01 -8.30908655e-02 -3.57807552e-02 4.86534157e+02] [ 8.30643476e-02 9.96541692e-01 -2.22959104e-03 1.98872925e+01] [ 3.58422729e-02 -7.51656671e-04 9.99357177e-01 1.72838848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.57, Y:19.89, Z:17.28 [[ 9.96147205e-01 -8.00654354e-02 -3.57808761e-02 4.86566447e+02] [ 8.00370364e-02 9.96789401e-01 -2.22764894e-03 1.98911634e+01] [ 3.58443557e-02 -6.44729010e-04 9.99357177e-01 1.72847297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.60, Y:19.90, Z:17.29 [[ 9.96463271e-01 -7.60306974e-02 -3.57810380e-02 4.86597002e+02] [ 7.59997914e-02 9.97105351e-01 -2.22504498e-03 1.98955145e+01] [ 3.58466362e-02 -5.02175821e-04 9.99357177e-01 1.72859653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.63, Y:19.90, Z:17.29 [[ 9.96545329e-01 -7.49474197e-02 -3.57811585e-02 4.86628078e+02] [ 7.49158854e-02 9.97187379e-01 -2.22310534e-03 1.98984357e+01] [ 3.58471357e-02 -4.65151930e-04 9.99357177e-01 1.72862121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.66, Y:19.90, Z:17.29 [[ 9.96580887e-01 -7.44730730e-02 -3.57812385e-02 4.86659086e+02] [ 7.44412793e-02 9.97222924e-01 -2.22181738e-03 1.99011859e+01] [ 3.58473368e-02 -4.49380435e-04 9.99357177e-01 1.72869525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.69, Y:19.90, Z:17.29 [[ 9.96617227e-01 -7.39851382e-02 -3.57813179e-02 4.86690456e+02] [ 7.39530762e-02 9.97259250e-01 -2.22053754e-03 1.99036060e+01] [ 3.58475370e-02 -4.33112569e-04 9.99357177e-01 1.72875856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.72, Y:19.91, Z:17.29 [[ 9.96639877e-01 -7.36793522e-02 -3.57813974e-02 4.86720261e+02] [ 7.36471391e-02 9.97281893e-01 -2.21925607e-03 1.99060866e+01] [ 3.58476531e-02 -4.23398453e-04 9.99357177e-01 1.72886180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.75, Y:19.91, Z:17.29 [[ 9.96665173e-01 -7.33363587e-02 -3.57814368e-02 4.86750445e+02] [ 7.33039475e-02 9.97307179e-01 -2.21862038e-03 1.99085729e+01] [ 3.58477893e-02 -4.11698898e-04 9.99357177e-01 1.72895946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.78, Y:19.91, Z:17.29 [[ 9.96717987e-01 -7.26150095e-02 -3.57814755e-02 4.86781301e+02] [ 7.25821561e-02 9.97359971e-01 -2.21799571e-03 1.99112465e+01] [ 3.58480712e-02 -3.86380424e-04 9.99357177e-01 1.72898137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.81, Y:19.91, Z:17.29 [[ 9.96746747e-01 -7.22191356e-02 -3.57815551e-02 4.86812095e+02] [ 7.21860734e-02 9.97388719e-01 -2.21671127e-03 1.99135564e+01] [ 3.58482084e-02 -3.73430218e-04 9.99357177e-01 1.72902819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.84, Y:19.92, Z:17.29 [[ 9.96794090e-01 -7.15626800e-02 -3.57816365e-02 4.86842193e+02] [ 7.15292422e-02 9.97436043e-01 -2.21539605e-03 1.99155454e+01] [ 3.58484336e-02 -3.51139655e-04 9.99357177e-01 1.72910841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.87, Y:19.92, Z:17.29 [[ 9.96828675e-01 -7.10792330e-02 -3.57817720e-02 4.86873754e+02] [ 7.10455625e-02 9.97470616e-01 -2.21320576e-03 1.99177164e+01] [ 3.58485791e-02 -3.35949151e-04 9.99357177e-01 1.72916407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.90, Y:19.92, Z:17.29 [[ 9.96862443e-01 -7.06040272e-02 -3.57818515e-02 4.86904809e+02] [ 7.05700968e-02 9.97504370e-01 -2.21192009e-03 1.99197025e+01] [ 3.58487237e-02 -3.20148654e-04 9.99357177e-01 1.72923226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.93, Y:19.92, Z:17.29 [[ 9.96920356e-01 -6.97814984e-02 -3.57819313e-02 4.86934953e+02] [ 6.97470847e-02 9.97562257e-01 -2.21062733e-03 1.99214702e+01] [ 3.58489651e-02 -2.91866015e-04 9.99357177e-01 1.72925931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.97, Y:19.92, Z:17.29 [[ 9.97275771e-01 -6.45033899e-02 -3.57819710e-02 4.86971112e+02] [ 6.44656019e-02 9.97917483e-01 -2.20998554e-03 1.99176077e+01] [ 3.58500060e-02 -1.02741267e-04 9.99357177e-01 1.72919623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.99, Y:19.92, Z:17.29 [[ 9.96900576e-01 -7.00423072e-02 -3.58234114e-02 4.86994981e+02] [ 7.00322706e-02 9.97543543e-01 -1.53643480e-03 1.99244846e+01] [ 3.58430282e-02 -9.77122108e-04 9.99356955e-01 1.72943863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.03, Y:19.93, Z:17.30 [[ 9.96833735e-01 -7.10087776e-02 -3.57807093e-02 4.87025570e+02] [ 7.09746855e-02 9.97475638e-01 -2.22368159e-03 1.99257213e+01] [ 3.58482867e-02 -3.22883762e-04 9.99357191e-01 1.72957032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.06, Y:19.93, Z:17.30 [[ 9.96763646e-01 -7.19859360e-02 -3.57807093e-02 4.87056431e+02] [ 7.19524733e-02 9.97405583e-01 -2.22368159e-03 1.99268889e+01] [ 3.58479530e-02 -3.58025556e-04 9.99357191e-01 1.72968404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.09, Y:19.93, Z:17.30 [[ 9.96663319e-01 -7.33618687e-02 -3.57807880e-02 4.87088236e+02] [ 7.33293376e-02 9.97305304e-01 -2.22241454e-03 1.99277991e+01] [ 3.58474101e-02 -4.08782426e-04 9.99357191e-01 1.72980821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.12, Y:19.93, Z:17.30 [[ 9.96529653e-01 -7.51557121e-02 -3.57808677e-02 4.87118760e+02] [ 7.51243827e-02 9.97171697e-01 -2.22113067e-03 1.99286234e+01] [ 3.58465992e-02 -4.74593022e-04 9.99357191e-01 1.72990039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.15, Y:19.93, Z:17.30 [[ 9.96356155e-01 -7.74218193e-02 -3.57809072e-02 4.87149986e+02] [ 7.73919731e-02 9.96998271e-01 -2.22049353e-03 1.99289516e+01] [ 3.58454173e-02 -5.56752610e-04 9.99357191e-01 1.72994718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.18, Y:19.93, Z:17.30 [[ 9.96158740e-01 -7.99217426e-02 -3.57809870e-02 4.87180826e+02] [ 7.98935538e-02 9.96800931e-01 -2.21920667e-03 1.99295198e+01] [ 3.58438840e-02 -6.47988091e-04 9.99357191e-01 1.73001667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.21, Y:19.93, Z:17.30 [[ 9.95696895e-01 -8.54833623e-02 -3.57811199e-02 4.87212706e+02] [ 8.54588372e-02 9.96339235e-01 -2.21706216e-03 1.99288047e+01] [ 3.58396556e-02 -8.50290997e-04 9.99357191e-01 1.73003183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.24, Y:19.93, Z:17.30 [[ 9.95453760e-01 -8.82695744e-02 -3.57811984e-02 4.87244814e+02] [ 8.82468926e-02 9.96096168e-01 -2.21579496e-03 1.99296681e+01] [ 3.58371019e-02 -9.51858141e-04 9.99357191e-01 1.73009519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.28, Y:19.93, Z:17.30 [[ 9.95234693e-01 -9.07061147e-02 -3.57813596e-02 4.87275760e+02] [ 9.06850992e-02 9.95877158e-01 -2.21318876e-03 1.99304390e+01] [ 3.58345885e-02 -1.04219391e-03 9.99357191e-01 1.73018001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.31, Y:19.93, Z:17.30 [[ 9.95026261e-01 -9.29646433e-02 -3.57814797e-02 4.87307917e+02] [ 9.29451558e-02 9.95668774e-01 -2.21124559e-03 1.99313111e+01] [ 3.58320697e-02 -1.12546777e-03 9.99357191e-01 1.73026056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.34, Y:19.93, Z:17.30 [[ 9.94636704e-01 -9.70438186e-02 -3.57816304e-02 4.87340031e+02] [ 9.70270534e-02 9.95279294e-01 -2.20880339e-03 1.99311321e+01] [ 3.58270666e-02 -1.27482925e-03 9.99357191e-01 1.73031026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.37, Y:19.93, Z:17.30 [[ 9.94491089e-01 -9.85248076e-02 -3.57817916e-02 4.87371920e+02] [ 9.85090932e-02 9.95133705e-01 -2.20618988e-03 1.99321503e+01] [ 3.58250313e-02 -1.33079566e-03 9.99357191e-01 1.73039808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.40, Y:19.93, Z:17.30 [[ 9.94358419e-01 -9.98548290e-02 -3.57819516e-02 4.87403562e+02] [ 9.98400675e-02 9.95001058e-01 -2.20359197e-03 1.99332474e+01] [ 3.58231189e-02 -1.38131223e-03 9.99357191e-01 1.73045873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.44, Y:19.94, Z:17.31 [[ 9.94365513e-01 -9.97841176e-02 -3.57820707e-02 4.87436173e+02] [ 9.97693799e-02 9.95008153e-01 -2.20165598e-03 1.99351939e+01] [ 3.58231423e-02 -1.38070423e-03 9.99357191e-01 1.73057587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.47, Y:19.94, Z:17.31 [[ 9.94269502e-01 -1.00736238e-01 -3.57822270e-02 4.87468102e+02] [ 1.00722207e-01 9.94912157e-01 -2.19911228e-03 1.99365488e+01] [ 3.58217030e-02 -1.41755461e-03 9.99357191e-01 1.73067293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.50, Y:19.94, Z:17.31 [[ 9.94195161e-01 -1.01467246e-01 -3.57823829e-02 4.87500704e+02] [ 1.01453779e-01 9.94837829e-01 -2.19657280e-03 1.99381665e+01] [ 3.58205483e-02 -1.44643592e-03 9.99357191e-01 1.73074365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.53, Y:19.94, Z:17.31 [[ 9.94146336e-01 -1.01944454e-01 -3.57825447e-02 4.87531940e+02] [ 1.01931390e-01 9.94789012e-01 -2.19393319e-03 1.99399604e+01] [ 3.58197416e-02 -1.46627388e-03 9.99357191e-01 1.73090694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.56, Y:19.94, Z:17.31 [[ 9.94099588e-01 -1.02399272e-01 -3.57826652e-02 4.87563965e+02] [ 1.02386573e-01 9.94742271e-01 -2.19196633e-03 1.99417759e+01] [ 3.58189854e-02 -1.48463164e-03 9.99357191e-01 1.73096442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.60, Y:19.94, Z:17.31 [[ 9.94146741e-01 -1.01940407e-01 -3.57828237e-02 4.87595533e+02] [ 1.01927505e-01 9.94789420e-01 -2.18937663e-03 1.99435219e+01] [ 3.58195604e-02 -1.47069228e-03 9.99357191e-01 1.73110919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.63, Y:19.95, Z:17.31 [[ 9.94193831e-01 -1.01480942e-01 -3.57805156e-02 4.87627119e+02] [ 1.01466386e-01 9.94836475e-01 -2.22709854e-03 1.99453624e+01] [ 3.58217701e-02 -1.41635199e-03 9.99357191e-01 1.73111437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.66, Y:19.95, Z:17.31 [[ 9.94251584e-01 -1.00912600e-01 -3.57831587e-02 4.87659489e+02] [ 1.00899234e-01 9.94894254e-01 -2.18379007e-03 1.99477246e+01] [ 3.58208309e-02 -1.43925655e-03 9.99357192e-01 1.73120505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.69, Y:19.95, Z:17.31 [[ 9.94480115e-01 -9.86349589e-02 -3.57833139e-02 4.87690313e+02] [ 9.86202121e-02 9.95122754e-01 -2.18124284e-03 1.99507532e+01] [ 3.58239367e-02 -1.35975538e-03 9.99357192e-01 1.73121143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.72, Y:19.95, Z:17.31 [[ 9.94533309e-01 -9.80992413e-02 -3.57776048e-02 4.87722383e+02] [ 9.80807861e-02 9.95175856e-01 -2.27482328e-03 1.99535893e+01] [ 3.58281669e-02 -1.24670808e-03 9.99357187e-01 1.73135704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.75, Y:19.96, Z:17.31 [[ 9.94638842e-01 -9.70212839e-02 -3.57833126e-02 4.87753371e+02] [ 9.70054964e-02 9.95281456e-01 -2.18118684e-03 1.99564169e+01] [ 3.58260890e-02 -1.30168485e-03 9.99357192e-01 1.73147197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.78, Y:19.96, Z:17.32 [[ 9.94902375e-01 -9.42804899e-02 -3.57834287e-02 4.87782622e+02] [ 9.42630004e-02 9.95544945e-01 -2.17928045e-03 1.99591153e+01] [ 3.58294752e-02 -1.20488206e-03 9.99357192e-01 1.73153946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.82, Y:19.96, Z:17.32 [[ 9.94849870e-01 -9.48387515e-02 -3.57679637e-02 4.87816065e+02] [ 9.48125054e-02 9.95492174e-01 -2.43307938e-03 1.99617240e+01] [ 3.58374782e-02 -9.70701552e-04 9.99357160e-01 1.73169429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.85, Y:19.96, Z:17.32 [[ 9.95032308e-01 -9.28990119e-02 -3.57837769e-02 4.87846933e+02] [ 9.28808682e-02 9.95674859e-01 -2.17265554e-03 1.99645740e+01] [ 3.58308446e-02 -1.16176581e-03 9.99357194e-01 1.73173502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.88, Y:19.97, Z:17.32 [[ 9.95134336e-01 -9.17995468e-02 -3.57840261e-02 4.87879223e+02] [ 9.17808409e-02 9.95776870e-01 -2.16854340e-03 1.99673601e+01] [ 3.58319768e-02 -1.12629600e-03 9.99357194e-01 1.73182210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.91, Y:19.97, Z:17.32 [[ 9.95231742e-01 -9.07373832e-02 -3.57841758e-02 4.87911078e+02] [ 9.07180804e-02 9.95874258e-01 -2.16606979e-03 1.99703652e+01] [ 3.58330831e-02 -1.09053033e-03 9.99357194e-01 1.73193188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.94, Y:19.97, Z:17.32 [[ 9.95346727e-01 -8.94671672e-02 -3.57843324e-02 4.87943311e+02] [ 8.94471374e-02 9.95989221e-01 -2.16347998e-03 1.99734367e+01] [ 3.58343698e-02 -1.04739338e-03 9.99357194e-01 1.73205974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.97, Y:19.98, Z:17.32 [[ 9.95590683e-01 -8.67102194e-02 -3.57844916e-02 4.87974141e+02] [ 8.66885050e-02 9.96233122e-01 -2.16084394e-03 1.99777962e+01] [ 3.58370630e-02 -9.50787985e-04 9.99357194e-01 1.73219069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.01, Y:19.98, Z:17.32 [[ 9.95705465e-01 -8.53820106e-02 -3.57846101e-02 4.88006260e+02] [ 8.53595097e-02 9.96347878e-01 -2.15887994e-03 1.99809455e+01] [ 3.58382498e-02 -9.04948218e-04 9.99357194e-01 1.73230199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.04, Y:19.98, Z:17.32 [[ 9.95841823e-01 -8.37765682e-02 -3.57847665e-02 4.88037798e+02] [ 8.37531249e-02 9.96484202e-01 -2.15628403e-03 1.99837393e+01] [ 3.58396006e-02 -8.49768200e-04 9.99357194e-01 1.73243000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.07, Y:19.99, Z:17.33 [[ 9.95975670e-01 -8.21699844e-02 -3.57848829e-02 4.88069775e+02] [ 8.21455743e-02 9.96618013e-01 -2.15435055e-03 1.99864162e+01] [ 3.58408818e-02 -7.93889029e-04 9.99357194e-01 1.73256272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.10, Y:19.99, Z:17.33 [[ 9.96053621e-01 -8.12195499e-02 -3.57850385e-02 4.88101801e+02] [ 8.11946197e-02 9.96695943e-01 -2.15176207e-03 1.99893260e+01] [ 3.58415679e-02 -7.62282199e-04 9.99357194e-01 1.73270730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.13, Y:19.99, Z:17.33 [[ 9.96105070e-01 -8.05860335e-02 -3.57851938e-02 4.88133953e+02] [ 8.05607877e-02 9.96747381e-01 -2.14917686e-03 1.99922615e+01] [ 3.58419918e-02 -7.42077430e-04 9.99357194e-01 1.73284693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.17, Y:20.00, Z:17.33 [[ 9.96072358e-01 -8.09893030e-02 -3.57853502e-02 4.88166125e+02] [ 8.09644109e-02 9.96714682e-01 -2.14657037e-03 1.99962640e+01] [ 3.58416331e-02 -7.59200386e-04 9.99357194e-01 1.73302260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.20, Y:20.00, Z:17.33 [[ 9.95990875e-01 -8.19852109e-02 -3.57855055e-02 4.88197401e+02] [ 8.19610541e-02 9.96633227e-01 -2.14397828e-03 1.99989586e+01] [ 3.58407983e-02 -7.97634947e-04 9.99357194e-01 1.73316131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.23, Y:20.00, Z:17.33 [[ 9.95874486e-01 -8.33870390e-02 -3.57856211e-02 4.88229945e+02] [ 8.33638557e-02 9.96516874e-01 -2.14204660e-03 2.00014365e+01] [ 3.58395942e-02 -8.50017797e-04 9.99357194e-01 1.73327222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.26, Y:20.00, Z:17.33 [[ 9.95698106e-01 -8.54673011e-02 -3.57857739e-02 4.88260411e+02] [ 8.54455517e-02 9.96340544e-01 -2.13948984e-03 2.00044008e+01] [ 3.58376739e-02 -9.27449219e-04 9.99357194e-01 1.73344245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.29, Y:20.01, Z:17.34 [[ 9.95485783e-01 -8.79096388e-02 -3.57763948e-02 4.88293472e+02] [ 8.78838277e-02 9.96128084e-01 -2.29645618e-03 2.00067770e+01] [ 3.58397523e-02 -8.58077045e-04 9.99357181e-01 1.73350392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.32, Y:20.01, Z:17.34 [[ 9.95382441e-01 -8.90682702e-02 -3.57860151e-02 4.88324760e+02] [ 8.90489977e-02 9.96024958e-01 -2.13522950e-03 2.00093063e+01] [ 3.58339454e-02 -1.06133882e-03 9.99357194e-01 1.73360652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.36, Y:20.01, Z:17.34 [[ 9.95272522e-01 -9.02882047e-02 -3.57861313e-02 4.88356289e+02] [ 9.02697896e-02 9.95915064e-01 -2.13328174e-03 2.00123363e+01] [ 3.58325574e-02 -1.10720984e-03 9.99357194e-01 1.73381503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.39, Y:20.02, Z:17.34 [[ 9.95173964e-01 -9.13680652e-02 -3.57862868e-02 4.88386967e+02] [ 9.13504412e-02 9.95816528e-01 -2.13066903e-03 2.00160023e+01] [ 3.58312510e-02 -1.14870675e-03 9.99357194e-01 1.73404112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.42, Y:20.02, Z:17.34 [[ 9.94919500e-01 -9.41021852e-02 -3.57766423e-02 4.88416342e+02] [ 9.40805265e-02 9.95561952e-01 -2.29213432e-03 2.00209944e+01] [ 3.58335587e-02 -1.08539621e-03 9.99357182e-01 1.73419018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.45, Y:20.02, Z:17.34 [[ 9.94911205e-01 -9.41924664e-02 -3.57697155e-02 4.88450033e+02] [ 9.41667115e-02 9.95553531e-01 -2.40779144e-03 2.00221878e+01] [ 3.58374623e-02 -9.72777791e-04 9.99357158e-01 1.73428675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.48, Y:20.02, Z:17.34 [[ 9.94903964e-01 -9.42627014e-02 -3.57861120e-02 4.88482295e+02] [ 9.42468743e-02 9.95546573e-01 -2.13268333e-03 2.00242818e+01] [ 3.58277736e-02 -1.25091410e-03 9.99357196e-01 1.73420259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.51, Y:20.03, Z:17.35 [[ 9.94688592e-01 -9.65097219e-02 -3.57837723e-02 4.88513498e+02] [ 9.64939361e-02 9.95331203e-01 -2.17193896e-03 2.00273912e+01] [ 3.58263184e-02 -1.29251413e-03 9.99357196e-01 1.73451684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.54, Y:20.03, Z:17.35 [[ 9.94563284e-01 -9.77916602e-02 -3.57863969e-02 4.88544472e+02] [ 9.77782885e-02 9.95205948e-01 -2.12779819e-03 2.00298196e+01] [ 3.58229160e-02 -1.38290268e-03 9.99357197e-01 1.73459869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.58, Y:20.03, Z:17.35 [[ 9.94338690e-01 -1.00049461e-01 -3.57865115e-02 4.88577407e+02] [ 1.00037617e-01 9.94981385e-01 -2.12586911e-03 2.00328437e+01] [ 3.58196048e-02 -1.46616343e-03 9.99357197e-01 1.73471845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.61, Y:20.04, Z:17.35 [[ 9.94247362e-01 -1.00952926e-01 -3.57867420e-02 4.88608997e+02] [ 1.00941806e-01 9.94890069e-01 -2.12198224e-03 2.00356612e+01] [ 3.58180945e-02 -1.50260313e-03 9.99357197e-01 1.73484548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.64, Y:20.04, Z:17.35 [[ 9.94182812e-01 -1.01586590e-01 -3.57868944e-02 4.88641894e+02] [ 1.01575972e-01 9.94825527e-01 -2.11940757e-03 2.00386456e+01] [ 3.58170195e-02 -1.52801002e-03 9.99357197e-01 1.73500246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.67, Y:20.04, Z:17.35 [[ 9.94383177e-01 -9.96061193e-02 -3.57871271e-02 4.88674300e+02] [ 9.95943631e-02 9.95025873e-01 -2.11547123e-03 2.00400711e+01] [ 3.58198313e-02 -1.46060713e-03 9.99357197e-01 1.73463726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.70, Y:20.04, Z:17.35 [[ 9.94267674e-01 -1.00752169e-01 -3.57881794e-02 4.88704446e+02] [ 1.00741794e-01 9.94910393e-01 -2.09764417e-03 2.00449117e+01] [ 3.58173738e-02 -1.51974562e-03 9.99357196e-01 1.73477965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.74, Y:20.05, Z:17.35 [[ 9.94259207e-01 -1.00839941e-01 -3.57761819e-02 4.88736766e+02] [ 1.00822331e-01 9.94901786e-01 -2.30059808e-03 2.00483337e+01] [ 3.58257795e-02 -1.31964724e-03 9.99357179e-01 1.73526478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.77, Y:20.05, Z:17.35 [[ 9.94418060e-01 -9.92570889e-02 -3.57876043e-02 4.88767836e+02] [ 9.92454272e-02 9.95060756e-01 -2.10655794e-03 2.00527265e+01] [ 3.58199314e-02 -1.45695683e-03 9.99357198e-01 1.73526397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.80, Y:20.06, Z:17.35 [[ 9.94515029e-01 -9.82807045e-02 -3.57877158e-02 4.88800891e+02] [ 9.82684799e-02 9.95157714e-01 -2.10466260e-03 2.00558003e+01] [ 3.58212692e-02 -1.42368585e-03 9.99357198e-01 1.73546628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.83, Y:20.06, Z:17.36 [[ 9.94586851e-01 -9.75511105e-02 -3.57879391e-02 4.88833491e+02] [ 9.75385511e-02 9.95229530e-01 -2.10085925e-03 2.00585439e+01] [ 3.58221549e-02 -1.40121674e-03 9.99357198e-01 1.73565470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.87, Y:20.06, Z:17.36 [[ 9.94701097e-01 -9.63791223e-02 -3.57881681e-02 4.88866826e+02] [ 9.63659461e-02 9.95343763e-01 -2.09695016e-03 2.00615127e+01] [ 3.58236322e-02 -1.36292206e-03 9.99357198e-01 1.73576593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.90, Y:20.06, Z:17.36 [[ 9.94832917e-01 -9.50087285e-02 -3.57883946e-02 4.88898808e+02] [ 9.49948061e-02 9.95475568e-01 -2.09307708e-03 2.00644029e+01] [ 3.58253331e-02 -1.31744963e-03 9.99357198e-01 1.73593675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.93, Y:20.07, Z:17.36 [[ 9.94991474e-01 -9.33335241e-02 -3.57885450e-02 4.88930818e+02] [ 9.33186122e-02 9.95634103e-01 -2.09050228e-03 2.00674905e+01] [ 3.58274099e-02 -1.25970540e-03 9.99357198e-01 1.73601955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.96, Y:20.07, Z:17.36 [[ 9.95462339e-01 -8.81697183e-02 -3.57887315e-02 4.88962890e+02] [ 8.81515871e-02 9.96104884e-01 -2.08730530e-03 2.00721557e+01] [ 3.58333674e-02 -1.07699967e-03 9.99357198e-01 1.73619582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.99, Y:20.08, Z:17.36 [[ 9.95730353e-01 -8.50894854e-02 -3.57888822e-02 4.88994888e+02] [ 8.50694593e-02 9.96372842e-01 -2.08471764e-03 2.00755016e+01] [ 3.58364579e-02 -9.68724232e-04 9.99357198e-01 1.73628479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.03, Y:20.08, Z:17.36 [[ 9.96031689e-01 -8.14863046e-02 -3.57890696e-02 4.89026746e+02] [ 8.14640697e-02 9.96674106e-01 -2.08149657e-03 2.00786546e+01] [ 3.58396524e-02 -8.42286709e-04 9.99357198e-01 1.73644746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.06, Y:20.08, Z:17.37 [[ 9.96607163e-01 -7.41167669e-02 -3.57892156e-02 4.89058707e+02] [ 7.40898712e-02 9.97249402e-01 -2.07898308e-03 2.00829227e+01] [ 3.58448613e-02 -5.79688946e-04 9.99357198e-01 1.73669931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.665099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:489.09, Y:20.09, Z:17.37 [[ 9.96872958e-01 -7.04515938e-02 -3.57893648e-02 4.89089480e+02] [ 7.04224290e-02 9.97515098e-01 -2.07641067e-03 2.00853775e+01] [ 3.58467182e-02 -4.50456354e-04 9.99357198e-01 1.73683025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.12, Y:20.09, Z:17.37 [[ 9.97090464e-01 -6.73031885e-02 -3.57894757e-02 4.89121361e+02] [ 6.72720647e-02 9.97732512e-01 -2.07449697e-03 2.00877240e+01] [ 3.58479438e-02 -3.39170777e-04 9.99357198e-01 1.73702819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.15, Y:20.09, Z:17.37 [[ 9.97272526e-01 -6.45493030e-02 -3.57896230e-02 4.89153711e+02] [ 6.45164974e-02 9.97914490e-01 -2.07195381e-03 2.00899147e+01] [ 3.58487265e-02 -2.42718509e-04 9.99357198e-01 1.73719421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.18, Y:20.09, Z:17.37 [[ 9.97389981e-01 -6.27081937e-02 -3.57897704e-02 4.89183781e+02] [ 6.26742945e-02 9.98031888e-01 -2.06940372e-03 2.00919126e+01] [ 3.58491007e-02 -1.79096079e-04 9.99357198e-01 1.73726529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.21, Y:20.09, Z:17.37 [[ 9.97463088e-01 -6.15343064e-02 -3.57898910e-02 4.89214703e+02] [ 6.14997268e-02 9.98104959e-01 -2.06731650e-03 2.00936615e+01] [ 3.58492786e-02 -1.38996618e-04 9.99357198e-01 1.73736095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.25, Y:20.09, Z:17.37 [[ 9.97483775e-01 -6.11980238e-02 -3.57899633e-02 4.89246086e+02] [ 6.11632727e-02 9.98125636e-01 -2.06606436e-03 2.00943978e+01] [ 3.58493189e-02 -1.28165609e-04 9.99357198e-01 1.73742739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.28, Y:20.10, Z:17.38 [[ 9.97435137e-01 -6.19856508e-02 -3.57900368e-02 4.89277779e+02] [ 6.19514522e-02 9.98077028e-01 -2.06478955e-03 2.00952091e+01] [ 3.58492009e-02 -1.57751104e-04 9.99357198e-01 1.73751890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.31, Y:20.10, Z:17.38 [[ 9.97344344e-01 -6.34297025e-02 -3.57901108e-02 4.89309155e+02] [ 6.33964794e-02 9.97986287e-01 -2.06350643e-03 2.00959829e+01] [ 3.58489274e-02 -2.10940550e-04 9.99357198e-01 1.73760473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.34, Y:20.10, Z:17.38 [[ 9.97065578e-01 -6.76704969e-02 -3.57901851e-02 4.89339356e+02] [ 6.76400503e-02 9.97707658e-01 -2.06221638e-03 2.00951648e+01] [ 3.58476930e-02 -3.64684956e-04 9.99357198e-01 1.73764953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.37, Y:20.10, Z:17.38 [[ 9.96886272e-01 -7.02625095e-02 -3.57902220e-02 4.89371072e+02] [ 7.02337553e-02 9.97528430e-01 -2.06157700e-03 2.00958506e+01] [ 3.58466155e-02 -4.58523879e-04 9.99357198e-01 1.73777908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.40, Y:20.10, Z:17.38 [[ 9.96679732e-01 -7.31338560e-02 -3.57903693e-02 4.89403402e+02] [ 7.31070437e-02 9.97321974e-01 -2.05901507e-03 2.00966185e+01] [ 3.58451055e-02 -5.64349508e-04 9.99357198e-01 1.73791237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.44, Y:20.10, Z:17.38 [[ 9.96454513e-01 -7.61409443e-02 -3.57905159e-02 4.89435211e+02] [ 7.61161617e-02 9.97096836e-01 -2.05646492e-03 2.00971960e+01] [ 3.58431913e-02 -6.75062939e-04 9.99357198e-01 1.73805497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.47, Y:20.10, Z:17.38 [[ 9.96460001e-01 -7.60690186e-02 -3.57906640e-02 4.89467832e+02] [ 7.60442823e-02 9.97102326e-01 -2.05388317e-03 2.00990106e+01] [ 3.58431912e-02 -6.75062937e-04 9.99357198e-01 1.73817209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.50, Y:20.10, Z:17.38 [[ 9.96218746e-01 -7.91658314e-02 -3.57908120e-02 4.89500160e+02] [ 7.91431843e-02 9.96861148e-01 -2.05130140e-03 2.00995782e+01] [ 3.58408629e-02 -7.89053923e-04 9.99357198e-01 1.73832264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.53, Y:20.10, Z:17.38 [[ 9.95947618e-01 -8.25066577e-02 -3.57909606e-02 4.89531853e+02] [ 8.24862586e-02 9.96590096e-01 -2.04870504e-03 2.00998530e+01] [ 3.58379487e-02 -9.11859527e-04 9.99357198e-01 1.73842875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.56, Y:20.10, Z:17.38 [[ 9.95350326e-01 -8.94244242e-02 -3.57910714e-02 4.89563481e+02] [ 8.94085591e-02 9.95992932e-01 -2.04676753e-03 2.00986923e+01] [ 3.58306852e-02 -1.16277740e-03 9.99357198e-01 1.73844933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.60, Y:20.10, Z:17.39 [[ 9.95032711e-01 -9.28917932e-02 -3.57913119e-02 4.89595311e+02] [ 9.28783185e-02 9.95675372e-01 -2.04255315e-03 2.00990921e+01] [ 3.58262642e-02 -1.29182967e-03 9.99357198e-01 1.73859376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.63, Y:20.10, Z:17.39 [[ 9.94710998e-01 -9.62756529e-02 -3.57914570e-02 4.89627465e+02] [ 9.62644556e-02 9.95353702e-01 -2.04000852e-03 2.00995811e+01] [ 3.58215624e-02 -1.41622620e-03 9.99357198e-01 1.73870723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.66, Y:20.10, Z:17.39 [[ 9.94077476e-01 -1.02610576e-01 -3.57916376e-02 4.89660094e+02] [ 1.02603587e-01 9.94720240e-01 -2.03683389e-03 2.00991655e+01] [ 3.58116671e-02 -1.64757971e-03 9.99357198e-01 1.73895347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.69, Y:20.10, Z:17.39 [[ 9.93829546e-01 -1.04984676e-01 -3.57917867e-02 4.89691700e+02] [ 1.04979317e-01 9.94472325e-01 -2.03421093e-03 2.00998438e+01] [ 3.58075023e-02 -1.73573841e-03 9.99357198e-01 1.73907958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.72, Y:20.10, Z:17.39 [[ 9.93611459e-01 -1.07029008e-01 -3.57918978e-02 4.89724609e+02] [ 1.07025041e-01 9.94254248e-01 -2.03225367e-03 2.01009415e+01] [ 3.58037566e-02 -1.81135880e-03 9.99357198e-01 1.73927892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.76, Y:20.10, Z:17.39 [[ 9.93425818e-01 -1.08738527e-01 -3.57921212e-02 4.89756675e+02] [ 1.08735809e-01 9.94068614e-01 -2.02831127e-03 2.01022005e+01] [ 3.58003799e-02 -1.87690846e-03 9.99357198e-01 1.73940192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.79, Y:20.10, Z:17.40 [[ 9.93269875e-01 -1.10153772e-01 -3.57924887e-02 4.89790083e+02] [ 1.10152203e-01 9.93912675e-01 -2.02180663e-03 2.01037176e+01] [ 3.57973178e-02 -1.93442184e-03 9.99357198e-01 1.73958788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.82, Y:20.11, Z:17.40 [[ 9.93176807e-01 -1.10989693e-01 -3.57927104e-02 4.89823056e+02] [ 1.10988806e-01 9.93819608e-01 -2.01787351e-03 2.01050126e+01] [ 3.57954606e-02 -1.96848504e-03 9.99357198e-01 1.73973486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.86, Y:20.11, Z:17.40 [[ 9.93065181e-01 -1.11983981e-01 -3.57929322e-02 4.89855439e+02] [ 1.11983880e-01 9.93707983e-01 -2.01393148e-03 2.01065026e+01] [ 3.57932505e-02 -2.00826618e-03 9.99357198e-01 1.73984096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.89, Y:20.11, Z:17.40 [[ 9.93057375e-01 -1.12053127e-01 -3.57931155e-02 4.89887746e+02] [ 1.12053187e-01 9.93700176e-01 -2.01066833e-03 2.01084416e+01] [ 3.57929269e-02 -2.01402365e-03 9.99357198e-01 1.73993346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.92, Y:20.11, Z:17.40 [[ 9.93123168e-01 -1.11468383e-01 -3.57934762e-02 4.89920541e+02] [ 1.11468296e-01 9.93765969e-01 -2.00422608e-03 2.01102706e+01] [ 3.57937465e-02 -1.99939446e-03 9.99357198e-01 1.74003258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.95, Y:20.11, Z:17.40 [[ 9.93252088e-01 -1.10313654e-01 -3.57936873e-02 4.89953287e+02] [ 1.10312956e-01 9.93894889e-01 -2.00044965e-03 2.01121243e+01] [ 3.57958398e-02 -1.96155666e-03 9.99357198e-01 1.74014825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.99, Y:20.12, Z:17.40 [[ 9.93588164e-01 -1.07244382e-01 -3.57939026e-02 4.89985790e+02] [ 1.07241837e-01 9.94230960e-01 -1.99659030e-03 2.01150512e+01] [ 3.58015292e-02 -1.85481536e-03 9.99357198e-01 1.74020809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.02, Y:20.12, Z:17.40 [[ 9.93764189e-01 -1.05600746e-01 -3.57941191e-02 4.90017884e+02] [ 1.05597277e-01 9.94406981e-01 -1.99270053e-03 2.01178905e+01] [ 3.58043526e-02 -1.79948710e-03 9.99357198e-01 1.74028182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.05, Y:20.12, Z:17.40 [[ 9.93974309e-01 -1.03604188e-01 -3.57944747e-02 4.90050986e+02] [ 1.03599658e-01 9.94617095e-01 -1.98629332e-03 2.01207123e+01] [ 3.58075847e-02 -1.73397081e-03 9.99357199e-01 1.74034929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.08, Y:20.12, Z:17.40 [[ 9.94165149e-01 -1.01756560e-01 -3.57946853e-02 4.90083930e+02] [ 1.01750971e-01 9.94807926e-01 -1.98248969e-03 2.01233650e+01] [ 3.58105680e-02 -1.67122185e-03 9.99357199e-01 1.74043902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.12, Y:20.13, Z:17.41 [[ 9.94371351e-01 -9.97213207e-02 -3.57949011e-02 4.90116877e+02] [ 9.97145568e-02 9.95014117e-01 -1.97858574e-03 2.01260812e+01] [ 3.58137391e-02 -1.60182373e-03 9.99357199e-01 1.74050129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.15, Y:20.13, Z:17.40 [[ 9.94815726e-01 -9.51860346e-02 -3.57951152e-02 4.90148395e+02] [ 9.51764792e-02 9.95458456e-01 -1.97470451e-03 2.01296577e+01] [ 3.58205145e-02 -1.44238594e-03 9.99357199e-01 1.74046951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.18, Y:20.13, Z:17.41 [[ 9.95060647e-01 -9.25905321e-02 -3.57952922e-02 4.90180366e+02] [ 9.25794155e-02 9.95703352e-01 -1.97149172e-03 2.01322973e+01] [ 3.58240339e-02 -1.35215341e-03 9.99357199e-01 1.74061897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.21, Y:20.13, Z:17.41 [[ 9.95302947e-01 -8.99484944e-02 -3.57954317e-02 4.90212717e+02] [ 8.99357626e-02 9.95945622e-01 -1.96895607e-03 2.01349011e+01] [ 3.58274081e-02 -1.25958166e-03 9.99357199e-01 1.74078700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.24, Y:20.14, Z:17.41 [[ 9.95580126e-01 -8.68267791e-02 -3.57955733e-02 4.90244214e+02] [ 8.68121246e-02 9.96222760e-01 -1.96637860e-03 2.01374546e+01] [ 3.58310991e-02 -1.14980231e-03 9.99357199e-01 1.74093741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.28, Y:20.14, Z:17.41 [[ 9.95848823e-01 -8.36886306e-02 -3.57957495e-02 4.90276084e+02] [ 8.36720662e-02 9.96491411e-01 -1.96316443e-03 2.01403029e+01] [ 3.58344515e-02 -1.04008934e-03 9.99357199e-01 1.74109784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.31, Y:20.14, Z:17.41 [[ 9.96394043e-01 -7.69257194e-02 -3.57958881e-02 4.90307825e+02] [ 7.69048836e-02 9.97036506e-01 -1.96063427e-03 2.01444669e+01] [ 3.58406304e-02 -7.99314301e-04 9.99357199e-01 1.74126192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.34, Y:20.15, Z:17.41 [[ 9.96631093e-01 -7.37909783e-02 -3.57960253e-02 4.90339023e+02] [ 7.37682117e-02 9.97273491e-01 -1.95812572e-03 2.01476550e+01] [ 3.58429192e-02 -6.89079795e-04 9.99357199e-01 1.74137198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.37, Y:20.15, Z:17.41 [[ 9.96868408e-01 -7.05125077e-02 -3.57961276e-02 4.90371169e+02] [ 7.04876954e-02 9.97510731e-01 -1.95625515e-03 2.01507245e+01] [ 3.58449618e-02 -5.73057580e-04 9.99357199e-01 1.74144778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.40, Y:20.15, Z:17.42 [[ 9.97053023e-01 -6.78520190e-02 -3.57962624e-02 4.90402973e+02] [ 6.78255813e-02 9.97695281e-01 -1.95378521e-03 2.01539560e+01] [ 3.58463303e-02 -4.79874852e-04 9.99357199e-01 1.74155424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.44, Y:20.15, Z:17.41 [[ 9.97314509e-01 -6.38935652e-02 -3.57963963e-02 4.90435139e+02] [ 6.38646664e-02 9.97956661e-01 -1.95132796e-03 2.01549118e+01] [ 3.58479295e-02 -3.40037224e-04 9.99357199e-01 1.74137949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.46, Y:20.16, Z:17.42 [[ 9.97318808e-01 -6.38225727e-02 -3.58032794e-02 4.90464738e+02] [ 6.37981353e-02 9.97961154e-01 -1.82575414e-03 2.01590977e+01] [ 3.58468064e-02 -4.63323524e-04 9.99357189e-01 1.74166622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.50, Y:20.16, Z:17.41 [[ 9.97665372e-01 -5.81592366e-02 -3.57953784e-02 4.90496751e+02] [ 5.81259994e-02 9.98307312e-01 -1.96937020e-03 2.01603542e+01] [ 3.58493251e-02 -1.15869694e-04 9.99357200e-01 1.74144896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.53, Y:20.16, Z:17.42 [[ 9.97667734e-01 -5.81126653e-02 -3.58051801e-02 4.90525602e+02] [ 5.80857807e-02 9.98309988e-01 -1.79150119e-03 2.01644330e+01] [ 3.58487778e-02 -2.92448904e-04 9.99357183e-01 1.74177834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.56, Y:20.17, Z:17.42 [[ 9.97986837e-01 -5.23545181e-02 -3.57949305e-02 4.90557254e+02] [ 5.23172706e-02 9.98628557e-01 -1.97707993e-03 2.01652914e+01] [ 3.58493489e-02 1.00406681e-04 9.99357200e-01 1.74172495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.59, Y:20.17, Z:17.42 [[ 9.97944821e-01 -5.31411753e-02 -3.58071253e-02 4.90585409e+02] [ 5.31123506e-02 9.98586998e-01 -1.75639714e-03 2.01698220e+01] [ 3.58498668e-02 -1.49013167e-04 9.99357176e-01 1.74196313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.61, Y:20.17, Z:17.42 [[ 9.98022913e-01 -5.16626666e-02 -3.57943302e-02 4.90614479e+02] [ 5.16246214e-02 9.98664584e-01 -1.98691838e-03 2.01718704e+01] [ 3.58491794e-02 1.35121326e-04 9.99357202e-01 1.74203493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.64, Y:20.17, Z:17.42 [[ 9.98088880e-01 -5.03721530e-02 -3.57943383e-02 4.90644443e+02] [ 5.03332834e-02 9.98730501e-01 -1.98677203e-03 2.01734447e+01] [ 3.58489754e-02 1.81328491e-04 9.99357202e-01 1.74218417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.67, Y:20.17, Z:17.42 [[ 9.98092379e-01 -5.03028234e-02 -3.57942624e-02 4.90672615e+02] [ 5.02638601e-02 9.98733994e-01 -1.98813989e-03 2.01749231e+01] [ 3.58489557e-02 1.85189475e-04 9.99357202e-01 1.74216387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.70, Y:20.18, Z:17.42 [[ 9.98091797e-01 -5.03144434e-02 -3.57941497e-02 4.90700798e+02] [ 5.02754150e-02 9.98733409e-01 -1.99016639e-03 2.01764015e+01] [ 3.58489472e-02 1.86803021e-04 9.99357202e-01 1.74223628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.73, Y:20.18, Z:17.42 [[ 9.98024009e-01 -5.16417125e-02 -3.57940144e-02 4.90729145e+02] [ 5.16034501e-02 9.98665667e-01 -1.99259737e-03 2.01772109e+01] [ 3.58491543e-02 1.41565376e-04 9.99357202e-01 1.74227183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.76, Y:20.18, Z:17.42 [[ 9.97964891e-01 -5.27721610e-02 -3.57935122e-02 4.90758029e+02] [ 5.27343034e-02 9.98606573e-01 -2.00157742e-03 2.01780881e+01] [ 3.58492641e-02 1.09958063e-04 9.99357202e-01 1.74231660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.285099893 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:490.79, Y:20.18, Z:17.42 [[ 9.97841212e-01 -5.50655017e-02 -3.57869685e-02 4.90785395e+02] [ 5.50249393e-02 9.98482734e-01 -2.11810586e-03 2.01785916e+01] [ 3.58493047e-02 1.44357551e-04 9.99357197e-01 1.74234930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.81, Y:20.18, Z:17.42 [[ 9.97649672e-01 -5.84328398e-02 -3.57873712e-02 4.90814880e+02] [ 5.83946997e-02 9.98291342e-01 -2.11094167e-03 2.01791648e+01] [ 3.58495712e-02 1.61874639e-05 9.99357197e-01 1.74244855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.85, Y:20.18, Z:17.42 [[ 9.97233121e-01 -6.51535006e-02 -3.57927764e-02 4.90845091e+02] [ 6.51231305e-02 9.97875202e-01 -2.01492805e-03 2.01783818e+01] [ 3.58480036e-02 -3.21584665e-04 9.99357202e-01 1.74243316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.88, Y:20.18, Z:17.42 [[ 9.96974461e-01 -6.89985394e-02 -3.57928125e-02 4.90875286e+02] [ 6.89706685e-02 9.97616655e-01 -2.01428748e-03 2.01785971e+01] [ 3.58464887e-02 -4.60461031e-04 9.99357202e-01 1.74246306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.91, Y:20.18, Z:17.43 [[ 9.96744969e-01 -7.22380657e-02 -3.57928478e-02 4.90905332e+02] [ 7.22123044e-02 9.97387251e-01 -2.01366003e-03 2.01787370e+01] [ 3.58447929e-02 -5.77578511e-04 9.99357202e-01 1.74255606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.94, Y:20.18, Z:17.43 [[ 9.96414824e-01 -7.66593735e-02 -3.57888026e-02 4.90936424e+02] [ 7.66338785e-02 9.97057119e-01 -2.08561211e-03 2.01790116e+01] [ 3.58433621e-02 -6.64499924e-04 9.99357199e-01 1.74255720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.97, Y:20.18, Z:17.43 [[ 9.96133568e-01 -8.02295059e-02 -3.57930321e-02 4.90968274e+02] [ 8.02090167e-02 9.96776039e-01 -2.01030920e-03 2.01793736e+01] [ 3.58389228e-02 -8.68387436e-04 9.99357202e-01 1.74263704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.00, Y:20.18, Z:17.43 [[ 9.95608048e-01 -8.65070095e-02 -3.57931766e-02 4.91000302e+02] [ 8.64906631e-02 9.96250638e-01 -2.00773190e-03 2.01785518e+01] [ 3.58326579e-02 -1.09686155e-03 9.99357202e-01 1.74269856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.03, Y:20.18, Z:17.43 [[ 9.95356039e-01 -8.93599128e-02 -3.57933226e-02 4.91030271e+02] [ 8.93455017e-02 9.95998675e-01 -2.00512704e-03 2.01810072e+01] [ 3.58292798e-02 -1.20215705e-03 9.99357202e-01 1.74279529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.06, Y:20.18, Z:17.43 [[ 9.95164439e-01 -9.14740317e-02 -3.57804444e-02 4.91062133e+02] [ 9.14527427e-02 9.95806910e-01 -2.23461434e-03 2.01818978e+01] [ 3.58348230e-02 -1.04841105e-03 9.99357177e-01 1.74293642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.10, Y:20.18, Z:17.43 [[ 9.95046050e-01 -9.27510582e-02 -3.57854639e-02 4.91095196e+02] [ 9.27338178e-02 9.95688625e-01 -2.14485221e-03 2.01820647e+01] [ 3.58301167e-02 -1.18429598e-03 9.99357193e-01 1.74305026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.13, Y:20.18, Z:17.43 [[ 9.94889194e-01 -9.44154586e-02 -3.57940353e-02 4.91127414e+02] [ 9.44048289e-02 9.95531901e-01 -1.99074385e-03 2.01837054e+01] [ 3.58220610e-02 -1.39856024e-03 9.99357205e-01 1.74316066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.16, Y:20.19, Z:17.43 [[ 9.94572969e-01 -9.76902458e-02 -3.57942104e-02 4.91160348e+02] [ 9.76818453e-02 9.95215709e-01 -1.98759034e-03 2.01854701e+01] [ 3.58171287e-02 -1.51964090e-03 9.99357205e-01 1.74331359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.19, Y:20.19, Z:17.43 [[ 9.94424283e-01 -9.91922636e-02 -3.57944244e-02 4.91192251e+02] [ 9.91849727e-02 9.95067036e-01 -1.98372887e-03 2.01870651e+01] [ 3.58146224e-02 -1.57760086e-03 9.99357205e-01 1.74337095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.23, Y:20.19, Z:17.43 [[ 9.94247111e-01 -1.00952552e-01 -3.57947609e-02 4.91225051e+02] [ 1.00946617e-01 9.94889878e-01 -1.97763979e-03 2.01888391e+01] [ 3.58114931e-02 -1.64709738e-03 9.99357205e-01 1.74349047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.26, Y:20.19, Z:17.44 [[ 9.93908245e-01 -1.04235887e-01 -3.57949725e-02 4.91257033e+02] [ 1.04232214e-01 9.94551029e-01 -1.97380094e-03 2.01907404e+01] [ 3.58056677e-02 -1.76921221e-03 9.99357205e-01 1.74357726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.29, Y:20.19, Z:17.44 [[ 9.93746748e-01 -1.05764349e-01 -3.57953056e-02 4.91290301e+02] [ 1.05761882e-01 9.94389538e-01 -1.96774252e-03 2.01929077e+01] [ 3.58025944e-02 -1.83034116e-03 9.99357205e-01 1.74372012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.32, Y:20.20, Z:17.44 [[ 9.93635059e-01 -1.06808475e-01 -3.57955196e-02 4.91321895e+02] [ 1.06806824e-01 9.94277851e-01 -1.96384181e-03 2.01951064e+01] [ 3.58004473e-02 -1.87186367e-03 9.99357205e-01 1.74381164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.35, Y:20.20, Z:17.44 [[ 9.93524216e-01 -1.07834593e-01 -3.57956962e-02 4.91353682e+02] [ 1.07833721e-01 9.94167010e-01 -1.96061842e-03 2.01977632e+01] [ 3.57983227e-02 -1.91206124e-03 9.99357205e-01 1.74393378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.39, Y:20.20, Z:17.44 [[ 9.93455214e-01 -1.08468397e-01 -3.57958699e-02 4.91385664e+02] [ 1.08468049e-01 9.94098009e-01 -1.95744042e-03 2.02003142e+01] [ 3.57969234e-02 -1.93807879e-03 9.99357205e-01 1.74406434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.42, Y:20.20, Z:17.44 [[ 9.93423244e-01 -1.08760769e-01 -3.57960078e-02 4.91418836e+02] [ 1.08760702e-01 9.94066038e-01 -1.95491629e-03 2.02027861e+01] [ 3.57962138e-02 -1.95113964e-03 9.99357205e-01 1.74419703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.45, Y:20.20, Z:17.44 [[ 9.93434733e-01 -1.08655705e-01 -3.57962141e-02 4.91452310e+02] [ 1.08655705e-01 9.94077528e-01 -1.95113098e-03 2.02045182e+01] [ 3.57962135e-02 -1.95114161e-03 9.99357205e-01 1.74431715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.49, Y:20.21, Z:17.44 [[ 9.93420645e-01 -1.08784362e-01 -3.57964199e-02 4.91485132e+02] [ 1.08784582e-01 9.94063440e-01 -1.94734763e-03 2.02078345e+01] [ 3.57957533e-02 -1.95956323e-03 9.99357205e-01 1.74441483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.52, Y:20.21, Z:17.45 [[ 9.93450492e-01 -1.08511393e-01 -3.57966258e-02 4.91517592e+02] [ 1.08511572e-01 9.94093286e-01 -1.94355561e-03 2.02103379e+01] [ 3.57960833e-02 -1.95352185e-03 9.99357205e-01 1.74455448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.55, Y:20.21, Z:17.45 [[ 9.93510854e-01 -1.07957276e-01 -3.57967669e-02 4.91549971e+02] [ 1.07957190e-01 9.94153649e-01 -1.94095441e-03 2.02128347e+01] [ 3.57970265e-02 -1.93615909e-03 9.99357205e-01 1.74458941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.58, Y:20.22, Z:17.45 [[ 9.93637691e-01 -1.06783514e-01 -3.57969421e-02 4.91582030e+02] [ 1.06782784e-01 9.94280485e-01 -1.93771756e-03 2.02164445e+01] [ 3.57991172e-02 -1.89710795e-03 9.99357206e-01 1.74464431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.61, Y:20.22, Z:17.45 [[ 9.93732997e-01 -1.05892871e-01 -3.57970776e-02 4.91613935e+02] [ 1.05891656e-01 9.94375790e-01 -1.93521125e-03 2.02192275e+01] [ 3.58006724e-02 -1.86752855e-03 9.99357206e-01 1.74469166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.65, Y:20.22, Z:17.45 [[ 9.93835652e-01 -1.04924996e-01 -3.57972460e-02 4.91647187e+02] [ 1.04923267e-01 9.94478444e-01 -1.93209070e-03 2.02224410e+01] [ 3.58023141e-02 -1.83578338e-03 9.99357206e-01 1.74489735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.68, Y:20.23, Z:17.45 [[ 9.93969728e-01 -1.03647103e-01 -3.57974499e-02 4.91680205e+02] [ 1.03644683e-01 9.94612518e-01 -1.92830526e-03 2.02255994e+01] [ 3.58044550e-02 -1.79353831e-03 9.99357206e-01 1.74502774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.71, Y:20.23, Z:17.45 [[ 9.94314770e-01 -1.00282933e-01 -3.57976529e-02 4.91712775e+02] [ 1.00278474e-01 9.94957549e-01 -1.92452995e-03 2.02302021e+01] [ 3.58101425e-02 -1.67614545e-03 9.99357206e-01 1.74522681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.74, Y:20.23, Z:17.45 [[ 9.94550305e-01 -9.79193738e-02 -3.57978553e-02 4.91744036e+02] [ 9.79135223e-02 9.95193073e-01 -1.92075660e-03 2.02335708e+01] [ 3.58138569e-02 -1.59480504e-03 9.99357206e-01 1.74527839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.77, Y:20.24, Z:17.45 [[ 9.94747343e-01 -9.58984288e-02 -3.57940751e-02 4.91774811e+02] [ 9.58887356e-02 9.95390067e-01 -1.99134735e-03 2.02374343e+01] [ 3.58200339e-02 -1.45136113e-03 9.99357203e-01 1.74535594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.81, Y:20.24, Z:17.46 [[ 9.94919207e-01 -9.41006201e-02 -3.57888898e-02 4.91807465e+02] [ 9.40862937e-02 9.95561856e-01 -2.08800318e-03 2.02404843e+01] [ 3.58265360e-02 -1.28984953e-03 9.99357191e-01 1.74573547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.84, Y:20.24, Z:17.46 [[ 9.95095912e-01 -9.22095361e-02 -3.57984186e-02 4.91839026e+02] [ 9.22004049e-02 9.95738640e-01 -1.90935978e-03 2.02439054e+01] [ 3.58219298e-02 -1.40063258e-03 9.99357207e-01 1.74589438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.87, Y:20.25, Z:17.46 [[ 9.95275451e-01 -9.02509845e-02 -3.57985490e-02 4.91872148e+02] [ 9.02406764e-02 9.95918161e-01 -1.90691127e-03 2.02472301e+01] [ 3.58245257e-02 -1.33258330e-03 9.99357207e-01 1.74605753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.90, Y:20.25, Z:17.46 [[ 9.95580891e-01 -8.68166942e-02 -3.57987446e-02 4.91904643e+02] [ 8.68043009e-02 9.96223565e-01 -1.90323159e-03 2.02512294e+01] [ 3.58287853e-02 -1.21266400e-03 9.99357207e-01 1.74616392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.94, Y:20.25, Z:17.46 [[ 9.95740931e-01 -8.49613676e-02 -3.57989470e-02 4.91936401e+02] [ 8.49479138e-02 9.96383583e-01 -1.89941720e-03 2.02538198e+01] [ 3.58308602e-02 -1.14971842e-03 9.99357207e-01 1.74616303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.97, Y:20.26, Z:17.46 [[ 9.95893486e-01 -8.31540024e-02 -3.57991142e-02 4.91969033e+02] [ 8.31394956e-02 9.96536115e-01 -1.89626030e-03 2.02565277e+01] [ 3.58327918e-02 -1.08784702e-03 9.99357207e-01 1.74626611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.00, Y:20.26, Z:17.46 [[ 9.95997836e-01 -8.18945660e-02 -3.57993136e-02 4.91997746e+02] [ 8.18793820e-02 9.96640449e-01 -1.89248834e-03 2.02613194e+01] [ 3.58340285e-02 -1.04631139e-03 9.99357207e-01 1.74614155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.03, Y:20.26, Z:17.46 [[ 9.96467634e-01 -7.59742772e-02 -3.57793630e-02 4.92031958e+02] [ 7.59417806e-02 9.97109673e-01 -2.26835337e-03 2.02631534e+01] [ 3.58482855e-02 -4.56807827e-04 9.99357139e-01 1.74626741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.06, Y:20.27, Z:17.46 [[ 9.96905642e-01 -6.99823805e-02 -3.57995384e-02 4.92059696e+02] [ 6.99597737e-02 9.97548032e-01 -1.88529680e-03 2.02654212e+01] [ 3.58436967e-02 -6.25064595e-04 9.99357213e-01 1.74640393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.09, Y:20.27, Z:17.46 [[ 9.96898108e-01 -7.01022444e-02 -3.57748146e-02 4.92093332e+02] [ 7.00629978e-02 9.97539798e-01 -2.35106004e-03 2.02696842e+01] [ 3.58516160e-02 -1.62723450e-04 9.99357111e-01 1.74647726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.13, Y:20.27, Z:17.47 [[ 9.97120221e-01 -6.68556878e-02 -3.57992002e-02 4.92125515e+02] [ 6.68309340e-02 9.97762526e-01 -1.88899058e-03 2.02726007e+01] [ 3.58453901e-02 -5.08943283e-04 9.99357218e-01 1.74676389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.15, Y:20.28, Z:17.47 [[ 9.97224289e-01 -6.52849491e-02 -3.57993360e-02 4.92153238e+02] [ 6.52592761e-02 9.97866558e-01 -1.88641283e-03 2.02778915e+01] [ 3.58461146e-02 -4.55062056e-04 9.99357218e-01 1.74677234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.19, Y:20.28, Z:17.47 [[ 9.97487222e-01 -6.11501509e-02 -3.57756989e-02 4.92186952e+02] [ 6.11058581e-02 9.98128569e-01 -2.33118719e-03 2.02777997e+01] [ 3.58512996e-02 1.39224655e-04 9.99357126e-01 1.74704069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.22, Y:20.28, Z:17.47 [[ 9.97787086e-01 -5.60300350e-02 -3.57989754e-02 4.92217756e+02] [ 5.59982582e-02 9.98429077e-01 -1.89047968e-03 2.02809600e+01] [ 3.58486616e-02 -1.18384062e-04 9.99357223e-01 1.74713521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.665099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:492.25, Y:20.28, Z:17.47 [[ 9.97931040e-01 -5.34047248e-02 -3.57990781e-02 4.92247032e+02] [ 5.33713289e-02 9.98572949e-01 -1.88853286e-03 2.02831304e+01] [ 3.58488476e-02 -2.60188068e-05 9.99357223e-01 1.74707385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.28, Y:20.29, Z:17.47 [[ 9.97989925e-01 -5.22962679e-02 -3.57939960e-02 4.92276170e+02] [ 5.22587155e-02 9.98631608e-01 -1.98453860e-03 2.02854053e+01] [ 3.58487998e-02 1.10001276e-04 9.99357219e-01 1.74733664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.31, Y:20.29, Z:17.47 [[ 9.98053001e-01 -5.10750920e-02 -3.57986233e-02 4.92305841e+02] [ 5.10398859e-02 9.98694814e-01 -1.89722957e-03 2.02875083e+01] [ 3.58488006e-02 6.63780146e-05 9.99357223e-01 1.74744576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.34, Y:20.29, Z:17.48 [[ 9.98105492e-01 -5.00388585e-02 -3.57985900e-02 4.92336425e+02] [ 5.00029634e-02 9.98747266e-01 -1.89785832e-03 2.02905175e+01] [ 3.58487105e-02 1.04227230e-04 9.99357223e-01 1.74763527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.37, Y:20.29, Z:17.48 [[ 9.98084825e-01 -5.04494120e-02 -3.57985900e-02 4.92365750e+02] [ 5.04137809e-02 9.98726614e-01 -1.89785832e-03 2.02924902e+01] [ 3.58487504e-02 8.94813193e-05 9.99357223e-01 1.74767826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.40, Y:20.29, Z:17.48 [[ 9.98046290e-01 -5.12060860e-02 -3.57985946e-02 4.92395062e+02] [ 5.11709447e-02 9.98688106e-01 -1.89777151e-03 2.02938872e+01] [ 3.58488081e-02 6.22159073e-05 9.99357223e-01 1.74777091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.43, Y:20.30, Z:17.48 [[ 9.97966883e-01 -5.27310403e-02 -3.57985620e-02 4.92425041e+02] [ 5.26968576e-02 9.98608751e-01 -1.89838625e-03 2.02951378e+01] [ 3.58488611e-02 8.05488221e-06 9.99357223e-01 1.74792209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.45, Y:20.30, Z:17.48 [[ 9.97697145e-01 -5.76096344e-02 -3.57985620e-02 4.92454155e+02] [ 5.75785904e-02 9.98339172e-01 -1.89838625e-03 2.02957815e+01] [ 3.58484721e-02 -1.67216199e-04 9.99357223e-01 1.74793918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.905099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:492.48, Y:20.30, Z:17.48 [[ 9.97418315e-01 -6.22508414e-02 -3.57985620e-02 4.92482948e+02] [ 6.22227848e-02 9.98060480e-01 -1.89838625e-03 2.02989870e+01] [ 3.58473061e-02 -3.34001005e-04 9.99357223e-01 1.74815547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.93509989300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:492.51, Y:20.30, Z:17.48 [[ 9.97236651e-01 -6.51068037e-02 -3.57794101e-02 4.92514187e+02] [ 6.50676817e-02 9.97878298e-01 -2.25798897e-03 2.02995352e+01] [ 3.58505073e-02 -7.63339142e-05 9.99357161e-01 1.74825902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.55, Y:20.30, Z:17.49 [[ 9.97095575e-01 -6.72312209e-02 -3.57823549e-02 4.92547127e+02] [ 6.71954482e-02 9.97737400e-01 -2.20274634e-03 2.02979000e+01] [ 3.58494871e-02 -2.08062748e-04 9.99357179e-01 1.74852504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.58, Y:20.30, Z:17.49 [[ 9.96823717e-01 -7.11402723e-02 -3.57985757e-02 4.92576853e+02] [ 7.11180052e-02 9.97466106e-01 -1.89661148e-03 2.02996479e+01] [ 3.58427913e-02 -6.55335986e-04 9.99357226e-01 1.74853522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.61, Y:20.30, Z:17.49 [[ 9.96432999e-01 -7.64238844e-02 -3.57864141e-02 4.92610504e+02] [ 7.63967916e-02 9.97075228e-01 -2.12588422e-03 2.02978394e+01] [ 3.58442154e-02 -6.15666030e-04 9.99357200e-01 1.74873123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.64, Y:20.30, Z:17.49 [[ 9.96223086e-01 -7.91075715e-02 -3.57988005e-02 4.92642850e+02] [ 7.90906256e-02 9.96865636e-01 -1.89147269e-03 2.02982958e+01] [ 3.58362238e-02 -9.47020762e-04 9.99357228e-01 1.74886276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.67, Y:20.30, Z:17.49 [[ 9.96002018e-01 -8.18438534e-02 -3.57989357e-02 4.92673204e+02] [ 8.18287646e-02 9.96644613e-01 -1.88891150e-03 2.03001144e+01] [ 3.58334122e-02 -1.04802301e-03 9.99357228e-01 1.74886979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.71, Y:20.30, Z:17.49 [[ 9.95880300e-01 -8.33169970e-02 -3.57869677e-02 4.92706217e+02] [ 8.32947233e-02 9.96522711e-01 -2.11545579e-03 2.03000131e+01] [ 3.58387795e-02 -8.74124822e-04 9.99357202e-01 1.74905765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.74, Y:20.30, Z:17.49 [[ 9.95740052e-01 -8.49715623e-02 -3.57991887e-02 4.92739658e+02] [ 8.49586985e-02 9.96382694e-01 -1.88314982e-03 2.03011651e+01] [ 3.58297062e-02 -1.16632478e-03 9.99357229e-01 1.74917600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.77, Y:20.30, Z:17.49 [[ 9.95446584e-01 -8.83430922e-02 -3.57993902e-02 4.92771467e+02] [ 8.83325427e-02 9.96089268e-01 -1.87931050e-03 2.03022836e+01] [ 3.58254125e-02 -1.29149795e-03 9.99357229e-01 1.74923247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.80, Y:20.30, Z:17.49 [[ 9.95289209e-01 -9.00987322e-02 -3.57995571e-02 4.92804319e+02] [ 9.00894307e-02 9.95931913e-01 -1.87612654e-03 2.03037650e+01] [ 3.58229580e-02 -1.35787322e-03 9.99357229e-01 1.74935410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.84, Y:20.31, Z:17.49 [[ 9.95134535e-01 -9.17912603e-02 -3.57997580e-02 4.92837785e+02] [ 9.17831898e-02 9.95777255e-01 -1.87228398e-03 2.03050398e+01] [ 3.58204441e-02 -1.42264154e-03 9.99357229e-01 1.74946975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.87, Y:20.31, Z:17.50 [[ 9.94996694e-01 -9.32734794e-02 -3.57999606e-02 4.92870842e+02] [ 9.32665057e-02 9.95639427e-01 -1.86840222e-03 2.03059433e+01] [ 3.58181246e-02 -1.47988320e-03 9.99357229e-01 1.74956005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.90, Y:20.31, Z:17.50 [[ 9.94696669e-01 -9.64203539e-02 -3.58001665e-02 4.92902756e+02] [ 9.64155553e-02 9.95339422e-01 -1.86444832e-03 2.03065910e+01] [ 3.58130878e-02 -1.59713241e-03 9.99357229e-01 1.74951496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.94, Y:20.31, Z:17.50 [[ 9.94575655e-01 -9.76605859e-02 -3.58005047e-02 4.92935707e+02] [ 9.76568228e-02 9.95218415e-01 -1.85793318e-03 2.03080928e+01] [ 3.58107683e-02 -1.64830843e-03 9.99357229e-01 1.74957985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.97, Y:20.31, Z:17.50 [[ 9.94461868e-01 -9.88124669e-02 -3.58007045e-02 4.92968805e+02] [ 9.88095869e-02 9.95104632e-01 -1.85407471e-03 2.03100295e+01] [ 3.58086525e-02 -1.69364622e-03 9.99357229e-01 1.74962349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.00, Y:20.31, Z:17.50 [[ 9.94365723e-01 -9.97752646e-02 -3.58009032e-02 4.93001172e+02] [ 9.97731450e-02 9.95008491e-01 -1.85022998e-03 2.03123465e+01] [ 3.58068098e-02 -1.73216343e-03 9.99357229e-01 1.74973878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.03, Y:20.31, Z:17.50 [[ 9.94273312e-01 -1.00691938e-01 -3.58010361e-02 4.93034149e+02] [ 1.00690504e-01 9.94916081e-01 -1.84765457e-03 2.03148183e+01] [ 3.58050705e-02 -1.76775074e-03 9.99357229e-01 1.74983925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.07, Y:20.32, Z:17.50 [[ 9.94208375e-01 -1.01331035e-01 -3.58012337e-02 4.93066663e+02] [ 1.01330151e-01 9.94851145e-01 -1.84381709e-03 2.03172660e+01] [ 3.58037343e-02 -1.79460603e-03 9.99357229e-01 1.74997278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.10, Y:20.32, Z:17.50 [[ 9.94162163e-01 -1.01783350e-01 -3.58014312e-02 4.93098298e+02] [ 1.01782897e-01 9.94804934e-01 -1.83997435e-03 2.03206544e+01] [ 3.58027192e-02 -1.81474051e-03 9.99357229e-01 1.75007981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.13, Y:20.32, Z:17.50 [[ 9.94153532e-01 -1.01867562e-01 -3.58015944e-02 4.93130881e+02] [ 1.01867278e-01 9.94796303e-01 -1.83679284e-03 2.03234010e+01] [ 3.58024034e-02 -1.82095688e-03 9.99357229e-01 1.75020437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.16, Y:20.33, Z:17.50 [[ 9.94100130e-01 -1.02387325e-01 -3.58017879e-02 4.93163200e+02] [ 1.02387512e-01 9.94742900e-01 -1.83301512e-03 2.03273452e+01] [ 3.58012518e-02 -1.84345542e-03 9.99357229e-01 1.75035073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.19, Y:20.33, Z:17.50 [[ 9.94142278e-01 -1.01977213e-01 -3.58019480e-02 4.93194395e+02] [ 1.01977248e-01 9.94785048e-01 -1.82988201e-03 2.03300096e+01] [ 3.58018488e-02 -1.83182107e-03 9.99357229e-01 1.75045877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.23, Y:20.33, Z:17.51 [[ 9.94169668e-01 -1.01709805e-01 -3.58020426e-02 4.93226719e+02] [ 1.01709734e-01 9.94812439e-01 -1.82802838e-03 2.03329952e+01] [ 3.58022458e-02 -1.82404586e-03 9.99357229e-01 1.75062871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.26, Y:20.34, Z:17.51 [[ 9.94220409e-01 -1.01212568e-01 -3.58021687e-02 4.93259950e+02] [ 1.01212264e-01 9.94863179e-01 -1.82555678e-03 2.03358947e+01] [ 3.58030286e-02 -1.80861275e-03 9.99357229e-01 1.75078741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.29, Y:20.34, Z:17.51 [[ 9.94323791e-01 -1.00191764e-01 -3.58023567e-02 4.93290780e+02] [ 1.00190932e-01 9.94966561e-01 -1.82186183e-03 2.03398025e+01] [ 3.58046833e-02 -1.77555093e-03 9.99357229e-01 1.75095853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.32, Y:20.34, Z:17.51 [[ 9.94334010e-01 -1.00090263e-01 -3.58024498e-02 4.93324262e+02] [ 1.00089431e-01 9.94976780e-01 -1.82003137e-03 2.03414082e+01] [ 3.58047736e-02 -1.77372775e-03 9.99357229e-01 1.75107871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.36, Y:20.35, Z:17.51 [[ 9.94380327e-01 -9.96289997e-02 -3.58026352e-02 4.93356642e+02] [ 9.96280016e-02 9.95023096e-01 -1.81637665e-03 2.03455337e+01] [ 3.58054127e-02 -1.76077578e-03 9.99357229e-01 1.75132848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.39, Y:20.35, Z:17.51 [[ 9.94424798e-01 -9.91840653e-02 -3.58028331e-02 4.93388178e+02] [ 9.91829200e-02 9.95067567e-01 -1.81246642e-03 2.03481458e+01] [ 3.58060058e-02 -1.74866798e-03 9.99357229e-01 1.75141663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.42, Y:20.35, Z:17.52 [[ 9.94443520e-01 -9.89961185e-02 -3.58029965e-02 4.93421273e+02] [ 9.89949678e-02 9.95086289e-01 -1.80923386e-03 2.03508288e+01] [ 3.58061780e-02 -1.74513559e-03 9.99357229e-01 1.75154218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.45, Y:20.35, Z:17.52 [[ 9.94454222e-01 -9.88884859e-02 -3.58031915e-02 4.93454759e+02] [ 9.88874046e-02 9.95096991e-01 -1.80536613e-03 2.03524283e+01] [ 3.58061781e-02 -1.74513071e-03 9.99357229e-01 1.75166230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.49, Y:20.36, Z:17.52 [[ 9.94459834e-01 -9.88319611e-02 -3.58033864e-02 4.93487696e+02] [ 9.88309823e-02 9.95102604e-01 -1.80149351e-03 2.03550120e+01] [ 3.58060881e-02 -1.74697091e-03 9.99357229e-01 1.75179688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.52, Y:20.36, Z:17.52 [[ 9.94393109e-01 -9.95009954e-02 -3.58035841e-02 4.93518761e+02] [ 9.95005905e-02 9.95035879e-01 -1.79755537e-03 2.03583829e+01] [ 3.58047093e-02 -1.77500109e-03 9.99357230e-01 1.75181027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.55, Y:20.36, Z:17.52 [[ 9.94362041e-01 -9.98109607e-02 -3.58036819e-02 4.93550953e+02] [ 9.98108262e-02 9.95004811e-01 -1.79560560e-03 2.03609075e+01] [ 3.58040568e-02 -1.78811301e-03 9.99357230e-01 1.75188452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.58, Y:20.36, Z:17.52 [[ 9.94370064e-01 -9.97309495e-02 -3.58038080e-02 4.93583441e+02] [ 9.97308538e-02 9.95012835e-01 -1.79308640e-03 2.03628460e+01] [ 3.58040747e-02 -1.78775290e-03 9.99357230e-01 1.75197350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.62, Y:20.36, Z:17.52 [[ 9.94375711e-01 -9.96745625e-02 -3.58040003e-02 4.93616199e+02] [ 9.96745685e-02 9.95018482e-01 -1.78923813e-03 2.03649146e+01] [ 3.58039836e-02 -1.78957335e-03 9.99357230e-01 1.75206800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.65, Y:20.37, Z:17.52 [[ 9.94486684e-01 -9.85611198e-02 -3.58041940e-02 4.93648141e+02] [ 9.85605456e-02 9.95129455e-01 -1.78535427e-03 2.03674118e+01] [ 3.58057746e-02 -1.75336984e-03 9.99357230e-01 1.75211743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.68, Y:20.37, Z:17.52 [[ 9.94587125e-01 -9.75422938e-02 -3.58043542e-02 4.93680615e+02] [ 9.75411767e-02 9.95229894e-01 -1.78213626e-03 2.03696421e+01] [ 3.58073973e-02 -1.71990906e-03 9.99357230e-01 1.75228843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.71, Y:20.37, Z:17.52 [[ 9.94717533e-01 -9.62032458e-02 -3.58045462e-02 4.93712170e+02] [ 9.62014022e-02 9.95360301e-01 -1.77827001e-03 2.03720029e+01] [ 3.58094992e-02 -1.67557120e-03 9.99357230e-01 1.75239729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.75, Y:20.37, Z:17.53 [[ 9.94851247e-01 -9.48104418e-02 -3.58047046e-02 4.93745056e+02] [ 9.48078131e-02 9.95494012e-01 -1.77507389e-03 2.03739782e+01] [ 3.58116646e-02 -1.62863128e-03 9.99357230e-01 1.75257832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.78, Y:20.38, Z:17.53 [[ 9.94967160e-01 -9.35861156e-02 -3.58048935e-02 4.93778240e+02] [ 9.35828331e-02 9.95609922e-01 -1.77125684e-03 2.03762077e+01] [ 3.58134722e-02 -1.58838098e-03 9.99357230e-01 1.75273295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.81, Y:20.38, Z:17.53 [[ 9.95047102e-01 -9.27322010e-02 -3.58050847e-02 4.93810333e+02] [ 9.27285059e-02 9.95689862e-01 -1.76738358e-03 2.03780426e+01] [ 3.58146532e-02 -1.56152209e-03 9.99357230e-01 1.75286911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.84, Y:20.38, Z:17.53 [[ 9.95030065e-01 -9.29147060e-02 -3.58053994e-02 4.93843175e+02] [ 9.29113586e-02 9.95672827e-01 -1.76098316e-03 2.03793833e+01] [ 3.58140845e-02 -1.57449712e-03 9.99357230e-01 1.75296340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.88, Y:20.38, Z:17.53 [[ 9.95015265e-01 -9.30729968e-02 -3.58055864e-02 4.93875773e+02] [ 9.30698886e-02 9.95658028e-01 -1.75717437e-03 2.03802586e+01] [ 3.58136650e-02 -1.58400661e-03 9.99357230e-01 1.75304524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.91, Y:20.38, Z:17.53 [[ 9.94952266e-01 -9.37439868e-02 -3.58057726e-02 4.93908066e+02] [ 9.37414486e-02 9.95595031e-01 -1.75337113e-03 2.03799623e+01] [ 3.58124173e-02 -1.61196441e-03 9.99357230e-01 1.75301280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.94, Y:20.38, Z:17.53 [[ 9.94857067e-01 -9.47488332e-02 -3.58060778e-02 4.93940822e+02] [ 9.47471688e-02 9.95499835e-01 -1.74711572e-03 2.03805522e+01] [ 3.58104818e-02 -1.65439408e-03 9.99357230e-01 1.75316339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.97, Y:20.38, Z:17.53 [[ 9.94775388e-01 -9.56025016e-02 -3.58062629e-02 4.93972476e+02] [ 9.56015254e-02 9.95418158e-01 -1.74331400e-03 2.03809787e+01] [ 3.58088695e-02 -1.68892749e-03 9.99357230e-01 1.75324104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.01, Y:20.38, Z:17.53 [[ 9.94697249e-01 -9.64120470e-02 -3.58064161e-02 4.94005605e+02] [ 9.64117070e-02 9.95340020e-01 -1.74016329e-03 2.03817000e+01] [ 3.58073316e-02 -1.72122205e-03 9.99357230e-01 1.75337942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.04, Y:20.38, Z:17.54 [[ 9.94570474e-01 -9.77111012e-02 -3.58066030e-02 4.94038843e+02] [ 9.77117391e-02 9.95213244e-01 -1.73630786e-03 2.03825579e+01] [ 3.58048621e-02 -1.77184492e-03 9.99357230e-01 1.75354377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.07, Y:20.38, Z:17.54 [[ 9.94475531e-01 -9.86726464e-02 -3.58067936e-02 4.94070052e+02] [ 9.86740473e-02 9.95118300e-01 -1.73236768e-03 2.03829082e+01] [ 3.58029329e-02 -1.81040398e-03 9.99357230e-01 1.75363911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.10, Y:20.38, Z:17.54 [[ 9.94377275e-01 -9.96579221e-02 -3.58068880e-02 4.94101671e+02] [ 9.96600300e-02 9.95020042e-01 -1.73041420e-03 2.03830862e+01] [ 3.58010207e-02 -1.84783098e-03 9.99357230e-01 1.75369136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.14, Y:20.38, Z:17.54 [[ 9.94149069e-01 -1.01909192e-01 -3.58070423e-02 4.94135089e+02] [ 1.01912870e-01 9.94791829e-01 -1.72721617e-03 2.03820782e+01] [ 3.57965723e-02 -1.93208810e-03 9.99357230e-01 1.75385270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.17, Y:20.38, Z:17.54 [[ 9.94040847e-01 -1.02959394e-01 -3.58072316e-02 4.94166995e+02] [ 1.02963893e-01 9.94683602e-01 -1.72328313e-03 2.03825020e+01] [ 3.57942943e-02 -1.97383812e-03 9.99357230e-01 1.75397905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.20, Y:20.38, Z:17.54 [[ 9.93945745e-01 -1.03873364e-01 -3.58075419e-02 4.94200469e+02] [ 1.03878686e-01 9.94588493e-01 -1.71681167e-03 2.03831935e+01] [ 3.57921001e-02 -2.01322274e-03 9.99357230e-01 1.75413238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.23, Y:20.38, Z:17.54 [[ 9.93802186e-01 -1.05237930e-01 -3.58077282e-02 4.94232279e+02] [ 1.05244274e-01 9.94444925e-01 -1.71291669e-03 2.03829741e+01] [ 3.57890774e-02 -2.06625803e-03 9.99357230e-01 1.75433117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.27, Y:20.38, Z:17.54 [[ 9.93740574e-01 -1.05818090e-01 -3.58078823e-02 4.94265603e+02] [ 1.05824925e-01 9.94383307e-01 -1.70968949e-03 2.03835365e+01] [ 3.57876765e-02 -2.09037865e-03 9.99357230e-01 1.75449882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.30, Y:20.38, Z:17.55 [[ 9.93718330e-01 -1.06026706e-01 -3.58080663e-02 4.94297430e+02] [ 1.06033815e-01 9.94361061e-01 -1.70582655e-03 2.03837342e+01] [ 3.57870100e-02 -2.10175476e-03 9.99357230e-01 1.75465617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.33, Y:20.38, Z:17.55 [[ 9.93686649e-01 -1.06323168e-01 -3.58082184e-02 4.94330263e+02] [ 1.06330583e-01 9.94329376e-01 -1.70262709e-03 2.03838760e+01] [ 3.57861922e-02 -2.11563095e-03 9.99357230e-01 1.75479766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.36, Y:20.38, Z:17.55 [[ 9.93669646e-01 -1.06481895e-01 -3.58083996e-02 4.94363373e+02] [ 1.06489551e-01 9.94312370e-01 -1.69880808e-03 2.03837080e+01] [ 3.57856270e-02 -2.12516637e-03 9.99357230e-01 1.75493953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.40, Y:20.38, Z:17.55 [[ 9.93648246e-01 -1.06681345e-01 -3.58085800e-02 4.94396192e+02] [ 1.06689267e-01 9.94290967e-01 -1.69499739e-03 2.03834491e+01] [ 3.57849722e-02 -2.13615995e-03 9.99357230e-01 1.75504704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.43, Y:20.38, Z:17.55 [[ 9.93506042e-01 -1.07997577e-01 -3.58087589e-02 4.94429098e+02] [ 1.08006486e-01 9.94148751e-01 -1.69120877e-03 2.03819787e+01] [ 3.57818794e-02 -2.18735209e-03 9.99357230e-01 1.75511315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.46, Y:20.38, Z:17.55 [[ 9.93417240e-01 -1.08811341e-01 -3.58089370e-02 4.94462094e+02] [ 1.08820912e-01 9.94059939e-01 -1.68743073e-03 2.03818339e+01] [ 3.57798413e-02 -2.22043841e-03 9.99357230e-01 1.75515715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.49, Y:20.38, Z:17.55 [[ 9.93373112e-01 -1.09213407e-01 -3.58091162e-02 4.94492915e+02] [ 1.09223375e-01 9.94015805e-01 -1.68361840e-03 2.03817636e+01] [ 3.57787012e-02 -2.23873127e-03 9.99357230e-01 1.75519172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.53, Y:20.38, Z:17.55 [[ 9.93338846e-01 -1.09524604e-01 -3.58092047e-02 4.94525811e+02] [ 1.09534841e-01 9.93981534e-01 -1.68173442e-03 2.03816251e+01] [ 3.57778795e-02 -2.25182341e-03 9.99357230e-01 1.75525055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.56, Y:20.38, Z:17.55 [[ 9.93297274e-01 -1.09900929e-01 -3.58093839e-02 4.94558413e+02] [ 1.09911547e-01 9.93939956e-01 -1.67790968e-03 2.03799399e+01] [ 3.57767813e-02 -2.26920166e-03 9.99357230e-01 1.75528490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.59, Y:20.38, Z:17.55 [[ 9.93349460e-01 -1.09428193e-01 -3.58095043e-02 4.94590867e+02] [ 1.09438598e-01 9.93992146e-01 -1.67533611e-03 2.03799243e+01] [ 3.57776950e-02 -2.25474771e-03 9.99357230e-01 1.75533775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.62, Y:20.38, Z:17.55 [[ 9.93428198e-01 -1.08711009e-01 -3.58096538e-02 4.94622777e+02] [ 1.08721064e-01 9.94070890e-01 -1.67213348e-03 2.03801625e+01] [ 3.57791138e-02 -2.23211912e-03 9.99357230e-01 1.75544545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.66, Y:20.38, Z:17.56 [[ 9.93528692e-01 -1.07788670e-01 -3.58097997e-02 4.94655782e+02] [ 1.07798241e-01 9.94171391e-01 -1.66900386e-03 2.03805497e+01] [ 3.57809781e-02 -2.20203020e-03 9.99357230e-01 1.75562416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.69, Y:20.38, Z:17.56 [[ 9.93721923e-01 -1.05992381e-01 -3.58099784e-02 4.94688458e+02] [ 1.06000928e-01 9.94364637e-01 -1.66516180e-03 2.03799713e+01] [ 3.57846706e-02 -2.14118314e-03 9.99357230e-01 1.75580326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.72, Y:20.38, Z:17.56 [[ 9.93809379e-01 -1.05169157e-01 -3.58101585e-02 4.94720508e+02] [ 1.05177311e-01 9.94452097e-01 -1.66127894e-03 2.03806110e+01] [ 3.57862025e-02 -2.11542158e-03 9.99357230e-01 1.75588875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.75, Y:20.38, Z:17.56 [[ 9.93897702e-01 -1.04331105e-01 -3.58103072e-02 4.94753865e+02] [ 1.04338832e-01 9.94540426e-01 -1.65806748e-03 2.03811416e+01] [ 3.57877862e-02 -2.08845618e-03 9.99357230e-01 1.75599085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.79, Y:20.38, Z:17.56 [[ 9.93973826e-01 -1.03603297e-01 -3.58104822e-02 4.94787150e+02] [ 1.03610690e-01 9.94616553e-01 -1.65427867e-03 2.03814135e+01] [ 3.57890871e-02 -2.06603906e-03 9.99357230e-01 1.75608230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.82, Y:20.38, Z:17.56 [[ 9.94052814e-01 -1.02842598e-01 -3.58106590e-02 4.94819716e+02] [ 1.02849636e-01 9.94695546e-01 -1.65044382e-03 2.03813975e+01] [ 3.57904389e-02 -2.04248493e-03 9.99357230e-01 1.75620847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.85, Y:20.38, Z:17.56 [[ 9.94230902e-01 -1.01106372e-01 -3.58108377e-02 4.94851926e+02] [ 1.01112427e-01 9.94873643e-01 -1.64655597e-03 2.03798624e+01] [ 3.57937359e-02 -1.98386390e-03 9.99357230e-01 1.75628105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.88, Y:20.38, Z:17.56 [[ 9.94343012e-01 -9.99977344e-02 -3.58109856e-02 4.94884735e+02] [ 1.00003189e-01 9.94985760e-01 -1.64333293e-03 2.03799951e+01] [ 3.57957503e-02 -1.94717615e-03 9.99357230e-01 1.75646736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.92, Y:20.38, Z:17.57 [[ 9.94494983e-01 -9.84748187e-02 -3.58111627e-02 4.94917623e+02] [ 9.84794280e-02 9.95137736e-01 -1.63946435e-03 2.03800819e+01] [ 3.57984854e-02 -1.89622375e-03 9.99357230e-01 1.75662570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.95, Y:20.38, Z:17.57 [[ 9.94778646e-01 -9.55666978e-02 -3.58113419e-02 4.94950349e+02] [ 9.55695687e-02 9.95421410e-01 -1.63554182e-03 2.03788836e+01] [ 3.58036797e-02 -1.79547242e-03 9.99357230e-01 1.75677607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.98, Y:20.38, Z:17.57 [[ 9.94914121e-01 -9.41457723e-02 -3.58115191e-02 4.94982662e+02] [ 9.41478648e-02 9.95556888e-01 -1.63165180e-03 2.03791567e+01] [ 3.58060176e-02 -1.74822464e-03 9.99357230e-01 1.75687848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.02, Y:20.38, Z:17.57 [[ 9.95072999e-01 -9.24513414e-02 -3.58116659e-02 4.95016064e+02] [ 9.24524552e-02 9.95715769e-01 -1.62842427e-03 2.03794520e+01] [ 3.58087904e-02 -1.69047541e-03 9.99357230e-01 1.75699847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.05, Y:20.38, Z:17.57 [[ 9.95232044e-01 -9.07231516e-02 -3.58118392e-02 4.95048373e+02] [ 9.07232863e-02 9.95874814e-01 -1.62460332e-03 2.03796127e+01] [ 3.58114979e-02 -1.63211046e-03 9.99357230e-01 1.75712302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.08, Y:20.38, Z:17.57 [[ 9.95605475e-01 -8.65288465e-02 -3.58119535e-02 4.95078429e+02] [ 8.65263635e-02 9.96248241e-01 -1.62207911e-03 2.03778578e+01] [ 3.58179524e-02 -1.48372727e-03 9.99357230e-01 1.75724416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.11, Y:20.37, Z:17.57 [[ 9.95917348e-01 -8.28633818e-02 -3.58091599e-02 4.95113854e+02] [ 8.28563058e-02 9.96560082e-01 -1.68410134e-03 2.03749849e+01] [ 3.58255297e-02 -1.28978897e-03 9.99357227e-01 1.75715697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.14, Y:20.38, Z:17.58 [[ 9.95762538e-01 -8.46941508e-02 -3.58311009e-02 4.95140725e+02] [ 8.47055196e-02 9.96405303e-01 -1.20336069e-03 2.03790327e+01] [ 3.58042165e-02 -1.83683052e-03 9.99357135e-01 1.75750588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.17, Y:20.38, Z:17.58 [[ 9.95904720e-01 -8.30143395e-02 -3.58107287e-02 4.95173094e+02] [ 8.30087102e-02 9.96547462e-01 -1.64651930e-03 2.03796235e+01] [ 3.58237755e-02 -1.33282605e-03 9.99357234e-01 1.75770351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.21, Y:20.38, Z:17.58 [[ 9.96160211e-01 -7.98900317e-02 -3.58108474e-02 4.95205113e+02] [ 7.98824791e-02 9.96802933e-01 -1.64393362e-03 2.03787076e+01] [ 3.58276916e-02 -1.22303800e-03 9.99357234e-01 1.75784643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.24, Y:20.38, Z:17.58 [[ 9.96258132e-01 -7.86594545e-02 -3.58109672e-02 4.95236703e+02] [ 7.86512018e-02 9.96900845e-01 -1.64131911e-03 2.03791529e+01] [ 3.58290887e-02 -1.18139810e-03 9.99357234e-01 1.75793090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.27, Y:20.38, Z:17.58 [[ 9.96374932e-01 -7.71658193e-02 -3.58110564e-02 4.95268914e+02] [ 7.71566731e-02 9.97017633e-01 -1.63937082e-03 2.03796341e+01] [ 3.58307581e-02 -1.12963398e-03 9.99357234e-01 1.75803938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.30, Y:20.38, Z:17.58 [[ 9.96435526e-01 -7.63793284e-02 -3.58111759e-02 4.95300498e+02] [ 7.63697688e-02 9.97078221e-01 -1.63675517e-03 2.03802436e+01] [ 3.58315579e-02 -1.10397023e-03 9.99357234e-01 1.75813454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.33, Y:20.38, Z:17.58 [[ 9.96499720e-01 -7.55371570e-02 -3.58112648e-02 4.95332508e+02] [ 7.55271242e-02 9.97142408e-01 -1.63480769e-03 2.03805280e+01] [ 3.58324196e-02 -1.07563644e-03 9.99357234e-01 1.75822495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.36, Y:20.38, Z:17.58 [[ 9.96492561e-01 -7.56314815e-02 -3.58113814e-02 4.95363368e+02] [ 7.56216012e-02 9.97135251e-01 -1.63225152e-03 2.03793653e+01] [ 3.58322403e-02 -1.08158750e-03 9.99357234e-01 1.75823834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.40, Y:20.38, Z:17.58 [[ 9.96439951e-01 -7.63214413e-02 -3.58114679e-02 4.95395083e+02] [ 7.63120743e-02 9.97082649e-01 -1.63034959e-03 2.03792911e+01] [ 3.58314240e-02 -1.10830194e-03 9.99357234e-01 1.75834463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.43, Y:20.38, Z:17.58 [[ 9.96540801e-01 -7.49931150e-02 -3.58115261e-02 4.95428596e+02] [ 7.49829373e-02 9.97183486e-01 -1.62907041e-03 2.03768163e+01] [ 3.58328315e-02 -1.06181829e-03 9.99357234e-01 1.75809895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.46, Y:20.38, Z:17.58 [[ 9.96282395e-01 -7.83464686e-02 -3.58220727e-02 4.95457305e+02] [ 7.83467871e-02 9.96925187e-01 -1.39699207e-03 2.03790060e+01] [ 3.58213759e-02 -1.41474570e-03 9.99357207e-01 1.75846084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.49, Y:20.38, Z:17.59 [[ 9.96075421e-01 -8.09401596e-02 -3.58112548e-02 4.95488682e+02] [ 8.09336380e-02 9.96718153e-01 -1.63408932e-03 2.03777682e+01] [ 3.58259912e-02 -1.27065893e-03 9.99357235e-01 1.75851385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.52, Y:20.38, Z:17.59 [[ 9.96080983e-01 -8.08716434e-02 -3.58113397e-02 4.95521321e+02] [ 8.08651446e-02 9.96723715e-01 -1.63222614e-03 2.03791930e+01] [ 3.58260124e-02 -1.27005974e-03 9.99357235e-01 1.75863099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.55, Y:20.38, Z:17.59 [[ 9.95989678e-01 -8.19884197e-02 -3.58114518e-02 4.95553356e+02] [ 8.19827299e-02 9.96632418e-01 -1.62976364e-03 2.03794619e+01] [ 3.58244755e-02 -1.31269282e-03 9.99357235e-01 1.75873078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.59, Y:20.38, Z:17.59 [[ 9.95929550e-01 -8.27155550e-02 -3.58115635e-02 4.95585207e+02] [ 8.27104227e-02 9.96572294e-01 -1.62730559e-03 2.03797994e+01] [ 3.58234154e-02 -1.34130782e-03 9.99357235e-01 1.75891867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.62, Y:20.38, Z:17.59 [[ 9.95856517e-01 -8.35902023e-02 -3.58116795e-02 4.95617300e+02] [ 8.35857263e-02 9.96499266e-01 -1.62474805e-03 2.03802383e+01] [ 3.58221253e-02 -1.37532931e-03 9.99357235e-01 1.75903764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.65, Y:20.38, Z:17.59 [[ 9.95777575e-01 -8.45253601e-02 -3.58117948e-02 4.95649619e+02] [ 8.45215791e-02 9.96420329e-01 -1.62220304e-03 2.03808743e+01] [ 3.58207176e-02 -1.41151604e-03 9.99357235e-01 1.75920902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.68, Y:20.38, Z:17.59 [[ 9.95700765e-01 -8.54253650e-02 -3.58119091e-02 4.95682214e+02] [ 8.54222557e-02 9.96343523e-01 -1.61967543e-03 2.03813096e+01] [ 3.58193250e-02 -1.44642199e-03 9.99357235e-01 1.75938792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.71, Y:20.38, Z:17.60 [[ 9.95525683e-01 -8.74420562e-02 -3.58120241e-02 4.95713628e+02] [ 8.74403403e-02 9.96168446e-01 -1.61712962e-03 2.03809417e+01] [ 3.58162135e-02 -1.52152150e-03 9.99357235e-01 1.75956067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.75, Y:20.38, Z:17.60 [[ 9.95443888e-01 -8.83682718e-02 -3.58122129e-02 4.95745669e+02] [ 8.83673046e-02 9.96086652e-01 -1.61293587e-03 2.03815463e+01] [ 3.58145996e-02 -1.55904158e-03 9.99357235e-01 1.75976643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.78, Y:20.38, Z:17.60 [[ 9.95331830e-01 -8.96215653e-02 -3.58123248e-02 4.95778078e+02] [ 8.96214967e-02 9.95974595e-01 -1.61044844e-03 2.03824137e+01] [ 3.58124966e-02 -1.60662355e-03 9.99357235e-01 1.75993826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.81, Y:20.38, Z:17.60 [[ 9.95101334e-01 -9.21455569e-02 -3.58124361e-02 4.95810569e+02] [ 9.21472075e-02 9.95744097e-01 -1.60796860e-03 2.03826610e+01] [ 3.58081890e-02 -1.69992429e-03 9.99357235e-01 1.76001888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.84, Y:20.38, Z:17.60 [[ 9.94991336e-01 -9.33257905e-02 -3.58125520e-02 4.95843231e+02] [ 9.33282962e-02 9.95634095e-01 -1.60538417e-03 2.03836438e+01] [ 3.58060216e-02 -1.74498112e-03 9.99357235e-01 1.76008443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.87, Y:20.38, Z:17.60 [[ 9.94853718e-01 -9.47815016e-02 -3.58126706e-02 4.95874718e+02] [ 9.47850430e-02 9.95496473e-01 -1.60273403e-03 2.03848223e+01] [ 3.58032968e-02 -1.80001962e-03 9.99357235e-01 1.76011779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.91, Y:20.39, Z:17.60 [[ 9.94749905e-01 -9.58648245e-02 -3.58128690e-02 4.95906629e+02] [ 9.58692254e-02 9.95392655e-01 -1.59828797e-03 2.03857897e+01] [ 3.58010864e-02 -1.84345520e-03 9.99357235e-01 1.76016986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.94, Y:20.39, Z:17.60 [[ 9.94540416e-01 -9.80142421e-02 -3.58129863e-02 4.95937859e+02] [ 9.80201265e-02 9.95183153e-01 -1.59565496e-03 2.03872853e+01] [ 3.57968776e-02 -1.92345010e-03 9.99357235e-01 1.76012641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.97, Y:20.39, Z:17.60 [[ 9.94470972e-01 -9.87163080e-02 -3.58130736e-02 4.95968997e+02] [ 9.87227166e-02 9.95113705e-01 -1.59369298e-03 2.03889772e+01] [ 3.57954039e-02 -1.95068251e-03 9.99357235e-01 1.76020790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.00, Y:20.39, Z:17.60 [[ 9.94659936e-01 -9.67937492e-02 -3.58131581e-02 4.96003468e+02] [ 9.67989835e-02 9.95302679e-01 -1.59179195e-03 2.03887835e+01] [ 3.57990077e-02 -1.88338562e-03 9.99357235e-01 1.75996282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.03, Y:20.39, Z:17.60 [[ 9.94402811e-01 -9.93974440e-02 -3.58217376e-02 4.96032864e+02] [ 9.94113266e-02 9.95045443e-01 -1.39778689e-03 2.03928579e+01] [ 3.57831932e-02 -2.17112324e-03 9.99357218e-01 1.76044956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.07, Y:20.39, Z:17.60 [[ 9.94822605e-01 -9.51072220e-02 -3.58134178e-02 4.96069490e+02] [ 9.51115852e-02 9.95465354e-01 -1.58570554e-03 2.03906468e+01] [ 3.58018287e-02 -1.82877522e-03 9.99357236e-01 1.76005014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.10, Y:20.40, Z:17.60 [[ 9.94557157e-01 -9.78362891e-02 -3.58346563e-02 4.96096428e+02] [ 9.78596613e-02 9.95199611e-01 -1.10536129e-03 2.03974707e+01] [ 3.57707805e-02 -2.40742235e-03 9.99357121e-01 1.76038693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.13, Y:20.40, Z:17.61 [[ 9.94458072e-01 -9.88462398e-02 -3.58129089e-02 4.96127462e+02] [ 9.88527733e-02 9.95100795e-01 -1.59254035e-03 2.04007773e+01] [ 3.57948707e-02 -1.95649075e-03 9.99357243e-01 1.76087793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.16, Y:20.40, Z:17.61 [[ 9.94534869e-01 -9.80705984e-02 -3.58127355e-02 4.96158871e+02] [ 9.80764910e-02 9.95177599e-01 -1.59642908e-03 2.04029355e+01] [ 3.57965949e-02 -1.92468305e-03 9.99357243e-01 1.76099377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.19, Y:20.41, Z:17.61 [[ 9.94599183e-01 -9.74161178e-02 -3.58129221e-02 4.96191260e+02] [ 9.74217382e-02 9.95241915e-01 -1.59223192e-03 2.04052686e+01] [ 3.57976302e-02 -1.90532455e-03 9.99357243e-01 1.76118430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.22, Y:20.41, Z:17.61 [[ 9.94653663e-01 -9.68582281e-02 -3.58130345e-02 4.96223483e+02] [ 9.68635788e-02 9.95296398e-01 -1.58970056e-03 2.04075479e+01] [ 3.57985598e-02 -1.88777721e-03 9.99357243e-01 1.76139019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.26, Y:20.41, Z:17.62 [[ 9.94708885e-01 -9.62894221e-02 -3.58131495e-02 4.96255920e+02] [ 9.62944985e-02 9.95351622e-01 -1.58710508e-03 2.04110890e+01] [ 3.57994979e-02 -1.86990175e-03 9.99357243e-01 1.76160034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.29, Y:20.41, Z:17.62 [[ 9.94694879e-01 -9.64339323e-02 -3.58133240e-02 4.96288190e+02] [ 9.64392437e-02 9.95337614e-01 -1.58315865e-03 2.04135744e+01] [ 3.57990186e-02 -1.87905007e-03 9.99357243e-01 1.76170253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.32, Y:20.42, Z:17.62 [[ 9.94673184e-01 -9.66573977e-02 -3.58134682e-02 4.96320780e+02] [ 9.66629709e-02 9.95315917e-01 -1.57988910e-03 2.04158819e+01] [ 3.57984229e-02 -1.89036292e-03 9.99357243e-01 1.76183595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.35, Y:20.42, Z:17.62 [[ 9.94482458e-01 -9.86003282e-02 -3.58136415e-02 4.96353243e+02] [ 9.86072985e-02 9.95125177e-01 -1.57595031e-03 2.04186357e+01] [ 3.57944456e-02 -1.96423150e-03 9.99357243e-01 1.76187229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.38, Y:20.42, Z:17.62 [[ 9.94359968e-01 -9.98279995e-02 -3.58137562e-02 4.96384832e+02] [ 9.98358569e-02 9.95002677e-01 -1.57334063e-03 2.04203568e+01] [ 3.57918467e-02 -2.01103009e-03 9.99357243e-01 1.76191203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.42, Y:20.42, Z:17.62 [[ 9.94248524e-01 -1.00931864e-01 -3.58138415e-02 4.96417467e+02] [ 1.00940505e-01 9.94891223e-01 -1.57139571e-03 2.04219492e+01] [ 3.57894805e-02 -2.05270937e-03 9.99357243e-01 1.76199138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.45, Y:20.42, Z:17.62 [[ 9.94104468e-01 -1.02340921e-01 -3.58140083e-02 4.96450686e+02] [ 1.02350610e-01 9.94747151e-01 -1.56758444e-03 2.04237442e+01] [ 3.57863108e-02 -2.10724290e-03 9.99357243e-01 1.76210670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.48, Y:20.43, Z:17.62 [[ 9.94021379e-01 -1.03144770e-01 -3.58141791e-02 4.96482670e+02] [ 1.03155119e-01 9.94664052e-01 -1.56367297e-03 2.04255476e+01] [ 3.57843612e-02 -2.14009154e-03 9.99357243e-01 1.76216067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.52, Y:20.43, Z:17.62 [[ 9.93853423e-01 -1.04750656e-01 -3.58144442e-02 4.96515403e+02] [ 1.04762262e-01 9.94496075e-01 -1.55757815e-03 2.04287234e+01] [ 3.57804815e-02 -2.20399780e-03 9.99357243e-01 1.76234340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.55, Y:20.43, Z:17.62 [[ 9.93836807e-01 -1.04908125e-01 -3.58146110e-02 4.96547131e+02] [ 1.04919971e-01 9.94479455e-01 -1.55373195e-03 2.04307523e+01] [ 3.57798939e-02 -2.21351193e-03 9.99357243e-01 1.76243096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.58, Y:20.43, Z:17.63 [[ 9.93861775e-01 -1.04671277e-01 -3.58147491e-02 4.96579691e+02] [ 1.04683084e-01 9.94504423e-01 -1.55054363e-03 2.04330880e+01] [ 3.57802237e-02 -2.20817233e-03 9.99357243e-01 1.76255617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.61, Y:20.44, Z:17.63 [[ 9.93934948e-01 -1.03974107e-01 -3.58148583e-02 4.96611438e+02] [ 1.03985554e-01 9.94577603e-01 -1.54801554e-03 2.04353934e+01] [ 3.57816095e-02 -2.18560112e-03 9.99357243e-01 1.76264607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.64, Y:20.44, Z:17.63 [[ 9.94188927e-01 -1.01516821e-01 -3.58149671e-02 4.96643487e+02] [ 1.01526769e-01 9.94831607e-01 -1.54549555e-03 2.04387159e+01] [ 3.57867550e-02 -2.09966334e-03 9.99357243e-01 1.76271715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.68, Y:20.44, Z:17.63 [[ 9.94374501e-01 -9.96826510e-02 -3.58151022e-02 4.96676747e+02] [ 9.96915268e-02 9.95017196e-01 -1.54235709e-03 2.04412644e+01] [ 3.57903888e-02 -2.03678166e-03 9.99357243e-01 1.76290714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.71, Y:20.44, Z:17.63 [[ 9.94574861e-01 -9.76632582e-02 -3.58152677e-02 4.96709955e+02] [ 9.76709673e-02 9.95217572e-01 -1.53850556e-03 2.04441198e+01] [ 3.57942392e-02 -1.96795289e-03 9.99357243e-01 1.76308068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.74, Y:20.45, Z:17.63 [[ 9.94765574e-01 -9.57011313e-02 -3.58154350e-02 4.96743027e+02] [ 9.57077127e-02 9.95408298e-01 -1.53459937e-03 2.04470468e+01] [ 3.57978441e-02 -1.90124674e-03 9.99357243e-01 1.76321687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.77, Y:20.45, Z:17.63 [[ 9.95056272e-01 -9.26296843e-02 -3.58156012e-02 4.96774978e+02] [ 9.26344211e-02 9.95699011e-01 -1.53071055e-03 2.04509249e+01] [ 3.58033480e-02 -1.79461435e-03 9.99357243e-01 1.76340902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.81, Y:20.45, Z:17.64 [[ 9.95163992e-01 -9.14650985e-02 -3.58157132e-02 4.96806178e+02] [ 9.14691774e-02 9.95806736e-01 -1.52808584e-03 2.04531678e+01] [ 3.58052950e-02 -1.75533782e-03 9.99357243e-01 1.76352436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.84, Y:20.46, Z:17.64 [[ 9.95204372e-01 -9.10246098e-02 -3.58159003e-02 4.96836876e+02] [ 9.10285621e-02 9.95847116e-01 -1.52368775e-03 2.04551070e+01] [ 3.58058542e-02 -1.74388920e-03 9.99357243e-01 1.76368439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.87, Y:20.46, Z:17.64 [[ 9.95184048e-01 -9.12464767e-02 -3.58160766e-02 4.96869637e+02] [ 9.12507214e-02 9.95826791e-01 -1.51953216e-03 2.04568193e+01] [ 3.58052606e-02 -1.75602867e-03 9.99357243e-01 1.76386230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.90, Y:20.46, Z:17.64 [[ 9.95144457e-01 -9.16771885e-02 -3.58162367e-02 4.96902618e+02] [ 9.16818472e-02 9.95787197e-01 -1.51575014e-03 2.04582610e+01] [ 3.58043097e-02 -1.77530839e-03 9.99357243e-01 1.76399523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.94, Y:20.46, Z:17.64 [[ 9.95458144e-01 -8.82058301e-02 -3.58163993e-02 4.96938794e+02] [ 8.82083855e-02 9.96100896e-01 -1.51189732e-03 2.04552715e+01] [ 3.58101056e-02 -1.65427625e-03 9.99357243e-01 1.76358076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.97, Y:20.46, Z:17.64 [[ 9.94992542e-01 -9.33042416e-02 -3.58351803e-02 4.96965770e+02] [ 9.33261680e-02 9.95635021e-01 -1.06402058e-03 2.04608757e+01] [ 3.57780381e-02 -2.28566752e-03 9.99357147e-01 1.76418098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.00, Y:20.46, Z:17.64 [[ 9.94919785e-01 -9.40841065e-02 -3.58162215e-02 4.96997446e+02] [ 9.40904211e-02 9.95562506e-01 -1.51292656e-03 2.04624148e+01] [ 3.57996296e-02 -1.86472280e-03 9.99357248e-01 1.76424204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.03, Y:20.46, Z:17.64 [[ 9.94773829e-01 -9.56149398e-02 -3.58163591e-02 4.97029628e+02] [ 9.56223605e-02 9.95416538e-01 -1.50966405e-03 2.04636711e+01] [ 3.57965426e-02 -1.92307051e-03 9.99357248e-01 1.76423145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.06, Y:20.46, Z:17.64 [[ 9.94733089e-01 -9.60378197e-02 -3.58164684e-02 4.97060365e+02] [ 9.60456070e-02 9.95375793e-01 -1.50706474e-03 2.04648774e+01] [ 3.57955809e-02 -1.94088729e-03 9.99357248e-01 1.76428277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.09, Y:20.47, Z:17.64 [[ 9.94699915e-01 -9.63807776e-02 -3.58165497e-02 4.97092854e+02] [ 9.63888559e-02 9.95342616e-01 -1.50513036e-03 2.04662291e+01] [ 3.57948039e-02 -1.95516321e-03 9.99357248e-01 1.76442304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.13, Y:20.47, Z:17.64 [[ 9.94675163e-01 -9.66358290e-02 -3.58167151e-02 4.97125296e+02] [ 9.66442137e-02 9.95317860e-01 -1.50118525e-03 2.04677920e+01] [ 3.57940845e-02 -1.96828658e-03 9.99357248e-01 1.76449228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.16, Y:20.47, Z:17.65 [[ 9.94675625e-01 -9.66310186e-02 -3.58168517e-02 4.97156882e+02] [ 9.66395174e-02 9.95318321e-01 -1.49791954e-03 2.04693479e+01] [ 3.57939141e-02 -1.97137920e-03 9.99357248e-01 1.76455603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.19, Y:20.47, Z:17.65 [[ 9.94677017e-01 -9.66166415e-02 -3.58169867e-02 4.97189733e+02] [ 9.66252472e-02 9.95319711e-01 -1.49468262e-03 2.04717568e+01] [ 3.57937641e-02 -1.97409875e-03 9.99357248e-01 1.76480698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.22, Y:20.47, Z:17.65 [[ 9.94723793e-01 -9.61337994e-02 -3.58171509e-02 4.97222498e+02] [ 9.61422348e-02 9.95366490e-01 -1.49073793e-03 2.04733501e+01] [ 3.57945021e-02 -1.96066844e-03 9.99357248e-01 1.76494384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.25, Y:20.47, Z:17.65 [[ 9.94754623e-01 -9.58142003e-02 -3.58173139e-02 4.97254493e+02] [ 9.58225701e-02 9.95397320e-01 -1.48681095e-03 2.04748848e+01] [ 3.57949159e-02 -1.95309501e-03 9.99357248e-01 1.76505399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.29, Y:20.48, Z:17.65 [[ 9.94954889e-01 -9.37116839e-02 -3.58174486e-02 4.97287498e+02] [ 9.37188122e-02 9.95597601e-01 -1.48355877e-03 2.04761277e+01] [ 3.57987927e-02 -1.88069469e-03 9.99357248e-01 1.76515658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.32, Y:20.48, Z:17.65 [[ 9.94949795e-01 -9.37649723e-02 -3.58194911e-02 4.97318228e+02] [ 9.37739131e-02 9.95592485e-01 -1.43403002e-03 2.04780815e+01] [ 3.57960779e-02 -1.93214597e-03 9.99357247e-01 1.76530579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.35, Y:20.48, Z:17.65 [[ 9.95031557e-01 -9.28939390e-02 -3.58178246e-02 4.97351182e+02] [ 9.29008639e-02 9.95674272e-01 -1.47451213e-03 2.04798323e+01] [ 3.57998596e-02 -1.86032074e-03 9.99357248e-01 1.76546009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.38, Y:20.48, Z:17.66 [[ 9.95097206e-01 -9.21879717e-02 -3.58179810e-02 4.97384519e+02] [ 9.21945774e-02 9.95739924e-01 -1.47070245e-03 2.04815800e+01] [ 3.58009748e-02 -1.83873172e-03 9.99357248e-01 1.76562952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.42, Y:20.48, Z:17.66 [[ 9.95181281e-01 -9.12758373e-02 -3.58181356e-02 4.97417926e+02] [ 9.12819894e-02 9.95824004e-01 -1.46692808e-03 2.04831782e+01] [ 3.58024543e-02 -1.80969130e-03 9.99357248e-01 1.76574626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.45, Y:20.48, Z:17.66 [[ 9.95266520e-01 -9.03416027e-02 -3.58182899e-02 4.97450043e+02] [ 9.03472870e-02 9.95909246e-01 -1.46315060e-03 2.04846660e+01] [ 3.58039495e-02 -1.77986051e-03 9.99357248e-01 1.76578643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.48, Y:20.49, Z:17.66 [[ 9.95280585e-01 -9.01864633e-02 -3.58184173e-02 4.97483469e+02] [ 9.01921597e-02 9.95923312e-01 -1.46002440e-03 2.04860458e+01] [ 3.58040712e-02 -1.77740648e-03 9.99357248e-01 1.76591141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.51, Y:20.49, Z:17.66 [[ 9.95274240e-01 -9.02563926e-02 -3.58185779e-02 4.97514350e+02] [ 9.02622759e-02 9.95916965e-01 -1.45607524e-03 2.04872756e+01] [ 3.58037495e-02 -1.78387218e-03 9.99357248e-01 1.76590486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.55, Y:20.49, Z:17.66 [[ 9.95283729e-01 -9.01516637e-02 -3.58186572e-02 4.97547845e+02] [ 9.01575495e-02 9.95926454e-01 -1.45412195e-03 2.04885435e+01] [ 3.58038397e-02 -1.78205844e-03 9.99357248e-01 1.76602503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.58, Y:20.49, Z:17.66 [[ 9.95255403e-01 -9.04637833e-02 -3.58188098e-02 4.97579958e+02] [ 9.04700060e-02 9.95898125e-01 -1.45035299e-03 2.04893725e+01] [ 3.58030899e-02 -1.79705629e-03 9.99357248e-01 1.76614386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.61, Y:20.49, Z:17.66 [[ 9.95193459e-01 -9.11426547e-02 -3.58189164e-02 4.97609140e+02] [ 9.11494105e-02 9.95836176e-01 -1.44771357e-03 2.04920729e+01] [ 3.58017212e-02 -1.82411805e-03 9.99357248e-01 1.76598804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.64, Y:20.49, Z:17.66 [[ 9.95187788e-01 -9.12072770e-02 -3.58119938e-02 4.97643422e+02] [ 9.12078911e-02 9.95830556e-01 -1.61995831e-03 2.04930717e+01] [ 3.58104297e-02 -1.65417370e-03 9.99357232e-01 1.76626156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.68, Y:20.49, Z:17.66 [[ 9.95241971e-01 -9.06121430e-02 -3.58170219e-02 4.97675931e+02] [ 9.06168915e-02 9.95884706e-01 -1.49408340e-03 2.04936736e+01] [ 3.58050064e-02 -1.75865268e-03 9.99357248e-01 1.76633621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.71, Y:20.50, Z:17.66 [[ 9.95283384e-01 -9.01550515e-02 -3.58197264e-02 4.97707803e+02] [ 9.01619432e-02 9.95926097e-01 -1.42615808e-03 2.04954276e+01] [ 3.58023757e-02 -1.81014470e-03 9.99357250e-01 1.76645952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.74, Y:20.50, Z:17.67 [[ 9.95351178e-01 -8.94033628e-02 -3.58199738e-02 4.97741035e+02] [ 8.94099932e-02 9.95993894e-01 -1.41991636e-03 2.04972777e+01] [ 3.58034205e-02 -1.78934820e-03 9.99357250e-01 1.76660416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.77, Y:20.50, Z:17.67 [[ 9.95406112e-01 -8.87895872e-02 -3.58201272e-02 4.97774289e+02] [ 8.87959605e-02 9.96048830e-01 -1.41603658e-03 2.04992398e+01] [ 3.58043251e-02 -1.77115113e-03 9.99357250e-01 1.76674658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.81, Y:20.50, Z:17.67 [[ 9.95492292e-01 -8.78180176e-02 -3.58202795e-02 4.97806771e+02] [ 8.78239024e-02 9.96135015e-01 -1.41217277e-03 2.05012068e+01] [ 3.58058489e-02 -1.74006963e-03 9.99357250e-01 1.76697621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.84, Y:20.50, Z:17.67 [[ 9.95842005e-01 -8.37591652e-02 -3.58204347e-02 4.97840974e+02] [ 8.37625715e-02 9.96484746e-01 -1.40822556e-03 2.05024502e+01] [ 3.58124686e-02 -1.59804156e-03 9.99357250e-01 1.76699097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.87, Y:20.50, Z:17.67 [[ 9.95981621e-01 -8.20799530e-02 -3.58258595e-02 4.97874171e+02] [ 8.20872117e-02 9.96624340e-01 -1.27072546e-03 2.05037469e+01] [ 3.58092247e-02 -1.67522571e-03 9.99357240e-01 1.76709021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.90, Y:20.51, Z:17.68 [[ 9.95853504e-01 -8.36179773e-02 -3.58306178e-02 4.97903121e+02] [ 8.36305748e-02 9.96496164e-01 -1.14965253e-03 2.05080771e+01] [ 3.58012048e-02 -1.85164966e-03 9.99357216e-01 1.76755165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.94, Y:20.51, Z:17.68 [[ 9.96001810e-01 -8.18370611e-02 -3.58202385e-02 4.97935415e+02] [ 8.18390615e-02 9.96644556e-01 -1.41283616e-03 2.05107610e+01] [ 3.58156680e-02 -1.52430732e-03 9.99357251e-01 1.76774857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.97, Y:20.51, Z:17.68 [[ 9.96058600e-01 -8.11428915e-02 -3.58203406e-02 4.97966422e+02] [ 8.11445371e-02 9.96701347e-01 -1.41024126e-03 2.05122774e+01] [ 3.58166128e-02 -1.50194202e-03 9.99357251e-01 1.76782930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.00, Y:20.51, Z:17.68 [[ 9.96111377e-01 -8.04923730e-02 -3.58204167e-02 4.97997780e+02] [ 8.04936682e-02 9.96754125e-01 -1.40830749e-03 2.05136147e+01] [ 3.58175061e-02 -1.48048562e-03 9.99357251e-01 1.76792602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.03, Y:20.51, Z:17.68 [[ 9.96436444e-01 -7.63629911e-02 -3.58204904e-02 4.98033726e+02] [ 7.63616896e-02 9.97079192e-01 -1.40643065e-03 2.05111357e+01] [ 3.58232648e-02 -1.33389441e-03 9.99357251e-01 1.76758427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.07, Y:20.51, Z:17.68 [[ 9.96406018e-01 -7.67534205e-02 -3.58323876e-02 4.98065582e+02] [ 7.67631511e-02 9.97048743e-01 -1.10613941e-03 2.05129296e+01] [ 3.58115370e-02 -1.64844303e-03 9.99357202e-01 1.76772752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.09, Y:20.52, Z:17.68 [[ 9.96336156e-01 -7.76555814e-02 -3.58312078e-02 4.98093582e+02] [ 7.76648280e-02 9.96978879e-01 -1.13583425e-03 2.05177349e+01] [ 3.58111613e-02 -1.65115186e-03 9.99357211e-01 1.76820112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.12, Y:20.52, Z:17.68 [[ 9.96440966e-01 -7.63044197e-02 -3.58194912e-02 4.98124877e+02] [ 7.63022533e-02 9.97083709e-01 -1.42946688e-03 2.05195382e+01] [ 3.58241058e-02 -1.30872854e-03 9.99357254e-01 1.76828677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.16, Y:20.52, Z:17.68 [[ 9.96544124e-01 -7.49450992e-02 -3.58195685e-02 4.98156838e+02] [ 7.49421257e-02 9.97186863e-01 -1.42752886e-03 2.05209538e+01] [ 3.58257894e-02 -1.26179911e-03 9.99357254e-01 1.76844171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.19, Y:20.52, Z:17.69 [[ 9.96637574e-01 -7.36919112e-02 -3.58196716e-02 4.98189139e+02] [ 7.36882224e-02 9.97280309e-01 -1.42493759e-03 2.05225663e+01] [ 3.58272595e-02 -1.21934158e-03 9.99357254e-01 1.76855221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.22, Y:20.52, Z:17.69 [[ 9.96787480e-01 -7.16356243e-02 -3.58197742e-02 4.98220585e+02] [ 7.16307023e-02 9.97430208e-01 -1.42235236e-03 2.05241946e+01] [ 3.58296159e-02 -1.14801256e-03 9.99357254e-01 1.76866816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.25, Y:20.53, Z:17.69 [[ 9.96845196e-01 -7.08279154e-02 -3.58198506e-02 4.98251808e+02] [ 7.08225418e-02 9.97487920e-01 -1.42042655e-03 2.05253820e+01] [ 3.58304741e-02 -1.12090748e-03 9.99357254e-01 1.76877860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.28, Y:20.53, Z:17.69 [[ 9.96883871e-01 -7.02814330e-02 -3.58199261e-02 4.98284087e+02] [ 7.02757755e-02 9.97526593e-01 -1.41852081e-03 2.05265897e+01] [ 3.58310245e-02 -1.10317257e-03 9.99357254e-01 1.76893427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.32, Y:20.53, Z:17.69 [[ 9.96897397e-01 -7.00892632e-02 -3.58200268e-02 4.98315364e+02] [ 7.00835733e-02 9.97540118e-01 -1.41597175e-03 2.05281680e+01] [ 3.58311582e-02 -1.09881692e-03 9.99357254e-01 1.76901410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.35, Y:20.53, Z:17.69 [[ 9.96812745e-01 -7.12829882e-02 -3.58201961e-02 4.98346057e+02] [ 7.12782221e-02 9.97455474e-01 -1.41167560e-03 2.05287802e+01] [ 3.58296792e-02 -1.14602367e-03 9.99357254e-01 1.76908418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.38, Y:20.53, Z:17.69 [[ 9.96734845e-01 -7.23640530e-02 -3.58202698e-02 4.98378091e+02] [ 7.23600512e-02 9.97377579e-01 -1.40980453e-03 2.05295001e+01] [ 3.58283531e-02 -1.18675526e-03 9.99357254e-01 1.76915666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.41, Y:20.53, Z:17.69 [[ 9.96627262e-01 -7.38308968e-02 -3.58203670e-02 4.98410304e+02] [ 7.38279298e-02 9.97270002e-01 -1.40732967e-03 2.05301119e+01] [ 3.58264819e-02 -1.24196043e-03 9.99357254e-01 1.76924753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.44, Y:20.53, Z:17.69 [[ 9.96308402e-01 -7.80157886e-02 -3.58204634e-02 4.98442855e+02] [ 7.80156091e-02 9.96951148e-01 -1.40487299e-03 2.05301163e+01] [ 3.58208543e-02 -1.39486850e-03 9.99357254e-01 1.76932662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.48, Y:20.53, Z:17.69 [[ 9.96103696e-01 -8.05873039e-02 -3.58205621e-02 4.98475110e+02] [ 8.05888741e-02 9.96746441e-01 -1.40235053e-03 2.05306578e+01] [ 3.58170294e-02 -1.48985222e-03 9.99357254e-01 1.76944556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.51, Y:20.53, Z:17.70 [[ 9.95893761e-01 -8.31414283e-02 -3.58206605e-02 4.98506665e+02] [ 8.31447370e-02 9.96536499e-01 -1.39983352e-03 2.05310478e+01] [ 3.58129797e-02 -1.58421393e-03 9.99357254e-01 1.76952562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.54, Y:20.53, Z:17.70 [[ 9.95630393e-01 -8.62380130e-02 -3.58207337e-02 4.98539073e+02] [ 8.62433879e-02 9.96273117e-01 -1.39795743e-03 2.05314420e+01] [ 3.58077911e-02 -1.69745252e-03 9.99357254e-01 1.76973571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.57, Y:20.53, Z:17.70 [[ 9.95449496e-01 -8.83015791e-02 -3.58208355e-02 4.98571458e+02] [ 8.83083799e-02 9.96092206e-01 -1.39534443e-03 2.05313710e+01] [ 3.58040662e-02 -1.77428504e-03 9.99357254e-01 1.76984352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.60, Y:20.53, Z:17.70 [[ 9.94787366e-01 -9.54724388e-02 -3.58205345e-02 4.98602617e+02] [ 9.54835928e-02 9.95430015e-01 -1.40309186e-03 2.05313007e+01] [ 3.57907918e-02 -2.02449528e-03 9.99357254e-01 1.76998983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.64, Y:20.53, Z:17.70 [[ 9.94523104e-01 -9.81867678e-02 -3.58211456e-02 4.98635296e+02] [ 9.82002417e-02 9.95165709e-01 -1.38731312e-03 2.05316767e+01] [ 3.57841916e-02 -2.13793021e-03 9.99357254e-01 1.77012180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.67, Y:20.53, Z:17.70 [[ 9.94472789e-01 -9.86950200e-02 -3.58212958e-02 4.98668547e+02] [ 9.87089619e-02 9.95115384e-01 -1.38342368e-03 2.05308854e+01] [ 3.57828596e-02 -2.16010572e-03 9.99357254e-01 1.77002374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.70, Y:20.53, Z:17.70 [[ 9.94102293e-01 -1.02358623e-01 -3.58237815e-02 4.98699124e+02] [ 1.02377250e-01 9.94744771e-01 -1.31884116e-03 2.05324764e+01] [ 3.57705141e-02 -2.35647721e-03 9.99357252e-01 1.77035981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.73, Y:20.53, Z:17.71 [[ 9.93935216e-01 -1.03969260e-01 -3.58215076e-02 4.98732429e+02] [ 1.03986807e-01 9.94577722e-01 -1.37795528e-03 2.05331204e+01] [ 3.57705384e-02 -2.35536591e-03 9.99357254e-01 1.77051796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.77, Y:20.53, Z:17.71 [[ 9.93768718e-01 -1.05548779e-01 -3.58216560e-02 4.98765609e+02] [ 1.05567485e-01 9.94411192e-01 -1.37408601e-03 2.05333378e+01] [ 3.57664888e-02 -2.41607846e-03 9.99357254e-01 1.77067983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.80, Y:20.53, Z:17.71 [[ 9.93744786e-01 -1.05773811e-01 -3.58218084e-02 4.98797634e+02] [ 1.05792806e-01 9.94387251e-01 -1.37010344e-03 2.05340090e+01] [ 3.57656706e-02 -2.42815647e-03 9.99357254e-01 1.77073530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.83, Y:20.53, Z:17.71 [[ 9.93705765e-01 -1.06139731e-01 -3.58219338e-02 4.98829622e+02] [ 1.06159081e-01 9.94348219e-01 -1.36681478e-03 2.05348243e+01] [ 3.57645495e-02 -2.44461186e-03 9.99357254e-01 1.77081041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.86, Y:20.54, Z:17.71 [[ 9.93650069e-01 -1.06659845e-01 -3.58220340e-02 4.98861489e+02] [ 1.06679625e-01 9.94292511e-01 -1.36418479e-03 2.05350112e+01] [ 3.57630839e-02 -2.46595884e-03 9.99357254e-01 1.77081246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.89, Y:20.54, Z:17.71 [[ 9.93584383e-01 -1.07269977e-01 -3.58221332e-02 4.98893055e+02] [ 1.07290246e-01 9.94226810e-01 -1.36157533e-03 2.05355803e+01] [ 3.57613814e-02 -2.49052549e-03 9.99357254e-01 1.77084636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.93, Y:20.54, Z:17.71 [[ 9.93482464e-01 -1.08209809e-01 -3.58222071e-02 4.98925268e+02] [ 1.08230755e-01 9.94124869e-01 -1.35962830e-03 2.05358969e+01] [ 3.57588720e-02 -2.52629764e-03 9.99357254e-01 1.77094137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.96, Y:20.54, Z:17.71 [[ 9.93375969e-01 -1.09183088e-01 -3.58223042e-02 4.98958348e+02] [ 1.09204755e-01 9.94018350e-01 -1.35706409e-03 2.05363202e+01] [ 3.57561962e-02 -2.56389112e-03 9.99357254e-01 1.77107141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.99, Y:20.54, Z:17.71 [[ 9.93229750e-01 -1.10505275e-01 -3.58224522e-02 4.98989834e+02] [ 1.10527938e-01 9.93872096e-01 -1.35314580e-03 2.05354969e+01] [ 3.57524654e-02 -2.61539712e-03 9.99357254e-01 1.77108445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.02, Y:20.54, Z:17.71 [[ 9.93180907e-01 -1.10943372e-01 -3.58225255e-02 4.99022690e+02] [ 1.10966389e-01 9.93823241e-01 -1.35120391e-03 2.05358065e+01] [ 3.57511655e-02 -2.63310636e-03 9.99357254e-01 1.77126820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.05, Y:20.54, Z:17.71 [[ 9.93175889e-01 -1.10988242e-01 -3.58226734e-02 4.99054872e+02] [ 1.11011429e-01 9.93818217e-01 -1.34726964e-03 2.05360497e+01] [ 3.57507565e-02 -2.63865043e-03 9.99357254e-01 1.77135545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.09, Y:20.54, Z:17.72 [[ 9.93228986e-01 -1.10512033e-01 -3.58227956e-02 4.99088027e+02] [ 1.10535028e-01 9.93871320e-01 -1.34401423e-03 2.05364510e+01] [ 3.57517789e-02 -2.62475983e-03 9.99357254e-01 1.77154152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.12, Y:20.54, Z:17.72 [[ 9.93307651e-01 -1.09802674e-01 -3.58229435e-02 4.99120780e+02] [ 1.09825352e-01 9.93949997e-01 -1.34005950e-03 2.05368043e+01] [ 3.57533567e-02 -2.60317603e-03 9.99357254e-01 1.77166209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.15, Y:20.54, Z:17.72 [[ 9.93403715e-01 -1.08930095e-01 -3.58230917e-02 4.99152685e+02] [ 1.08952352e-01 9.94046075e-01 -1.33608632e-03 2.05371756e+01] [ 3.57553437e-02 -2.57573698e-03 9.99357254e-01 1.77178329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.18, Y:20.54, Z:17.72 [[ 9.93538949e-01 -1.07689621e-01 -3.58232140e-02 4.99184775e+02] [ 1.07711193e-01 9.94181333e-01 -1.33280034e-03 2.05370510e+01] [ 3.57582994e-02 -2.53437206e-03 9.99357254e-01 1.77195677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.22, Y:20.54, Z:17.72 [[ 9.93576964e-01 -1.07338271e-01 -3.58233331e-02 4.99217411e+02] [ 1.07359732e-01 9.94219352e-01 -1.32958943e-03 2.05374914e+01] [ 3.57589669e-02 -2.52493400e-03 9.99357254e-01 1.77212731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.25, Y:20.54, Z:17.72 [[ 9.93599320e-01 -1.07131087e-01 -3.58234764e-02 4.99250791e+02] [ 1.07152552e-01 9.94241708e-01 -1.32571951e-03 2.05376892e+01] [ 3.57592201e-02 -2.52134292e-03 9.99357254e-01 1.77226330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.28, Y:20.54, Z:17.72 [[ 9.93601607e-01 -1.07109830e-01 -3.58236186e-02 4.99283521e+02] [ 1.07131419e-01 9.94243990e-01 -1.32186547e-03 2.05377876e+01] [ 3.57590022e-02 -2.52442745e-03 9.99357254e-01 1.77242712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.32, Y:20.54, Z:17.73 [[ 9.93540830e-01 -1.07672078e-01 -3.58237635e-02 4.99315217e+02] [ 1.07694173e-01 9.94183197e-01 -1.31792679e-03 2.05364842e+01] [ 3.57572876e-02 -2.54859650e-03 9.99357254e-01 1.77256104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.35, Y:20.54, Z:17.73 [[ 9.93527973e-01 -1.07790615e-01 -3.58238831e-02 4.99347897e+02] [ 1.07812903e-01 9.94170332e-01 -1.31466813e-03 2.05364079e+01] [ 3.57567506e-02 -2.55611728e-03 9.99357254e-01 1.77269409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.38, Y:20.54, Z:17.73 [[ 9.93520603e-01 -1.07858471e-01 -3.58240244e-02 4.99380830e+02] [ 1.07880942e-01 9.94162957e-01 -1.31080508e-03 2.05362578e+01] [ 3.57562995e-02 -2.56241763e-03 9.99357254e-01 1.77283181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.41, Y:20.54, Z:17.73 [[ 9.93471692e-01 -1.08308017e-01 -3.58241656e-02 4.99413004e+02] [ 1.08330917e-01 9.94114030e-01 -1.30693554e-03 2.05360944e+01] [ 3.57548572e-02 -2.58246126e-03 9.99357254e-01 1.77292930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.45, Y:20.53, Z:17.73 [[ 9.93251140e-01 -1.10312253e-01 -3.58242821e-02 4.99445907e+02] [ 1.10336563e-01 9.93893426e-01 -1.30373331e-03 2.05341393e+01] [ 3.57493363e-02 -2.65779358e-03 9.99357254e-01 1.77308637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.48, Y:20.53, Z:17.73 [[ 9.93125728e-01 -1.11435629e-01 -3.58244211e-02 4.99479199e+02] [ 1.11460803e-01 9.93767981e-01 -1.29990220e-03 2.05340053e+01] [ 3.57460181e-02 -2.70205244e-03 9.99357254e-01 1.77324582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.51, Y:20.53, Z:17.73 [[ 9.93017687e-01 -1.12394284e-01 -3.58245609e-02 4.99510262e+02] [ 1.12420217e-01 9.93659909e-01 -1.29603792e-03 2.05334321e+01] [ 3.57430972e-02 -2.74041634e-03 9.99357254e-01 1.77328063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.54, Y:20.53, Z:17.73 [[ 9.92896761e-01 -1.13457561e-01 -3.58246300e-02 4.99543299e+02] [ 1.13484251e-01 9.93538952e-01 -1.29412596e-03 2.05329319e+01] [ 3.57399937e-02 -2.78059782e-03 9.99357254e-01 1.77349253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.58, Y:20.53, Z:17.74 [[ 9.92614051e-01 -1.15904842e-01 -3.58247699e-02 4.99575512e+02] [ 1.15933254e-01 9.93256168e-01 -1.29024032e-03 2.05302331e+01] [ 3.57327188e-02 -2.87257148e-03 9.99357254e-01 1.77361322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.61, Y:20.53, Z:17.74 [[ 9.92626446e-01 -1.15798599e-01 -3.58248856e-02 4.99609008e+02] [ 1.15827058e-01 9.93268562e-01 -1.28702181e-03 2.05313440e+01] [ 3.57327679e-02 -2.87195921e-03 9.99357254e-01 1.77373335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.64, Y:20.53, Z:17.74 [[ 9.92491594e-01 -1.16948724e-01 -3.58250228e-02 4.99641856e+02] [ 1.16978064e-01 9.93133670e-01 -1.28318904e-03 2.05307136e+01] [ 3.57291037e-02 -2.91718748e-03 9.99357254e-01 1.77392567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.67, Y:20.53, Z:17.74 [[ 9.92344900e-01 -1.18186960e-01 -3.58251656e-02 4.99674415e+02] [ 1.18217244e-01 9.92986932e-01 -1.27919086e-03 2.05301807e+01] [ 3.57251050e-02 -2.96575383e-03 9.99357254e-01 1.77407153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.71, Y:20.53, Z:17.74 [[ 9.92211715e-01 -1.19299872e-01 -3.58253084e-02 4.99707504e+02] [ 1.19331021e-01 9.92853706e-01 -1.27517779e-03 2.05298392e+01] [ 3.57214188e-02 -3.00982428e-03 9.99357254e-01 1.77422175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.74, Y:20.53, Z:17.74 [[ 9.91935358e-01 -1.21576242e-01 -3.58254498e-02 4.99740012e+02] [ 1.21609006e-01 9.92577268e-01 -1.27119434e-03 2.05280793e+01] [ 3.57140741e-02 -3.09575473e-03 9.99357254e-01 1.77433840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.77, Y:20.53, Z:17.75 [[ 9.91780093e-01 -1.22836379e-01 -3.58255665e-02 4.99772787e+02] [ 1.22870076e-01 9.92421955e-01 -1.26789569e-03 2.05276755e+01] [ 3.57098225e-02 -3.14441640e-03 9.99357254e-01 1.77451439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.81, Y:20.52, Z:17.74 [[ 9.92170119e-01 -1.19645201e-01 -3.58257079e-02 4.99809010e+02] [ 1.19676978e-01 9.92812079e-01 -1.26389002e-03 2.05228064e+01] [ 3.57194139e-02 -3.03351853e-03 9.99357254e-01 1.77408300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.84, Y:20.53, Z:17.75 [[ 9.91572886e-01 -1.24493552e-01 -3.58408699e-02 4.99836382e+02] [ 1.24543993e-01 9.92213739e-01 -8.30518302e-04 2.05268482e+01] [ 3.56651977e-02 -3.64024562e-03 9.99357165e-01 1.77467336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.87, Y:20.53, Z:17.75 [[ 9.91490394e-01 -1.25153181e-01 -3.58256961e-02 4.99868424e+02] [ 1.25188606e-01 9.92132159e-01 -1.26152868e-03 2.05269813e+01] [ 3.57017095e-02 -3.23417539e-03 9.99357257e-01 1.77474063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.90, Y:20.53, Z:17.75 [[ 9.91369190e-01 -1.26109600e-01 -3.58259267e-02 4.99900849e+02] [ 1.26145880e-01 9.92010908e-01 -1.25494488e-03 2.05260577e+01] [ 3.56979707e-02 -3.27517936e-03 9.99357257e-01 1.77483796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.93, Y:20.53, Z:17.75 [[ 9.91342322e-01 -1.26320610e-01 -3.58260180e-02 4.99933738e+02] [ 1.26357121e-01 9.91984027e-01 -1.25233291e-03 2.05263223e+01] [ 3.56970331e-02 -3.28538188e-03 9.99357257e-01 1.77494399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.96, Y:20.53, Z:17.75 [[ 9.91324749e-01 -1.26458409e-01 -3.58261547e-02 4.99964753e+02] [ 1.26495150e-01 9.91966440e-01 -1.24840876e-03 2.05267890e+01] [ 3.56962150e-02 -3.29425631e-03 9.99357257e-01 1.77501858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.00, Y:20.53, Z:17.75 [[ 9.91365861e-01 -1.26135690e-01 -3.58262224e-02 4.99998209e+02] [ 1.26172291e-01 9.92007560e-01 -1.24646398e-03 2.05271846e+01] [ 3.56971071e-02 -3.28457471e-03 9.99357257e-01 1.77515349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.03, Y:20.53, Z:17.75 [[ 9.91450380e-01 -1.25469586e-01 -3.58263566e-02 5.00030811e+02] [ 1.25505895e-01 9.92092096e-01 -1.24259375e-03 2.05274252e+01] [ 3.56989530e-02 -3.26444890e-03 9.99357258e-01 1.77535558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.06, Y:20.53, Z:17.76 [[ 9.91612970e-01 -1.24178019e-01 -3.58264941e-02 5.00062610e+02] [ 1.24213634e-01 9.92254725e-01 -1.23861800e-03 2.05267976e+01] [ 3.57028172e-02 -3.22190936e-03 9.99357258e-01 1.77551971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.10, Y:20.53, Z:17.76 [[ 9.91791626e-01 -1.22742926e-01 -3.58265850e-02 5.00096042e+02] [ 1.22777707e-01 9.92433427e-01 -1.23598257e-03 2.05272734e+01] [ 3.57072087e-02 -3.17286881e-03 9.99357258e-01 1.77569991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.13, Y:20.53, Z:17.76 [[ 9.91989409e-01 -1.21134053e-01 -3.58267232e-02 5.00127975e+02] [ 1.21167937e-01 9.92631258e-01 -1.23196487e-03 2.05279061e+01] [ 3.57119582e-02 -3.11895402e-03 9.99357258e-01 1.77581833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.16, Y:20.53, Z:17.76 [[ 9.92411330e-01 -1.17627334e-01 -3.58268372e-02 5.00159728e+02] [ 1.17659068e-01 9.93053289e-01 -1.22863989e-03 2.05283700e+01] [ 3.57224801e-02 -2.99603613e-03 9.99357258e-01 1.77592314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.19, Y:20.53, Z:17.76 [[ 9.92626572e-01 -1.15796884e-01 -3.58269501e-02 5.00191974e+02] [ 1.15827553e-01 9.93268582e-01 -1.22533970e-03 2.05291352e+01] [ 3.57276744e-02 -2.93344322e-03 9.99357258e-01 1.77605468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.22, Y:20.53, Z:17.76 [[ 9.92847043e-01 -1.13891054e-01 -3.58270397e-02 5.00224489e+02] [ 1.13920584e-01 9.93489107e-01 -1.22271445e-03 2.05298352e+01] [ 3.57330299e-02 -2.86746886e-03 9.99357258e-01 1.77616604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.26, Y:20.53, Z:17.76 [[ 9.93325211e-01 -1.09642338e-01 -3.58271284e-02 5.00255608e+02] [ 1.09669214e-01 9.93967391e-01 -1.22010742e-03 2.05295492e+01] [ 3.57447728e-02 -2.71716957e-03 9.99357258e-01 1.77621881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.29, Y:20.53, Z:17.76 [[ 9.93538708e-01 -1.07690522e-01 -3.58271943e-02 5.00287837e+02] [ 1.07716206e-01 9.94180937e-01 -1.21816981e-03 2.05303099e+01] [ 3.57498990e-02 -2.64887059e-03 9.99357258e-01 1.77636331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.32, Y:20.53, Z:17.76 [[ 9.93813553e-01 -1.05123871e-01 -3.58272826e-02 5.00318548e+02] [ 1.05147990e-01 9.94455843e-01 -1.21556721e-03 2.05309116e+01] [ 3.57564357e-02 -2.55911957e-03 9.99357258e-01 1.77643031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.35, Y:20.53, Z:17.77 [[ 9.94093536e-01 -1.02442390e-01 -3.58273483e-02 5.00350199e+02] [ 1.02464846e-01 9.94735886e-01 -1.21362773e-03 2.05318971e+01] [ 3.57630760e-02 -2.46458423e-03 9.99357258e-01 1.77657657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.38, Y:20.53, Z:17.77 [[ 9.94713931e-01 -9.62319604e-02 -3.58274334e-02 5.00382524e+02] [ 9.62504940e-02 9.95356406e-01 -1.21111025e-03 2.05335149e+01] [ 3.57776129e-02 -2.24369993e-03 9.99357258e-01 1.77679520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.41, Y:20.53, Z:17.77 [[ 9.95057258e-01 -9.26144782e-02 -3.58275215e-02 5.00413690e+02] [ 9.26307693e-02 9.95699794e-01 -1.20850039e-03 2.05346368e+01] [ 3.57853804e-02 -2.11620379e-03 9.99357258e-01 1.77681696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.45, Y:20.54, Z:17.77 [[ 9.95402571e-01 -8.88262680e-02 -3.58275868e-02 5.00445334e+02] [ 8.88401828e-02 9.96045163e-01 -1.20655926e-03 2.05356594e+01] [ 3.57930687e-02 -1.98191717e-03 9.99357258e-01 1.77698749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.48, Y:20.54, Z:17.77 [[ 9.95770873e-01 -8.45975571e-02 -3.58276716e-02 5.00476677e+02] [ 8.46088330e-02 9.96413516e-01 -1.20403707e-03 2.05365911e+01] [ 3.58010348e-02 -1.83239244e-03 9.99357258e-01 1.77715043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.375099893 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:500.51, Y:20.54, Z:17.77 [[ 9.96049023e-01 -8.12571106e-02 -3.58277143e-02 5.00505183e+02] [ 8.12662766e-02 9.96691700e-01 -1.20276492e-03 2.05378721e+01] [ 3.58069187e-02 -1.71357211e-03 9.99357258e-01 1.77715009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.53, Y:20.54, Z:17.78 [[ 9.96586713e-01 -7.43724976e-02 -3.58281307e-02 5.00534848e+02] [ 7.43776662e-02 9.97229435e-01 -1.19040025e-03 2.05388387e+01] [ 3.58173995e-02 -1.47847567e-03 9.99357257e-01 1.77766691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.57, Y:20.54, Z:17.78 [[ 9.96820675e-01 -7.11684269e-02 -3.58273246e-02 5.00565586e+02] [ 7.11706757e-02 9.97463413e-01 -1.21418458e-03 2.05396660e+01] [ 3.58228571e-02 -1.33953061e-03 9.99357258e-01 1.77783285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.60, Y:20.54, Z:17.78 [[ 9.97007087e-01 -6.85074468e-02 -3.58273465e-02 5.00595204e+02] [ 6.85080032e-02 9.97649829e-01 -1.21353959e-03 2.05404631e+01] [ 3.58262826e-02 -1.24455239e-03 9.99357258e-01 1.77803857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.62, Y:20.54, Z:17.78 [[ 9.97190127e-01 -6.57894788e-02 -3.58273023e-02 5.00623491e+02] [ 6.57882363e-02 9.97832868e-01 -1.21484221e-03 2.05410120e+01] [ 3.58295837e-02 -1.14558638e-03 9.99357258e-01 1.77817085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.65, Y:20.54, Z:17.78 [[ 9.97312675e-01 -6.39049088e-02 -3.58272366e-02 5.00652723e+02] [ 6.39023823e-02 9.97955412e-01 -1.21677832e-03 2.05413312e+01] [ 3.58317427e-02 -1.07593733e-03 9.99357258e-01 1.77829776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.68, Y:20.54, Z:17.78 [[ 9.97480341e-01 -6.12322017e-02 -3.58271939e-02 5.00681978e+02] [ 6.12279078e-02 9.98123068e-01 -1.21803336e-03 2.05400617e+01] [ 3.58345316e-02 -9.78659798e-04 9.99357258e-01 1.77838799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.71, Y:20.54, Z:17.78 [[ 9.97522352e-01 -6.05441221e-02 -3.58268901e-02 5.00710283e+02] [ 6.05390664e-02 9.98165075e-01 -1.22690443e-03 2.05397327e+01] [ 3.58354323e-02 -9.45061884e-04 9.99357258e-01 1.77847961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.74, Y:20.54, Z:17.79 [[ 9.97538880e-01 -6.02713737e-02 -3.58265812e-02 5.00738387e+02] [ 6.02658210e-02 9.98181598e-01 -1.23585807e-03 2.05397872e+01] [ 3.58359210e-02 -9.26301860e-04 9.99357258e-01 1.77855803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.77, Y:20.54, Z:17.79 [[ 9.97535361e-01 -6.03297991e-02 -3.58262255e-02 5.00766587e+02] [ 6.03239170e-02 9.98178076e-01 -1.24608485e-03 2.05384561e+01] [ 3.58361290e-02 -9.18164552e-04 9.99357258e-01 1.77873010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.79, Y:20.54, Z:17.79 [[ 9.97506123e-01 -6.08115282e-02 -3.58258609e-02 5.00794512e+02] [ 6.08055833e-02 9.98148838e-01 -1.25648148e-03 2.05380605e+01] [ 3.58359500e-02 -9.25064403e-04 9.99357258e-01 1.77885583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.82, Y:20.54, Z:17.79 [[ 9.97428958e-01 -6.20645403e-02 -3.58254923e-02 5.00822426e+02] [ 6.20590287e-02 9.98071677e-01 -1.26690422e-03 2.05379088e+01] [ 3.58350390e-02 -9.59648302e-04 9.99357258e-01 1.77895888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.85, Y:20.54, Z:17.79 [[ 9.97368031e-01 -6.30362713e-02 -3.58251212e-02 5.00849765e+02] [ 6.30310123e-02 9.98010751e-01 -1.27731240e-03 2.05377005e+01] [ 3.58343732e-02 -9.84143104e-04 9.99357258e-01 1.77900642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.88, Y:20.54, Z:17.79 [[ 9.97296224e-01 -6.41623698e-02 -3.58250062e-02 5.00877309e+02] [ 6.41577209e-02 9.97938950e-01 -1.28053030e-03 2.05374267e+01] [ 3.58333309e-02 -1.02138272e-03 9.99357258e-01 1.77907754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.91, Y:20.54, Z:17.79 [[ 9.97152754e-01 -6.63548442e-02 -3.58248447e-02 5.00906059e+02] [ 6.63514469e-02 9.97795487e-01 -1.28503253e-03 2.05361229e+01] [ 3.58311365e-02 -1.09565656e-03 9.99357258e-01 1.77925710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.93, Y:20.54, Z:17.79 [[ 9.97087397e-01 -6.73299874e-02 -3.58245226e-02 5.00934852e+02] [ 6.73268985e-02 9.97730131e-01 -1.29395119e-03 2.05360097e+01] [ 3.58303273e-02 -1.12177157e-03 9.99357258e-01 1.77942536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.96, Y:20.54, Z:17.80 [[ 9.97022937e-01 -6.82780315e-02 -3.58241937e-02 5.00963665e+02] [ 6.82752292e-02 9.97665673e-01 -1.30299459e-03 2.05362664e+01] [ 3.58295342e-02 -1.14678954e-03 9.99357258e-01 1.77952640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.99, Y:20.54, Z:17.80 [[ 9.96984915e-01 -6.88311754e-02 -3.58238644e-02 5.00992567e+02] [ 6.88284069e-02 9.97627651e-01 -1.31198634e-03 2.05365040e+01] [ 3.58291832e-02 -1.15766892e-03 9.99357258e-01 1.77959301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.02, Y:20.54, Z:17.80 [[ 9.96900026e-01 -7.00499425e-02 -3.58237944e-02 5.01020951e+02] [ 7.00478912e-02 9.97542764e-01 -1.31389440e-03 2.05357941e+01] [ 3.58278051e-02 -1.19955989e-03 9.99357258e-01 1.77976240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.05, Y:20.54, Z:17.80 [[ 9.96885368e-01 -7.02584073e-02 -3.58234582e-02 5.01050088e+02] [ 7.02561637e-02 9.97528105e-01 -1.32299820e-03 2.05360893e+01] [ 3.58278581e-02 -1.19794119e-03 9.99357258e-01 1.77981130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.08, Y:20.54, Z:17.80 [[ 9.96863503e-01 -7.05679855e-02 -3.58233868e-02 5.01080028e+02] [ 7.05658722e-02 9.97506242e-01 -1.32492899e-03 2.05363375e+01] [ 3.58275495e-02 -1.20713518e-03 9.99357258e-01 1.77992732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.11, Y:20.54, Z:17.80 [[ 9.96824251e-01 -7.11203321e-02 -3.58233391e-02 5.01109732e+02] [ 7.11185287e-02 9.97466990e-01 -1.32621728e-03 2.05366012e+01] [ 3.58269192e-02 -1.22569762e-03 9.99357258e-01 1.78003472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.14, Y:20.54, Z:17.80 [[ 9.96794193e-01 -7.15403941e-02 -3.58232911e-02 5.01138354e+02] [ 7.15388151e-02 9.97436933e-01 -1.32751146e-03 2.05367456e+01] [ 3.58264443e-02 -1.23950009e-03 9.99357258e-01 1.78007013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.17, Y:20.54, Z:17.80 [[ 9.96757257e-01 -7.20532371e-02 -3.58231982e-02 5.01167541e+02] [ 7.20518989e-02 9.97399997e-01 -1.33001435e-03 2.05361666e+01] [ 3.58258896e-02 -1.25542800e-03 9.99357258e-01 1.78027276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.20, Y:20.54, Z:17.80 [[ 9.96772563e-01 -7.18413577e-02 -3.58228686e-02 5.01197251e+02] [ 7.18395664e-02 9.97415302e-01 -1.33883285e-03 2.05365536e+01] [ 3.58264609e-02 -1.23898749e-03 9.99357258e-01 1.78047357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.23, Y:20.54, Z:17.81 [[ 9.96824944e-01 -7.11108722e-02 -3.58228203e-02 5.01226684e+02] [ 7.11085634e-02 9.97467682e-01 -1.34012510e-03 2.05369475e+01] [ 3.58274030e-02 -1.21143916e-03 9.99357258e-01 1.78056659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.26, Y:20.54, Z:17.81 [[ 9.96893692e-01 -7.01405475e-02 -3.58227722e-02 5.01255221e+02] [ 7.01375670e-02 9.97536427e-01 -1.34140796e-03 2.05376850e+01] [ 3.58286073e-02 -1.17528095e-03 9.99357258e-01 1.78067250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.28, Y:20.54, Z:17.81 [[ 9.97132859e-01 -6.66543060e-02 -3.58227007e-02 5.01282973e+02] [ 6.66490097e-02 9.97775578e-01 -1.34331516e-03 2.05383011e+01] [ 3.58325537e-02 -1.04808384e-03 9.99357258e-01 1.78076063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.31, Y:20.54, Z:17.81 [[ 9.97242638e-01 -6.49912515e-02 -3.58225821e-02 5.01310948e+02] [ 6.49847700e-02 9.97885347e-01 -1.34646960e-03 2.05395550e+01] [ 3.58343386e-02 -9.85165364e-04 9.99357258e-01 1.78088498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.34, Y:20.54, Z:17.81 [[ 9.97358183e-01 -6.31935466e-02 -3.58222013e-02 5.01339209e+02] [ 6.31855457e-02 9.98000875e-01 -1.35652584e-03 2.05407610e+01] [ 3.58363120e-02 -9.10503191e-04 9.99357258e-01 1.78105824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.37, Y:20.54, Z:17.81 [[ 9.97577253e-01 -5.96357492e-02 -3.58218038e-02 5.01366038e+02] [ 5.96250821e-02 9.98219906e-01 -1.36694486e-03 2.05421590e+01] [ 3.58395564e-02 -7.72244893e-04 9.99357258e-01 1.78112582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.39, Y:20.54, Z:17.81 [[ 9.97648242e-01 -5.84363264e-02 -3.58215292e-02 5.01393901e+02] [ 5.84246297e-02 9.98290877e-01 -1.37410152e-03 2.05432464e+01] [ 3.58406033e-02 -7.21989617e-04 9.99357258e-01 1.78123328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.42, Y:20.54, Z:17.81 [[ 9.97694118e-01 -5.76480147e-02 -3.58211289e-02 5.01421401e+02] [ 5.76354385e-02 9.98336737e-01 -1.38445900e-03 2.05443383e+01] [ 3.58413603e-02 -6.83299872e-04 9.99357258e-01 1.78138748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.45, Y:20.54, Z:17.82 [[ 9.97765913e-01 -5.63920041e-02 -3.58207207e-02 5.01448925e+02] [ 5.63782427e-02 9.98408508e-01 -1.39494123e-03 2.05444697e+01] [ 3.58423758e-02 -6.27684479e-04 9.99357258e-01 1.78154459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.48, Y:20.54, Z:17.82 [[ 9.97752365e-01 -5.66312947e-02 -3.58205941e-02 5.01477999e+02] [ 5.66175710e-02 9.98394960e-01 -1.39818405e-03 2.05449649e+01] [ 3.58422816e-02 -6.33033595e-04 9.99357258e-01 1.78171782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.51, Y:20.55, Z:17.82 [[ 9.97736048e-01 -5.69182695e-02 -3.58202406e-02 5.01506371e+02] [ 5.69044077e-02 9.98378640e-01 -1.40718312e-03 2.05461432e+01] [ 3.58422575e-02 -6.34332247e-04 9.99357259e-01 1.78181989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.53, Y:20.55, Z:17.82 [[ 9.97695560e-01 -5.76238636e-02 -3.58198331e-02 5.01534229e+02] [ 5.76100866e-02 9.98338153e-01 -1.41748079e-03 2.05466975e+01] [ 3.58419868e-02 -6.49369397e-04 9.99357259e-01 1.78193782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.56, Y:20.55, Z:17.82 [[ 9.97657961e-01 -5.82714529e-02 -3.58194243e-02 5.01561517e+02] [ 5.82577250e-02 9.98300555e-01 -1.42773614e-03 2.05469129e+01] [ 3.58417475e-02 -6.62365850e-04 9.99357259e-01 1.78205814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.59, Y:20.55, Z:17.82 [[ 9.97488291e-01 -6.11072020e-02 -3.58192466e-02 5.01589252e+02] [ 6.10951412e-02 9.98130920e-01 -1.43218200e-03 2.05457108e+01] [ 3.58398142e-02 -7.59797150e-04 9.99357259e-01 1.78212826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:20.55, Z:17.82 [[ 9.97348967e-01 -6.33407337e-02 -3.58188403e-02 5.01616880e+02] [ 6.33297498e-02 9.97991615e-01 -1.44227176e-03 2.05456903e+01] [ 3.58382568e-02 -8.29949945e-04 9.99357259e-01 1.78218904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.64, Y:20.55, Z:17.82 [[ 9.97233520e-01 -6.51333015e-02 -3.58184297e-02 5.01644624e+02] [ 6.51231094e-02 9.97876180e-01 -1.45239725e-03 2.05452949e+01] [ 3.58369573e-02 -8.84228298e-04 9.99357259e-01 1.78225513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:20.54, Z:17.82 [[ 9.96902690e-01 -7.00149692e-02 -3.58180133e-02 5.01672016e+02] [ 7.00075574e-02 9.97545389e-01 -1.46259645e-03 2.05444113e+01] [ 3.58324976e-02 -1.04946528e-03 9.99357259e-01 1.78232488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:20.55, Z:17.82 [[ 9.96882917e-01 -7.02961026e-02 -3.58177139e-02 5.01700389e+02] [ 7.02886102e-02 9.97525614e-01 -1.46989079e-03 2.05456485e+01] [ 3.58324147e-02 -1.05226832e-03 9.99357259e-01 1.78242692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.73, Y:20.54, Z:17.83 [[ 9.96500749e-01 -7.55207142e-02 -3.58172967e-02 5.01727554e+02] [ 7.55162284e-02 9.97143475e-01 -1.47998871e-03 2.05446802e+01] [ 3.58267535e-02 -1.22997730e-03 9.99357259e-01 1.78251014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:20.54, Z:17.83 [[ 9.96271149e-01 -7.84916054e-02 -3.58171155e-02 5.01755817e+02] [ 7.84888790e-02 9.96913884e-01 -1.48436144e-03 2.05447988e+01] [ 3.58230896e-02 -1.33241876e-03 9.99357259e-01 1.78259569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.79, Y:20.55, Z:17.83 [[ 9.96028794e-01 -8.15094108e-02 -3.58169870e-02 5.01785605e+02] [ 8.15085205e-02 9.96671535e-01 -1.48745555e-03 2.05450855e+01] [ 3.58190130e-02 -1.43784105e-03 9.99357259e-01 1.78274509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.81, Y:20.54, Z:17.83 [[ 9.95539059e-01 -8.72876250e-02 -3.58169342e-02 5.01814088e+02] [ 8.72904188e-02 9.96181794e-01 -1.48872380e-03 2.05446488e+01] [ 3.58101250e-02 -1.64439250e-03 9.99357259e-01 1.78275878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:20.55, Z:17.83 [[ 9.95279570e-01 -9.01982824e-02 -3.58168556e-02 5.01843823e+02] [ 9.02028877e-02 9.95922295e-01 -1.49061277e-03 2.05452305e+01] [ 3.58052558e-02 -1.74720736e-03 9.99357259e-01 1.78294665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:20.55, Z:17.83 [[ 9.95034996e-01 -9.28574899e-02 -3.58168029e-02 5.01873399e+02] [ 9.28637672e-02 9.95677706e-01 -1.49187931e-03 2.05457174e+01] [ 3.58005243e-02 -1.84161112e-03 9.99357259e-01 1.78303906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:20.55, Z:17.83 [[ 9.94793004e-01 -9.54150867e-02 -3.58167497e-02 5.01903816e+02] [ 9.54229704e-02 9.95435697e-01 -1.49315498e-03 2.05466075e+01] [ 3.57957407e-02 -1.93236052e-03 9.99357259e-01 1.78318901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:20.55, Z:17.83 [[ 9.94410943e-01 -9.93178606e-02 -3.58167497e-02 5.01934561e+02] [ 9.93282661e-02 9.95053600e-01 -1.49315498e-03 2.05475873e+01] [ 3.57878827e-02 -2.07280600e-03 9.99357259e-01 1.78334293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.97, Y:20.55, Z:17.83 [[ 9.94248616e-01 -1.00929922e-01 -3.58167497e-02 5.01965497e+02] [ 1.00941369e-01 9.94891256e-01 -1.49315498e-03 2.05490148e+01] [ 3.57844751e-02 -2.13082447e-03 9.99357259e-01 1.78345673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.00, Y:20.55, Z:17.84 [[ 9.94147089e-01 -1.01925082e-01 -3.58168047e-02 5.01995331e+02] [ 1.01937220e-01 9.94789715e-01 -1.49183433e-03 2.05506320e+01] [ 3.57822443e-02 -2.16796274e-03 9.99357259e-01 1.78353636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.03, Y:20.55, Z:17.84 [[ 9.94073745e-01 -1.02637902e-01 -3.58168967e-02 5.02027022e+02] [ 1.02650580e-01 9.94716361e-01 -1.48962299e-03 2.05523511e+01] [ 3.57805449e-02 -2.19583013e-03 9.99357259e-01 1.78369448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.06, Y:20.55, Z:17.84 [[ 9.94018954e-01 -1.03167172e-01 -3.58169512e-02 5.02058298e+02] [ 1.03180240e-01 9.94661562e-01 -1.48831156e-03 2.05544881e+01] [ 3.57792895e-02 -2.21619171e-03 9.99357259e-01 1.78381464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.09, Y:20.56, Z:17.84 [[ 9.94021897e-01 -1.03138796e-01 -3.58170057e-02 5.02089794e+02] [ 1.03151892e-01 9.94664504e-01 -1.48699886e-03 2.05575057e+01] [ 3.57792715e-02 -2.21648246e-03 9.99357259e-01 1.78396493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.12, Y:20.56, Z:17.84 [[ 9.94053464e-01 -1.02834089e-01 -3.58170605e-02 5.02120523e+02] [ 1.02847035e-01 9.94696074e-01 -1.48567620e-03 2.05594953e+01] [ 3.57798677e-02 -2.20683691e-03 9.99357259e-01 1.78406573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.15, Y:20.56, Z:17.84 [[ 9.94099411e-01 -1.02388948e-01 -3.58170877e-02 5.02151493e+02] [ 1.02401630e-01 9.94742027e-01 -1.48501968e-03 2.05619094e+01] [ 3.57808121e-02 -2.19147099e-03 9.99357259e-01 1.78418581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.18, Y:20.56, Z:17.84 [[ 9.94172224e-01 -1.01679500e-01 -3.58171411e-02 5.02182993e+02] [ 1.01691770e-01 9.94814848e-01 -1.48373152e-03 2.05641783e+01] [ 3.57822889e-02 -2.16722383e-03 9.99357259e-01 1.78434076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.21, Y:20.57, Z:17.84 [[ 9.94261551e-01 -1.00802268e-01 -3.58171947e-02 5.02214210e+02] [ 1.00814018e-01 9.94904184e-01 -1.48243679e-03 2.05668312e+01] [ 3.57841099e-02 -2.13694540e-03 9.99357259e-01 1.78443720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.25, Y:20.57, Z:17.85 [[ 9.94503658e-01 -9.83849512e-02 -3.58172481e-02 5.02245602e+02] [ 9.83951849e-02 9.95146318e-01 -1.48114576e-03 2.05717527e+01] [ 3.57891250e-02 -2.05123987e-03 9.99357259e-01 1.78455537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.28, Y:20.57, Z:17.85 [[ 9.94648015e-01 -9.69146367e-02 -3.58173026e-02 5.02276830e+02] [ 9.69239677e-02 9.95290689e-01 -1.47982681e-03 2.05749950e+01] [ 3.57920446e-02 -1.99964828e-03 9.99357259e-01 1.78460969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.31, Y:20.58, Z:17.85 [[ 9.94810594e-01 -9.52312489e-02 -3.58174852e-02 5.02308502e+02] [ 9.52396514e-02 9.95453280e-01 -1.47539437e-03 2.05785138e+01] [ 3.57951367e-02 -1.94350685e-03 9.99357259e-01 1.78474742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.34, Y:20.58, Z:17.85 [[ 9.95024125e-01 -9.29736190e-02 -3.58175386e-02 5.02338660e+02] [ 9.29806098e-02 9.95666828e-01 -1.47409605e-03 2.05847352e+01] [ 3.57993871e-02 -1.86357545e-03 9.99357259e-01 1.78502547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.37, Y:20.59, Z:17.85 [[ 9.95111749e-01 -9.20309955e-02 -3.58176211e-02 5.02369916e+02] [ 9.20374495e-02 9.95754458e-01 -1.47208781e-03 2.05884209e+01] [ 3.58010336e-02 -1.83167062e-03 9.99357259e-01 1.78515848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.40, Y:20.59, Z:17.85 [[ 9.95202600e-01 -9.10432804e-02 -3.58176735e-02 5.02400924e+02] [ 9.10491423e-02 9.95845315e-01 -1.47081255e-03 2.05920194e+01] [ 3.58027699e-02 -1.79741197e-03 9.99357259e-01 1.78522334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.43, Y:20.60, Z:17.85 [[ 9.95290492e-01 -9.00773400e-02 -3.58177268e-02 5.02432185e+02] [ 9.00826248e-02 9.95933211e-01 -1.46951256e-03 2.05953373e+01] [ 3.58044335e-02 -1.76396296e-03 9.99357259e-01 1.78519696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.46, Y:20.60, Z:17.85 [[ 9.95348634e-01 -8.94325134e-02 -3.58179093e-02 5.02463571e+02] [ 8.94375419e-02 9.95991355e-01 -1.46505073e-03 2.05988905e+01] [ 3.58053512e-02 -1.74522952e-03 9.99357259e-01 1.78535149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.49, Y:20.60, Z:17.85 [[ 9.95598244e-01 -8.66095274e-02 -3.58179627e-02 5.02494976e+02] [ 8.66127802e-02 9.96240977e-01 -1.46374517e-03 2.06040079e+01] [ 3.58100964e-02 -1.64499120e-03 9.99357259e-01 1.78548846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.53, Y:20.61, Z:17.86 [[ 9.95718246e-01 -8.52187910e-02 -3.58180424e-02 5.02526569e+02] [ 8.52212161e-02 9.96360983e-01 -1.46179192e-03 2.06076064e+01] [ 3.58122721e-02 -1.59692424e-03 9.99357259e-01 1.78568791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.56, Y:20.61, Z:17.86 [[ 9.95889735e-01 -8.31907450e-02 -3.58180958e-02 5.02557658e+02] [ 8.31919081e-02 9.96532475e-01 -1.46048272e-03 2.06110550e+01] [ 3.58153943e-02 -1.52529599e-03 9.99357259e-01 1.78580240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.59, Y:20.61, Z:17.86 [[ 9.96089753e-01 -8.07605286e-02 -3.58181754e-02 5.02588342e+02] [ 8.07601936e-02 9.96732494e-01 -1.45852674e-03 2.06146341e+01] [ 3.58189307e-02 -1.43985924e-03 9.99357259e-01 1.78590277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.62, Y:20.62, Z:17.86 [[ 9.96543509e-01 -7.49539303e-02 -3.58182014e-02 5.02619046e+02] [ 7.49498724e-02 9.97186237e-01 -1.45788780e-03 2.06202672e+01] [ 3.58266919e-02 -1.23172100e-03 9.99357259e-01 1.78598127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.65, Y:20.62, Z:17.86 [[ 9.96765790e-01 -7.19375645e-02 -3.58182535e-02 5.02650061e+02] [ 7.19316074e-02 9.97408503e-01 -1.45660677e-03 2.06239389e+01] [ 3.58302154e-02 -1.12456876e-03 9.99357259e-01 1.78610550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.68, Y:20.63, Z:17.86 [[ 9.96968408e-01 -6.90727357e-02 -3.58183058e-02 5.02680815e+02] [ 6.90649777e-02 9.97611102e-01 -1.45532155e-03 2.06279615e+01] [ 3.58332625e-02 -1.02288088e-03 9.99357259e-01 1.78630791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.71, Y:20.63, Z:17.86 [[ 9.97183885e-01 -6.58889101e-02 -3.58183058e-02 5.02709690e+02] [ 6.58790999e-02 9.97826551e-01 -1.45532155e-03 2.06315780e+01] [ 3.58363461e-02 -9.08454544e-04 9.99357259e-01 1.78640795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.74, Y:20.64, Z:17.87 [[ 9.97526340e-01 -6.04834812e-02 -3.58182794e-02 5.02739505e+02] [ 6.04701648e-02 9.98168943e-01 -1.45597005e-03 2.06367606e+01] [ 3.58407562e-02 -7.13568778e-04 9.99357259e-01 1.78663382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.77, Y:20.64, Z:17.87 [[ 9.97655291e-01 -5.83178711e-02 -3.58182270e-02 5.02768303e+02] [ 5.83031136e-02 9.98297863e-01 -1.45725695e-03 2.06395357e+01] [ 3.58422436e-02 -6.34474056e-04 9.99357259e-01 1.78680164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.80, Y:20.64, Z:17.87 [[ 9.97743870e-01 -5.67822969e-02 -3.58181491e-02 5.02797091e+02] [ 5.67664817e-02 9.98386417e-01 -1.45916989e-03 2.06420121e+01] [ 3.58432086e-02 -5.77392493e-04 9.99357259e-01 1.78696334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.83, Y:20.64, Z:17.87 [[ 9.97801527e-01 -5.57601855e-02 -3.58177840e-02 5.02825634e+02] [ 5.57433925e-02 9.98444049e-01 -1.46807679e-03 2.06442212e+01] [ 3.58439136e-02 -5.31755533e-04 9.99357259e-01 1.78711500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.85, Y:20.65, Z:17.87 [[ 9.97833547e-01 -5.51844705e-02 -3.58174164e-02 5.02854370e+02] [ 5.51669868e-02 9.98476050e-01 -1.47699168e-03 2.06465726e+01] [ 3.58443395e-02 -5.02147095e-04 9.99357259e-01 1.78726748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.88, Y:20.65, Z:17.87 [[ 9.97797376e-01 -5.58348974e-02 -3.58170430e-02 5.02882124e+02] [ 5.58175095e-02 9.98439882e-01 -1.48599199e-03 2.06481389e+01] [ 3.58441344e-02 -5.16499228e-04 9.99357259e-01 1.78727895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.91, Y:20.65, Z:17.87 [[ 9.97711628e-01 -5.73468008e-02 -3.58169107e-02 5.02910733e+02] [ 5.73302723e-02 9.98354157e-01 -1.48917457e-03 2.06497795e+01] [ 3.58433611e-02 -5.67626459e-04 9.99357259e-01 1.78739716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.94, Y:20.65, Z:17.87 [[ 9.97607502e-01 -5.91307716e-02 -3.58165398e-02 5.02939898e+02] [ 5.91150738e-02 9.98250051e-01 -1.49804110e-03 2.06510660e+01] [ 3.58424430e-02 -6.22840359e-04 9.99357259e-01 1.78741057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.97, Y:20.65, Z:17.87 [[ 9.97294245e-01 -6.41980651e-02 -3.58161689e-02 5.02968577e+02] [ 6.41853153e-02 9.97936859e-01 -1.50685795e-03 2.06516513e+01] [ 3.58390125e-02 -7.96091331e-04 9.99357259e-01 1.78738848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.00, Y:20.65, Z:17.87 [[ 9.97108322e-01 -6.70240537e-02 -3.58157930e-02 5.02999172e+02] [ 6.70128063e-02 9.97750964e-01 -1.51574026e-03 2.06523509e+01] [ 3.58368331e-02 -8.88759568e-04 9.99357259e-01 1.78743434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.03, Y:20.65, Z:17.88 [[ 9.96922481e-01 -6.97337527e-02 -3.58157930e-02 5.03029347e+02] [ 6.97242518e-02 9.97565151e-01 -1.51574026e-03 2.06530203e+01] [ 3.58342852e-02 -9.86153827e-04 9.99357259e-01 1.78755689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.06, Y:20.65, Z:17.88 [[ 9.96730386e-01 -7.24276717e-02 -3.58157930e-02 5.03060103e+02] [ 7.24199077e-02 9.97373079e-01 -1.51574026e-03 2.06535044e+01] [ 3.58314893e-02 -1.08299205e-03 9.99357259e-01 1.78763975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.09, Y:20.65, Z:17.88 [[ 9.96398111e-01 -7.68637260e-02 -3.58158199e-02 5.03091904e+02] [ 7.68588458e-02 9.97040833e-01 -1.51510423e-03 2.06533650e+01] [ 3.58262915e-02 -1.24311559e-03 9.99357259e-01 1.78785378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.12, Y:20.65, Z:17.88 [[ 9.96247491e-01 -7.87918788e-02 -3.58158747e-02 5.03121723e+02] [ 7.87882889e-02 9.96890222e-01 -1.51380735e-03 2.06542547e+01] [ 3.58237710e-02 -1.31374472e-03 9.99357259e-01 1.78797160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.15, Y:20.65, Z:17.88 [[ 9.96051790e-01 -8.12283945e-02 -3.58159019e-02 5.03153184e+02] [ 8.12263999e-02 9.96694528e-01 -1.51316312e-03 2.06548579e+01] [ 3.58204253e-02 -1.40200794e-03 9.99357259e-01 1.78803448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.18, Y:20.66, Z:17.88 [[ 9.95994058e-01 -8.19332251e-02 -3.58159572e-02 5.03184002e+02] [ 8.19317324e-02 9.96636797e-01 -1.51185286e-03 2.06555925e+01] [ 3.58193719e-02 -1.42866696e-03 9.99357259e-01 1.78803086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.22, Y:20.66, Z:17.88 [[ 9.95945961e-01 -8.25157775e-02 -3.58160399e-02 5.03216624e+02] [ 8.25147311e-02 9.96588701e-01 -1.50989155e-03 2.06565560e+01] [ 3.58184506e-02 -1.45158051e-03 9.99357259e-01 1.78810680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.25, Y:20.66, Z:17.88 [[ 9.95913458e-01 -8.29071067e-02 -3.58161490e-02 5.03248652e+02] [ 8.29064059e-02 9.96556198e-01 -1.50729944e-03 2.06576129e+01] [ 3.58177711e-02 -1.46824839e-03 9.99357259e-01 1.78816633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.28, Y:20.66, Z:17.88 [[ 9.95875129e-01 -8.33661962e-02 -3.58162572e-02 5.03279955e+02] [ 8.33658841e-02 9.96517870e-01 -1.50472510e-03 2.06584207e+01] [ 3.58169835e-02 -1.48733564e-03 9.99357259e-01 1.78819099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.31, Y:20.66, Z:17.88 [[ 9.95765671e-01 -8.46635618e-02 -3.58163377e-02 5.03312464e+02] [ 8.46641560e-02 9.96408411e-01 -1.50280656e-03 2.06596785e+01] [ 3.58149331e-02 -1.53591682e-03 9.99357259e-01 1.78830915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.34, Y:20.66, Z:17.88 [[ 9.95682957e-01 -8.56307913e-02 -3.58164430e-02 5.03343804e+02] [ 8.56321002e-02 9.96325696e-01 -1.50029088e-03 2.06611257e+01] [ 3.58133136e-02 -1.57322318e-03 9.99357259e-01 1.78842287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.38, Y:20.66, Z:17.89 [[ 9.95317935e-01 -8.97740730e-02 -3.58165215e-02 5.03375815e+02] [ 8.97781242e-02 9.95960663e-01 -1.49841674e-03 2.06627849e+01] [ 3.58063654e-02 -1.72413905e-03 9.99357259e-01 1.78851685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.41, Y:20.66, Z:17.89 [[ 9.95173649e-01 -9.13596081e-02 -3.58166315e-02 5.03406637e+02] [ 9.13647778e-02 9.95816369e-01 -1.49578233e-03 2.06638421e+01] [ 3.58034420e-02 -1.78381541e-03 9.99357259e-01 1.78857359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.44, Y:20.67, Z:17.89 [[ 9.95180238e-01 -9.12877665e-02 -3.58167135e-02 5.03439280e+02] [ 9.12929604e-02 9.95822958e-01 -1.49381635e-03 2.06651447e+01] [ 3.58034727e-02 -1.78319729e-03 9.99357259e-01 1.78869072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.47, Y:20.67, Z:17.89 [[ 9.95025344e-01 -9.29608559e-02 -3.58168211e-02 5.03471473e+02] [ 9.29672232e-02 9.95668053e-01 -1.49123161e-03 2.06663699e+01] [ 3.58002907e-02 -1.84597715e-03 9.99357259e-01 1.78879128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.50, Y:20.67, Z:17.89 [[ 9.95032054e-01 -9.28889647e-02 -3.58169285e-02 5.03504117e+02] [ 9.28953783e-02 9.95674762e-01 -1.48864659e-03 2.06676675e+01] [ 3.58002906e-02 -1.84597606e-03 9.99357259e-01 1.78890840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.54, Y:20.67, Z:17.89 [[ 9.95038759e-01 -9.28170729e-02 -3.58170358e-02 5.03536760e+02] [ 9.28235330e-02 9.95681467e-01 -1.48606046e-03 2.06689628e+01] [ 3.58002906e-02 -1.84597605e-03 9.99357259e-01 1.78902551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.57, Y:20.67, Z:17.89 [[ 9.94903387e-01 -9.42570081e-02 -3.58171429e-02 5.03569151e+02] [ 9.42644911e-02 9.95546084e-01 -1.48347433e-03 2.06704314e+01] [ 3.57974442e-02 -1.90037112e-03 9.99357259e-01 1.78914762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.60, Y:20.67, Z:17.89 [[ 9.94764240e-01 -9.57143194e-02 -3.58172509e-02 5.03601717e+02] [ 9.57228376e-02 9.95406925e-01 -1.48086299e-03 2.06721571e+01] [ 3.57944794e-02 -1.95541934e-03 9.99357259e-01 1.78927921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.63, Y:20.67, Z:17.89 [[ 9.94597444e-01 -9.74322406e-02 -3.58173591e-02 5.03632595e+02] [ 9.74419629e-02 9.95240111e-01 -1.47824183e-03 2.06746085e+01] [ 3.57909008e-02 -2.01985824e-03 9.99357259e-01 1.78943773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.66, Y:20.68, Z:17.90 [[ 9.94549171e-01 -9.79236952e-02 -3.58175386e-02 5.03664222e+02] [ 9.79338917e-02 9.95191831e-01 -1.47387934e-03 2.06767423e+01] [ 3.57896495e-02 -2.04190547e-03 9.99357259e-01 1.78964346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.70, Y:20.68, Z:17.90 [[ 9.94501483e-01 -9.84067891e-02 -3.58176469e-02 5.03696113e+02] [ 9.84173923e-02 9.95144136e-01 -1.47124372e-03 2.06795894e+01] [ 3.57885016e-02 -2.06192534e-03 9.99357259e-01 1.78984545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.73, Y:20.68, Z:17.90 [[ 9.94495675e-01 -9.84654311e-02 -3.58177540e-02 5.03727934e+02] [ 9.84761661e-02 9.95138326e-01 -1.46863095e-03 2.06813563e+01] [ 3.57882291e-02 -2.06664797e-03 9.99357259e-01 1.78996016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.76, Y:20.68, Z:17.90 [[ 9.94497338e-01 -9.84485876e-02 -3.58178873e-02 5.03760235e+02] [ 9.84594287e-02 9.95139987e-01 -1.46537146e-03 2.06831092e+01] [ 3.57880757e-02 -2.06930071e-03 9.99357259e-01 1.79013410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.79, Y:20.68, Z:17.90 [[ 9.94513464e-01 -9.82855123e-02 -3.58179939e-02 5.03792093e+02] [ 9.82963416e-02 9.95156113e-01 -1.46276258e-03 2.06849359e+01] [ 3.57882639e-02 -2.06604068e-03 9.99357259e-01 1.79030915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.82, Y:20.69, Z:17.90 [[ 9.94571192e-01 -9.76995772e-02 -3.58180998e-02 5.03823016e+02] [ 9.77101212e-02 9.95213846e-01 -1.46016426e-03 2.06868829e+01] [ 3.57893263e-02 -2.04755357e-03 9.99357259e-01 1.79043005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.85, Y:20.69, Z:17.91 [[ 9.94636092e-01 -9.70365708e-02 -3.58182718e-02 5.03853892e+02] [ 9.70468383e-02 9.95278751e-01 -1.45593227e-03 2.06889250e+01] [ 3.57904435e-02 -2.02792725e-03 9.99357259e-01 1.79051812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.89, Y:20.69, Z:17.91 [[ 9.94874487e-01 -9.45611001e-02 -3.58183496e-02 5.03885970e+02] [ 9.45698371e-02 9.95517168e-01 -1.45401623e-03 2.06918923e+01] [ 3.57952753e-02 -1.94077183e-03 9.99357259e-01 1.79065891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.92, Y:20.69, Z:17.91 [[ 9.95059163e-01 -9.25975247e-02 -3.58184521e-02 5.03916649e+02] [ 9.26050841e-02 9.95701859e-01 -1.45148685e-03 2.06941382e+01] [ 3.57989034e-02 -1.87265548e-03 9.99357259e-01 1.79077017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.95, Y:20.70, Z:17.91 [[ 9.95263459e-01 -9.03752145e-02 -3.58185283e-02 5.03948976e+02] [ 9.03814062e-02 9.95906170e-01 -1.44960412e-03 2.06966058e+01] [ 3.58029016e-02 -1.79459095e-03 9.99357259e-01 1.79087875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.98, Y:20.70, Z:17.91 [[ 9.95520885e-01 -8.74939593e-02 -3.58186293e-02 5.03980793e+02] [ 8.74983804e-02 9.96163611e-01 -1.44710504e-03 2.06989726e+01] [ 3.58078280e-02 -1.69344876e-03 9.99357259e-01 1.79096616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.01, Y:20.70, Z:17.91 [[ 9.96087005e-01 -8.07941613e-02 -3.58187298e-02 5.04011668e+02] [ 8.07943475e-02 9.96729746e-01 -1.44461285e-03 2.07028852e+01] [ 3.58183097e-02 -1.45499081e-03 9.99357259e-01 1.79102602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.04, Y:20.71, Z:17.91 [[ 9.96377608e-01 -7.71276550e-02 -3.58188045e-02 5.04043524e+02] [ 7.71255423e-02 9.97020345e-01 -1.44275816e-03 2.07058848e+01] [ 3.58233534e-02 -1.32501279e-03 9.99357259e-01 1.79115101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.08, Y:20.71, Z:17.91 [[ 9.96688562e-01 -7.29994336e-02 -3.58189048e-02 5.04075992e+02] [ 7.29947478e-02 9.97331285e-01 -1.44026367e-03 2.07087197e+01] [ 3.58284528e-02 -1.17909760e-03 9.99357259e-01 1.79125391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.11, Y:20.71, Z:17.91 [[ 9.97284514e-01 -6.43474655e-02 -3.58190047e-02 5.04105740e+02] [ 6.43372917e-02 9.97927175e-01 -1.43777477e-03 2.07126683e+01] [ 3.58372753e-02 -8.70627244e-04 9.99357259e-01 1.79132725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.14, Y:20.72, Z:17.91 [[ 9.97538855e-01 -6.02762733e-02 -3.58190294e-02 5.04136344e+02] [ 6.02634986e-02 9.98181469e-01 -1.43716003e-03 2.07150170e+01] [ 3.58405180e-02 -7.24957054e-04 9.99357259e-01 1.79145709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.17, Y:20.72, Z:17.92 [[ 9.97798532e-01 -5.58129590e-02 -3.58190294e-02 5.04166142e+02] [ 5.57973095e-02 9.98441082e-01 -1.43716003e-03 2.07170954e+01] [ 3.58434026e-02 -5.64609301e-04 9.99357259e-01 1.79152137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.20, Y:20.72, Z:17.92 [[ 9.98021961e-01 -5.16639618e-02 -3.58190040e-02 5.04195875e+02] [ 5.16456182e-02 9.98664440e-01 -1.43779136e-03 2.07194873e+01] [ 3.58454476e-02 -4.14947255e-04 9.99357259e-01 1.79167021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.22, Y:20.72, Z:17.92 [[ 9.98365160e-01 -4.45422224e-02 -3.58189520e-02 5.04224072e+02] [ 4.45192491e-02 9.99007490e-01 -1.43908525e-03 2.07232492e+01] [ 3.58475014e-02 -1.57900277e-04 9.99357259e-01 1.79183812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.25, Y:20.73, Z:17.92 [[ 9.98481306e-01 -4.18582198e-02 -3.58185875e-02 5.04251378e+02] [ 4.18331964e-02 9.99123559e-01 -1.44810240e-03 2.07254739e+01] [ 3.58478096e-02 -5.25028293e-05 9.99357259e-01 1.79196581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.28, Y:20.73, Z:17.92 [[ 9.98569689e-01 -3.96942595e-02 -3.58181697e-02 5.04278972e+02] [ 3.96674762e-02 9.99211872e-01 -1.45836370e-03 2.07272321e+01] [ 3.58478290e-02 3.54613901e-05 9.99357259e-01 1.79207093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.31, Y:20.73, Z:17.92 [[ 9.98609675e-01 -3.86756398e-02 -3.58177501e-02 5.04306965e+02] [ 3.86478344e-02 9.99251814e-01 -1.46859690e-03 2.07285080e+01] [ 3.58477507e-02 8.22765927e-05 9.99357259e-01 1.79217147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.34, Y:20.73, Z:17.92 [[ 9.98623252e-01 -3.83238742e-02 -3.58173295e-02 5.04335210e+02] [ 3.82954772e-02 9.99265365e-01 -1.47878460e-03 2.07293970e+01] [ 3.58476896e-02 1.05106959e-04 9.99357259e-01 1.79226673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.36, Y:20.73, Z:17.92 [[ 9.98604465e-01 -3.88107065e-02 -3.58169061e-02 5.04362975e+02] [ 3.87822572e-02 9.99246576e-01 -1.48896965e-03 2.07300166e+01] [ 3.58477087e-02 9.78312740e-05 9.99357260e-01 1.79234246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.39, Y:20.73, Z:17.92 [[ 9.98490276e-01 -4.16455147e-02 -3.58164813e-02 5.04390464e+02] [ 4.16185244e-02 9.99132449e-01 -1.49911946e-03 2.07294684e+01] [ 3.58478402e-02 6.22710146e-06 9.99357260e-01 1.79248406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.42, Y:20.73, Z:17.93 [[ 9.98409336e-01 -4.35431856e-02 -3.58160489e-02 5.04416944e+02] [ 4.35170478e-02 9.99051544e-01 -1.50938015e-03 2.07295617e+01] [ 3.58478021e-02 -5.16294821e-05 9.99357260e-01 1.79256423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.44, Y:20.73, Z:17.93 [[ 9.98297814e-01 -4.60293232e-02 -3.58158607e-02 5.04444473e+02] [ 4.60046250e-02 9.98940080e-01 -1.51383162e-03 2.07294081e+01] [ 3.58475794e-02 -1.36440447e-04 9.99357260e-01 1.79269956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.47, Y:20.73, Z:17.93 [[ 9.98052699e-01 -5.10692153e-02 -3.58154280e-02 5.04472036e+02] [ 5.10473954e-02 9.98695069e-01 -1.52399992e-03 2.07272488e+01] [ 3.58465208e-02 -3.07252084e-04 9.99357260e-01 1.79285814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.50, Y:20.73, Z:17.93 [[ 9.97905701e-01 -5.38655550e-02 -3.58149859e-02 5.04499879e+02] [ 5.38451648e-02 9.98548118e-01 -1.53431932e-03 2.07268675e+01] [ 3.58456338e-02 -3.97357825e-04 9.99357260e-01 1.79295660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.53, Y:20.73, Z:17.93 [[ 9.97765618e-01 -5.64011600e-02 -3.58145400e-02 5.04527356e+02] [ 5.63820312e-02 9.98408073e-01 -1.54465801e-03 2.07264267e+01] [ 3.58446464e-02 -4.78089858e-04 9.99357260e-01 1.79302957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.56, Y:20.73, Z:17.93 [[ 9.97655210e-01 -5.83216220e-02 -3.58144020e-02 5.04555930e+02] [ 5.83036153e-02 9.98297697e-01 -1.54785305e-03 2.07257726e+01] [ 3.58437083e-02 -5.43885456e-04 9.99357260e-01 1.79307507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.59, Y:20.72, Z:17.93 [[ 9.97460693e-01 -6.15589188e-02 -3.58143201e-02 5.04585419e+02] [ 6.15429293e-02 9.98103234e-01 -1.54974424e-03 2.07239372e+01] [ 3.58417893e-02 -6.58309208e-04 9.99357260e-01 1.79322170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.62, Y:20.72, Z:17.93 [[ 9.97393024e-01 -6.26457817e-02 -3.58142648e-02 5.04616189e+02] [ 6.26304465e-02 9.98035581e-01 -1.55102156e-03 2.07238579e+01] [ 3.58410756e-02 -6.96085310e-04 9.99357260e-01 1.79336365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.65, Y:20.72, Z:17.93 [[ 9.97364482e-01 -6.30985649e-02 -3.58142648e-02 5.04645830e+02] [ 6.30835214e-02 9.98007046e-01 -1.55102156e-03 2.07234971e+01] [ 3.58407559e-02 -7.12356125e-04 9.99357260e-01 1.79343381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.68, Y:20.72, Z:17.94 [[ 9.97329684e-01 -6.36462228e-02 -3.58142371e-02 5.04676235e+02] [ 6.36315092e-02 9.97972256e-01 -1.55166202e-03 2.07234039e+01] [ 3.58403724e-02 -7.31395362e-04 9.99357260e-01 1.79363401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.71, Y:20.72, Z:17.94 [[ 9.97335912e-01 -6.35485565e-02 -3.58142371e-02 5.04705866e+02] [ 6.35337800e-02 9.97978482e-01 -1.55166202e-03 2.07230393e+01] [ 3.58404438e-02 -7.27885600e-04 9.99357260e-01 1.79370763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.74, Y:20.72, Z:17.94 [[ 9.97391585e-01 -6.26687210e-02 -3.58142087e-02 5.04736006e+02] [ 6.26533542e-02 9.98034141e-01 -1.55231524e-03 2.07211366e+01] [ 3.58410847e-02 -6.95614143e-04 9.99357260e-01 1.79386326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.77, Y:20.72, Z:17.94 [[ 9.97437781e-01 -6.19291144e-02 -3.58142087e-02 5.04765678e+02] [ 6.19132711e-02 9.98080326e-01 -1.55231524e-03 2.07209781e+01] [ 3.58415907e-02 -6.69036944e-04 9.99357260e-01 1.79395632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.79, Y:20.72, Z:17.94 [[ 9.97468736e-01 -6.14285429e-02 -3.58141808e-02 5.04794906e+02] [ 6.14123541e-02 9.98111272e-01 -1.55295922e-03 2.07210408e+01] [ 3.58419336e-02 -6.50404883e-04 9.99357260e-01 1.79411307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.82, Y:20.72, Z:17.94 [[ 9.97514651e-01 -6.06784034e-02 -3.58141236e-02 5.04823713e+02] [ 6.06616841e-02 9.98157174e-01 -1.55427668e-03 2.07208416e+01] [ 3.58424355e-02 -6.22131289e-04 9.99357260e-01 1.79419523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.85, Y:20.72, Z:17.94 [[ 9.97540963e-01 -6.02443534e-02 -3.58140384e-02 5.04852903e+02] [ 6.02272840e-02 9.98183476e-01 -1.55623907e-03 2.07208129e+01] [ 3.58427359e-02 -6.04570044e-04 9.99357260e-01 1.79427768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.88, Y:20.72, Z:17.94 [[ 9.97564012e-01 -5.98615132e-02 -3.58139810e-02 5.04881266e+02] [ 5.98441500e-02 9.98206518e-01 -1.55755767e-03 2.07194251e+01] [ 3.58429870e-02 -5.89493773e-04 9.99357260e-01 1.79427775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.91, Y:20.72, Z:17.94 [[ 9.97555504e-01 -6.00033682e-02 -3.58135802e-02 5.04910163e+02] [ 5.99857674e-02 9.98198003e-01 -1.56672035e-03 2.07194002e+01] [ 3.58430527e-02 -5.85414580e-04 9.99357260e-01 1.79434469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.94, Y:20.72, Z:17.94 [[ 9.97447280e-01 -6.17763552e-02 -3.58134956e-02 5.04939261e+02] [ 6.17598271e-02 9.98089807e-01 -1.56865224e-03 2.07181180e+01] [ 3.58419905e-02 -6.47187387e-04 9.99357260e-01 1.79447694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.97, Y:20.72, Z:17.95 [[ 9.97343864e-01 -6.34242819e-02 -3.58130990e-02 5.04968215e+02] [ 6.34084924e-02 9.97986410e-01 -1.57765361e-03 2.07183257e+01] [ 3.58410477e-02 -6.97391473e-04 9.99357260e-01 1.79461643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.00, Y:20.72, Z:17.95 [[ 9.97235417e-01 -6.51074017e-02 -3.58126982e-02 5.04997413e+02] [ 6.50923719e-02 9.97877981e-01 -1.58670037e-03 2.07184256e+01] [ 3.58400089e-02 -7.48819665e-04 9.99357260e-01 1.79476646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.03, Y:20.72, Z:17.95 [[ 9.97115000e-01 -6.69263107e-02 -3.58126414e-02 5.05026226e+02] [ 6.69124069e-02 9.97757590e-01 -1.58798112e-03 2.07186243e+01] [ 3.58386125e-02 -8.12910243e-04 9.99357260e-01 1.79488596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.06, Y:20.72, Z:17.95 [[ 9.96981335e-01 -6.88888865e-02 -3.58125567e-02 5.05055573e+02] [ 6.88761791e-02 9.97623949e-01 -1.58988938e-03 2.07186440e+01] [ 3.58369900e-02 -8.81542037e-04 9.99357260e-01 1.79500959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.08, Y:20.72, Z:17.95 [[ 9.96657706e-01 -7.34226319e-02 -3.58125008e-02 5.05084866e+02] [ 7.34128023e-02 9.97300370e-01 -1.59114727e-03 2.07175098e+01] [ 3.58326466e-02 -1.04326686e-03 9.99357260e-01 1.79517972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.11, Y:20.72, Z:17.95 [[ 9.96459704e-01 -7.60626575e-02 -3.58124446e-02 5.05114227e+02] [ 7.60544850e-02 9.97102392e-01 -1.59241194e-03 2.07176452e+01] [ 3.58297972e-02 -1.13692270e-03 9.99357260e-01 1.79527297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.15, Y:20.72, Z:17.95 [[ 9.96249081e-01 -7.87733592e-02 -3.58123883e-02 5.05145020e+02] [ 7.87668898e-02 9.96891788e-01 -1.59367608e-03 2.07178720e+01] [ 3.58266151e-02 -1.23313212e-03 9.99357260e-01 1.79537833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.18, Y:20.72, Z:17.96 [[ 9.95800126e-01 -8.42590165e-02 -3.58123883e-02 5.05175898e+02] [ 8.42560870e-02 9.96442859e-01 -1.59367608e-03 2.07171661e+01] [ 3.58192802e-02 -1.43042886e-03 9.99357260e-01 1.79553835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.21, Y:20.72, Z:17.96 [[ 9.95565309e-01 -8.69895430e-02 -3.58124876e-02 5.05206468e+02] [ 8.69884562e-02 9.96208048e-01 -1.59144152e-03 2.07177005e+01] [ 3.58151272e-02 -1.53088904e-03 9.99357260e-01 1.79560607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.24, Y:20.72, Z:17.96 [[ 9.95339138e-01 -8.95402947e-02 -3.58125163e-02 5.05237438e+02] [ 8.95408782e-02 9.95981878e-01 -1.59079558e-03 2.07181775e+01] [ 3.58110576e-02 -1.62330306e-03 9.99357260e-01 1.79570391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.27, Y:20.72, Z:17.96 [[ 9.95094754e-01 -9.22165436e-02 -3.58125723e-02 5.05268811e+02] [ 9.22189007e-02 9.95737489e-01 -1.58953370e-03 2.07190168e+01] [ 3.58065022e-02 -1.72085941e-03 9.99357260e-01 1.79584553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.30, Y:20.72, Z:17.96 [[ 9.94873859e-01 -9.45698682e-02 -3.58126285e-02 5.05300630e+02] [ 9.45737910e-02 9.95516587e-01 -1.58826776e-03 2.07198680e+01] [ 3.58022680e-02 -1.80680996e-03 9.99357260e-01 1.79599392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.33, Y:20.72, Z:17.96 [[ 9.94880768e-01 -9.44971164e-02 -3.58127442e-02 5.05333269e+02] [ 9.45010860e-02 9.95523496e-01 -1.58565535e-03 2.07212549e+01] [ 3.58022681e-02 -1.80680520e-03 9.99357260e-01 1.79611104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.36, Y:20.72, Z:17.96 [[ 9.94508556e-01 -9.83370275e-02 -3.58128598e-02 5.05364696e+02] [ 9.83435722e-02 9.95151263e-01 -1.58303817e-03 2.07218624e+01] [ 3.57948840e-02 -1.94761956e-03 9.99357260e-01 1.79617224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.40, Y:20.72, Z:17.96 [[ 9.94369866e-01 -9.97296437e-02 -3.58129459e-02 5.05397205e+02] [ 9.97371584e-02 9.95012562e-01 -1.58108873e-03 2.07232644e+01] [ 3.57920125e-02 -1.99969447e-03 9.99357260e-01 1.79634306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.43, Y:20.72, Z:17.96 [[ 9.94226634e-01 -1.01147544e-01 -3.58130594e-02 5.05429570e+02] [ 1.01156067e-01 9.94869317e-01 -1.57851462e-03 2.07245905e+01] [ 3.57889768e-02 -2.05330696e-03 9.99357260e-01 1.79643561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.46, Y:20.73, Z:17.96 [[ 9.94116348e-01 -1.02225744e-01 -3.58131719e-02 5.05461718e+02] [ 1.02235057e-01 9.94759021e-01 -1.57595698e-03 2.07256778e+01] [ 3.57865792e-02 -2.09467707e-03 9.99357260e-01 1.79649433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.49, Y:20.73, Z:17.96 [[ 9.93897143e-01 -1.04335411e-01 -3.58132837e-02 5.05494104e+02] [ 1.04346178e-01 9.94539793e-01 -1.57341319e-03 2.07266993e+01] [ 3.57818984e-02 -2.17316841e-03 9.99357260e-01 1.79646389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.53, Y:20.73, Z:17.96 [[ 9.93793760e-01 -1.05315540e-01 -3.58133944e-02 5.05525457e+02] [ 1.05327032e-01 9.94436397e-01 -1.57088992e-03 2.07280115e+01] [ 3.57795820e-02 -2.21097794e-03 9.99357260e-01 1.79647692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.56, Y:20.73, Z:17.97 [[ 9.93695315e-01 -1.06240364e-01 -3.58134767e-02 5.05556716e+02] [ 1.06252522e-01 9.94337940e-01 -1.56900920e-03 2.07294799e+01] [ 3.57773908e-02 -2.24615513e-03 9.99357260e-01 1.79650909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.59, Y:20.73, Z:17.97 [[ 9.93591348e-01 -1.07208278e-01 -3.58136561e-02 5.05589243e+02] [ 1.07221209e-01 9.94233958e-01 -1.56490566e-03 2.07310826e+01] [ 3.57749239e-02 -2.28510676e-03 9.99357260e-01 1.79659657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.62, Y:20.73, Z:17.97 [[ 9.93422169e-01 -1.08764738e-01 -3.58137660e-02 5.05620581e+02] [ 1.08778767e-01 9.94064756e-01 -1.56238445e-03 2.07336438e+01] [ 3.57711349e-02 -2.34366995e-03 9.99357260e-01 1.79666271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.65, Y:20.74, Z:17.97 [[ 9.93406952e-01 -1.08903608e-01 -3.58138478e-02 5.05651707e+02] [ 1.08917793e-01 9.94049536e-01 -1.56050776e-03 2.07354448e+01] [ 3.57706837e-02 -2.35054602e-03 9.99357260e-01 1.79677957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.68, Y:20.74, Z:17.97 [[ 9.93369297e-01 -1.09246523e-01 -3.58139285e-02 5.05683964e+02] [ 1.09260997e-01 9.94011874e-01 -1.55865501e-03 2.07375343e+01] [ 3.57697478e-02 -2.36474549e-03 9.99357260e-01 1.79690747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.71, Y:20.74, Z:17.97 [[ 9.93438575e-01 -1.08614700e-01 -3.58140355e-02 5.05714523e+02] [ 1.08628853e-01 9.94081159e-01 -1.55619233e-03 2.07409120e+01] [ 3.57710832e-02 -2.34445612e-03 9.99357260e-01 1.79706806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.75, Y:20.74, Z:17.97 [[ 9.93515531e-01 -1.07908478e-01 -3.58141151e-02 5.05746922e+02] [ 1.07922240e-01 9.94158123e-01 -1.55435649e-03 2.07434853e+01] [ 3.57726217e-02 -2.32086223e-03 9.99357260e-01 1.79724382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.78, Y:20.75, Z:17.97 [[ 9.93624086e-01 -1.06904239e-01 -3.58142237e-02 5.05778675e+02] [ 1.06917442e-01 9.94266691e-01 -1.55185207e-03 2.07462288e+01] [ 3.57747892e-02 -2.28720758e-03 9.99357260e-01 1.79742291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.81, Y:20.75, Z:17.98 [[ 9.93749838e-01 -1.05728868e-01 -3.58143355e-02 5.05809911e+02] [ 1.05741404e-01 9.94392455e-01 -1.54926751e-03 2.07488589e+01] [ 3.57773073e-02 -2.24747376e-03 9.99357260e-01 1.79757575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.84, Y:20.75, Z:17.98 [[ 9.93859311e-01 -1.04694750e-01 -3.58145206e-02 5.05841569e+02] [ 1.04706771e-01 9.94501938e-01 -1.54497595e-03 2.07517045e+01] [ 3.57793610e-02 -2.21453407e-03 9.99357260e-01 1.79771959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.87, Y:20.76, Z:17.98 [[ 9.94104404e-01 -1.02341318e-01 -3.58146344e-02 5.05873057e+02] [ 1.02351912e-01 9.94747057e-01 -1.54233427e-03 2.07556992e+01] [ 3.57843466e-02 -2.13245503e-03 9.99357260e-01 1.79784742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.90, Y:20.76, Z:17.98 [[ 9.94211805e-01 -1.01292608e-01 -3.58147189e-02 5.05904898e+02] [ 1.01302595e-01 9.94854468e-01 -1.54036839e-03 2.07582988e+01] [ 3.57864610e-02 -2.09667151e-03 9.99357260e-01 1.79792241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.94, Y:20.76, Z:17.98 [[ 9.94313052e-01 -1.00293830e-01 -3.58148344e-02 5.05936063e+02] [ 1.00303268e-01 9.94955723e-01 -1.53767744e-03 2.07606746e+01] [ 3.57883940e-02 -2.06341218e-03 9.99357260e-01 1.79803632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.97, Y:20.76, Z:17.98 [[ 9.94394449e-01 -9.94835223e-02 -3.58149203e-02 5.05967392e+02] [ 9.94925084e-02 9.95037126e-01 -1.53567543e-03 2.07633191e+01] [ 3.57899497e-02 -2.03624914e-03 9.99357260e-01 1.79811692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.00, Y:20.77, Z:17.98 [[ 9.94489011e-01 -9.85337102e-02 -3.58150043e-02 5.05999949e+02] [ 9.85421528e-02 9.95131696e-01 -1.53371418e-03 2.07660181e+01] [ 3.57917685e-02 -2.00402573e-03 9.99357260e-01 1.79821127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.03, Y:20.77, Z:17.98 [[ 9.94650907e-01 -9.68857639e-02 -3.58151166e-02 5.06030742e+02] [ 9.68932360e-02 9.95293603e-01 -1.53108696e-03 2.07703861e+01] [ 3.57948970e-02 -1.94734551e-03 9.99357260e-01 1.79823033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.06, Y:20.77, Z:17.98 [[ 9.94713769e-01 -9.62381507e-02 -3.58153029e-02 5.06062629e+02] [ 9.62453612e-02 9.95356469e-01 -1.52671580e-03 2.07731394e+01] [ 3.57959217e-02 -1.92841154e-03 9.99357260e-01 1.79828253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.10, Y:20.78, Z:17.98 [[ 9.94804988e-01 -9.52905629e-02 -3.58154134e-02 5.06095093e+02] [ 9.52972545e-02 9.95447693e-01 -1.52411905e-03 2.07757198e+01] [ 3.57976048e-02 -1.89690933e-03 9.99357260e-01 1.79835991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.13, Y:20.78, Z:17.98 [[ 9.94895048e-01 -9.43456020e-02 -3.58155236e-02 5.06125974e+02] [ 9.43517762e-02 9.95537758e-01 -1.52152479e-03 2.07782891e+01] [ 3.57992553e-02 -1.86550080e-03 9.99357260e-01 1.79841741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.16, Y:20.78, Z:17.99 [[ 9.95114189e-01 -9.20054024e-02 -3.58156056e-02 5.06158240e+02] [ 9.20101344e-02 9.95756911e-01 -1.51959230e-03 2.07826244e+01] [ 3.58034475e-02 -1.78323082e-03 9.99357260e-01 1.79852756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.19, Y:20.79, Z:17.99 [[ 9.95281979e-01 -9.01721479e-02 -3.58157155e-02 5.06189823e+02] [ 9.01757891e-02 9.95924709e-01 -1.51699692e-03 2.07853573e+01] [ 3.58065470e-02 -1.71987071e-03 9.99357260e-01 1.79862519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.22, Y:20.79, Z:17.99 [[ 9.95444608e-01 -8.83587116e-02 -3.58157973e-02 5.06222049e+02] [ 8.83612511e-02 9.96087343e-01 -1.51506443e-03 2.07883959e+01] [ 3.58095315e-02 -1.65656594e-03 9.99357260e-01 1.79873627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.25, Y:20.79, Z:17.99 [[ 9.95608443e-01 -8.64930600e-02 -3.58159072e-02 5.06252624e+02] [ 8.64944884e-02 9.96251181e-01 -1.51246265e-03 2.07915764e+01] [ 3.58124573e-02 -1.59205798e-03 9.99357260e-01 1.79886312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.28, Y:20.79, Z:17.99 [[ 9.95793553e-01 -8.43351341e-02 -3.58159889e-02 5.06284411e+02] [ 8.43352392e-02 9.96436293e-01 -1.51052401e-03 2.07947684e+01] [ 3.58157415e-02 -1.51637992e-03 9.99357260e-01 1.79899615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.32, Y:20.80, Z:17.99 [[ 9.96163031e-01 -7.98525102e-02 -3.58160962e-02 5.06315907e+02] [ 7.98498140e-02 9.96805765e-01 -1.50797551e-03 2.07995913e+01] [ 3.58221068e-02 -1.35771917e-03 9.99357260e-01 1.79912675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.35, Y:20.80, Z:17.99 [[ 9.96315102e-01 -7.79321307e-02 -3.58162067e-02 5.06347364e+02] [ 7.79282900e-02 9.96957830e-01 -1.50534595e-03 2.08023526e+01] [ 3.58245626e-02 -1.29129684e-03 9.99357260e-01 1.79925797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.38, Y:20.81, Z:17.99 [[ 9.96462002e-01 -7.60307296e-02 -3.58162889e-02 5.06379921e+02] [ 7.60257326e-02 9.97104723e-01 -1.50338925e-03 2.08050475e+01] [ 3.58268946e-02 -1.22488934e-03 9.99357260e-01 1.79938801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.41, Y:20.81, Z:17.99 [[ 9.96762611e-01 -7.19825135e-02 -3.58163984e-02 5.06411644e+02] [ 7.19749997e-02 9.97405307e-01 -1.50077434e-03 2.08085398e+01] [ 3.58314954e-02 -1.08196952e-03 9.99357260e-01 1.79947080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.44, Y:20.81, Z:18.00 [[ 9.96908298e-01 -6.99358488e-02 -3.58165083e-02 5.06443121e+02] [ 6.99271098e-02 9.97550979e-01 -1.49814731e-03 2.08108957e+01] [ 3.58335671e-02 -1.01102942e-03 9.99357260e-01 1.79954198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.47, Y:20.81, Z:18.00 [[ 9.97026600e-01 -6.82285349e-02 -3.58165631e-02 5.06474373e+02] [ 6.82187423e-02 9.97669265e-01 -1.49683703e-03 2.08132100e+01] [ 3.58352112e-02 -9.50974550e-04 9.99357260e-01 1.79965334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.51, Y:20.82, Z:18.00 [[ 9.97148190e-01 -6.64278353e-02 -3.58166176e-02 5.06506045e+02] [ 6.64169291e-02 9.97790837e-01 -1.49553040e-03 2.08155119e+01] [ 3.58368378e-02 -8.87564323e-04 9.99357260e-01 1.79973493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.54, Y:20.82, Z:18.00 [[ 9.97252579e-01 -6.48417990e-02 -3.58166726e-02 5.06536798e+02] [ 6.48299179e-02 9.97895209e-01 -1.49421218e-03 2.08177215e+01] [ 3.58381735e-02 -8.31884995e-04 9.99357260e-01 1.79982655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.57, Y:20.82, Z:18.00 [[ 9.97442347e-01 -6.18540958e-02 -3.58166999e-02 5.06567022e+02] [ 6.18403131e-02 9.98084939e-01 -1.49355812e-03 2.08200739e+01] [ 3.58404914e-02 -7.25177820e-04 9.99357260e-01 1.79988906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.60, Y:20.82, Z:18.00 [[ 9.97531489e-01 -6.03994259e-02 -3.58167267e-02 5.06597058e+02] [ 6.03847292e-02 9.98174061e-01 -1.49291625e-03 2.08215208e+01] [ 3.58414988e-02 -6.73552371e-04 9.99357260e-01 1.79997875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.63, Y:20.82, Z:18.00 [[ 9.97619816e-01 -5.89225718e-02 -3.58166728e-02 5.06626821e+02] [ 5.89068775e-02 9.98262364e-01 -1.49420840e-03 2.08230217e+01] [ 3.58424790e-02 -6.19196442e-04 9.99357260e-01 1.80008866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.66, Y:20.82, Z:18.00 [[ 9.97710520e-01 -5.73662319e-02 -3.58166790e-02 5.06656299e+02] [ 5.73495406e-02 9.98353043e-01 -1.49405831e-03 2.08245538e+01] [ 3.58433990e-02 -5.63432397e-04 9.99357260e-01 1.80020129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.69, Y:20.83, Z:18.00 [[ 9.97783698e-01 -5.60790643e-02 -3.58166259e-02 5.06686127e+02] [ 5.60614985e-02 9.98426198e-01 -1.49533105e-03 2.08261224e+01] [ 3.58441144e-02 -5.15916774e-04 9.99357260e-01 1.80029291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.72, Y:20.83, Z:18.00 [[ 9.97919126e-01 -5.36152110e-02 -3.58165726e-02 5.06716101e+02] [ 5.35960130e-02 9.98561579e-01 -1.49660618e-03 2.08273986e+01] [ 3.58452942e-02 -4.26133559e-04 9.99357260e-01 1.80040022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.75, Y:20.83, Z:18.00 [[ 9.97947566e-01 -5.30832642e-02 -3.58165193e-02 5.06745026e+02] [ 5.30636780e-02 9.98590007e-01 -1.49788197e-03 2.08283753e+01] [ 3.58455307e-02 -4.05748576e-04 9.99357260e-01 1.80049516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.77, Y:20.83, Z:18.01 [[ 9.97971400e-01 -5.26335290e-02 -3.58161404e-02 5.06772920e+02] [ 5.26133301e-02 9.98613823e-01 -1.50688615e-03 2.08290228e+01] [ 3.58458056e-02 -3.80577139e-04 9.99357260e-01 1.80059089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.80, Y:20.83, Z:18.01 [[ 9.97945777e-01 -5.31172695e-02 -3.58159376e-02 5.06801814e+02] [ 5.30972096e-02 9.98588204e-01 -1.51169250e-03 2.08288223e+01] [ 3.58456697e-02 -3.93139198e-04 9.99357260e-01 1.80061699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.83, Y:20.83, Z:18.01 [[ 9.97886161e-01 -5.42259649e-02 -3.58155496e-02 5.06830650e+02] [ 5.42062909e-02 9.98528600e-01 -1.52082808e-03 2.08292575e+01] [ 3.58453190e-02 -4.23814807e-04 9.99357260e-01 1.80067989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.86, Y:20.83, Z:18.01 [[ 9.97820343e-01 -5.54241551e-02 -3.58151620e-02 5.06859506e+02] [ 5.54049268e-02 9.98462795e-01 -1.52990254e-03 2.08295169e+01] [ 3.58449003e-02 -4.57768554e-04 9.99357260e-01 1.80073956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.89, Y:20.83, Z:18.01 [[ 9.97718273e-01 -5.72322288e-02 -3.58150796e-02 5.06888254e+02] [ 5.72140956e-02 9.98360757e-01 -1.53182922e-03 2.08299148e+01] [ 3.58440400e-02 -5.20793384e-04 9.99357260e-01 1.80081762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.92, Y:20.83, Z:18.01 [[ 9.97512249e-01 -6.07175495e-02 -3.58146937e-02 5.06917816e+02] [ 6.07013390e-02 9.98154784e-01 -1.54080029e-03 2.08289931e+01] [ 3.58421614e-02 -6.37032703e-04 9.99357260e-01 1.80089297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.95, Y:20.83, Z:18.01 [[ 9.97407805e-01 -6.24097904e-02 -3.58146369e-02 5.06947392e+02] [ 6.23946227e-02 9.98050366e-01 -1.54211905e-03 2.08286236e+01] [ 3.58410548e-02 -6.96519180e-04 9.99357260e-01 1.80097292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.98, Y:20.83, Z:18.01 [[ 9.97306403e-01 -6.40097829e-02 -3.58146087e-02 5.06977122e+02] [ 6.39956225e-02 9.97948987e-01 -1.54277382e-03 2.08282183e+01] [ 3.58399051e-02 -7.53359969e-04 9.99357260e-01 1.80104273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.01, Y:20.83, Z:18.01 [[ 9.97144674e-01 -6.64816675e-02 -3.58146079e-02 5.07008066e+02] [ 6.64690993e-02 9.97787291e-01 -1.54279186e-03 2.08263720e+01] [ 3.58379280e-02 -8.42178044e-04 9.99357260e-01 1.80104434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.04, Y:20.83, Z:18.01 [[ 9.97084187e-01 -6.73827670e-02 -3.58146079e-02 5.07038475e+02] [ 6.73707796e-02 9.97726815e-01 -1.54279186e-03 2.08264483e+01] [ 3.58371523e-02 -8.74564690e-04 9.99357260e-01 1.80112839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.07, Y:20.83, Z:18.01 [[ 9.97044211e-01 -6.79717187e-02 -3.58146079e-02 5.07069393e+02] [ 6.79601109e-02 9.97686846e-01 -1.54279186e-03 2.08267502e+01] [ 3.58366294e-02 -8.95733032e-04 9.99357260e-01 1.80122489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.10, Y:20.83, Z:18.01 [[ 9.96996223e-01 -6.86720184e-02 -3.58146079e-02 5.07098673e+02] [ 6.86608620e-02 9.97638865e-01 -1.54279186e-03 2.08272302e+01] [ 3.58359914e-02 -9.20904194e-04 9.99357260e-01 1.80131459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.13, Y:20.83, Z:18.01 [[ 9.96968851e-01 -6.90682778e-02 -3.58145800e-02 5.07128603e+02] [ 6.90573535e-02 9.97611497e-01 -1.54344029e-03 2.08266622e+01] [ 3.58356395e-02 -9.34498212e-04 9.99357260e-01 1.80139492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.16, Y:20.83, Z:18.02 [[ 9.96949661e-01 -6.93447248e-02 -3.58145522e-02 5.07159054e+02] [ 6.93339556e-02 9.97592311e-01 -1.54408400e-03 2.08270379e+01] [ 3.58353960e-02 -9.43790548e-04 9.99357260e-01 1.80151850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.19, Y:20.83, Z:18.02 [[ 9.96918882e-01 -6.97858181e-02 -3.58145522e-02 5.07189490e+02] [ 6.97753333e-02 9.97561536e-01 -1.54408400e-03 2.08271812e+01] [ 3.58349749e-02 -9.59645817e-04 9.99357260e-01 1.80163005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.22, Y:20.83, Z:18.02 [[ 9.96867063e-01 -7.05221743e-02 -3.58145522e-02 5.07219315e+02] [ 7.05121642e-02 9.97509725e-01 -1.54408400e-03 2.08273136e+01] [ 3.58342563e-02 -9.86115098e-04 9.99357260e-01 1.80173727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.25, Y:20.83, Z:18.02 [[ 9.96793830e-01 -7.15498389e-02 -3.58145243e-02 5.07249774e+02] [ 7.15404680e-02 9.97436502e-01 -1.54473127e-03 2.08274308e+01] [ 3.58332391e-02 -1.02240923e-03 9.99357260e-01 1.80190951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.28, Y:20.83, Z:18.02 [[ 9.96525092e-01 -7.52001449e-02 -3.58145243e-02 5.07279626e+02] [ 7.51931279e-02 9.97167793e-01 -1.54473127e-03 2.08263002e+01] [ 3.58292541e-02 -1.15364264e-03 9.99357260e-01 1.80208021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.31, Y:20.83, Z:18.02 [[ 9.96527745e-01 -7.51649936e-02 -3.58144967e-02 5.07311423e+02] [ 7.51579310e-02 9.97170445e-01 -1.54537032e-03 2.08276429e+01] [ 3.58293154e-02 -1.15173907e-03 9.99357260e-01 1.80219439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.34, Y:20.83, Z:18.02 [[ 9.96339267e-01 -7.76233401e-02 -3.58145512e-02 5.07343225e+02] [ 7.76179086e-02 9.96981984e-01 -1.54410537e-03 2.08276665e+01] [ 3.58263210e-02 -1.24139775e-03 9.99357260e-01 1.80231491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.37, Y:20.83, Z:18.02 [[ 9.96142786e-01 -8.01053240e-02 -3.58146059e-02 5.07374583e+02] [ 8.01015394e-02 9.96785515e-01 -1.54283594e-03 2.08274475e+01] [ 3.58230698e-02 -1.33192018e-03 9.99357260e-01 1.80239002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.41, Y:20.83, Z:18.03 [[ 9.95914338e-01 -8.28971682e-02 -3.58146607e-02 5.07406238e+02] [ 8.28952308e-02 9.96557075e-01 -1.54156372e-03 2.08275389e+01] [ 3.58191448e-02 -1.43359915e-03 9.99357260e-01 1.80250635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.44, Y:20.83, Z:18.03 [[ 9.95690367e-01 -8.55453019e-02 -3.58147164e-02 5.07436994e+02] [ 8.55451202e-02 9.96333107e-01 -1.54026853e-03 2.08275541e+01] [ 3.58151504e-02 -1.53014368e-03 9.99357260e-01 1.80254853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.47, Y:20.83, Z:18.03 [[ 9.95238073e-01 -9.06558226e-02 -3.58147996e-02 5.07468138e+02] [ 9.06590102e-02 9.95880805e-01 -1.53833159e-03 2.08267319e+01] [ 3.58067302e-02 -1.71592812e-03 9.99357260e-01 1.80263994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.50, Y:20.83, Z:18.03 [[ 9.95016779e-01 -9.30532444e-02 -3.58148543e-02 5.07500288e+02] [ 9.30580261e-02 9.95659501e-01 -1.53705763e-03 2.08274191e+01] [ 3.58024281e-02 -1.80346151e-03 9.99357260e-01 1.80276266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.53, Y:20.83, Z:18.03 [[ 9.94822538e-01 -9.51073383e-02 -3.58149630e-02 5.07531089e+02] [ 9.51135381e-02 9.95465248e-01 -1.53451955e-03 2.08278547e+01] [ 3.57984951e-02 -1.87991321e-03 9.99357260e-01 1.80288007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.56, Y:20.83, Z:18.03 [[ 9.94662950e-01 -9.67620671e-02 -3.58150440e-02 5.07563126e+02] [ 9.67694039e-02 9.95305648e-01 -1.53262688e-03 2.08284041e+01] [ 3.57952157e-02 -1.94135329e-03 9.99357260e-01 1.80299944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.60, Y:20.83, Z:18.03 [[ 9.94442280e-01 -9.90041755e-02 -3.58151515e-02 5.07595547e+02] [ 9.90130515e-02 9.95084958e-01 -1.53011129e-03 2.08285174e+01] [ 3.57906059e-02 -2.02456008e-03 9.99357260e-01 1.80315133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.63, Y:20.83, Z:18.03 [[ 9.94384194e-01 -9.95858539e-02 -3.58152613e-02 5.07626245e+02] [ 9.95951983e-02 9.95026866e-01 -1.52753594e-03 2.08293581e+01] [ 3.57892682e-02 -2.04807046e-03 9.99357260e-01 1.80326724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.66, Y:20.83, Z:18.03 [[ 9.94334208e-01 -1.00083682e-01 -3.58153432e-02 5.07658076e+02] [ 1.00093417e-01 9.94976874e-01 -1.52561322e-03 2.08305873e+01] [ 3.57881272e-02 -2.06791068e-03 9.99357260e-01 1.80347083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.69, Y:20.83, Z:18.04 [[ 9.94353903e-01 -9.98877807e-02 -3.58154516e-02 5.07690051e+02] [ 9.98974807e-02 9.94996570e-01 -1.52306477e-03 2.08318694e+01] [ 3.57883870e-02 -2.06340799e-03 9.99357260e-01 1.80362729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.72, Y:20.83, Z:18.04 [[ 9.94501155e-01 -9.84108645e-02 -3.58155597e-02 5.07721971e+02] [ 9.84197015e-02 9.95143834e-01 -1.52051843e-03 2.08332986e+01] [ 3.57912689e-02 -2.01279936e-03 9.99357260e-01 1.80374589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.75, Y:20.83, Z:18.04 [[ 9.94598785e-01 -9.74191745e-02 -3.58156676e-02 5.07754013e+02] [ 9.74274621e-02 9.95241471e-01 -1.51797208e-03 2.08347938e+01] [ 3.57931173e-02 -1.97965641e-03 9.99357260e-01 1.80387302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.79, Y:20.84, Z:18.04 [[ 9.94720046e-01 -9.61730771e-02 -3.58157759e-02 5.07786611e+02] [ 9.61806514e-02 9.95362741e-01 -1.51541210e-03 2.08363457e+01] [ 3.57954307e-02 -1.93737386e-03 9.99357260e-01 1.80398947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.82, Y:20.84, Z:18.04 [[ 9.94821172e-01 -9.51212864e-02 -3.58158838e-02 5.07818550e+02] [ 9.51282728e-02 9.95463873e-01 -1.51285881e-03 2.08382598e+01] [ 3.57973235e-02 -1.90207919e-03 9.99357260e-01 1.80413776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.85, Y:20.84, Z:18.04 [[ 9.94943226e-01 -9.38359847e-02 -3.58159922e-02 5.07849873e+02] [ 9.38422331e-02 9.95585935e-01 -1.51028830e-03 2.08399145e+01] [ 3.57996175e-02 -1.85840158e-03 9.99357260e-01 1.80425509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.88, Y:20.84, Z:18.04 [[ 9.95137842e-01 -9.17490320e-02 -3.58160728e-02 5.07881191e+02] [ 9.17540011e-02 9.95780562e-01 -1.50837419e-03 2.08424015e+01] [ 3.58033410e-02 -1.78522775e-03 9.99357260e-01 1.80435075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.91, Y:20.84, Z:18.05 [[ 9.95224098e-01 -9.08085819e-02 -3.58161516e-02 5.07913115e+02] [ 9.08130109e-02 9.95866822e-01 -1.50650084e-03 2.08443106e+01] [ 3.58049203e-02 -1.75326663e-03 9.99357260e-01 1.80451695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.95, Y:20.85, Z:18.05 [[ 9.95322238e-01 -8.97264581e-02 -3.58162608e-02 5.07945074e+02] [ 8.97302817e-02 9.95964967e-01 -1.50389904e-03 2.08461996e+01] [ 3.58066806e-02 -1.71693902e-03 9.99357260e-01 1.80460331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.98, Y:20.85, Z:18.05 [[ 9.95525655e-01 -8.74405958e-02 -3.58163697e-02 5.07977225e+02] [ 8.74430366e-02 9.96168390e-01 -1.50130222e-03 2.08487791e+01] [ 3.58104101e-02 -1.63730725e-03 9.99357260e-01 1.80464678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.01, Y:20.85, Z:18.05 [[ 9.95678399e-01 -8.56837523e-02 -3.58164780e-02 5.08008979e+02] [ 8.56851519e-02 9.96321137e-01 -1.49871257e-03 2.08508869e+01] [ 3.58131295e-02 -1.57670463e-03 9.99357260e-01 1.80477599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.04, Y:20.85, Z:18.05 [[ 9.95874703e-01 -8.33711447e-02 -3.58165872e-02 5.08041577e+02] [ 8.33711454e-02 9.96517443e-01 -1.49609988e-03 2.08531973e+01] [ 3.58165854e-02 -1.49614188e-03 9.99357260e-01 1.80490957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.07, Y:20.86, Z:18.05 [[ 9.96352514e-01 -7.74521119e-02 -3.58167361e-02 5.08072413e+02] [ 7.74484218e-02 9.96995243e-01 -1.49252495e-03 2.08568384e+01] [ 3.58247148e-02 -1.28686870e-03 9.99357260e-01 1.80504630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.10, Y:20.86, Z:18.05 [[ 9.96630195e-01 -7.37930237e-02 -3.58168177e-02 5.08103313e+02] [ 7.37870439e-02 9.97272907e-01 -1.49056466e-03 2.08595685e+01] [ 3.58291352e-02 -1.15727535e-03 9.99357260e-01 1.80522517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.13, Y:20.86, Z:18.05 [[ 9.96911103e-01 -6.98956739e-02 -3.58168726e-02 5.08133662e+02] [ 6.98872286e-02 9.97553787e-01 -1.48924444e-03 2.08620572e+01] [ 3.58333487e-02 -1.01849764e-03 9.99357260e-01 1.80534197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.16, Y:20.86, Z:18.05 [[ 9.97150732e-01 -6.63895079e-02 -3.58168999e-02 5.08163910e+02] [ 6.63788261e-02 9.97793383e-01 -1.48858855e-03 2.08645162e+01] [ 3.58366924e-02 -8.93136604e-04 9.99357260e-01 1.80548535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.19, Y:20.87, Z:18.06 [[ 9.97367669e-01 -6.30466755e-02 -3.58168999e-02 5.08193364e+02] [ 6.30338396e-02 9.98010280e-01 -1.48858855e-03 2.08667084e+01] [ 3.58394848e-02 -7.73006629e-04 9.99357260e-01 1.80562242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.22, Y:20.87, Z:18.06 [[ 9.97548484e-01 -6.01180139e-02 -3.58168453e-02 5.08222342e+02] [ 6.01032442e-02 9.98191054e-01 -1.48990002e-03 2.08686903e+01] [ 3.58416244e-02 -6.66461093e-04 9.99357260e-01 1.80568131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.25, Y:20.87, Z:18.06 [[ 9.97817918e-01 -5.54667752e-02 -3.58167400e-02 5.08252036e+02] [ 5.54489193e-02 9.98460410e-01 -1.49242744e-03 2.08711548e+01] [ 3.58443770e-02 -4.96828687e-04 9.99357260e-01 1.80580652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.28, Y:20.87, Z:18.06 [[ 9.97855759e-01 -5.47818359e-02 -3.58166860e-02 5.08280898e+02] [ 5.47634925e-02 9.98498237e-01 -1.49372261e-03 2.08729649e+01] [ 3.58447267e-02 -4.70927106e-04 9.99357260e-01 1.80589952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.31, Y:20.87, Z:18.06 [[ 9.97879910e-01 -5.43403789e-02 -3.58163074e-02 5.08308411e+02] [ 5.43214275e-02 9.98522370e-01 -1.50274542e-03 2.08741125e+01] [ 3.58450440e-02 -4.46033478e-04 9.99357260e-01 1.80600098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.34, Y:20.88, Z:18.06 [[ 9.97862580e-01 -5.46579888e-02 -3.58158669e-02 5.08336487e+02] [ 5.46388676e-02 9.98505035e-01 -1.51317332e-03 2.08752577e+01] [ 3.58450304e-02 -4.46999373e-04 9.99357260e-01 1.80605689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.36, Y:20.88, Z:18.06 [[ 9.97740636e-01 -5.68406626e-02 -3.58156607e-02 5.08364736e+02] [ 5.68227723e-02 9.98383127e-01 -1.51803725e-03 2.08756408e+01] [ 3.58440376e-02 -5.20537685e-04 9.99357260e-01 1.80614717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.39, Y:20.88, Z:18.06 [[ 9.97633987e-01 -5.86830265e-02 -3.58152224e-02 5.08393827e+02] [ 5.86659540e-02 9.98276500e-01 -1.52830799e-03 2.08762659e+01] [ 3.58431806e-02 -5.76442195e-04 9.99357260e-01 1.80625661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.42, Y:20.88, Z:18.06 [[ 9.97529986e-01 -6.04253601e-02 -3.58148384e-02 5.08422236e+02] [ 6.04090887e-02 9.98172520e-01 -1.53725465e-03 2.08768777e+01] [ 3.58422767e-02 -6.30084142e-04 9.99357261e-01 1.80640752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.45, Y:20.88, Z:18.06 [[ 9.97305322e-01 -6.40267128e-02 -3.58144446e-02 5.08451391e+02] [ 6.40124341e-02 9.97947903e-01 -1.54637516e-03 2.08768367e+01] [ 3.58399592e-02 -7.50361597e-04 9.99357261e-01 1.80646788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.48, Y:20.88, Z:18.07 [[ 9.97190527e-01 -6.57904624e-02 -3.58143610e-02 5.08480729e+02] [ 6.57772507e-02 9.97833130e-01 -1.54831077e-03 2.08773406e+01] [ 3.58386200e-02 -8.11809368e-04 9.99357261e-01 1.80654614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.51, Y:20.88, Z:18.07 [[ 9.97073913e-01 -6.75347909e-02 -3.58143058e-02 5.08510831e+02] [ 6.75226576e-02 9.97716538e-01 -1.54958475e-03 2.08778091e+01] [ 3.58371761e-02 -8.73226579e-04 9.99357261e-01 1.80668445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.54, Y:20.88, Z:18.07 [[ 9.96968441e-01 -6.90743238e-02 -3.58143058e-02 5.08539907e+02] [ 6.90631829e-02 9.97611084e-01 -1.54958475e-03 2.08782001e+01] [ 3.58357850e-02 -9.28562860e-04 9.99357261e-01 1.80673474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.57, Y:20.88, Z:18.07 [[ 9.96721026e-01 -7.25571020e-02 -3.58142779e-02 5.08569439e+02] [ 7.25481832e-02 9.97363704e-01 -1.55022961e-03 2.08776067e+01] [ 3.58323410e-02 -1.05311434e-03 9.99357261e-01 1.80683540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.60, Y:20.88, Z:18.07 [[ 9.96614710e-01 -7.40031068e-02 -3.58142509e-02 5.08599690e+02] [ 7.39950981e-02 9.97257399e-01 -1.55085248e-03 2.08779361e+01] [ 3.58307947e-02 -1.10447662e-03 9.99357261e-01 1.80702248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.63, Y:20.88, Z:18.07 [[ 9.96521508e-01 -7.52477465e-02 -3.58142509e-02 5.08630010e+02] [ 7.52405404e-02 9.97164207e-01 -1.55085248e-03 2.08782010e+01] [ 3.58293873e-02 -1.14922575e-03 9.99357261e-01 1.80713812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.66, Y:20.88, Z:18.07 [[ 9.96431792e-01 -7.64265728e-02 -3.58142780e-02 5.08660863e+02] [ 7.64201495e-02 9.97074500e-01 -1.55022717e-03 2.08788112e+01] [ 3.58279819e-02 -1.19223684e-03 9.99357261e-01 1.80736129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.69, Y:20.88, Z:18.08 [[ 9.96305179e-01 -7.80597476e-02 -3.58143336e-02 5.08692324e+02] [ 7.80544240e-02 9.96947896e-01 -1.54894101e-03 2.08785302e+01] [ 3.58259345e-02 -1.25224923e-03 9.99357261e-01 1.80750986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.72, Y:20.88, Z:18.08 [[ 9.96246717e-01 -7.88023401e-02 -3.58143902e-02 5.08722540e+02] [ 7.87975425e-02 9.96889438e-01 -1.54763194e-03 2.08786958e+01] [ 3.58249444e-02 -1.28026270e-03 9.99357261e-01 1.80753951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.75, Y:20.88, Z:18.08 [[ 9.96158177e-01 -7.99137861e-02 -3.58144183e-02 5.08753793e+02] [ 7.99097289e-02 9.96800904e-01 -1.54698238e-03 2.08789527e+01] [ 3.58234697e-02 -1.32088131e-03 9.99357261e-01 1.80757746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.79, Y:20.88, Z:18.08 [[ 9.96060843e-01 -8.11179476e-02 -3.58144735e-02 5.08785060e+02] [ 8.11147134e-02 9.96703574e-01 -1.54570189e-03 2.08794136e+01] [ 3.58217979e-02 -1.36546763e-03 9.99357261e-01 1.80764937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.82, Y:20.88, Z:18.08 [[ 9.95942918e-01 -8.25531537e-02 -3.58145289e-02 5.08816266e+02] [ 8.25508918e-02 9.96585654e-01 -1.54441803e-03 2.08797112e+01] [ 3.58197423e-02 -1.41836910e-03 9.99357261e-01 1.80771189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.85, Y:20.88, Z:18.08 [[ 9.95640682e-01 -8.61217089e-02 -3.58145850e-02 5.08846738e+02] [ 8.61217971e-02 9.96283421e-01 -1.54311635e-03 2.08790716e+01] [ 3.58143731e-02 -1.54802701e-03 9.99357261e-01 1.80765932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.88, Y:20.88, Z:18.08 [[ 9.95458279e-01 -8.82050364e-02 -3.58146128e-02 5.08878379e+02] [ 8.82064927e-02 9.96101017e-01 -1.54247043e-03 2.08796525e+01] [ 3.58110259e-02 -1.62361642e-03 9.99357261e-01 1.80774065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.91, Y:20.88, Z:18.08 [[ 9.95253812e-01 -9.04829210e-02 -3.58146670e-02 5.08910059e+02] [ 9.04858934e-02 9.95896545e-01 -1.54121187e-03 2.08803750e+01] [ 3.58071564e-02 -1.70682515e-03 9.99357261e-01 1.80788051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.94, Y:20.88, Z:18.08 [[ 9.95032408e-01 -9.28859995e-02 -3.58147792e-02 5.08942373e+02] [ 9.28906178e-02 9.95675131e-01 -1.53859848e-03 2.08812240e+01] [ 3.58027992e-02 -1.79590162e-03 9.99357261e-01 1.80801215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.97, Y:20.88, Z:18.08 [[ 9.94616113e-01 -9.72423829e-02 -3.58148927e-02 5.08973438e+02] [ 9.72499107e-02 9.95258808e-01 -1.53595161e-03 2.08817721e+01] [ 3.57944471e-02 -1.95531290e-03 9.99357261e-01 1.80803883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.00, Y:20.88, Z:18.08 [[ 9.94410923e-01 -9.93186932e-02 -3.58149773e-02 5.09004731e+02] [ 9.93276337e-02 9.95053601e-01 -1.53397745e-03 2.08829487e+01] [ 3.57901747e-02 -2.03201301e-03 9.99357261e-01 1.80807826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.04, Y:20.88, Z:18.08 [[ 9.94245743e-01 -1.00958825e-01 -3.58150606e-02 5.09037047e+02] [ 1.00968896e-01 9.94888403e-01 -1.53202977e-03 2.08842897e+01] [ 3.57866604e-02 -2.09299305e-03 9.99357261e-01 1.80824757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.07, Y:20.89, Z:18.08 [[ 9.94103405e-01 -1.02350839e-01 -3.58151730e-02 5.09069082e+02] [ 1.02361904e-01 9.94746049e-01 -1.52939802e-03 2.08858405e+01] [ 3.57835370e-02 -2.14572952e-03 9.99357261e-01 1.80838840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.10, Y:20.89, Z:18.08 [[ 9.93897763e-01 -1.04328820e-01 -3.58152851e-02 5.09100429e+02] [ 1.04341258e-01 9.94540382e-01 -1.52676854e-03 2.08877235e+01] [ 3.57790333e-02 -2.21956008e-03 9.99357261e-01 1.80848714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.13, Y:20.89, Z:18.09 [[ 9.93844234e-01 -1.04837479e-01 -3.58153685e-02 5.09132667e+02] [ 1.04850317e-01 9.94486846e-01 -1.52480916e-03 2.08893936e+01] [ 3.57777700e-02 -2.23982993e-03 9.99357261e-01 1.80862230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.16, Y:20.89, Z:18.09 [[ 9.93812993e-01 -1.05133182e-01 -3.58154797e-02 5.09163910e+02] [ 1.05146305e-01 9.94455599e-01 -1.52219320e-03 2.08910550e+01] [ 3.57769373e-02 -2.25308996e-03 9.99357261e-01 1.80871331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.20, Y:20.89, Z:18.09 [[ 9.93782379e-01 -1.05422150e-01 -3.58155624e-02 5.09195374e+02] [ 1.05435529e-01 9.94424979e-01 -1.52024466e-03 2.08927654e+01] [ 3.57761573e-02 -2.26544040e-03 9.99357261e-01 1.80881196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.23, Y:20.89, Z:18.09 [[ 9.93811268e-01 -1.05149399e-01 -3.58157412e-02 5.09227010e+02] [ 1.05162754e-01 9.94453869e-01 -1.51602126e-03 2.08943171e+01] [ 3.57765111e-02 -2.25984295e-03 9.99357261e-01 1.80899601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.26, Y:20.90, Z:18.09 [[ 9.93818782e-01 -1.05078319e-01 -3.58158492e-02 5.09259651e+02] [ 1.05091719e-01 9.94461382e-01 -1.51346449e-03 2.08956355e+01] [ 3.57765112e-02 -2.25983973e-03 9.99357261e-01 1.80911313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.29, Y:20.90, Z:18.09 [[ 9.93836092e-01 -1.04914440e-01 -3.58159572e-02 5.09291799e+02] [ 1.04927826e-01 9.94478692e-01 -1.51090450e-03 2.08976345e+01] [ 3.57767220e-02 -2.25649909e-03 9.99357261e-01 1.80924354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.32, Y:20.90, Z:18.09 [[ 9.93970073e-01 -1.03637361e-01 -3.58160654e-02 5.09323568e+02] [ 1.03650014e-01 9.94612688e-01 -1.50833507e-03 2.09004057e+01] [ 3.57794330e-02 -2.21309576e-03 9.99357261e-01 1.80939340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.36, Y:20.90, Z:18.10 [[ 9.94076271e-01 -1.02613692e-01 -3.58161745e-02 5.09355770e+02] [ 1.02625776e-01 9.94718896e-01 -1.50574075e-03 2.09026473e+01] [ 3.57815352e-02 -2.17884154e-03 9.99357261e-01 1.80954137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.39, Y:20.91, Z:18.10 [[ 9.94338022e-01 -1.00045450e-01 -3.58162845e-02 5.09387081e+02] [ 1.00055968e-01 9.94980675e-01 -1.50311967e-03 2.09065431e+01] [ 3.57868912e-02 -2.08902398e-03 9.99357261e-01 1.80966838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.42, Y:20.91, Z:18.10 [[ 9.94502521e-01 -9.83967664e-02 -3.58163663e-02 5.09419176e+02] [ 9.84062889e-02 9.95145190e-01 -1.50116838e-03 2.09092718e+01] [ 3.57901947e-02 -2.03163994e-03 9.99357261e-01 1.80974939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.45, Y:20.91, Z:18.10 [[ 9.94702907e-01 -9.63499157e-02 -3.58164745e-02 5.09450800e+02] [ 9.63582085e-02 9.95345593e-01 -1.49858011e-03 2.09116722e+01] [ 3.57941582e-02 -1.96056933e-03 9.99357261e-01 1.80979543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.48, Y:20.91, Z:18.10 [[ 9.94883939e-01 -9.44622380e-02 -3.58166540e-02 5.09483262e+02] [ 9.44694657e-02 9.95526638e-01 -1.49427960e-03 2.09141660e+01] [ 3.57975861e-02 -1.89694539e-03 9.99357261e-01 1.80985792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.52, Y:20.92, Z:18.10 [[ 9.95097202e-01 -9.21884997e-02 -3.58167571e-02 5.09515862e+02] [ 9.21943475e-02 9.95739914e-01 -1.49180399e-03 2.09165168e+01] [ 3.58017018e-02 -1.81761258e-03 9.99357261e-01 1.80993688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.55, Y:20.92, Z:18.10 [[ 9.95334638e-01 -8.95885631e-02 -3.58168671e-02 5.09547267e+02] [ 8.95928268e-02 9.95977363e-01 -1.48915727e-03 2.09189556e+01] [ 3.58062003e-02 -1.72672456e-03 9.99357261e-01 1.80999443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.58, Y:20.92, Z:18.10 [[ 9.95862996e-01 -8.35107133e-02 -3.58169490e-02 5.09578991e+02] [ 8.35111242e-02 9.96505735e-01 -1.48718577e-03 2.09230175e+01] [ 3.58159910e-02 -1.51008040e-03 9.99357261e-01 1.80999118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.61, Y:20.93, Z:18.10 [[ 9.96149479e-01 -8.00209656e-02 -3.58170570e-02 5.09610896e+02] [ 8.00192180e-02 9.96792215e-01 -1.48457919e-03 2.09260406e+01] [ 3.58209611e-02 -1.38719011e-03 9.99357261e-01 1.81007904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.64, Y:20.93, Z:18.10 [[ 9.96460894e-01 -7.60448345e-02 -3.58171665e-02 5.09642251e+02] [ 7.60406169e-02 9.97103620e-01 -1.48193245e-03 2.09291164e+01] [ 3.58261197e-02 -1.24687171e-03 9.99357261e-01 1.81016922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.67, Y:20.93, Z:18.10 [[ 9.96760843e-01 -7.20065251e-02 -3.58173475e-02 5.09673700e+02] [ 7.19998607e-02 9.97403548e-01 -1.47754541e-03 2.09321089e+01] [ 3.58307424e-02 -1.10608463e-03 9.99357261e-01 1.81026315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.70, Y:20.94, Z:18.10 [[ 9.97326753e-01 -6.36903596e-02 -3.58174009e-02 5.09704269e+02] [ 6.36783814e-02 9.97969381e-01 -1.47624957e-03 2.09358885e+01] [ 3.58386923e-02 -8.08490923e-04 9.99357261e-01 1.81030057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.73, Y:20.94, Z:18.10 [[ 9.97582403e-01 -5.95521761e-02 -3.58174274e-02 5.09733465e+02] [ 5.95375549e-02 9.98224976e-01 -1.47560708e-03 2.09383450e+01] [ 3.58417262e-02 -6.60442394e-04 9.99357261e-01 1.81042155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.76, Y:20.94, Z:18.11 [[ 9.97799438e-01 -5.57978277e-02 -3.58173740e-02 5.09762427e+02] [ 5.57807422e-02 9.98441950e-01 -1.47690159e-03 2.09411222e+01] [ 3.58439766e-02 -5.24268128e-04 9.99357261e-01 1.81055260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.79, Y:20.94, Z:18.11 [[ 9.97976867e-01 -5.25289803e-02 -3.58172944e-02 5.09790283e+02] [ 5.25097209e-02 9.98619318e-01 -1.47882940e-03 2.09436236e+01] [ 3.58455235e-02 -4.04918600e-04 9.99357261e-01 1.81069966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.82, Y:20.95, Z:18.11 [[ 9.98238232e-01 -4.73028881e-02 -3.58171636e-02 5.09817671e+02] [ 4.72801517e-02 9.98880569e-01 -1.48199055e-03 2.09463276e+01] [ 3.58471712e-02 -2.14061301e-04 9.99357261e-01 1.81086180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.85, Y:20.95, Z:18.11 [[ 9.98296046e-01 -4.60667471e-02 -3.58170339e-02 5.09845562e+02] [ 4.60431032e-02 9.98938350e-01 -1.48511797e-03 2.09478659e+01] [ 3.58474233e-02 -1.66539989e-04 9.99357261e-01 1.81096519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.87, Y:20.95, Z:18.11 [[ 9.98315310e-01 -4.56477135e-02 -3.58166035e-02 5.09873800e+02] [ 4.56234301e-02 9.98957590e-01 -1.49542626e-03 2.09491568e+01] [ 3.58475307e-02 -1.41169377e-04 9.99357261e-01 1.81110906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.90, Y:20.95, Z:18.11 [[ 9.98300234e-01 -4.59765575e-02 -3.58161708e-02 5.09901191e+02] [ 4.59521164e-02 9.98942509e-01 -1.50572029e-03 2.09501788e+01] [ 3.58475233e-02 -1.42667930e-04 9.99357261e-01 1.81120736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.93, Y:20.95, Z:18.11 [[ 9.98255750e-01 -4.69328378e-02 -3.58157270e-02 5.09929521e+02] [ 4.69086358e-02 9.98898033e-01 -1.51620374e-03 2.09508715e+01] [ 3.58474190e-02 -1.66507791e-04 9.99357261e-01 1.81129048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.96, Y:20.95, Z:18.11 [[ 9.98038448e-01 -5.13470681e-02 -3.58152834e-02 5.09956651e+02] [ 5.13253334e-02 9.98680820e-01 -1.52661171e-03 2.09506216e+01] [ 3.58464236e-02 -3.14614176e-04 9.99357261e-01 1.81137440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.98, Y:20.95, Z:18.11 [[ 9.97858434e-01 -5.47341343e-02 -3.58150906e-02 5.09984856e+02] [ 5.47144181e-02 9.98500870e-01 -1.53111997e-03 2.09508965e+01] [ 3.58452037e-02 -4.31760863e-04 9.99357261e-01 1.81147284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.01, Y:20.95, Z:18.12 [[ 9.97632043e-01 -5.87164202e-02 -3.58146534e-02 5.10013212e+02] [ 5.86989036e-02 9.98274543e-01 -1.54127934e-03 2.09509748e+01] [ 3.58433552e-02 -5.64651234e-04 9.99357261e-01 1.81155696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.04, Y:20.95, Z:18.12 [[ 9.97368002e-01 -6.30429352e-02 -3.58141994e-02 5.10041447e+02] [ 6.30278295e-02 9.98010563e-01 -1.55175698e-03 2.09510718e+01] [ 3.58407767e-02 -7.09618500e-04 9.99357261e-01 1.81164576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.07, Y:20.95, Z:18.12 [[ 9.96760174e-01 -7.20173895e-02 -3.58141150e-02 5.10071334e+02] [ 7.20079980e-02 9.97402845e-01 -1.55370308e-03 2.09495777e+01] [ 3.58329938e-02 -1.03023337e-03 9.99357261e-01 1.81170443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.10, Y:20.95, Z:18.12 [[ 9.96439975e-01 -7.63199119e-02 -3.58140590e-02 5.10101903e+02] [ 7.63132487e-02 9.97082680e-01 -1.55499336e-03 2.09494263e+01] [ 3.58282549e-02 -1.18362964e-03 9.99357261e-01 1.81180038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.13, Y:20.95, Z:18.12 [[ 9.96126234e-01 -8.03111455e-02 -3.58140590e-02 5.10131789e+02] [ 8.03070571e-02 9.96768959e-01 -1.55499336e-03 2.09494930e+01] [ 3.58232256e-02 -1.32715200e-03 9.99357261e-01 1.81189121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.16, Y:20.95, Z:18.12 [[ 9.95493877e-01 -8.78025430e-02 -3.58141527e-02 5.10163762e+02] [ 8.78033674e-02 9.96136616e-01 -1.55283148e-03 2.09487168e+01] [ 3.58121315e-02 -1.59876898e-03 9.99357261e-01 1.81197454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.20, Y:20.95, Z:18.12 [[ 9.95216068e-01 -9.08972814e-02 -3.58142661e-02 5.10195239e+02] [ 9.09001983e-02 9.95858801e-01 -1.55021195e-03 2.09491134e+01] [ 3.58068622e-02 -1.71272805e-03 9.99357261e-01 1.81207517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.23, Y:20.95, Z:18.12 [[ 9.94959661e-01 -9.36621517e-02 -3.58144567e-02 5.10227506e+02] [ 9.36670129e-02 9.95602381e-01 -1.54579613e-03 2.09495593e+01] [ 3.58017410e-02 -1.81662838e-03 9.99357261e-01 1.81217169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.26, Y:20.95, Z:18.12 [[ 9.94732890e-01 -9.60405862e-02 -3.58145674e-02 5.10259347e+02] [ 9.60470763e-02 9.95375596e-01 -1.54322652e-03 2.09502315e+01] [ 3.57971588e-02 -1.90478631e-03 9.99357261e-01 1.81230362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.29, Y:20.95, Z:18.12 [[ 9.94317368e-01 -1.00251088e-01 -3.58146813e-02 5.10291691e+02] [ 1.00260394e-01 9.94960039e-01 -1.54057853e-03 2.09503233e+01] [ 3.57886214e-02 -2.05897008e-03 9.99357261e-01 1.81245135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.32, Y:20.95, Z:18.13 [[ 9.94162249e-01 -1.01777814e-01 -3.58147945e-02 5.10324158e+02] [ 1.01788202e-01 9.94804904e-01 -1.53794396e-03 2.09509419e+01] [ 3.57852617e-02 -2.11655771e-03 9.99357261e-01 1.81260736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.36, Y:20.95, Z:18.13 [[ 9.94011472e-01 -1.03239945e-01 -3.58149089e-02 5.10356416e+02] [ 1.03251374e-01 9.94654109e-01 -1.53527480e-03 2.09519516e+01] [ 3.57819480e-02 -2.17185778e-03 9.99357261e-01 1.81276299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.39, Y:20.95, Z:18.13 [[ 9.93864877e-01 -1.04641723e-01 -3.58150221e-02 5.10388151e+02] [ 1.04654153e-01 9.94507496e-01 -1.53262822e-03 2.09532501e+01] [ 3.57786848e-02 -2.22496544e-03 9.99357261e-01 1.81290884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.42, Y:20.95, Z:18.13 [[ 9.93648226e-01 -1.06679319e-01 -3.58151630e-02 5.10420019e+02] [ 1.06693185e-01 9.94290815e-01 -1.52933053e-03 2.09542974e+01] [ 3.57738355e-02 -2.30161725e-03 9.99357261e-01 1.81302977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.45, Y:20.96, Z:18.13 [[ 9.93543103e-01 -1.07653932e-01 -3.58152733e-02 5.10452462e+02] [ 1.07668521e-01 9.94185676e-01 -1.52674096e-03 2.09558113e+01] [ 3.57713914e-02 -2.33929458e-03 9.99357261e-01 1.81314140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.48, Y:20.96, Z:18.13 [[ 9.93545909e-01 -1.07627992e-01 -3.58153833e-02 5.10483566e+02] [ 1.07642657e-01 9.94188481e-01 -1.52415714e-03 2.09570803e+01] [ 3.57712835e-02 -2.34094294e-03 9.99357261e-01 1.81331442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.52, Y:20.96, Z:18.13 [[ 9.93513234e-01 -1.07930186e-01 -3.58124087e-02 5.10516082e+02] [ 1.07942533e-01 9.94155857e-01 -1.59417582e-03 2.09589920e+01] [ 3.57751755e-02 -2.28184734e-03 9.99357258e-01 1.81337428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.55, Y:20.96, Z:18.13 [[ 9.93726857e-01 -1.05946231e-01 -3.58096278e-02 5.10551768e+02] [ 1.05954938e-01 9.94369547e-01 -1.65985089e-03 2.09582176e+01] [ 3.57838584e-02 -2.14476848e-03 9.99357251e-01 1.81317820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.58, Y:20.96, Z:18.13 [[ 9.93466510e-01 -1.08356223e-01 -3.58220870e-02 5.10582774e+02] [ 1.08377094e-01 9.94108920e-01 -1.36435713e-03 2.09627689e+01] [ 3.57588928e-02 -2.52685058e-03 9.99357252e-01 1.81349255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.61, Y:20.97, Z:18.14 [[ 9.93577978e-01 -1.07331438e-01 -3.58157055e-02 5.10614933e+02] [ 1.07346232e-01 9.94220544e-01 -1.51520960e-03 2.09651419e+01] [ 3.57713398e-02 -2.33920214e-03 9.99357263e-01 1.81363968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.64, Y:20.97, Z:18.14 [[ 9.93780201e-01 -1.05442589e-01 -3.58158151e-02 5.10644789e+02] [ 1.05456255e-01 9.94422793e-01 -1.51261392e-03 2.09676740e+01] [ 3.57755568e-02 -2.27379596e-03 9.99357263e-01 1.81380440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.68, Y:20.97, Z:18.14 [[ 9.94143083e-01 -1.01966922e-01 -3.58089073e-02 5.10676421e+02] [ 1.01972502e-01 9.94785807e-01 -1.67526033e-03 2.09714897e+01] [ 3.57930139e-02 -1.98607542e-03 9.99357251e-01 1.81384005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.71, Y:20.97, Z:18.14 [[ 9.94367875e-01 -9.97496563e-02 -3.58124936e-02 5.10709953e+02] [ 9.97568647e-02 9.95010573e-01 -1.58997939e-03 2.09738836e+01] [ 3.57924097e-02 -1.99151766e-03 9.99357262e-01 1.81420030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.74, Y:20.98, Z:18.14 [[ 9.94764616e-01 -9.57108008e-02 -3.58162063e-02 5.10740200e+02] [ 9.57185785e-02 9.95407303e-01 -1.50141657e-03 2.09765124e+01] [ 3.57954152e-02 -1.93472028e-03 9.99357266e-01 1.81416735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.77, Y:20.98, Z:18.14 [[ 9.95082494e-01 -9.23505289e-02 -3.58079531e-02 5.10772242e+02] [ 9.23491109e-02 9.95725244e-01 -1.69709060e-03 2.09794278e+01] [ 3.58116100e-02 -1.61808748e-03 9.99357249e-01 1.81437120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.80, Y:20.98, Z:18.15 [[ 9.95413957e-01 -8.87048452e-02 -3.58120860e-02 5.10804754e+02] [ 8.87046122e-02 9.96056693e-01 -1.59850549e-03 2.09824636e+01] [ 3.58126632e-02 -1.58552253e-03 9.99357263e-01 1.81463752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.84, Y:20.99, Z:18.15 [[ 9.96187345e-01 -7.95485593e-02 -3.58162064e-02 5.10835933e+02] [ 7.95459482e-02 9.96830072e-01 -1.50013495e-03 2.09872220e+01] [ 3.58220052e-02 -1.35461865e-03 9.99357268e-01 1.81481599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.87, Y:20.99, Z:18.15 [[ 9.96562664e-01 -7.46997393e-02 -3.58162880e-02 5.10867928e+02] [ 7.46940704e-02 9.97205371e-01 -1.49818450e-03 2.09898807e+01] [ 3.58281087e-02 -1.18222960e-03 9.99357268e-01 1.81500305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.90, Y:20.99, Z:18.15 [[ 9.96913261e-01 -6.98651233e-02 -3.58163957e-02 5.10899493e+02] [ 6.98564297e-02 9.97555934e-01 -1.49560553e-03 2.09922636e+01] [ 3.58333487e-02 -1.01101654e-03 9.99357268e-01 1.81514133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.93, Y:20.99, Z:18.15 [[ 9.97221058e-01 -6.53249099e-02 -3.58164489e-02 5.10930530e+02] [ 6.53133357e-02 9.97863686e-01 -1.49432979e-03 2.09946780e+01] [ 3.58375507e-02 -8.49114621e-04 9.99357268e-01 1.81530161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.97, Y:20.99, Z:18.15 [[ 9.98053354e-01 -5.10556707e-02 -3.58165017e-02 5.10966477e+02] [ 5.10349522e-02 9.98695752e-01 -1.49306306e-03 2.09905653e+01] [ 3.58460174e-02 -3.37736860e-04 9.99357268e-01 1.81474935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.99, Y:21.00, Z:18.16 [[ 9.97970667e-01 -5.26283975e-02 -3.58440925e-02 5.10990193e+02] [ 5.26325671e-02 9.98613603e-01 -8.27903697e-04 2.09987219e+01] [ 3.58379696e-02 -1.06034300e-03 9.99357051e-01 1.81553081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.02, Y:21.00, Z:18.16 [[ 9.98146521e-01 -4.92012952e-02 -3.58155745e-02 5.11018661e+02] [ 4.91789111e-02 9.98788850e-01 -1.50621613e-03 2.10007497e+01] [ 3.58463042e-02 -2.57946565e-04 9.99357281e-01 1.81568351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.05, Y:21.00, Z:18.16 [[ 9.98301228e-01 -4.59557499e-02 -3.58151904e-02 5.11046240e+02] [ 4.59309518e-02 9.98943468e-01 -1.51529475e-03 2.10020114e+01] [ 3.58469870e-02 -1.32305173e-04 9.99357281e-01 1.81574148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.07, Y:21.00, Z:18.16 [[ 9.98441693e-01 -4.27959176e-02 -3.58147470e-02 5.11073883e+02] [ 4.27687137e-02 9.99083835e-01 -1.52570256e-03 2.10029305e+01] [ 3.58472286e-02 -8.42561078e-06 9.99357282e-01 1.81580628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.10, Y:21.00, Z:18.16 [[ 9.98673392e-01 -3.69971784e-02 -3.58143017e-02 5.11101095e+02] [ 3.69658737e-02 9.99315348e-01 -1.53608409e-03 2.10036563e+01] [ 3.58466122e-02 2.10139358e-04 9.99357282e-01 1.81581700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.13, Y:21.00, Z:18.16 [[ 9.98754782e-01 -3.47308844e-02 -3.58141085e-02 5.11128643e+02] [ 3.46979619e-02 9.99396657e-01 -1.54057609e-03 2.10044301e+01] [ 3.58460059e-02 2.95981166e-04 9.99357282e-01 1.81591272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.16, Y:21.01, Z:18.16 [[ 9.98815355e-01 -3.29434043e-02 -3.58136620e-02 5.11156386e+02] [ 3.29089635e-02 9.99457150e-01 -1.55088613e-03 2.10051423e+01] [ 3.58453121e-02 3.70458385e-04 9.99357282e-01 1.81598859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.18, Y:21.00, Z:18.16 [[ 9.98886270e-01 -3.07186175e-02 -3.58132141e-02 5.11183073e+02] [ 3.06823789e-02 9.99527966e-01 -1.56116263e-03 2.10043254e+01] [ 3.58442658e-02 4.60589312e-04 9.99357282e-01 1.81594209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.21, Y:21.01, Z:18.16 [[ 9.98877613e-01 -3.09990782e-02 -3.58130195e-02 5.11211425e+02] [ 3.09628602e-02 9.99519310e-01 -1.56561375e-03 2.10056289e+01] [ 3.58443371e-02 4.54983006e-04 9.99357282e-01 1.81604402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.24, Y:21.01, Z:18.16 [[ 9.98878058e-01 -3.09852322e-02 -3.58125770e-02 5.11239435e+02] [ 3.09486448e-02 9.99519734e-01 -1.57566975e-03 2.10055234e+01] [ 3.58442000e-02 4.65551216e-04 9.99357282e-01 1.81611993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.27, Y:21.01, Z:18.16 [[ 9.98849855e-01 -3.18819454e-02 -3.58121278e-02 5.11266880e+02] [ 3.18455704e-02 9.99491543e-01 -1.58581467e-03 2.10054043e+01] [ 3.58444777e-02 4.43533111e-04 9.99357282e-01 1.81616890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.29, Y:21.00, Z:18.16 [[ 9.98805860e-01 -3.32319135e-02 -3.58119327e-02 5.11294921e+02] [ 3.31962483e-02 9.99447588e-01 -1.59020975e-03 2.10047752e+01] [ 3.58449954e-02 3.99489004e-04 9.99357282e-01 1.81635057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.32, Y:21.00, Z:18.17 [[ 9.98669041e-01 -3.71171996e-02 -3.58114649e-02 5.11323944e+02] [ 3.70836558e-02 9.99310883e-01 -1.60067465e-03 2.10013658e+01] [ 3.58461992e-02 2.70524179e-04 9.99357282e-01 1.81651376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.35, Y:21.00, Z:18.17 [[ 9.98574270e-01 -3.95852868e-02 -3.58110551e-02 5.11351355e+02] [ 3.95530025e-02 9.99216177e-01 -1.60979003e-03 2.09999250e+01] [ 3.58467096e-02 1.91060148e-04 9.99357282e-01 1.81664239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.38, Y:21.00, Z:18.17 [[ 9.98463038e-01 -4.22982308e-02 -3.58109097e-02 5.11379266e+02] [ 4.22675749e-02 9.99105025e-01 -1.61301995e-03 2.09984077e+01] [ 3.58470877e-02 9.69004971e-05 9.99357282e-01 1.81675548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.41, Y:21.00, Z:18.17 [[ 9.98168256e-01 -4.87618942e-02 -3.58107655e-02 5.11405598e+02] [ 4.87352808e-02 9.98810423e-01 -1.61621466e-03 2.10006207e+01] [ 3.58469755e-02 -1.31993539e-04 9.99357282e-01 1.81697248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.44, Y:20.99, Z:18.17 [[ 9.98233929e-01 -4.74113004e-02 -3.57937305e-02 5.11438830e+02] [ 4.73704065e-02 9.98875410e-01 -1.99015550e-03 2.09946200e+01] [ 3.58478331e-02 2.91077184e-04 9.99357217e-01 1.81702350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.47, Y:20.99, Z:18.17 [[ 9.97989709e-01 -5.22890594e-02 -3.58105477e-02 5.11466708e+02] [ 5.22646513e-02 9.98631958e-01 -1.61800344e-03 2.09893730e+01] [ 3.58461613e-02 -2.56875002e-04 9.99357287e-01 1.81714770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.265099893 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:511.50, Y:20.99, Z:18.17 [[ 9.97836576e-01 -5.51344291e-02 -3.58100823e-02 5.11495909e+02] [ 5.51114851e-02 9.98478880e-01 -1.62823957e-03 2.09879993e+01] [ 3.58453829e-02 -3.48829820e-04 9.99357287e-01 1.81722682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.52, Y:20.99, Z:18.17 [[ 9.97765490e-01 -5.64048339e-02 -3.58123158e-02 5.11523296e+02] [ 5.63844627e-02 9.98407882e-01 -1.57933433e-03 2.09860305e+01] [ 3.58443805e-02 -4.43452892e-04 9.99357285e-01 1.81724933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.55, Y:20.98, Z:18.17 [[ 9.97702136e-01 -5.75164351e-02 -3.58093310e-02 5.11551040e+02] [ 5.74944468e-02 9.98344472e-01 -1.64433818e-03 2.09842588e+01] [ 3.58446241e-02 -4.18277964e-04 9.99357287e-01 1.81735090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.58, Y:20.98, Z:18.17 [[ 9.97677941e-01 -5.79349018e-02 -3.58088504e-02 5.11578356e+02] [ 5.79128097e-02 9.98320273e-01 -1.65473899e-03 2.09798590e+01] [ 3.58445684e-02 -4.22894548e-04 9.99357287e-01 1.81728990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.61, Y:20.98, Z:18.17 [[ 9.97696618e-01 -5.76124982e-02 -3.58086417e-02 5.11605954e+02] [ 5.75900369e-02 9.98338938e-01 -1.65924263e-03 2.09786695e+01] [ 3.58447544e-02 -4.06800239e-04 9.99357288e-01 1.81744173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.63, Y:20.98, Z:18.17 [[ 9.97749340e-01 -5.66924281e-02 -3.58081544e-02 5.11633447e+02] [ 5.66689995e-02 9.98391625e-01 -1.66969199e-03 2.09776947e+01] [ 3.58452204e-02 -3.63278203e-04 9.99357288e-01 1.81747415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.66, Y:20.98, Z:18.18 [[ 9.97824672e-01 -5.53510086e-02 -3.58076685e-02 5.11660296e+02] [ 5.53263449e-02 9.98466911e-01 -1.68004940e-03 2.09770069e+01] [ 3.58457646e-02 -3.04712679e-04 9.99357288e-01 1.81751605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.69, Y:20.97, Z:18.18 [[ 9.98013972e-01 -5.18260343e-02 -3.58074586e-02 5.11688518e+02] [ 5.17989421e-02 9.98656113e-01 -1.68451005e-03 2.09747049e+01] [ 3.58466389e-02 -1.73623912e-04 9.99357288e-01 1.81754911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.72, Y:20.97, Z:18.18 [[ 9.98103435e-01 -5.00738853e-02 -3.58069835e-02 5.11716885e+02] [ 5.00453056e-02 9.98745511e-01 -1.69455103e-03 2.09744515e+01] [ 3.58469167e-02 -1.00634228e-04 9.99357288e-01 1.81761930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.74, Y:20.97, Z:18.18 [[ 9.98191002e-01 -4.82971905e-02 -3.58065057e-02 5.11744533e+02] [ 4.82671080e-02 9.98833009e-01 -1.70458583e-03 2.09743597e+01] [ 3.58470466e-02 -2.67742395e-05 9.99357288e-01 1.81765771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.77, Y:20.97, Z:18.18 [[ 9.98393370e-01 -4.39159096e-02 -3.58060284e-02 5.11772057e+02] [ 4.38826523e-02 9.99035221e-01 -1.71455385e-03 2.09725046e+01] [ 3.58467797e-02 1.40535698e-04 9.99357288e-01 1.81778064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.80, Y:20.97, Z:18.18 [[ 9.98479278e-01 -4.19177177e-02 -3.58055421e-02 5.11799886e+02] [ 4.18828138e-02 9.99121041e-01 -1.72465095e-03 2.09722520e+01] [ 3.58463639e-02 2.22391379e-04 9.99357288e-01 1.81796059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.83, Y:20.97, Z:18.18 [[ 9.98565739e-01 -3.98053183e-02 -3.58050369e-02 5.11827617e+02] [ 3.97686831e-02 9.99207407e-01 -1.73507569e-03 2.09719117e+01] [ 3.58457233e-02 3.08667977e-04 9.99357288e-01 1.81806231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.86, Y:20.97, Z:18.18 [[ 9.98640624e-01 -3.78803555e-02 -3.58047985e-02 5.11855771e+02] [ 3.78423075e-02 9.99282209e-01 -1.73998243e-03 2.09713570e+01] [ 3.58450092e-02 3.82680942e-04 9.99357288e-01 1.81820934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.88, Y:20.97, Z:18.18 [[ 9.98750304e-01 -3.48695039e-02 -3.58042997e-02 5.11883171e+02] [ 3.48291561e-02 9.99391748e-01 -1.75018651e-03 2.09683399e+01] [ 3.58435498e-02 5.00965766e-04 9.99357288e-01 1.81834588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.91, Y:20.97, Z:18.18 [[ 9.98770938e-01 -3.42737517e-02 -3.58039556e-02 5.11911319e+02] [ 3.42327700e-02 9.99412342e-01 -1.75719816e-03 2.09672869e+01] [ 3.58431409e-02 5.29369874e-04 9.99357288e-01 1.81848073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.94, Y:20.97, Z:18.19 [[ 9.98774518e-01 -3.41697960e-02 -3.58034538e-02 5.11939677e+02] [ 3.41283832e-02 9.99415894e-01 -1.76736306e-03 2.09659192e+01] [ 3.58429312e-02 5.43283193e-04 9.99357288e-01 1.81860249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.97, Y:20.96, Z:18.19 [[ 9.98765430e-01 -3.44349325e-02 -3.58029519e-02 5.11967173e+02] [ 3.43933276e-02 9.99406794e-01 -1.77747303e-03 2.09642744e+01] [ 3.58429205e-02 5.43895960e-04 9.99357288e-01 1.81867001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.99, Y:20.96, Z:18.19 [[ 9.98701084e-01 -3.62533939e-02 -3.58027340e-02 5.11994865e+02] [ 3.62128001e-02 9.99342513e-01 -1.78184984e-03 2.09594450e+01] [ 3.58437923e-02 4.83018113e-04 9.99357288e-01 1.81881391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.02, Y:20.96, Z:18.19 [[ 9.98645054e-01 -3.77658051e-02 -3.58022245e-02 5.12023221e+02] [ 3.77258177e-02 9.99286521e-01 -1.79203071e-03 2.09577479e+01] [ 3.58443578e-02 4.38934412e-04 9.99357288e-01 1.81896147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.05, Y:20.96, Z:18.19 [[ 9.98588000e-01 -3.92459372e-02 -3.58017031e-02 5.12050316e+02] [ 3.92065295e-02 9.99229503e-01 -1.80238639e-03 2.09559234e+01] [ 3.58448544e-02 3.96180890e-04 9.99357288e-01 1.81906054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.08, Y:20.95, Z:18.19 [[ 9.98520628e-01 -4.09244294e-02 -3.58014767e-02 5.12078170e+02] [ 4.08859392e-02 9.99162187e-01 -1.80687256e-03 2.09542806e+01] [ 3.58454270e-02 3.40422524e-04 9.99357288e-01 1.81914165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.11, Y:20.95, Z:18.19 [[ 9.98362570e-01 -4.46144092e-02 -3.58013164e-02 5.12106200e+02] [ 4.45781765e-02 9.99004259e-01 -1.81004350e-03 2.09495457e+01] [ 3.58464216e-02 2.11122275e-04 9.99357288e-01 1.81929771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.13, Y:20.95, Z:18.19 [[ 9.98273944e-01 -4.65557284e-02 -3.58007916e-02 5.12133129e+02] [ 4.65203735e-02 9.98915683e-01 -1.82036401e-03 2.09480412e+01] [ 3.58467206e-02 1.51755760e-04 9.99357288e-01 1.81933596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.16, Y:20.95, Z:18.20 [[ 9.98155905e-01 -4.90215248e-02 -3.58005636e-02 5.12160890e+02] [ 4.89875948e-02 9.98797720e-01 -1.82483784e-03 2.09466397e+01] [ 3.58469776e-02 6.76891579e-05 9.99357288e-01 1.81951863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.19, Y:20.95, Z:18.20 [[ 9.98026005e-01 -5.15989439e-02 -3.58000373e-02 5.12188552e+02] [ 5.15663031e-02 9.98667887e-01 -1.83510423e-03 2.09452757e+01] [ 3.58470371e-02 -1.45938375e-05 9.99357288e-01 1.81965155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.22, Y:20.94, Z:18.20 [[ 9.97890252e-01 -5.41612396e-02 -3.57995031e-02 5.12216607e+02] [ 5.41298752e-02 9.98532198e-01 -1.84546713e-03 2.09441729e+01] [ 3.58469093e-02 -9.62489742e-05 9.99357288e-01 1.81978467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.24, Y:20.94, Z:18.20 [[ 9.97614247e-01 -5.90275278e-02 -3.57989580e-02 5.12243308e+02] [ 5.89989174e-02 9.98256321e-01 -1.85598166e-03 2.09410022e+01] [ 3.58460901e-02 -2.60546024e-04 9.99357288e-01 1.81984798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.27, Y:20.94, Z:18.20 [[ 9.97436248e-01 -6.19627558e-02 -3.57987212e-02 5.12271346e+02] [ 6.19358713e-02 9.98078397e-01 -1.86053791e-03 2.09404911e+01] [ 3.58452143e-02 -3.61457043e-04 9.99357288e-01 1.81995259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.30, Y:20.94, Z:18.20 [[ 9.97227464e-01 -6.52370721e-02 -3.57981832e-02 5.12299243e+02] [ 6.52119265e-02 9.97869683e-01 -1.87083194e-03 2.09398232e+01] [ 3.58439694e-02 -4.68823503e-04 9.99357288e-01 1.82008022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.33, Y:20.94, Z:18.20 [[ 9.96976684e-01 -6.89639083e-02 -3.57976344e-02 5.12325841e+02] [ 6.89407884e-02 9.97618980e-01 -1.88127557e-03 2.09394820e+01] [ 3.58421396e-02 -5.92329256e-04 9.99357289e-01 1.82005833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.35, Y:20.94, Z:18.20 [[ 9.96299707e-01 -7.81373181e-02 -3.57973959e-02 5.12354099e+02] [ 7.81199484e-02 9.96942184e-01 -1.88580217e-03 2.09368180e+01] [ 3.58352856e-02 -9.17666572e-04 9.99357289e-01 1.82010318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.38, Y:20.94, Z:18.20 [[ 9.95844388e-01 -8.37409031e-02 -3.57968608e-02 5.12382189e+02] [ 8.37267852e-02 9.96486945e-01 -1.89590543e-03 2.09364048e+01] [ 3.58298693e-02 -1.10912929e-03 9.99357289e-01 1.82020361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.41, Y:20.94, Z:18.20 [[ 9.95329941e-01 -8.96489439e-02 -3.57963160e-02 5.12409887e+02] [ 8.96382718e-02 9.95972563e-01 -1.90613762e-03 2.09361569e+01] [ 3.58230318e-02 -1.31148406e-03 9.99357289e-01 1.82029736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.44, Y:20.94, Z:18.20 [[ 9.94789353e-01 -9.54610265e-02 -3.57957593e-02 5.12436841e+02] [ 9.54537346e-02 9.95432023e-01 -1.91653463e-03 2.09361631e+01] [ 3.58151995e-02 -1.51029066e-03 9.99357289e-01 1.82038408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.47, Y:20.94, Z:18.21 [[ 9.93723603e-01 -1.05981520e-01 -3.57955174e-02 5.12465093e+02] [ 1.05980867e-01 9.94366314e-01 -1.92104280e-03 2.09353305e+01] [ 3.57974517e-02 -1.88465440e-03 9.99357289e-01 1.82053481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.49, Y:20.94, Z:18.21 [[ 9.93223758e-01 -1.10568016e-01 -3.57949711e-02 5.12492878e+02] [ 1.10569966e-01 9.93866467e-01 -1.93116917e-03 2.09361312e+01] [ 3.57889469e-02 -2.03976563e-03 9.99357289e-01 1.82067365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.52, Y:20.94, Z:18.21 [[ 9.92810756e-01 -1.14217170e-01 -3.57944132e-02 5.12520567e+02] [ 1.14221113e-01 9.93453455e-01 -1.94145436e-03 2.09375044e+01] [ 3.57818309e-02 -2.16098094e-03 9.99357289e-01 1.82084095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.55, Y:20.94, Z:18.21 [[ 9.92513936e-01 -1.16768524e-01 -3.57938435e-02 5.12548601e+02] [ 1.16773743e-01 9.93156626e-01 -1.95190221e-03 2.09392766e+01] [ 3.57768135e-02 -2.24249092e-03 9.99357289e-01 1.82097628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.58, Y:20.94, Z:18.21 [[ 9.92310096e-01 -1.18488461e-01 -3.57932671e-02 5.12576939e+02] [ 1.18494416e-01 9.92952779e-01 -1.96241507e-03 2.09413184e+01] [ 3.57735476e-02 -2.29397800e-03 9.99357289e-01 1.82108402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.60, Y:20.94, Z:18.21 [[ 9.92266031e-01 -1.18857094e-01 -3.57926807e-02 5.12604561e+02] [ 1.18862905e-01 9.92908715e-01 -1.97305249e-03 2.09443925e+01] [ 3.57733759e-02 -2.29662907e-03 9.99357289e-01 1.82119621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.63, Y:20.95, Z:18.21 [[ 9.92377029e-01 -1.17926920e-01 -3.57920915e-02 5.12632682e+02] [ 1.17931747e-01 9.93019722e-01 -1.98368420e-03 2.09475663e+01] [ 3.57761825e-02 -2.25246126e-03 9.99357289e-01 1.82129668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.66, Y:20.95, Z:18.21 [[ 9.92506565e-01 -1.16831751e-01 -3.57919090e-02 5.12660169e+02] [ 1.16835751e-01 9.93149263e-01 -1.98697161e-03 2.09511588e+01] [ 3.57788494e-02 -2.20969220e-03 9.99357289e-01 1.82139572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.69, Y:20.96, Z:18.22 [[ 9.92873372e-01 -1.13672550e-01 -3.57913279e-02 5.12688210e+02] [ 1.13674131e-01 9.93516081e-01 -1.99738441e-03 2.09569624e+01] [ 3.57863076e-02 -2.08539830e-03 9.99357289e-01 1.82151988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.72, Y:20.96, Z:18.22 [[ 9.93093517e-01 -1.11733092e-01 -3.57908075e-02 5.12715958e+02] [ 1.11733084e-01 9.93736228e-01 -2.00666648e-03 2.09605616e+01] [ 3.57908331e-02 -2.00620981e-03 9.99357289e-01 1.82161933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.74, Y:20.96, Z:18.22 [[ 9.93317435e-01 -1.09724676e-01 -3.57906231e-02 5.12743871e+02] [ 1.09723250e-01 9.93960144e-01 -2.00994917e-03 2.09642776e+01] [ 3.57949939e-02 -1.93054595e-03 9.99357289e-01 1.82169550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.77, Y:20.97, Z:18.22 [[ 9.93474642e-01 -1.08292102e-01 -3.57904415e-02 5.12771211e+02] [ 1.08289634e-01 9.94117348e-01 -2.01317725e-03 2.09679751e+01] [ 3.57979100e-02 -1.87569326e-03 9.99357289e-01 1.82176254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.80, Y:20.97, Z:18.22 [[ 9.93757848e-01 -1.05661843e-01 -3.57898617e-02 5.12799741e+02] [ 1.05657305e-01 9.94400543e-01 -2.02343300e-03 2.09740288e+01] [ 3.58032576e-02 -1.77065790e-03 9.99357289e-01 1.82177519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.83, Y:20.98, Z:18.22 [[ 9.93891906e-01 -1.04393490e-01 -3.57893511e-02 5.12828326e+02] [ 1.04387808e-01 9.94534592e-01 -2.03242432e-03 2.09781398e+01] [ 3.58059196e-02 -1.71596185e-03 9.99357289e-01 1.82185062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.86, Y:20.98, Z:18.22 [[ 9.93952548e-01 -1.03814696e-01 -3.57888395e-02 5.12857179e+02] [ 1.03808318e-01 9.94595227e-01 -2.04139297e-03 2.09823387e+01] [ 3.58073356e-02 -1.68613148e-03 9.99357289e-01 1.82195386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.89, Y:20.99, Z:18.22 [[ 9.93999545e-01 -1.03363928e-01 -3.57883215e-02 5.12886003e+02] [ 1.03356933e-01 9.94642217e-01 -2.05043563e-03 2.09865239e+01] [ 3.58085165e-02 -1.66083907e-03 9.99357289e-01 1.82205373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.91, Y:20.99, Z:18.22 [[ 9.94054498e-01 -1.02834283e-01 -3.57877878e-02 5.12914700e+02] [ 1.02826613e-01 9.94697163e-01 -2.05970816e-03 2.09904605e+01] [ 3.58098196e-02 -1.63247486e-03 9.99357289e-01 1.82213522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.94, Y:21.00, Z:18.22 [[ 9.94163527e-01 -1.01774867e-01 -3.57876744e-02 5.12943313e+02] [ 1.01766441e-01 9.94806183e-01 -2.06167563e-03 2.09963200e+01] [ 3.58116266e-02 -1.59234155e-03 9.99357289e-01 1.82222935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.97, Y:21.00, Z:18.22 [[ 9.94137817e-01 -1.02025737e-01 -3.57875620e-02 5.12972514e+02] [ 1.02017404e-01 9.94780474e-01 -2.06362589e-03 2.09980405e+01] [ 3.58113108e-02 -1.59942562e-03 9.99357289e-01 1.82233431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.00, Y:21.00, Z:18.22 [[ 9.94197125e-01 -1.01446362e-01 -3.57870388e-02 5.13002386e+02] [ 1.01437330e-01 9.94839772e-01 -2.07265991e-03 2.10018884e+01] [ 3.58126333e-02 -1.56950913e-03 9.99357289e-01 1.82244187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.03, Y:21.01, Z:18.23 [[ 9.94290876e-01 -1.00523367e-01 -3.57869646e-02 5.13032137e+02] [ 1.00513692e-01 9.94933514e-01 -2.07393987e-03 2.10056257e+01] [ 3.58141298e-02 -1.53498046e-03 9.99357289e-01 1.82257787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.06, Y:21.01, Z:18.23 [[ 9.94427443e-01 -9.91632982e-02 -3.57868882e-02 5.13060453e+02] [ 9.91526968e-02 9.95070066e-01 -2.07525761e-03 2.10090766e+01] [ 3.58162506e-02 -1.48467336e-03 9.99357289e-01 1.82262739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.09, Y:21.01, Z:18.23 [[ 9.94984548e-01 -9.34080110e-02 -3.57867742e-02 5.13086935e+02] [ 9.33936211e-02 9.95627097e-01 -2.07722123e-03 2.10146917e+01] [ 3.58243112e-02 -1.27545340e-03 9.99357289e-01 1.82282124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.12, Y:21.02, Z:18.23 [[ 9.94966845e-01 -9.36035968e-02 -3.57679119e-02 5.13118217e+02] [ 9.35776635e-02 9.95609085e-01 -2.40211770e-03 2.10187188e+01] [ 3.58357050e-02 -9.57050164e-04 9.99357237e-01 1.82292379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.15, Y:21.02, Z:18.23 [[ 9.95194118e-01 -9.11479948e-02 -3.57870146e-02 5.13146637e+02] [ 9.11323238e-02 9.95836636e-01 -2.07225710e-03 2.10221345e+01] [ 3.58269023e-02 -1.19905572e-03 9.99357291e-01 1.82301300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.18, Y:21.03, Z:18.23 [[ 9.95613536e-01 -8.64464271e-02 -3.57869029e-02 5.13176312e+02] [ 8.64276523e-02 9.96255970e-01 -2.07418409e-03 2.10276778e+01] [ 3.58322215e-02 -1.02789224e-03 9.99357291e-01 1.82316811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.20, Y:21.03, Z:18.23 [[ 9.95796310e-01 -8.43149589e-02 -3.57868290e-02 5.13204742e+02] [ 8.42947631e-02 9.96438701e-01 -2.07545870e-03 2.10312160e+01] [ 3.58343736e-02 -9.49908160e-04 9.99357291e-01 1.82332764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.23, Y:21.03, Z:18.23 [[ 9.95969385e-01 -8.22455106e-02 -3.57862991e-02 5.13232620e+02] [ 8.22236533e-02 9.96611723e-01 -2.08455514e-03 2.10345813e+01] [ 3.58364905e-02 -8.66327145e-04 9.99357291e-01 1.82343765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.26, Y:21.04, Z:18.24 [[ 9.96117335e-01 -8.04338846e-02 -3.57861113e-02 5.13261708e+02] [ 8.04107435e-02 9.96759627e-01 -2.08777396e-03 2.10378494e+01] [ 3.58380787e-02 -7.97919981e-04 9.99357291e-01 1.82355114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.29, Y:21.04, Z:18.24 [[ 9.96246326e-01 -7.88203605e-02 -3.57855899e-02 5.13289934e+02] [ 7.87958596e-02 9.96888568e-01 -2.09667286e-03 2.10419861e+01] [ 3.58395060e-02 -7.30953689e-04 9.99357291e-01 1.82364811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.32, Y:21.04, Z:18.24 [[ 9.96286325e-01 -7.83134024e-02 -3.57850592e-02 5.13318848e+02] [ 7.82882509e-02 9.96928541e-01 -2.10569190e-03 2.10444948e+01] [ 3.58400508e-02 -7.03677649e-04 9.99357291e-01 1.82376608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.35, Y:21.05, Z:18.24 [[ 9.96296187e-01 -7.81880777e-02 -3.57845271e-02 5.13347291e+02] [ 7.81625220e-02 9.96938387e-01 -2.11469639e-03 2.10467944e+01] [ 3.58403128e-02 -6.90144941e-04 9.99357291e-01 1.82383905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.38, Y:21.05, Z:18.24 [[ 9.96259263e-01 -7.86572061e-02 -3.57844141e-02 5.13375883e+02] [ 7.86318842e-02 9.96901473e-01 -2.11660654e-03 2.10488398e+01] [ 3.58400215e-02 -7.05107041e-04 9.99357291e-01 1.82393707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.40, Y:21.05, Z:18.24 [[ 9.96176642e-01 -7.96969994e-02 -3.57838962e-02 5.13404206e+02] [ 7.96720348e-02 9.96818865e-01 -2.12532760e-03 2.10507646e+01] [ 3.58394450e-02 -7.33774109e-04 9.99357291e-01 1.82402807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.43, Y:21.05, Z:18.24 [[ 9.96090929e-01 -8.07614536e-02 -3.57833607e-02 5.13433301e+02] [ 8.07368529e-02 9.96733167e-01 -2.13430511e-03 2.10528259e+01] [ 3.58388320e-02 -7.63073970e-04 9.99357291e-01 1.82413634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.46, Y:21.05, Z:18.24 [[ 9.95840578e-01 -8.37921990e-02 -3.57828138e-02 5.13462131e+02] [ 8.37692249e-02 9.96482876e-01 -2.14343444e-03 2.10546271e+01] [ 3.58365643e-02 -8.62979581e-04 9.99357291e-01 1.82417946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.49, Y:21.06, Z:18.24 [[ 9.95656945e-01 -8.59467701e-02 -3.57826977e-02 5.13491436e+02] [ 8.59251163e-02 9.96299288e-01 -2.14537081e-03 2.10562277e+01] [ 3.58346640e-02 -9.38579122e-04 9.99357291e-01 1.82432152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.52, Y:21.06, Z:18.24 [[ 9.95432869e-01 -8.85042823e-02 -3.57826203e-02 5.13521048e+02] [ 8.84842323e-02 9.96075264e-01 -2.14666105e-03 2.10578649e+01] [ 3.58321717e-02 -1.02934072e-03 9.99357291e-01 1.82443308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.55, Y:21.06, Z:18.24 [[ 9.95211685e-01 -9.09577526e-02 -3.57825414e-02 5.13550141e+02] [ 9.09392390e-02 9.95854126e-01 -2.14797537e-03 2.10592248e+01] [ 3.58295666e-02 -1.11634690e-03 9.99357291e-01 1.82444483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.58, Y:21.06, Z:18.25 [[ 9.94709332e-01 -9.62962379e-02 -3.57823881e-02 5.13579718e+02] [ 9.62810799e-02 9.95351862e-01 -2.15052708e-03 2.10600831e+01] [ 3.58231543e-02 -1.30601761e-03 9.99357291e-01 1.82460630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.61, Y:21.06, Z:18.25 [[ 9.94450040e-01 -9.89380782e-02 -3.57823102e-02 5.13610549e+02] [ 9.89245805e-02 9.95092607e-01 -2.15182267e-03 2.10616729e+01] [ 3.58196095e-02 -1.39986988e-03 9.99357291e-01 1.82468933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.64, Y:21.06, Z:18.25 [[ 9.94208011e-01 -1.01341293e-01 -3.57823102e-02 5.13641345e+02] [ 1.01329349e-01 9.94850608e-01 -2.15182267e-03 2.10632028e+01] [ 3.58161215e-02 -1.48643885e-03 9.99357291e-01 1.82481210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.67, Y:21.06, Z:18.25 [[ 9.93778363e-01 -1.05471286e-01 -3.57823102e-02 5.13672766e+02] [ 1.05462011e-01 9.94421004e-01 -2.15182267e-03 2.10648450e+01] [ 3.58096363e-02 -1.63523959e-03 9.99357291e-01 1.82492309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.70, Y:21.07, Z:18.25 [[ 9.93567096e-01 -1.07443226e-01 -3.57823889e-02 5.13702762e+02] [ 1.07435273e-01 9.94209755e-01 -2.15051251e-03 2.10667867e+01] [ 3.58062581e-02 -1.70761227e-03 9.99357291e-01 1.82498408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.73, Y:21.07, Z:18.25 [[ 9.93364939e-01 -1.09296431e-01 -3.57825197e-02 5.13733580e+02] [ 1.09289755e-01 9.94007613e-01 -2.14833379e-03 2.10682412e+01] [ 3.58029022e-02 -1.77658337e-03 9.99357291e-01 1.82509774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.76, Y:21.07, Z:18.25 [[ 9.93153012e-01 -1.11205669e-01 -3.57825969e-02 5.13764690e+02] [ 1.11200275e-01 9.93795698e-01 -2.14704687e-03 2.10699717e+01] [ 3.57993547e-02 -1.84668855e-03 9.99357291e-01 1.82518591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.80, Y:21.07, Z:18.25 [[ 9.92952923e-01 -1.12978290e-01 -3.57826743e-02 5.13796184e+02] [ 1.12974090e-01 9.93595617e-01 -2.14575641e-03 2.10715045e+01] [ 3.57959323e-02 -1.91187996e-03 9.99357291e-01 1.82526953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.83, Y:21.07, Z:18.25 [[ 9.92545373e-01 -1.16504407e-01 -3.57827516e-02 5.13826517e+02] [ 1.16502537e-01 9.93188079e-01 -2.14446662e-03 2.10734575e+01] [ 3.57888421e-02 -2.04030090e-03 9.99357291e-01 1.82526409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.86, Y:21.08, Z:18.25 [[ 9.92367344e-01 -1.18011211e-01 -3.57827899e-02 5.13857761e+02] [ 1.18010339e-01 9.93010052e-01 -2.14382738e-03 2.10759334e+01] [ 3.57856657e-02 -2.09527490e-03 9.99357291e-01 1.82540088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.89, Y:21.08, Z:18.25 [[ 9.92277285e-01 -1.18766059e-01 -3.57828671e-02 5.13889258e+02] [ 1.18765722e-01 9.92919993e-01 -2.14253759e-03 2.10783452e+01] [ 3.57839849e-02 -2.12378668e-03 9.99357291e-01 1.82549538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.92, Y:21.08, Z:18.26 [[ 9.92178907e-01 -1.19585109e-01 -3.57829440e-02 5.13921102e+02] [ 1.19585349e-01 9.92821615e-01 -2.14125364e-03 2.10811545e+01] [ 3.57821423e-02 -2.15460915e-03 9.99357291e-01 1.82560993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.95, Y:21.08, Z:18.26 [[ 9.92062073e-01 -1.20550462e-01 -3.57830993e-02 5.13952837e+02] [ 1.20551421e-01 9.92704780e-01 -2.13865425e-03 2.10848956e+01] [ 3.57798695e-02 -2.19202569e-03 9.99357291e-01 1.82575516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.98, Y:21.09, Z:18.26 [[ 9.92261502e-01 -1.18896278e-01 -3.57880881e-02 5.13982814e+02] [ 1.18899166e-01 9.92904207e-01 -2.05515054e-03 2.10880639e+01] [ 3.57784930e-02 -2.21592707e-03 9.99357288e-01 1.82586092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.01, Y:21.09, Z:18.26 [[ 9.92358592e-01 -1.18084678e-01 -3.57831369e-02 5.14012716e+02] [ 1.18084062e-01 9.93001301e-01 -2.13802002e-03 2.10914478e+01] [ 3.57851689e-02 -2.10373562e-03 9.99357291e-01 1.82597353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.04, Y:21.10, Z:18.26 [[ 9.92498943e-01 -1.16899157e-01 -3.57831739e-02 5.14043845e+02] [ 1.16897796e-01 9.93141650e-01 -2.13739946e-03 2.10950377e+01] [ 3.57876206e-02 -2.06160746e-03 9.99357291e-01 1.82612298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.08, Y:21.10, Z:18.26 [[ 9.92784454e-01 -1.14449063e-01 -3.57832498e-02 5.14075529e+02] [ 1.14446161e-01 9.93427156e-01 -2.13612876e-03 2.11005048e+01] [ 3.57925300e-02 -1.97454013e-03 9.99357291e-01 1.82625508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.11, Y:21.10, Z:18.26 [[ 9.92892574e-01 -1.13507196e-01 -3.57834061e-02 5.14106149e+02] [ 1.13503779e-01 9.93535274e-01 -2.13350641e-03 2.11040575e+01] [ 3.57942445e-02 -1.94320915e-03 9.99357291e-01 1.82629453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.14, Y:21.11, Z:18.26 [[ 9.92987847e-01 -1.12670607e-01 -3.57836649e-02 5.14136471e+02] [ 1.12666804e-01 9.93630544e-01 -2.12915700e-03 2.11071419e+01] [ 3.57956359e-02 -1.91740415e-03 9.99357291e-01 1.82635288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.17, Y:21.11, Z:18.27 [[ 9.93073219e-01 -1.11915630e-01 -3.57837020e-02 5.14168989e+02] [ 1.11911361e-01 9.93715913e-01 -2.12853363e-03 2.11103590e+01] [ 3.57970503e-02 -1.89081306e-03 9.99357291e-01 1.82652353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.20, Y:21.11, Z:18.27 [[ 9.93140034e-01 -1.11321090e-01 -3.57838940e-02 5.14200625e+02] [ 1.11316553e-01 9.93782727e-01 -2.12530131e-03 2.11134630e+01] [ 3.57980066e-02 -1.87261791e-03 9.99357291e-01 1.82663923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.23, Y:21.12, Z:18.27 [[ 9.93206439e-01 -1.10727013e-01 -3.57840500e-02 5.14232630e+02] [ 1.10722186e-01 9.93849129e-01 -2.12267156e-03 2.11165175e+01] [ 3.57989840e-02 -1.85383718e-03 9.99357291e-01 1.82675902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.26, Y:21.12, Z:18.27 [[ 9.93289376e-01 -1.09980483e-01 -3.57842048e-02 5.14263127e+02] [ 1.09975267e-01 9.93932063e-01 -2.12005900e-03 2.11209280e+01] [ 3.58002336e-02 -1.82954538e-03 9.99357291e-01 1.82692362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.29, Y:21.12, Z:18.27 [[ 9.93349077e-01 -1.09439912e-01 -3.57843199e-02 5.14294582e+02] [ 1.09434416e-01 9.93991762e-01 -2.11811381e-03 2.11241447e+01] [ 3.58011254e-02 -1.81200975e-03 9.99357291e-01 1.82703025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.33, Y:21.13, Z:18.27 [[ 9.93425285e-01 -1.08745930e-01 -3.57844318e-02 5.14326854e+02] [ 1.08740052e-01 9.94067967e-01 -2.11622120e-03 2.11273084e+01] [ 3.58022878e-02 -1.78889334e-03 9.99357291e-01 1.82720304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.36, Y:21.13, Z:18.27 [[ 9.93529892e-01 -1.07785976e-01 -3.57845835e-02 5.14357440e+02] [ 1.07779570e-01 9.94172569e-01 -2.11365374e-03 2.11305846e+01] [ 3.58038735e-02 -1.75686886e-03 9.99357291e-01 1.82729912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.39, Y:21.14, Z:18.27 [[ 9.93853749e-01 -1.04757723e-01 -3.57846963e-02 5.14389543e+02] [ 1.04749427e-01 9.94496404e-01 -2.11174131e-03 2.11356458e+01] [ 3.58089730e-02 -1.64966441e-03 9.99357291e-01 1.82743923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.295099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:514.42, Y:21.14, Z:18.27 [[ 9.93966487e-01 -1.03682530e-01 -3.57848490e-02 5.14420842e+02] [ 1.03673632e-01 9.94609134e-01 -2.10915146e-03 2.11391734e+01] [ 3.58106198e-02 -1.61351940e-03 9.99357291e-01 1.82743148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.45, Y:21.14, Z:18.28 [[ 9.94258356e-01 -1.00842421e-01 -3.57928399e-02 5.14450663e+02] [ 1.00836562e-01 9.94901047e-01 -1.97347323e-03 2.11422361e+01] [ 3.58093438e-02 -1.64708466e-03 9.99357282e-01 1.82767716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.48, Y:21.15, Z:18.28 [[ 9.94487353e-01 -9.85614391e-02 -3.57847427e-02 5.14482709e+02] [ 9.85491733e-02 9.95129944e-01 -2.11075541e-03 2.11456732e+01] [ 3.58185081e-02 -1.42743726e-03 9.99357292e-01 1.82780474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.51, Y:21.15, Z:18.28 [[ 9.94994364e-01 -9.33041067e-02 -3.57848978e-02 5.14514395e+02] [ 9.32885395e-02 9.95636884e-01 -2.10812333e-03 2.11505046e+01] [ 3.58254607e-02 -1.24075002e-03 9.99357292e-01 1.82797722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.55, Y:21.15, Z:18.28 [[ 9.95212291e-01 -9.09501236e-02 -3.57850519e-02 5.14545107e+02] [ 9.09331306e-02 9.95854775e-01 -2.10550341e-03 2.11541206e+01] [ 3.58282106e-02 -1.15862393e-03 9.99357292e-01 1.82805701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.58, Y:21.16, Z:18.28 [[ 9.95449592e-01 -8.83149031e-02 -3.57853073e-02 5.14575807e+02] [ 8.82963654e-02 9.96092032e-01 -2.10115460e-03 2.11572429e+01] [ 3.58310227e-02 -1.06811908e-03 9.99357292e-01 1.82814713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.61, Y:21.16, Z:18.28 [[ 9.95683616e-01 -8.56360348e-02 -3.57855594e-02 5.14607316e+02] [ 8.56159230e-02 9.96326009e-01 -2.09685228e-03 2.11602637e+01] [ 3.58336497e-02 -9.76012236e-04 9.99357292e-01 1.82825444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.64, Y:21.16, Z:18.28 [[ 9.95896895e-01 -8.31189717e-02 -3.57856346e-02 5.14638043e+02] [ 8.30972823e-02 9.96539237e-01 -2.09556756e-03 2.11633452e+01] [ 3.58359704e-02 -8.86719754e-04 9.99357292e-01 1.82835056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.67, Y:21.17, Z:18.28 [[ 9.96333232e-01 -7.77140577e-02 -3.57857095e-02 5.14668415e+02] [ 7.76889292e-02 9.96975448e-01 -2.09428810e-03 2.11671541e+01] [ 3.58402294e-02 -6.93544619e-04 9.99357292e-01 1.82837022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.70, Y:21.17, Z:18.29 [[ 9.96550309e-01 -7.48789790e-02 -3.57857466e-02 5.14699647e+02] [ 7.48520462e-02 9.97192453e-01 -2.09365313e-03 2.11701593e+01] [ 3.58420471e-02 -5.92205680e-04 9.99357292e-01 1.82852517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.73, Y:21.17, Z:18.29 [[ 9.96737712e-01 -7.23416041e-02 -3.57858233e-02 5.14729359e+02] [ 7.23130836e-02 9.97379787e-01 -2.09234158e-03 2.11729256e+01] [ 3.58434202e-02 -5.02267472e-04 9.99357292e-01 1.82861890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.76, Y:21.18, Z:18.29 [[ 9.96893566e-01 -7.01612177e-02 -3.57857852e-02 5.14758650e+02] [ 7.01312695e-02 9.97535576e-01 -2.09299247e-03 2.11756946e+01] [ 3.58444408e-02 -4.23211822e-04 9.99357292e-01 1.82878309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.79, Y:21.18, Z:18.29 [[ 9.97163197e-01 -6.62188989e-02 -3.57857091e-02 5.14787826e+02] [ 6.61863656e-02 9.97805081e-01 -2.09429413e-03 2.11781996e+01] [ 3.58458442e-02 -2.80172995e-04 9.99357292e-01 1.82891427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.82, Y:21.18, Z:18.29 [[ 9.97279658e-01 -6.44412085e-02 -3.57856713e-02 5.14816847e+02] [ 6.44075079e-02 9.97921482e-01 -2.09493909e-03 2.11800407e+01] [ 3.58462906e-02 -2.15625766e-04 9.99357292e-01 1.82902209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.85, Y:21.18, Z:18.29 [[ 9.97371459e-01 -6.30045192e-02 -3.57855252e-02 5.14846413e+02] [ 6.29698047e-02 9.98013229e-01 -2.09743187e-03 2.11819144e+01] [ 3.58465752e-02 -1.61488848e-04 9.99357292e-01 1.82914459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.88, Y:21.18, Z:18.29 [[ 9.97448654e-01 -6.17704179e-02 -3.57854491e-02 5.14875153e+02] [ 6.17348627e-02 9.98090378e-01 -2.09872992e-03 2.11837531e+01] [ 3.58467518e-02 -1.15834455e-04 9.99357292e-01 1.82920755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.90, Y:21.19, Z:18.29 [[ 9.97433505e-01 -6.20146123e-02 -3.57853357e-02 5.14904335e+02] [ 6.19791450e-02 9.98075234e-01 -2.10066110e-03 2.11855045e+01] [ 3.58467290e-02 -1.22674743e-04 9.99357292e-01 1.82931246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.93, Y:21.19, Z:18.29 [[ 9.97481021e-01 -6.12458907e-02 -3.57848191e-02 5.14933032e+02] [ 6.12096144e-02 9.98122705e-01 -2.10942513e-03 2.11872145e+01] [ 3.58468340e-02 -8.62634490e-05 9.99357292e-01 1.82939261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.96, Y:21.19, Z:18.29 [[ 9.97475016e-01 -6.13439228e-02 -3.57842880e-02 5.14961129e+02] [ 6.13073877e-02 9.98116685e-01 -2.11839669e-03 2.11885744e+01] [ 3.58468457e-02 -8.07934406e-05 9.99357292e-01 1.82944942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.99, Y:21.19, Z:18.30 [[ 9.97447690e-01 -6.17867663e-02 -3.57840998e-02 5.14989351e+02] [ 6.17504022e-02 9.98089368e-01 -2.12157040e-03 2.11897307e+01] [ 3.58468146e-02 -9.35270642e-05 9.99357292e-01 1.82954572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.02, Y:21.19, Z:18.30 [[ 9.97395836e-01 -6.26185462e-02 -3.57835772e-02 5.15018079e+02] [ 6.25824023e-02 9.98037527e-01 -2.13034973e-03 2.11907318e+01] [ 3.58467522e-02 -1.14620273e-04 9.99357292e-01 1.82968068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.05, Y:21.19, Z:18.30 [[ 9.97349218e-01 -6.33570176e-02 -3.57830343e-02 5.15046061e+02] [ 6.33210231e-02 9.97990917e-01 -2.13942859e-03 2.11915279e+01] [ 3.58466911e-02 -1.32060913e-04 9.99357292e-01 1.82974801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.08, Y:21.19, Z:18.30 [[ 9.97165798e-01 -6.61812556e-02 -3.57828419e-02 5.15075087e+02] [ 6.61469632e-02 9.97807591e-01 -2.14264270e-03 2.11915792e+01] [ 3.58461940e-02 -2.30356303e-04 9.99357292e-01 1.82990634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.10, Y:21.19, Z:18.30 [[ 9.97074452e-01 -6.75437900e-02 -3.57823117e-02 5.15103660e+02] [ 6.75100581e-02 9.97716274e-01 -2.15146110e-03 2.11924713e+01] [ 3.58459125e-02 -2.70499043e-04 9.99357292e-01 1.82999269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.13, Y:21.19, Z:18.30 [[ 9.96935505e-01 -6.95646039e-02 -3.57821989e-02 5.15133544e+02] [ 6.95321058e-02 9.97577390e-01 -2.15333548e-03 2.11932809e+01] [ 3.58453085e-02 -3.41275043e-04 9.99357292e-01 1.83012373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.16, Y:21.19, Z:18.30 [[ 9.96588695e-01 -7.43680915e-02 -3.57821237e-02 5.15162437e+02] [ 7.43386422e-02 9.97230728e-01 -2.15458445e-03 2.11922347e+01] [ 3.58432656e-02 -5.12759988e-04 9.99357292e-01 1.83021615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.19, Y:21.19, Z:18.30 [[ 9.96361816e-01 -7.73484294e-02 -3.57820115e-02 5.15190749e+02] [ 7.73208336e-02 9.97003931e-01 -2.15644489e-03 2.11921588e+01] [ 3.58416038e-02 -6.18095620e-04 9.99357292e-01 1.83028557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.22, Y:21.19, Z:18.30 [[ 9.96133392e-01 -8.02366500e-02 -3.57819004e-02 5.15220200e+02] [ 8.02108497e-02 9.96775582e-01 -2.15828750e-03 2.11918666e+01] [ 3.58396984e-02 -7.20154390e-04 9.99357292e-01 1.83041940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.25, Y:21.19, Z:18.31 [[ 9.95885211e-01 -8.32604862e-02 -3.57818246e-02 5.15250396e+02] [ 8.32365906e-02 9.96527474e-01 -2.15954327e-03 2.11917002e+01] [ 3.58373759e-02 -8.27699884e-04 9.99357292e-01 1.83054518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.28, Y:21.19, Z:18.31 [[ 9.95367532e-01 -8.92364155e-02 -3.57818246e-02 5.15279816e+02] [ 8.92163754e-02 9.96009927e-01 -2.15954327e-03 2.11897151e+01] [ 3.58317624e-02 -1.04278544e-03 9.99357292e-01 1.83068591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.31, Y:21.19, Z:18.31 [[ 9.95076958e-01 -9.24202969e-02 -3.57817865e-02 5.15310653e+02] [ 9.24022893e-02 9.95719414e-01 -2.16017479e-03 2.11900014e+01] [ 3.58282635e-02 -1.15677882e-03 9.99357292e-01 1.83077306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.34, Y:21.19, Z:18.31 [[ 9.94806062e-01 -9.52919687e-02 -3.57818243e-02 5.15342260e+02] [ 9.52758379e-02 9.95448568e-01 -2.15954844e-03 2.11900286e+01] [ 3.58247534e-02 -1.26081141e-03 9.99357292e-01 1.83089360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.37, Y:21.19, Z:18.31 [[ 9.94499522e-01 -9.84396031e-02 -3.57819014e-02 5.15373127e+02] [ 9.84255516e-02 9.95142077e-01 -2.15827033e-03 2.11899755e+01] [ 3.58205349e-02 -1.37545457e-03 9.99357292e-01 1.83099828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.40, Y:21.19, Z:18.31 [[ 9.93895126e-01 -1.04365371e-01 -3.57819397e-02 5.15404261e+02] [ 1.04355172e-01 9.94537753e-01 -2.15763543e-03 2.11880188e+01] [ 3.58116723e-02 -1.58956715e-03 9.99357292e-01 1.83108504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.44, Y:21.19, Z:18.31 [[ 9.93605401e-01 -1.07088533e-01 -3.57820188e-02 5.15435666e+02] [ 1.07080142e-01 9.94248054e-01 -2.15632274e-03 2.11877236e+01] [ 3.58071200e-02 -1.68900974e-03 9.99357292e-01 1.83116557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.47, Y:21.19, Z:18.31 [[ 9.93338292e-01 -1.09538471e-01 -3.57821371e-02 5.15468222e+02] [ 1.09531736e-01 9.93980964e-01 -2.15435697e-03 2.11879540e+01] [ 3.58027481e-02 -1.77927431e-03 9.99357292e-01 1.83128676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.50, Y:21.19, Z:18.31 [[ 9.93048278e-01 -1.12137170e-01 -3.57822933e-02 5.15498908e+02] [ 1.12132210e-01 9.93690967e-01 -2.15176014e-03 2.11885497e+01] [ 3.57978339e-02 -1.87554593e-03 9.99357292e-01 1.83143152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.53, Y:21.19, Z:18.32 [[ 9.92759428e-01 -1.14666204e-01 -3.57824097e-02 5.15531418e+02] [ 1.14662950e-01 9.93402127e-01 -2.14982331e-03 2.11897142e+01] [ 3.57928339e-02 -1.96865929e-03 9.99357292e-01 1.83158373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.56, Y:21.19, Z:18.32 [[ 9.92337869e-01 -1.18258873e-01 -3.57825672e-02 5.15562332e+02] [ 1.18258040e-01 9.92980577e-01 -2.14719848e-03 2.11900328e+01] [ 3.57853194e-02 -2.10082989e-03 9.99357292e-01 1.83166601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.59, Y:21.19, Z:18.32 [[ 9.92179819e-01 -1.19577614e-01 -3.57826846e-02 5.15594565e+02] [ 1.19577706e-01 9.92822527e-01 -2.14524006e-03 2.11911640e+01] [ 3.57823780e-02 -2.15034743e-03 9.99357292e-01 1.83174914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.63, Y:21.19, Z:18.32 [[ 9.92073521e-01 -1.20456288e-01 -3.57828404e-02 5.15626278e+02] [ 1.20457043e-01 9.92716228e-01 -2.14263737e-03 2.11922376e+01] [ 3.57803005e-02 -2.18464134e-03 9.99357292e-01 1.83185769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.66, Y:21.19, Z:18.32 [[ 9.92013186e-01 -1.20952126e-01 -3.57829967e-02 5.15657656e+02] [ 1.20953295e-01 9.92655892e-01 -2.14002489e-03 2.11932949e+01] [ 3.57790430e-02 -2.20513845e-03 9.99357292e-01 1.83193098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.69, Y:21.19, Z:18.32 [[ 9.91970287e-01 -1.21303419e-01 -3.57831129e-02 5.15690248e+02] [ 1.21304886e-01 9.92612993e-01 -2.13807977e-03 2.11944215e+01] [ 3.57781392e-02 -2.21975482e-03 9.99357292e-01 1.83204843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.72, Y:21.20, Z:18.32 [[ 9.92030456e-01 -1.20810312e-01 -3.57832639e-02 5.15722127e+02] [ 1.20811550e-01 9.92673163e-01 -2.13554974e-03 2.11962598e+01] [ 3.57790822e-02 -2.20450121e-03 9.99357292e-01 1.83216231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.75, Y:21.20, Z:18.32 [[ 9.92104339e-01 -1.20202029e-01 -3.57834191e-02 5.15754065e+02] [ 1.20202967e-01 9.92747046e-01 -2.13294589e-03 2.11983468e+01] [ 3.57802680e-02 -2.18516829e-03 9.99357292e-01 1.83230020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.79, Y:21.20, Z:18.32 [[ 9.92433999e-01 -1.17449105e-01 -3.57835770e-02 5.15785067e+02] [ 1.17448356e-01 9.93076707e-01 -2.13029270e-03 2.12010475e+01] [ 3.57860378e-02 -2.08854738e-03 9.99357292e-01 1.83243765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.82, Y:21.20, Z:18.33 [[ 9.92620348e-01 -1.15863591e-01 -3.57836947e-02 5.15817416e+02] [ 1.15861886e-01 9.93263054e-01 -2.12831494e-03 2.12032247e+01] [ 3.57892161e-02 -2.03335762e-03 9.99357292e-01 1.83258066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.85, Y:21.21, Z:18.33 [[ 9.92842867e-01 -1.13941029e-01 -3.57838510e-02 5.15849932e+02] [ 1.13938173e-01 9.93485568e-01 -2.12568408e-03 2.12056090e+01] [ 3.57929421e-02 -1.96667634e-03 9.99357292e-01 1.83270669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.88, Y:21.21, Z:18.33 [[ 9.93074772e-01 -1.11901753e-01 -3.57840063e-02 5.15882306e+02] [ 1.11897671e-01 9.93717467e-01 -2.12306647e-03 2.12080121e+01] [ 3.57967669e-02 -1.89578322e-03 9.99357292e-01 1.83284926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.91, Y:21.21, Z:18.33 [[ 9.93295777e-01 -1.09922665e-01 -3.57841630e-02 5.15913761e+02] [ 1.09917398e-01 9.93938464e-01 -2.12042073e-03 2.12104429e+01] [ 3.58003383e-02 -1.82709712e-03 9.99357292e-01 1.83295064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.95, Y:21.21, Z:18.33 [[ 9.93507259e-01 -1.07994500e-01 -3.57842797e-02 5.15945231e+02] [ 1.07988057e-01 9.94149934e-01 -2.11844933e-03 2.12132323e+01] [ 3.58037202e-02 -1.75958003e-03 9.99357292e-01 1.83306548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.98, Y:21.22, Z:18.33 [[ 9.93906192e-01 -1.04259093e-01 -3.57843940e-02 5.15977287e+02] [ 1.04250303e-01 9.94548840e-01 -2.11651669e-03 2.12177469e+01] [ 3.58099937e-02 -1.62691488e-03 9.99357292e-01 1.83320740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.01, Y:21.22, Z:18.33 [[ 9.94075538e-01 -1.02631820e-01 -3.57845484e-02 5.16009714e+02] [ 1.02622072e-01 9.94718172e-01 -2.11390411e-03 2.12208605e+01] [ 3.58124944e-02 -1.57090412e-03 9.99357292e-01 1.83331447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.04, Y:21.22, Z:18.33 [[ 9.94262223e-01 -1.00807176e-01 -3.57847031e-02 5.16042236e+02] [ 1.00796343e-01 9.94904840e-01 -2.11128167e-03 2.12235650e+01] [ 3.58152066e-02 -1.50779959e-03 9.99357292e-01 1.83344150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.07, Y:21.23, Z:18.34 [[ 9.94640282e-01 -9.70059439e-02 -3.57848597e-02 5.16072305e+02] [ 9.69927497e-02 9.95282854e-01 -2.10862347e-03 2.12274017e+01] [ 3.58206064e-02 -1.37355010e-03 9.99357292e-01 1.83354160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.10, Y:21.23, Z:18.34 [[ 9.94775677e-01 -9.56093487e-02 -3.57799423e-02 5.16103617e+02] [ 9.55922617e-02 9.95418161e-01 -2.19187482e-03 2.12305280e+01] [ 3.58255681e-02 -1.23986185e-03 9.99357289e-01 1.83359938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.13, Y:21.23, Z:18.34 [[ 9.94963422e-01 -9.36335920e-02 -3.57846253e-02 5.16134656e+02] [ 9.36180785e-02 9.95605942e-01 -2.11255133e-03 2.12337041e+01] [ 3.58251914e-02 -1.24817656e-03 9.99357292e-01 1.83367611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:21.24, Z:18.34 [[ 9.95190215e-01 -9.11914886e-02 -3.57847400e-02 5.16164483e+02] [ 9.11744681e-02 9.95832698e-01 -2.11060716e-03 2.12370015e+01] [ 3.58280836e-02 -1.16219904e-03 9.99357292e-01 1.83378426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.20, Y:21.24, Z:18.34 [[ 9.95408143e-01 -8.87810747e-02 -3.57847776e-02 5.16196049e+02] [ 8.87625212e-02 9.96050582e-01 -2.10996875e-03 2.12405017e+01] [ 3.58307739e-02 -1.07606701e-03 9.99357292e-01 1.83392278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.23, Y:21.24, Z:18.34 [[ 9.95913463e-01 -8.29205596e-02 -3.57848525e-02 5.16226868e+02] [ 8.28982707e-02 9.96555784e-01 -2.10869759e-03 2.12447446e+01] [ 3.58364562e-02 -8.66422071e-04 9.99357292e-01 1.83407881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.26, Y:21.25, Z:18.34 [[ 9.96166895e-01 -7.98182645e-02 -3.57849276e-02 5.16257496e+02] [ 7.97940209e-02 9.96809146e-01 -2.10742404e-03 2.12477265e+01] [ 3.58389540e-02 -7.56077191e-04 9.99357292e-01 1.83417211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.29, Y:21.25, Z:18.34 [[ 9.96424251e-01 -7.65385353e-02 -3.57849647e-02 5.16288324e+02] [ 7.65122002e-02 9.97066419e-01 -2.10679284e-03 2.12502920e+01] [ 3.58412375e-02 -6.38726912e-04 9.99357292e-01 1.83427808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.32, Y:21.25, Z:18.34 [[ 9.96899290e-01 -7.00802564e-02 -3.57849647e-02 5.16317310e+02] [ 7.00497607e-02 9.97541274e-01 -2.10679284e-03 2.12536260e+01] [ 3.58446239e-02 -4.06467933e-04 9.99357292e-01 1.83438336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.35, Y:21.26, Z:18.35 [[ 9.97101614e-01 -6.71402223e-02 -3.57849280e-02 5.16346254e+02] [ 6.71078112e-02 9.97743504e-01 -2.10741685e-03 2.12562447e+01] [ 3.58456719e-02 -3.00139449e-04 9.99357292e-01 1.83452839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.37, Y:21.26, Z:18.35 [[ 9.97258672e-01 -6.47658663e-02 -3.57844040e-02 5.16374414e+02] [ 6.47316090e-02 9.97900466e-01 -2.11627740e-03 2.12586351e+01] [ 3.58463359e-02 -2.05906051e-04 9.99357292e-01 1.83467039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.40, Y:21.26, Z:18.35 [[ 9.97392408e-01 -6.26729629e-02 -3.57838645e-02 5.16402809e+02] [ 6.26370330e-02 9.98034110e-01 -2.12536064e-03 2.12607252e+01] [ 3.58467200e-02 -1.21576534e-04 9.99357292e-01 1.83481221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.43, Y:21.26, Z:18.35 [[ 9.97466212e-01 -6.14874814e-02 -3.57833247e-02 5.16431078e+02] [ 6.14504641e-02 9.98107852e-01 -2.13441038e-03 2.12624707e+01] [ 3.58468568e-02 -6.98996687e-05 9.99357292e-01 1.83491896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.46, Y:21.26, Z:18.35 [[ 9.97508082e-01 -6.08048099e-02 -3.57827088e-02 5.16458521e+02] [ 6.07669849e-02 9.98149675e-01 -2.14468587e-03 2.12638616e+01] [ 3.58469064e-02 -3.50658415e-05 9.99357292e-01 1.83499785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.49, Y:21.26, Z:18.35 [[ 9.97459658e-01 -6.15944236e-02 -3.57820928e-02 5.16486774e+02] [ 6.15567396e-02 9.98101259e-01 -2.15491399e-03 2.12643957e+01] [ 3.58468826e-02 -5.31892013e-05 9.99357293e-01 1.83506101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.51, Y:21.27, Z:18.35 [[ 9.97385258e-01 -6.27880114e-02 -3.57814625e-02 5.16513752e+02] [ 6.27507216e-02 9.98026883e-01 -2.16532922e-03 2.12650014e+01] [ 3.58468182e-02 -8.56451537e-05 9.99357293e-01 1.83512308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.54, Y:21.27, Z:18.35 [[ 9.97237243e-01 -6.50967619e-02 -3.57811889e-02 5.16541413e+02] [ 6.50607956e-02 9.97878943e-01 -2.16984132e-03 2.12658004e+01] [ 3.58465446e-02 -1.64106041e-04 9.99357293e-01 1.83519558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.57, Y:21.26, Z:18.35 [[ 9.96860146e-01 -7.06371080e-02 -3.57805635e-02 5.16568969e+02] [ 7.06043396e-02 9.97502017e-01 -2.18010588e-03 2.12649162e+01] [ 3.58451806e-02 -3.53002393e-04 9.99357293e-01 1.83528977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.60, Y:21.27, Z:18.35 [[ 9.96654774e-01 -7.34782844e-02 -3.57799273e-02 5.16597634e+02] [ 7.34469728e-02 9.97296718e-01 -2.19049829e-03 2.12650905e+01] [ 3.58441581e-02 -4.44756765e-04 9.99357293e-01 1.83535233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.63, Y:21.27, Z:18.36 [[ 9.96427304e-01 -7.65012027e-02 -3.57798091e-02 5.16627655e+02] [ 7.64717692e-02 9.97069337e-01 -2.19242754e-03 2.12654656e+01] [ 3.58426738e-02 -5.51550634e-04 9.99357293e-01 1.83551885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.66, Y:21.27, Z:18.36 [[ 9.96188514e-01 -7.95503360e-02 -3.57797303e-02 5.16657936e+02] [ 7.95228214e-02 9.96830632e-01 -2.19371251e-03 2.12659444e+01] [ 3.58408417e-02 -6.59953896e-04 9.99357293e-01 1.83565499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.69, Y:21.27, Z:18.36 [[ 9.95753417e-01 -8.48230092e-02 -3.57797303e-02 5.16688124e+02] [ 8.47988944e-02 9.96395672e-01 -2.19371251e-03 2.12652626e+01] [ 3.58368457e-02 -8.49684841e-04 9.99357293e-01 1.83575593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.72, Y:21.27, Z:18.36 [[ 9.95566611e-01 -8.69881269e-02 -3.57797303e-02 5.16717356e+02] [ 8.69654087e-02 9.96208917e-01 -2.19371251e-03 2.12659912e+01] [ 3.58349133e-02 -9.27611938e-04 9.99357293e-01 1.83585330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.75, Y:21.27, Z:18.36 [[ 9.95409649e-01 -8.87662343e-02 -3.57796905e-02 5.16748016e+02] [ 8.87446401e-02 9.96051993e-01 -2.19436031e-03 2.12669982e+01] [ 3.58332172e-02 -9.90968333e-04 9.99357293e-01 1.83597091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.78, Y:21.27, Z:18.36 [[ 9.95053021e-01 -9.26784735e-02 -3.57796905e-02 5.16778032e+02] [ 9.26594045e-02 9.95695445e-01 -2.19436031e-03 2.12671725e+01] [ 3.58290449e-02 -1.13181996e-03 9.99357293e-01 1.83606751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.81, Y:21.27, Z:18.36 [[ 9.95056307e-01 -9.26431709e-02 -3.57797297e-02 5.16809797e+02] [ 9.26241021e-02 9.95698731e-01 -2.19372112e-03 2.12690906e+01] [ 3.58290648e-02 -1.13118930e-03 9.99357293e-01 1.83618165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.84, Y:21.27, Z:18.36 [[ 9.94865143e-01 -9.46739318e-02 -3.57798075e-02 5.16840325e+02] [ 9.46562198e-02 9.95507606e-01 -2.19245173e-03 2.12696883e+01] [ 3.58266385e-02 -1.20558752e-03 9.99357293e-01 1.83622247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.87, Y:21.27, Z:18.36 [[ 9.94632368e-01 -9.70889071e-02 -3.57798461e-02 5.16871237e+02] [ 9.70727776e-02 9.95274872e-01 -2.19182199e-03 2.12701314e+01] [ 3.58235834e-02 -1.29319195e-03 9.99357293e-01 1.83634633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.90, Y:21.27, Z:18.36 [[ 9.94354057e-01 -9.98989767e-02 -3.57799225e-02 5.16902207e+02] [ 9.98847075e-02 9.94996606e-01 -2.19057354e-03 2.12707574e+01] [ 3.58197375e-02 -1.39566141e-03 9.99357293e-01 1.83646032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.93, Y:21.27, Z:18.37 [[ 9.93632900e-01 -1.06833758e-01 -3.57800021e-02 5.16933446e+02] [ 1.06824018e-01 9.94275533e-01 -2.18927255e-03 2.12701891e+01] [ 3.58090689e-02 -1.64683037e-03 9.99357293e-01 1.83660132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.96, Y:21.27, Z:18.37 [[ 9.93280596e-01 -1.10059926e-01 -3.57836553e-02 5.16963995e+02] [ 1.10054423e-01 9.93923281e-01 -2.12946437e-03 2.12711873e+01] [ 3.58005767e-02 -1.82299388e-03 9.99357291e-01 1.83656013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.00, Y:21.27, Z:18.37 [[ 9.92902886e-01 -1.13417979e-01 -3.57801644e-02 5.16996049e+02] [ 1.13412597e-01 9.93545571e-01 -2.18658794e-03 2.12722808e+01] [ 3.57972223e-02 -1.88685187e-03 9.99357293e-01 1.83662957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.02, Y:21.28, Z:18.37 [[ 9.92164261e-01 -1.19707340e-01 -3.57803213e-02 5.17024290e+02] [ 1.19706123e-01 9.92806967e-01 -2.18401755e-03 2.12767576e+01] [ 3.57843952e-02 -2.11621937e-03 9.99357293e-01 1.83661655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.06, Y:21.28, Z:18.37 [[ 9.91515775e-01 -1.24969701e-01 -3.57636987e-02 5.17055947e+02] [ 1.24962102e-01 9.92158475e-01 -2.45647580e-03 2.12787076e+01] [ 3.57902418e-02 -2.03347247e-03 9.99357255e-01 1.83651689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.09, Y:21.28, Z:18.37 [[ 9.91747646e-01 -1.23117025e-01 -3.57603746e-02 5.17089855e+02] [ 1.23106266e-01 9.92390317e-01 -2.51099697e-03 2.12770798e+01] [ 3.57973959e-02 -1.91205086e-03 9.99357239e-01 1.83667871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.12, Y:21.28, Z:18.37 [[ 9.91623353e-01 -1.24108211e-01 -3.57809682e-02 5.17121602e+02] [ 1.24110286e-01 9.92266053e-01 -2.17173581e-03 2.12793293e+01] [ 3.57737703e-02 -2.28724226e-03 9.99357296e-01 1.83678111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.15, Y:21.28, Z:18.37 [[ 9.91534820e-01 -1.24813508e-01 -3.57811240e-02 5.17154033e+02] [ 1.24816133e-01 9.92177518e-01 -2.16916508e-03 2.12833138e+01] [ 3.57719679e-02 -2.31525883e-03 9.99357296e-01 1.83699006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.19, Y:21.29, Z:18.37 [[ 9.91553650e-01 -1.24663787e-01 -3.57812859e-02 5.17186320e+02] [ 1.24666410e-01 9.92196348e-01 -2.16649081e-03 2.12869155e+01] [ 3.57721442e-02 -2.31253259e-03 9.99357296e-01 1.83711717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.22, Y:21.29, Z:18.37 [[ 9.91626521e-01 -1.24082760e-01 -3.57814470e-02 5.17217304e+02] [ 1.24085102e-01 9.92269220e-01 -2.16382794e-03 2.12904898e+01] [ 3.57733222e-02 -2.29423535e-03 9.99357296e-01 1.83720549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.25, Y:21.29, Z:18.37 [[ 9.91749762e-01 -1.23093819e-01 -3.57815667e-02 5.17249748e+02] [ 1.23095592e-01 9.92392464e-01 -2.16184642e-03 2.12942667e+01] [ 3.57754671e-02 -2.26054247e-03 9.99357296e-01 1.83736542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.28, Y:21.30, Z:18.38 [[ 9.91932910e-01 -1.21609089e-01 -3.57817204e-02 5.17281768e+02] [ 1.21609991e-01 9.92575613e-01 -2.15929903e-03 2.12978698e+01] [ 3.57786535e-02 -2.20953493e-03 9.99357296e-01 1.83751042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.31, Y:21.30, Z:18.38 [[ 9.92137948e-01 -1.19924767e-01 -3.57818738e-02 5.17313796e+02] [ 1.19924670e-01 9.92780652e-01 -2.15675509e-03 2.13017426e+01] [ 3.57822003e-02 -2.15133082e-03 9.99357296e-01 1.83770689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.35, Y:21.31, Z:18.38 [[ 9.92641796e-01 -1.15680207e-01 -3.57820307e-02 5.17345642e+02] [ 1.15677454e-01 9.93284494e-01 -2.15414772e-03 2.13078414e+01] [ 3.57909285e-02 -2.00087716e-03 9.99357296e-01 1.83793883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.38, Y:21.31, Z:18.38 [[ 9.92919045e-01 -1.13275789e-01 -3.57821869e-02 5.17377879e+02] [ 1.13271573e-01 9.93561735e-01 -2.15155118e-03 2.13117693e+01] [ 3.57955303e-02 -1.91678845e-03 9.99357296e-01 1.83808811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.41, Y:21.32, Z:18.38 [[ 9.93224589e-01 -1.10564645e-01 -3.57823426e-02 5.17408868e+02] [ 1.10558768e-01 9.93867265e-01 -2.14895793e-03 2.13155442e+01] [ 3.58004978e-02 -1.82165385e-03 9.99357296e-01 1.83820474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.44, Y:21.32, Z:18.38 [[ 9.93492005e-01 -1.08135342e-01 -3.57824585e-02 5.17440679e+02] [ 1.08127962e-01 9.94134666e-01 -2.14702643e-03 2.13195443e+01] [ 3.58047519e-02 -1.73603073e-03 9.99357296e-01 1.83834612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.47, Y:21.32, Z:18.38 [[ 9.94003538e-01 -1.03327491e-01 -3.57826114e-02 5.17471543e+02] [ 1.03317094e-01 9.94646158e-01 -2.14447444e-03 2.13246295e+01] [ 3.58126201e-02 -1.56534024e-03 9.99357296e-01 1.83838800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.50, Y:21.33, Z:18.38 [[ 9.94220543e-01 -1.01218119e-01 -3.57827253e-02 5.17503896e+02] [ 1.01206427e-01 9.94863141e-01 -2.14257246e-03 2.13277549e+01] [ 3.58157816e-02 -1.49125223e-03 9.99357296e-01 1.83847126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.54, Y:21.33, Z:18.38 [[ 9.94664038e-01 -9.67627890e-02 -3.57828777e-02 5.17535515e+02] [ 9.67483095e-02 9.95306578e-01 -2.14002526e-03 2.13329315e+01] [ 3.58220083e-02 -1.33332676e-03 9.99357296e-01 1.83848508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.57, Y:21.34, Z:18.39 [[ 9.94890778e-01 -9.44029499e-02 -3.57829906e-02 5.17566492e+02] [ 9.43870141e-02 9.95533284e-01 -2.13813510e-03 2.13366875e+01] [ 3.58250044e-02 -1.25023874e-03 9.99357296e-01 1.83852413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.60, Y:21.34, Z:18.39 [[ 9.95123059e-01 -9.19220755e-02 -3.57831028e-02 5.17598417e+02] [ 9.19046052e-02 9.95765525e-01 -2.13625500e-03 2.13403497e+01] [ 3.58279492e-02 -1.16279533e-03 9.99357296e-01 1.83862403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.63, Y:21.34, Z:18.39 [[ 9.95367674e-01 -8.92342614e-02 -3.57832521e-02 5.17629473e+02] [ 8.92151460e-02 9.96010093e-01 -2.13375275e-03 2.13440690e+01] [ 3.58308840e-02 -1.06853955e-03 9.99357296e-01 1.83866782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.66, Y:21.35, Z:18.39 [[ 9.95647175e-01 -8.60595943e-02 -3.57833632e-02 5.17660632e+02] [ 8.60384974e-02 9.96289532e-01 -2.13188780e-03 2.13477952e+01] [ 3.58340595e-02 -9.56138729e-04 9.99357296e-01 1.83879254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.69, Y:21.35, Z:18.39 [[ 9.96199821e-01 -7.94069379e-02 -3.57834381e-02 5.17691463e+02] [ 7.93815958e-02 9.96842025e-01 -2.13062969e-03 2.13536829e+01] [ 3.58396216e-02 -7.18013502e-04 9.99357296e-01 1.83897832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.72, Y:21.36, Z:18.39 [[ 9.96520145e-01 -7.52804172e-02 -3.57835161e-02 5.17721859e+02] [ 7.52524626e-02 9.97162240e-01 -2.12931822e-03 2.13573740e+01] [ 3.58422670e-02 -5.70889208e-04 9.99357296e-01 1.83893180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.75, Y:21.36, Z:18.39 [[ 9.96823001e-01 -7.11578631e-02 -3.57835548e-02 5.17753141e+02] [ 7.11272762e-02 9.97464977e-01 -2.12866867e-03 2.13614355e+01] [ 3.58443141e-02 -4.23280891e-04 9.99357296e-01 1.83921990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.78, Y:21.37, Z:18.39 [[ 9.97115165e-01 -6.69393700e-02 -3.57836319e-02 5.17783259e+02] [ 6.69061136e-02 9.97757008e-01 -2.12737103e-03 2.13655705e+01] [ 3.58457744e-02 -2.72909828e-04 9.99357296e-01 1.83936116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.81, Y:21.37, Z:18.40 [[ 9.97382898e-01 -6.28242449e-02 -3.57836319e-02 5.17812859e+02] [ 6.27883402e-02 9.98024598e-01 -2.12737103e-03 2.13696975e+01] [ 3.58465953e-02 -1.24991373e-04 9.99357296e-01 1.83951604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.84, Y:21.37, Z:18.40 [[ 9.97604463e-01 -5.92019713e-02 -3.57835551e-02 5.17842773e+02] [ 5.91636902e-02 9.98246025e-01 -2.12866253e-03 2.13736590e+01] [ 3.58468126e-02 6.47607411e-06 9.99357296e-01 1.83967241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.87, Y:21.38, Z:18.40 [[ 9.97915399e-01 -5.37066017e-02 -3.57834787e-02 5.17871652e+02] [ 5.36647417e-02 9.98556738e-01 -2.12994642e-03 2.13785840e+01] [ 3.58462259e-02 2.05195190e-04 9.99357296e-01 1.83985622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.90, Y:21.38, Z:18.40 [[ 9.98013308e-01 -5.18557516e-02 -3.57829383e-02 5.17899826e+02] [ 5.18123781e-02 9.98654546e-01 -2.13898566e-03 2.13811527e+01] [ 3.58457127e-02 2.80737024e-04 9.99357296e-01 1.83993012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.93, Y:21.38, Z:18.40 [[ 9.98061743e-01 -5.09151533e-02 -3.57827472e-02 5.17927133e+02] [ 5.08710610e-02 9.98702932e-01 -2.14217819e-03 2.13833540e+01] [ 3.58454039e-02 3.17719785e-04 9.99357297e-01 1.84005047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.95, Y:21.39, Z:18.40 [[ 9.98023795e-01 -5.16540762e-02 -3.57821206e-02 5.17953572e+02] [ 5.16100853e-02 9.98664992e-01 -2.15259362e-03 2.13853468e+01] [ 3.58455414e-02 3.01621354e-04 9.99357297e-01 1.84014011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.98, Y:21.39, Z:18.40 [[ 9.97925820e-01 -5.35138242e-02 -3.57816886e-02 5.17981780e+02] [ 5.34707716e-02 9.98567079e-01 -2.15975136e-03 2.13870354e+01] [ 3.58459928e-02 2.41997147e-04 9.99357297e-01 1.84023355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.01, Y:21.39, Z:18.40 [[ 9.97832925e-01 -5.52192904e-02 -3.57810669e-02 5.18009671e+02] [ 5.51769663e-02 9.98474233e-01 -2.17000203e-03 2.13882959e+01] [ 3.58462993e-02 1.91008744e-04 9.99357297e-01 1.84029880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.04, Y:21.39, Z:18.40 [[ 9.97586204e-01 -5.95107120e-02 -3.57804418e-02 5.18037811e+02] [ 5.94707788e-02 9.98227666e-01 -2.18026022e-03 2.13884256e+01] [ 3.58467758e-02 4.71067804e-05 9.99357297e-01 1.84036995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.07, Y:21.39, Z:18.40 [[ 9.97455109e-01 -6.16693650e-02 -3.57798060e-02 5.18066494e+02] [ 6.16304475e-02 9.98096633e-01 -2.19064612e-03 2.13890087e+01] [ 3.58467996e-02 -2.00542855e-05 9.99357297e-01 1.84045388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.10, Y:21.39, Z:18.41 [[ 9.97329239e-01 -6.36728799e-02 -3.57792439e-02 5.18095867e+02] [ 6.36349232e-02 9.97970820e-01 -2.19978726e-03 2.13895773e+01] [ 3.58467082e-02 -8.28972824e-05 9.99357297e-01 1.84056506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.13, Y:21.39, Z:18.41 [[ 9.97222433e-01 -6.53243486e-02 -3.57791635e-02 5.18125046e+02] [ 6.52874074e-02 9.97864074e-01 -2.20109483e-03 2.13900315e+01] [ 3.58465269e-02 -1.40947685e-04 9.99357297e-01 1.84063816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.15, Y:21.39, Z:18.41 [[ 9.97082099e-01 -6.74324824e-02 -3.57791636e-02 5.18154658e+02] [ 6.73968979e-02 9.97723816e-01 -2.20109321e-03 2.13892742e+01] [ 3.58461488e-02 -2.16733995e-04 9.99357297e-01 1.84076310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.18, Y:21.39, Z:18.41 [[ 9.97014731e-01 -6.84213700e-02 -3.57790840e-02 5.18184269e+02] [ 6.83863756e-02 9.97656481e-01 -2.20238566e-03 2.13898264e+01] [ 3.58459253e-02 -2.50990935e-04 9.99357297e-01 1.84086904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.22, Y:21.39, Z:18.41 [[ 9.96992289e-01 -6.87476239e-02 -3.57790446e-02 5.18215095e+02] [ 6.87128165e-02 9.97634049e-01 -2.20302697e-03 2.13902231e+01] [ 3.58458460e-02 -2.62078018e-04 9.99357297e-01 1.84099884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.24, Y:21.39, Z:18.41 [[ 9.96972682e-01 -6.90313843e-02 -3.57790446e-02 5.18244127e+02] [ 6.89967595e-02 9.97614452e-01 -2.20302697e-03 2.13904706e+01] [ 3.58457699e-02 -2.72280427e-04 9.99357297e-01 1.84108553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.27, Y:21.39, Z:18.41 [[ 9.96951146e-01 -6.93417249e-02 -3.57790048e-02 5.18274326e+02] [ 6.93072768e-02 9.97592926e-01 -2.20367181e-03 2.13896073e+01] [ 3.58456885e-02 -2.82792253e-04 9.99357297e-01 1.84112248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.30, Y:21.39, Z:18.41 [[ 9.96929605e-01 -6.96507826e-02 -3.57789257e-02 5.18304101e+02] [ 6.96164874e-02 9.97571392e-01 -2.20495553e-03 2.13901424e+01] [ 3.58456096e-02 -2.92617684e-04 9.99357297e-01 1.84120238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.33, Y:21.39, Z:18.41 [[ 9.96890645e-01 -7.02062326e-02 -3.57788468e-02 5.18333448e+02] [ 7.01722490e-02 9.97532450e-01 -2.20623561e-03 2.13906612e+01] [ 3.58454522e-02 -3.11306500e-04 9.99357297e-01 1.84129462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.36, Y:21.39, Z:18.41 [[ 9.96814532e-01 -7.12788054e-02 -3.57787675e-02 5.18364245e+02] [ 7.12454663e-02 9.97456370e-01 -2.20752109e-03 2.13915980e+01] [ 3.58451090e-02 -3.48585871e-04 9.99357297e-01 1.84141900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.39, Y:21.39, Z:18.42 [[ 9.96726452e-01 -7.25000672e-02 -3.57787675e-02 5.18394486e+02] [ 7.24675145e-02 9.97368330e-01 -2.20752109e-03 2.13921732e+01] [ 3.58446550e-02 -3.92503688e-04 9.99357297e-01 1.84153767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.42, Y:21.39, Z:18.42 [[ 9.96438875e-01 -7.63508207e-02 -3.57787675e-02 5.18424359e+02] [ 7.63207484e-02 9.97080874e-01 -2.20752109e-03 2.13908342e+01] [ 3.58428708e-02 -5.31002479e-04 9.99357297e-01 1.84158303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.45, Y:21.39, Z:18.42 [[ 9.96257058e-01 -7.86877156e-02 -3.57787274e-02 5.18453882e+02] [ 7.86591259e-02 9.96899125e-01 -2.20817102e-03 2.13909265e+01] [ 3.58415380e-02 -6.14417460e-04 9.99357297e-01 1.84162987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.48, Y:21.39, Z:18.42 [[ 9.96031626e-01 -8.14916229e-02 -3.57786877e-02 5.18484019e+02] [ 8.14648174e-02 9.96673770e-01 -2.20881435e-03 2.13910996e+01] [ 3.58396794e-02 -7.14655302e-04 9.99357297e-01 1.84177067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.51, Y:21.39, Z:18.42 [[ 9.95801763e-01 -8.42539827e-02 -3.57786877e-02 5.18513932e+02] [ 8.42289584e-02 9.96443979e-01 -2.20881435e-03 2.13913225e+01] [ 3.58375593e-02 -8.14060367e-04 9.99357297e-01 1.84189007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.55, Y:21.39, Z:18.42 [[ 9.95263800e-01 -9.03871959e-02 -3.57788183e-02 5.18545489e+02] [ 9.03662047e-02 9.95906160e-01 -2.20669553e-03 2.13909384e+01] [ 3.58318026e-02 -1.03695184e-03 9.99357297e-01 1.84196759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.58, Y:21.39, Z:18.42 [[ 9.94942381e-01 -9.38590927e-02 -3.57788975e-02 5.18576974e+02] [ 9.38403889e-02 9.95584812e-01 -2.20541051e-03 2.13919589e+01] [ 3.58279248e-02 -1.16324927e-03 9.99357297e-01 1.84207702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.61, Y:21.39, Z:18.42 [[ 9.94605475e-01 -9.73643380e-02 -3.57789780e-02 5.18609455e+02] [ 9.73479450e-02 9.95247969e-01 -2.20410456e-03 2.13928837e+01] [ 3.58235564e-02 -1.29079552e-03 9.99357297e-01 1.84215776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.64, Y:21.39, Z:18.42 [[ 9.93838402e-01 -1.04905118e-01 -3.57791390e-02 5.18641908e+02] [ 1.04893693e-01 9.94481004e-01 -2.20148731e-03 2.13923233e+01] [ 3.58126214e-02 -1.56508339e-03 9.99357297e-01 1.84218301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.67, Y:21.39, Z:18.42 [[ 9.93406851e-01 -1.08915889e-01 -3.57793009e-02 5.18672623e+02] [ 1.08907152e-01 9.94049494e-01 -2.19885308e-03 2.13933305e+01] [ 3.58058860e-02 -1.71226606e-03 9.99357297e-01 1.84225698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.70, Y:21.39, Z:18.42 [[ 9.92984857e-01 -1.12698253e-01 -3.57795694e-02 5.18703348e+02] [ 1.12692121e-01 9.93627531e-01 -2.19447560e-03 2.13943848e+01] [ 3.57988788e-02 -1.85299453e-03 9.99357297e-01 1.84232487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.74, Y:21.40, Z:18.42 [[ 9.92992931e-01 -1.12627052e-01 -3.57796886e-02 5.18735958e+02] [ 1.12620944e-01 9.93635605e-01 -2.19253088e-03 2.13963235e+01] [ 3.57989108e-02 -1.85237463e-03 9.99357297e-01 1.84244200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.77, Y:21.40, Z:18.43 [[ 9.92593539e-01 -1.16094222e-01 -3.57798456e-02 5.18767691e+02] [ 1.16090451e-01 9.93236231e-01 -2.18996620e-03 2.13979738e+01] [ 3.57920814e-02 -1.97995209e-03 9.99357297e-01 1.84259237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.80, Y:21.40, Z:18.43 [[ 9.92249202e-01 -1.19001316e-01 -3.57800020e-02 5.18798651e+02] [ 1.18999519e-01 9.92891902e-01 -2.18740743e-03 2.13998808e+01] [ 3.57859786e-02 -2.08734976e-03 9.99357297e-01 1.84270966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.83, Y:21.40, Z:18.43 [[ 9.91870474e-01 -1.22117751e-01 -3.57801186e-02 5.18830872e+02] [ 1.22118041e-01 9.92513178e-01 -2.18549863e-03 2.14026977e+01] [ 3.57791274e-02 -2.20166643e-03 9.99357297e-01 1.84289993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.86, Y:21.41, Z:18.43 [[ 9.91810013e-01 -1.22607794e-01 -3.57802724e-02 5.18863180e+02] [ 1.22608493e-01 9.92452715e-01 -2.18297666e-03 2.14052731e+01] [ 3.57778785e-02 -2.22186717e-03 9.99357297e-01 1.84303684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.90, Y:21.41, Z:18.43 [[ 9.91822316e-01 -1.22508185e-01 -3.57804257e-02 5.18895053e+02] [ 1.22508909e-01 9.92465018e-01 -2.18046144e-03 2.14080299e+01] [ 3.57779452e-02 -2.22079061e-03 9.99357297e-01 1.84322874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.93, Y:21.41, Z:18.43 [[ 9.91866623e-01 -1.22148894e-01 -3.57805864e-02 5.18926791e+02] [ 1.22149481e-01 9.92509326e-01 -2.17782227e-03 2.14108534e+01] [ 3.57785842e-02 -2.21047082e-03 9.99357297e-01 1.84339145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.96, Y:21.41, Z:18.44 [[ 9.91860656e-01 -1.22197285e-01 -3.57807479e-02 5.18958225e+02] [ 1.22197999e-01 9.92503359e-01 -2.17516553e-03 2.14136198e+01] [ 3.57783118e-02 -2.21487466e-03 9.99357297e-01 1.84355771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.99, Y:21.42, Z:18.44 [[ 9.91793099e-01 -1.22744361e-01 -3.57808681e-02 5.18989783e+02] [ 1.22745500e-01 9.92435801e-01 -2.17318514e-03 2.14168665e+01] [ 3.57769608e-02 -2.23659051e-03 9.99357297e-01 1.84356540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.02, Y:21.42, Z:18.43 [[ 9.91833533e-01 -1.22417158e-01 -3.57810228e-02 5.19022254e+02] [ 1.22418177e-01 9.92476236e-01 -2.17063567e-03 2.14192211e+01] [ 3.57775379e-02 -2.22733832e-03 9.99357297e-01 1.84342805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.05, Y:21.42, Z:18.43 [[ 9.91943898e-01 -1.21519593e-01 -3.57811752e-02 5.19054632e+02] [ 1.21520120e-01 9.92586601e-01 -2.16812014e-03 2.14217220e+01] [ 3.57793842e-02 -2.19747917e-03 9.99357297e-01 1.84343209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.09, Y:21.42, Z:18.44 [[ 9.92128009e-01 -1.20007128e-01 -3.57813314e-02 5.19086383e+02] [ 1.20006768e-01 9.92770712e-01 -2.16554014e-03 2.14244630e+01] [ 3.57825381e-02 -2.14550890e-03 9.99357297e-01 1.84351778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.12, Y:21.43, Z:18.44 [[ 9.92659444e-01 -1.15528840e-01 -3.57814895e-02 5.19118217e+02] [ 1.15525674e-01 9.93302139e-01 -2.16292413e-03 2.14289924e+01] [ 3.57917102e-02 -1.98663364e-03 9.99357297e-01 1.84374677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.15, Y:21.43, Z:18.44 [[ 9.92988724e-01 -1.12663515e-01 -3.57816483e-02 5.19148901e+02] [ 1.12658589e-01 9.93631408e-01 -2.16029486e-03 2.14322177e+01] [ 3.57971560e-02 -1.88596157e-03 9.99357297e-01 1.84387330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.18, Y:21.44, Z:18.44 [[ 9.93356040e-01 -1.09377521e-01 -3.57817663e-02 5.19181309e+02] [ 1.09370538e-01 9.93998706e-01 -2.15833815e-03 2.14355282e+01] [ 3.58031030e-02 -1.76947280e-03 9.99357297e-01 1.84403904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.21, Y:21.44, Z:18.44 [[ 9.93747254e-01 -1.05764119e-01 -3.57819215e-02 5.19213675e+02] [ 1.05754892e-01 9.94389891e-01 -2.15576166e-03 2.14389792e+01] [ 3.58091833e-02 -1.64183101e-03 9.99357297e-01 1.84423111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.25, Y:21.44, Z:18.44 [[ 9.94124488e-01 -1.02157453e-01 -3.57820793e-02 5.19246108e+02] [ 1.02145988e-01 9.94767089e-01 -2.15313971e-03 2.14423100e+01] [ 3.58147941e-02 -1.51450694e-03 9.99357297e-01 1.84439101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.28, Y:21.45, Z:18.45 [[ 9.94767170e-01 -9.56969603e-02 -3.57822388e-02 5.19277485e+02] [ 9.56814166e-02 9.95409685e-01 -2.15048517e-03 2.14466903e+01] [ 3.58237820e-02 -1.28446325e-03 9.99357297e-01 1.84450539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.31, Y:21.45, Z:18.45 [[ 9.95074768e-01 -9.24436549e-02 -3.57823573e-02 5.19309094e+02] [ 9.24260812e-02 9.95717231e-01 -2.14851111e-03 2.14493809e+01] [ 3.58277260e-02 -1.16929387e-03 9.99357297e-01 1.84466389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.34, Y:21.45, Z:18.45 [[ 9.95362940e-01 -8.92873402e-02 -3.57825143e-02 5.19341608e+02] [ 8.92678230e-02 9.96005347e-01 -2.14589390e-03 2.14517012e+01] [ 3.58311767e-02 -1.05828389e-03 9.99357297e-01 1.84480771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.37, Y:21.45, Z:18.45 [[ 9.95970541e-01 -8.22330928e-02 -3.57826720e-02 5.19373406e+02] [ 8.22091193e-02 9.96612797e-01 -2.14326086e-03 2.14542753e+01] [ 3.58377158e-02 -8.07037276e-04 9.99357297e-01 1.84498560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.40, Y:21.46, Z:18.45 [[ 9.96295859e-01 -7.81930281e-02 -3.57828282e-02 5.19404834e+02] [ 7.81665437e-02 9.96938017e-01 -2.14064951e-03 2.14566092e+01] [ 3.58406457e-02 -6.64299760e-04 9.99357297e-01 1.84512599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.43, Y:21.46, Z:18.45 [[ 9.96633051e-01 -7.37709019e-02 -3.57829057e-02 5.19434974e+02] [ 7.37416145e-02 9.97275086e-01 -2.13935438e-03 2.14590164e+01] [ 3.58432224e-02 -5.06537957e-04 9.99357297e-01 1.84525967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.47, Y:21.46, Z:18.45 [[ 9.96956220e-01 -6.92667028e-02 -3.57829440e-02 5.19465460e+02] [ 6.92345376e-02 9.97598118e-01 -2.13871250e-03 2.14613017e+01] [ 3.58451392e-02 -3.45212852e-04 9.99357297e-01 1.84544315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.49, Y:21.46, Z:18.46 [[ 9.97510501e-01 -6.07649758e-02 -3.57829440e-02 5.19494488e+02] [ 6.07273395e-02 9.98152101e-01 -2.13871250e-03 2.14637916e+01] [ 3.58467796e-02 -3.96148117e-05 9.99357297e-01 1.84571755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.52, Y:21.47, Z:18.46 [[ 9.97715223e-01 -5.73054760e-02 -3.57829051e-02 5.19523461e+02] [ 5.72655917e-02 9.98356687e-01 -2.13936278e-03 2.14651590e+01] [ 3.58466999e-02 8.53455783e-05 9.99357297e-01 1.84588186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.55, Y:21.47, Z:18.46 [[ 9.97887432e-01 -5.42244907e-02 -3.57823603e-02 5.19551270e+02] [ 5.41823005e-02 9.98528749e-01 -2.14843731e-03 2.14662203e+01] [ 3.58462134e-02 2.05127995e-04 9.99357297e-01 1.84598113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.58, Y:21.47, Z:18.46 [[ 9.98002299e-01 -5.20677166e-02 -3.57821674e-02 5.19579505e+02] [ 5.20240255e-02 9.98643516e-01 -2.15164561e-03 2.14668458e+01] [ 3.58456607e-02 2.85814876e-04 9.99357297e-01 1.84605538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.61, Y:21.47, Z:18.46 [[ 9.98073838e-01 -5.06783447e-02 -3.57815466e-02 5.19607434e+02] [ 5.06333926e-02 9.98714967e-01 -2.16192076e-03 2.14656809e+01] [ 3.58451287e-02 3.46015453e-04 9.99357297e-01 1.84610768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.64, Y:21.47, Z:18.46 [[ 9.98030146e-01 -5.15320681e-02 -3.57809250e-02 5.19635303e+02] [ 5.14872974e-02 9.98671287e-01 -2.17215995e-03 2.14654988e+01] [ 3.58453183e-02 3.25617988e-04 9.99357297e-01 1.84621659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.66, Y:21.47, Z:18.46 [[ 9.97932603e-01 -5.33881213e-02 -3.57802863e-02 5.19663495e+02] [ 5.33441676e-02 9.98573801e-01 -2.18263035e-03 2.14652098e+01] [ 3.58457830e-02 2.69448395e-04 9.99357297e-01 1.84636972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.69, Y:21.46, Z:18.46 [[ 9.97780987e-01 -5.61508584e-02 -3.57796436e-02 5.19690936e+02] [ 5.61083042e-02 9.98422280e-01 -2.19311520e-03 2.14646017e+01] [ 3.58463386e-02 1.80713516e-04 9.99357297e-01 1.84648932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.72, Y:21.46, Z:18.47 [[ 9.97563631e-01 -5.98885606e-02 -3.57793647e-02 5.19718982e+02] [ 5.98482464e-02 9.98205068e-01 -2.19765637e-03 2.14634730e+01] [ 3.58467576e-02 5.09698389e-05 9.99357297e-01 1.84658145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.75, Y:21.46, Z:18.47 [[ 9.96970645e-01 -6.90609527e-02 -3.57787283e-02 5.19747515e+02] [ 6.90261697e-02 9.97612406e-01 -2.20796792e-03 2.14587859e+01] [ 3.58457876e-02 -2.68389368e-04 9.99357297e-01 1.84663561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.78, Y:21.46, Z:18.47 [[ 9.96587323e-01 -7.43884089e-02 -3.57780853e-02 5.19775977e+02] [ 7.43566840e-02 9.97229243e-01 -2.21833895e-03 2.14573054e+01] [ 3.58439716e-02 -4.49571302e-04 9.99357297e-01 1.84670811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.81, Y:21.45, Z:18.47 [[ 9.95752373e-01 -8.48360092e-02 -3.57779656e-02 5.19805515e+02] [ 8.48109489e-02 9.96394587e-01 -2.22026729e-03 2.14524332e+01] [ 3.58373299e-02 -8.23526793e-04 9.99357297e-01 1.84680285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.84, Y:21.45, Z:18.47 [[ 9.95361404e-01 -8.93065130e-02 -3.57774054e-02 5.19836176e+02] [ 8.92840139e-02 9.96003712e-01 -2.22925765e-03 2.14508895e+01] [ 3.58335159e-02 -9.75433345e-04 9.99357297e-01 1.84691623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.87, Y:21.45, Z:18.47 [[ 9.94750740e-01 -9.58694024e-02 -3.57774054e-02 5.19866004e+02] [ 9.58511401e-02 9.95393183e-01 -2.22925765e-03 2.14459527e+01] [ 3.58263031e-02 -1.21174941e-03 9.99357297e-01 1.84703671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.90, Y:21.44, Z:18.47 [[ 9.94415691e-01 -9.92845102e-02 -3.57773650e-02 5.19897227e+02] [ 9.92684306e-02 9.95058192e-01 -2.22990693e-03 2.14422034e+01] [ 3.58219553e-02 -1.33410844e-03 9.99357297e-01 1.84721577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.93, Y:21.44, Z:18.47 [[ 9.94456769e-01 -9.88722163e-02 -3.57773650e-02 5.19928211e+02] [ 9.88558704e-02 9.95099264e-01 -2.22990693e-03 2.14394025e+01] [ 3.58225054e-02 -1.31925652e-03 9.99357297e-01 1.84730904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.96, Y:21.44, Z:18.47 [[ 9.94935871e-01 -9.39286617e-02 -3.57773650e-02 5.19958227e+02] [ 9.39091228e-02 9.95578276e-01 -2.22990693e-03 2.14351643e+01] [ 3.58286195e-02 -1.14120657e-03 9.99357297e-01 1.84744445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.99, Y:21.44, Z:18.48 [[ 9.95150790e-01 -9.16236222e-02 -3.57773260e-02 5.19987756e+02] [ 9.16025728e-02 9.95793148e-01 -2.23053279e-03 2.14351406e+01] [ 3.58311855e-02 -1.05757864e-03 9.99357297e-01 1.84755101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.02, Y:21.44, Z:18.48 [[ 9.95147445e-01 -9.16599825e-02 -3.57772444e-02 5.20017833e+02] [ 9.16389096e-02 9.95789802e-01 -2.23183959e-03 2.14370454e+01] [ 3.58311855e-02 -1.05757821e-03 9.99357297e-01 1.84765914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.05, Y:21.44, Z:18.48 [[ 9.95144098e-01 -9.16963426e-02 -3.57771629e-02 5.20047910e+02] [ 9.16752463e-02 9.95786454e-01 -2.23314595e-03 2.14389513e+01] [ 3.58311855e-02 -1.05757821e-03 9.99357297e-01 1.84776727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.08, Y:21.44, Z:18.48 [[ 9.95140750e-01 -9.17327027e-02 -3.57770813e-02 5.20077987e+02] [ 9.17115829e-02 9.95783105e-01 -2.23445231e-03 2.14408583e+01] [ 3.58311855e-02 -1.05757821e-03 9.99357297e-01 1.84787540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.11, Y:21.44, Z:18.48 [[ 9.95357618e-01 -8.93488566e-02 -3.57769997e-02 5.20106585e+02] [ 8.93261513e-02 9.95999920e-01 -2.23575867e-03 2.14410512e+01] [ 3.58336513e-02 -9.70442259e-04 9.99357297e-01 1.84793182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.14, Y:21.44, Z:18.48 [[ 9.95591290e-01 -8.67064002e-02 -3.57768490e-02 5.20135016e+02] [ 8.66819036e-02 9.96233526e-01 -2.23816735e-03 2.14410896e+01] [ 3.58361599e-02 -8.72905460e-04 9.99357297e-01 1.84802106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.16, Y:21.44, Z:18.48 [[ 9.95826524e-01 -8.39618510e-02 -3.57762805e-02 5.20163099e+02] [ 8.39352592e-02 9.96468676e-01 -2.24721738e-03 2.14415674e+01] [ 3.58386234e-02 -7.65052713e-04 9.99357297e-01 1.84806935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.19, Y:21.44, Z:18.48 [[ 9.96315695e-01 -7.79429753e-02 -3.57760792e-02 5.20192383e+02] [ 7.79123889e-02 9.96957670e-01 -2.25041804e-03 2.14407707e+01] [ 3.58426408e-02 -5.45272984e-04 9.99357297e-01 1.84822958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.22, Y:21.44, Z:18.48 [[ 9.96540393e-01 -7.50157258e-02 -3.57754947e-02 5.20218936e+02] [ 7.49829214e-02 9.97182258e-01 -2.25967213e-03 2.14413309e+01] [ 3.58441995e-02 -4.30696553e-04 9.99357297e-01 1.84825328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.25, Y:21.44, Z:18.48 [[ 9.96735703e-01 -7.23745369e-02 -3.57752052e-02 5.20246558e+02] [ 7.23398674e-02 9.97377470e-01 -2.26424687e-03 2.14416564e+01] [ 3.58452574e-02 -3.31117901e-04 9.99357297e-01 1.84831582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.27, Y:21.44, Z:18.48 [[ 9.97072231e-01 -6.75806752e-02 -3.57745434e-02 5.20274166e+02] [ 6.75425466e-02 9.97713802e-01 -2.27465479e-03 2.14412058e+01] [ 3.58464784e-02 -1.48308638e-04 9.99357297e-01 1.84835119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.30, Y:21.44, Z:18.48 [[ 9.97181541e-01 -6.59482375e-02 -3.57743385e-02 5.20302213e+02] [ 6.59089432e-02 9.97823042e-01 -2.27787288e-03 2.14420067e+01] [ 3.58466809e-02 -8.63960554e-05 9.99357297e-01 1.84847363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.33, Y:21.44, Z:18.49 [[ 9.97264481e-01 -6.46822898e-02 -3.57736733e-02 5.20330194e+02] [ 6.46418081e-02 9.97905908e-01 -2.28827140e-03 2.14426836e+01] [ 3.58467706e-02 -3.04631394e-05 9.99357298e-01 1.84860028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.36, Y:21.44, Z:18.49 [[ 9.97303723e-01 -6.40747713e-02 -3.57729980e-02 5.20357140e+02] [ 6.40335219e-02 9.97945101e-01 -2.29878100e-03 2.14431398e+01] [ 3.58467819e-02 1.91179553e-06 9.99357298e-01 1.84864369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.38, Y:21.44, Z:18.49 [[ 9.97265719e-01 -6.46637447e-02 -3.57727051e-02 5.20384701e+02] [ 6.46227109e-02 9.97907110e-01 -2.30332957e-03 2.14417279e+01] [ 3.58467787e-02 -1.46975632e-05 9.99357298e-01 1.84880253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.41, Y:21.44, Z:18.49 [[ 9.97185482e-01 -6.58898704e-02 -3.57720389e-02 5.20412889e+02] [ 6.58492557e-02 9.97826900e-01 -2.31363022e-03 2.14419532e+01] [ 3.58467475e-02 -4.84436716e-05 9.99357298e-01 1.84893836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.44, Y:21.44, Z:18.49 [[ 9.97060400e-01 -6.77566748e-02 -3.57713732e-02 5.20440585e+02] [ 6.77168934e-02 9.97701870e-01 -2.32387811e-03 2.14421823e+01] [ 3.58466242e-02 -1.05279425e-04 9.99357298e-01 1.84909750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.47, Y:21.44, Z:18.49 [[ 9.96938124e-01 -6.95329730e-02 -3.57707008e-02 5.20467843e+02] [ 6.94939649e-02 9.97579641e-01 -2.33418215e-03 2.14421016e+01] [ 3.58464255e-02 -1.58812650e-04 9.99357298e-01 1.84921299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.50, Y:21.44, Z:18.49 [[ 9.96602867e-01 -7.41835828e-02 -3.57704094e-02 5.20496186e+02] [ 7.41474083e-02 9.97244550e-01 -2.33863819e-03 2.14401003e+01] [ 3.58453344e-02 -3.21589630e-04 9.99357298e-01 1.84942546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.52, Y:21.44, Z:18.50 [[ 9.96396597e-01 -7.69047906e-02 -3.57697446e-02 5.20523601e+02] [ 7.68700050e-02 9.97038357e-01 -2.34876357e-03 2.14399793e+01] [ 3.58444385e-02 -4.09320417e-04 9.99357298e-01 1.84956648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.55, Y:21.44, Z:18.50 [[ 9.96145747e-01 -8.00886847e-02 -3.57694558e-02 5.20551139e+02] [ 8.00557926e-02 9.96787607e-01 -2.35315387e-03 2.14398719e+01] [ 3.58430112e-02 -5.19467912e-04 9.99357298e-01 1.84974414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.58, Y:21.44, Z:18.50 [[ 9.95873140e-01 -8.34103321e-02 -3.57687805e-02 5.20579591e+02] [ 8.33792139e-02 9.96515088e-01 -2.36337308e-03 2.14396177e+01] [ 3.58412592e-02 -6.28753035e-04 9.99357298e-01 1.84984922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:21.44, Z:18.50 [[ 9.95545192e-01 -8.72376879e-02 -3.57681068e-02 5.20606611e+02] [ 8.72086728e-02 9.96187238e-01 -2.37352542e-03 2.14395697e+01] [ 3.58387924e-02 -7.56337304e-04 9.99357298e-01 1.84994151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:21.44, Z:18.50 [[ 9.95520708e-01 -8.75167647e-02 -3.57678143e-02 5.20634959e+02] [ 8.74877716e-02 9.96162755e-01 -2.37792505e-03 2.14415272e+01] [ 3.58386728e-02 -7.61972745e-04 9.99357298e-01 1.85004351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.66, Y:21.44, Z:18.50 [[ 9.94788579e-01 -9.54798111e-02 -3.57671449e-02 5.20662724e+02] [ 9.54555962e-02 9.95430825e-01 -2.38795240e-03 2.14398263e+01] [ 3.58317198e-02 -1.03866637e-03 9.99357298e-01 1.85015414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.69, Y:21.44, Z:18.50 [[ 9.94393891e-01 -9.95065374e-02 -3.57664545e-02 5.20690227e+02] [ 9.94845529e-02 9.95036217e-01 -2.39824885e-03 2.14402480e+01] [ 3.58275590e-02 -1.17340573e-03 9.99357298e-01 1.85012238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.72, Y:21.44, Z:18.50 [[ 9.93594913e-01 -1.07191096e-01 -3.57661545e-02 5.20718185e+02] [ 1.07173917e-01 9.94237385e-01 -2.40271417e-03 2.14399661e+01] [ 3.58175975e-02 -1.44587430e-03 9.99357298e-01 1.85036673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.75, Y:21.44, Z:18.50 [[ 9.93219376e-01 -1.10616919e-01 -3.57654548e-02 5.20746178e+02] [ 1.10601583e-01 9.93861895e-01 -2.41308417e-03 2.14410566e+01] [ 3.58128507e-02 -1.55899397e-03 9.99357298e-01 1.85044100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.77, Y:21.44, Z:18.51 [[ 9.92872378e-01 -1.13689436e-01 -3.57652379e-02 5.20774874e+02] [ 1.13675973e-01 9.93514939e-01 -2.41629534e-03 2.14423429e+01] [ 3.58080054e-02 -1.66657532e-03 9.99357298e-01 1.85059093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.80, Y:21.44, Z:18.51 [[ 9.92518111e-01 -1.16741987e-01 -3.57646114e-02 5.20803637e+02] [ 1.16730168e-01 9.93160704e-01 -2.42553359e-03 2.14441336e+01] [ 3.58031682e-02 -1.76742307e-03 9.99357298e-01 1.85070996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.83, Y:21.45, Z:18.51 [[ 9.92255989e-01 -1.18949528e-01 -3.57639799e-02 5.20831254e+02] [ 1.18938805e-01 9.92898601e-01 -2.43480870e-03 2.14458788e+01] [ 3.57996250e-02 -1.83777150e-03 9.99357298e-01 1.85079214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.86, Y:21.45, Z:18.51 [[ 9.92023662e-01 -1.20871868e-01 -3.57637562e-02 5.20860302e+02] [ 1.20862272e-01 9.92666292e-01 -2.43809034e-03 2.14480221e+01] [ 3.57961718e-02 -1.90384553e-03 9.99357298e-01 1.85093457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.89, Y:21.45, Z:18.51 [[ 9.91642353e-01 -1.23961456e-01 -3.57631263e-02 5.20889330e+02] [ 1.23953531e-01 9.92285006e-01 -2.44729575e-03 2.14513079e+01] [ 3.57905843e-02 -2.00612369e-03 9.99357298e-01 1.85109063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.92, Y:21.45, Z:18.51 [[ 9.91487995e-01 -1.25190256e-01 -3.57624898e-02 5.20919006e+02] [ 1.25182794e-01 9.92130653e-01 -2.45656172e-03 2.14543981e+01] [ 3.57886000e-02 -2.04119694e-03 9.99357298e-01 1.85117703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.95, Y:21.46, Z:18.51 [[ 9.91366536e-01 -1.26148495e-01 -3.57623992e-02 5.20948369e+02] [ 1.26141607e-01 9.92009200e-01 -2.45788027e-03 2.14573740e+01] [ 3.57866869e-02 -2.07446625e-03 9.99357298e-01 1.85128500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.98, Y:21.46, Z:18.51 [[ 9.91231657e-01 -1.27204005e-01 -3.57623087e-02 5.20976506e+02] [ 1.27197754e-01 9.91874329e-01 -2.45919583e-03 2.14602585e+01] [ 3.57845355e-02 -2.11125258e-03 9.99357298e-01 1.85131867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.01, Y:21.46, Z:18.51 [[ 9.91112568e-01 -1.28128638e-01 -3.57621382e-02 5.21005950e+02] [ 1.28122898e-01 9.91755244e-01 -2.46167340e-03 2.14630181e+01] [ 3.57826989e-02 -2.14215332e-03 9.99357298e-01 1.85139380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:21.47, Z:18.52 [[ 9.90850415e-01 -1.30140424e-01 -3.57620507e-02 5.21035362e+02] [ 1.30135943e-01 9.91493102e-01 -2.46294314e-03 2.14666536e+01] [ 3.57783550e-02 -2.21351995e-03 9.99357298e-01 1.85153203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:21.47, Z:18.52 [[ 9.90736978e-01 -1.31001229e-01 -3.57619613e-02 5.21063600e+02] [ 1.30997260e-01 9.91379668e-01 -2.46424033e-03 2.14693496e+01] [ 3.57764999e-02 -2.24330491e-03 9.99357298e-01 1.85160146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.09, Y:21.47, Z:18.52 [[ 9.90614989e-01 -1.31920571e-01 -3.57617933e-02 5.21093085e+02] [ 1.31917111e-01 9.91257682e-01 -2.46667681e-03 2.14727069e+01] [ 3.57745577e-02 -2.27406541e-03 9.99357298e-01 1.85174019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.12, Y:21.48, Z:18.52 [[ 9.90520396e-01 -1.32628976e-01 -3.57617034e-02 5.21122224e+02] [ 1.32625928e-01 9.91163091e-01 -2.46797954e-03 2.14760556e+01] [ 3.57730060e-02 -2.29834502e-03 9.99357298e-01 1.85182462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:21.48, Z:18.52 [[ 9.90335903e-01 -1.33999647e-01 -3.57616135e-02 5.21152195e+02] [ 1.33997441e-01 9.90978601e-01 -2.46928102e-03 2.14811395e+01] [ 3.57698765e-02 -2.34654706e-03 9.99357298e-01 1.85188706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:21.48, Z:18.52 [[ 9.90289173e-01 -1.34344562e-01 -3.57616135e-02 5.21180515e+02] [ 1.34342580e-01 9.90931871e-01 -2.46928102e-03 2.14848775e+01] [ 3.57690571e-02 -2.35900517e-03 9.99357298e-01 1.85189370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.21, Y:21.49, Z:18.52 [[ 9.90261255e-01 -1.34550659e-01 -3.57598639e-02 5.21209498e+02] [ 1.34547903e-01 9.90903950e-01 -2.49455484e-03 2.14889350e+01] [ 3.57702344e-02 -2.34115370e-03 9.99357298e-01 1.85206774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:21.50, Z:18.52 [[ 9.90518936e-01 -1.32640081e-01 -3.57609703e-02 5.21239102e+02] [ 1.32636659e-01 9.91161628e-01 -2.47859271e-03 2.14955111e+01] [ 3.57736623e-02 -2.28812260e-03 9.99357298e-01 1.85226843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:21.50, Z:18.52 [[ 9.90729552e-01 -1.31057651e-01 -3.57609703e-02 5.21269243e+02] [ 1.31053201e-01 9.91372238e-01 -2.47859271e-03 2.15004112e+01] [ 3.57772717e-02 -2.23097460e-03 9.99357298e-01 1.85239781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.30, Y:21.51, Z:18.53 [[ 9.91005157e-01 -1.28957080e-01 -3.57610145e-02 5.21300702e+02] [ 1.28951291e-01 9.91647833e-01 -2.47795385e-03 2.15052667e+01] [ 3.57818823e-02 -2.15576395e-03 9.99357298e-01 1.85266133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.33, Y:21.51, Z:18.53 [[ 9.91308467e-01 -1.26604369e-01 -3.57611052e-02 5.21330311e+02] [ 1.26597102e-01 9.91951128e-01 -2.47664490e-03 2.15101206e+01] [ 3.57868227e-02 -2.07213324e-03 9.99357298e-01 1.85277427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.36, Y:21.52, Z:18.53 [[ 9.91993389e-01 -1.21120834e-01 -3.57611501e-02 5.21360397e+02] [ 1.21110036e-01 9.92636000e-01 -2.47599603e-03 2.15177675e+01] [ 3.57976997e-02 -1.87486249e-03 9.99357298e-01 1.85296185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.39, Y:21.52, Z:18.53 [[ 9.92302460e-01 -1.18562076e-01 -3.57611945e-02 5.21390797e+02] [ 1.18549644e-01 9.92945041e-01 -2.47535428e-03 2.15228010e+01] [ 3.58023839e-02 -1.78317675e-03 9.99357298e-01 1.85310111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.42, Y:21.53, Z:18.53 [[ 9.92633593e-01 -1.15757022e-01 -3.57611945e-02 5.21421438e+02] [ 1.15742774e-01 9.93276136e-01 -2.47535428e-03 2.15274637e+01] [ 3.58072808e-02 -1.68198005e-03 9.99357298e-01 1.85324023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.45, Y:21.53, Z:18.53 [[ 9.92910328e-01 -1.13358798e-01 -3.57611945e-02 5.21452564e+02] [ 1.13342998e-01 9.93552836e-01 -2.47535428e-03 2.15320797e+01] [ 3.58112394e-02 -1.59547617e-03 9.99357298e-01 1.85345580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.48, Y:21.54, Z:18.54 [[ 9.93346852e-01 -1.09467629e-01 -3.57612853e-02 5.21483586e+02] [ 1.09449359e-01 9.93989294e-01 -2.47404235e-03 2.15389332e+01] [ 3.58171623e-02 -1.45646757e-03 9.99357298e-01 1.85353091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.51, Y:21.54, Z:18.54 [[ 9.93478335e-01 -1.08267829e-01 -3.57613756e-02 5.21513352e+02] [ 1.08248830e-01 9.94120755e-01 -2.47273661e-03 2.15432042e+01] [ 3.58188435e-02 -1.41451681e-03 9.99357298e-01 1.85354974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.54, Y:21.55, Z:18.54 [[ 9.93577793e-01 -1.07351243e-01 -3.57614203e-02 5.21544056e+02] [ 1.07331675e-01 9.94220197e-01 -2.47208953e-03 2.15473434e+01] [ 3.58201082e-02 -1.38211987e-03 9.99357298e-01 1.85368131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.58, Y:21.55, Z:18.54 [[ 9.93621734e-01 -1.06943777e-01 -3.57614203e-02 5.21575265e+02] [ 1.06923945e-01 9.94264129e-01 -2.47208953e-03 2.15511026e+01] [ 3.58206720e-02 -1.36743026e-03 9.99357298e-01 1.85376976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.61, Y:21.56, Z:18.54 [[ 9.93684482e-01 -1.06359129e-01 -3.57615070e-02 5.21606330e+02] [ 1.06338965e-01 9.94326868e-01 -2.47083452e-03 2.15560667e+01] [ 3.58214231e-02 -1.34761172e-03 9.99357298e-01 1.85392827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.64, Y:21.56, Z:18.54 [[ 9.93696616e-01 -1.06245677e-01 -3.57615945e-02 5.21636639e+02] [ 1.06225485e-01 9.94339000e-01 -2.46956815e-03 2.15598304e+01] [ 3.58215290e-02 -1.34479121e-03 9.99357298e-01 1.85404755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.67, Y:21.56, Z:18.54 [[ 9.93743114e-01 -1.05809868e-01 -3.57616378e-02 5.21667691e+02] [ 1.05789416e-01 9.94385491e-01 -2.46894015e-03 2.15635928e+01] [ 3.58220920e-02 -1.32971051e-03 9.99357298e-01 1.85428797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.70, Y:21.57, Z:18.54 [[ 9.93836538e-01 -1.04928711e-01 -3.57617266e-02 5.21698059e+02] [ 1.04907736e-01 9.94478898e-01 -2.46765344e-03 2.15674255e+01] [ 3.58232102e-02 -1.29923763e-03 9.99357298e-01 1.85432066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.73, Y:21.57, Z:18.55 [[ 9.94127654e-01 -1.02133751e-01 -3.57617707e-02 5.21729157e+02] [ 1.02110993e-01 9.94769953e-01 -2.46701464e-03 2.15727866e+01] [ 3.58267004e-02 -1.19914243e-03 9.99357298e-01 1.85455436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.76, Y:21.58, Z:18.55 [[ 9.94323120e-01 -1.00212889e-01 -3.57618574e-02 5.21759855e+02] [ 1.00188935e-01 9.94965375e-01 -2.46575663e-03 2.15765468e+01] [ 3.58289105e-02 -1.13118359e-03 9.99357298e-01 1.85472831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.79, Y:21.58, Z:18.55 [[ 9.94546338e-01 -9.79727746e-02 -3.57619450e-02 5.21790297e+02] [ 9.79474198e-02 9.95188540e-01 -2.46448616e-03 2.15801145e+01] [ 3.58313303e-02 -1.05174455e-03 9.99357298e-01 1.85480168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.82, Y:21.58, Z:18.55 [[ 9.94806303e-01 -9.52969047e-02 -3.57619885e-02 5.21821264e+02] [ 9.52698450e-02 9.95448435e-01 -2.46385510e-03 2.15833785e+01] [ 3.58340132e-02 -9.55980518e-04 9.99357298e-01 1.85497126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.85, Y:21.59, Z:18.55 [[ 9.95206251e-01 -9.10252260e-02 -3.57620778e-02 5.21851783e+02] [ 9.09954564e-02 9.95848263e-01 -2.46255768e-03 2.15879058e+01] [ 3.58377579e-02 -8.03433794e-04 9.99357298e-01 1.85500834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.88, Y:21.59, Z:18.55 [[ 9.95337431e-01 -8.95793999e-02 -3.57621221e-02 5.21883065e+02] [ 8.95487208e-02 9.95979400e-01 -2.46191475e-03 2.15914196e+01] [ 3.58388737e-02 -7.52016374e-04 9.99357298e-01 1.85516811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.91, Y:21.59, Z:18.55 [[ 9.95451232e-01 -8.83057699e-02 -3.57622096e-02 5.21914116e+02] [ 8.82743151e-02 9.96093164e-01 -2.46064308e-03 2.15945126e+01] [ 3.58397814e-02 -7.07434370e-04 9.99357298e-01 1.85536959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.94, Y:21.60, Z:18.55 [[ 9.95502204e-01 -8.77292452e-02 -3.57623000e-02 5.21944368e+02] [ 8.76974657e-02 9.96144119e-01 -2.45932857e-03 2.15973944e+01] [ 3.58401598e-02 -6.87996061e-04 9.99357298e-01 1.85545104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.98, Y:21.60, Z:18.56 [[ 9.95558817e-01 -8.70844174e-02 -3.57623448e-02 5.21975418e+02] [ 8.70522457e-02 9.96200713e-01 -2.45867607e-03 2.15999447e+01] [ 3.58405858e-02 -6.65435788e-04 9.99357298e-01 1.85553781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.01, Y:21.60, Z:18.56 [[ 9.95557987e-01 -8.70938702e-02 -3.57624339e-02 5.22005259e+02] [ 8.70617511e-02 9.96199886e-01 -2.45737975e-03 2.16018171e+01] [ 3.58405553e-02 -6.67076083e-04 9.99357298e-01 1.85558843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.04, Y:21.60, Z:18.56 [[ 9.95542122e-01 -8.72750214e-02 -3.57624781e-02 5.22036037e+02] [ 8.72430422e-02 9.96184027e-01 -2.45673593e-03 2.16039277e+01] [ 3.58404212e-02 -6.74243286e-04 9.99357298e-01 1.85570315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.07, Y:21.61, Z:18.56 [[ 9.95529179e-01 -8.74224995e-02 -3.57625659e-02 5.22067359e+02] [ 8.73906613e-02 9.96171091e-01 -2.45545730e-03 2.16060152e+01] [ 3.58402965e-02 -6.80834895e-04 9.99357298e-01 1.85576830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.10, Y:21.61, Z:18.56 [[ 9.95495980e-01 -8.77996990e-02 -3.57626533e-02 5.22098241e+02] [ 8.77681497e-02 9.96137907e-01 -2.45418388e-03 2.16082335e+01] [ 3.58400112e-02 -6.95691724e-04 9.99357298e-01 1.85592127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.13, Y:21.61, Z:18.56 [[ 9.95427682e-01 -8.85706229e-02 -3.57627427e-02 5.22128744e+02] [ 8.85396176e-02 9.96069636e-01 -2.45288033e-03 2.16101457e+01] [ 3.58394352e-02 -7.24754577e-04 9.99357298e-01 1.85596843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.16, Y:21.61, Z:18.56 [[ 9.95398479e-01 -8.88982018e-02 -3.57627871e-02 5.22160160e+02] [ 8.88674311e-02 9.96040444e-01 -2.45223323e-03 2.16119565e+01] [ 3.58391814e-02 -7.37197788e-04 9.99357298e-01 1.85610026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.19, Y:21.61, Z:18.56 [[ 9.95399304e-01 -8.88889350e-02 -3.57628759e-02 5.22190525e+02] [ 8.88582049e-02 9.96041270e-01 -2.45093647e-03 2.16134621e+01] [ 3.58391615e-02 -7.38164500e-04 9.99357298e-01 1.85611866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.22, Y:21.62, Z:18.56 [[ 9.95409480e-01 -8.87748905e-02 -3.57629200e-02 5.22221742e+02] [ 8.87441099e-02 9.96051444e-01 -2.45029326e-03 2.16151217e+01] [ 3.58392326e-02 -7.34703366e-04 9.99357298e-01 1.85624156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.25, Y:21.62, Z:18.56 [[ 9.95501976e-01 -8.77315453e-02 -3.57630078e-02 5.22252529e+02] [ 8.77001378e-02 9.96143909e-01 -2.44901178e-03 2.16165052e+01] [ 3.58399580e-02 -6.98424643e-04 9.99357298e-01 1.85633720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.28, Y:21.62, Z:18.57 [[ 9.95570394e-01 -8.69516404e-02 -3.57631490e-02 5.22283882e+02] [ 8.69198041e-02 9.96212307e-01 -2.44694788e-03 2.16184179e+01] [ 3.58404553e-02 -6.72417037e-04 9.99357298e-01 1.85654693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.31, Y:21.62, Z:18.57 [[ 9.95634780e-01 -8.62112260e-02 -3.57632347e-02 5.22314024e+02] [ 8.61789575e-02 9.96276671e-01 -2.44569384e-03 2.16203869e+01] [ 3.58409227e-02 -6.47020432e-04 9.99357298e-01 1.85670304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.34, Y:21.62, Z:18.57 [[ 9.95809728e-01 -8.41663621e-02 -3.57632347e-02 5.22343955e+02] [ 8.41327754e-02 9.96451552e-01 -2.44569385e-03 2.16217535e+01] [ 3.58421759e-02 -5.73414473e-04 9.99357298e-01 1.85692342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.37, Y:21.62, Z:18.57 [[ 9.95864555e-01 -8.35151382e-02 -3.57632347e-02 5.22374227e+02] [ 8.34811318e-02 9.96506357e-01 -2.44569385e-03 2.16234302e+01] [ 3.58425432e-02 -5.49975499e-04 9.99357298e-01 1.85706569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.40, Y:21.62, Z:18.57 [[ 9.95919302e-01 -8.28597286e-02 -3.57632347e-02 5.22404626e+02] [ 8.28252998e-02 9.96561081e-01 -2.44569385e-03 2.16249990e+01] [ 3.58428974e-02 -5.26386932e-04 9.99357298e-01 1.85721544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.43, Y:21.63, Z:18.57 [[ 9.95965946e-01 -8.22971720e-02 -3.57632347e-02 5.22433604e+02] [ 8.22623807e-02 9.96607706e-01 -2.44569385e-03 2.16264253e+01] [ 3.58431890e-02 -5.06141045e-04 9.99357298e-01 1.85725263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.46, Y:21.63, Z:18.57 [[ 9.95942432e-01 -8.25812710e-02 -3.57631906e-02 5.22463313e+02] [ 8.25466396e-02 9.96584200e-01 -2.44633929e-03 2.16275293e+01] [ 3.58430525e-02 -5.15718105e-04 9.99357298e-01 1.85733177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.49, Y:21.63, Z:18.57 [[ 9.95921233e-01 -8.28365719e-02 -3.57631022e-02 5.22492541e+02] [ 8.28020586e-02 9.96563008e-01 -2.44763074e-03 2.16290354e+01] [ 3.58429380e-02 -5.23611060e-04 9.99357298e-01 1.85740015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.52, Y:21.63, Z:18.58 [[ 9.95918259e-01 -8.28723580e-02 -3.57630143e-02 5.22522605e+02] [ 8.28378217e-02 9.96560032e-01 -2.44891443e-03 2.16311229e+01] [ 3.58429380e-02 -5.23611604e-04 9.99357298e-01 1.85750828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.55, Y:21.63, Z:18.58 [[ 9.95857011e-01 -8.36051832e-02 -3.57629263e-02 5.22552351e+02] [ 8.35710730e-02 9.96498807e-01 -2.45019866e-03 2.16327210e+01] [ 3.58425627e-02 -5.48698609e-04 9.99357298e-01 1.85759979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.58, Y:21.63, Z:18.58 [[ 9.95759114e-01 -8.47632325e-02 -3.57628388e-02 5.22581352e+02] [ 8.47298230e-02 9.96400947e-01 -2.45147469e-03 2.16342122e+01] [ 3.58419214e-02 -5.89100741e-04 9.99357298e-01 1.85767969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.61, Y:21.64, Z:18.58 [[ 9.95650871e-01 -8.60253792e-02 -3.57627955e-02 5.22611400e+02] [ 8.59927605e-02 9.96292744e-01 -2.45210758e-03 2.16355114e+01] [ 3.58411571e-02 -6.33898458e-04 9.99357298e-01 1.85778971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.64, Y:21.64, Z:18.58 [[ 9.95319430e-01 -8.97789204e-02 -3.57627955e-02 5.22641977e+02] [ 8.97487222e-02 9.95961422e-01 -2.45210758e-03 2.16360366e+01] [ 3.58385122e-02 -7.69034874e-04 9.99357298e-01 1.85798170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.67, Y:21.64, Z:18.58 [[ 9.95112575e-01 -9.20433851e-02 -3.57627955e-02 5.22671887e+02] [ 9.20146478e-02 9.95754634e-01 -2.45210758e-03 2.16372406e+01] [ 3.58366696e-02 -8.50577937e-04 9.99357298e-01 1.85804019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.70, Y:21.64, Z:18.58 [[ 9.94865867e-01 -9.46727282e-02 -3.57628398e-02 5.22702410e+02] [ 9.46457108e-02 9.95508001e-01 -2.45146082e-03 2.16385862e+01] [ 3.58342796e-02 -9.45924699e-04 9.99357298e-01 1.85817861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.73, Y:21.64, Z:18.58 [[ 9.94575288e-01 -9.76781241e-02 -3.57628398e-02 5.22733627e+02] [ 9.76530470e-02 9.95217500e-01 -2.45146082e-03 2.16401911e+01] [ 3.58312581e-02 -1.05418792e-03 9.99357298e-01 1.85831422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.77, Y:21.64, Z:18.58 [[ 9.94275347e-01 -1.00685389e-01 -3.57629265e-02 5.22765031e+02] [ 1.00662300e-01 9.94917634e-01 -2.45019558e-03 2.16419104e+01] [ 3.58278651e-02 -1.16380936e-03 9.99357298e-01 1.85849555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.80, Y:21.64, Z:18.59 [[ 9.93548543e-01 -1.07621096e-01 -3.57630157e-02 5.22796178e+02] [ 1.07602536e-01 9.94190976e-01 -2.44889216e-03 2.16426316e+01] [ 3.58188200e-02 -1.41509794e-03 9.99357298e-01 1.85859585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.83, Y:21.64, Z:18.59 [[ 9.93158123e-01 -1.11166283e-01 -3.57631050e-02 5.22827961e+02] [ 1.11150063e-01 9.93800620e-01 -2.44758748e-03 2.16437978e+01] [ 3.58134851e-02 -1.54422998e-03 9.99357298e-01 1.85873824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.86, Y:21.65, Z:18.59 [[ 9.92743407e-01 -1.14810783e-01 -3.57632838e-02 5.22860422e+02] [ 1.14797015e-01 9.93385961e-01 -2.44497280e-03 2.16453820e+01] [ 3.58074533e-02 -1.67828759e-03 9.99357298e-01 1.85886536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.89, Y:21.65, Z:18.59 [[ 9.91910517e-01 -1.21796968e-01 -3.57634627e-02 5.22892433e+02] [ 1.21787818e-01 9.92553153e-01 -2.44235221e-03 2.16464508e+01] [ 3.57946088e-02 -1.93295925e-03 9.99357298e-01 1.85895522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.92, Y:21.65, Z:18.59 [[ 9.91557062e-01 -1.24641706e-01 -3.57636408e-02 5.22923518e+02] [ 1.24634493e-01 9.92199723e-01 -2.43974227e-03 2.16480478e+01] [ 3.57887681e-02 -2.03823957e-03 9.99357298e-01 1.85904307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.96, Y:21.65, Z:18.59 [[ 9.91218467e-01 -1.27306334e-01 -3.57637736e-02 5.22955595e+02] [ 1.27300918e-01 9.91861146e-01 -2.43779302e-03 2.16501108e+01] [ 3.57830440e-02 -2.13637577e-03 9.99357298e-01 1.85916045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.99, Y:21.65, Z:18.59 [[ 9.90963656e-01 -1.29274793e-01 -3.57639501e-02 5.22987492e+02] [ 1.29270747e-01 9.91606345e-01 -2.43520221e-03 2.16523425e+01] [ 3.57785701e-02 -2.21003566e-03 9.99357298e-01 1.85926828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.02, Y:21.66, Z:18.59 [[ 9.90650687e-01 -1.31651596e-01 -3.57641262e-02 5.23018141e+02] [ 1.31649185e-01 9.91293385e-01 -2.43261277e-03 2.16551961e+01] [ 3.57729990e-02 -2.29844856e-03 9.99357298e-01 1.85935690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.05, Y:21.66, Z:18.60 [[ 9.90635079e-01 -1.31768957e-01 -3.57642575e-02 5.23050524e+02] [ 1.31766692e-01 9.91277777e-01 -2.43068121e-03 2.16579678e+01] [ 3.57726020e-02 -2.30461982e-03 9.99357298e-01 1.85953811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.08, Y:21.66, Z:18.60 [[ 9.90673879e-01 -1.31476887e-01 -3.57644317e-02 5.23081282e+02] [ 1.31474524e-01 9.91316576e-01 -2.42811440e-03 2.16612115e+01] [ 3.57731149e-02 -2.29664213e-03 9.99357298e-01 1.85964222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.11, Y:21.66, Z:18.60 [[ 9.90830638e-01 -1.30290226e-01 -3.57645614e-02 5.23113709e+02] [ 1.30287163e-01 9.91473332e-01 -2.42620225e-03 2.16646372e+01] [ 3.57757194e-02 -2.25570771e-03 9.99357298e-01 1.85980599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.15, Y:21.67, Z:18.60 [[ 9.91354734e-01 -1.26240544e-01 -3.57647297e-02 5.23145171e+02] [ 1.26234943e-01 9.91997412e-01 -2.42372015e-03 2.16706070e+01] [ 3.57844910e-02 -2.11199218e-03 9.99357298e-01 1.86006664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.18, Y:21.67, Z:18.60 [[ 9.91711090e-01 -1.23409828e-01 -3.57649023e-02 5.23175987e+02] [ 1.23402484e-01 9.92353750e-01 -2.42117049e-03 2.16748919e+01] [ 3.57902311e-02 -2.01237617e-03 9.99357298e-01 1.86017484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.21, Y:21.68, Z:18.60 [[ 9.92120013e-01 -1.20078069e-01 -3.57650307e-02 5.23207522e+02] [ 1.20068635e-01 9.92762645e-01 -2.41927102e-03 2.16793121e+01] [ 3.57966879e-02 -1.89405122e-03 9.99357298e-01 1.86033878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.24, Y:21.68, Z:18.61 [[ 9.92554422e-01 -1.16432683e-01 -3.57652020e-02 5.23239351e+02] [ 1.16420979e-01 9.93197017e-01 -2.41673620e-03 2.16835948e+01] [ 3.58032791e-02 -1.76507765e-03 9.99357298e-01 1.86051476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.27, Y:21.69, Z:18.61 [[ 9.93397778e-01 -1.09003174e-01 -3.57653762e-02 5.23270379e+02] [ 1.08986756e-01 9.94040270e-01 -2.41415518e-03 2.16899268e+01] [ 3.58153748e-02 -1.49973594e-03 9.99357298e-01 1.86057468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.30, Y:21.69, Z:18.61 [[ 9.93779758e-01 -1.05463789e-01 -3.57656502e-02 5.23302080e+02] [ 1.05445229e-01 9.94422192e-01 -2.41009045e-03 2.16943171e+01] [ 3.58203335e-02 -1.37621805e-03 9.99357298e-01 1.86078281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.33, Y:21.70, Z:18.61 [[ 9.94160800e-01 -1.01809178e-01 -3.57658284e-02 5.23332877e+02] [ 1.01788351e-01 9.94803164e-01 -2.40744233e-03 2.16987808e+01] [ 3.58250590e-02 -1.24715989e-03 9.99357298e-01 1.86083501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.36, Y:21.70, Z:18.61 [[ 9.94511967e-01 -9.83195388e-02 -3.57661246e-02 5.23364591e+02] [ 9.82966157e-02 9.95154260e-01 -2.40303343e-03 2.17030291e+01] [ 3.58290764e-02 -1.12584350e-03 9.99357298e-01 1.86091717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.39, Y:21.71, Z:18.61 [[ 9.94793530e-01 -9.54285348e-02 -3.57662941e-02 5.23391684e+02] [ 9.54038357e-02 9.95435757e-01 -2.40050773e-03 2.17128650e+01] [ 3.58321250e-02 -1.02423209e-03 9.99357298e-01 1.86086447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.42, Y:21.71, Z:18.61 [[ 9.95253790e-01 -9.05115522e-02 -3.57428702e-02 5.23424951e+02] [ 9.04711725e-02 9.95895281e-01 -2.74881036e-03 2.17131084e+01] [ 3.58449548e-02 -4.97935445e-04 9.99357239e-01 1.86115150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.46, Y:21.72, Z:18.61 [[ 9.95427465e-01 -8.85715189e-02 -3.57665763e-02 5.23456474e+02] [ 8.85426004e-02 9.96069512e-01 -2.39478878e-03 2.17169051e+01] [ 3.58381063e-02 -7.83027155e-04 9.99357302e-01 1.86129170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.49, Y:21.72, Z:18.61 [[ 9.95550229e-01 -8.71807389e-02 -3.57667477e-02 5.23488937e+02] [ 8.71510154e-02 9.96192239e-01 -2.39222611e-03 2.17208306e+01] [ 3.58391126e-02 -7.35527133e-04 9.99357302e-01 1.86142203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.52, Y:21.73, Z:18.61 [[ 9.95701936e-01 -8.54305648e-02 -3.57669194e-02 5.23521207e+02] [ 8.53998051e-02 9.96343898e-01 -2.38965640e-03 2.17258923e+01] [ 3.58403016e-02 -6.75102445e-04 9.99357302e-01 1.86147037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.55, Y:21.73, Z:18.62 [[ 9.95712162e-01 -8.53112244e-02 -3.57670905e-02 5.23552789e+02] [ 8.52804798e-02 9.96354125e-01 -2.38709291e-03 2.17290000e+01] [ 3.58403340e-02 -6.73377200e-04 9.99357302e-01 1.86153552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.58, Y:21.73, Z:18.62 [[ 9.95695075e-01 -8.55103536e-02 -3.57672620e-02 5.23584797e+02] [ 8.54798298e-02 9.96337048e-01 -2.38452101e-03 2.17318541e+01] [ 3.58401494e-02 -6.83123640e-04 9.99357302e-01 1.86160516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.62, Y:21.73, Z:18.62 [[ 9.95634477e-01 -8.62129860e-02 -3.57674356e-02 5.23617010e+02] [ 8.61830088e-02 9.96276475e-01 -2.38191442e-03 2.17346840e+01] [ 3.58396066e-02 -7.11029097e-04 9.99357302e-01 1.86168165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.65, Y:21.74, Z:18.62 [[ 9.95494950e-01 -8.78093507e-02 -3.57676081e-02 5.23647934e+02] [ 8.77804961e-02 9.96137000e-01 -2.37932004e-03 2.17384163e+01] [ 3.58383644e-02 -7.71097306e-04 9.99357302e-01 1.86177827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.68, Y:21.74, Z:18.62 [[ 9.95406772e-01 -8.88032444e-02 -3.57678946e-02 5.23680033e+02] [ 8.87751858e-02 9.96048857e-01 -2.37500631e-03 2.17414125e+01] [ 3.58374788e-02 -8.11204125e-04 9.99357302e-01 1.86192550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.71, Y:21.74, Z:18.62 [[ 9.95347009e-01 -8.94705352e-02 -3.57680649e-02 5.23711378e+02] [ 8.94429993e-02 9.95989117e-01 -2.37243896e-03 2.17441943e+01] [ 3.58368667e-02 -8.37802980e-04 9.99357302e-01 1.86201558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.74, Y:21.75, Z:18.62 [[ 9.95221083e-01 -9.08605138e-02 -3.57681917e-02 5.23742613e+02] [ 9.08339434e-02 9.95863231e-01 -2.37052480e-03 2.17478594e+01] [ 3.58356141e-02 -8.89769643e-04 9.99357302e-01 1.86215167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.77, Y:21.75, Z:18.62 [[ 9.95172977e-01 -9.13858493e-02 -3.57683160e-02 5.23774808e+02] [ 9.13596853e-02 9.95815142e-01 -2.36864896e-03 2.17509414e+01] [ 3.58350916e-02 -9.10566649e-04 9.99357302e-01 1.86236481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.81, Y:21.75, Z:18.62 [[ 9.95149416e-01 -9.16419970e-02 -3.57684831e-02 5.23806691e+02] [ 9.16160890e-02 9.95791592e-01 -2.36612206e-03 2.17536532e+01] [ 3.58347909e-02 -9.22323543e-04 9.99357302e-01 1.86247081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.84, Y:21.76, Z:18.63 [[ 9.95119656e-01 -9.19642351e-02 -3.57693942e-02 5.23839068e+02] [ 9.19390302e-02 9.95761860e-01 -2.35233648e-03 2.17563177e+01] [ 3.58341294e-02 -9.47747153e-04 9.99357302e-01 1.86269023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.87, Y:21.76, Z:18.63 [[ 9.95022227e-01 -9.30126676e-02 -3.57688636e-02 5.23869737e+02] [ 9.29878505e-02 9.95664446e-01 -2.36037774e-03 2.17590022e+01] [ 3.58333308e-02 -9.77441426e-04 9.99357302e-01 1.86286086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.90, Y:21.76, Z:18.63 [[ 9.94962791e-01 -9.36462690e-02 -3.57689884e-02 5.23902046e+02] [ 9.36219288e-02 9.95605028e-01 -2.35848496e-03 2.17615810e+01] [ 3.58326480e-02 -1.00215691e-03 9.99357302e-01 1.86302266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.93, Y:21.76, Z:18.63 [[ 9.94917790e-01 -9.41231106e-02 -3.57691512e-02 5.23933771e+02] [ 9.40991670e-02 9.95560041e-01 -2.35601364e-03 2.17642735e+01] [ 3.58320930e-02 -1.02180745e-03 9.99357302e-01 1.86323467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.97, Y:21.77, Z:18.63 [[ 9.94879918e-01 -9.45225085e-02 -3.57693209e-02 5.23966222e+02] [ 9.44989154e-02 9.95522183e-01 -2.35343451e-03 2.17670061e+01] [ 3.58316049e-02 -1.03877730e-03 9.99357302e-01 1.86337415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.00, Y:21.77, Z:18.64 [[ 9.94840291e-01 -9.49386021e-02 -3.57694895e-02 5.23997374e+02] [ 9.49153698e-02 9.95482569e-01 -2.35086949e-03 2.17697439e+01] [ 3.58310915e-02 -1.05633463e-03 9.99357302e-01 1.86350978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.03, Y:21.77, Z:18.64 [[ 9.94816138e-01 -9.51913107e-02 -3.57696151e-02 5.24029017e+02] [ 9.51683103e-02 9.95458425e-01 -2.34895707e-03 2.17735011e+01] [ 3.58307650e-02 -1.06735342e-03 9.99357302e-01 1.86374418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.06, Y:21.78, Z:18.64 [[ 9.94993657e-01 -9.33174425e-02 -3.57697851e-02 5.24062467e+02] [ 9.32933255e-02 9.95635902e-01 -2.34636502e-03 2.17751800e+01] [ 3.58326390e-02 -1.00246389e-03 9.99357302e-01 1.86358787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.865099893 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:524.09, Y:21.78, Z:18.64 [[ 9.94904341e-01 -9.42626218e-02 -3.57758277e-02 5.24091459e+02] [ 9.42424439e-02 9.95546725e-01 -2.25370007e-03 2.17788390e+01] [ 3.58289478e-02 -1.12938545e-03 9.99357299e-01 1.86398601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.12, Y:21.78, Z:18.64 [[ 9.94872143e-01 -9.46071795e-02 -3.57617314e-02 5.24124569e+02] [ 9.45794825e-02 9.95514251e-01 -2.46920284e-03 2.17818586e+01] [ 3.58349176e-02 -9.25784925e-04 9.99357294e-01 1.86415511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.16, Y:21.79, Z:18.64 [[ 9.94898064e-01 -9.43307948e-02 -3.57706944e-02 5.24155334e+02] [ 9.43078585e-02 9.95540351e-01 -2.33170600e-03 2.17853310e+01] [ 3.58311214e-02 -1.05364781e-03 9.99357304e-01 1.86431061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.19, Y:21.79, Z:18.64 [[ 9.94904241e-01 -9.42655781e-02 -3.57708221e-02 5.24187161e+02] [ 9.42426701e-02 9.95546529e-01 -2.32974527e-03 2.17881164e+01] [ 3.58311326e-02 -1.05326434e-03 9.99357304e-01 1.86447190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.22, Y:21.79, Z:18.65 [[ 9.94924685e-01 -9.40494953e-02 -3.57709915e-02 5.24219283e+02] [ 9.40265413e-02 9.95566971e-01 -2.32714233e-03 2.17908495e+01] [ 3.58312842e-02 -1.04809126e-03 9.99357304e-01 1.86461547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.25, Y:21.79, Z:18.65 [[ 9.94943473e-01 -9.38504620e-02 -3.57711605e-02 5.24251044e+02] [ 9.38274730e-02 9.95585758e-01 -2.32454049e-03 2.17936398e+01] [ 3.58314172e-02 -1.04353122e-03 9.99357304e-01 1.86479794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.28, Y:21.80, Z:18.65 [[ 9.94941455e-01 -9.38717908e-02 -3.57713290e-02 5.24282487e+02] [ 9.38489088e-02 9.95583744e-01 -2.32194583e-03 2.17970169e+01] [ 3.58313188e-02 -1.04690002e-03 9.99357304e-01 1.86500543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.31, Y:21.80, Z:18.65 [[ 9.94911305e-01 -9.41906900e-02 -3.57716116e-02 5.24314919e+02] [ 9.41681706e-02 9.95553607e-01 -2.31758289e-03 2.17995827e+01] [ 3.58308517e-02 -1.06275781e-03 9.99357304e-01 1.86514905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.35, Y:21.80, Z:18.65 [[ 9.94839454e-01 -9.49465122e-02 -3.57717756e-02 5.24346466e+02] [ 9.49245717e-02 9.95481776e-01 -2.31504997e-03 2.18022659e+01] [ 3.58299566e-02 -1.09251742e-03 9.99357304e-01 1.86526113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.38, Y:21.80, Z:18.65 [[ 9.94701306e-01 -9.63830073e-02 -3.57718976e-02 5.24378160e+02] [ 9.63620622e-02 9.95343660e-01 -2.31316212e-03 2.18048933e+01] [ 3.58282811e-02 -1.14614845e-03 9.99357304e-01 1.86538019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.41, Y:21.81, Z:18.66 [[ 9.94646144e-01 -9.69505439e-02 -3.57720673e-02 5.24410473e+02] [ 9.69300597e-02 9.95288513e-01 -2.31053467e-03 2.18074255e+01] [ 3.58275353e-02 -1.16922422e-03 9.99357304e-01 1.86550946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.44, Y:21.81, Z:18.66 [[ 9.94570568e-01 -9.77227146e-02 -3.57722786e-02 5.24442218e+02] [ 9.77028468e-02 9.95212957e-01 -2.30725935e-03 2.18097858e+01] [ 3.58265068e-02 -1.20032121e-03 9.99357304e-01 1.86561612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.48, Y:21.81, Z:18.66 [[ 9.94379167e-01 -9.96513996e-02 -3.57724871e-02 5.24475522e+02] [ 9.96328940e-02 9.95021597e-01 -2.30402199e-03 2.18126197e+01] [ 3.58239963e-02 -1.27304495e-03 9.99357304e-01 1.86568873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.51, Y:21.82, Z:18.66 [[ 9.94263174e-01 -1.00802047e-01 -3.57727426e-02 5.24507299e+02] [ 1.00784428e-01 9.94905628e-01 -2.30004830e-03 2.18150795e+01] [ 3.58223525e-02 -1.31848207e-03 9.99357304e-01 1.86583580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.54, Y:21.82, Z:18.66 [[ 9.94274044e-01 -1.00694692e-01 -3.57729543e-02 5.24540752e+02] [ 1.00677122e-01 9.94916500e-01 -2.29675168e-03 2.18171388e+01] [ 3.58223732e-02 -1.31791750e-03 9.99357304e-01 1.86595593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.57, Y:21.82, Z:18.66 [[ 9.94198709e-01 -1.01435718e-01 -3.57732017e-02 5.24574095e+02] [ 1.01418765e-01 9.94841182e-01 -2.29289088e-03 2.18194865e+01] [ 3.58212353e-02 -1.34848481e-03 9.99357304e-01 1.86604338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.61, Y:21.82, Z:18.66 [[ 9.94074909e-01 -1.02641786e-01 -3.57734521e-02 5.24606022e+02] [ 1.02625753e-01 9.94717405e-01 -2.28897841e-03 2.18218241e+01] [ 3.58194202e-02 -1.39586144e-03 9.99357304e-01 1.86615686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.64, Y:21.82, Z:18.66 [[ 9.94009098e-01 -1.03277091e-01 -3.57736590e-02 5.24639025e+02] [ 1.03261585e-01 9.94651608e-01 -2.28573919e-03 2.18240940e+01] [ 3.58183920e-02 -1.42199918e-03 9.99357304e-01 1.86620803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.67, Y:21.83, Z:18.66 [[ 9.93933669e-01 -1.04000427e-01 -3.57739099e-02 5.24670752e+02] [ 1.03985530e-01 9.94576193e-01 -2.28180599e-03 2.18267091e+01] [ 3.58171879e-02 -1.45200519e-03 9.99357304e-01 1.86623840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.70, Y:21.83, Z:18.66 [[ 9.93933410e-01 -1.04002829e-01 -3.57741173e-02 5.24703455e+02] [ 1.03988051e-01 9.94575937e-01 -2.27855048e-03 2.18289008e+01] [ 3.58170519e-02 -1.45535326e-03 9.99357304e-01 1.86626047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.74, Y:21.83, Z:18.66 [[ 9.93971396e-01 -1.03639076e-01 -3.57743657e-02 5.24735343e+02] [ 1.03624203e-01 9.94613920e-01 -2.27464336e-03 2.18309416e+01] [ 3.58174240e-02 -1.44615971e-03 9.99357304e-01 1.86632229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.77, Y:21.83, Z:18.66 [[ 9.94033890e-01 -1.03037886e-01 -3.57745709e-02 5.24767837e+02] [ 1.03022740e-01 9.94676408e-01 -2.27141163e-03 2.18330270e+01] [ 3.58181631e-02 -1.42773419e-03 9.99357304e-01 1.86632900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.80, Y:21.83, Z:18.66 [[ 9.94115498e-01 -1.02247473e-01 -3.57747324e-02 5.24800974e+02] [ 1.02231908e-01 9.94758005e-01 -2.26886501e-03 2.18348535e+01] [ 3.58191871e-02 -1.40180529e-03 9.99357304e-01 1.86637149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.83, Y:21.84, Z:18.66 [[ 9.94194858e-01 -1.01472833e-01 -3.57749808e-02 5.24833338e+02] [ 1.01456908e-01 9.94837356e-01 -2.26494100e-03 2.18365117e+01] [ 3.58201173e-02 -1.37782625e-03 9.99357304e-01 1.86645783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.86, Y:21.84, Z:18.67 [[ 9.94236756e-01 -1.01061411e-01 -3.57751858e-02 5.24864102e+02] [ 1.01045337e-01 9.94879251e-01 -2.26169891e-03 2.18383032e+01] [ 3.58205605e-02 -1.36625152e-03 9.99357304e-01 1.86654059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.90, Y:21.84, Z:18.67 [[ 9.94328264e-01 -1.00157033e-01 -3.57753046e-02 5.24895171e+02] [ 1.00140442e-01 9.94970746e-01 -2.25981845e-03 2.18400947e+01] [ 3.58217182e-02 -1.33555346e-03 9.99357304e-01 1.86661519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.93, Y:21.84, Z:18.67 [[ 9.94432042e-01 -9.91212553e-02 -3.57755668e-02 5.24927834e+02] [ 9.91041449e-02 9.95074510e-01 -2.25565847e-03 2.18418714e+01] [ 3.58229384e-02 -1.30240790e-03 9.99357304e-01 1.86660081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.96, Y:21.84, Z:18.67 [[ 9.94489238e-01 -9.85456876e-02 -3.57757230e-02 5.24959342e+02] [ 9.85282944e-02 9.95131699e-01 -2.25317915e-03 2.18433750e+01] [ 3.58235971e-02 -1.28415855e-03 9.99357304e-01 1.86663393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.99, Y:21.84, Z:18.67 [[ 9.94511894e-01 -9.83166898e-02 -3.57759813e-02 5.24992076e+02] [ 9.82992963e-02 9.95154355e-01 -2.24906972e-03 2.18448200e+01] [ 3.58237447e-02 -1.28002721e-03 9.99357304e-01 1.86662937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.03, Y:21.85, Z:18.67 [[ 9.94484609e-01 -9.85922059e-02 -3.57762299e-02 5.25025507e+02] [ 9.85751327e-02 9.95127079e-01 -2.24510855e-03 2.18461861e+01] [ 3.58232454e-02 -1.29392071e-03 9.99357304e-01 1.86664483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.06, Y:21.85, Z:18.67 [[ 9.94403108e-01 -9.94107814e-02 -3.57764779e-02 5.25058424e+02] [ 9.93943792e-02 9.95045594e-01 -2.24114954e-03 2.18459593e+01] [ 3.58220212e-02 -1.32737475e-03 9.99357304e-01 1.86659247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.09, Y:21.85, Z:18.67 [[ 9.94312752e-01 -1.00310400e-01 -3.57767260e-02 5.25090655e+02] [ 1.00294722e-01 9.94955257e-01 -2.23718273e-03 2.18466951e+01] [ 3.58206543e-02 -1.36375747e-03 9.99357304e-01 1.86661639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.12, Y:21.85, Z:18.67 [[ 9.94269918e-01 -1.00734016e-01 -3.57769313e-02 5.25122363e+02] [ 1.00718730e-01 9.94912432e-01 -2.23389499e-03 2.18471476e+01] [ 3.58199429e-02 -1.38231248e-03 9.99357304e-01 1.86663293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.16, Y:21.85, Z:18.67 [[ 9.94258118e-01 -1.00850344e-01 -3.57771307e-02 5.25155766e+02] [ 1.00835248e-01 9.94900637e-01 -2.23069564e-03 2.18480214e+01] [ 3.58196566e-02 -1.38970860e-03 9.99357304e-01 1.86671450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.19, Y:21.85, Z:18.67 [[ 9.94307056e-01 -1.00366613e-01 -3.57773750e-02 5.25189016e+02] [ 1.00351345e-01 9.94949571e-01 -2.22677137e-03 2.18482432e+01] [ 3.58201774e-02 -1.37621320e-03 9.99357304e-01 1.86678897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.22, Y:21.85, Z:18.67 [[ 9.94422329e-01 -9.92179046e-02 -3.57776213e-02 5.25220567e+02] [ 9.92020369e-02 9.95064830e-01 -2.22280664e-03 2.18492555e+01] [ 3.58215949e-02 -1.33880435e-03 9.99357304e-01 1.86686503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.25, Y:21.85, Z:18.67 [[ 9.94574310e-01 -9.76825971e-02 -3.57778245e-02 5.25253177e+02] [ 9.76658552e-02 9.95216788e-01 -2.21953081e-03 2.18503919e+01] [ 3.58235011e-02 -1.28678351e-03 9.99357304e-01 1.86698480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.29, Y:21.85, Z:18.67 [[ 9.94966901e-01 -9.35991493e-02 -3.57779879e-02 5.25285898e+02] [ 9.35798650e-02 9.95609308e-01 -2.21689441e-03 2.18506046e+01] [ 3.58283972e-02 -1.14236272e-03 9.99357304e-01 1.86708686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.32, Y:21.85, Z:18.67 [[ 9.95192584e-01 -9.11682239e-02 -3.57781524e-02 5.25317064e+02] [ 9.11474657e-02 9.95834944e-01 -2.21423555e-03 2.18515189e+01] [ 3.58310024e-02 -1.05749713e-03 9.99357304e-01 1.86715501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.35, Y:21.85, Z:18.67 [[ 9.95411241e-01 -8.87489490e-02 -3.57782747e-02 5.25349702e+02] [ 8.87267005e-02 9.96053552e-01 -2.21225809e-03 2.18523128e+01] [ 3.58334132e-02 -9.72381698e-04 9.99357304e-01 1.86726424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.38, Y:21.85, Z:18.67 [[ 9.95590637e-01 -8.67132470e-02 -3.57784313e-02 5.25381566e+02] [ 8.66897762e-02 9.96232904e-01 -2.20972260e-03 2.18530654e+01] [ 3.58352628e-02 -9.01645075e-04 9.99357304e-01 1.86737616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.41, Y:21.85, Z:18.67 [[ 9.95902011e-01 -8.30606862e-02 -3.57785919e-02 5.25412573e+02] [ 8.30349531e-02 9.96544191e-01 -2.20711993e-03 2.18520166e+01] [ 3.58382728e-02 -7.72798525e-04 9.99357304e-01 1.86737900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.44, Y:21.85, Z:18.67 [[ 9.96008219e-01 -8.17772078e-02 -3.57787115e-02 5.25444260e+02] [ 8.17507168e-02 9.96650369e-01 -2.20517959e-03 2.18522013e+01] [ 3.58391994e-02 -7.28558311e-04 9.99357304e-01 1.86747155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.48, Y:21.85, Z:18.68 [[ 9.96084078e-01 -8.08479313e-02 -3.57787894e-02 5.25475403e+02] [ 8.08208866e-02 9.96726205e-01 -2.20391380e-03 2.18522966e+01] [ 3.58398389e-02 -6.96390042e-04 9.99357304e-01 1.86751844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.51, Y:21.85, Z:18.68 [[ 9.96119415e-01 -8.04113378e-02 -3.57788679e-02 5.25507111e+02] [ 8.03840575e-02 9.96761532e-01 -2.20263873e-03 2.18526996e+01] [ 3.58401163e-02 -6.81959376e-04 9.99357304e-01 1.86759960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.54, Y:21.85, Z:18.68 [[ 9.96153132e-01 -7.99925329e-02 -3.57789471e-02 5.25537261e+02] [ 7.99650289e-02 9.96795239e-01 -2.20135140e-03 2.18526860e+01] [ 3.58403758e-02 -6.68181452e-04 9.99357304e-01 1.86762467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.57, Y:21.85, Z:18.68 [[ 9.96084831e-01 -8.08385685e-02 -3.57789864e-02 5.25569072e+02] [ 8.08116328e-02 9.96726962e-01 -2.20071315e-03 2.18510773e+01] [ 3.58397829e-02 -6.99261318e-04 9.99357304e-01 1.86769092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.60, Y:21.85, Z:18.68 [[ 9.96008705e-01 -8.17711331e-02 -3.57790651e-02 5.25599274e+02] [ 8.17448445e-02 9.96650863e-01 -2.19943285e-03 2.18512038e+01] [ 3.58390862e-02 -7.34099845e-04 9.99357304e-01 1.86772087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.63, Y:21.85, Z:18.68 [[ 9.95935538e-01 -8.26574844e-02 -3.57791041e-02 5.25630574e+02] [ 8.26317901e-02 9.96577720e-01 -2.19879774e-03 2.18510509e+01] [ 3.58384051e-02 -7.66630613e-04 9.99357304e-01 1.86789372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.66, Y:21.85, Z:18.68 [[ 9.95840806e-01 -8.37910405e-02 -3.57791829e-02 5.25662218e+02] [ 8.37661233e-02 9.96483019e-01 -2.19751460e-03 2.18511152e+01] [ 3.58374803e-02 -8.08708738e-04 9.99357304e-01 1.86801001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.69, Y:21.85, Z:18.68 [[ 9.95638116e-01 -8.61660416e-02 -3.57792614e-02 5.25693686e+02] [ 8.61427021e-02 9.96280388e-01 -2.19623658e-03 2.18495420e+01] [ 3.58354174e-02 -8.95465407e-04 9.99357304e-01 1.86818120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.72, Y:21.85, Z:18.68 [[ 9.95554562e-01 -8.71260772e-02 -3.57793422e-02 5.25724309e+02] [ 8.71034043e-02 9.96196858e-01 -2.19491973e-03 2.18498879e+01] [ 3.58345030e-02 -9.31340154e-04 9.99357304e-01 1.86827425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.76, Y:21.85, Z:18.68 [[ 9.95453013e-01 -8.82787283e-02 -3.57793822e-02 5.25755770e+02] [ 8.82568226e-02 9.96095336e-01 -2.19426664e-03 2.18504239e+01] [ 3.58333828e-02 -9.73485253e-04 9.99357304e-01 1.86841548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.79, Y:21.85, Z:18.69 [[ 9.95360837e-01 -8.93120055e-02 -3.57794608e-02 5.25786854e+02] [ 8.92908126e-02 9.96003184e-01 -2.19298511e-03 2.18508617e+01] [ 3.58323167e-02 -1.01196563e-03 9.99357304e-01 1.86859747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.82, Y:21.85, Z:18.69 [[ 9.95164744e-01 -9.14710660e-02 -3.57795412e-02 5.25817727e+02] [ 9.14513139e-02 9.95807137e-01 -2.19167138e-03 2.18500812e+01] [ 3.58299970e-02 -1.09101196e-03 9.99357304e-01 1.86871653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.85, Y:21.85, Z:18.69 [[ 9.95053432e-01 -9.26740974e-02 -3.57795812e-02 5.25848899e+02] [ 9.26551453e-02 9.95695849e-01 -2.19101891e-03 2.18508244e+01] [ 3.58286312e-02 -1.13498140e-03 9.99357304e-01 1.86887684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.88, Y:21.85, Z:18.69 [[ 9.94910247e-01 -9.41988142e-02 -3.57796600e-02 5.25879394e+02] [ 9.41808928e-02 9.95552693e-01 -2.18973088e-03 2.18516504e+01] [ 3.58268069e-02 -1.19117464e-03 9.99357304e-01 1.86900883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.91, Y:21.85, Z:18.69 [[ 9.94526151e-01 -9.81710108e-02 -3.57796992e-02 5.25910542e+02] [ 9.81556781e-02 9.95168664e-01 -2.18909115e-03 2.18511407e+01] [ 3.58217407e-02 -1.33487223e-03 9.99357304e-01 1.86925608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.94, Y:21.85, Z:18.69 [[ 9.94256394e-01 -1.00866401e-01 -3.57797783e-02 5.25941757e+02] [ 1.00852857e-01 9.94898947e-01 -2.18779668e-03 2.18518738e+01] [ 3.58179389e-02 -1.43326201e-03 9.99357304e-01 1.86939604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.97, Y:21.85, Z:18.70 [[ 9.93975686e-01 -1.03596016e-01 -3.57798966e-02 5.25973827e+02] [ 1.03584306e-01 9.94618275e-01 -2.18585977e-03 2.18526998e+01] [ 3.58137854e-02 -1.53354429e-03 9.99357304e-01 1.86957682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.01, Y:21.85, Z:18.70 [[ 9.93265453e-01 -1.10197677e-01 -3.57800551e-02 5.26006021e+02] [ 1.10190329e-01 9.93908107e-01 -2.18326310e-03 2.18518487e+01] [ 3.58026773e-02 -1.77405623e-03 9.99357304e-01 1.86970924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.04, Y:21.85, Z:18.70 [[ 9.92877574e-01 -1.13639343e-01 -3.57802131e-02 5.26038526e+02] [ 1.13634315e-01 9.93520250e-01 -2.18067111e-03 2.18523278e+01] [ 3.57961762e-02 -1.90072057e-03 9.99357304e-01 1.86980850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.07, Y:21.85, Z:18.70 [[ 9.92501527e-01 -1.16878071e-01 -3.57803703e-02 5.26069341e+02] [ 1.16875234e-01 9.93144217e-01 -2.17808872e-03 2.18529708e+01] [ 3.57896386e-02 -2.02008275e-03 9.99357304e-01 1.86989815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.10, Y:21.85, Z:18.70 [[ 9.92156401e-01 -1.19772417e-01 -3.57804874e-02 5.26101615e+02] [ 1.19771523e-01 9.92799097e-01 -2.17616261e-03 2.18538238e+01] [ 3.57834798e-02 -2.12638980e-03 9.99357304e-01 1.87005432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.13, Y:21.85, Z:18.70 [[ 9.91863046e-01 -1.22177920e-01 -3.57806478e-02 5.26133269e+02] [ 1.22178679e-01 9.92505741e-01 -2.17352229e-03 2.18546919e+01] [ 3.57780548e-02 -2.21579584e-03 9.99357304e-01 1.87013786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.17, Y:21.85, Z:18.70 [[ 9.91325578e-01 -1.26464715e-01 -3.57809168e-02 5.26165960e+02] [ 1.26468412e-01 9.91968264e-01 -2.16908530e-03 2.18546357e+01] [ 3.57678466e-02 -2.37488598e-03 9.99357304e-01 1.87020166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.20, Y:21.86, Z:18.70 [[ 9.91132823e-01 -1.27966564e-01 -3.57810750e-02 5.26197489e+02] [ 1.27971329e-01 9.91775502e-01 -2.16647156e-03 2.18558248e+01] [ 3.57640295e-02 -2.43169064e-03 9.99357304e-01 1.87026376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.23, Y:21.86, Z:18.70 [[ 9.91019164e-01 -1.28843789e-01 -3.57811928e-02 5.26230005e+02] [ 1.28849193e-01 9.91661838e-01 -2.16452385e-03 2.18571274e+01] [ 3.57617289e-02 -2.46529320e-03 9.99357304e-01 1.87038207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.26, Y:21.86, Z:18.70 [[ 9.90968706e-01 -1.29231263e-01 -3.57813507e-02 5.26260983e+02] [ 1.29237012e-01 9.91611376e-01 -2.16191038e-03 2.18584253e+01] [ 3.57605809e-02 -2.48188932e-03 9.99357304e-01 1.87044062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.29, Y:21.86, Z:18.71 [[ 9.91124390e-01 -1.28031756e-01 -3.57814683e-02 5.26293260e+02] [ 1.28036797e-01 9.91767066e-01 -2.15996370e-03 2.18603784e+01] [ 3.57634257e-02 -2.44055187e-03 9.99357304e-01 1.87057835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.33, Y:21.86, Z:18.71 [[ 9.91350860e-01 -1.26266178e-01 -3.57816237e-02 5.26325530e+02] [ 1.26270167e-01 9.91993544e-01 -2.15738587e-03 2.18630660e+01] [ 3.57675445e-02 -2.37942526e-03 9.99357304e-01 1.87078391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.36, Y:21.87, Z:18.71 [[ 9.91643943e-01 -1.23943348e-01 -3.57817812e-02 5.26357028e+02] [ 1.23945925e-01 9.92286634e-01 -2.15477096e-03 2.18661151e+01] [ 3.57728527e-02 -2.29824040e-03 9.99357304e-01 1.87091754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.39, Y:21.87, Z:18.71 [[ 9.92012984e-01 -1.20954101e-01 -3.57818983e-02 5.26389006e+02] [ 1.20954811e-01 9.92655680e-01 -2.15282321e-03 2.18692078e+01] [ 3.57794974e-02 -2.19236418e-03 9.99357304e-01 1.87113453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.42, Y:21.87, Z:18.71 [[ 9.92906165e-01 -1.13388678e-01 -3.57820552e-02 5.26419840e+02] [ 1.13384583e-01 9.93548848e-01 -2.15021304e-03 2.18743514e+01] [ 3.57950295e-02 -1.92217364e-03 9.99357304e-01 1.87135294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.45, Y:21.88, Z:18.72 [[ 9.93393110e-01 -1.09040198e-01 -3.57821719e-02 5.26451807e+02] [ 1.09033359e-01 9.94035770e-01 -2.14826983e-03 2.18782751e+01] [ 3.58030065e-02 -1.76737394e-03 9.99357304e-01 1.87157631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.48, Y:21.88, Z:18.72 [[ 9.93911027e-01 -1.04213700e-01 -3.57823278e-02 5.26483772e+02] [ 1.04203833e-01 9.94553647e-01 -2.14566939e-03 2.18819089e+01] [ 3.58110528e-02 -1.59605124e-03 9.99357304e-01 1.87175142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.51, Y:21.89, Z:18.72 [[ 9.94703391e-01 -9.63575488e-02 -3.57824837e-02 5.26514279e+02] [ 9.63426979e-02 9.95345916e-01 -2.14306672e-03 2.18868422e+01] [ 3.58224496e-02 -1.31566528e-03 9.99357304e-01 1.87183835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.55, Y:21.89, Z:18.72 [[ 9.94706718e-01 -9.63231596e-02 -3.57825995e-02 5.26546045e+02] [ 9.63083561e-02 9.95349243e-01 -2.14113070e-03 2.18887114e+01] [ 3.58224238e-02 -1.31636624e-03 9.99357304e-01 1.87195245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.58, Y:21.89, Z:18.72 [[ 9.95000500e-01 -9.32395005e-02 -3.57826734e-02 5.26577222e+02] [ 9.32227499e-02 9.95642978e-01 -2.13989532e-03 2.18920545e+01] [ 3.58262903e-02 -1.20656230e-03 9.99357304e-01 1.87219798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.61, Y:21.90, Z:18.72 [[ 9.95263148e-01 -9.03928112e-02 -3.57827505e-02 5.26609049e+02] [ 9.03742692e-02 9.95905577e-01 -2.13860498e-03 2.18953265e+01] [ 3.58295553e-02 -1.10536520e-03 9.99357304e-01 1.87236798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.64, Y:21.90, Z:18.72 [[ 9.95495007e-01 -8.78024722e-02 -3.57829066e-02 5.26640046e+02] [ 8.77823523e-02 9.96137388e-01 -2.13599028e-03 2.18981035e+01] [ 3.58322363e-02 -1.01474005e-03 9.99357304e-01 1.87245771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.67, Y:21.90, Z:18.72 [[ 9.95962924e-01 -8.23251611e-02 -3.57829838e-02 5.26670403e+02] [ 8.23015543e-02 9.96605186e-01 -2.13469638e-03 2.19017091e+01] [ 3.58372464e-02 -8.18916737e-04 9.99357304e-01 1.87239885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.70, Y:21.90, Z:18.72 [[ 9.96123692e-01 -8.03564567e-02 -3.57831122e-02 5.26700536e+02] [ 8.03316579e-02 9.96765909e-01 -2.13254175e-03 2.19046790e+01] [ 3.58387498e-02 -7.50241362e-04 9.99357304e-01 1.87246619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.73, Y:21.91, Z:18.73 [[ 9.96286708e-01 -7.83094199e-02 -3.57831122e-02 5.26730409e+02] [ 7.82833015e-02 9.96928873e-01 -2.13254175e-03 2.19076520e+01] [ 3.58402158e-02 -6.76597155e-04 9.99357304e-01 1.87270948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.76, Y:21.91, Z:18.73 [[ 9.96412982e-01 -7.66859660e-02 -3.57831122e-02 5.26760070e+02] [ 7.66588013e-02 9.97055104e-01 -2.13254175e-03 2.19103256e+01] [ 3.58412707e-02 -6.18198196e-04 9.99357304e-01 1.87275212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.79, Y:21.91, Z:18.73 [[ 9.96601589e-01 -7.41946445e-02 -3.57830733e-02 5.26790228e+02] [ 7.41658511e-02 9.97243639e-01 -2.13319448e-03 2.19136467e+01] [ 3.58427138e-02 -5.27937081e-04 9.99357304e-01 1.87294981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.82, Y:21.92, Z:18.73 [[ 9.96629343e-01 -7.38208976e-02 -3.57830733e-02 5.26818807e+02] [ 7.37918635e-02 9.97271383e-01 -2.13319448e-03 2.19181795e+01] [ 3.58429093e-02 -5.14495449e-04 9.99357304e-01 1.87313641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.85, Y:21.92, Z:18.73 [[ 9.96815550e-01 -7.12711704e-02 -3.57656338e-02 5.26849537e+02] [ 7.12300543e-02 9.97456968e-01 -2.42410746e-03 2.19185008e+01] [ 3.58474496e-02 -1.31200033e-04 9.99357265e-01 1.87325953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.88, Y:21.92, Z:18.73 [[ 9.96900299e-01 -7.00671297e-02 -3.57825409e-02 5.26878074e+02] [ 7.00353745e-02 9.97542209e-01 -2.14164807e-03 2.19203310e+01] [ 3.58446541e-02 -3.71034051e-04 9.99357305e-01 1.87334137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.91, Y:21.92, Z:18.74 [[ 9.97055361e-01 -6.78249558e-02 -3.57824249e-02 5.26907394e+02] [ 6.77916875e-02 9.97697195e-01 -2.14358442e-03 2.19231084e+01] [ 3.58454135e-02 -2.88478632e-04 9.99357305e-01 1.87353622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.94, Y:21.93, Z:18.74 [[ 9.97112058e-01 -6.69863254e-02 -3.57823470e-02 5.26936076e+02] [ 6.69524707e-02 9.97753861e-01 -2.14488429e-03 2.19254426e+01] [ 3.58456528e-02 -2.57026555e-04 9.99357305e-01 1.87359290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.97, Y:21.93, Z:18.74 [[ 9.97139982e-01 -6.65694193e-02 -3.57822311e-02 5.26965838e+02] [ 6.65352269e-02 9.97781767e-01 -2.14681714e-03 2.19276542e+01] [ 3.58457701e-02 -2.40101656e-04 9.99357305e-01 1.87377836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.99, Y:21.93, Z:18.74 [[ 9.97077111e-01 -6.75046018e-02 -3.57821542e-02 5.26994735e+02] [ 6.74709653e-02 9.97718926e-01 -2.14809801e-03 2.19292810e+01] [ 3.58455389e-02 -2.72437126e-04 9.99357305e-01 1.87390537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.02, Y:21.93, Z:18.74 [[ 9.96991933e-01 -6.87512336e-02 -3.57820399e-02 5.27024576e+02] [ 6.87183313e-02 9.97633785e-01 -2.15000047e-03 2.19305921e+01] [ 3.58451870e-02 -3.15348950e-04 9.99357305e-01 1.87401291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.05, Y:21.93, Z:18.74 [[ 9.96888377e-01 -7.02368457e-02 -3.57819643e-02 5.27053931e+02] [ 7.02048549e-02 9.97530275e-01 -2.15125728e-03 2.19316539e+01] [ 3.58446902e-02 -3.67504228e-04 9.99357305e-01 1.87418687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.08, Y:21.93, Z:18.74 [[ 9.96737118e-01 -7.23517455e-02 -3.57818865e-02 5.27083135e+02] [ 7.23210702e-02 9.97379080e-01 -2.15255051e-03 2.19326325e+01] [ 3.58438458e-02 -4.42257332e-04 9.99357305e-01 1.87422741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.11, Y:21.93, Z:18.74 [[ 9.96353527e-01 -7.74552055e-02 -3.57818479e-02 5.27112917e+02] [ 7.74277951e-02 9.96995637e-01 -2.15319188e-03 2.19328222e+01] [ 3.58411222e-02 -6.25169268e-04 9.99357305e-01 1.87416357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.14, Y:21.93, Z:18.74 [[ 9.96140431e-01 -8.01492598e-02 -3.57818101e-02 5.27142520e+02] [ 8.01235633e-02 9.96782612e-01 -2.15382034e-03 2.19340535e+01] [ 3.58393132e-02 -7.21458606e-04 9.99357305e-01 1.87426313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.17, Y:21.94, Z:18.74 [[ 9.95935033e-01 -8.26624329e-02 -3.57817360e-02 5.27172749e+02] [ 8.26383128e-02 9.96577275e-01 -2.15504963e-03 2.19351849e+01] [ 3.58374066e-02 -8.10652867e-04 9.99357305e-01 1.87432334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.20, Y:21.94, Z:18.74 [[ 9.95847924e-01 -8.37053132e-02 -3.57817360e-02 5.27202461e+02] [ 8.36818656e-02 9.96490191e-01 -2.15504963e-03 2.19362425e+01] [ 3.58365381e-02 -8.48180721e-04 9.99357305e-01 1.87440517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.23, Y:21.94, Z:18.75 [[ 9.95438990e-01 -8.84401933e-02 -3.57707928e-02 5.27233284e+02] [ 8.84132810e-02 9.96081137e-01 -2.33657730e-03 2.19368724e+01] [ 3.58372594e-02 -8.36693006e-04 9.99357289e-01 1.87460367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.26, Y:21.94, Z:18.75 [[ 9.95331926e-01 -8.96328323e-02 -3.57814586e-02 5.27264256e+02] [ 8.96130350e-02 9.95974316e-01 -2.15989428e-03 2.19382448e+01] [ 3.58310112e-02 -1.05667337e-03 9.99357305e-01 1.87471931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.30, Y:21.94, Z:18.75 [[ 9.95267460e-01 -9.03458118e-02 -3.57815350e-02 5.27296004e+02] [ 9.03265202e-02 9.95909865e-01 -2.15862720e-03 2.19398397e+01] [ 3.58302067e-02 -1.08361014e-03 9.99357305e-01 1.87482211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.33, Y:21.94, Z:18.75 [[ 9.95227584e-01 -9.07839846e-02 -3.57816110e-02 5.27327607e+02] [ 9.07650211e-02 9.95870000e-01 -2.15736681e-03 2.19417055e+01] [ 3.58296873e-02 -1.10064772e-03 9.99357305e-01 1.87497164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.36, Y:21.94, Z:18.75 [[ 9.95251356e-01 -9.05229779e-02 -3.57816871e-02 5.27360035e+02] [ 9.05038913e-02 9.95893768e-01 -2.15610472e-03 2.19442772e+01] [ 3.58299362e-02 -1.09251577e-03 9.99357305e-01 1.87522307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.39, Y:21.95, Z:18.75 [[ 9.95279645e-01 -9.02113560e-02 -3.57818459e-02 5.27391425e+02] [ 9.01921630e-02 9.95922053e-01 -2.15346660e-03 2.19464856e+01] [ 3.58301965e-02 -1.08394060e-03 9.99357305e-01 1.87533406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.42, Y:21.95, Z:18.75 [[ 9.95294159e-01 -9.00510260e-02 -3.57819641e-02 5.27422908e+02] [ 9.00318001e-02 9.95936567e-01 -2.15150000e-03 2.19484969e+01] [ 3.58303113e-02 -1.08013926e-03 9.99357305e-01 1.87542765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.45, Y:21.95, Z:18.76 [[ 9.95293265e-01 -9.00608622e-02 -3.57820807e-02 5.27453685e+02] [ 9.00417124e-02 9.95935675e-01 -2.14955866e-03 2.19504074e+01] [ 3.58302418e-02 -1.08243856e-03 9.99357305e-01 1.87557085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.48, Y:21.95, Z:18.76 [[ 9.95243136e-01 -9.06131230e-02 -3.57821583e-02 5.27484448e+02] [ 9.05943760e-02 9.95885558e-01 -2.14826644e-03 2.19522913e+01] [ 3.58295958e-02 -1.10361488e-03 9.99357305e-01 1.87556446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.52, Y:21.95, Z:18.76 [[ 9.95141393e-01 -9.17236986e-02 -3.57822743e-02 5.27515693e+02] [ 9.17057381e-02 9.95783837e-01 -2.14633228e-03 2.19542472e+01] [ 3.58282800e-02 -1.14553578e-03 9.99357305e-01 1.87565871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.55, Y:21.96, Z:18.76 [[ 9.95054473e-01 -9.26618583e-02 -3.57823522e-02 5.27546959e+02] [ 9.26445502e-02 9.95696935e-01 -2.14503288e-03 2.19559738e+01] [ 3.58271412e-02 -1.18061536e-03 9.99357305e-01 1.87564883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.58, Y:21.96, Z:18.76 [[ 9.94943448e-01 -9.38464148e-02 -3.57824687e-02 5.27579023e+02] [ 9.38299413e-02 9.95585933e-01 -2.14308802e-03 2.19577941e+01] [ 3.58256436e-02 -1.22521556e-03 9.99357305e-01 1.87569048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.61, Y:21.96, Z:18.76 [[ 9.94846810e-01 -9.48653153e-02 -3.57826237e-02 5.27610258e+02] [ 9.48495929e-02 9.95489313e-01 -2.14049614e-03 2.19592644e+01] [ 3.58242784e-02 -1.26450154e-03 9.99357305e-01 1.87570266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.64, Y:21.96, Z:18.76 [[ 9.94702911e-01 -9.63624151e-02 -3.57827391e-02 5.27642713e+02] [ 9.63477291e-02 9.95345438e-01 -2.13856542e-03 2.19608863e+01] [ 3.58222635e-02 -1.32034840e-03 9.99357305e-01 1.87574702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.67, Y:21.96, Z:18.76 [[ 9.94672643e-01 -9.66742839e-02 -3.57828969e-02 5.27674249e+02] [ 9.66598943e-02 9.95315178e-01 -2.13592236e-03 2.19633403e+01] [ 3.58217491e-02 -1.33422749e-03 9.99357305e-01 1.87581288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.71, Y:21.97, Z:18.76 [[ 9.94718968e-01 -9.61964124e-02 -3.57830143e-02 5.27705290e+02] [ 9.61817849e-02 9.95361497e-01 -2.13395379e-03 2.19658867e+01] [ 3.58223134e-02 -1.31898987e-03 9.99357305e-01 1.87589851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.74, Y:21.97, Z:18.76 [[ 9.94937216e-01 -9.39122099e-02 -3.57831291e-02 5.27736984e+02] [ 9.38961763e-02 9.95579712e-01 -2.13202733e-03 2.19697729e+01] [ 3.58251807e-02 -1.23866566e-03 9.99357305e-01 1.87603438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.77, Y:21.97, Z:18.76 [[ 9.95117441e-01 -9.19827976e-02 -3.57832826e-02 5.27768893e+02] [ 9.19656109e-02 9.95759907e-01 -2.12944719e-03 2.19730068e+01] [ 3.58274307e-02 -1.17178140e-03 9.99357305e-01 1.87618373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.80, Y:21.98, Z:18.76 [[ 9.95340966e-01 -8.95315933e-02 -3.57834356e-02 5.27801378e+02] [ 8.95129167e-02 9.95983391e-01 -2.12687277e-03 2.19762082e+01] [ 3.58301299e-02 -1.08611610e-03 9.99357305e-01 1.87637360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.83, Y:21.98, Z:18.77 [[ 9.95772349e-01 -8.45988343e-02 -3.57835931e-02 5.27831877e+02] [ 8.45770701e-02 9.96414676e-01 -2.12422103e-03 2.19802948e+01] [ 3.58350039e-02 -9.11230893e-04 9.99357305e-01 1.87653831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.86, Y:21.98, Z:18.77 [[ 9.95974362e-01 -8.21863562e-02 -3.57837101e-02 5.27862939e+02] [ 8.21631070e-02 9.96616636e-01 -2.12224689e-03 2.19829022e+01] [ 3.58370606e-02 -8.26397307e-04 9.99357305e-01 1.87666981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.89, Y:21.99, Z:18.77 [[ 9.96154346e-01 -7.99752439e-02 -3.57837885e-02 5.27892867e+02] [ 7.99506164e-02 9.96796569e-01 -2.12092560e-03 2.19854761e+01] [ 3.58387791e-02 -7.48166688e-04 9.99357305e-01 1.87679139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.92, Y:21.99, Z:18.77 [[ 9.96289283e-01 -7.82763193e-02 -3.57838273e-02 5.27923329e+02] [ 7.82506202e-02 9.96931465e-01 -2.12026968e-03 2.19881943e+01] [ 3.58399903e-02 -6.87704718e-04 9.99357305e-01 1.87690600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.95, Y:21.99, Z:18.77 [[ 9.96464211e-01 -7.60170427e-02 -3.57838646e-02 5.27954144e+02] [ 7.59899101e-02 9.97106334e-01 -2.11963961e-03 2.19917384e+01] [ 3.58414468e-02 -6.07067651e-04 9.99357305e-01 1.87704110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.98, Y:21.99, Z:18.77 [[ 9.96514893e-01 -7.53497009e-02 -3.57839418e-02 5.27984776e+02] [ 7.53221850e-02 9.97156999e-01 -2.11833667e-03 2.19938336e+01] [ 3.58418240e-02 -5.84370640e-04 9.99357305e-01 1.87714133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.02, Y:22.00, Z:18.77 [[ 9.96512974e-01 -7.53750548e-02 -3.57839800e-02 5.28015023e+02] [ 7.53475785e-02 9.97155082e-01 -2.11769070e-03 2.19958339e+01] [ 3.58417986e-02 -5.85929988e-04 9.99357305e-01 1.87722126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.05, Y:22.00, Z:18.77 [[ 9.96482780e-01 -7.57731832e-02 -3.57839800e-02 5.28045555e+02] [ 7.57459635e-02 9.97124899e-01 -2.11769070e-03 2.19977200e+01] [ 3.58415616e-02 -6.00249731e-04 9.99357305e-01 1.87730007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.08, Y:22.00, Z:18.77 [[ 9.96347717e-01 -7.75289164e-02 -3.57839800e-02 5.28076406e+02] [ 7.75028281e-02 9.96989883e-01 -2.11769070e-03 2.19990380e+01] [ 3.58404483e-02 -6.63403360e-04 9.99357305e-01 1.87731990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.11, Y:22.00, Z:18.77 [[ 9.96258490e-01 -7.86671936e-02 -3.57839800e-02 5.28106747e+02] [ 7.86418390e-02 9.96900685e-01 -2.11769070e-03 2.20006150e+01] [ 3.58396670e-02 -7.04350658e-04 9.99357305e-01 1.87736650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.14, Y:22.00, Z:18.77 [[ 9.96154441e-01 -7.99739567e-02 -3.57840183e-02 5.28136874e+02] [ 7.99494678e-02 9.96796670e-01 -2.11704259e-03 2.20022103e+01] [ 3.58386986e-02 -7.52011847e-04 9.99357305e-01 1.87743231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.17, Y:22.00, Z:18.77 [[ 9.95976484e-01 -8.21604917e-02 -3.57840183e-02 5.28167986e+02] [ 8.21374126e-02 9.96618765e-01 -2.11704259e-03 2.20037879e+01] [ 3.58369614e-02 -8.30682045e-04 9.99357305e-01 1.87747136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.20, Y:22.01, Z:18.78 [[ 9.95911630e-01 -8.29428967e-02 -3.57840934e-02 5.28199304e+02] [ 8.29203678e-02 9.96553930e-01 -2.11577358e-03 2.20056684e+01] [ 3.58362673e-02 -8.60106670e-04 9.99357305e-01 1.87754491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.23, Y:22.01, Z:18.78 [[ 9.95851726e-01 -8.36590304e-02 -3.57841698e-02 5.28230091e+02] [ 8.36370099e-02 9.96494044e-01 -2.11448005e-03 2.20074263e+01] [ 3.58356074e-02 -8.87172357e-04 9.99357305e-01 1.87763432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.26, Y:22.01, Z:18.78 [[ 9.95808073e-01 -8.41770068e-02 -3.57842476e-02 5.28260219e+02] [ 8.41553676e-02 9.96450405e-01 -2.11316246e-03 2.20092663e+01] [ 3.58351077e-02 -9.07132280e-04 9.99357305e-01 1.87775370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.29, Y:22.01, Z:18.78 [[ 9.95825045e-01 -8.39759334e-02 -3.57843758e-02 5.28291311e+02] [ 8.39542426e-02 9.96467375e-01 -2.11099020e-03 2.20113070e+01] [ 3.58352353e-02 -9.02073253e-04 9.99357305e-01 1.87790753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.32, Y:22.01, Z:18.78 [[ 9.95833890e-01 -8.38709571e-02 -3.57844520e-02 5.28321530e+02] [ 8.38492451e-02 9.96476218e-01 -2.10969666e-03 2.20133630e+01] [ 3.58352977e-02 -8.99591856e-04 9.99357305e-01 1.87806410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.35, Y:22.02, Z:18.78 [[ 9.95858979e-01 -8.35725118e-02 -3.57844899e-02 5.28353236e+02] [ 8.35506303e-02 9.96501302e-01 -2.10905476e-03 2.20152702e+01] [ 3.58355497e-02 -8.89495564e-04 9.99357305e-01 1.87820447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.38, Y:22.02, Z:18.78 [[ 9.95873699e-01 -8.33968806e-02 -3.57845648e-02 5.28383322e+02] [ 8.33749315e-02 9.96516020e-01 -2.10778241e-03 2.20168933e+01] [ 3.58356746e-02 -8.84450567e-04 9.99357305e-01 1.87835762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.41, Y:22.02, Z:18.78 [[ 9.95863295e-01 -8.35209800e-02 -3.57846887e-02 5.28414158e+02] [ 8.34991865e-02 9.96505621e-01 -2.10567745e-03 2.20184254e+01] [ 3.58355116e-02 -8.91025510e-04 9.99357305e-01 1.87842962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.44, Y:22.02, Z:18.78 [[ 9.95830103e-01 -8.39157673e-02 -3.57847656e-02 5.28444091e+02] [ 8.38942754e-02 9.96472439e-01 -2.10436903e-03 2.20197883e+01] [ 3.58351224e-02 -9.06542951e-04 9.99357305e-01 1.87848534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.48, Y:22.02, Z:18.79 [[ 9.95761047e-01 -8.47312562e-02 -3.57848038e-02 5.28475495e+02] [ 8.47103137e-02 9.96403401e-01 -2.10372008e-03 2.20213849e+01] [ 3.58343510e-02 -9.36539442e-04 9.99357305e-01 1.87855621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.51, Y:22.02, Z:18.79 [[ 9.95764126e-01 -8.46950263e-02 -3.57848802e-02 5.28507266e+02] [ 8.46741072e-02 9.96406481e-01 -2.10241823e-03 2.20232230e+01] [ 3.58343510e-02 -9.36540134e-04 9.99357305e-01 1.87867032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.54, Y:22.02, Z:18.79 [[ 9.95589478e-01 -8.67238674e-02 -3.57849566e-02 5.28538497e+02] [ 8.67043039e-02 9.96231875e-01 -2.10111707e-03 2.20243026e+01] [ 3.58323315e-02 -1.01085971e-03 9.99357305e-01 1.87864237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.57, Y:22.03, Z:18.79 [[ 9.95460859e-01 -8.81879261e-02 -3.57850325e-02 5.28570075e+02] [ 8.81693538e-02 9.96103286e-01 -2.09982351e-03 2.20257196e+01] [ 3.58307676e-02 -1.06485108e-03 9.99357305e-01 1.87870493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.60, Y:22.03, Z:18.79 [[ 9.95361133e-01 -8.93064421e-02 -3.57851087e-02 5.28601503e+02] [ 8.92886384e-02 9.96003582e-01 -2.09852401e-03 2.20268553e+01] [ 3.58295082e-02 -1.10641440e-03 9.99357305e-01 1.87878455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.63, Y:22.03, Z:18.79 [[ 9.95247425e-01 -9.05648004e-02 -3.57851845e-02 5.28633117e+02] [ 9.05478554e-02 9.95889897e-01 -2.09723223e-03 2.20283211e+01] [ 3.58280391e-02 -1.15300673e-03 9.99357305e-01 1.87885876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.67, Y:22.03, Z:18.79 [[ 9.95128130e-01 -9.18663163e-02 -3.57852598e-02 5.28665159e+02] [ 9.18502578e-02 9.95770625e-01 -2.09594522e-03 2.20296513e+01] [ 3.58264573e-02 -1.20115129e-03 9.99357305e-01 1.87894285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.70, Y:22.03, Z:18.79 [[ 9.95132200e-01 -9.18221584e-02 -3.57854118e-02 5.28696660e+02] [ 9.18061647e-02 9.95774696e-01 -2.09334705e-03 2.20312935e+01] [ 3.58264232e-02 -1.20216435e-03 9.99357305e-01 1.87901242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.73, Y:22.03, Z:18.79 [[ 9.95194179e-01 -9.11479192e-02 -3.57855248e-02 5.28728855e+02] [ 9.11315596e-02 9.95836666e-01 -2.09141354e-03 2.20332541e+01] [ 3.58271657e-02 -1.17982811e-03 9.99357305e-01 1.87912707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.76, Y:22.04, Z:18.79 [[ 9.95284837e-01 -9.01525275e-02 -3.57856754e-02 5.28761263e+02] [ 9.01356180e-02 9.95927310e-01 -2.08883432e-03 2.20356248e+01] [ 3.58282451e-02 -1.14657884e-03 9.99357305e-01 1.87923859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.79, Y:22.04, Z:18.79 [[ 9.95594463e-01 -8.66662550e-02 -3.57858257e-02 5.28791942e+02] [ 8.66471881e-02 9.96236876e-01 -2.08625618e-03 2.20384389e+01] [ 3.58319672e-02 -1.02367607e-03 9.99357305e-01 1.87938730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.82, Y:22.04, Z:18.80 [[ 9.95759934e-01 -8.47438806e-02 -3.57858628e-02 5.28821762e+02] [ 8.47235963e-02 9.96402310e-01 -2.08561862e-03 2.20407817e+01] [ 3.58338598e-02 -9.55131537e-04 9.99357305e-01 1.87952505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.85, Y:22.04, Z:18.80 [[ 9.95941571e-01 -8.25818147e-02 -3.57858989e-02 5.28853128e+02] [ 8.25601580e-02 9.96583902e-01 -2.08500015e-03 2.20431081e+01] [ 3.58358338e-02 -8.77951141e-04 9.99357305e-01 1.87972138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.88, Y:22.05, Z:18.80 [[ 9.96102600e-01 -8.06162213e-02 -3.57859748e-02 5.28883765e+02] [ 8.05933439e-02 9.96744888e-01 -2.08369589e-03 2.20452669e+01] [ 3.58374671e-02 -8.08536483e-04 9.99357305e-01 1.87983006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.91, Y:22.05, Z:18.80 [[ 9.96234771e-01 -7.89660822e-02 -3.57860125e-02 5.28914319e+02] [ 7.89421641e-02 9.96877021e-01 -2.08304871e-03 2.20474804e+01] [ 3.58387437e-02 -7.49819720e-04 9.99357305e-01 1.87998407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.95, Y:22.05, Z:18.80 [[ 9.96430193e-01 -7.64606334e-02 -3.57860485e-02 5.28945926e+02] [ 7.64351226e-02 9.97072382e-01 -2.08242973e-03 2.20490290e+01] [ 3.58405045e-02 -6.60315147e-04 9.99357305e-01 1.88011802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.98, Y:22.05, Z:18.80 [[ 9.96459965e-01 -7.60716216e-02 -3.57861253e-02 5.28975974e+02] [ 7.60459075e-02 9.97102146e-01 -2.08110879e-03 2.20505562e+01] [ 3.58407357e-02 -6.47646788e-04 9.99357305e-01 1.88021630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.01, Y:22.05, Z:18.80 [[ 9.96472669e-01 -7.59050143e-02 -3.57861634e-02 5.29006380e+02] [ 7.58792164e-02 9.97114846e-01 -2.08045374e-03 2.20520575e+01] [ 3.58408317e-02 -6.42310745e-04 9.99357305e-01 1.88033293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.04, Y:22.05, Z:18.80 [[ 9.96472262e-01 -7.59103555e-02 -3.57861634e-02 5.29036623e+02] [ 7.58845610e-02 9.97114439e-01 -2.08045374e-03 2.20534177e+01] [ 3.58408282e-02 -6.42502856e-04 9.99357305e-01 1.88043472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.07, Y:22.05, Z:18.81 [[ 9.96429158e-01 -7.64740556e-02 -3.57862017e-02 5.29065586e+02] [ 7.64486480e-02 9.97071351e-01 -2.07979473e-03 2.20541075e+01] [ 3.58404468e-02 -6.63438629e-04 9.99357305e-01 1.88053399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.10, Y:22.06, Z:18.81 [[ 9.96350547e-01 -7.74938543e-02 -3.57811465e-02 5.29096637e+02] [ 7.74659882e-02 9.96992641e-01 -2.16658028e-03 2.20553832e+01] [ 3.58414365e-02 -6.13148431e-04 9.99357301e-01 1.88062287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.13, Y:22.06, Z:18.81 [[ 9.96277214e-01 -7.84288352e-02 -3.57858971e-02 5.29126509e+02] [ 7.84044990e-02 9.96919449e-01 -2.08504760e-03 2.20556973e+01] [ 3.58391847e-02 -7.28489919e-04 9.99357305e-01 1.88065012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.16, Y:22.06, Z:18.81 [[ 9.96257156e-01 -7.86832389e-02 -3.57858593e-02 5.29157259e+02] [ 7.86590434e-02 9.96899396e-01 -2.08569586e-03 2.20567926e+01] [ 3.58390108e-02 -7.36992041e-04 9.99357305e-01 1.88080516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.19, Y:22.06, Z:18.81 [[ 9.96231796e-01 -7.90032436e-02 -3.57868091e-02 5.29187601e+02] [ 7.89798391e-02 9.96874066e-01 -2.06941320e-03 2.20581047e+01] [ 3.58384322e-02 -7.64821196e-04 9.99357304e-01 1.88096985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.22, Y:22.06, Z:18.81 [[ 9.96224727e-01 -7.90922466e-02 -3.57870167e-02 5.29217858e+02] [ 7.90690274e-02 9.96867003e-01 -2.06584990e-03 2.20597159e+01] [ 3.58382888e-02 -7.71593856e-04 9.99357304e-01 1.88101562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.25, Y:22.06, Z:18.81 [[ 9.96193411e-01 -7.94863468e-02 -3.57855949e-02 5.29248306e+02] [ 7.94625075e-02 9.96835664e-01 -2.09019347e-03 2.20606623e+01] [ 3.58384991e-02 -7.61376137e-04 9.99357305e-01 1.88093603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.28, Y:22.06, Z:18.81 [[ 9.96149806e-01 -8.00309492e-02 -3.57856327e-02 5.29279180e+02] [ 8.00074844e-02 9.96792073e-01 -2.08954623e-03 2.20623121e+01] [ 3.58380633e-02 -7.81617373e-04 9.99357305e-01 1.88106073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.31, Y:22.06, Z:18.81 [[ 9.96105881e-01 -8.05758138e-02 -3.57856327e-02 5.29309822e+02] [ 8.05527002e-02 9.96748161e-01 -2.08954623e-03 2.20639913e+01] [ 3.58376304e-02 -8.01220050e-04 9.99357305e-01 1.88120286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.34, Y:22.07, Z:18.81 [[ 9.96038926e-01 -8.13992540e-02 -3.57857565e-02 5.29340281e+02] [ 8.13767477e-02 9.96681227e-01 -2.08742381e-03 2.20655352e+01] [ 3.58369064e-02 -8.32973108e-04 9.99357305e-01 1.88137503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.37, Y:22.07, Z:18.82 [[ 9.95931548e-01 -8.27026717e-02 -3.57857565e-02 5.29371079e+02] [ 8.26810059e-02 9.96573878e-01 -2.08742381e-03 2.20670375e+01] [ 3.58357856e-02 -8.79871117e-04 9.99357305e-01 1.88161048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.40, Y:22.07, Z:18.82 [[ 9.95780497e-01 -8.45008352e-02 -3.57884260e-02 5.29400550e+02] [ 8.44819699e-02 9.96422916e-01 -2.04173972e-03 2.20675947e+01] [ 3.58329366e-02 -9.90352139e-04 9.99357303e-01 1.88168969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.43, Y:22.07, Z:18.82 [[ 9.95755421e-01 -8.47970971e-02 -3.57853816e-02 5.29430786e+02] [ 8.47765542e-02 9.96397788e-01 -2.09377417e-03 2.20689890e+01] [ 3.58340210e-02 -9.48874358e-04 9.99357305e-01 1.88188000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.46, Y:22.07, Z:18.82 [[ 9.95644258e-01 -8.60939954e-02 -3.57817873e-02 5.29461820e+02] [ 8.60720821e-02 9.96286581e-01 -2.15523275e-03 2.20703940e+01] [ 3.58344672e-02 -9.33967831e-04 9.99357303e-01 1.88185557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.49, Y:22.07, Z:18.82 [[ 9.95582450e-01 -8.68042541e-02 -3.57855658e-02 5.29493036e+02] [ 8.67851218e-02 9.96224860e-01 -2.09055504e-03 2.20719964e+01] [ 3.58319394e-02 -1.02433478e-03 9.99357305e-01 1.88193764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.52, Y:22.07, Z:18.82 [[ 9.95492698e-01 -8.78275308e-02 -3.57856415e-02 5.29524453e+02] [ 8.78091054e-02 9.96135129e-01 -2.08925925e-03 2.20733540e+01] [ 3.58308291e-02 -1.06246284e-03 9.99357305e-01 1.88199119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.56, Y:22.07, Z:18.82 [[ 9.95451067e-01 -8.82981083e-02 -3.57857168e-02 5.29555561e+02] [ 8.82800329e-02 9.96093508e-01 -2.08796758e-03 2.20746869e+01] [ 3.58302838e-02 -1.08069471e-03 9.99357305e-01 1.88210020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.59, Y:22.08, Z:18.82 [[ 9.95412548e-01 -8.87312607e-02 -3.57857918e-02 5.29585938e+02] [ 8.87135111e-02 9.96054998e-01 -2.08668286e-03 2.20759084e+01] [ 3.58297707e-02 -1.09757294e-03 9.99357305e-01 1.88217315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.62, Y:22.08, Z:18.82 [[ 9.95369053e-01 -8.92178364e-02 -3.57858289e-02 5.29617510e+02] [ 8.92004237e-02 9.96011512e-01 -2.08604503e-03 2.20774830e+01] [ 3.58292100e-02 -1.11572644e-03 9.99357305e-01 1.88230480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:529.65, Y:22.08, Z:18.82 [[ 9.95274378e-01 -9.02678347e-02 -3.57859029e-02 5.29647728e+02] [ 9.02511454e-02 9.95916856e-01 -2.08477595e-03 2.20794335e+01] [ 3.58279721e-02 -1.15479463e-03 9.99357305e-01 1.88238191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.68, Y:22.08, Z:18.83 [[ 9.95256647e-01 -9.04631009e-02 -3.57859395e-02 5.29678571e+02] [ 9.04465603e-02 9.95899129e-01 -2.08414617e-03 2.20813491e+01] [ 3.58277244e-02 -1.16245481e-03 9.99357305e-01 1.88253511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.71, Y:22.08, Z:18.83 [[ 9.95205635e-01 -9.10225523e-02 -3.57860125e-02 5.29709356e+02] [ 9.10064178e-02 9.95848128e-01 -2.08289237e-03 2.20834311e+01] [ 3.58270237e-02 -1.18385059e-03 9.99357305e-01 1.88267651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.74, Y:22.09, Z:18.83 [[ 9.95169694e-01 -9.14146345e-02 -3.57860849e-02 5.29740331e+02] [ 9.13987979e-02 9.95812194e-01 -2.08164854e-03 2.20855145e+01] [ 3.58265128e-02 -1.19921159e-03 9.99357305e-01 1.88284520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.77, Y:22.09, Z:18.83 [[ 9.95056423e-01 -9.26394359e-02 -3.57861598e-02 5.29771659e+02] [ 9.26244364e-02 9.95698943e-01 -2.08035986e-03 2.20880213e+01] [ 3.58249649e-02 -1.24459744e-03 9.99357305e-01 1.88302085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.80, Y:22.09, Z:18.83 [[ 9.94990441e-01 -9.33454243e-02 -3.57862341e-02 5.29804085e+02] [ 9.33309266e-02 9.95632972e-01 -2.07908159e-03 2.20900203e+01] [ 3.58240273e-02 -1.27129608e-03 9.99357305e-01 1.88313764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.84, Y:22.09, Z:18.83 [[ 9.94908768e-01 -9.42118821e-02 -3.57863835e-02 5.29835833e+02] [ 9.41980364e-02 9.95551314e-01 -2.07650587e-03 2.20923162e+01] [ 3.58228126e-02 -1.30507316e-03 9.99357305e-01 1.88327963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.87, Y:22.09, Z:18.83 [[ 9.94832001e-01 -9.50190198e-02 -3.57865328e-02 5.29868278e+02] [ 9.50057879e-02 9.95474560e-01 -2.07393013e-03 2.20946630e+01] [ 3.58216458e-02 -1.33671568e-03 9.99357305e-01 1.88344143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.90, Y:22.10, Z:18.84 [[ 9.94690942e-01 -9.64844238e-02 -3.57866818e-02 5.29899634e+02] [ 9.64722311e-02 9.95333521e-01 -2.07135467e-03 2.20977136e+01] [ 3.58195375e-02 -1.39206332e-03 9.99357305e-01 1.88357885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.93, Y:22.10, Z:18.84 [[ 9.94632036e-01 -9.70897455e-02 -3.57867927e-02 5.29932101e+02] [ 9.70780127e-02 9.95274624e-01 -2.06943690e-03 2.21000045e+01] [ 3.58186078e-02 -1.41578248e-03 9.99357305e-01 1.88370090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.96, Y:22.10, Z:18.84 [[ 9.94590967e-01 -9.75095067e-02 -3.57869373e-02 5.29964095e+02] [ 9.74981350e-02 9.95233561e-01 -2.06693363e-03 2.21024851e+01] [ 3.58179068e-02 -1.43340613e-03 9.99357305e-01 1.88383289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.00, Y:22.11, Z:18.84 [[ 9.94567732e-01 -9.77461569e-02 -3.57870808e-02 5.29996319e+02] [ 9.77350275e-02 9.95210331e-01 -2.06444669e-03 2.21061487e+01] [ 3.58174642e-02 -1.44441927e-03 9.99357305e-01 1.88395965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.03, Y:22.11, Z:18.84 [[ 9.94584262e-01 -9.75777602e-02 -3.57872267e-02 5.30028813e+02] [ 9.75666129e-02 9.95226861e-01 -2.06191505e-03 2.21089461e+01] [ 3.58176063e-02 -1.44089023e-03 9.99357305e-01 1.88410185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.06, Y:22.11, Z:18.84 [[ 9.94635252e-01 -9.70565729e-02 -3.57873750e-02 5.30060902e+02] [ 9.70451815e-02 9.95277847e-01 -2.05933680e-03 2.21117749e+01] [ 3.58182537e-02 -1.42470333e-03 9.99357305e-01 1.88424362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.09, Y:22.12, Z:18.84 [[ 9.94882558e-01 -9.44878206e-02 -3.57875265e-02 5.30091498e+02] [ 9.44748646e-02 9.95525123e-01 -2.05670083e-03 2.21162936e+01] [ 3.58217149e-02 -1.33484594e-03 9.99357305e-01 1.88438906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.12, Y:22.12, Z:18.85 [[ 9.95082622e-01 -9.23570291e-02 -3.57876392e-02 5.30123160e+02] [ 9.23427676e-02 9.95725159e-01 -2.05473750e-03 2.21195785e+01] [ 3.58244222e-02 -1.26009607e-03 9.99357305e-01 1.88453875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.16, Y:22.12, Z:18.85 [[ 9.95336000e-01 -8.95850450e-02 -3.57877910e-02 5.30155447e+02] [ 8.95690888e-02 9.95978497e-01 -2.05209149e-03 2.21228385e+01] [ 3.58277070e-02 -1.16295929e-03 9.99357305e-01 1.88467566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.19, Y:22.13, Z:18.85 [[ 9.95622324e-01 -8.63447212e-02 -3.57879427e-02 5.30187772e+02] [ 8.63267690e-02 9.96264768e-01 -2.04944173e-03 2.21262572e+01] [ 3.58312249e-02 -1.04898752e-03 9.99357305e-01 1.88481980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.22, Y:22.13, Z:18.85 [[ 9.96244889e-01 -7.88373829e-02 -3.57880935e-02 5.30219288e+02] [ 7.88146832e-02 9.96887183e-01 -2.04680572e-03 2.21320773e+01] [ 3.58380565e-02 -7.81507508e-04 9.99357305e-01 1.88503065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.25, Y:22.14, Z:18.85 [[ 9.96539945e-01 -7.50155916e-02 -3.57882433e-02 5.30250434e+02] [ 7.49905226e-02 9.97182151e-01 -2.04418302e-03 2.21357031e+01] [ 3.58407430e-02 -6.46669027e-04 9.99357305e-01 1.88517484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.28, Y:22.14, Z:18.85 [[ 9.97044503e-01 -6.79812940e-02 -3.57883172e-02 5.30281291e+02] [ 6.79517402e-02 9.97686518e-01 -2.04288769e-03 2.21404240e+01] [ 3.58443997e-02 -3.95028493e-04 9.99357305e-01 1.88526389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.31, Y:22.14, Z:18.85 [[ 9.97222819e-01 -6.53133961e-02 -3.57883912e-02 5.30311332e+02] [ 6.52821712e-02 9.97864755e-01 -2.04159056e-03 2.21431741e+01] [ 3.58453174e-02 -3.00423188e-04 9.99357305e-01 1.88538344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.34, Y:22.15, Z:18.85 [[ 9.97381435e-01 -6.28447643e-02 -3.57883912e-02 5.30341467e+02] [ 6.28119504e-02 9.98023292e-01 -2.04159056e-03 2.21452375e+01] [ 3.58459513e-02 -2.11694132e-04 9.99357305e-01 1.88545237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.37, Y:22.15, Z:18.86 [[ 9.97478185e-01 -6.12899741e-02 -3.57883912e-02 5.30371410e+02] [ 6.12561598e-02 9.98119990e-01 -2.04159056e-03 2.21472107e+01] [ 3.58462377e-02 -1.55817362e-04 9.99357305e-01 1.88551247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.40, Y:22.15, Z:18.85 [[ 9.97548705e-01 -6.01313301e-02 -3.57883156e-02 5.30400123e+02] [ 6.00967228e-02 9.98190468e-01 -2.04291567e-03 2.21497224e+01] [ 3.58463987e-02 -1.12852600e-04 9.99357305e-01 1.88545403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.43, Y:22.15, Z:18.86 [[ 9.97550615e-01 -6.01054267e-02 -3.57785962e-02 5.30428558e+02] [ 6.00647156e-02 9.98192033e-01 -2.21260708e-03 2.21504045e+01] [ 3.58468993e-02 5.81563453e-05 9.99357292e-01 1.88563336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.46, Y:22.15, Z:18.86 [[ 9.97535769e-01 -6.03458899e-02 -3.57877433e-02 5.30457745e+02] [ 6.03110525e-02 9.98177520e-01 -2.05317729e-03 2.21520381e+01] [ 3.58464216e-02 -1.10278673e-04 9.99357304e-01 1.88573380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.48, Y:22.16, Z:18.86 [[ 9.97484583e-01 -6.11864460e-02 -3.57872341e-02 5.30484557e+02] [ 6.11518323e-02 9.98126345e-01 -2.06201468e-03 2.21559009e+01] [ 3.58463485e-02 -1.31627081e-04 9.99357304e-01 1.88572982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.51, Y:22.16, Z:18.86 [[ 9.97457431e-01 -6.16412935e-02 -3.57634589e-02 5.30514935e+02] [ 6.15922729e-02 9.98098333e-01 -2.47185445e-03 2.21550876e+01] [ 3.58478170e-02 2.62816871e-04 9.99357226e-01 1.88600386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.54, Y:22.16, Z:18.86 [[ 9.97376153e-01 -6.29293784e-02 -3.57869199e-02 5.30544935e+02] [ 6.28957648e-02 9.98017964e-01 -2.06539941e-03 2.21558357e+01] [ 3.58459632e-02 -1.90865576e-04 9.99357309e-01 1.88610090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.57, Y:22.16, Z:18.86 [[ 9.97281910e-01 -6.44056971e-02 -3.57868437e-02 5.30573924e+02] [ 6.43729861e-02 9.97923768e-01 -2.06671901e-03 2.21564773e+01] [ 3.58456504e-02 -2.42604513e-04 9.99357309e-01 1.88621819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.60, Y:22.16, Z:18.86 [[ 9.96992149e-01 -6.87456088e-02 -3.57868058e-02 5.30603448e+02] [ 6.87156683e-02 9.97634143e-01 -2.06737419e-03 2.21558592e+01] [ 3.58442623e-02 -3.97958446e-04 9.99357309e-01 1.88634963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.63, Y:22.16, Z:18.86 [[ 9.96798629e-01 -7.14968723e-02 -3.57867324e-02 5.30634383e+02] [ 7.14686580e-02 9.97440701e-01 -2.06864414e-03 2.21562460e+01] [ 3.58430451e-02 -4.95608099e-04 9.99357309e-01 1.88647643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.67, Y:22.16, Z:18.87 [[ 9.96584270e-01 -7.44251444e-02 -3.57867324e-02 5.30665262e+02] [ 7.43988167e-02 9.97226422e-01 -2.06864414e-03 2.21564226e+01] [ 3.58414343e-02 -6.00912335e-04 9.99357309e-01 1.88658866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.70, Y:22.16, Z:18.87 [[ 9.96344198e-01 -7.75728628e-02 -3.57867324e-02 5.30696014e+02] [ 7.75485637e-02 9.96986430e-01 -2.06864414e-03 2.21565685e+01] [ 3.58393572e-02 -7.14128114e-04 9.99357309e-01 1.88667259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.73, Y:22.16, Z:18.87 [[ 9.96087038e-01 -8.08079357e-02 -3.57867324e-02 5.30727797e+02] [ 8.07857223e-02 9.96729345e-01 -2.06864414e-03 2.21566291e+01] [ 3.58368493e-02 -8.30507415e-04 9.99357309e-01 1.88678944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.76, Y:22.15, Z:18.87 [[ 9.95540075e-01 -8.72883899e-02 -3.57868070e-02 5.30758352e+02] [ 8.72704031e-02 9.96182515e-01 -2.06735421e-03 2.21549465e+01] [ 3.58306474e-02 -1.06499511e-03 9.99357309e-01 1.88683190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.79, Y:22.16, Z:18.87 [[ 9.95267764e-01 -9.03403507e-02 -3.57868439e-02 5.30789755e+02] [ 9.03243568e-02 9.95910257e-01 -2.06671402e-03 2.21550492e+01] [ 3.58271926e-02 -1.17548982e-03 9.99357309e-01 1.88694165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.82, Y:22.16, Z:18.87 [[ 9.95008772e-01 -9.31495627e-02 -3.57869183e-02 5.30822357e+02] [ 9.31354289e-02 9.95651307e-01 -2.06542572e-03 2.21555580e+01] [ 3.58236855e-02 -1.27791327e-03 9.99357309e-01 1.88706586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.85, Y:22.16, Z:18.87 [[ 9.94799688e-01 -9.53565186e-02 -3.57870669e-02 5.30854905e+02] [ 9.53439028e-02 9.95442256e-01 -2.06284669e-03 2.21562338e+01] [ 3.58206645e-02 -1.35995939e-03 9.99357309e-01 1.88717561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.89, Y:22.16, Z:18.87 [[ 9.94408039e-01 -9.93575664e-02 -3.57872189e-02 5.30886376e+02] [ 9.93476303e-02 9.95050654e-01 -2.06020703e-03 2.21555958e+01] [ 3.58147927e-02 -1.50668896e-03 9.99357309e-01 1.88720647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.92, Y:22.16, Z:18.87 [[ 9.94222932e-01 -1.01193027e-01 -3.57873319e-02 5.30918491e+02] [ 1.01184348e-01 9.94865564e-01 -2.05824266e-03 2.21564253e+01] [ 3.58118639e-02 -1.57476580e-03 9.99357309e-01 1.88729052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.95, Y:22.16, Z:18.87 [[ 9.93908404e-01 -1.04236947e-01 -3.57874810e-02 5.30950140e+02] [ 1.04230329e-01 9.94551061e-01 -2.05564655e-03 2.21561915e+01] [ 3.58067515e-02 -1.68701653e-03 9.99357309e-01 1.88739187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.98, Y:22.16, Z:18.88 [[ 9.93781767e-01 -1.05437408e-01 -3.57875920e-02 5.30982578e+02] [ 1.05431636e-01 9.94424433e-01 -2.05371292e-03 2.21572751e+01] [ 3.58045940e-02 -1.73220191e-03 9.99357309e-01 1.88754774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.01, Y:22.16, Z:18.88 [[ 9.93652389e-01 -1.06649745e-01 -3.57877405e-02 5.31013999e+02] [ 1.06644850e-01 9.94295061e-01 -2.05112067e-03 2.21584738e+01] [ 3.58023252e-02 -1.77847726e-03 9.99357309e-01 1.88765884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.05, Y:22.16, Z:18.88 [[ 9.93523993e-01 -1.07839258e-01 -3.57878511e-02 5.31045673e+02] [ 1.07835202e-01 9.94166671e-01 -2.04918968e-03 2.21599562e+01] [ 3.58000719e-02 -1.82327103e-03 9.99357309e-01 1.88781606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.08, Y:22.16, Z:18.88 [[ 9.93440973e-01 -1.08601344e-01 -3.57879982e-02 5.31076369e+02] [ 1.08597873e-01 9.94083655e-01 -2.04661765e-03 2.21616614e+01] [ 3.57985295e-02 -1.85330664e-03 9.99357309e-01 1.88789168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.11, Y:22.16, Z:18.88 [[ 9.93311338e-01 -1.09780682e-01 -3.57881077e-02 5.31108440e+02] [ 1.09778042e-01 9.93954023e-01 -2.04470163e-03 2.21641460e+01] [ 3.57962023e-02 -1.89772309e-03 9.99357309e-01 1.88799073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.14, Y:22.17, Z:18.88 [[ 9.93305986e-01 -1.09829042e-01 -3.57882533e-02 5.31139944e+02] [ 1.09826526e-01 9.93948673e-01 -2.04214924e-03 2.21663091e+01] [ 3.57959742e-02 -1.90202046e-03 9.99357309e-01 1.88805973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.17, Y:22.17, Z:18.88 [[ 9.93311592e-01 -1.09778292e-01 -3.57883618e-02 5.31172232e+02] [ 1.09775812e-01 9.93954279e-01 -2.04024518e-03 2.21686025e+01] [ 3.57959700e-02 -1.90209729e-03 9.99357309e-01 1.88822528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.20, Y:22.17, Z:18.88 [[ 9.93355893e-01 -1.09376651e-01 -3.57885079e-02 5.31204461e+02] [ 1.09374003e-01 9.93998579e-01 -2.03767987e-03 2.21710382e+01] [ 3.57966006e-02 -1.89019105e-03 9.99357309e-01 1.88839873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.24, Y:22.17, Z:18.89 [[ 9.93521419e-01 -1.07862700e-01 -3.57886560e-02 5.31235445e+02] [ 1.07859165e-01 9.94164101e-01 -2.03507565e-03 2.21748333e+01] [ 3.57993058e-02 -1.83824332e-03 9.99357309e-01 1.88852723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.27, Y:22.18, Z:18.89 [[ 9.93622541e-01 -1.06927127e-01 -3.57887662e-02 5.31267333e+02] [ 1.06923057e-01 9.94265219e-01 -2.03313580e-03 2.21778501e+01] [ 3.58009228e-02 -1.80647473e-03 9.99357309e-01 1.88873944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.30, Y:22.18, Z:18.89 [[ 9.93741591e-01 -1.05814956e-01 -3.57889127e-02 5.31299601e+02] [ 1.05810260e-01 9.94384265e-01 -2.03055417e-03 2.21806958e+01] [ 3.58027946e-02 -1.76898802e-03 9.99357309e-01 1.88893476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.33, Y:22.18, Z:18.89 [[ 9.93845335e-01 -1.04836033e-01 -3.57890606e-02 5.31331407e+02] [ 1.04830798e-01 9.94488005e-01 -2.02794349e-03 2.21837388e+01] [ 3.58043930e-02 -1.73633359e-03 9.99357309e-01 1.88908848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.36, Y:22.19, Z:18.89 [[ 9.94003094e-01 -1.03329483e-01 -3.57892090e-02 5.31362775e+02] [ 1.03323367e-01 9.94645756e-01 -2.02532072e-03 2.21867108e+01] [ 3.58068602e-02 -1.68468652e-03 9.99357309e-01 1.88922468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.39, Y:22.19, Z:18.89 [[ 9.94307647e-01 -1.00356456e-01 -3.57894542e-02 5.31393304e+02] [ 1.00348574e-01 9.94950290e-01 -2.02097955e-03 2.21909370e+01] [ 3.58115461e-02 -1.58194528e-03 9.99357309e-01 1.88932857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.42, Y:22.19, Z:18.89 [[ 9.94480266e-01 -9.86311678e-02 -3.57895632e-02 5.31424991e+02] [ 9.86222410e-02 9.95122895e-01 -2.01904745e-03 2.21941320e+01] [ 3.58141547e-02 -1.52174408e-03 9.99357309e-01 1.88947980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.46, Y:22.20, Z:18.90 [[ 9.94852261e-01 -9.48054601e-02 -3.57897060e-02 5.31456971e+02] [ 9.47941527e-02 9.95494853e-01 -2.01651221e-03 2.21992688e+01] [ 3.58196445e-02 -1.38652313e-03 9.99357309e-01 1.88965559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.49, Y:22.20, Z:18.90 [[ 9.95054599e-01 -9.26576040e-02 -3.57898484e-02 5.31488845e+02] [ 9.26450004e-02 9.95697167e-01 -2.01398143e-03 2.22028159e+01] [ 3.58224614e-02 -1.31172903e-03 9.99357309e-01 1.88981216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.52, Y:22.21, Z:18.90 [[ 9.95275493e-01 -9.02539120e-02 -3.57899976e-02 5.31519859e+02] [ 9.02398517e-02 9.95918031e-01 -2.01132632e-03 2.22063300e+01] [ 3.58254340e-02 -1.22786028e-03 9.99357309e-01 1.88987963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.55, Y:22.21, Z:18.90 [[ 9.95492940e-01 -8.78229691e-02 -3.57901086e-02 5.31552198e+02] [ 8.78074106e-02 9.96135443e-01 -2.00934906e-03 2.22099253e+01] [ 3.58282627e-02 -1.14234397e-03 9.99357309e-01 1.89001957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.58, Y:22.21, Z:18.90 [[ 9.95879921e-01 -8.33201126e-02 -3.57902516e-02 5.31582849e+02] [ 8.33017403e-02 9.96522349e-01 -2.00679866e-03 2.22145962e+01] [ 3.58329923e-02 -9.82859762e-04 9.99357309e-01 1.89015439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.62, Y:22.22, Z:18.90 [[ 9.96041001e-01 -8.13717776e-02 -3.57904862e-02 5.31615227e+02] [ 8.13522991e-02 9.96683397e-01 -2.00260745e-03 2.22177425e+01] [ 3.58347390e-02 -9.16959207e-04 9.99357309e-01 1.89032639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.65, Y:22.22, Z:18.90 [[ 9.96221647e-01 -7.91293923e-02 -3.57906310e-02 5.31646380e+02] [ 7.91085608e-02 9.96864001e-01 -2.00001609e-03 2.22206126e+01] [ 3.58366516e-02 -8.38885985e-04 9.99357309e-01 1.89044971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.68, Y:22.22, Z:18.91 [[ 9.96387540e-01 -7.70122956e-02 -3.57907386e-02 5.31678511e+02] [ 7.69901684e-02 9.97029850e-01 -1.99808759e-03 2.22233830e+01] [ 3.58383121e-02 -7.64665413e-04 9.99357309e-01 1.89060398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.71, Y:22.23, Z:18.91 [[ 9.96679555e-01 -7.31360192e-02 -3.57908838e-02 5.31709471e+02] [ 7.31114872e-02 9.97321778e-01 -1.99548431e-03 2.22269814e+01] [ 3.58409696e-02 -6.27866322e-04 9.99357309e-01 1.89071712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.74, Y:22.23, Z:18.91 [[ 9.96826974e-01 -7.10984668e-02 -3.57909568e-02 5.31740401e+02] [ 7.10726690e-02 9.97469147e-01 -1.99417441e-03 2.22294179e+01] [ 3.58421578e-02 -5.55911986e-04 9.99357309e-01 1.89075461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.77, Y:22.23, Z:18.91 [[ 9.96951389e-01 -6.93320333e-02 -3.57910292e-02 5.31771587e+02] [ 6.93051444e-02 9.97593517e-01 -1.99287358e-03 2.22318119e+01] [ 3.58430687e-02 -4.93704362e-04 9.99357309e-01 1.89082588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.80, Y:22.23, Z:18.91 [[ 9.97140219e-01 -6.65611044e-02 -3.57911016e-02 5.31801870e+02] [ 6.65324777e-02 9.97782272e-01 -1.99157262e-03 2.22342544e+01] [ 3.58442879e-02 -3.95393508e-04 9.99357309e-01 1.89083468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.83, Y:22.24, Z:18.91 [[ 9.97217754e-01 -6.53892122e-02 -3.57911016e-02 5.31832752e+02] [ 6.53598310e-02 9.97859773e-01 -1.99157262e-03 2.22358873e+01] [ 3.58447279e-02 -3.53268775e-04 9.99357309e-01 1.89092729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.86, Y:22.24, Z:18.91 [[ 9.97266324e-01 -6.46442315e-02 -3.57911016e-02 5.31862308e+02] [ 6.46143707e-02 9.97908321e-01 -1.99157262e-03 2.22371591e+01] [ 3.58449818e-02 -3.26491200e-04 9.99357309e-01 1.89100943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.89, Y:22.24, Z:18.91 [[ 9.97371064e-01 -6.30076366e-02 -3.57910296e-02 5.31893280e+02] [ 6.29766760e-02 9.98013009e-01 -1.99286495e-03 2.22370252e+01] [ 3.58454789e-02 -2.66374241e-04 9.99357309e-01 1.89089160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.92, Y:22.24, Z:18.91 [[ 9.97214922e-01 -6.54297587e-02 -3.57958830e-02 5.31922559e+02] [ 6.54034819e-02 9.97857080e-01 -1.90580251e-03 2.22381523e+01] [ 3.58438715e-02 -4.40680690e-04 9.99357305e-01 1.89123200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.95, Y:22.24, Z:18.91 [[ 9.97147581e-01 -6.64510288e-02 -3.57905333e-02 5.31953239e+02] [ 6.64219760e-02 9.97789615e-01 -2.00147034e-03 2.22389020e+01] [ 3.58444222e-02 -3.81516637e-04 9.99357309e-01 1.89136953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.98, Y:22.24, Z:18.91 [[ 9.97053809e-01 -6.78434925e-02 -3.57905333e-02 5.31983124e+02] [ 6.78153364e-02 9.97695883e-01 -2.00147034e-03 2.22395103e+01] [ 3.58438544e-02 -4.31573430e-04 9.99357309e-01 1.89147878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.01, Y:22.24, Z:18.92 [[ 9.96939895e-01 -6.94973560e-02 -3.57905412e-02 5.32013495e+02] [ 6.94702701e-02 9.97582015e-01 -2.00132773e-03 2.22401255e+01] [ 3.58430872e-02 -4.91175108e-04 9.99357309e-01 1.89155832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.05, Y:22.24, Z:18.91 [[ 9.96735486e-01 -7.23699387e-02 -3.57905412e-02 5.32045133e+02] [ 7.23447033e-02 9.97377681e-01 -2.00132773e-03 2.22386783e+01] [ 3.58415230e-02 -5.94461718e-04 9.99357309e-01 1.89144274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.07, Y:22.24, Z:18.92 [[ 9.96533397e-01 -7.51009335e-02 -3.57915870e-02 5.32074990e+02] [ 7.50781292e-02 9.97175683e-01 -1.98263125e-03 2.22394574e+01] [ 3.58393977e-02 -7.11407135e-04 9.99357309e-01 1.89168238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.11, Y:22.24, Z:18.92 [[ 9.96397326e-01 -7.68856238e-02 -3.57906458e-02 5.32105511e+02] [ 7.68633650e-02 9.97039631e-01 -1.99947809e-03 2.22395812e+01] [ 3.58384234e-02 -7.58714851e-04 9.99357309e-01 1.89176423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.14, Y:22.24, Z:18.92 [[ 9.96286139e-01 -7.83132004e-02 -3.57906810e-02 5.32136784e+02] [ 7.82918846e-02 9.96928476e-01 -1.99884731e-03 2.22397321e+01] [ 3.58372852e-02 -8.10696005e-04 9.99357309e-01 1.89186079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.17, Y:22.24, Z:18.92 [[ 9.96072534e-01 -8.09847509e-02 -3.57907506e-02 5.32168104e+02] [ 8.09652025e-02 9.96714927e-01 -1.99760167e-03 2.22392159e+01] [ 3.58349506e-02 -9.08049208e-04 9.99357309e-01 1.89200315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.20, Y:22.24, Z:18.92 [[ 9.95990179e-01 -8.19913442e-02 -3.57908211e-02 5.32199386e+02] [ 8.19724905e-02 9.96632593e-01 -1.99633650e-03 2.22398142e+01] [ 3.58339812e-02 -9.45531192e-04 9.99357309e-01 1.89210783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.23, Y:22.24, Z:18.92 [[ 9.95936452e-01 -8.26413695e-02 -3.57908924e-02 5.32229309e+02] [ 8.26229809e-02 9.96578879e-01 -1.99505860e-03 2.22402244e+01] [ 3.58333218e-02 -9.70198630e-04 9.99357309e-01 1.89217659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.26, Y:22.24, Z:18.92 [[ 9.95884193e-01 -8.32687442e-02 -3.57909278e-02 5.32259613e+02] [ 8.32507832e-02 9.96526633e-01 -1.99442361e-03 2.22406403e+01] [ 3.58326859e-02 -9.93407820e-04 9.99357309e-01 1.89224154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.29, Y:22.24, Z:18.92 [[ 9.95858162e-01 -8.35794769e-02 -3.57909626e-02 5.32291022e+02] [ 8.35617388e-02 9.96500607e-01 -1.99379871e-03 2.22412229e+01] [ 3.58323566e-02 -1.00521435e-03 9.99357309e-01 1.89233408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.32, Y:22.24, Z:18.92 [[ 9.95785780e-01 -8.44374442e-02 -3.57910318e-02 5.32321775e+02] [ 8.44203042e-02 9.96428242e-01 -1.99255471e-03 2.22406610e+01] [ 3.58314412e-02 -1.03733214e-03 9.99357309e-01 1.89240865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.35, Y:22.24, Z:18.93 [[ 9.95766855e-01 -8.46602930e-02 -3.57911461e-02 5.32352797e+02] [ 8.46433706e-02 9.96409322e-01 -1.99050030e-03 2.22412644e+01] [ 3.58311479e-02 -1.04740902e-03 9.99357309e-01 1.89250993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.38, Y:22.24, Z:18.93 [[ 9.95772283e-01 -8.45963968e-02 -3.57912144e-02 5.32383740e+02] [ 8.45794773e-02 9.96414750e-01 -1.98927110e-03 2.22419019e+01] [ 3.58311791e-02 -1.04634118e-03 9.99357309e-01 1.89261635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.42, Y:22.24, Z:18.93 [[ 9.95841618e-01 -8.37762303e-02 -3.57912825e-02 5.32415353e+02] [ 8.37588256e-02 9.96484073e-01 -1.98804561e-03 2.22419787e+01] [ 3.58319939e-02 -1.01805723e-03 9.99357309e-01 1.89267546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.45, Y:22.24, Z:18.93 [[ 9.95844543e-01 -8.37414139e-02 -3.57913519e-02 5.32447130e+02] [ 8.37240317e-02 9.96486999e-01 -1.98679458e-03 2.22437121e+01] [ 3.58319938e-02 -1.01805775e-03 9.99357309e-01 1.89278958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.48, Y:22.24, Z:18.93 [[ 9.95896156e-01 -8.31253341e-02 -3.57914213e-02 5.32478232e+02] [ 8.31075994e-02 9.96538602e-01 -1.98554405e-03 2.22446444e+01] [ 3.58325819e-02 -9.97143412e-04 9.99357309e-01 1.89293031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.51, Y:22.25, Z:18.93 [[ 9.95952690e-01 -8.24451852e-02 -3.57914915e-02 5.32509468e+02] [ 8.24270572e-02 9.96595125e-01 -1.98427834e-03 2.22456592e+01] [ 3.58332201e-02 -9.73939967e-04 9.99357309e-01 1.89298839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.54, Y:22.25, Z:18.93 [[ 9.95998123e-01 -8.18944690e-02 -3.57915610e-02 5.32541210e+02] [ 8.18760308e-02 9.96640549e-01 -1.98302279e-03 2.22468678e+01] [ 3.58337196e-02 -9.55383981e-04 9.99357309e-01 1.89307606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.57, Y:22.25, Z:18.93 [[ 9.96063112e-01 -8.11001630e-02 -3.57916303e-02 5.32571714e+02] [ 8.10812574e-02 9.96705524e-01 -1.98177226e-03 2.22473482e+01] [ 3.58344377e-02 -9.28060145e-04 9.99357309e-01 1.89311795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.60, Y:22.25, Z:18.93 [[ 9.96058939e-01 -8.11513865e-02 -3.57916646e-02 5.32601866e+02] [ 8.11325363e-02 9.96701353e-01 -1.98115180e-03 2.22484464e+01] [ 3.58343737e-02 -9.30524573e-04 9.99357309e-01 1.89319717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.63, Y:22.25, Z:18.93 [[ 9.96021695e-01 -8.16072244e-02 -3.57916646e-02 5.32632559e+02] [ 8.15886682e-02 9.96664118e-01 -1.98115180e-03 2.22497140e+01] [ 3.58339441e-02 -9.46924075e-04 9.99357309e-01 1.89328054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.66, Y:22.25, Z:18.93 [[ 9.95990461e-01 -8.19875467e-02 -3.57916646e-02 5.32662772e+02] [ 8.19692358e-02 9.96632891e-01 -1.98115180e-03 2.22508327e+01] [ 3.58335799e-02 -9.60607102e-04 9.99357309e-01 1.89337189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.69, Y:22.25, Z:18.94 [[ 9.95826177e-01 -8.39594104e-02 -3.57916646e-02 5.32693057e+02] [ 8.39423715e-02 9.96468641e-01 -1.98115180e-03 2.22515679e+01] [ 3.58316077e-02 -1.03155439e-03 9.99357309e-01 1.89350355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.72, Y:22.25, Z:18.94 [[ 9.95744361e-01 -8.49242141e-02 -3.57916981e-02 5.32723760e+02] [ 8.49078195e-02 9.96386842e-01 -1.98054601e-03 2.22530328e+01] [ 3.58305734e-02 -1.06687752e-03 9.99357309e-01 1.89360125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.76, Y:22.25, Z:18.94 [[ 9.95643671e-01 -8.60966554e-02 -3.57916981e-02 5.32755386e+02] [ 8.60810173e-02 9.96286172e-01 -1.98054601e-03 2.22547144e+01] [ 3.58292923e-02 -1.10906768e-03 9.99357309e-01 1.89367177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.79, Y:22.26, Z:18.94 [[ 9.95445855e-01 -8.83543997e-02 -3.57917642e-02 5.32786701e+02] [ 8.83402617e-02 9.96088390e-01 -1.97935126e-03 2.22567790e+01] [ 3.58266452e-02 -1.19151681e-03 9.99357309e-01 1.89390111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.82, Y:22.26, Z:18.94 [[ 9.95358442e-01 -8.93337407e-02 -3.57918348e-02 5.32817702e+02] [ 8.93202807e-02 9.96000991e-01 -1.97807399e-03 2.22588286e+01] [ 3.58254117e-02 -1.22804409e-03 9.99357309e-01 1.89406639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.85, Y:22.26, Z:18.94 [[ 9.95243659e-01 -9.06035235e-02 -3.57919059e-02 5.32848878e+02] [ 9.05909295e-02 9.95886226e-01 -1.97678674e-03 2.22613273e+01] [ 3.58237699e-02 -1.27503756e-03 9.99357309e-01 1.89425117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.88, Y:22.26, Z:18.94 [[ 9.95163273e-01 -9.14821930e-02 -3.57920121e-02 5.32879838e+02] [ 9.14702355e-02 9.95805853e-01 -1.97486082e-03 2.22633541e+01] [ 3.58225598e-02 -1.30859483e-03 9.99357309e-01 1.89442075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.91, Y:22.27, Z:18.95 [[ 9.94974780e-01 -9.35099592e-02 -3.57921159e-02 5.32910923e+02] [ 9.34993788e-02 9.95617383e-01 -1.97297870e-03 2.22660720e+01] [ 3.58197459e-02 -1.38347655e-03 9.99357309e-01 1.89464541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.94, Y:22.27, Z:18.95 [[ 9.94874842e-01 -9.45672067e-02 -3.57923432e-02 5.32942807e+02] [ 9.45574576e-02 9.95517459e-01 -1.96884558e-03 2.22684634e+01] [ 3.58180908e-02 -1.42567804e-03 9.99357309e-01 1.89482096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.97, Y:22.27, Z:18.95 [[ 9.94765784e-01 -9.57075413e-02 -3.57924815e-02 5.32974433e+02] [ 9.56986192e-02 9.95408413e-01 -1.96632951e-03 2.22712007e+01] [ 3.58163297e-02 -1.46925374e-03 9.99357309e-01 1.89498282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.01, Y:22.27, Z:18.95 [[ 9.94671841e-01 -9.66789366e-02 -3.57926211e-02 5.33005897e+02] [ 9.66707335e-02 9.95314479e-01 -1.96378480e-03 2.22739663e+01] [ 3.58147707e-02 -1.50677749e-03 9.99357309e-01 1.89509498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.04, Y:22.28, Z:18.95 [[ 9.94424388e-01 -9.91917744e-02 -3.57928533e-02 5.33037612e+02] [ 9.91853474e-02 9.95067047e-01 -1.95954263e-03 2.22779046e+01] [ 3.58106594e-02 -1.60150961e-03 9.99357309e-01 1.89523466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.07, Y:22.28, Z:18.95 [[ 9.94277513e-01 -1.00653308e-01 -3.57929904e-02 5.33069918e+02] [ 1.00647915e-01 9.94920181e-01 -1.95703661e-03 2.22805891e+01] [ 3.58081507e-02 -1.65665236e-03 9.99357309e-01 1.89537864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.10, Y:22.28, Z:18.95 [[ 9.93952433e-01 -1.03814319e-01 -3.57931321e-02 5.33101338e+02] [ 1.03811063e-01 9.94595115e-01 -1.95444009e-03 2.22844901e+01] [ 3.58025732e-02 -1.77310261e-03 9.99357309e-01 1.89544030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.13, Y:22.29, Z:18.95 [[ 9.93923056e-01 -1.04095161e-01 -3.57932378e-02 5.33130683e+02] [ 1.04092157e-01 9.94565740e-01 -1.95250268e-03 2.22873465e+01] [ 3.58019741e-02 -1.78515790e-03 9.99357309e-01 1.89549883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.16, Y:22.29, Z:18.96 [[ 9.93670174e-01 -1.06485727e-01 -3.57823177e-02 5.33163863e+02] [ 1.06477079e-01 9.94312827e-01 -2.15266477e-03 2.22903161e+01] [ 3.58080455e-02 -1.67095788e-03 9.99357289e-01 1.89556753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.20, Y:22.29, Z:18.96 [[ 9.93568700e-01 -1.07424670e-01 -3.57935667e-02 5.33195585e+02] [ 1.07424062e-01 9.94211389e-01 -1.94574367e-03 2.22932755e+01] [ 3.57953925e-02 -1.91186030e-03 9.99357311e-01 1.89565573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.23, Y:22.30, Z:18.96 [[ 9.93476862e-01 -1.08270654e-01 -3.57937048e-02 5.33227985e+02] [ 1.08270684e-01 9.94119552e-01 -1.94319995e-03 2.22967392e+01] [ 3.57936133e-02 -1.94488472e-03 9.99357311e-01 1.89575106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.26, Y:22.30, Z:18.96 [[ 9.93382150e-01 -1.09136180e-01 -3.57938424e-02 5.33260683e+02] [ 1.09136862e-01 9.94024838e-01 -1.94066231e-03 2.23023594e+01] [ 3.57917649e-02 -1.97860832e-03 9.99357311e-01 1.89590967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.29, Y:22.31, Z:18.96 [[ 9.93392572e-01 -1.09041205e-01 -3.57940559e-02 5.33293755e+02] [ 1.09041967e-01 9.94035260e-01 -1.93671632e-03 2.23058935e+01] [ 3.57917355e-02 -1.97913464e-03 9.99357311e-01 1.89603646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.33, Y:22.31, Z:18.96 [[ 9.93440843e-01 -1.08600468e-01 -3.57942681e-02 5.33325178e+02] [ 1.08601085e-01 9.94083532e-01 -1.93278638e-03 2.23090978e+01] [ 3.57923940e-02 -1.96718744e-03 9.99357311e-01 1.89607944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.36, Y:22.31, Z:18.96 [[ 9.93501317e-01 -1.08045803e-01 -3.57943730e-02 5.33357321e+02] [ 1.08046132e-01 9.94144006e-01 -1.93084087e-03 2.23123584e+01] [ 3.57933807e-02 -1.94915062e-03 9.99357311e-01 1.89615513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.39, Y:22.32, Z:18.96 [[ 9.93666575e-01 -1.06515211e-01 -3.57945134e-02 5.33389660e+02] [ 1.06514643e-01 9.94309264e-01 -1.92823622e-03 2.23174969e+01] [ 3.57962027e-02 -1.89661593e-03 9.99357311e-01 1.89619165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.42, Y:22.32, Z:18.96 [[ 9.93766309e-01 -1.05580618e-01 -3.57946525e-02 5.33421113e+02] [ 1.05579539e-01 9.94408997e-01 -1.92565061e-03 2.23209797e+01] [ 3.57978358e-02 -1.86553619e-03 9.99357311e-01 1.89626243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.45, Y:22.33, Z:18.96 [[ 9.93955741e-01 -1.03782085e-01 -3.57947559e-02 5.33452196e+02] [ 1.03779912e-01 9.94598426e-01 -1.92372616e-03 2.23262634e+01] [ 3.58010562e-02 -1.80267795e-03 9.99357311e-01 1.89638904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.48, Y:22.33, Z:18.97 [[ 9.94062739e-01 -1.02752082e-01 -3.57949843e-02 5.33483481e+02] [ 1.02749395e-01 9.94705422e-01 -1.91946683e-03 2.23297120e+01] [ 3.58026942e-02 -1.76984254e-03 9.99357311e-01 1.89651401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.52, Y:22.33, Z:18.97 [[ 9.94196692e-01 -1.01447766e-01 -3.57950843e-02 5.33515893e+02] [ 1.01444304e-01 9.94839372e-01 -1.91760031e-03 2.23328955e+01] [ 3.58048954e-02 -1.72473552e-03 9.99357311e-01 1.89666562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.55, Y:22.34, Z:18.97 [[ 9.94335423e-01 -1.00078811e-01 -3.57952164e-02 5.33548071e+02] [ 1.00074552e-01 9.94978098e-01 -1.91513045e-03 2.23360800e+01] [ 3.58071203e-02 -1.67790821e-03 9.99357311e-01 1.89680664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.58, Y:22.34, Z:18.97 [[ 9.94617273e-01 -9.72377200e-02 -3.57953479e-02 5.33579621e+02] [ 9.72317139e-02 9.95259934e-01 -1.91266931e-03 2.23406262e+01] [ 3.58116592e-02 -1.57806910e-03 9.99357311e-01 1.89700699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.61, Y:22.34, Z:18.97 [[ 9.94783983e-01 -9.55170731e-02 -3.57954833e-02 5.33610304e+02] [ 9.55100465e-02 9.95426633e-01 -1.91013261e-03 2.23437229e+01] [ 3.58142277e-02 -1.51865895e-03 9.99357311e-01 1.89709171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.64, Y:22.35, Z:18.97 [[ 9.94973498e-01 -9.35222670e-02 -3.57955841e-02 5.33642843e+02] [ 9.35140197e-02 9.95616134e-01 -1.90824195e-03 2.23467109e+01] [ 3.58171242e-02 -1.44873879e-03 9.99357311e-01 1.89729714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.67, Y:22.35, Z:18.97 [[ 9.95372489e-01 -8.91755019e-02 -3.57957930e-02 5.33673489e+02] [ 8.91645888e-02 9.96015085e-01 -1.90431565e-03 2.23506585e+01] [ 3.58229681e-02 -1.29621375e-03 9.99357311e-01 1.89733431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.71, Y:22.35, Z:18.97 [[ 9.95566693e-01 -8.69804842e-02 -3.57960247e-02 5.33705248e+02] [ 8.69683110e-02 9.96209267e-01 -1.89994871e-03 2.23532282e+01] [ 3.58255900e-02 -1.22159416e-03 9.99357311e-01 1.89742248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.74, Y:22.36, Z:18.97 [[ 9.95767488e-01 -8.46507252e-02 -3.57961630e-02 5.33736350e+02] [ 8.46371421e-02 9.96410033e-01 -1.89734114e-03 2.23557076e+01] [ 3.58282672e-02 -1.14037431e-03 9.99357311e-01 1.89742935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.77, Y:22.36, Z:18.97 [[ 9.96144062e-01 -8.00976553e-02 -3.57962657e-02 5.33767085e+02] [ 8.00812046e-02 9.96786541e-01 -1.89539985e-03 2.23583778e+01] [ 3.58330530e-02 -9.78516773e-04 9.99357311e-01 1.89740584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.80, Y:22.36, Z:18.98 [[ 9.96328263e-01 -7.77727686e-02 -3.57964965e-02 5.33799378e+02] [ 7.77549755e-02 9.96970706e-01 -1.89103119e-03 2.23605678e+01] [ 3.58351291e-02 -8.99267894e-04 9.99357311e-01 1.89751257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.83, Y:22.36, Z:18.98 [[ 9.96541403e-01 -7.49922185e-02 -3.57966289e-02 5.33831829e+02] [ 7.49727228e-02 9.97183797e-01 -1.88852130e-03 2.23625063e+01] [ 3.58374428e-02 -8.01781074e-04 9.99357311e-01 1.89766985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.86, Y:22.36, Z:18.98 [[ 9.96748811e-01 -7.21830924e-02 -3.57967668e-02 5.33862731e+02] [ 7.21618802e-02 9.97391150e-01 -1.88590417e-03 2.23642603e+01] [ 3.58395088e-02 -7.03389254e-04 9.99357311e-01 1.89766686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.89, Y:22.37, Z:18.98 [[ 9.96940316e-01 -6.94880582e-02 -3.57968694e-02 5.33893889e+02] [ 6.94651794e-02 9.97582598e-01 -1.88395478e-03 2.23659522e+01] [ 3.58412464e-02 -6.08445478e-04 9.99357311e-01 1.89789507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.92, Y:22.37, Z:18.98 [[ 9.97293048e-01 -6.42273731e-02 -3.57969376e-02 5.33924071e+02] [ 6.42011526e-02 9.97935202e-01 -1.88265845e-03 2.23674847e+01] [ 3.58439424e-02 -4.20642467e-04 9.99357311e-01 1.89797289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.95, Y:22.37, Z:18.98 [[ 9.97413318e-01 -6.23317756e-02 -3.57969714e-02 5.33954136e+02] [ 6.23043577e-02 9.98055422e-01 -1.88201578e-03 2.23682355e+01] [ 3.58446708e-02 -3.53159703e-04 9.99357311e-01 1.89805453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.98, Y:22.37, Z:18.98 [[ 9.97486204e-01 -6.11543025e-02 -3.57969714e-02 5.33983843e+02] [ 6.11261266e-02 9.98128276e-01 -1.88201578e-03 2.23684658e+01] [ 3.58450627e-02 -3.10845426e-04 9.99357311e-01 1.89813737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.01, Y:22.37, Z:18.98 [[ 9.97546705e-01 -6.01593965e-02 -3.57969050e-02 5.34013218e+02] [ 6.01305350e-02 9.98188746e-01 -1.88327820e-03 2.23665755e+01] [ 3.58453646e-02 -2.73829081e-04 9.99357311e-01 1.89823908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.04, Y:22.37, Z:18.98 [[ 9.97536453e-01 -6.03291990e-02 -3.57968389e-02 5.34042766e+02] [ 6.03004017e-02 9.98178496e-01 -1.88453386e-03 2.23661958e+01] [ 3.58453272e-02 -2.78672543e-04 9.99357311e-01 1.89835578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.07, Y:22.37, Z:18.98 [[ 9.97505510e-01 -6.08387133e-02 -3.57967722e-02 5.34072701e+02] [ 6.08101985e-02 9.98147566e-01 -1.88579863e-03 2.23658858e+01] [ 3.58451906e-02 -2.95714305e-04 9.99357311e-01 1.89848374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.10, Y:22.37, Z:18.99 [[ 9.97457115e-01 -6.16270978e-02 -3.57967048e-02 5.34101777e+02] [ 6.15990446e-02 9.98099192e-01 -1.88707760e-03 2.23655277e+01] [ 3.58449573e-02 -3.22763838e-04 9.99357311e-01 1.89850628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.13, Y:22.36, Z:18.99 [[ 9.97323676e-01 -6.37501726e-02 -3.57966713e-02 5.34131750e+02] [ 6.37234634e-02 9.97965809e-01 -1.88771228e-03 2.23630013e+01] [ 3.58441961e-02 -3.98427728e-04 9.99357311e-01 1.89874002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.16, Y:22.36, Z:18.99 [[ 9.97237472e-01 -6.50847757e-02 -3.57966036e-02 5.34161506e+02] [ 6.50588798e-02 9.97879639e-01 -1.88899609e-03 2.23622036e+01] [ 3.58436468e-02 -4.45109245e-04 9.99357311e-01 1.89887670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.19, Y:22.36, Z:18.99 [[ 9.97159603e-01 -6.62671283e-02 -3.57965700e-02 5.34192487e+02] [ 6.62419710e-02 9.97801799e-01 -1.88963276e-03 2.23610869e+01] [ 3.58431025e-02 -4.86969901e-04 9.99357311e-01 1.89902265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.22, Y:22.36, Z:18.99 [[ 9.97000009e-01 -6.86264358e-02 -3.57965700e-02 5.34221026e+02] [ 6.86027982e-02 9.97642263e-01 -1.88963276e-03 2.23575473e+01] [ 3.58418499e-02 -5.71780989e-04 9.99357311e-01 1.89915797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.25, Y:22.36, Z:18.99 [[ 9.96938958e-01 -6.95081257e-02 -3.57957410e-02 5.34250568e+02] [ 6.94844943e-02 9.97581212e-01 -1.90527989e-03 2.23567882e+01] [ 3.58415911e-02 -5.87801209e-04 9.99357311e-01 1.89935583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.28, Y:22.36, Z:18.99 [[ 9.96880446e-01 -7.03421319e-02 -3.57960886e-02 5.34280240e+02] [ 7.03192732e-02 9.97522729e-01 -1.89872620e-03 2.23561127e+01] [ 3.58409724e-02 -6.24351911e-04 9.99357311e-01 1.89940586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.31, Y:22.35, Z:18.99 [[ 9.96808186e-01 -7.13588415e-02 -3.57960214e-02 5.34310139e+02] [ 7.13365923e-02 9.97450490e-01 -1.89999265e-03 2.23533173e+01] [ 3.58403403e-02 -6.59637955e-04 9.99357311e-01 1.89944176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.34, Y:22.35, Z:19.00 [[ 9.96780202e-01 -7.17486962e-02 -3.57959880e-02 5.34339767e+02] [ 7.17266757e-02 9.97422514e-01 -1.90062110e-03 2.23528440e+01] [ 3.58400914e-02 -6.73025739e-04 9.99357311e-01 1.89951637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.37, Y:22.35, Z:19.00 [[ 9.96776430e-01 -7.18011184e-02 -3.57959226e-02 5.34369243e+02] [ 7.17790875e-02 9.97418741e-01 -1.90185150e-03 2.23522308e+01] [ 3.58400791e-02 -6.73677913e-04 9.99357311e-01 1.89957544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.40, Y:22.35, Z:19.00 [[ 9.96773977e-01 -7.18351925e-02 -3.57958576e-02 5.34399333e+02] [ 7.18131397e-02 9.97416288e-01 -1.90307388e-03 2.23538616e+01] [ 3.58400791e-02 -6.73678405e-04 9.99357311e-01 1.89968356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.43, Y:22.35, Z:19.00 [[ 9.96764980e-01 -7.19599620e-02 -3.57957926e-02 5.34429413e+02] [ 7.19379457e-02 9.97407292e-01 -1.90429675e-03 2.23535922e+01] [ 3.58400177e-02 -6.76939474e-04 9.99357311e-01 1.89978774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.46, Y:22.35, Z:19.00 [[ 9.96775742e-01 -7.18107684e-02 -3.57957276e-02 5.34458683e+02] [ 7.17886122e-02 9.97418049e-01 -1.90551643e-03 2.23532129e+01] [ 3.58401414e-02 -6.70353054e-04 9.99357311e-01 1.89995963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.49, Y:22.35, Z:19.00 [[ 9.96832887e-01 -7.10131473e-02 -3.57956605e-02 5.34488025e+02] [ 7.09904318e-02 9.97475174e-01 -1.90677711e-03 2.23520396e+01] [ 3.58406889e-02 -6.40411265e-04 9.99357311e-01 1.90016638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.52, Y:22.35, Z:19.00 [[ 9.96885746e-01 -7.02672432e-02 -3.57955905e-02 5.34516394e+02] [ 7.02440000e-02 9.97528014e-01 -1.90809077e-03 2.23524595e+01] [ 3.58411806e-02 -6.12276965e-04 9.99357311e-01 1.90016695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.55, Y:22.35, Z:19.00 [[ 9.96958913e-01 -6.92214439e-02 -3.57954862e-02 5.34546272e+02] [ 6.91974568e-02 9.97601155e-01 -1.91004501e-03 2.23529493e+01] [ 3.58418344e-02 -5.72720216e-04 9.99357311e-01 1.90037699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.58, Y:22.35, Z:19.00 [[ 9.97148465e-01 -6.64351258e-02 -3.57954179e-02 5.34575027e+02] [ 6.64092981e-02 9.97790635e-01 -1.91132460e-03 2.23521731e+01] [ 3.58433118e-02 -4.71274183e-04 9.99357311e-01 1.90049162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.60, Y:22.35, Z:19.01 [[ 9.97246911e-01 -6.49406939e-02 -3.57953161e-02 5.34603627e+02] [ 6.49138356e-02 9.97889039e-01 -1.91322777e-03 2.23522911e+01] [ 3.58440000e-02 -4.15650785e-04 9.99357311e-01 1.90061711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.63, Y:22.35, Z:19.01 [[ 9.97336474e-01 -6.35506636e-02 -3.57948338e-02 5.34632189e+02] [ 6.35225880e-02 9.97978550e-01 -1.92221019e-03 2.23527127e+01] [ 3.58446340e-02 -3.56690142e-04 9.99357311e-01 1.90074867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.66, Y:22.35, Z:19.01 [[ 9.97552586e-01 -6.00633192e-02 -3.57943433e-02 5.34660878e+02] [ 6.00326727e-02 9.98194544e-01 -1.93130033e-03 2.23518448e+01] [ 3.58457185e-02 -2.22256453e-04 9.99357311e-01 1.90082364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.69, Y:22.35, Z:19.01 [[ 9.97637184e-01 -5.86416941e-02 -3.57938544e-02 5.34688567e+02] [ 5.86098092e-02 9.98279082e-01 -1.94031954e-03 2.23521598e+01] [ 3.58460397e-02 -1.62136052e-04 9.99357311e-01 1.90093817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.72, Y:22.35, Z:19.01 [[ 9.97726425e-01 -5.71035961e-02 -3.57932861e-02 5.34715378e+02] [ 5.70703475e-02 9.98368254e-01 -1.95074739e-03 2.23525073e+01] [ 3.58462752e-02 -9.64230542e-05 9.99357311e-01 1.90102155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.74, Y:22.35, Z:19.01 [[ 9.97795852e-01 -5.58775095e-02 -3.57930395e-02 5.34743547e+02] [ 5.58433104e-02 9.98437630e-01 -1.95526145e-03 2.23530045e+01] [ 3.58463727e-02 -4.78500515e-05 9.99357311e-01 1.90112898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.77, Y:22.35, Z:19.01 [[ 9.97849538e-01 -5.49108200e-02 -3.57924668e-02 5.34770391e+02] [ 5.48756250e-02 9.98491263e-01 -1.96568906e-03 2.23532950e+01] [ 3.58464030e-02 -2.67207017e-06 9.99357311e-01 1.90120722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.80, Y:22.35, Z:19.01 [[ 9.97940333e-01 -5.32355116e-02 -3.57920756e-02 5.34798214e+02] [ 5.31989848e-02 9.98581983e-01 -1.97278689e-03 2.23516227e+01] [ 3.58463441e-02 6.46215172e-05 9.99357311e-01 1.90131707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.82, Y:22.35, Z:19.01 [[ 9.97962101e-01 -5.28262450e-02 -3.57915080e-02 5.34824896e+02] [ 5.27890876e-02 9.98603715e-01 -1.98303167e-03 2.23517754e+01] [ 3.58462890e-02 8.95894058e-05 9.99357311e-01 1.90139654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.85, Y:22.35, Z:19.02 [[ 9.97965445e-01 -5.27632106e-02 -3.57912616e-02 5.34853092e+02] [ 5.27258536e-02 9.98607047e-01 -1.98746806e-03 2.23509082e+01] [ 3.58462713e-02 9.62996227e-05 9.99357311e-01 1.90153105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.88, Y:22.35, Z:19.02 [[ 9.97929372e-01 -5.34414985e-02 -3.57906970e-02 5.34881046e+02] [ 5.34042148e-02 9.98570979e-01 -1.99758570e-03 2.23511799e+01] [ 3.58463053e-02 8.20753814e-05 9.99357311e-01 1.90164853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.91, Y:22.35, Z:19.02 [[ 9.97903041e-01 -5.39313364e-02 -3.57901200e-02 5.34907660e+02] [ 5.38939987e-02 9.98544644e-01 -2.00786966e-03 2.23511877e+01] [ 3.58463197e-02 7.47865552e-05 9.99357311e-01 1.90176130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.94, Y:22.35, Z:19.02 [[ 9.97837633e-01 -5.51284308e-02 -3.57898695e-02 5.34935992e+02] [ 5.50917030e-02 9.98479271e-01 -2.01232580e-03 2.23511468e+01] [ 3.58463791e-02 3.62495576e-05 9.99357311e-01 1.90188883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.96, Y:22.35, Z:19.02 [[ 9.97654871e-01 -5.83428226e-02 -3.57892932e-02 5.34964276e+02] [ 5.83077963e-02 9.98296604e-01 -2.02252307e-03 2.23491516e+01] [ 3.58463296e-02 -6.90148279e-05 9.99357311e-01 1.90198967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.99, Y:22.35, Z:19.02 [[ 9.97483446e-01 -6.12041154e-02 -3.57887166e-02 5.34992241e+02] [ 6.11705657e-02 9.98125258e-01 -2.03267507e-03 2.23489708e+01] [ 3.58460301e-02 -1.61656305e-04 9.99357311e-01 1.90205895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.02, Y:22.35, Z:19.02 [[ 9.97295204e-01 -6.41987974e-02 -3.57881268e-02 5.35019189e+02] [ 6.41668042e-02 9.97937096e-01 -2.04300614e-03 2.23482530e+01] [ 3.58454579e-02 -2.58929499e-04 9.99357312e-01 1.90213865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.05, Y:22.35, Z:19.02 [[ 9.97033863e-01 -6.81374826e-02 -3.57877033e-02 5.35047161e+02] [ 6.81077597e-02 9.97675864e-01 -2.05039862e-03 2.23477231e+01] [ 3.58442368e-02 -3.93103444e-04 9.99357312e-01 1.90220143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.07, Y:22.34, Z:19.02 [[ 9.96431516e-01 -7.64429106e-02 -3.57870892e-02 5.35074356e+02] [ 7.64181554e-02 9.97073727e-01 -2.06106184e-03 2.23448565e+01] [ 3.58399200e-02 -6.81076364e-04 9.99357312e-01 1.90228078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.10, Y:22.34, Z:19.02 [[ 9.96082175e-01 -8.08678878e-02 -3.57866653e-02 5.35101714e+02] [ 8.08457219e-02 9.96724481e-01 -2.06839641e-03 2.23442900e+01] [ 3.58367122e-02 -8.32905995e-04 9.99357312e-01 1.90238624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.13, Y:22.34, Z:19.02 [[ 9.95720557e-01 -8.52050959e-02 -3.57863790e-02 5.35130158e+02] [ 8.51855500e-02 9.96362948e-01 -2.07333765e-03 2.23436908e+01] [ 3.58328810e-02 -9.84017457e-04 9.99357312e-01 1.90248075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.16, Y:22.34, Z:19.03 [[ 9.95106190e-01 -9.21034294e-02 -3.57858676e-02 5.35158550e+02] [ 9.20880200e-02 9.95748694e-01 -2.08212735e-03 2.23415922e+01] [ 3.58255020e-02 -1.22351187e-03 9.99357312e-01 1.90258691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.19, Y:22.34, Z:19.03 [[ 9.94658389e-01 -9.68197897e-02 -3.57857281e-02 5.35187909e+02] [ 9.68073404e-02 9.95300956e-01 -2.08452166e-03 2.23403447e+01] [ 3.58193924e-02 -1.39093421e-03 9.99357312e-01 1.90266833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.22, Y:22.34, Z:19.03 [[ 9.94575958e-01 -9.76631077e-02 -3.57852230e-02 5.35217894e+02] [ 9.76508930e-02 9.95218530e-01 -2.09315700e-03 2.23411604e+01] [ 3.58185412e-02 -1.41265535e-03 9.99357312e-01 1.90271464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.25, Y:22.34, Z:19.03 [[ 9.94531361e-01 -9.81162368e-02 -3.57851467e-02 5.35247505e+02] [ 9.81042680e-02 9.95173937e-01 -2.09446058e-03 2.23424236e+01] [ 3.58179459e-02 -1.42766889e-03 9.99357312e-01 1.90279195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.28, Y:22.34, Z:19.03 [[ 9.94553752e-01 -9.78890257e-02 -3.57851088e-02 5.35277322e+02] [ 9.78768868e-02 9.95196325e-01 -2.09510787e-03 2.23441126e+01] [ 3.58182969e-02 -1.41883766e-03 9.99357312e-01 1.90287752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.31, Y:22.35, Z:19.03 [[ 9.94598624e-01 -9.74320686e-02 -3.57850330e-02 5.35306326e+02] [ 9.74195880e-02 9.95241191e-01 -2.09640244e-03 2.23460128e+01] [ 3.58189957e-02 -1.40108418e-03 9.99357312e-01 1.90300778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.34, Y:22.35, Z:19.03 [[ 9.94668538e-01 -9.67157367e-02 -3.57849953e-02 5.35336703e+02] [ 9.67027702e-02 9.95311095e-01 -2.09704474e-03 2.23482070e+01] [ 3.58200201e-02 -1.37464375e-03 9.99357312e-01 1.90312399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.37, Y:22.35, Z:19.03 [[ 9.94760173e-01 -9.57686428e-02 -3.57849953e-02 5.35366501e+02] [ 9.57550645e-02 9.95402718e-01 -2.09704474e-03 2.23511630e+01] [ 3.58213127e-02 -1.34053795e-03 9.99357312e-01 1.90319013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.40, Y:22.35, Z:19.03 [[ 9.94786209e-01 -9.54978120e-02 -3.57850028e-02 5.35395703e+02] [ 9.54840634e-02 9.95428750e-01 -2.09691804e-03 2.23534182e+01] [ 3.58216717e-02 -1.33091233e-03 9.99357312e-01 1.90327347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.43, Y:22.36, Z:19.03 [[ 9.94781641e-01 -9.55453985e-02 -3.57849646e-02 5.35425075e+02] [ 9.55316573e-02 9.95424182e-01 -2.09756892e-03 2.23557611e+01] [ 3.58216322e-02 -1.33197393e-03 9.99357312e-01 1.90332780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.46, Y:22.36, Z:19.03 [[ 9.94746364e-01 -9.59120070e-02 -3.57848890e-02 5.35455075e+02] [ 9.58984562e-02 9.95388909e-01 -2.09885760e-03 2.23582938e+01] [ 3.58211873e-02 -1.34388465e-03 9.99357312e-01 1.90341897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.48, Y:22.36, Z:19.04 [[ 9.94540869e-01 -9.80199272e-02 -3.57848133e-02 5.35484895e+02] [ 9.80076919e-02 9.95183441e-01 -2.10014860e-03 2.23623141e+01] [ 3.58183100e-02 -1.41850333e-03 9.99357312e-01 1.90350432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.51, Y:22.37, Z:19.04 [[ 9.94400097e-01 -9.94379213e-02 -3.57847380e-02 5.35514140e+02] [ 9.94265561e-02 9.95042684e-01 -2.10143065e-03 2.23653056e+01] [ 3.58163036e-02 -1.46829042e-03 9.99357312e-01 1.90359083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.54, Y:22.37, Z:19.04 [[ 9.94224332e-01 -1.01180199e-01 -3.57847006e-02 5.35543122e+02] [ 1.01169937e-01 9.94866938e-01 -2.10206710e-03 2.23681795e+01] [ 3.58137031e-02 -1.53040963e-03 9.99357312e-01 1.90367252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.57, Y:22.37, Z:19.04 [[ 9.94017675e-01 -1.03190695e-01 -3.57846636e-02 5.35573912e+02] [ 1.03181709e-01 9.94660301e-01 -2.10269587e-03 2.23708272e+01] [ 3.58105629e-02 -1.60220590e-03 9.99357312e-01 1.90378000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.60, Y:22.37, Z:19.04 [[ 9.93589800e-01 -1.07232276e-01 -3.57847390e-02 5.35603833e+02] [ 1.07225951e-01 9.94232457e-01 -2.10141241e-03 2.23744655e+01] [ 3.58036882e-02 -1.74911074e-03 9.99357312e-01 1.90379478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.63, Y:22.38, Z:19.04 [[ 9.93406462e-01 -1.08917604e-01 -3.57848648e-02 5.35634575e+02] [ 1.08912446e-01 9.94049130e-01 -2.09926892e-03 2.23775412e+01] [ 3.58005610e-02 -1.81198983e-03 9.99357312e-01 1.90387359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.66, Y:22.38, Z:19.04 [[ 9.93254000e-01 -1.10299301e-01 -3.57848648e-02 5.35664312e+02] [ 1.10295037e-01 9.93896674e-01 -2.09926892e-03 2.23806801e+01] [ 3.57980059e-02 -1.86178572e-03 9.99357312e-01 1.90399309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.70, Y:22.38, Z:19.04 [[ 9.93158220e-01 -1.11158424e-01 -3.57848285e-02 5.35695232e+02] [ 1.11154694e-01 9.93800898e-01 -2.09988692e-03 2.23843530e+01] [ 3.57964148e-02 -1.89213170e-03 9.99357312e-01 1.90421060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.73, Y:22.39, Z:19.04 [[ 9.93091744e-01 -1.11750739e-01 -3.57849042e-02 5.35726486e+02] [ 1.11747438e-01 9.93734424e-01 -2.09859637e-03 2.23907016e+01] [ 3.57952108e-02 -1.91477264e-03 9.99357312e-01 1.90443059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.76, Y:22.39, Z:19.05 [[ 9.93117062e-01 -1.11525484e-01 -3.57850174e-02 5.35757138e+02] [ 1.11522106e-01 9.93759741e-01 -2.09666451e-03 2.23947721e+01] [ 3.57955411e-02 -1.90858721e-03 9.99357312e-01 1.90458220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.79, Y:22.40, Z:19.05 [[ 9.93210367e-01 -1.10691422e-01 -3.57851272e-02 5.35788935e+02] [ 1.10687572e-01 9.93853044e-01 -2.09478779e-03 2.23990241e+01] [ 3.57970327e-02 -1.88040391e-03 9.99357312e-01 1.90477266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.82, Y:22.40, Z:19.05 [[ 9.93320022e-01 -1.09702995e-01 -3.57852788e-02 5.35820351e+02] [ 1.09698599e-01 9.93962696e-01 -2.09219572e-03 2.24033820e+01] [ 3.57987523e-02 -1.84737504e-03 9.99357312e-01 1.90486004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.85, Y:22.41, Z:19.05 [[ 9.93707350e-01 -1.06137212e-01 -3.57853916e-02 5.35852570e+02] [ 1.06130578e-01 9.94350004e-01 -2.09026405e-03 2.24106841e+01] [ 3.58050591e-02 -1.72081356e-03 9.99357312e-01 1.90501900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.88, Y:22.42, Z:19.05 [[ 9.93970291e-01 -1.03645819e-01 -3.57855449e-02 5.35884249e+02] [ 1.03637669e-01 9.94612927e-01 -2.08763675e-03 2.24155792e+01] [ 3.58091404e-02 -1.63368155e-03 9.99357312e-01 1.90512998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.92, Y:22.42, Z:19.05 [[ 9.94260238e-01 -1.00826399e-01 -3.57856987e-02 5.35915230e+02] [ 1.00816521e-01 9.94902850e-01 -2.08499690e-03 2.24206708e+01] [ 3.58135163e-02 -1.53476014e-03 9.99357312e-01 1.90524826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.95, Y:22.43, Z:19.05 [[ 9.94576266e-01 -9.76596958e-02 -3.57859546e-02 5.35947109e+02] [ 9.76479301e-02 9.95218847e-01 -2.08059557e-03 2.24258879e+01] [ 3.58180468e-02 -1.42511342e-03 9.99357312e-01 1.90536992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.98, Y:22.43, Z:19.05 [[ 9.94909342e-01 -9.42059240e-02 -3.57861061e-02 5.35978212e+02] [ 9.41920211e-02 9.95551880e-01 -2.07798510e-03 2.24308062e+01] [ 3.58226837e-02 -1.30335888e-03 9.99357312e-01 1.90541839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.01, Y:22.44, Z:19.05 [[ 9.95368087e-01 -8.92284590e-02 -3.57862188e-02 5.36007826e+02] [ 8.92114122e-02 9.96010549e-01 -2.07604272e-03 2.24406000e+01] [ 3.58286936e-02 -1.12611245e-03 9.99357312e-01 1.90548941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.04, Y:22.44, Z:19.06 [[ 9.95798184e-01 -8.42974478e-02 -3.57759352e-02 5.36039683e+02] [ 8.42708633e-02 9.96440337e-01 -2.25304170e-03 2.24431381e+01] [ 3.58385106e-02 -7.71294117e-04 9.99357297e-01 1.90573158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.07, Y:22.45, Z:19.06 [[ 9.96014448e-01 -8.16978665e-02 -3.57865594e-02 5.36070731e+02] [ 8.16762027e-02 9.96656769e-01 -2.06931908e-03 2.24475860e+01] [ 3.58359756e-02 -8.61838579e-04 9.99357314e-01 1.90578509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.10, Y:22.45, Z:19.06 [[ 9.96354984e-01 -7.74342426e-02 -3.57866350e-02 5.36101375e+02] [ 7.74098768e-02 9.96997209e-01 -2.06801046e-03 2.24542592e+01] [ 3.58393101e-02 -7.09766482e-04 9.99357314e-01 1.90573940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.13, Y:22.46, Z:19.06 [[ 9.96485925e-01 -7.57305237e-02 -3.57867103e-02 5.36131446e+02] [ 7.57051066e-02 9.97128109e-01 -2.06670742e-03 2.24583620e+01] [ 3.58404476e-02 -6.49791859e-04 9.99357314e-01 1.90579425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.16, Y:22.46, Z:19.06 [[ 9.96662898e-01 -7.33646810e-02 -3.57867475e-02 5.36162475e+02] [ 7.33377627e-02 9.97305021e-01 -2.06606228e-03 2.24637796e+01] [ 3.58418790e-02 -5.65352372e-04 9.99357314e-01 1.90596500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.19, Y:22.47, Z:19.06 [[ 9.96717468e-01 -7.26195018e-02 -3.57868225e-02 5.36194058e+02] [ 7.25921499e-02 9.97359572e-01 -2.06476342e-03 2.24670714e+01] [ 3.58422720e-02 -5.39856619e-04 9.99357314e-01 1.90610620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.22, Y:22.47, Z:19.06 [[ 9.96764849e-01 -7.19661948e-02 -3.57868973e-02 5.36224505e+02] [ 7.19384687e-02 9.97406937e-01 -2.06346579e-03 2.24699604e+01] [ 3.58425994e-02 -5.17664426e-04 9.99357314e-01 1.90620534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.26, Y:22.47, Z:19.06 [[ 9.96788417e-01 -7.16390189e-02 -3.57868973e-02 5.36255034e+02] [ 7.16110821e-02 9.97430496e-01 -2.06346579e-03 2.24743010e+01] [ 3.58427674e-02 -5.05899642e-04 9.99357314e-01 1.90629114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.29, Y:22.48, Z:19.06 [[ 9.96788418e-01 -7.16389412e-02 -3.57870221e-02 5.36285962e+02] [ 7.16110821e-02 9.97430501e-01 -2.06129892e-03 2.24760814e+01] [ 3.58427366e-02 -5.08068483e-04 9.99357314e-01 1.90640220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.32, Y:22.48, Z:19.07 [[ 9.96775150e-01 -7.18233204e-02 -3.57870221e-02 5.36315917e+02] [ 7.17955800e-02 9.97417238e-01 -2.06129892e-03 2.24794200e+01] [ 3.58426421e-02 -5.14698465e-04 9.99357314e-01 1.90653492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.35, Y:22.48, Z:19.07 [[ 9.96754929e-01 -7.21033999e-02 -3.57870221e-02 5.36347576e+02] [ 7.20758400e-02 9.97397024e-01 -2.06129892e-03 2.24825213e+01] [ 3.58424960e-02 -5.24769814e-04 9.99357314e-01 1.90665015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.38, Y:22.49, Z:19.07 [[ 9.96739030e-01 -7.23228120e-02 -3.57870971e-02 5.36379185e+02] [ 7.22954403e-02 9.97381134e-01 -2.05999518e-03 2.24852105e+01] [ 3.58423602e-02 -5.33966341e-04 9.99357314e-01 1.90673520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.41, Y:22.49, Z:19.07 [[ 9.96645429e-01 -7.36014017e-02 -3.57871719e-02 5.36409090e+02] [ 7.35749003e-02 9.97287569e-01 -2.05869630e-03 2.24882637e+01] [ 3.58416246e-02 -5.81247340e-04 9.99357314e-01 1.90675636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.44, Y:22.49, Z:19.07 [[ 9.96582979e-01 -7.44422031e-02 -3.57872089e-02 5.36440034e+02] [ 7.44162665e-02 9.97225142e-01 -2.05805231e-03 2.24904581e+01] [ 3.58411104e-02 -6.12130569e-04 9.99357314e-01 1.90686159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.47, Y:22.49, Z:19.07 [[ 9.96494985e-01 -7.56109416e-02 -3.57872824e-02 5.36469869e+02] [ 7.55858041e-02 9.97137180e-01 -2.05677347e-03 2.24924347e+01] [ 3.58403444e-02 -6.55446072e-04 9.99357314e-01 1.90691759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.50, Y:22.50, Z:19.07 [[ 9.96276588e-01 -7.84361402e-02 -3.57873189e-02 5.36501256e+02] [ 7.84128465e-02 9.96918852e-01 -2.05613880e-03 2.24951844e+01] [ 3.58383284e-02 -7.57702593e-04 9.99357314e-01 1.90706014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.53, Y:22.50, Z:19.07 [[ 9.96163931e-01 -7.98541519e-02 -3.57873925e-02 5.36533594e+02] [ 7.98318185e-02 9.96806229e-01 -2.05485578e-03 2.24978942e+01] [ 3.58371846e-02 -8.09999416e-04 9.99357314e-01 1.90727069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.57, Y:22.50, Z:19.07 [[ 9.96052656e-01 -8.12302794e-02 -3.57875419e-02 5.36565962e+02] [ 8.12089269e-02 9.96694988e-01 -2.05225024e-03 2.25005678e+01] [ 3.58359685e-02 -8.62118579e-04 9.99357314e-01 1.90742136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.60, Y:22.50, Z:19.08 [[ 9.95826723e-01 -8.39546275e-02 -3.57876906e-02 5.36596605e+02] [ 8.39351254e-02 9.96469113e-01 -2.04965440e-03 2.25030873e+01] [ 3.58334063e-02 -9.62743678e-04 9.99357314e-01 1.90756881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.63, Y:22.50, Z:19.08 [[ 9.95709211e-01 -8.53369795e-02 -3.57878014e-02 5.36628310e+02] [ 8.53184387e-02 9.96351630e-01 -2.04771891e-03 2.25047228e+01] [ 3.58319804e-02 -1.01442675e-03 9.99357314e-01 1.90770227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.66, Y:22.51, Z:19.08 [[ 9.95614112e-01 -8.64393627e-02 -3.57879481e-02 5.36660319e+02] [ 8.64216254e-02 9.96256553e-01 -2.04515149e-03 2.25063803e+01] [ 3.58307594e-02 -1.05667096e-03 9.99357314e-01 1.90782358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.69, Y:22.51, Z:19.08 [[ 9.95533725e-01 -8.73602550e-02 -3.57880944e-02 5.36691344e+02] [ 8.73432040e-02 9.96176186e-01 -2.04258757e-03 2.25082303e+01] [ 3.58296884e-02 -1.09238202e-03 9.99357314e-01 1.90791788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.72, Y:22.51, Z:19.08 [[ 9.95418394e-01 -8.86646767e-02 -3.57882034e-02 5.36723117e+02] [ 8.86485362e-02 9.96060878e-01 -2.04067654e-03 2.25102239e+01] [ 3.58281652e-02 -1.14124488e-03 9.99357314e-01 1.90805835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.75, Y:22.51, Z:19.08 [[ 9.95392097e-01 -8.89593560e-02 -3.57883475e-02 5.36754900e+02] [ 8.89434966e-02 9.96034588e-01 -2.03814587e-03 2.25122478e+01] [ 3.58277441e-02 -1.15438647e-03 9.99357314e-01 1.90821742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.79, Y:22.51, Z:19.08 [[ 9.95377260e-01 -8.91251611e-02 -3.57884963e-02 5.36786407e+02] [ 8.91095027e-02 9.96019755e-01 -2.03553047e-03 2.25142390e+01] [ 3.58274663e-02 -1.16297436e-03 9.99357314e-01 1.90831096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.82, Y:22.52, Z:19.09 [[ 9.95314631e-01 -8.98218305e-02 -3.57886071e-02 5.36818969e+02] [ 8.98066918e-02 9.95957139e-01 -2.03357988e-03 2.25160279e+01] [ 3.58265786e-02 -1.19000460e-03 9.99357314e-01 1.90854379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.85, Y:22.52, Z:19.09 [[ 9.95330841e-01 -8.96419660e-02 -3.57887539e-02 5.36851394e+02] [ 8.96268041e-02 9.95973349e-01 -2.03099360e-03 2.25174316e+01] [ 3.58267073e-02 -1.18612106e-03 9.99357314e-01 1.90851689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.88, Y:22.52, Z:19.08 [[ 9.95361174e-01 -8.93044629e-02 -3.57889041e-02 5.36882779e+02] [ 8.92891784e-02 9.96003679e-01 -2.02834262e-03 2.25190522e+01] [ 3.58270202e-02 -1.17662835e-03 9.99357314e-01 1.90838343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.92, Y:22.52, Z:19.09 [[ 9.95395004e-01 -8.89265016e-02 -3.57891618e-02 5.36915079e+02] [ 8.89111368e-02 9.96037506e-01 -2.02378495e-03 2.25211642e+01] [ 3.58273156e-02 -1.16758964e-03 9.99357314e-01 1.90850012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.95, Y:22.52, Z:19.09 [[ 9.95480923e-01 -8.79594120e-02 -3.57893065e-02 5.36946965e+02] [ 8.79435150e-02 9.96123412e-01 -2.02122337e-03 2.25238942e+01] [ 3.58283517e-02 -1.13534811e-03 9.99357314e-01 1.90865549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.98, Y:22.53, Z:19.09 [[ 9.95525993e-01 -8.74477699e-02 -3.57894518e-02 5.36977779e+02] [ 8.74316352e-02 9.96168477e-01 -2.01864743e-03 2.25255552e+01] [ 3.58288499e-02 -1.11951431e-03 9.99357314e-01 1.90871178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.01, Y:22.53, Z:19.09 [[ 9.95585241e-01 -8.67705935e-02 -3.57895599e-02 5.37008514e+02] [ 8.67540907e-02 9.96227715e-01 -2.01672850e-03 2.25270818e+01] [ 3.58295442e-02 -1.09706560e-03 9.99357314e-01 1.90875131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.04, Y:22.53, Z:19.09 [[ 9.95687461e-01 -8.55896036e-02 -3.57896658e-02 5.37040786e+02] [ 8.55724062e-02 9.96329917e-01 -2.01484826e-03 2.25289491e+01] [ 3.58307648e-02 -1.05644867e-03 9.99357314e-01 1.90900574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.07, Y:22.53, Z:19.09 [[ 9.95738060e-01 -8.49988590e-02 -3.57898116e-02 5.37073021e+02] [ 8.49813736e-02 9.96380508e-01 -2.01225558e-03 2.25310824e+01] [ 3.58313100e-02 -1.03778788e-03 9.99357314e-01 1.90916344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.10, Y:22.53, Z:19.09 [[ 9.95930385e-01 -8.27148516e-02 -3.57899572e-02 5.37103793e+02] [ 8.26959860e-02 9.96572795e-01 -2.00966206e-03 2.25338952e+01] [ 3.58335266e-02 -9.58202284e-04 9.99357314e-01 1.90932648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.14, Y:22.54, Z:19.09 [[ 9.95987470e-01 -8.20245695e-02 -3.57900655e-02 5.37135477e+02] [ 8.20053279e-02 9.96629869e-01 -2.00773096e-03 2.25358450e+01] [ 3.58341316e-02 -9.35301181e-04 9.99357314e-01 1.90949234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.17, Y:22.54, Z:19.10 [[ 9.95993250e-01 -8.19542929e-02 -3.57902067e-02 5.37168099e+02] [ 8.19350965e-02 9.96635650e-01 -2.00521140e-03 2.25376125e+01] [ 3.58341316e-02 -9.35297013e-04 9.99357314e-01 1.90960945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.20, Y:22.54, Z:19.10 [[ 9.96071455e-01 -8.09981997e-02 -3.57903479e-02 5.37200202e+02] [ 8.09784772e-02 9.96713838e-01 -2.00268768e-03 2.25393140e+01] [ 3.58349491e-02 -9.03427845e-04 9.99357314e-01 1.90973865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.23, Y:22.54, Z:19.10 [[ 9.96124398e-01 -8.03444148e-02 -3.57904887e-02 5.37232017e+02] [ 8.03243612e-02 9.96766771e-01 -2.00016810e-03 2.25408717e+01] [ 3.58354722e-02 -8.82431898e-04 9.99357314e-01 1.90986426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.26, Y:22.54, Z:19.10 [[ 9.96149827e-01 -8.00284517e-02 -3.57906300e-02 5.37264484e+02] [ 8.00082852e-02 9.96792197e-01 -1.99763727e-03 2.25422862e+01] [ 3.58356885e-02 -8.73600908e-04 9.99357314e-01 1.91000239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.30, Y:22.54, Z:19.10 [[ 9.96153716e-01 -7.99799605e-02 -3.57907707e-02 5.37295999e+02] [ 7.99598534e-02 9.96796088e-01 -1.99511220e-03 2.25437319e+01] [ 3.58356692e-02 -8.74386347e-04 9.99357314e-01 1.91014392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.33, Y:22.54, Z:19.10 [[ 9.96089772e-01 -8.07723399e-02 -3.57910030e-02 5.37328210e+02] [ 8.07528938e-02 9.96732164e-01 -1.99093559e-03 2.25447477e+01] [ 3.58348564e-02 -9.07076488e-04 9.99357314e-01 1.91036741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.36, Y:22.55, Z:19.11 [[ 9.96020344e-01 -8.16239500e-02 -3.57911427e-02 5.37359879e+02] [ 8.16051434e-02 9.96662755e-01 -1.98842169e-03 2.25457109e+01] [ 3.58340017e-02 -9.40232876e-04 9.99357314e-01 1.91052396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.39, Y:22.55, Z:19.11 [[ 9.95906770e-01 -8.29981307e-02 -3.57912833e-02 5.37392467e+02] [ 8.29803015e-02 9.96549209e-01 -1.98588872e-03 2.25469615e+01] [ 3.58326001e-02 -9.92211459e-04 9.99357314e-01 1.91064974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.42, Y:22.55, Z:19.11 [[ 9.95788457e-01 -8.44056970e-02 -3.57914283e-02 5.37423177e+02] [ 8.43888698e-02 9.96430924e-01 -1.98327086e-03 2.25478798e+01] [ 3.58310853e-02 -1.04547995e-03 9.99357314e-01 1.91068402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.46, Y:22.55, Z:19.11 [[ 9.95637236e-01 -8.61711119e-02 -3.57915364e-02 5.37455741e+02] [ 8.61554940e-02 9.96279732e-01 -1.98131905e-03 2.25491108e+01] [ 3.58291147e-02 -1.11096247e-03 9.99357314e-01 1.91074072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.49, Y:22.55, Z:19.11 [[ 9.95421453e-01 -8.86289309e-02 -3.57916775e-02 5.37488270e+02] [ 8.86149910e-02 9.96063988e-01 -1.97876535e-03 2.25496019e+01] [ 3.58261769e-02 -1.20197370e-03 9.99357314e-01 1.91074824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.52, Y:22.55, Z:19.11 [[ 9.95337475e-01 -8.95670539e-02 -3.57918189e-02 5.37519204e+02] [ 8.95538114e-02 9.95980025e-01 -1.97620574e-03 2.25509631e+01] [ 3.58249396e-02 -1.23830217e-03 9.99357314e-01 1.91081600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.55, Y:22.55, Z:19.11 [[ 9.95319641e-01 -8.97649746e-02 -3.57919241e-02 5.37551615e+02] [ 8.97519285e-02 9.95962195e-01 -1.97429732e-03 2.25525455e+01] [ 3.58246261e-02 -1.24733732e-03 9.99357314e-01 1.91104171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.58, Y:22.55, Z:19.11 [[ 9.95397643e-01 -8.88957846e-02 -3.57920677e-02 5.37582551e+02] [ 8.88822710e-02 9.96040187e-01 -1.97169144e-03 2.25545812e+01] [ 3.58256129e-02 -1.21866324e-03 9.99357314e-01 1.91124582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.61, Y:22.56, Z:19.11 [[ 9.95470951e-01 -8.80710324e-02 -3.57921745e-02 5.37614269e+02] [ 8.80570561e-02 9.96113485e-01 -1.96975142e-03 2.25566303e+01] [ 3.58265457e-02 -1.19092320e-03 9.99357314e-01 1.91146496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.65, Y:22.56, Z:19.12 [[ 9.95577508e-01 -8.68581305e-02 -3.57923178e-02 5.37645655e+02] [ 8.68434650e-02 9.96220027e-01 -1.96714301e-03 2.25583290e+01] [ 3.58278862e-02 -1.14988556e-03 9.99357314e-01 1.91156336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.68, Y:22.56, Z:19.12 [[ 9.95768077e-01 -8.46453742e-02 -3.57924246e-02 5.37677501e+02] [ 8.46293507e-02 9.96410563e-01 -1.96519761e-03 2.25599157e+01] [ 3.58302949e-02 -1.07220861e-03 9.99357314e-01 1.91167503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.71, Y:22.56, Z:19.12 [[ 9.95844843e-01 -8.37373379e-02 -3.57925601e-02 5.37709506e+02] [ 8.37208172e-02 9.96487317e-01 -1.96272767e-03 2.25615696e+01] [ 3.58311857e-02 -1.04201015e-03 9.99357314e-01 1.91182868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.74, Y:22.56, Z:19.12 [[ 9.95935943e-01 -8.26467244e-02 -3.57927002e-02 5.37741070e+02] [ 8.26295921e-02 9.96578400e-01 -1.96016799e-03 2.25630903e+01] [ 3.58322334e-02 -1.00533446e-03 9.99357314e-01 1.91180492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.77, Y:22.56, Z:19.12 [[ 9.95956571e-01 -8.23977225e-02 -3.57928046e-02 5.37772876e+02] [ 8.23804980e-02 9.96599026e-01 -1.95826111e-03 2.25645786e+01] [ 3.58324304e-02 -9.98286048e-04 9.99357314e-01 1.91198971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.80, Y:22.57, Z:19.12 [[ 9.95854766e-01 -8.36190820e-02 -3.57929471e-02 5.37804360e+02] [ 8.36027391e-02 9.96497244e-01 -1.95565266e-03 2.25655887e+01] [ 3.58311030e-02 -1.04484240e-03 9.99357314e-01 1.91191446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.84, Y:22.57, Z:19.12 [[ 9.95695479e-01 -8.54943086e-02 -3.57943678e-02 5.37835680e+02] [ 8.54801092e-02 9.96338009e-01 -1.92965650e-03 2.25667688e+01] [ 3.58282638e-02 -1.13835622e-03 9.99357313e-01 1.91216246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.87, Y:22.57, Z:19.12 [[ 9.95603887e-01 -8.65550749e-02 -3.57927349e-02 5.37867068e+02] [ 8.65404889e-02 9.96246407e-01 -1.95948331e-03 2.25685763e+01] [ 3.58279868e-02 -1.14665158e-03 9.99357314e-01 1.91217059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.90, Y:22.57, Z:19.12 [[ 9.95524935e-01 -8.74584295e-02 -3.57928424e-02 5.37899179e+02] [ 8.74444971e-02 9.96167470e-01 -1.95751886e-03 2.25704532e+01] [ 3.58268668e-02 -1.18112827e-03 9.99357314e-01 1.91233863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.93, Y:22.57, Z:19.12 [[ 9.95467218e-01 -8.81128886e-02 -3.57929847e-02 5.37931770e+02] [ 8.80994722e-02 9.96109764e-01 -1.95491292e-03 2.25722690e+01] [ 3.58259946e-02 -1.20729134e-03 9.99357314e-01 1.91239453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.96, Y:22.57, Z:19.13 [[ 9.95473632e-01 -8.80403268e-02 -3.57931270e-02 5.37964394e+02] [ 8.80269572e-02 9.96116180e-01 -1.95230446e-03 2.25739911e+01] [ 3.58259944e-02 -1.20729245e-03 9.99357314e-01 1.91251164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.00, Y:22.58, Z:19.13 [[ 9.95480042e-01 -8.79677645e-02 -3.57932690e-02 5.37997019e+02] [ 8.79544418e-02 9.96122590e-01 -1.94969710e-03 2.25757107e+01] [ 3.58259943e-02 -1.20729245e-03 9.99357314e-01 1.91262875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.03, Y:22.58, Z:19.13 [[ 9.95393047e-01 -8.89466946e-02 -3.57934108e-02 5.38028485e+02] [ 8.89340975e-02 9.96035609e-01 -1.94708973e-03 2.25784896e+01] [ 3.58246990e-02 -1.24513511e-03 9.99357314e-01 1.91258991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.06, Y:22.58, Z:19.13 [[ 9.95399817e-01 -8.88707953e-02 -3.57936474e-02 5.38060974e+02] [ 8.88583056e-02 9.96042382e-01 -1.94273193e-03 2.25807428e+01] [ 3.58246419e-02 -1.24676785e-03 9.99357314e-01 1.91283288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.09, Y:22.58, Z:19.13 [[ 9.95419017e-01 -8.86554295e-02 -3.57937855e-02 5.38093014e+02] [ 8.86428923e-02 9.96061581e-01 -1.94018395e-03 2.25830941e+01] [ 3.58248224e-02 -1.24156867e-03 9.99357314e-01 1.91298648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.12, Y:22.59, Z:19.13 [[ 9.95450085e-01 -8.83058488e-02 -3.57939245e-02 5.38124244e+02] [ 8.82931782e-02 9.96092646e-01 -1.93761582e-03 2.25868178e+01] [ 3.58251678e-02 -1.23155952e-03 9.99357314e-01 1.91319365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.16, Y:22.59, Z:19.13 [[ 9.95479236e-01 -8.79765810e-02 -3.57940280e-02 5.38155880e+02] [ 8.79637666e-02 9.96121794e-01 -1.93570209e-03 2.25897723e+01] [ 3.58255078e-02 -1.22162628e-03 9.99357314e-01 1.91336791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.19, Y:22.59, Z:19.14 [[ 9.95493939e-01 -8.78099972e-02 -3.57941657e-02 5.38187512e+02] [ 8.77971669e-02 9.96136497e-01 -1.93315169e-03 2.25926130e+01] [ 3.58256249e-02 -1.21818555e-03 9.99357314e-01 1.91353792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.22, Y:22.60, Z:19.14 [[ 9.95486893e-01 -8.78897779e-02 -3.57943024e-02 5.38220021e+02] [ 8.78770901e-02 9.96129454e-01 -1.93061718e-03 2.25954856e+01] [ 3.58254405e-02 -1.22359504e-03 9.99357314e-01 1.91371723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.25, Y:22.60, Z:19.14 [[ 9.95301344e-01 -8.99666158e-02 -3.57944412e-02 5.38252103e+02] [ 8.99553612e-02 9.95943932e-01 -1.92804115e-03 2.25992739e+01] [ 3.58227158e-02 -1.30091993e-03 9.99357314e-01 1.91390844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.28, Y:22.60, Z:19.14 [[ 9.95307906e-01 -8.98939422e-02 -3.57945815e-02 5.38284730e+02] [ 8.98827344e-02 9.95950494e-01 -1.92543287e-03 2.26009713e+01] [ 3.58227159e-02 -1.30091630e-03 9.99357314e-01 1.91402555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.32, Y:22.60, Z:19.14 [[ 9.95178082e-01 -9.13198934e-02 -3.57947218e-02 5.38315994e+02] [ 9.13097000e-02 9.95820687e-01 -1.92282095e-03 2.26031280e+01] [ 3.58207163e-02 -1.35485604e-03 9.99357314e-01 1.91413040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.35, Y:22.61, Z:19.14 [[ 9.94997967e-01 -9.32618689e-02 -3.57948262e-02 5.38347919e+02] [ 9.32529995e-02 9.95640592e-01 -1.92087541e-03 2.26052952e+01] [ 3.58179264e-02 -1.42670778e-03 9.99357314e-01 1.91419763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.38, Y:22.61, Z:19.14 [[ 9.94805691e-01 -9.52909062e-02 -3.57949640e-02 5.38379299e+02] [ 9.52834397e-02 9.95448334e-01 -1.91830505e-03 2.26071357e+01] [ 3.58148343e-02 -1.50232651e-03 9.99357314e-01 1.91425135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.41, Y:22.61, Z:19.14 [[ 9.94357186e-01 -9.98624094e-02 -3.57950666e-02 5.38409981e+02] [ 9.98579657e-02 9.94999856e-01 -1.91638845e-03 2.26093407e+01] [ 3.58074613e-02 -1.66884791e-03 9.99357314e-01 1.91427385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.44, Y:22.61, Z:19.14 [[ 9.94146822e-01 -1.01935287e-01 -3.57951671e-02 5.38442108e+02] [ 1.01932251e-01 9.94789501e-01 -1.91450946e-03 2.26113452e+01] [ 3.58038124e-02 -1.74537846e-03 9.99357314e-01 1.91437952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.47, Y:22.61, Z:19.14 [[ 9.93926133e-01 -1.04065070e-01 -3.57953028e-02 5.38472903e+02] [ 1.04063502e-01 9.94568817e-01 -1.91196828e-03 2.26133331e+01] [ 3.57998611e-02 -1.82462933e-03 9.99357314e-01 1.91443820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.50, Y:22.62, Z:19.15 [[ 9.93756456e-01 -1.05673056e-01 -3.57954038e-02 5.38504661e+02] [ 1.05672596e-01 9.94399142e-01 -1.91007508e-03 2.26153682e+01] [ 3.57967623e-02 -1.88444379e-03 9.99357314e-01 1.91455220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.54, Y:22.62, Z:19.15 [[ 9.93615839e-01 -1.06987121e-01 -3.57955402e-02 5.38536307e+02] [ 1.06987602e-01 9.94258525e-01 -1.90751655e-03 2.26175825e+01] [ 3.57941007e-02 -1.93434036e-03 9.99357314e-01 1.91460931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.57, Y:22.62, Z:19.15 [[ 9.93532365e-01 -1.07759499e-01 -3.57956761e-02 5.38568656e+02] [ 1.07760572e-01 9.94175050e-01 -1.90496257e-03 2.26207981e+01] [ 3.57924459e-02 -1.96472057e-03 9.99357314e-01 1.91471214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.60, Y:22.62, Z:19.15 [[ 9.93609823e-01 -1.07042885e-01 -3.57958113e-02 5.38602006e+02] [ 1.07043586e-01 9.94252509e-01 -1.90241791e-03 2.26237057e+01] [ 3.57937155e-02 -1.94145089e-03 9.99357314e-01 1.91490360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.63, Y:22.63, Z:19.15 [[ 9.93747642e-01 -1.05755705e-01 -3.57960213e-02 5.38633533e+02] [ 1.05755715e-01 9.94390328e-01 -1.89845843e-03 2.26268904e+01] [ 3.57959902e-02 -1.89904526e-03 9.99357314e-01 1.91505386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.67, Y:22.63, Z:19.15 [[ 9.93956131e-01 -1.03777845e-01 -3.57961948e-02 5.38665832e+02] [ 1.03776695e-01 9.94598817e-01 -1.89518131e-03 2.26303590e+01] [ 3.57995308e-02 -1.83108370e-03 9.99357314e-01 1.91515343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.70, Y:22.64, Z:19.15 [[ 9.94519045e-01 -9.82369071e-02 -3.57963660e-02 5.38698160e+02] [ 9.82322910e-02 9.95161714e-01 -1.89194315e-03 2.26356797e+01] [ 3.58090316e-02 -1.63478555e-03 9.99357314e-01 1.91545665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.73, Y:22.64, Z:19.16 [[ 9.94844806e-01 -9.48810926e-02 -3.57965016e-02 5.38730532e+02] [ 9.48744007e-02 9.95487458e-01 -1.88937267e-03 2.26391449e+01] [ 3.58142341e-02 -1.51653905e-03 9.99357314e-01 1.91562565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.76, Y:22.64, Z:19.16 [[ 9.95177751e-01 -9.13227489e-02 -3.57966366e-02 5.38762822e+02] [ 9.13138507e-02 9.95820376e-01 -1.88681272e-03 2.26424513e+01] [ 3.58193290e-02 -1.39101469e-03 9.99357314e-01 1.91586670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.80, Y:22.65, Z:19.16 [[ 9.95507167e-01 -8.76588390e-02 -3.57967745e-02 5.38795122e+02] [ 8.76476694e-02 9.96149756e-01 -1.88419306e-03 2.26454657e+01] [ 3.58241143e-02 -1.26177616e-03 9.99357314e-01 1.91600820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.83, Y:22.65, Z:19.16 [[ 9.96093929e-01 -8.07184364e-02 -3.57969124e-02 5.38826487e+02] [ 8.07028827e-02 9.96736427e-01 -1.88156860e-03 2.26501026e+01] [ 3.58319638e-02 -1.01469497e-03 9.99357314e-01 1.91615073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.86, Y:22.65, Z:19.16 [[ 9.96360578e-01 -7.73573766e-02 -3.57971326e-02 5.38858543e+02] [ 7.73398061e-02 9.97003024e-01 -1.87736966e-03 2.26532528e+01] [ 3.58350779e-02 -8.98006179e-04 9.99357314e-01 1.91634004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.89, Y:22.66, Z:19.16 [[ 9.96594275e-01 -7.42859765e-02 -3.57972708e-02 5.38890096e+02] [ 7.42665206e-02 9.97236667e-01 -1.87473154e-03 2.26561053e+01] [ 3.58376172e-02 -7.90192031e-04 9.99357314e-01 1.91640095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.92, Y:22.66, Z:19.16 [[ 9.96799691e-01 -7.14767328e-02 -3.57973735e-02 5.38922385e+02] [ 7.14555369e-02 9.97442028e-01 -1.87276851e-03 2.26585388e+01] [ 3.58396642e-02 -6.91145463e-04 9.99357314e-01 1.91647678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.95, Y:22.66, Z:19.17 [[ 9.97143981e-01 -6.65012752e-02 -3.57975080e-02 5.38954848e+02] [ 6.64769664e-02 9.97786207e-01 -1.87019336e-03 2.26616383e+01] [ 3.58426300e-02 -5.14857687e-04 9.99357314e-01 1.91650485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.99, Y:22.66, Z:19.17 [[ 9.97291049e-01 -6.42580138e-02 -3.57976422e-02 5.38986481e+02] [ 6.42323527e-02 9.97933223e-01 -1.86762064e-03 2.26638322e+01] [ 3.58436661e-02 -4.36805437e-04 9.99357314e-01 1.91660193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.02, Y:22.67, Z:19.17 [[ 9.97554824e-01 -6.00241308e-02 -3.57977091e-02 5.39018008e+02] [ 5.99957900e-02 9.98196885e-01 -1.86633737e-03 2.26657811e+01] [ 3.58451870e-02 -2.85937988e-04 9.99357314e-01 1.91667990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.05, Y:22.67, Z:19.17 [[ 9.97661662e-01 -5.82213656e-02 -3.57977765e-02 5.39048610e+02] [ 5.81919110e-02 9.98303673e-01 -1.86504472e-03 2.26674654e+01] [ 3.58456372e-02 -2.22457410e-04 9.99357314e-01 1.91673531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.08, Y:22.67, Z:19.17 [[ 9.97754744e-01 -5.66037307e-02 -3.57978895e-02 5.39078850e+02] [ 5.65733131e-02 9.98396710e-01 -1.86287239e-03 2.26691218e+01] [ 3.58459406e-02 -1.66515453e-04 9.99357314e-01 1.91683685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.11, Y:22.67, Z:19.17 [[ 9.97837185e-01 -5.51313208e-02 -3.57978895e-02 5.39108687e+02] [ 5.50999560e-02 9.98479106e-01 -1.86287239e-03 2.26706971e+01] [ 3.58461473e-02 -1.13618798e-04 9.99357314e-01 1.91692584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.14, Y:22.67, Z:19.17 [[ 9.97896138e-01 -5.40537796e-02 -3.57978569e-02 5.39138806e+02] [ 5.40216991e-02 9.98538023e-01 -1.86349945e-03 2.26724825e+01] [ 3.58462504e-02 -7.42821522e-05 9.99357314e-01 1.91707629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.17, Y:22.67, Z:19.17 [[ 9.97932816e-01 -5.33723605e-02 -3.57978569e-02 5.39168715e+02] [ 5.33398417e-02 9.98574679e-01 -1.86349945e-03 2.26735982e+01] [ 3.58462928e-02 -4.98047685e-05 9.99357314e-01 1.91711975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.20, Y:22.67, Z:19.17 [[ 9.97908210e-01 -5.38304912e-02 -3.57977903e-02 5.39198145e+02] [ 5.37982212e-02 9.98550086e-01 -1.86477805e-03 2.26745542e+01] [ 3.58462685e-02 -6.49801151e-05 9.99357314e-01 1.91712967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.23, Y:22.68, Z:19.17 [[ 9.97865252e-01 -5.46210464e-02 -3.57977572e-02 5.39227990e+02] [ 5.45892622e-02 9.98507152e-01 -1.86541189e-03 2.26754305e+01] [ 3.58462074e-02 -9.27434504e-05 9.99357314e-01 1.91719594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.26, Y:22.68, Z:19.17 [[ 9.97801959e-01 -5.57653728e-02 -3.57976926e-02 5.39257380e+02] [ 5.57342802e-02 9.98443892e-01 -1.86665262e-03 2.26760364e+01] [ 3.58460821e-02 -1.32608987e-04 9.99357314e-01 1.91736675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.29, Y:22.68, Z:19.17 [[ 9.97598921e-01 -5.92867772e-02 -3.57976260e-02 5.39287295e+02] [ 5.92579048e-02 9.98240959e-01 -1.86792774e-03 2.26755477e+01] [ 3.58453999e-02 -2.57849616e-04 9.99357314e-01 1.91743350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.32, Y:22.68, Z:19.18 [[ 9.97469536e-01 -6.14252207e-02 -3.57975930e-02 5.39317805e+02] [ 6.13977020e-02 9.98111632e-01 -1.86856040e-03 2.26759435e+01] [ 3.58447707e-02 -3.34057876e-04 9.99357314e-01 1.91764612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.35, Y:22.68, Z:19.18 [[ 9.97322301e-01 -6.37711528e-02 -3.57975930e-02 5.39347770e+02] [ 6.37451444e-02 9.97964461e-01 -1.86856040e-03 2.26761988e+01] [ 3.58438858e-02 -4.18365781e-04 9.99357314e-01 1.91777337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.38, Y:22.68, Z:19.18 [[ 9.97171016e-01 -6.60945848e-02 -3.57976261e-02 5.39378060e+02] [ 6.60700954e-02 9.97813236e-01 -1.86792614e-03 2.26763136e+01] [ 3.58428049e-02 -5.02510762e-04 9.99357314e-01 1.91789289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.41, Y:22.67, Z:19.18 [[ 9.96836030e-01 -7.09679604e-02 -3.57977370e-02 5.39409315e+02] [ 7.09466869e-02 9.97478364e-01 -1.86579817e-03 2.26748063e+01] [ 3.58398800e-02 -6.79835999e-04 9.99357314e-01 1.91802145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.44, Y:22.67, Z:19.18 [[ 9.96677441e-01 -7.31614432e-02 -3.57978031e-02 5.39440878e+02] [ 7.31416288e-02 9.97319821e-01 -1.86452867e-03 2.26746300e+01] [ 3.58382702e-02 -7.59975960e-04 9.99357314e-01 1.91808530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.47, Y:22.67, Z:19.18 [[ 9.96510119e-01 -7.54061354e-02 -3.57980111e-02 5.39472928e+02] [ 7.53879117e-02 9.97152547e-01 -1.86052697e-03 2.26744327e+01] [ 3.58363731e-02 -8.44703346e-04 9.99357314e-01 1.91818258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.50, Y:22.67, Z:19.18 [[ 9.96228394e-01 -7.90409981e-02 -3.57981442e-02 5.39504758e+02] [ 7.90252102e-02 9.96870886e-01 -1.85796233e-03 2.26729609e+01] [ 3.58329829e-02 -9.78001043e-04 9.99357314e-01 1.91829483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.54, Y:22.67, Z:19.18 [[ 9.96128755e-01 -8.02869078e-02 -3.57982806e-02 5.39536506e+02] [ 8.02720179e-02 9.96771268e-01 -1.85533154e-03 2.26731687e+01] [ 3.58316563e-02 -1.02545112e-03 9.99357314e-01 1.91841743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.57, Y:22.67, Z:19.18 [[ 9.96036891e-01 -8.14185799e-02 -3.57984175e-02 5.39567252e+02] [ 8.14045151e-02 9.96679423e-01 -1.85268474e-03 2.26734225e+01] [ 3.58303891e-02 -1.06881047e-03 9.99357314e-01 1.91844737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.60, Y:22.67, Z:19.19 [[ 9.95902790e-01 -8.30427545e-02 -3.57985195e-02 5.39599277e+02] [ 8.30298083e-02 9.96545346e-01 -1.85071149e-03 2.26726795e+01] [ 3.58285362e-02 -1.12921548e-03 9.99357314e-01 1.91856070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.63, Y:22.67, Z:19.19 [[ 9.95864894e-01 -8.34959207e-02 -3.57986555e-02 5.39630879e+02] [ 8.34833615e-02 9.96507458e-01 -1.84807726e-03 2.26733091e+01] [ 3.58279341e-02 -1.14815683e-03 9.99357314e-01 1.91862799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.66, Y:22.67, Z:19.19 [[ 9.95798013e-01 -8.42897707e-02 -3.57987567e-02 5.39661718e+02] [ 8.42777942e-02 9.96440588e-01 -1.84611523e-03 2.26740176e+01] [ 3.58269428e-02 -1.17868238e-03 9.99357314e-01 1.91872224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.69, Y:22.67, Z:19.19 [[ 9.95764215e-01 -8.46880777e-02 -3.57988570e-02 5.39692652e+02] [ 8.46764281e-02 9.96406795e-01 -1.84416947e-03 2.26749043e+01] [ 3.58264035e-02 -1.19496138e-03 9.99357314e-01 1.91880616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.73, Y:22.68, Z:19.19 [[ 9.95666543e-01 -8.58286718e-02 -3.57990777e-02 5.39725201e+02] [ 8.58179125e-02 9.96309139e-01 -1.83987502e-03 2.26755524e+01] [ 3.58248623e-02 -1.24030012e-03 9.99357314e-01 1.91892087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.76, Y:22.68, Z:19.19 [[ 9.95626258e-01 -8.62946754e-02 -3.57992111e-02 5.39757573e+02] [ 8.62843102e-02 9.96268860e-01 -1.83727474e-03 2.26766817e+01] [ 3.58241863e-02 -1.25967126e-03 9.99357314e-01 1.91903357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.79, Y:22.68, Z:19.19 [[ 9.95581935e-01 -8.68044829e-02 -3.57993437e-02 5.39789551e+02] [ 8.67945397e-02 9.96224544e-01 -1.83468742e-03 2.26780783e+01] [ 3.58234440e-02 -1.28060591e-03 9.99357314e-01 1.91914930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.82, Y:22.68, Z:19.19 [[ 9.95497073e-01 -8.77722912e-02 -3.57994762e-02 5.39821323e+02] [ 8.77630657e-02 9.96139693e-01 -1.83209900e-03 2.26797003e+01] [ 3.58220867e-02 -1.31802259e-03 9.99357314e-01 1.91925820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.85, Y:22.68, Z:19.19 [[ 9.95427935e-01 -8.85528936e-02 -3.57996082e-02 5.39853065e+02] [ 8.85442648e-02 9.96070563e-01 -1.82951660e-03 2.26815973e+01] [ 3.58209448e-02 -1.34869806e-03 9.99357314e-01 1.91941900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.88, Y:22.68, Z:19.20 [[ 9.95361259e-01 -8.92991781e-02 -3.57997426e-02 5.39884318e+02] [ 8.92911257e-02 9.96003894e-01 -1.82688200e-03 2.26834647e+01] [ 3.58198221e-02 -1.37819175e-03 9.99357314e-01 1.91950514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.92, Y:22.69, Z:19.20 [[ 9.95296850e-01 -9.00141711e-02 -3.57998428e-02 5.39916835e+02] [ 9.00066509e-02 9.95939492e-01 -1.82491610e-03 2.26852602e+01] [ 3.58187456e-02 -1.40589071e-03 9.99357314e-01 1.91965021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.95, Y:22.69, Z:19.20 [[ 9.95143041e-01 -9.16989131e-02 -3.57999760e-02 5.39947553e+02] [ 9.16925748e-02 9.95785695e-01 -1.82229986e-03 2.26873848e+01] [ 3.58162069e-02 -1.46914295e-03 9.99357314e-01 1.91982157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.98, Y:22.69, Z:19.20 [[ 9.95055359e-01 -9.26454922e-02 -3.58000751e-02 5.39979240e+02] [ 9.26398352e-02 9.95698020e-01 -1.82035112e-03 2.26890115e+01] [ 3.58147112e-02 -1.50516292e-03 9.99357314e-01 1.92000571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.01, Y:22.69, Z:19.20 [[ 9.94990186e-01 -9.33427801e-02 -3.58002083e-02 5.40011642e+02] [ 9.33376677e-02 9.95632852e-01 -1.81772755e-03 2.26905797e+01] [ 3.58135352e-02 -1.53288688e-03 9.99357314e-01 1.92015081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.04, Y:22.69, Z:19.20 [[ 9.94934861e-01 -9.39306049e-02 -3.58003416e-02 5.40044068e+02] [ 9.39259666e-02 9.95577530e-01 -1.81509773e-03 2.26919311e+01] [ 3.58125089e-02 -1.55667768e-03 9.99357314e-01 1.92025110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.08, Y:22.69, Z:19.20 [[ 9.94891426e-01 -9.43894813e-02 -3.58005075e-02 5.40077222e+02] [ 9.43852572e-02 9.95534098e-01 -1.81181982e-03 2.26941110e+01] [ 3.58116427e-02 -1.57647610e-03 9.99357314e-01 1.92044951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.11, Y:22.70, Z:19.21 [[ 9.94924211e-01 -9.40432020e-02 -3.58007047e-02 5.40109709e+02] [ 9.40388944e-02 9.95566883e-01 -1.80791525e-03 2.26960017e+01] [ 3.58120181e-02 -1.56792004e-03 9.99357314e-01 1.92058559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.14, Y:22.70, Z:19.21 [[ 9.94993578e-01 -9.33063480e-02 -3.58009007e-02 5.40142821e+02] [ 9.33017041e-02 9.95636248e-01 -1.80402638e-03 2.26978338e+01] [ 3.58130015e-02 -1.54529037e-03 9.99357314e-01 1.92071356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.18, Y:22.70, Z:19.21 [[ 9.95052798e-01 -9.26725959e-02 -3.58010970e-02 5.40176096e+02] [ 9.26676829e-02 9.95695466e-01 -1.80012131e-03 2.26998388e+01] [ 3.58138119e-02 -1.52638896e-03 9.99357314e-01 1.92083628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.21, Y:22.70, Z:19.21 [[ 9.95282497e-01 -9.01721621e-02 -3.58012981e-02 5.40206959e+02] [ 9.01657783e-02 9.95925151e-01 -1.79611218e-03 2.27021721e+01] [ 3.58173726e-02 -1.44041289e-03 9.99357314e-01 1.92093579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.24, Y:22.70, Z:19.21 [[ 9.95425926e-01 -8.85746922e-02 -3.58015260e-02 5.40238322e+02] [ 8.85674405e-02 9.96068571e-01 -1.79155883e-03 2.27040758e+01] [ 3.58194616e-02 -1.38748541e-03 9.99357314e-01 1.92097722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.27, Y:22.71, Z:19.21 [[ 9.95582945e-01 -8.67919569e-02 -3.58016238e-02 5.40270263e+02] [ 8.67836247e-02 9.96225577e-01 -1.78960293e-03 2.27060853e+01] [ 3.58218164e-02 -1.32529652e-03 9.99357314e-01 1.92119262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.30, Y:22.71, Z:19.21 [[ 9.95589272e-01 -8.67192936e-02 -3.58017542e-02 5.40302896e+02] [ 8.67110083e-02 9.96231905e-01 -1.78699050e-03 2.27076567e+01] [ 3.58218163e-02 -1.32529763e-03 9.99357314e-01 1.92130973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.33, Y:22.71, Z:19.21 [[ 9.95752027e-01 -8.48299795e-02 -3.58018843e-02 5.40333854e+02] [ 8.48205685e-02 9.96394644e-01 -1.78437917e-03 2.27097373e+01] [ 3.58241746e-02 -1.25993701e-03 9.99357314e-01 1.92140458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.36, Y:22.71, Z:19.22 [[ 9.96113091e-01 -8.04793605e-02 -3.58019811e-02 5.40364498e+02] [ 8.04672123e-02 9.96755662e-01 -1.78243406e-03 2.27127541e+01] [ 3.58292766e-02 -1.10537971e-03 9.99357314e-01 1.92153828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.40, Y:22.72, Z:19.22 [[ 9.96308720e-01 -7.80201578e-02 -3.58020741e-02 5.40396780e+02] [ 7.80064905e-02 9.96951261e-01 -1.78056546e-03 2.27151476e+01] [ 3.58318429e-02 -1.01880126e-03 9.99357314e-01 1.92167282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.43, Y:22.72, Z:19.22 [[ 9.96523836e-01 -7.52226514e-02 -3.58022018e-02 5.40428714e+02] [ 7.52072726e-02 9.97166338e-01 -1.77799322e-03 2.27174553e+01] [ 3.58344958e-02 -9.20773329e-04 9.99357314e-01 1.92178434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.46, Y:22.72, Z:19.22 [[ 9.96723517e-01 -7.25287770e-02 -3.58023304e-02 5.40461300e+02] [ 7.25117546e-02 9.97365978e-01 -1.77539962e-03 2.27197805e+01] [ 3.58367939e-02 -8.26507241e-04 9.99357314e-01 1.92187482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.49, Y:22.72, Z:19.22 [[ 9.97136853e-01 -6.66054050e-02 -3.58024592e-02 5.40493105e+02] [ 6.65846591e-02 9.97779204e-01 -1.77279911e-03 2.27227287e+01] [ 3.58410273e-02 -6.16171210e-04 9.99357314e-01 1.92197225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.52, Y:22.72, Z:19.22 [[ 9.97329160e-01 -6.36609807e-02 -3.58025876e-02 5.40523249e+02] [ 6.36384315e-02 9.97971451e-01 -1.77020220e-03 2.27249522e+01] [ 3.58426531e-02 -5.12946249e-04 9.99357314e-01 1.92200299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.55, Y:22.73, Z:19.22 [[ 9.97511191e-01 -6.07420500e-02 -3.58026193e-02 5.40553623e+02] [ 6.07176442e-02 9.98153413e-01 -1.76956058e-03 2.27271485e+01] [ 3.58439934e-02 -4.08694225e-04 9.99357314e-01 1.92215621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.58, Y:22.73, Z:19.22 [[ 9.97681989e-01 -5.78690034e-02 -3.58026193e-02 5.40583910e+02] [ 5.78427482e-02 9.98324138e-01 -1.76956058e-03 2.27292917e+01] [ 3.58450218e-02 -3.05463178e-04 9.99357314e-01 1.92227823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.61, Y:22.73, Z:19.22 [[ 9.97969800e-01 -5.26730509e-02 -3.58026193e-02 5.40613624e+02] [ 5.26434522e-02 9.98611804e-01 -1.76956058e-03 2.27322128e+01] [ 3.58461264e-02 -1.18805463e-04 9.99357314e-01 1.92241982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.64, Y:22.73, Z:19.23 [[ 9.98070686e-01 -5.07255668e-02 -3.58025553e-02 5.40643521e+02] [ 5.06946689e-02 9.98712629e-01 -1.77085510e-03 2.27342195e+01] [ 3.58462917e-02 -4.75601195e-05 9.99357314e-01 1.92256144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.67, Y:22.74, Z:19.23 [[ 9.98214213e-01 -4.78180598e-02 -3.58024915e-02 5.40672430e+02] [ 4.77852460e-02 9.98856061e-01 -1.77214320e-03 2.27353290e+01] [ 3.58462761e-02 5.81476624e-05 9.99357314e-01 1.92275183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.70, Y:22.74, Z:19.23 [[ 9.98236113e-01 -4.73590262e-02 -3.58020356e-02 5.40700494e+02] [ 4.73255886e-02 9.98877928e-01 -1.78130716e-03 2.27363803e+01] [ 3.58462241e-02 8.38127315e-05 9.99357314e-01 1.92288628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.73, Y:22.74, Z:19.23 [[ 9.98241493e-01 -4.72458790e-02 -3.58015137e-02 5.40727874e+02] [ 4.72119946e-02 9.98883285e-01 -1.79173475e-03 2.27370779e+01] [ 3.58461857e-02 9.83230993e-05 9.99357314e-01 1.92299602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.75, Y:22.74, Z:19.23 [[ 9.98238053e-01 -4.73189014e-02 -3.58009893e-02 5.40754581e+02] [ 4.72846904e-02 9.98879828e-01 -1.80215301e-03 2.27378755e+01] [ 3.58461619e-02 1.06139021e-04 9.99357314e-01 1.92306552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.78, Y:22.74, Z:19.23 [[ 9.98150620e-01 -4.91288667e-02 -3.58007614e-02 5.40781035e+02] [ 4.90956574e-02 9.98792447e-01 -1.80666804e-03 2.27384735e+01] [ 3.58462897e-02 4.56649083e-05 9.99357314e-01 1.92317473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.81, Y:22.74, Z:19.23 [[ 9.98055947e-01 -5.10161605e-02 -3.58005360e-02 5.40809057e+02] [ 5.09840051e-02 9.98697828e-01 -1.81112365e-03 2.27391544e+01] [ 3.58463141e-02 -1.76519846e-05 9.99357314e-01 1.92328594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.84, Y:22.74, Z:19.23 [[ 9.97930860e-01 -5.34074602e-02 -3.58000153e-02 5.40837893e+02] [ 5.33764757e-02 9.98572799e-01 -1.82135945e-03 2.27395088e+01] [ 3.58461956e-02 -9.32878402e-05 9.99357314e-01 1.92335887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.87, Y:22.74, Z:19.23 [[ 9.97777734e-01 -5.61959486e-02 -3.57995542e-02 5.40866413e+02] [ 5.61664345e-02 9.98419742e-01 -1.83037804e-03 2.27397916e+01] [ 3.58458415e-02 -1.84422857e-04 9.99357314e-01 1.92341326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.89, Y:22.74, Z:19.23 [[ 9.97420208e-01 -6.22201980e-02 -3.57990941e-02 5.40894946e+02] [ 6.21942400e-02 9.98062369e-01 -1.83933297e-03 2.27385001e+01] [ 3.58441723e-02 -3.91909576e-04 9.99357314e-01 1.92347612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.93, Y:22.74, Z:19.24 [[ 9.97200660e-01 -6.56450668e-02 -3.57989962e-02 5.40925506e+02] [ 6.56212459e-02 9.97842904e-01 -1.84123534e-03 2.27388994e+01] [ 3.58426424e-02 -5.13093635e-04 9.99357314e-01 1.92363281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.96, Y:22.74, Z:19.24 [[ 9.96965515e-01 -6.91244738e-02 -3.57989962e-02 5.40956237e+02] [ 6.91028942e-02 9.97607839e-01 -1.84123534e-03 2.27392057e+01] [ 3.58406337e-02 -6.38166103e-04 9.99357314e-01 1.92380067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.99, Y:22.74, Z:19.24 [[ 9.96477464e-01 -7.58359765e-02 -3.57989962e-02 5.40987337e+02] [ 7.58187225e-02 9.97119918e-01 -1.84123534e-03 2.27385658e+01] [ 3.58355241e-02 -8.79484634e-04 9.99357314e-01 1.92405314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.02, Y:22.74, Z:19.24 [[ 9.96225414e-01 -7.90781334e-02 -3.57990628e-02 5.41019779e+02] [ 7.90630165e-02 9.96867922e-01 -1.83994017e-03 2.27392728e+01] [ 3.58324364e-02 -9.97386731e-04 9.99357314e-01 1.92419732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.05, Y:22.74, Z:19.24 [[ 9.95999527e-01 -8.18740495e-02 -3.57991971e-02 5.41051601e+02] [ 8.18608301e-02 9.96642077e-01 -1.83732287e-03 2.27395499e+01] [ 3.58294152e-02 -1.10057928e-03 9.99357314e-01 1.92429334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.08, Y:22.74, Z:19.24 [[ 9.95774167e-01 -8.45707724e-02 -3.57993306e-02 5.41083928e+02] [ 8.45593865e-02 9.96416752e-01 -1.83471758e-03 2.27399317e+01] [ 3.58262163e-02 -1.20020507e-03 9.99357314e-01 1.92437284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.12, Y:22.74, Z:19.24 [[ 9.95384643e-01 -8.90382565e-02 -3.57994631e-02 5.41115251e+02] [ 8.90298472e-02 9.96027274e-01 -1.83212916e-03 2.27392327e+01] [ 3.58203712e-02 -1.36354750e-03 9.99357314e-01 1.92425333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.15, Y:22.74, Z:19.24 [[ 9.95211081e-01 -9.09576586e-02 -3.57995618e-02 5.41147200e+02] [ 9.09505579e-02 9.95853727e-01 -1.83019938e-03 2.27400944e+01] [ 3.58175977e-02 -1.43455541e-03 9.99357314e-01 1.92449378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.18, Y:22.74, Z:19.25 [[ 9.95069695e-01 -9.24915390e-02 -3.57996916e-02 5.41178137e+02] [ 9.24855202e-02 9.95712352e-01 -1.82765550e-03 2.27411372e+01] [ 3.58152378e-02 -1.49230851e-03 9.99357314e-01 1.92456881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.21, Y:22.74, Z:19.25 [[ 9.94943103e-01 -9.38434691e-02 -3.57997882e-02 5.41209769e+02] [ 9.38383915e-02 9.95585769e-01 -1.82576186e-03 2.27424192e+01] [ 3.58130955e-02 -1.54286537e-03 9.99357314e-01 1.92476343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.24, Y:22.74, Z:19.25 [[ 9.94760660e-01 -9.57579983e-02 -3.57999200e-02 5.41241981e+02] [ 9.57542504e-02 9.95403335e-01 -1.82317450e-03 2.27438736e+01] [ 3.58099433e-02 -1.61437223e-03 9.99357314e-01 1.92489732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.27, Y:22.75, Z:19.25 [[ 9.94708196e-01 -9.63014075e-02 -3.58000505e-02 5.41274304e+02] [ 9.62981028e-02 9.95350873e-01 -1.82060837e-03 2.27453998e+01] [ 3.58089387e-02 -1.63650288e-03 9.99357314e-01 1.92498382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.31, Y:22.75, Z:19.25 [[ 9.94718573e-01 -9.61941041e-02 -3.58002129e-02 5.41306537e+02] [ 9.61908450e-02 9.95361250e-01 -1.81740962e-03 2.27468478e+01] [ 3.58089687e-02 -1.63584162e-03 9.99357314e-01 1.92506752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.34, Y:22.75, Z:19.25 [[ 9.94765738e-01 -9.57050745e-02 -3.58003405e-02 5.41338453e+02] [ 9.57015898e-02 9.95408415e-01 -1.81489300e-03 2.27487804e+01] [ 3.58096546e-02 -1.62075612e-03 9.99357314e-01 1.92516894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.37, Y:22.75, Z:19.25 [[ 9.94855955e-01 -9.47626290e-02 -3.58004670e-02 5.41370801e+02] [ 9.47586252e-02 9.95498628e-01 -1.81239417e-03 2.27511030e+01] [ 3.58110630e-02 -1.58933190e-03 9.99357314e-01 1.92530449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.40, Y:22.75, Z:19.25 [[ 9.94970908e-01 -9.35479013e-02 -3.58005929e-02 5.41402976e+02] [ 9.35432023e-02 9.95613576e-01 -1.80990298e-03 2.27539854e+01] [ 3.58128690e-02 -1.54810129e-03 9.99357314e-01 1.92546820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.43, Y:22.76, Z:19.26 [[ 9.95292079e-01 -9.00665631e-02 -3.58007178e-02 5.41434878e+02] [ 9.00597048e-02 9.95934728e-01 -1.80742848e-03 2.27581397e+01] [ 3.58179670e-02 -1.42528283e-03 9.99357314e-01 1.92575976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.47, Y:22.76, Z:19.26 [[ 9.95441899e-01 -8.83952755e-02 -3.58008479e-02 5.41466173e+02] [ 8.83874308e-02 9.96084537e-01 -1.80484845e-03 2.27607306e+01] [ 3.58202111e-02 -1.36772319e-03 9.99357314e-01 1.92576176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.50, Y:22.76, Z:19.26 [[ 9.95579693e-01 -8.68295280e-02 -3.58009447e-02 5.41498432e+02] [ 8.68207416e-02 9.96222319e-01 -1.80292629e-03 2.27635041e+01] [ 3.58222474e-02 -1.31330776e-03 9.99357314e-01 1.92600573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.53, Y:22.77, Z:19.26 [[ 9.95738387e-01 -8.49902816e-02 -3.58010744e-02 5.41530424e+02] [ 8.49804007e-02 9.96380997e-01 -1.80034734e-03 2.27660859e+01] [ 3.58245222e-02 -1.24971469e-03 9.99357314e-01 1.92612095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.56, Y:22.77, Z:19.26 [[ 9.95871211e-01 -8.34194521e-02 -3.58012042e-02 5.41561650e+02] [ 8.34086504e-02 9.96513806e-01 -1.79776235e-03 2.27686660e+01] [ 3.58263626e-02 -1.19579035e-03 9.99357314e-01 1.92619046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.59, Y:22.77, Z:19.26 [[ 9.96118008e-01 -8.04187877e-02 -3.58013009e-02 5.41592527e+02] [ 8.04061192e-02 9.96760569e-01 -1.79583512e-03 2.27722105e+01] [ 3.58297439e-02 -1.08977996e-03 9.99357314e-01 1.92617168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.62, Y:22.77, Z:19.27 [[ 9.96231663e-01 -7.89983116e-02 -3.58013950e-02 5.41624804e+02] [ 7.89847944e-02 9.96874207e-01 -1.79395581e-03 2.27747096e+01] [ 3.58312068e-02 -1.04057025e-03 9.99357314e-01 1.92660736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.66, Y:22.78, Z:19.27 [[ 9.96395869e-01 -7.68994343e-02 -3.58015271e-02 5.41656918e+02] [ 7.68846583e-02 9.97038385e-01 -1.79131624e-03 2.27786021e+01] [ 3.58332480e-02 -9.67728080e-04 9.99357314e-01 1.92678828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.69, Y:22.78, Z:19.27 [[ 9.96465837e-01 -7.59873532e-02 -3.58016582e-02 5.41688465e+02] [ 7.59720833e-02 9.97108341e-01 -1.78869285e-03 2.27812823e+01] [ 3.58340500e-02 -9.37555244e-04 9.99357314e-01 1.92685173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.72, Y:22.78, Z:19.27 [[ 9.96527266e-01 -7.51774070e-02 -3.58017556e-02 5.41720723e+02] [ 7.51616849e-02 9.97169759e-01 -1.78674131e-03 2.27837764e+01] [ 3.58347506e-02 -9.10383835e-04 9.99357314e-01 1.92714312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.75, Y:22.79, Z:19.27 [[ 9.96566954e-01 -7.46493844e-02 -3.58018858e-02 5.41753006e+02] [ 7.46334157e-02 9.97209441e-01 -1.78412746e-03 2.27858239e+01] [ 3.58351626e-02 -8.94014558e-04 9.99357314e-01 1.92727887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.78, Y:22.79, Z:19.27 [[ 9.96560400e-01 -7.47367712e-02 -3.58020156e-02 5.41783858e+02] [ 7.47209525e-02 9.97202891e-01 -1.78151975e-03 2.27876994e+01] [ 3.58350185e-02 -8.99768669e-04 9.99357314e-01 1.92731849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.82, Y:22.79, Z:19.27 [[ 9.96549965e-01 -7.48757417e-02 -3.58021121e-02 5.41815682e+02] [ 7.48600823e-02 9.97192459e-01 -1.77957815e-03 2.27894405e+01] [ 3.58348434e-02 -9.06710517e-04 9.99357314e-01 1.92744131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.85, Y:22.79, Z:19.27 [[ 9.96499996e-01 -7.55377946e-02 -3.58022425e-02 5.41847269e+02] [ 7.55226564e-02 9.97142503e-01 -1.77695075e-03 2.27914591e+01] [ 3.58341646e-02 -9.33149044e-04 9.99357314e-01 1.92749019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.88, Y:22.79, Z:19.28 [[ 9.96434031e-01 -7.64029725e-02 -3.58023395e-02 5.41879161e+02] [ 7.63884624e-02 9.97076553e-01 -1.77499375e-03 2.27933828e+01] [ 3.58332881e-02 -9.66221486e-04 9.99357314e-01 1.92759007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.91, Y:22.80, Z:19.28 [[ 9.96191045e-01 -7.95083949e-02 -3.58024653e-02 5.41911264e+02] [ 7.94959788e-02 9.96833611e-01 -1.77245312e-03 2.27957832e+01] [ 3.58300257e-02 -1.08045009e-03 9.99357314e-01 1.92773586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.94, Y:22.80, Z:19.28 [[ 9.96032704e-01 -8.14679452e-02 -3.58025934e-02 5.41943507e+02] [ 8.14568862e-02 9.96675295e-01 -1.76986228e-03 2.27973526e+01] [ 3.58277473e-02 -1.15352706e-03 9.99357314e-01 1.92782996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.97, Y:22.80, Z:19.28 [[ 9.95799871e-01 -8.42661403e-02 -3.58027223e-02 5.41974792e+02] [ 8.42569806e-02 9.96442491e-01 -1.76725060e-03 2.27987545e+01] [ 3.58242732e-02 -1.25680136e-03 9.99357314e-01 1.92781050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.01, Y:22.80, Z:19.28 [[ 9.95530550e-01 -8.73904056e-02 -3.58028184e-02 5.42006360e+02] [ 8.73833324e-02 9.96173196e-01 -1.76530088e-03 2.27999184e+01] [ 3.58200784e-02 -1.37115862e-03 9.99357314e-01 1.92784128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.04, Y:22.80, Z:19.28 [[ 9.94865373e-01 -9.46627338e-02 -3.58030213e-02 5.42038981e+02] [ 9.46605049e-02 9.95508055e-01 -1.76117747e-03 2.28012270e+01] [ 3.58089139e-02 -1.63699759e-03 9.99357314e-01 1.92798587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.07, Y:22.80, Z:19.28 [[ 9.94507670e-01 -9.83495227e-02 -3.58031501e-02 5.42071754e+02] [ 9.83497701e-02 9.95150356e-01 -1.75855368e-03 2.28030142e+01] [ 3.58024705e-02 -1.77233646e-03 9.99357314e-01 1.92809424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.10, Y:22.80, Z:19.28 [[ 9.94177671e-01 -1.01631090e-01 -3.58033445e-02 5.42103546e+02] [ 1.01633601e-01 9.94820352e-01 -1.75458781e-03 2.28049164e+01] [ 3.57962164e-02 -1.89445080e-03 9.99357314e-01 1.92816965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.14, Y:22.81, Z:19.28 [[ 9.93670880e-01 -1.06472020e-01 -3.58035052e-02 5.42136408e+02] [ 1.06477779e-01 9.94313540e-01 -1.75130223e-03 2.28075713e+01] [ 3.57863747e-02 -2.07205966e-03 9.99357314e-01 1.92826522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.17, Y:22.81, Z:19.28 [[ 9.93531774e-01 -1.07762284e-01 -3.58036933e-02 5.42169265e+02] [ 1.07769016e-01 9.94174424e-01 -1.74744873e-03 2.28097862e+01] [ 3.57834252e-02 -2.12238295e-03 9.99357314e-01 1.92838719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.20, Y:22.81, Z:19.28 [[ 9.93441777e-01 -1.08588756e-01 -3.58038830e-02 5.42201253e+02] [ 1.08596163e-01 9.94084420e-01 -1.74355251e-03 2.28121643e+01] [ 3.57814125e-02 -2.15604640e-03 9.99357314e-01 1.92844942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.23, Y:22.81, Z:19.29 [[ 9.93371150e-01 -1.09232915e-01 -3.58040399e-02 5.42233701e+02] [ 1.09240854e-01 9.94013786e-01 -1.74032431e-03 2.28148580e+01] [ 3.57798100e-02 -2.18247594e-03 9.99357314e-01 1.92865582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.27, Y:22.82, Z:19.29 [[ 9.93383206e-01 -1.09123179e-01 -3.58041674e-02 5.42267185e+02] [ 1.09131142e-01 9.94025842e-01 -1.73769706e-03 2.28163971e+01] [ 3.57798907e-02 -2.18115059e-03 9.99357314e-01 1.92877597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.30, Y:22.82, Z:19.29 [[ 9.93424914e-01 -1.08742757e-01 -3.58043589e-02 5.42298642e+02] [ 1.08750616e-01 9.94067552e-01 -1.73374270e-03 2.28203280e+01] [ 3.57804834e-02 -2.17140288e-03 9.99357314e-01 1.92893295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.33, Y:22.82, Z:19.29 [[ 9.93506237e-01 -1.07997214e-01 -3.58044536e-02 5.42331962e+02] [ 1.08004660e-01 9.94148879e-01 -1.73178581e-03 2.28233664e+01] [ 3.57819854e-02 -2.14650782e-03 9.99357314e-01 1.92908684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.36, Y:22.83, Z:19.29 [[ 9.93602385e-01 -1.07108956e-01 -3.58046407e-02 5.42363460e+02] [ 1.07115967e-01 9.94245032e-01 -1.72790889e-03 2.28263151e+01] [ 3.57836606e-02 -2.11839432e-03 9.99357314e-01 1.92917861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.40, Y:22.83, Z:19.29 [[ 9.93677696e-01 -1.06407958e-01 -3.58047952e-02 5.42396389e+02] [ 1.06414631e-01 9.94320347e-01 -1.72469965e-03 2.28293911e+01] [ 3.57849582e-02 -2.09635849e-03 9.99357315e-01 1.92927152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.43, Y:22.83, Z:19.29 [[ 9.93785404e-01 -1.05397221e-01 -3.58049796e-02 5.42429422e+02] [ 1.05403378e-01 9.94428060e-01 -1.72086336e-03 2.28322491e+01] [ 3.57868506e-02 -2.06379691e-03 9.99357315e-01 1.92934388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.46, Y:22.84, Z:19.29 [[ 9.94020672e-01 -1.03154709e-01 -3.58051682e-02 5.42460958e+02] [ 1.03159557e-01 9.94663339e-01 -1.71693102e-03 2.28370639e+01] [ 3.57911977e-02 -1.98698038e-03 9.99357315e-01 1.92938269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.49, Y:22.84, Z:19.29 [[ 9.94170731e-01 -1.01698205e-01 -3.58054777e-02 5.42492723e+02] [ 1.01702344e-01 9.94813403e-01 -1.71045099e-03 2.28401273e+01] [ 3.57937190e-02 -1.94102070e-03 9.99357315e-01 1.92945573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.53, Y:22.84, Z:19.30 [[ 9.94327625e-01 -1.00152537e-01 -3.58056310e-02 5.42525157e+02] [ 1.00155793e-01 9.94970302e-01 -1.70723727e-03 2.28433762e+01] [ 3.57965236e-02 -1.88858817e-03 9.99357315e-01 1.92954322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.56, Y:22.85, Z:19.30 [[ 9.94724103e-01 -9.61348133e-02 -3.58058142e-02 5.42556803e+02] [ 9.61356108e-02 9.95366788e-01 -1.70338559e-03 2.28483167e+01] [ 3.58036729e-02 -1.74781512e-03 9.99357315e-01 1.92962471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.59, Y:22.85, Z:19.30 [[ 9.94971903e-01 -9.35352568e-02 -3.58059654e-02 5.42590011e+02] [ 9.35344893e-02 9.95614588e-01 -1.70020106e-03 2.28521642e+01] [ 3.58079703e-02 -1.65744041e-03 9.99357315e-01 1.92972048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.62, Y:22.86, Z:19.30 [[ 9.95253107e-01 -9.04940508e-02 -3.58061482e-02 5.42621947e+02] [ 9.04914577e-02 9.95895787e-01 -1.69634361e-03 2.28561697e+01] [ 3.58127011e-02 -1.55185929e-03 9.99357315e-01 1.92987721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.65, Y:22.86, Z:19.30 [[ 9.95830230e-01 -8.39050121e-02 -3.58064486e-02 5.42654952e+02] [ 8.38983940e-02 9.96472881e-01 -1.68997776e-03 2.28624706e+01] [ 3.58219526e-02 -1.32117260e-03 9.99357315e-01 1.93005781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.69, Y:22.87, Z:19.30 [[ 9.96110995e-01 -8.05032385e-02 -3.58066348e-02 5.42687895e+02] [ 8.04945675e-02 9.96753621e-01 -1.68602437e-03 2.28661898e+01] [ 3.58261233e-02 -1.20277217e-03 9.99357315e-01 1.93016505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.72, Y:22.87, Z:19.30 [[ 9.96407476e-01 -7.67464194e-02 -3.58068219e-02 5.42720895e+02] [ 7.67354681e-02 9.97050068e-01 -1.68204175e-03 2.28696044e+01] [ 3.58302849e-02 -1.07165427e-03 9.99357315e-01 1.93027968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.75, Y:22.88, Z:19.30 [[ 9.96919159e-01 -6.97857327e-02 -3.58070074e-02 5.42752801e+02] [ 6.97704360e-02 9.97561662e-01 -1.67808275e-03 2.28755988e+01] [ 3.58368041e-02 -8.25357669e-04 9.99357315e-01 1.93036884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.79, Y:22.88, Z:19.30 [[ 9.97150276e-01 -6.64016197e-02 -3.58071605e-02 5.42785070e+02] [ 6.63842599e-02 9.97792727e-01 -1.67480882e-03 2.28790770e+01] [ 3.58393344e-02 -7.06995780e-04 9.99357315e-01 1.93043925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.82, Y:22.88, Z:19.31 [[ 9.97337561e-01 -6.35266001e-02 -3.58072793e-02 5.42817398e+02] [ 6.35074794e-02 9.97979962e-01 -1.67226679e-03 2.28825269e+01] [ 3.58411806e-02 -6.06215571e-04 9.99357315e-01 1.93051945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.85, Y:22.89, Z:19.31 [[ 9.97627951e-01 -5.87903191e-02 -3.58074011e-02 5.42848852e+02] [ 5.87682422e-02 9.98270257e-01 -1.66965394e-03 2.28872893e+01] [ 3.58436230e-02 -4.38644582e-04 9.99357315e-01 1.93059781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.88, Y:22.89, Z:19.31 [[ 9.97720842e-01 -5.71921812e-02 -3.58074917e-02 5.42880507e+02] [ 5.71691452e-02 9.98363114e-01 -1.66770854e-03 2.28900888e+01] [ 3.58442588e-02 -3.83176127e-04 9.99357315e-01 1.93066700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.91, Y:22.89, Z:19.31 [[ 9.97783395e-01 -5.60902448e-02 -3.58075510e-02 5.42911176e+02] [ 5.60665452e-02 9.98425643e-01 -1.66643418e-03 2.28923665e+01] [ 3.58446478e-02 -3.44865325e-04 9.99357315e-01 1.93078128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.94, Y:22.89, Z:19.31 [[ 9.97822638e-01 -5.53876832e-02 -3.58076517e-02 5.42942116e+02] [ 5.53636091e-02 9.98464872e-01 -1.66426837e-03 2.28947319e+01] [ 3.58448623e-02 -3.21796177e-04 9.99357315e-01 1.93089744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.97, Y:22.90, Z:19.31 [[ 9.97831387e-01 -5.52298054e-02 -3.58077099e-02 5.42973022e+02] [ 5.52056747e-02 9.98473619e-01 -1.66301497e-03 2.28977066e+01] [ 3.58449017e-02 -3.17380254e-04 9.99357315e-01 1.93103303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.00, Y:22.90, Z:19.31 [[ 9.97811593e-01 -5.55862233e-02 -3.58077697e-02 5.43004794e+02] [ 5.55623682e-02 9.98453836e-01 -1.66172592e-03 2.28996928e+01] [ 3.58447741e-02 -3.31475098e-04 9.99357315e-01 1.93115687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.04, Y:22.90, Z:19.31 [[ 9.97766901e-01 -5.63827024e-02 -3.58078605e-02 5.43036166e+02] [ 5.63594303e-02 9.98409165e-01 -1.65976614e-03 2.29016386e+01] [ 3.58444782e-02 -3.62050903e-04 9.99357315e-01 1.93134429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.07, Y:22.90, Z:19.31 [[ 9.97620377e-01 -5.89183692e-02 -3.58079510e-02 5.43067842e+02] [ 5.88967996e-02 9.98262700e-01 -1.65781178e-03 2.29033762e+01] [ 3.58434174e-02 -4.55106904e-04 9.99357315e-01 1.93129262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.10, Y:22.90, Z:19.31 [[ 9.97510778e-01 -6.07456501e-02 -3.58080096e-02 5.43100197e+02] [ 6.07253026e-02 9.98153141e-01 -1.65654495e-03 2.29046824e+01] [ 3.58425052e-02 -5.22030779e-04 9.99357315e-01 1.93134377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.13, Y:22.91, Z:19.31 [[ 9.97381356e-01 -6.28347671e-02 -3.58081280e-02 5.43132352e+02] [ 6.28158571e-02 9.98023763e-01 -1.65398202e-03 2.29057308e+01] [ 3.58412902e-02 -5.99667419e-04 9.99357315e-01 1.93137232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.16, Y:22.91, Z:19.31 [[ 9.97011704e-01 -6.84502046e-02 -3.58082484e-02 5.43163339e+02] [ 6.84350061e-02 9.97654210e-01 -1.65137135e-03 2.29062805e+01] [ 3.58372865e-02 -8.04101139e-04 9.99357315e-01 1.93142655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.20, Y:22.91, Z:19.31 [[ 9.96793935e-01 -7.15514776e-02 -3.58083381e-02 5.43195919e+02] [ 7.15383478e-02 9.97436486e-01 -1.64942403e-03 2.29071559e+01] [ 3.58345617e-02 -9.17533479e-04 9.99357315e-01 1.93141356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.23, Y:22.91, Z:19.32 [[ 9.96539998e-01 -7.50052410e-02 -3.58084606e-02 5.43227572e+02] [ 7.49944336e-02 9.97182593e-01 -1.64676000e-03 2.29080807e+01] [ 3.58310892e-02 -1.04437301e-03 9.99357315e-01 1.93151924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.26, Y:22.91, Z:19.32 [[ 9.95975883e-01 -8.21570889e-02 -3.58085517e-02 5.43260871e+02] [ 8.21509660e-02 9.96618540e-01 -1.64477785e-03 2.29083807e+01] [ 3.58225966e-02 -1.30354804e-03 9.99357315e-01 1.93150655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.29, Y:22.91, Z:19.32 [[ 9.95695007e-01 -8.54937880e-02 -3.58087321e-02 5.43293083e+02] [ 8.54899597e-02 9.96337681e-01 -1.64083961e-03 2.29090810e+01] [ 3.58178707e-02 -1.42751126e-03 9.99357315e-01 1.93166610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.33, Y:22.91, Z:19.32 [[ 9.95476524e-01 -8.80012119e-02 -3.58088816e-02 5.43326343e+02] [ 8.79991197e-02 9.96119206e-01 -1.63757047e-03 2.29092630e+01] [ 3.58140229e-02 -1.52098710e-03 9.99357315e-01 1.93165379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.36, Y:22.91, Z:19.32 [[ 9.95310372e-01 -8.98608638e-02 -3.58090540e-02 5.43359323e+02] [ 8.98601079e-02 9.95953057e-01 -1.63379199e-03 2.29075116e+01] [ 3.58109508e-02 -1.59167534e-03 9.99357315e-01 1.93160333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.39, Y:22.91, Z:19.32 [[ 9.95330746e-01 -8.96348394e-02 -3.58092326e-02 5.43391997e+02] [ 8.96340784e-02 9.95973431e-01 -1.62986802e-03 2.29083584e+01] [ 3.58111372e-02 -1.58746981e-03 9.99357315e-01 1.93173612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.42, Y:22.91, Z:19.32 [[ 9.95333430e-01 -8.96049585e-02 -3.58094110e-02 5.43423762e+02] [ 8.96043193e-02 9.95976115e-01 -1.62594023e-03 2.29094965e+01] [ 3.58110103e-02 -1.59032522e-03 9.99357315e-01 1.93191870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.46, Y:22.91, Z:19.32 [[ 9.95325383e-01 -8.96942528e-02 -3.58095286e-02 5.43455603e+02] [ 8.96937644e-02 9.95968068e-01 -1.62334530e-03 2.29107137e+01] [ 3.58107518e-02 -1.59613464e-03 9.99357315e-01 1.93208944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.49, Y:22.91, Z:19.32 [[ 9.95383187e-01 -8.90504339e-02 -3.58096455e-02 5.43488034e+02] [ 8.90496226e-02 9.96025872e-01 -1.62076218e-03 2.29110845e+01] [ 3.58116630e-02 -1.57555600e-03 9.99357315e-01 1.93224300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.52, Y:22.91, Z:19.32 [[ 9.95409892e-01 -8.87513823e-02 -3.58097613e-02 5.43520808e+02] [ 8.87504700e-02 9.96052577e-01 -1.61819913e-03 2.29112932e+01] [ 3.58120225e-02 -1.56736172e-03 9.99357315e-01 1.93225039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.55, Y:22.91, Z:19.32 [[ 9.95449656e-01 -8.83041987e-02 -3.58099373e-02 5.43552637e+02] [ 8.83031378e-02 9.96092340e-01 -1.61429520e-03 2.29113123e+01] [ 3.58125533e-02 -1.55518022e-03 9.99357315e-01 1.93224957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.58, Y:22.91, Z:19.32 [[ 9.95485216e-01 -8.79023520e-02 -3.58100832e-02 5.43584560e+02] [ 8.79011481e-02 9.96127900e-01 -1.61105268e-03 2.29114171e+01] [ 3.58130383e-02 -1.54396830e-03 9.99357315e-01 1.93221838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.62, Y:22.91, Z:19.32 [[ 9.95551759e-01 -8.71454284e-02 -3.58102005e-02 5.43615345e+02] [ 8.71438297e-02 9.96194442e-01 -1.60844046e-03 2.29116453e+01] [ 3.58140910e-02 -1.51935229e-03 9.99357315e-01 1.93211237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.65, Y:22.91, Z:19.32 [[ 9.95616087e-01 -8.64073633e-02 -3.58102589e-02 5.43647402e+02] [ 8.64053348e-02 9.96258769e-01 -1.60713875e-03 2.29129571e+01] [ 3.58151531e-02 -1.49410422e-03 9.99357315e-01 1.93212935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.68, Y:22.91, Z:19.32 [[ 9.95710483e-01 -8.53126719e-02 -3.58103727e-02 5.43680323e+02] [ 8.53100279e-02 9.96353163e-01 -1.60460072e-03 2.29144899e+01] [ 3.58166708e-02 -1.45726613e-03 9.99357315e-01 1.93216917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.71, Y:22.92, Z:19.32 [[ 9.95972687e-01 -8.21949597e-02 -3.58105441e-02 5.43712062e+02] [ 8.21904414e-02 9.96615357e-01 -1.60076544e-03 2.29160755e+01] [ 3.58209130e-02 -1.34896577e-03 9.99357315e-01 1.93223520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.74, Y:22.92, Z:19.32 [[ 9.96149550e-01 -8.00229263e-02 -3.58106858e-02 5.43744945e+02] [ 8.00171206e-02 9.96792209e-01 -1.59758912e-03 2.29174424e+01] [ 3.58236564e-02 -1.27403029e-03 9.99357315e-01 1.93234229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.78, Y:22.92, Z:19.32 [[ 9.96348870e-01 -7.75016915e-02 -3.58108532e-02 5.43777773e+02] [ 7.74943945e-02 9.96991514e-01 -1.59382910e-03 2.29191045e+01] [ 3.58266412e-02 -1.18713056e-03 9.99357315e-01 1.93246515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.81, Y:22.92, Z:19.33 [[ 9.96547971e-01 -7.48980063e-02 -3.58110252e-02 5.43809792e+02] [ 7.48891691e-02 9.97190596e-01 -1.58995520e-03 2.29210813e+01] [ 3.58295020e-02 -1.09739129e-03 9.99357315e-01 1.93258212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.84, Y:22.92, Z:19.33 [[ 9.97017160e-01 -6.83691802e-02 -3.58111390e-02 5.43840453e+02] [ 6.83562263e-02 9.97659715e-01 -1.58738720e-03 2.29239327e+01] [ 3.58358591e-02 -8.65262048e-04 9.99357315e-01 1.93277060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.87, Y:22.93, Z:19.33 [[ 9.97243290e-01 -6.49874561e-02 -3.58113279e-02 5.43872684e+02] [ 6.49724765e-02 9.97885801e-01 -1.58311485e-03 2.29262922e+01] [ 3.58384982e-02 -7.47999992e-04 9.99357315e-01 1.93291178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.90, Y:22.93, Z:19.33 [[ 9.97482546e-01 -6.12054771e-02 -3.58114400e-02 5.43903494e+02] [ 6.11881524e-02 9.98124998e-01 -1.58057464e-03 2.29282620e+01] [ 3.58410333e-02 -6.14640229e-04 9.99357315e-01 1.93302744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.93, Y:22.93, Z:19.33 [[ 9.97920080e-01 -5.36008212e-02 -3.58115232e-02 5.43934360e+02] [ 5.35786680e-02 9.98562384e-01 -1.57868547e-03 2.29306542e+01] [ 3.58446589e-02 -3.43331779e-04 9.99357315e-01 1.93312970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.96, Y:22.93, Z:19.33 [[ 9.98127270e-01 -4.95931769e-02 -3.58115804e-02 5.43963381e+02] [ 4.95684912e-02 9.98769481e-01 -1.57738875e-03 2.29322884e+01] [ 3.58457413e-02 -2.00691282e-04 9.99357315e-01 1.93323766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.99, Y:22.93, Z:19.33 [[ 9.98320957e-01 -4.55280050e-02 -3.58115521e-02 5.43992697e+02] [ 4.55006811e-02 9.98963061e-01 -1.57803064e-03 2.29339905e+01] [ 3.58462623e-02 -5.40689512e-05 9.99357315e-01 1.93335600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.02, Y:22.94, Z:19.33 [[ 9.98497088e-01 -4.14861630e-02 -3.58114951e-02 5.44021373e+02] [ 4.14561937e-02 9.99139074e-01 -1.57932206e-03 2.29355743e+01] [ 3.58461841e-02 9.23401989e-05 9.99357315e-01 1.93348072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.05, Y:22.94, Z:19.34 [[ 9.98780798e-01 -3.39773459e-02 -3.58114103e-02 5.44049430e+02] [ 3.39424814e-02 9.99422537e-01 -1.58124409e-03 2.29369106e+01] [ 3.58444570e-02 3.63788110e-04 9.99357315e-01 1.93363910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.08, Y:22.94, Z:19.34 [[ 9.98888719e-01 -3.06415218e-02 -3.58109586e-02 5.44077742e+02] [ 3.06041499e-02 9.99530316e-01 -1.59140860e-03 2.29381921e+01] [ 3.58429019e-02 4.93676152e-04 9.99357315e-01 1.93374115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.10, Y:22.94, Z:19.34 [[ 9.98980611e-01 -2.74835669e-02 -3.58105030e-02 5.44104614e+02] [ 2.74438019e-02 9.99622065e-01 -1.60159436e-03 2.29389728e+01] [ 3.58409865e-02 6.17185362e-04 9.99357315e-01 1.93382025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.13, Y:22.94, Z:19.34 [[ 9.99046116e-01 -2.49896039e-02 -3.58103053e-02 5.44131679e+02] [ 2.49480798e-02 9.99687458e-01 -1.60600330e-03 2.29396070e+01] [ 3.58392465e-02 7.11073008e-04 9.99357315e-01 1.93386917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.16, Y:22.94, Z:19.34 [[ 9.99117571e-01 -2.19480104e-02 -3.58101107e-02 5.44159619e+02] [ 2.19043789e-02 9.99758773e-01 -1.61033086e-03 2.29382020e+01] [ 3.58368159e-02 8.24511623e-04 9.99357315e-01 1.93383588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.19, Y:22.94, Z:19.34 [[ 9.99119120e-01 -2.18781379e-02 -3.58096598e-02 5.44187215e+02] [ 2.18341046e-02 9.99760295e-01 -1.62029503e-03 2.29376219e+01] [ 3.58365251e-02 8.36995888e-04 9.99357315e-01 1.93382997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.22, Y:22.94, Z:19.34 [[ 9.99106301e-01 -2.24566224e-02 -3.58092014e-02 5.44215383e+02] [ 2.24125997e-02 9.99747477e-01 -1.63036358e-03 2.29370221e+01] [ 3.58367712e-02 8.26329231e-04 9.99357315e-01 1.93382411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.24, Y:22.93, Z:19.34 [[ 9.99034453e-01 -2.54537899e-02 -3.58087438e-02 5.44244780e+02] [ 2.54113329e-02 9.99675734e-01 -1.64035403e-03 2.29341914e+01] [ 3.58388854e-02 7.28822285e-04 9.99357315e-01 1.93375666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.27, Y:22.94, Z:19.34 [[ 9.99027365e-01 -2.57310366e-02 -3.58083436e-02 5.44273116e+02] [ 2.56884462e-02 9.99668637e-01 -1.64904449e-03 2.29355659e+01] [ 3.58389096e-02 7.27579861e-04 9.99357315e-01 1.93385872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.30, Y:22.93, Z:19.34 [[ 9.98956923e-01 -2.83348094e-02 -3.58078834e-02 5.44301427e+02] [ 2.82935346e-02 9.99598281e-01 -1.65897696e-03 2.29348287e+01] [ 3.58405055e-02 6.44114926e-04 9.99357315e-01 1.93391205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.33, Y:22.93, Z:19.34 [[ 9.98863951e-01 -3.14425673e-02 -3.58074235e-02 5.44329840e+02] [ 3.14029345e-02 9.99505413e-01 -1.66884399e-03 2.29340110e+01] [ 3.58421864e-02 5.42489932e-04 9.99357315e-01 1.93402715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.36, Y:22.93, Z:19.34 [[ 9.98625796e-01 -3.82672516e-02 -3.58069549e-02 5.44357764e+02] [ 3.82316445e-02 9.99267493e-01 -1.67883882e-03 2.29302349e+01] [ 3.58449706e-02 3.07572984e-04 9.99357315e-01 1.93420146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.39, Y:22.93, Z:19.34 [[ 9.98469721e-01 -4.21439576e-02 -3.58064776e-02 5.44385919e+02] [ 4.21104792e-02 9.99111533e-01 -1.68895843e-03 2.29288992e+01] [ 3.58458441e-02 1.78545920e-04 9.99357315e-01 1.93444202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.41, Y:22.93, Z:19.35 [[ 9.98289938e-01 -4.62074841e-02 -3.58059779e-02 5.44413894e+02] [ 4.61762407e-02 9.98931863e-01 -1.69948583e-03 2.29273698e+01] [ 3.58462612e-02 4.31941522e-05 9.99357315e-01 1.93459639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.44, Y:22.92, Z:19.35 [[ 9.97922512e-01 -5.35595791e-02 -3.58054771e-02 5.44440620e+02] [ 5.35326886e-02 9.98564633e-01 -1.70997288e-03 2.29224922e+01] [ 3.58456685e-02 -2.10343027e-04 9.99357315e-01 1.93475881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.47, Y:22.92, Z:19.35 [[ 9.97711284e-01 -5.73601534e-02 -3.58051314e-02 5.44469000e+02] [ 5.73354502e-02 9.98353493e-01 -1.71718068e-03 2.29206724e+01] [ 3.58446758e-02 -3.39652789e-04 9.99357315e-01 1.93485911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.50, Y:22.92, Z:19.35 [[ 9.97593032e-01 -5.93815196e-02 -3.58047138e-02 5.44497211e+02] [ 5.93578068e-02 9.98235279e-01 -1.72584352e-03 2.29191266e+01] [ 3.58440117e-02 -4.03599813e-04 9.99357315e-01 1.93505613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.53, Y:22.91, Z:19.35 [[ 9.97134204e-01 -6.66498656e-02 -3.57935027e-02 5.44528212e+02] [ 6.66225157e-02 9.97776332e-01 -1.95759717e-03 2.29148515e+01] [ 3.58443834e-02 -4.32666102e-04 9.99357290e-01 1.93504740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.56, Y:22.91, Z:19.35 [[ 9.96992083e-01 -6.87373787e-02 -3.58044662e-02 5.44557388e+02] [ 6.87195133e-02 9.97634519e-01 -1.73081902e-03 2.29136050e+01] [ 3.58387434e-02 -7.34852632e-04 9.99357316e-01 1.93514702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.59, Y:22.91, Z:19.35 [[ 9.96809727e-01 -7.13355013e-02 -3.57996545e-02 5.44587618e+02] [ 7.13157480e-02 9.97452112e-01 -1.83004847e-03 2.29124097e+01] [ 3.58389884e-02 -7.28869023e-04 9.99357311e-01 1.93522266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.62, Y:22.91, Z:19.35 [[ 9.96678956e-01 -7.31376882e-02 -3.58041434e-02 5.44619157e+02] [ 7.31224171e-02 9.97321459e-01 -1.73755203e-03 2.29115201e+01] [ 3.58353211e-02 -8.86303968e-04 9.99357316e-01 1.93527116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.65, Y:22.91, Z:19.35 [[ 9.96554467e-01 -7.48147912e-02 -3.58042044e-02 5.44650045e+02] [ 7.48006465e-02 9.97196996e-01 -1.73629422e-03 2.29107911e+01] [ 3.58337456e-02 -9.47865872e-04 9.99357316e-01 1.93526317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.68, Y:22.91, Z:19.35 [[ 9.96281203e-01 -7.83697779e-02 -3.58042347e-02 5.44681613e+02] [ 7.83579481e-02 9.96923778e-01 -1.73566915e-03 2.29086528e+01] [ 3.58301169e-02 -1.07633182e-03 9.99357316e-01 1.93517966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.71, Y:22.91, Z:19.35 [[ 9.96151973e-01 -7.99956223e-02 -3.58042943e-02 5.44712620e+02] [ 7.99848854e-02 9.96794568e-01 -1.73443789e-03 2.29085879e+01] [ 3.58282735e-02 -1.13603866e-03 9.99357316e-01 1.93520825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.74, Y:22.91, Z:19.35 [[ 9.95845142e-01 -8.37287396e-02 -3.58043542e-02 5.44743661e+02] [ 8.37204557e-02 9.96487773e-01 -1.73320063e-03 2.29071197e+01] [ 3.58237199e-02 -1.27155743e-03 9.99357316e-01 1.93511970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.78, Y:22.91, Z:19.35 [[ 9.95699302e-01 -8.54455632e-02 -3.58044136e-02 5.44776269e+02] [ 8.54384314e-02 9.96341947e-01 -1.73197369e-03 2.29073577e+01] [ 3.58214286e-02 -1.33454794e-03 9.99357316e-01 1.93536349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.81, Y:22.91, Z:19.35 [[ 9.95567682e-01 -8.69656561e-02 -3.58045402e-02 5.44807323e+02] [ 8.69595996e-02 9.96210338e-01 -1.72935234e-03 2.29078602e+01] [ 3.58192474e-02 -1.39186118e-03 9.99357316e-01 1.93528868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.84, Y:22.91, Z:19.35 [[ 9.95471039e-01 -8.80649166e-02 -3.58047529e-02 5.44838629e+02] [ 8.80597283e-02 9.96113703e-01 -1.72493772e-03 2.29082333e+01] [ 3.58175115e-02 -1.43583126e-03 9.99357316e-01 1.93531835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.87, Y:22.91, Z:19.36 [[ 9.95317281e-01 -8.97859847e-02 -3.58048407e-02 5.44870394e+02] [ 8.97819730e-02 9.95959953e-01 -1.72311280e-03 2.29091039e+01] [ 3.58148988e-02 -1.49958529e-03 9.99357316e-01 1.93568751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.90, Y:22.91, Z:19.36 [[ 9.95274716e-01 -9.02565497e-02 -3.58049632e-02 5.44902351e+02] [ 9.02529334e-02 9.95917390e-01 -1.72056376e-03 2.29108205e+01] [ 3.58140776e-02 -1.51906935e-03 9.99357316e-01 1.93593757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.93, Y:22.91, Z:19.36 [[ 9.95255901e-01 -9.04637340e-02 -3.58050880e-02 5.44933739e+02] [ 9.04603450e-02 9.95898576e-01 -1.71796195e-03 2.29125372e+01] [ 3.58136495e-02 -1.52912885e-03 9.99357316e-01 1.93602032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.97, Y:22.91, Z:19.36 [[ 9.95215054e-01 -9.09119645e-02 -3.58051810e-02 5.44965605e+02] [ 9.09089346e-02 9.95857731e-01 -1.71602204e-03 2.29144127e+01] [ 3.58128733e-02 -1.54719990e-03 9.99357316e-01 1.93624526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.00, Y:22.92, Z:19.36 [[ 9.95185419e-01 -9.12357509e-02 -3.58053013e-02 5.44998088e+02] [ 9.12330203e-02 9.95828098e-01 -1.71350741e-03 2.29159004e+01] [ 3.58122583e-02 -1.56136820e-03 9.99357316e-01 1.93641827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.03, Y:22.92, Z:19.37 [[ 9.95106773e-01 -9.20895383e-02 -3.58054224e-02 5.45030052e+02] [ 9.20874501e-02 9.95749453e-01 -1.71097448e-03 2.29176041e+01] [ 3.58107926e-02 -1.59462775e-03 9.99357316e-01 1.93663111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.06, Y:22.92, Z:19.37 [[ 9.94966025e-01 -9.35979304e-02 -3.58055457e-02 5.45062537e+02] [ 9.35969093e-02 9.95608708e-01 -1.70839028e-03 2.29189252e+01] [ 3.58082149e-02 -1.65149813e-03 9.99357316e-01 1.93688051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.09, Y:22.92, Z:19.37 [[ 9.94915942e-01 -9.41287542e-02 -3.58056701e-02 5.45093219e+02] [ 9.41281697e-02 9.95558626e-01 -1.70577838e-03 2.29202572e+01] [ 3.58072065e-02 -1.67321609e-03 9.99357316e-01 1.93700408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.13, Y:22.92, Z:19.37 [[ 9.94916077e-01 -9.41272942e-02 -3.58057628e-02 5.45125671e+02] [ 9.41267787e-02 9.95558761e-01 -1.70383038e-03 2.29218097e+01] [ 3.58071178e-02 -1.67511287e-03 9.99357316e-01 1.93718512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.16, Y:22.92, Z:19.37 [[ 9.95038431e-01 -9.28248850e-02 -3.58058845e-02 5.45156561e+02] [ 9.28236203e-02 9.95681114e-01 -1.70126841e-03 2.29237858e+01] [ 3.58091631e-02 -1.63080438e-03 9.99357316e-01 1.93736348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.19, Y:22.93, Z:19.38 [[ 9.95205164e-01 -9.10198580e-02 -3.58059751e-02 5.45188433e+02] [ 9.10174961e-02 9.95847844e-01 -1.69936003e-03 2.29257218e+01] [ 3.58119786e-02 -1.56775832e-03 9.99357316e-01 1.93750374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.22, Y:22.93, Z:19.38 [[ 9.95409886e-01 -8.87529330e-02 -3.58060953e-02 5.45220156e+02] [ 8.87491984e-02 9.96052559e-01 -1.69682364e-03 2.29282017e+01] [ 3.58153509e-02 -1.48872723e-03 9.99357316e-01 1.93763500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.25, Y:22.93, Z:19.38 [[ 9.95981832e-01 -8.20859657e-02 -3.58062165e-02 5.45252402e+02] [ 8.20780200e-02 9.96624467e-01 -1.69426192e-03 2.29322655e+01] [ 3.58244266e-02 -1.25144927e-03 9.99357316e-01 1.93783830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.28, Y:22.94, Z:19.38 [[ 9.96264903e-01 -7.85757581e-02 -3.58063404e-02 5.45284474e+02] [ 7.85656420e-02 9.96907507e-01 -1.69164044e-03 2.29353800e+01] [ 3.58285315e-02 -1.12782612e-03 9.99357316e-01 1.93801340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.32, Y:22.94, Z:19.38 [[ 9.96560297e-01 -7.47360107e-02 -3.58064636e-02 5.45315595e+02] [ 7.47235121e-02 9.97202860e-01 -1.68902877e-03 2.29380778e+01] [ 3.58325391e-02 -9.92365697e-04 9.99357316e-01 1.93814074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.35, Y:22.94, Z:19.38 [[ 9.96824748e-01 -7.11217528e-02 -3.58066672e-02 5.45347001e+02] [ 7.11070797e-02 9.97467265e-01 -1.68469999e-03 2.29406560e+01] [ 3.58357973e-02 -8.66756897e-04 9.99357316e-01 1.93832372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.38, Y:22.94, Z:19.39 [[ 9.97236287e-01 -6.50973628e-02 -3.58067277e-02 5.45377854e+02] [ 6.50788538e-02 9.97878705e-01 -1.68341410e-03 2.29442400e+01] [ 3.58403569e-02 -6.51499168e-04 9.99357316e-01 1.93856466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.41, Y:22.95, Z:19.39 [[ 9.97383253e-01 -6.28054121e-02 -3.58067880e-02 5.45408158e+02] [ 6.27854728e-02 9.98025628e-01 -1.68213106e-03 2.29462083e+01] [ 3.58417390e-02 -5.70416767e-04 9.99357316e-01 1.93872248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.44, Y:22.94, Z:19.38 [[ 9.97850335e-01 -5.48869933e-02 -3.58067880e-02 5.45443677e+02] [ 5.48619560e-02 9.98492532e-01 -1.68213106e-03 2.29411303e+01] [ 3.58451375e-02 -2.85915386e-04 9.99357316e-01 1.93827273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.47, Y:22.95, Z:19.39 [[ 9.97512259e-01 -6.07036000e-02 -3.58380410e-02 5.45467999e+02] [ 6.07063265e-02 9.98155156e-01 -1.01307026e-03 2.29487955e+01] [ 3.58334224e-02 -1.16504581e-03 9.99357098e-01 1.93894081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.50, Y:22.95, Z:19.39 [[ 9.97479818e-01 -6.12531244e-02 -3.58059680e-02 5.45497436e+02] [ 6.12318318e-02 9.98122137e-01 -1.69197926e-03 2.29500769e+01] [ 3.58423683e-02 -5.04749844e-04 9.99357328e-01 1.93902733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.53, Y:22.95, Z:19.39 [[ 9.97407591e-01 -6.24181891e-02 -3.58059747e-02 5.45527977e+02] [ 6.23976519e-02 9.98049934e-01 -1.69183795e-03 2.29511209e+01] [ 3.58417522e-02 -5.46756733e-04 9.99357328e-01 1.93918046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.56, Y:22.95, Z:19.39 [[ 9.97315675e-01 -6.38699978e-02 -3.58059747e-02 5.45557466e+02] [ 6.38503956e-02 9.97958048e-01 -1.69183795e-03 2.29515224e+01] [ 3.58409183e-02 -5.98929145e-04 9.99357328e-01 1.93923803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.59, Y:22.95, Z:19.39 [[ 9.97040861e-01 -6.80254036e-02 -3.58059439e-02 5.45587516e+02] [ 6.80084550e-02 9.97683309e-01 -1.69248893e-03 2.29509187e+01] [ 3.58381249e-02 -7.47626313e-04 9.99357328e-01 1.93940419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.62, Y:22.95, Z:19.39 [[ 9.97086874e-01 -6.73476030e-02 -3.58059439e-02 5.45619950e+02] [ 6.73302178e-02 9.97729311e-01 -1.69248893e-03 2.29474759e+01] [ 3.58386248e-02 -7.23263509e-04 9.99357328e-01 1.93913334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.65, Y:22.95, Z:19.40 [[ 9.96625556e-01 -7.38529810e-02 -3.58223278e-02 5.45647181e+02] [ 7.38522474e-02 9.97268286e-01 -1.34549388e-03 2.29515556e+01] [ 3.58238402e-02 -1.30460583e-03 9.99357269e-01 1.93966821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.68, Y:22.95, Z:19.39 [[ 9.96460874e-01 -7.60506940e-02 -3.58052924e-02 5.45681376e+02] [ 7.60385201e-02 9.97103426e-01 -1.70358461e-03 2.29460643e+01] [ 3.58311385e-02 -1.02502604e-03 9.99357333e-01 1.93939787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.71, Y:22.95, Z:19.40 [[ 9.95812372e-01 -8.41072999e-02 -3.58284946e-02 5.45707765e+02] [ 8.41178771e-02 9.96455070e-01 -1.21475174e-03 2.29509588e+01] [ 3.58036546e-02 -1.80415210e-03 9.99357215e-01 1.93987316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.74, Y:22.95, Z:19.40 [[ 9.95926015e-01 -8.27611340e-02 -3.58045692e-02 5.45743059e+02] [ 8.27528967e-02 9.96568622e-01 -1.71449144e-03 2.29455460e+01] [ 3.58236035e-02 -1.25542519e-03 9.99357340e-01 1.93957476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.77, Y:22.95, Z:19.40 [[ 9.94858501e-01 -9.47242939e-02 -3.58311464e-02 5.45768154e+02] [ 9.47437711e-02 9.95501018e-01 -1.15779014e-03 2.29489128e+01] [ 3.57796136e-02 -2.24294056e-03 9.99357188e-01 1.93997314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.80, Y:22.95, Z:19.40 [[ 9.94612748e-01 -9.72808976e-02 -3.58037451e-02 5.45800285e+02] [ 9.72816132e-02 9.95255398e-01 -1.72623852e-03 2.29490698e+01] [ 3.58018006e-02 -1.76610725e-03 9.99357349e-01 1.94007646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.83, Y:22.95, Z:19.40 [[ 9.94422266e-01 -9.92090676e-02 -3.58038679e-02 5.45831891e+02] [ 9.92111207e-02 9.95064914e-01 -1.72368848e-03 2.29496508e+01] [ 3.57981782e-02 -1.83806765e-03 9.99357349e-01 1.94018452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.86, Y:22.95, Z:19.40 [[ 9.94271445e-01 -1.00709340e-01 -3.58039592e-02 5.45863322e+02] [ 1.00712431e-01 9.94914088e-01 -1.72178952e-03 2.29512835e+01] [ 3.57952637e-02 -1.89397761e-03 9.99357349e-01 1.94029680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.89, Y:22.95, Z:19.40 [[ 9.94219748e-01 -1.01218391e-01 -3.58040496e-02 5.45894384e+02] [ 1.01221879e-01 9.94862389e-01 -1.71990755e-03 2.29532310e+01] [ 3.57941886e-02 -1.91418712e-03 9.99357349e-01 1.94041860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.93, Y:22.96, Z:19.41 [[ 9.94347642e-01 -9.99541022e-02 -3.58042493e-02 5.45925366e+02] [ 9.99569223e-02 9.94990286e-01 -1.71573977e-03 2.29562853e+01] [ 3.57963755e-02 -1.87284077e-03 9.99357349e-01 1.94055879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.96, Y:22.96, Z:19.41 [[ 9.94514010e-01 -9.82849592e-02 -3.58043379e-02 5.45957182e+02] [ 9.82867671e-02 9.95156658e-01 -1.71388921e-03 2.29584711e+01] [ 3.57993748e-02 -1.81460579e-03 9.99357349e-01 1.94068385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.99, Y:22.96, Z:19.41 [[ 9.95091707e-01 -9.22525654e-02 -3.58044545e-02 5.45992569e+02] [ 9.22505640e-02 9.95734354e-01 -1.71144985e-03 2.29557806e+01] [ 3.58096110e-02 -1.59993157e-03 9.99357349e-01 1.94054462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.02, Y:22.96, Z:19.41 [[ 9.95082146e-01 -9.23480984e-02 -3.58239023e-02 5.46019465e+02] [ 9.23608171e-02 9.95724752e-01 -1.30324362e-03 2.29614534e+01] [ 3.57910983e-02 -2.01189043e-03 9.99357268e-01 1.94083482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.05, Y:22.96, Z:19.41 [[ 9.95298519e-01 -8.99940826e-02 -3.58039434e-02 5.46050367e+02] [ 8.99903508e-02 9.95941154e-01 -1.71901561e-03 2.29631644e+01] [ 3.58133220e-02 -1.51107573e-03 9.99357355e-01 1.94094529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.08, Y:22.97, Z:19.41 [[ 9.95483596e-01 -8.79231494e-02 -3.58040359e-02 5.46081348e+02] [ 8.79181498e-02 9.96126222e-01 -1.71708824e-03 2.29651044e+01] [ 3.58163108e-02 -1.43849142e-03 9.99357355e-01 1.94104926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.11, Y:22.97, Z:19.41 [[ 9.95818684e-01 -8.40428825e-02 -3.58042349e-02 5.46113472e+02] [ 8.40355278e-02 9.96461287e-01 -1.71292862e-03 2.29674696e+01] [ 3.58214934e-02 -1.30306145e-03 9.99357355e-01 1.94102344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.14, Y:22.97, Z:19.41 [[ 9.95957719e-01 -8.23788203e-02 -3.58043604e-02 5.46144841e+02] [ 8.23704863e-02 9.96600310e-01 -1.71029994e-03 2.29689877e+01] [ 3.58235292e-02 -1.24583615e-03 9.99357355e-01 1.94109548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.18, Y:22.97, Z:19.41 [[ 9.96092856e-01 -8.07283314e-02 -3.58044537e-02 5.46176764e+02] [ 8.07190028e-02 9.96735433e-01 -1.70834471e-03 2.29704874e+01] [ 3.58254795e-02 -1.18842984e-03 9.99357355e-01 1.94113245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.21, Y:22.97, Z:19.41 [[ 9.96098796e-01 -8.06549473e-02 -3.58045792e-02 5.46209401e+02] [ 8.06456659e-02 9.96741374e-01 -1.70571006e-03 2.29719853e+01] [ 3.58254795e-02 -1.18842840e-03 9.99357355e-01 1.94124956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.24, Y:22.97, Z:19.41 [[ 9.96203582e-01 -7.93501540e-02 -3.58047046e-02 5.46240241e+02] [ 7.93401257e-02 9.96846149e-01 -1.70307396e-03 2.29733527e+01] [ 3.58269211e-02 -1.14414139e-03 9.99357355e-01 1.94131905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.27, Y:22.97, Z:19.41 [[ 9.96443139e-01 -7.62829419e-02 -3.58047979e-02 5.46272197e+02] [ 7.62710059e-02 9.97085673e-01 -1.70111053e-03 2.29749927e+01] [ 3.58302167e-02 -1.03580804e-03 9.99357355e-01 1.94134158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.30, Y:22.98, Z:19.41 [[ 9.96542468e-01 -7.49741141e-02 -3.58049207e-02 5.46302036e+02] [ 7.49614272e-02 9.97184988e-01 -1.69852171e-03 2.29769224e+01] [ 3.58314746e-02 -9.91338942e-04 9.99357355e-01 1.94141721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.33, Y:22.98, Z:19.42 [[ 9.96649415e-01 -7.35387593e-02 -3.58049510e-02 5.46333132e+02] [ 7.35251699e-02 9.97291916e-01 -1.69788207e-03 2.29786502e+01] [ 3.58328484e-02 -9.40371938e-04 9.99357355e-01 1.94151627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.36, Y:22.98, Z:19.42 [[ 9.96762769e-01 -7.19860009e-02 -3.58050130e-02 5.46363084e+02] [ 7.19714575e-02 9.97405249e-01 -1.69657530e-03 2.29802766e+01] [ 3.58342375e-02 -8.85855879e-04 9.99357355e-01 1.94163874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.39, Y:22.98, Z:19.42 [[ 9.96947017e-01 -6.93876383e-02 -3.58050436e-02 5.46393968e+02] [ 6.93714436e-02 9.97589458e-01 -1.69592770e-03 2.29823162e+01] [ 3.58364105e-02 -7.93097499e-04 9.99357355e-01 1.94176913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.42, Y:22.98, Z:19.42 [[ 9.97044328e-01 -6.79750099e-02 -3.58051052e-02 5.46424093e+02] [ 6.79579516e-02 9.97686747e-01 -1.69462623e-03 2.29837530e+01] [ 3.58374712e-02 -7.43624133e-04 9.99357355e-01 1.94188681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.45, Y:22.98, Z:19.42 [[ 9.97172821e-01 -6.60633041e-02 -3.58051052e-02 5.46454054e+02] [ 6.60450142e-02 9.97815206e-01 -1.69462623e-03 2.29848891e+01] [ 3.58388310e-02 -6.74913461e-04 9.99357355e-01 1.94199822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.48, Y:22.99, Z:19.42 [[ 9.97421524e-01 -6.21956499e-02 -3.58051052e-02 5.46483814e+02] [ 6.21748689e-02 9.98063833e-01 -1.69462623e-03 2.29863344e+01] [ 3.58411789e-02 -5.35921042e-04 9.99357355e-01 1.94204813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.51, Y:22.99, Z:19.42 [[ 9.97541360e-01 -6.02431243e-02 -3.58050444e-02 5.46513768e+02] [ 6.02210399e-02 9.98183626e-01 -1.69591022e-03 2.29881300e+01] [ 3.58421760e-02 -4.64476422e-04 9.99357355e-01 1.94215972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.54, Y:22.99, Z:19.42 [[ 9.97674532e-01 -5.79959581e-02 -3.58049830e-02 5.46543731e+02] [ 5.79723806e-02 9.98316745e-01 -1.69720662e-03 2.29897451e+01] [ 3.58431452e-02 -3.82440274e-04 9.99357355e-01 1.94237345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.57, Y:22.99, Z:19.43 [[ 9.97829248e-01 -5.52702414e-02 -3.58049219e-02 5.46571906e+02] [ 5.52448633e-02 9.98471392e-01 -1.69849304e-03 2.29909583e+01] [ 3.58440664e-02 -2.83231987e-04 9.99357355e-01 1.94260894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.60, Y:22.99, Z:19.43 [[ 9.97875308e-01 -5.44325931e-02 -3.58044930e-02 5.46600078e+02] [ 5.44063533e-02 9.98517418e-01 -1.70748816e-03 2.29918034e+01] [ 3.58443529e-02 -2.44131622e-04 9.99357355e-01 1.94255446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.63, Y:22.99, Z:19.42 [[ 9.97892208e-01 -5.41219777e-02 -3.58043714e-02 5.46628170e+02] [ 5.40954466e-02 9.98534305e-01 -1.71003441e-03 2.29925095e+01] [ 3.58444435e-02 -2.30423446e-04 9.99357355e-01 1.94248761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.66, Y:22.99, Z:19.43 [[ 9.97903156e-01 -5.39200649e-02 -3.58038739e-02 5.46656036e+02] [ 5.38930324e-02 9.98545233e-01 -1.72038690e-03 2.29931028e+01] [ 3.58445510e-02 -2.12799820e-04 9.99357355e-01 1.94253343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.68, Y:22.99, Z:19.43 [[ 9.97866565e-01 -5.45933679e-02 -3.58033765e-02 5.46683326e+02] [ 5.45663995e-02 9.98508644e-01 -1.73067725e-03 2.29933618e+01] [ 3.58444644e-02 -2.26676382e-04 9.99357355e-01 1.94271463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.71, Y:22.99, Z:19.43 [[ 9.97822381e-01 -5.53952183e-02 -3.58031606e-02 5.46710918e+02] [ 5.53686060e-02 9.98464474e-01 -1.73513132e-03 2.29936380e+01] [ 3.58443020e-02 -2.51018236e-04 9.99357355e-01 1.94281740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.74, Y:22.99, Z:19.43 [[ 9.97744704e-01 -5.67774232e-02 -3.58026524e-02 5.46738616e+02] [ 5.67513265e-02 9.98386819e-01 -1.74555537e-03 2.29939872e+01] [ 3.58440044e-02 -2.90229393e-04 9.99357355e-01 1.94289571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.77, Y:22.99, Z:19.43 [[ 9.97659286e-01 -5.82591714e-02 -3.58024950e-02 5.46766613e+02] [ 5.82339126e-02 9.98301434e-01 -1.74877872e-03 2.29940767e+01] [ 3.58435645e-02 -3.40234033e-04 9.99357355e-01 1.94298490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.80, Y:22.99, Z:19.43 [[ 9.97445540e-01 -6.18111079e-02 -3.58019914e-02 5.46795199e+02] [ 6.17877679e-02 9.98087760e-01 -1.75902908e-03 2.29939567e+01] [ 3.58422569e-02 -4.57589428e-04 9.99357355e-01 1.94310455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.83, Y:22.99, Z:19.43 [[ 9.97344114e-01 -6.34268693e-02 -3.58015422e-02 5.46825092e+02] [ 6.34042434e-02 9.97986360e-01 -1.76812313e-03 2.29945083e+01] [ 3.58415974e-02 -5.06542497e-04 9.99357355e-01 1.94317325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.85, Y:22.99, Z:19.43 [[ 9.97111732e-01 -6.69809568e-02 -3.58014774e-02 5.46853445e+02] [ 6.69605728e-02 9.97754053e-01 -1.76943404e-03 2.29942284e+01] [ 3.58395876e-02 -6.32963998e-04 9.99357355e-01 1.94325131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.88, Y:23.00, Z:19.43 [[ 9.96987136e-01 -6.88107102e-02 -3.58013573e-02 5.46883506e+02] [ 6.87914180e-02 9.97629491e-01 -1.77186134e-03 2.29950360e+01] [ 3.58384129e-02 -6.96303171e-04 9.99357355e-01 1.94337619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.91, Y:23.00, Z:19.44 [[ 9.96881393e-01 -7.03254887e-02 -3.58024222e-02 5.46912707e+02] [ 7.03079437e-02 9.97523799e-01 -1.75037678e-03 2.29955841e+01] [ 3.58368643e-02 -7.72276636e-04 9.99357355e-01 1.94358270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.975099893 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:546.94, Y:23.00, Z:19.44 [[ 9.96890729e-01 -7.01936755e-02 -3.58011553e-02 5.46937822e+02] [ 7.01751288e-02 9.97533106e-01 -1.77591516e-03 2.29950092e+01] [ 3.58374957e-02 -7.41957327e-04 9.99357355e-01 1.94367532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.005099893 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:546.97, Y:23.00, Z:19.44 [[ 9.96760333e-01 -7.20348978e-02 -3.57744632e-02 5.46967419e+02] [ 7.19986675e-02 9.97402073e-01 -2.30165847e-03 2.29957956e+01] [ 3.58473235e-02 -2.81511813e-04 9.99357239e-01 1.94378556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.00, Y:23.00, Z:19.44 [[ 9.96429539e-01 -7.64703634e-02 -3.57834666e-02 5.46999282e+02] [ 7.64434872e-02 9.97071661e-01 -2.12063068e-03 2.29954280e+01] [ 3.58408459e-02 -6.22353922e-04 9.99357317e-01 1.94401253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:547.03, Y:22.99, Z:19.44 [[ 9.96465017e-01 -7.59986085e-02 -3.58005687e-02 5.47025114e+02] [ 7.59838031e-02 9.97107471e-01 -1.77591303e-03 2.29947404e+01] [ 3.58319815e-02 -9.50628159e-04 9.99357376e-01 1.94412785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.06, Y:23.00, Z:19.44 [[ 9.96336808e-01 -7.76718723e-02 -3.57777286e-02 5.47059911e+02] [ 7.76414158e-02 9.96978828e-01 -2.24195026e-03 2.29951152e+01] [ 3.58437744e-02 -5.44095931e-04 9.99357257e-01 1.94417784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.09, Y:23.00, Z:19.44 [[ 9.96159213e-01 -7.99023010e-02 -3.58112410e-02 5.47089331e+02] [ 7.98977839e-02 9.96801842e-01 -1.55949067e-03 2.29963873e+01] [ 3.58213179e-02 -1.30773780e-03 9.99357355e-01 1.94429878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.12, Y:23.00, Z:19.44 [[ 9.95980569e-01 -8.21034389e-02 -3.58012915e-02 5.47120005e+02] [ 8.20930810e-02 9.96623110e-01 -1.76169940e-03 2.29957454e+01] [ 3.58250360e-02 -1.18441996e-03 9.99357375e-01 1.94434976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.15, Y:23.00, Z:19.44 [[ 9.95923661e-01 -8.27908666e-02 -3.58013238e-02 5.47151472e+02] [ 8.27809758e-02 9.96566209e-01 -1.76104287e-03 2.29967737e+01] [ 3.58241878e-02 -1.20980426e-03 9.99357375e-01 1.94443729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.18, Y:23.00, Z:19.44 [[ 9.95815976e-01 -8.40761694e-02 -3.58013867e-02 5.47183033e+02] [ 8.40671538e-02 9.96458537e-01 -1.75976298e-03 2.29973766e+01] [ 3.58225516e-02 -1.25732059e-03 9.99357375e-01 1.94442517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.21, Y:23.00, Z:19.44 [[ 9.95770395e-01 -8.46142865e-02 -3.58014505e-02 5.47213779e+02] [ 8.46056647e-02 9.96412961e-01 -1.75846469e-03 2.29981666e+01] [ 3.58218205e-02 -1.27797844e-03 9.99357375e-01 1.94447730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.25, Y:23.00, Z:19.45 [[ 9.95712316e-01 -8.52950077e-02 -3.58014821e-02 5.47245118e+02] [ 8.52868484e-02 9.96354888e-01 -1.75782072e-03 2.29991086e+01] [ 3.58209150e-02 -1.30311183e-03 9.99357375e-01 1.94460763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.28, Y:23.00, Z:19.45 [[ 9.95601268e-01 -8.65815436e-02 -3.58015463e-02 5.47275439e+02] [ 8.65742615e-02 9.96243852e-01 -1.75651225e-03 2.29996701e+01] [ 3.58191519e-02 -1.35070660e-03 9.99357375e-01 1.94465571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.31, Y:23.00, Z:19.45 [[ 9.95548085e-01 -8.71909223e-02 -3.58015781e-02 5.47307160e+02] [ 8.71840569e-02 9.96190673e-01 -1.75586355e-03 2.30009765e+01] [ 3.58182935e-02 -1.37328023e-03 9.99357375e-01 1.94474044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.34, Y:23.00, Z:19.45 [[ 9.95348408e-01 -8.94415455e-02 -3.58016402e-02 5.47338426e+02] [ 8.94361784e-02 9.95991010e-01 -1.75459735e-03 2.30025735e+01] [ 3.58150456e-02 -1.45552620e-03 9.99357375e-01 1.94478124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.37, Y:23.00, Z:19.45 [[ 9.95256442e-01 -9.04591176e-02 -3.58017030e-02 5.47370377e+02] [ 9.04544536e-02 9.95899050e-01 -1.75331394e-03 2.30043351e+01] [ 3.58134852e-02 -1.49342649e-03 9.99357375e-01 1.94484141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:547.40, Y:23.01, Z:19.45 [[ 9.95139623e-01 -9.17352749e-02 -3.58018297e-02 5.47398898e+02] [ 9.17315280e-02 9.95782236e-01 -1.75072315e-03 2.30052627e+01] [ 3.58114291e-02 -1.54194257e-03 9.99357375e-01 1.94462963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.43, Y:23.01, Z:19.45 [[ 9.94761126e-01 -9.57561898e-02 -3.57918061e-02 5.47430056e+02] [ 9.57477055e-02 9.95403715e-01 -1.95496311e-03 2.30071124e+01] [ 3.58144965e-02 -1.48226200e-03 9.99357356e-01 1.94481768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.46, Y:23.01, Z:19.45 [[ 9.94537631e-01 -9.80465894e-02 -3.58017580e-02 5.47462562e+02] [ 9.80468891e-02 9.95180255e-01 -1.75156062e-03 2.30098774e+01] [ 3.58009372e-02 -1.76825805e-03 9.99357377e-01 1.94509610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.49, Y:23.01, Z:19.45 [[ 9.94053559e-01 -1.02838451e-01 -3.58018854e-02 5.47494725e+02] [ 1.02841942e-01 9.94696173e-01 -1.74895264e-03 2.30140803e+01] [ 3.57918580e-02 -1.94338283e-03 9.99357377e-01 1.94537894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.53, Y:23.02, Z:19.45 [[ 9.93917272e-01 -1.04147357e-01 -3.58020117e-02 5.47526723e+02] [ 1.04151787e-01 9.94559880e-01 -1.74636403e-03 2.30161985e+01] [ 3.57891237e-02 -1.99310211e-03 9.99357377e-01 1.94542735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.56, Y:23.02, Z:19.46 [[ 9.93924756e-01 -1.04075871e-01 -3.58021372e-02 5.47559355e+02] [ 1.04080347e-01 9.94567364e-01 -1.74378717e-03 2.30177282e+01] [ 3.57891234e-02 -1.99310564e-03 9.99357377e-01 1.94554445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.59, Y:23.02, Z:19.46 [[ 9.93844116e-01 -1.04843079e-01 -3.58022624e-02 5.47591185e+02] [ 1.04848144e-01 9.94486719e-01 -1.74121384e-03 2.30196597e+01] [ 3.57874287e-02 -2.02330562e-03 9.99357377e-01 1.94566862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.62, Y:23.02, Z:19.46 [[ 9.93851649e-01 -1.04771599e-01 -3.58023873e-02 5.47623817e+02] [ 1.04776710e-01 9.94494253e-01 -1.73864158e-03 2.30211847e+01] [ 3.57874286e-02 -2.02330454e-03 9.99357377e-01 1.94578572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.66, Y:23.02, Z:19.46 [[ 9.93859178e-01 -1.04700118e-01 -3.58025121e-02 5.47656449e+02] [ 1.04705275e-01 9.94501781e-01 -1.73606823e-03 2.30227074e+01] [ 3.57874285e-02 -2.02330453e-03 9.99357377e-01 1.94590282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.69, Y:23.03, Z:19.46 [[ 9.93702960e-01 -1.06172496e-01 -3.58026367e-02 5.47688602e+02] [ 1.06178697e-01 9.94345553e-01 -1.73349487e-03 2.30259265e+01] [ 3.57842420e-02 -2.07889834e-03 9.99357377e-01 1.94615259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.72, Y:23.03, Z:19.46 [[ 9.93562194e-01 -1.07481763e-01 -3.58027605e-02 5.47720056e+02] [ 1.07488903e-01 9.94204778e-01 -1.73093340e-03 2.30290571e+01] [ 3.57813193e-02 -2.12860945e-03 9.99357377e-01 1.94619194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.75, Y:23.03, Z:19.46 [[ 9.93758636e-01 -1.05650016e-01 -3.58028921e-02 5.47751463e+02] [ 1.05656069e-01 9.94401231e-01 -1.72820665e-03 2.30316441e+01] [ 3.57850251e-02 -2.06537256e-03 9.99357377e-01 1.94634966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.78, Y:23.03, Z:19.47 [[ 9.93679298e-01 -1.06395412e-01 -3.57976017e-02 5.47784600e+02] [ 1.06398014e-01 9.94321922e-01 -1.83774586e-03 2.30346838e+01] [ 3.57898679e-02 -1.98266372e-03 9.99357371e-01 1.94659661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.82, Y:23.04, Z:19.47 [[ 9.93708460e-01 -1.06120822e-01 -3.58031915e-02 5.47816882e+02] [ 1.06127420e-01 9.94351048e-01 -1.72149676e-03 2.30376584e+01] [ 3.57836276e-02 -2.08903445e-03 9.99357377e-01 1.94672452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.85, Y:23.04, Z:19.47 [[ 9.93819806e-01 -1.05072911e-01 -3.58033112e-02 5.47848460e+02] [ 1.05078922e-01 9.94462400e-01 -1.71900309e-03 2.30420117e+01] [ 3.57856674e-02 -2.05379402e-03 9.99357377e-01 1.94668475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.88, Y:23.05, Z:19.47 [[ 9.93887563e-01 -1.04430013e-01 -3.58034298e-02 5.47879457e+02] [ 1.04435696e-01 9.94530160e-01 -1.71652840e-03 2.30450160e+01] [ 3.57868479e-02 -2.03311989e-03 9.99357377e-01 1.94671534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.91, Y:23.05, Z:19.47 [[ 9.93970342e-01 -1.03639118e-01 -3.58035175e-02 5.47911877e+02] [ 1.03644356e-01 9.94612943e-01 -1.71469862e-03 2.30483320e+01] [ 3.57883518e-02 -2.00647293e-03 9.99357377e-01 1.94691897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.94, Y:23.05, Z:19.47 [[ 9.94232862e-01 -1.01089646e-01 -3.58036362e-02 5.47943802e+02] [ 1.01093326e-01 9.94875474e-01 -1.71221509e-03 2.30540129e+01] [ 3.57932468e-02 -1.91716815e-03 9.99357377e-01 1.94720299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.98, Y:23.06, Z:19.47 [[ 9.94416434e-01 -9.92675504e-02 -3.58037583e-02 5.47977066e+02] [ 9.92701437e-02 9.95059051e-01 -1.70965918e-03 2.30575409e+01] [ 3.57965674e-02 -1.85413104e-03 9.99357377e-01 1.94743567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.01, Y:23.06, Z:19.47 [[ 9.94614623e-01 -9.72616487e-02 -3.58039453e-02 5.48007658e+02] [ 9.72630868e-02 9.95257244e-01 -1.70573366e-03 2.30611970e+01] [ 3.58000384e-02 -1.78585459e-03 9.99357378e-01 1.94748179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.04, Y:23.07, Z:19.48 [[ 9.95105321e-01 -9.21057631e-02 -3.58040377e-02 5.48039424e+02] [ 9.21039405e-02 9.95747941e-01 -1.70379299e-03 2.30669811e+01] [ 3.58087259e-02 -1.60223948e-03 9.99357378e-01 1.94770688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.07, Y:23.07, Z:19.48 [[ 9.95669377e-01 -8.57936733e-02 -3.58041612e-02 5.48071287e+02] [ 8.57878690e-02 9.96311973e-01 -1.70119347e-03 2.30723151e+01] [ 3.58180661e-02 -1.37773645e-03 9.99357378e-01 1.94785394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.10, Y:23.08, Z:19.48 [[ 9.95929812e-01 -8.27155560e-02 -3.58042838e-02 5.48102055e+02] [ 8.27078582e-02 9.96572388e-01 -1.69860826e-03 2.30759614e+01] [ 3.58220620e-02 -1.26960102e-03 9.99357378e-01 1.94795134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.13, Y:23.08, Z:19.48 [[ 9.96197808e-01 -7.94227585e-02 -3.58043750e-02 5.48132829e+02] [ 7.94130057e-02 9.96840356e-01 -1.69668329e-03 2.30796719e+01] [ 3.58260012e-02 -1.15310087e-03 9.99357378e-01 1.94799930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.17, Y:23.08, Z:19.48 [[ 9.96203237e-01 -7.93545904e-02 -3.58044646e-02 5.48165463e+02] [ 7.93448616e-02 9.96845786e-01 -1.69479117e-03 2.30811537e+01] [ 3.58260191e-02 -1.15254383e-03 9.99357378e-01 1.94811641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.20, Y:23.08, Z:19.48 [[ 9.96442876e-01 -7.62864816e-02 -3.58045804e-02 5.48197327e+02] [ 7.62748621e-02 9.97085393e-01 -1.69234200e-03 2.30847496e+01] [ 3.58293269e-02 -1.04466730e-03 9.99357378e-01 1.94839377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.23, Y:23.09, Z:19.48 [[ 9.96801169e-01 -7.14524486e-02 -3.58047016e-02 5.48228693e+02] [ 7.14378050e-02 9.97443625e-01 -1.68977310e-03 2.30895545e+01] [ 3.58339098e-02 -8.73441490e-04 9.99357378e-01 1.94843856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.26, Y:23.09, Z:19.49 [[ 9.96925215e-01 -6.97002415e-02 -3.58049053e-02 5.48259453e+02] [ 6.96846240e-02 9.97567648e-01 -1.68544624e-03 2.30919938e+01] [ 3.58352912e-02 -8.14787502e-04 9.99357378e-01 1.94857011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.29, Y:23.09, Z:19.49 [[ 9.97000077e-01 -6.86210624e-02 -3.58049647e-02 5.48289634e+02] [ 6.86047948e-02 9.97642494e-01 -1.68418346e-03 2.30942681e+01] [ 3.58361247e-02 -7.77261216e-04 9.99357378e-01 1.94866867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.32, Y:23.10, Z:19.49 [[ 9.97095404e-01 -6.72216994e-02 -3.58049941e-02 5.48321237e+02] [ 6.72045526e-02 9.97737798e-01 -1.68355696e-03 2.30969309e+01] [ 3.58371676e-02 -7.27591704e-04 9.99357378e-01 1.94884438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.35, Y:23.10, Z:19.49 [[ 9.97150677e-01 -6.63967209e-02 -3.58050542e-02 5.48351296e+02] [ 6.63790885e-02 9.97793058e-01 -1.68227868e-03 2.30988326e+01] [ 3.58377323e-02 -6.99221532e-04 9.99357378e-01 1.94885555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.38, Y:23.10, Z:19.49 [[ 9.97222805e-01 -6.53044647e-02 -3.58050840e-02 5.48381497e+02] [ 6.52861515e-02 9.97865167e-01 -1.68164430e-03 2.31008458e+01] [ 3.58384650e-02 -6.60602094e-04 9.99357378e-01 1.94890149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.41, Y:23.10, Z:19.49 [[ 9.97319734e-01 -6.38070762e-02 -3.58051129e-02 5.48413140e+02] [ 6.37878206e-02 9.97962067e-01 -1.68102930e-03 2.31033688e+01] [ 3.58394060e-02 -6.07406423e-04 9.99357378e-01 1.94908200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.44, Y:23.11, Z:19.49 [[ 9.97589341e-01 -5.94432214e-02 -3.58051717e-02 5.48444420e+02] [ 5.94212007e-02 9.98231586e-01 -1.67977599e-03 2.31066450e+01] [ 3.58417046e-02 -4.51859673e-04 9.99357378e-01 1.94921566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.47, Y:23.11, Z:19.49 [[ 9.97742026e-01 -5.68228317e-02 -3.58052308e-02 5.48474401e+02] [ 5.67991695e-02 9.98384213e-01 -1.67851477e-03 2.31087683e+01] [ 3.58427551e-02 -3.58982650e-04 9.99357378e-01 1.94936324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.50, Y:23.11, Z:19.49 [[ 9.97895472e-01 -5.40612352e-02 -3.58051710e-02 5.48502527e+02] [ 5.40357501e-02 9.98537589e-01 -1.67978896e-03 2.31106616e+01] [ 3.58436206e-02 -2.58505481e-04 9.99357378e-01 1.94938903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.53, Y:23.11, Z:19.49 [[ 9.98036597e-01 -5.13901526e-02 -3.58050818e-02 5.48530813e+02] [ 5.13628808e-02 9.98678640e-01 -1.68168731e-03 2.31121910e+01] [ 3.58441926e-02 -1.60666671e-04 9.99357378e-01 1.94937104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.56, Y:23.11, Z:19.50 [[ 9.98245987e-01 -4.71481834e-02 -3.58049951e-02 5.48559715e+02] [ 4.71181171e-02 9.98887906e-01 -1.68353261e-03 2.31135445e+01] [ 3.58445521e-02 -6.48428240e-06 9.99357378e-01 1.94992207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.59, Y:23.11, Z:19.50 [[ 9.98402971e-01 -4.36982851e-02 -3.58045631e-02 5.48587584e+02] [ 4.36656730e-02 9.99044766e-01 -1.69266960e-03 2.31134444e+01] [ 3.58443281e-02 1.26536008e-04 9.99357378e-01 1.95005648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.62, Y:23.11, Z:19.50 [[ 9.98383390e-01 -4.41435173e-02 -3.58044102e-02 5.48615258e+02] [ 4.41110756e-02 9.99025193e-01 -1.69589926e-03 2.31138700e+01] [ 3.58443707e-02 1.13786612e-04 9.99357378e-01 1.95011038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.64, Y:23.11, Z:19.50 [[ 9.98341080e-01 -4.50906584e-02 -3.58039229e-02 5.48643236e+02] [ 4.50584589e-02 9.98982895e-01 -1.70612479e-03 2.31138677e+01] [ 3.58444368e-02 9.00248776e-05 9.99357378e-01 1.95014171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.67, Y:23.12, Z:19.50 [[ 9.98328171e-01 -4.53759641e-02 -3.58034325e-02 5.48671574e+02] [ 4.53435811e-02 9.98969976e-01 -1.71635389e-03 2.31152884e+01] [ 3.58444354e-02 9.00285960e-05 9.99357378e-01 1.95024380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.70, Y:23.12, Z:19.50 [[ 9.98243178e-01 -4.72091820e-02 -3.58029394e-02 5.48699364e+02] [ 4.71776109e-02 9.98885024e-01 -1.72657914e-03 2.31152934e+01] [ 3.58445304e-02 3.44487013e-05 9.99357378e-01 1.95036911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.73, Y:23.11, Z:19.50 [[ 9.98012281e-01 -5.18620641e-02 -3.58024219e-02 5.48726047e+02] [ 5.18331028e-02 9.98654250e-01 -1.73724416e-03 2.31129722e+01] [ 3.58443379e-02 -1.21959613e-04 9.99357378e-01 1.95027857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.75, Y:23.11, Z:19.50 [[ 9.97825727e-01 -5.53356232e-02 -3.58020512e-02 5.48753947e+02] [ 5.53086238e-02 9.98467782e-01 -1.74485021e-03 2.31126344e+01] [ 3.58437471e-02 -2.39105754e-04 9.99357378e-01 1.95032105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.78, Y:23.11, Z:19.50 [[ 9.97612071e-01 -5.90625021e-02 -3.58018961e-02 5.48782817e+02] [ 5.90377871e-02 9.98254218e-01 -1.74802714e-03 2.31124570e+01] [ 3.58426367e-02 -3.69811749e-04 9.99357378e-01 1.95045295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.81, Y:23.11, Z:19.51 [[ 9.97374015e-01 -6.29549911e-02 -3.58014559e-02 5.48812173e+02] [ 6.29324603e-02 9.98016242e-01 -1.75699691e-03 2.31122699e+01] [ 3.58410462e-02 -5.00690635e-04 9.99357378e-01 1.95052339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.84, Y:23.11, Z:19.51 [[ 9.96863706e-01 -7.05762740e-02 -3.58014247e-02 5.48843214e+02] [ 7.05586297e-02 9.97506085e-01 -1.75763281e-03 2.31108771e+01] [ 3.58361862e-02 -7.73979117e-04 9.99357378e-01 1.95063279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.87, Y:23.11, Z:19.51 [[ 9.96603294e-01 -7.41628791e-02 -3.58014247e-02 5.48874075e+02] [ 7.41475464e-02 9.97245733e-01 -1.75763281e-03 2.31111493e+01] [ 3.58331691e-02 -9.02925155e-04 9.99357378e-01 1.95073719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.91, Y:23.11, Z:19.51 [[ 9.96323812e-01 -7.78274680e-02 -3.58014868e-02 5.48905139e+02] [ 7.78145434e-02 9.96966304e-01 -1.75636726e-03 2.31114121e+01] [ 3.58295696e-02 -1.03596582e-03 9.99357378e-01 1.95086936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.94, Y:23.11, Z:19.51 [[ 9.95772195e-01 -8.45930486e-02 -3.58015493e-02 5.48936903e+02] [ 8.45845342e-02 9.96414761e-01 -1.75509139e-03 2.31108974e+01] [ 3.58216608e-02 -1.28058617e-03 9.99357378e-01 1.95096584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.97, Y:23.11, Z:19.51 [[ 9.95492193e-01 -8.78267214e-02 -3.58016742e-02 5.48968836e+02] [ 8.78203856e-02 9.96134784e-01 -1.75254017e-03 2.31116830e+01] [ 3.58172129e-02 -1.39947678e-03 9.99357378e-01 1.95107618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.00, Y:23.11, Z:19.51 [[ 9.94960372e-01 -9.36594316e-02 -3.58017998e-02 5.48999538e+02] [ 9.36569542e-02 9.95602989e-01 -1.74997176e-03 2.31120473e+01] [ 3.58082802e-02 -1.61193497e-03 9.99357378e-01 1.95121167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.03, Y:23.11, Z:19.51 [[ 9.94720442e-01 -9.61741520e-02 -3.58018933e-02 5.49030298e+02] [ 9.61733677e-02 9.95363063e-01 -1.74805580e-03 2.31129740e+01] [ 3.58040000e-02 -1.70436182e-03 9.99357378e-01 1.95133227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.06, Y:23.11, Z:19.51 [[ 9.94486356e-01 -9.85651974e-02 -3.58020799e-02 5.49061603e+02] [ 9.85660956e-02 9.95128978e-01 -1.74422664e-03 2.31141926e+01] [ 3.57996072e-02 -1.79426162e-03 9.99357378e-01 1.95144345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.09, Y:23.12, Z:19.52 [[ 9.94256457e-01 -1.00857788e-01 -3.58022825e-02 5.49093790e+02] [ 1.00860317e-01 9.94899075e-01 -1.74005702e-03 2.31156240e+01] [ 3.57951560e-02 -1.88096665e-03 9.99357378e-01 1.95160721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.12, Y:23.12, Z:19.52 [[ 9.94044298e-01 -1.02927748e-01 -3.58024042e-02 5.49124583e+02] [ 1.02931706e-01 9.94686908e-01 -1.73754931e-03 2.31170115e+01] [ 3.57910248e-02 -1.95800156e-03 9.99357378e-01 1.95172969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.16, Y:23.12, Z:19.52 [[ 9.93735850e-01 -1.05864260e-01 -3.58024948e-02 5.49156577e+02] [ 1.05870183e-01 9.94378445e-01 -1.73568089e-03 2.31186212e+01] [ 3.57849757e-02 -2.06560836e-03 9.99357378e-01 1.95177008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.19, Y:23.12, Z:19.52 [[ 9.93636875e-01 -1.06789198e-01 -3.58026140e-02 5.49188687e+02] [ 1.06795808e-01 9.94279463e-01 -1.73321925e-03 2.31202459e+01] [ 3.57828929e-02 -2.10137852e-03 9.99357378e-01 1.95185812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.22, Y:23.12, Z:19.52 [[ 9.93575760e-01 -1.07356292e-01 -3.58027329e-02 5.49221321e+02] [ 1.07363357e-01 9.94218343e-01 -1.73075859e-03 2.31221427e+01] [ 3.57815416e-02 -2.12426181e-03 9.99357378e-01 1.95194402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.25, Y:23.12, Z:19.52 [[ 9.93534579e-01 -1.07736692e-01 -3.58028804e-02 5.49253425e+02] [ 1.07744113e-01 9.94177158e-01 -1.72770165e-03 2.31239401e+01] [ 3.57805428e-02 -2.14101827e-03 9.99357378e-01 1.95198639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.29, Y:23.13, Z:19.52 [[ 9.93503457e-01 -1.08023266e-01 -3.58029976e-02 5.49285984e+02] [ 1.08030960e-01 9.94146033e-01 -1.72526943e-03 2.31258836e+01] [ 3.57797773e-02 -2.15377105e-03 9.99357378e-01 1.95205729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.32, Y:23.13, Z:19.52 [[ 9.93515624e-01 -1.07911270e-01 -3.58031144e-02 5.49317491e+02] [ 1.07918978e-01 9.94158200e-01 -1.72284254e-03 2.31277522e+01] [ 3.57798739e-02 -2.15216452e-03 9.99357378e-01 1.95212505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.35, Y:23.13, Z:19.52 [[ 9.93577091e-01 -1.07343816e-01 -3.58032014e-02 5.49349977e+02] [ 1.07351222e-01 9.94219671e-01 -1.72103323e-03 2.31297510e+01] [ 3.57809894e-02 -2.13353823e-03 9.99357378e-01 1.95237159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.38, Y:23.13, Z:19.52 [[ 9.93684742e-01 -1.06342615e-01 -3.58033846e-02 5.49383022e+02] [ 1.06349511e-01 9.94327327e-01 -1.71721274e-03 2.31317191e+01] [ 3.57828966e-02 -2.10130435e-03 9.99357378e-01 1.95249657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.41, Y:23.14, Z:19.53 [[ 9.94094860e-01 -1.02437854e-01 -3.58035682e-02 5.49414950e+02] [ 1.02442363e-01 9.94737466e-01 -1.71337705e-03 2.31353782e+01] [ 3.57906654e-02 -1.96454281e-03 9.99357378e-01 1.95269551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.45, Y:23.14, Z:19.53 [[ 9.94417344e-01 -9.92584546e-02 -3.58036921e-02 5.49447807e+02] [ 9.92610016e-02 9.95059961e-01 -1.71078474e-03 2.31385935e+01] [ 3.57966303e-02 -1.85267631e-03 9.99357378e-01 1.95289028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.48, Y:23.14, Z:19.53 [[ 9.94797369e-01 -9.53743974e-02 -3.58038828e-02 5.49479452e+02] [ 9.53745786e-02 9.95439992e-01 -1.70678325e-03 2.31418273e+01] [ 3.58034002e-02 -1.71687674e-03 9.99357378e-01 1.95298519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.51, Y:23.15, Z:19.53 [[ 9.95694293e-01 -8.55040681e-02 -3.58040403e-02 5.49511492e+02] [ 8.54979951e-02 9.96336886e-01 -1.70347262e-03 2.31468206e+01] [ 3.58185399e-02 -1.36503569e-03 9.99357378e-01 1.95325842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.54, Y:23.15, Z:19.53 [[ 9.96170276e-01 -7.97674269e-02 -3.58041656e-02 5.49543337e+02] [ 7.97577473e-02 9.96812825e-01 -1.70083513e-03 2.31502416e+01] [ 3.58257227e-02 -1.16133819e-03 9.99357378e-01 1.95341643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.57, Y:23.15, Z:19.54 [[ 9.96632371e-01 -7.37697134e-02 -3.58042904e-02 5.49573879e+02] [ 7.37562608e-02 9.97274852e-01 -1.69820419e-03 2.31535148e+01] [ 3.58319944e-02 -9.48305312e-04 9.99357378e-01 1.95356196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.61, Y:23.16, Z:19.54 [[ 9.97476609e-01 -6.13063048e-02 -3.58043524e-02 5.49605649e+02] [ 6.12848694e-02 9.98118873e-01 -1.69689543e-03 2.31586731e+01] [ 3.58410303e-02 -5.01651561e-04 9.99357378e-01 1.95383743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.64, Y:23.16, Z:19.54 [[ 9.97844248e-01 -5.49990605e-02 -3.58044751e-02 5.49636298e+02] [ 5.49736581e-02 9.98486368e-01 -1.69430307e-03 2.31617611e+01] [ 3.58434654e-02 -2.77652404e-04 9.99357378e-01 1.95395967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.67, Y:23.16, Z:19.54 [[ 9.98147845e-01 -4.91824883e-02 -3.58045054e-02 5.49665918e+02] [ 4.91533669e-02 9.98789807e-01 -1.69366343e-03 2.31647791e+01] [ 3.58444736e-02 -6.93854814e-05 9.99357378e-01 1.95410448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.69, Y:23.17, Z:19.54 [[ 9.98557565e-01 -4.00103971e-02 -3.58044454e-02 5.49694366e+02] [ 3.99753337e-02 9.99199229e-01 -1.69492953e-03 2.31686776e+01] [ 3.58435891e-02 2.61190046e-04 9.99357378e-01 1.95427543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.72, Y:23.17, Z:19.54 [[ 9.98683634e-01 -3.67297229e-02 -3.58040138e-02 5.49722627e+02] [ 3.66922267e-02 9.99325161e-01 -1.70399908e-03 2.31704343e+01] [ 3.58424392e-02 3.88027009e-04 9.99357378e-01 1.95430260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.75, Y:23.17, Z:19.54 [[ 9.98767161e-01 -3.43841013e-02 -3.58035219e-02 5.49750300e+02] [ 3.43447303e-02 9.99408576e-01 -1.71427280e-03 2.31716526e+01] [ 3.58412905e-02 4.82497078e-04 9.99357378e-01 1.95435059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.78, Y:23.17, Z:19.54 [[ 9.98817187e-01 -3.28994080e-02 -3.58030216e-02 5.49777645e+02] [ 3.28587113e-02 9.99458519e-01 -1.72465753e-03 2.31727250e+01] [ 3.58403752e-02 5.46176427e-04 9.99357378e-01 1.95433043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.81, Y:23.17, Z:19.54 [[ 9.98826618e-01 -3.26120442e-02 -3.58028045e-02 5.49805898e+02] [ 3.25710019e-02 9.99467928e-01 -1.72915426e-03 2.31734246e+01] [ 3.58401461e-02 5.60992092e-04 9.99357378e-01 1.95442360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.83, Y:23.17, Z:19.55 [[ 9.98796960e-01 -3.35086127e-02 -3.58023052e-02 5.49833210e+02] [ 3.34677778e-02 9.99438283e-01 -1.73943021e-03 2.31743588e+01] [ 3.58404804e-02 5.39114009e-04 9.99357378e-01 1.95451213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.86, Y:23.17, Z:19.55 [[ 9.98739931e-01 -3.51676094e-02 -3.58020886e-02 5.49860899e+02] [ 3.51276804e-02 9.99381311e-01 -1.74387811e-03 2.31748711e+01] [ 3.58412662e-02 4.84036374e-04 9.99357378e-01 1.95465877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.89, Y:23.17, Z:19.55 [[ 9.98565766e-01 -3.98077423e-02 -3.58015918e-02 5.49888907e+02] [ 3.97704303e-02 9.99207304e-01 -1.75401752e-03 2.31740050e+01] [ 3.58430355e-02 3.27657138e-04 9.99357378e-01 1.95480368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.92, Y:23.17, Z:19.55 [[ 9.98450291e-01 -4.26060356e-02 -3.58014378e-02 5.49916907e+02] [ 4.25704091e-02 9.99091924e-01 -1.75715582e-03 2.31740609e+01] [ 3.58437928e-02 2.30350890e-04 9.99357378e-01 1.95497219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.95, Y:23.17, Z:19.55 [[ 9.98308866e-01 -4.58006663e-02 -3.58009408e-02 5.49945194e+02] [ 4.57667320e-02 9.98950591e-01 -1.76722452e-03 2.31742029e+01] [ 3.58443110e-02 1.25743848e-04 9.99357378e-01 1.95512133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.97, Y:23.17, Z:19.55 [[ 9.98013573e-01 -5.18385725e-02 -3.58004240e-02 5.49973581e+02] [ 5.18081474e-02 9.98655474e-01 -1.77763082e-03 2.31726390e+01] [ 3.58444393e-02 -8.06539598e-05 9.99357378e-01 1.95517911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.00, Y:23.17, Z:19.55 [[ 9.97826655e-01 -5.53200460e-02 -3.58002636e-02 5.50002019e+02] [ 5.52917448e-02 9.98468653e-01 -1.78085534e-03 2.31726500e+01] [ 3.58439580e-02 -2.02474112e-04 9.99357378e-01 1.95530441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.03, Y:23.17, Z:19.55 [[ 9.97637193e-01 -5.86379190e-02 -3.57998094e-02 5.50030636e+02] [ 5.86114268e-02 9.98279268e-01 -1.78994054e-03 2.31726846e+01] [ 3.58431659e-02 -3.12566652e-04 9.99357378e-01 1.95541605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.06, Y:23.17, Z:19.56 [[ 9.97635137e-01 -5.86729421e-02 -3.57997128e-02 5.50060731e+02] [ 5.86464033e-02 9.98277210e-01 -1.79187087e-03 2.31742212e+01] [ 3.58431717e-02 -3.11891054e-04 9.99357378e-01 1.95552420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.09, Y:23.17, Z:19.56 [[ 9.97434948e-01 -6.19831335e-02 -3.57996499e-02 5.50090296e+02] [ 6.19586803e-02 9.98077105e-01 -1.79312598e-03 2.31739919e+01] [ 3.58419545e-02 -4.29572548e-04 9.99357378e-01 1.95563191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.12, Y:23.17, Z:19.56 [[ 9.97221502e-01 -6.53273656e-02 -3.57995857e-02 5.50119857e+02] [ 6.53050198e-02 9.97863735e-01 -1.79440814e-03 2.31736363e+01] [ 3.58403322e-02 -5.48470268e-04 9.99357378e-01 1.95572530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.15, Y:23.17, Z:19.56 [[ 9.97027218e-01 -6.82284252e-02 -3.57995538e-02 5.50150606e+02] [ 6.82079252e-02 9.97669513e-01 -1.79504433e-03 2.31731912e+01] [ 3.58385964e-02 -6.52105233e-04 9.99357378e-01 1.95581197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.18, Y:23.17, Z:19.56 [[ 9.96621173e-01 -7.39231328e-02 -3.57995538e-02 5.50180670e+02] [ 7.39063025e-02 9.97263574e-01 -1.79504433e-03 2.31712555e+01] [ 3.58342862e-02 -8.56833463e-04 9.99357378e-01 1.95590358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.21, Y:23.17, Z:19.56 [[ 9.96348300e-01 -7.75142169e-02 -3.57995855e-02 5.50212189e+02] [ 7.74997245e-02 9.96990759e-01 -1.79441057e-03 2.31697712e+01] [ 3.58309483e-02 -9.86600094e-04 9.99357378e-01 1.95591081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.24, Y:23.17, Z:19.56 [[ 9.96353814e-01 -7.74432842e-02 -3.57996491e-02 5.50244821e+02] [ 7.74287916e-02 9.96996272e-01 -1.79314101e-03 2.31713471e+01] [ 3.58309834e-02 -9.85320690e-04 9.99357378e-01 1.95602795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.28, Y:23.17, Z:19.56 [[ 9.96248303e-01 -7.87889296e-02 -3.57997766e-02 5.50277058e+02] [ 7.87753962e-02 9.96890782e-01 -1.79059233e-03 2.31710479e+01] [ 3.58295461e-02 -1.03626702e-03 9.99357378e-01 1.95603461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.31, Y:23.17, Z:19.56 [[ 9.96276995e-01 -7.84252311e-02 -3.57999074e-02 5.50309245e+02] [ 7.84115572e-02 9.96919471e-01 -1.78797356e-03 2.31715965e+01] [ 3.58298469e-02 -1.02580956e-03 9.99357378e-01 1.95607089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.34, Y:23.17, Z:19.56 [[ 9.96351058e-01 -7.74785526e-02 -3.58000377e-02 5.50340645e+02] [ 7.74643621e-02 9.96993523e-01 -1.78535985e-03 2.31721822e+01] [ 3.58307328e-02 -9.94381913e-04 9.99357378e-01 1.95614417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.37, Y:23.17, Z:19.56 [[ 9.96650493e-01 -7.35264950e-02 -3.58001346e-02 5.50373034e+02] [ 7.35098265e-02 9.97292898e-01 -1.78341484e-03 2.31724027e+01] [ 3.58343483e-02 -8.54220400e-04 9.99357378e-01 1.95624182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.40, Y:23.17, Z:19.56 [[ 9.96847484e-01 -7.08056160e-02 -3.58002653e-02 5.50403624e+02] [ 7.07872883e-02 9.97489844e-01 -1.78078759e-03 2.31738172e+01] [ 3.58364908e-02 -7.59030071e-04 9.99357378e-01 1.95631829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.43, Y:23.18, Z:19.56 [[ 9.97080765e-01 -6.74409871e-02 -3.58002976e-02 5.50434776e+02] [ 6.74205149e-02 9.97723060e-01 -1.78013863e-03 2.31751272e+01] [ 3.58388368e-02 -6.38732505e-04 9.99357378e-01 1.95641474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.46, Y:23.18, Z:19.56 [[ 9.97512787e-01 -6.07171671e-02 -3.58003618e-02 5.50464722e+02] [ 6.06924114e-02 9.98154931e-01 -1.77884575e-03 2.31770931e+01] [ 3.58423142e-02 -3.98388902e-04 9.99357378e-01 1.95644401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.49, Y:23.18, Z:19.57 [[ 9.97709486e-01 -5.73943788e-02 -3.58003618e-02 5.50494498e+02] [ 5.73674844e-02 9.98351545e-01 -1.77884575e-03 2.31787441e+01] [ 3.58434423e-02 -2.79005414e-04 9.99357378e-01 1.95652590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.52, Y:23.18, Z:19.57 [[ 9.97874975e-01 -5.44414555e-02 -3.58002969e-02 5.50523260e+02] [ 5.44126143e-02 9.98516950e-01 -1.78015157e-03 2.31800468e+01] [ 3.58441173e-02 -1.71619040e-04 9.99357378e-01 1.95659264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.55, Y:23.18, Z:19.57 [[ 9.98110467e-01 -4.99386442e-02 -3.57998390e-02 5.50551290e+02] [ 4.99065782e-02 9.98752288e-01 -1.78931285e-03 2.31806148e+01] [ 3.58445269e-02 -7.15577096e-07 9.99357378e-01 1.95662375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.58, Y:23.18, Z:19.57 [[ 9.98191715e-01 -4.82877729e-02 -3.57993150e-02 5.50577826e+02] [ 4.82542716e-02 9.98833463e-01 -1.79973593e-03 2.31812864e+01] [ 3.58444590e-02 6.90116286e-05 9.99357379e-01 1.95663290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.61, Y:23.18, Z:19.57 [[ 9.98248540e-01 -4.70986006e-02 -3.57990882e-02 5.50606012e+02] [ 4.70641735e-02 9.98890238e-01 -1.80423601e-03 2.31819730e+01] [ 3.58443367e-02 1.16221461e-04 9.99357379e-01 1.95675412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.63, Y:23.18, Z:19.57 [[ 9.98215750e-01 -4.77907804e-02 -3.57960596e-02 5.50633913e+02] [ 4.77546498e-02 9.98857356e-01 -1.86414189e-03 2.31816178e+01] [ 3.58442462e-02 1.51387507e-04 9.99357377e-01 1.95683902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.66, Y:23.18, Z:19.57 [[ 9.98163804e-01 -4.88619987e-02 -3.57983999e-02 5.50661878e+02] [ 4.88282094e-02 9.98805537e-01 -1.81805948e-03 2.31820578e+01] [ 3.58444741e-02 6.67494008e-05 9.99357378e-01 1.95699926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.69, Y:23.18, Z:19.57 [[ 9.98106520e-01 -5.00188828e-02 -3.57978638e-02 5.50688795e+02] [ 4.99854609e-02 9.98748272e-01 -1.82855505e-03 2.31822999e+01] [ 3.58445169e-02 3.57199945e-05 9.99357378e-01 1.95706928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.72, Y:23.18, Z:19.57 [[ 9.98003574e-01 -5.20326390e-02 -3.57976311e-02 5.50716398e+02] [ 5.20003490e-02 9.98645384e-01 -1.83310049e-03 2.31825904e+01] [ 3.58445201e-02 -3.20484706e-05 9.99357378e-01 1.95714668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.74, Y:23.18, Z:19.57 [[ 9.97741637e-01 -5.68347849e-02 -3.57971080e-02 5.50744201e+02] [ 5.68052194e-02 9.98383578e-01 -1.84325854e-03 2.31807143e+01] [ 3.58440060e-02 -1.94366781e-04 9.99357378e-01 1.95724595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.77, Y:23.18, Z:19.57 [[ 9.97558652e-01 -5.99611624e-02 -3.57965663e-02 5.50771891e+02] [ 5.99332334e-02 9.98200667e-01 -1.85371909e-03 2.31803946e+01] [ 3.58433075e-02 -2.96210444e-04 9.99357378e-01 1.95734641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.80, Y:23.18, Z:19.57 [[ 9.97354889e-01 -6.32603458e-02 -3.57960200e-02 5.50800912e+02] [ 6.32341640e-02 9.97996977e-01 -1.86420874e-03 2.31800893e+01] [ 3.58422503e-02 -4.04253702e-04 9.99357378e-01 1.95744392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.83, Y:23.18, Z:19.58 [[ 9.96891320e-01 -7.01881380e-02 -3.57955412e-02 5.50829297e+02] [ 7.01660895e-02 9.97533564e-01 -1.87335827e-03 2.31775942e+01] [ 3.58387413e-02 -6.44098547e-04 9.99357378e-01 1.95760380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.86, Y:23.18, Z:19.58 [[ 9.96627652e-01 -7.38377271e-02 -3.57954394e-02 5.50858758e+02] [ 7.38179605e-02 9.97269969e-01 -1.87530170e-03 2.31770847e+01] [ 3.58361847e-02 -7.73368800e-04 9.99357378e-01 1.95773051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.89, Y:23.18, Z:19.58 [[ 9.96335462e-01 -7.76809935e-02 -3.57954057e-02 5.50889304e+02] [ 7.76636813e-02 9.96977850e-01 -1.87594358e-03 2.31766018e+01] [ 3.58329518e-02 -9.10933874e-04 9.99357378e-01 1.95787515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.92, Y:23.18, Z:19.58 [[ 9.96029803e-01 -8.15065612e-02 -3.57954057e-02 5.50919829e+02] [ 8.14917160e-02 9.96672254e-01 -1.87594358e-03 2.31763378e+01] [ 3.58291894e-02 -1.04853333e-03 9.99357378e-01 1.95799264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.95, Y:23.17, Z:19.58 [[ 9.95367869e-01 -8.92272081e-02 -3.57954057e-02 5.50950084e+02] [ 8.92173448e-02 9.96010415e-01 -1.87594358e-03 2.31739181e+01] [ 3.58199821e-02 -1.32631710e-03 9.99357378e-01 1.95808145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.98, Y:23.17, Z:19.58 [[ 9.95005364e-01 -9.31826789e-02 -3.57954389e-02 5.50981873e+02] [ 9.31753923e-02 9.95647945e-01 -1.87531101e-03 2.31738980e+01] [ 3.58144016e-02 -1.46930955e-03 9.99357378e-01 1.95816528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.01, Y:23.17, Z:19.58 [[ 9.94661064e-01 -9.67886882e-02 -3.57955046e-02 5.51013895e+02] [ 9.67837759e-02 9.95303667e-01 -1.87405584e-03 2.31740289e+01] [ 3.58087844e-02 -1.60037372e-03 9.99357378e-01 1.95827996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.05, Y:23.17, Z:19.58 [[ 9.94307221e-01 -1.00358468e-01 -3.57956415e-02 5.51045963e+02] [ 1.00355956e-01 9.94949838e-01 -1.87143738e-03 2.31742362e+01] [ 3.58026823e-02 -1.73152212e-03 9.99357378e-01 1.95833714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.08, Y:23.17, Z:19.58 [[ 9.93643801e-01 -1.06727027e-01 -3.57957775e-02 5.51076845e+02] [ 1.06728727e-01 9.94286421e-01 -1.86883124e-03 2.31735087e+01] [ 3.57907103e-02 -1.96348517e-03 9.99357378e-01 1.95838303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.11, Y:23.17, Z:19.59 [[ 9.93370690e-01 -1.09239772e-01 -3.57958788e-02 5.51109156e+02] [ 1.09243167e-01 9.94013302e-01 -1.86688916e-03 2.31742931e+01] [ 3.57855183e-02 -2.05594219e-03 9.99357378e-01 1.95856587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.14, Y:23.18, Z:19.59 [[ 9.93066780e-01 -1.11968820e-01 -3.57960143e-02 5.51140980e+02] [ 1.11974074e-01 9.93709380e-01 -1.86428772e-03 2.31756377e+01] [ 3.57795773e-02 -2.15686335e-03 9.99357378e-01 1.95873210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.17, Y:23.18, Z:19.59 [[ 9.93052335e-01 -1.12096816e-01 -3.57961499e-02 5.51173553e+02] [ 1.12102246e-01 9.93694933e-01 -1.86168015e-03 2.31776352e+01] [ 3.57791412e-02 -2.16408297e-03 9.99357378e-01 1.95884843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.21, Y:23.18, Z:19.59 [[ 9.93086047e-01 -1.11797714e-01 -3.57962853e-02 5.51205276e+02] [ 1.11803044e-01 9.93728647e-01 -1.85907286e-03 2.31799245e+01] [ 3.57796343e-02 -2.15591435e-03 9.99357378e-01 1.95900405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.24, Y:23.18, Z:19.59 [[ 9.93175615e-01 -1.10999163e-01 -3.57964235e-02 5.51236770e+02] [ 1.11004072e-01 9.93818218e-01 -1.85640973e-03 2.31823151e+01] [ 3.57811977e-02 -2.12980789e-03 9.99357378e-01 1.95908123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.27, Y:23.18, Z:19.59 [[ 9.93468716e-01 -1.08344404e-01 -3.57966533e-02 5.51267923e+02] [ 1.08347755e-01 9.94111329e-01 -1.85196771e-03 2.31848507e+01] [ 3.57865089e-02 -2.03861504e-03 9.99357378e-01 1.95908306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.30, Y:23.19, Z:19.59 [[ 9.93652330e-01 -1.06647224e-01 -3.57968740e-02 5.51300445e+02] [ 1.06649631e-01 9.94294947e-01 -1.84769094e-03 2.31869459e+01] [ 3.57897021e-02 -1.98176100e-03 9.99357378e-01 1.95915394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.33, Y:23.19, Z:19.59 [[ 9.93858353e-01 -1.04709826e-01 -3.57970069e-02 5.51331553e+02] [ 1.04711073e-01 9.94500974e-01 -1.84511199e-03 2.31891833e+01] [ 3.57933596e-02 -1.91456305e-03 9.99357378e-01 1.95924273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.36, Y:23.19, Z:19.59 [[ 9.94086083e-01 -1.02525248e-01 -3.57971059e-02 5.51363510e+02] [ 1.02525151e-01 9.94728705e-01 -1.84319106e-03 2.31918564e+01] [ 3.57973824e-02 -1.83781311e-03 9.99357378e-01 1.95943695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.39, Y:23.20, Z:19.60 [[ 9.94656774e-01 -9.68321165e-02 -3.57972414e-02 5.51394956e+02] [ 9.68284354e-02 9.95299385e-01 -1.84055437e-03 2.31968067e+01] [ 3.58071972e-02 -1.63547101e-03 9.99357378e-01 1.95961973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.43, Y:23.20, Z:19.60 [[ 9.94959472e-01 -9.36706493e-02 -3.57974651e-02 5.51425588e+02] [ 9.36650827e-02 9.95602069e-01 -1.83619279e-03 2.32002632e+01] [ 3.58120278e-02 -1.52603512e-03 9.99357378e-01 1.95977144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.46, Y:23.20, Z:19.60 [[ 9.95269534e-01 -9.03166033e-02 -3.57975633e-02 5.51457275e+02] [ 9.03089396e-02 9.95912110e-01 -1.83427787e-03 2.32037463e+01] [ 3.58168925e-02 -1.40723910e-03 9.99357378e-01 1.95999318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.49, Y:23.21, Z:19.60 [[ 9.95893391e-01 -8.31557473e-02 -3.57976960e-02 5.51488561e+02] [ 8.31435552e-02 9.96535897e-01 -1.83168379e-03 2.32090259e+01] [ 3.58260041e-02 -1.15218593e-03 9.99357378e-01 1.96019872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.52, Y:23.21, Z:19.60 [[ 9.96187837e-01 -7.95506831e-02 -3.57977948e-02 5.51519795e+02] [ 7.95362350e-02 9.96830296e-01 -1.82975124e-03 2.32124693e+01] [ 3.58298843e-02 -1.02444589e-03 9.99357378e-01 1.96039719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.55, Y:23.22, Z:19.61 [[ 9.96482674e-01 -7.57680301e-02 -3.57978614e-02 5.51551415e+02] [ 7.57511899e-02 9.97125074e-01 -1.82844641e-03 2.32157775e+01] [ 3.58334830e-02 -8.89715427e-04 9.99357378e-01 1.96054386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.58, Y:23.22, Z:19.61 [[ 9.96743918e-01 -7.22500531e-02 -3.57979281e-02 5.51582228e+02] [ 7.22309922e-02 9.97386257e-01 -1.82713920e-03 2.32189371e+01] [ 3.58363725e-02 -7.64529982e-04 9.99357378e-01 1.96064853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.61, Y:23.22, Z:19.61 [[ 9.97201113e-01 -6.56387315e-02 -3.57979947e-02 5.51612952e+02] [ 6.56154583e-02 9.97843313e-01 -1.82583451e-03 2.32238831e+01] [ 3.58406351e-02 -5.28177627e-04 9.99357378e-01 1.96081379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.64, Y:23.23, Z:19.61 [[ 9.97385335e-01 -6.27773583e-02 -3.57979947e-02 5.51642297e+02] [ 6.27522427e-02 9.98027466e-01 -1.82583451e-03 2.32269651e+01] [ 3.58420030e-02 -4.25343890e-04 9.99357378e-01 1.96093510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.67, Y:23.23, Z:19.61 [[ 9.97548728e-01 -6.01252258e-02 -3.57979283e-02 5.51671854e+02] [ 6.00983562e-02 9.98190788e-01 -1.82713605e-03 2.32298790e+01] [ 3.58430192e-02 -3.28739400e-04 9.99357378e-01 1.96105483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.70, Y:23.23, Z:19.61 [[ 9.97699875e-01 -5.75627704e-02 -3.57978615e-02 5.51700702e+02] [ 5.75342049e-02 9.98341861e-01 -1.82844304e-03 2.32325080e+01] [ 3.58437539e-02 -2.35364108e-04 9.99357378e-01 1.96111091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.73, Y:23.23, Z:19.61 [[ 9.97902205e-01 -5.39417331e-02 -3.57977364e-02 5.51729244e+02] [ 5.39107502e-02 9.98544080e-01 -1.83088932e-03 2.32341510e+01] [ 3.58443791e-02 -1.02834333e-04 9.99357378e-01 1.96088912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.76, Y:23.24, Z:19.61 [[ 9.98018778e-01 -5.17401494e-02 -3.57976920e-02 5.51756864e+02] [ 5.17077195e-02 9.98660581e-01 -1.83175464e-03 2.32378113e+01] [ 3.58445191e-02 -2.28914853e-05 9.99357378e-01 1.96129575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.78, Y:23.24, Z:19.61 [[ 9.98071712e-01 -5.07092050e-02 -3.57971215e-02 5.51784435e+02] [ 5.06757147e-02 9.98713460e-01 -1.84283714e-03 2.32395343e+01] [ 3.58445159e-02 2.52389072e-05 9.99357379e-01 1.96144350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.81, Y:23.24, Z:19.62 [[ 9.98109438e-01 -4.99615245e-02 -3.57965896e-02 5.51811013e+02] [ 4.99271850e-02 9.98751141e-01 -1.85311145e-03 2.32412585e+01] [ 3.58444690e-02 6.23850772e-05 9.99357379e-01 1.96155375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.84, Y:23.24, Z:19.62 [[ 9.98094348e-01 -5.02623463e-02 -3.57962073e-02 5.51839750e+02] [ 5.02279364e-02 9.98736048e-01 -1.86046606e-03 2.32430454e+01] [ 3.58444740e-02 5.89510377e-05 9.99357379e-01 1.96178643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.87, Y:23.24, Z:19.62 [[ 9.98022111e-01 -5.16771873e-02 -3.57957305e-02 5.51868079e+02] [ 5.16433596e-02 9.98663841e-01 -1.86959659e-03 2.32441286e+01] [ 3.58445172e-02 1.72869541e-05 9.99357379e-01 1.96193539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.90, Y:23.24, Z:19.62 [[ 9.97923665e-01 -5.35449760e-02 -3.57951808e-02 5.51895621e+02] [ 5.35119740e-02 9.98565438e-01 -1.88006209e-03 2.32449370e+01] [ 3.58444983e-02 -3.93123370e-05 9.99357379e-01 1.96203855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.92, Y:23.24, Z:19.62 [[ 9.97670785e-01 -5.80667626e-02 -3.57946283e-02 5.51923352e+02] [ 5.80362941e-02 9.98312684e-01 -1.89052207e-03 2.32445160e+01] [ 3.58440080e-02 -1.91268936e-04 9.99357379e-01 1.96209735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.95, Y:23.24, Z:19.62 [[ 9.97476890e-01 -6.13075161e-02 -3.57944571e-02 5.51950879e+02] [ 6.12790169e-02 9.98118879e-01 -1.89375943e-03 2.32447775e+01] [ 3.58432250e-02 -3.04467873e-04 9.99357379e-01 1.96213625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.98, Y:23.25, Z:19.62 [[ 9.97474726e-01 -6.13428037e-02 -3.57942871e-02 5.51980970e+02] [ 6.13142121e-02 9.98116711e-01 -1.89696610e-03 2.32464026e+01] [ 3.58432413e-02 -3.02522773e-04 9.99357379e-01 1.96224443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.01, Y:23.25, Z:19.62 [[ 9.97255002e-01 -6.48169395e-02 -3.57942201e-02 5.52010783e+02] [ 6.47905390e-02 9.97897080e-01 -1.89822908e-03 2.32468479e+01] [ 3.58419852e-02 -4.26108377e-04 9.99357379e-01 1.96233611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.04, Y:23.25, Z:19.62 [[ 9.96738299e-01 -7.23294058e-02 -3.57941518e-02 5.52040413e+02] [ 7.23077979e-02 9.97380556e-01 -1.89951687e-03 2.32464451e+01] [ 3.58377820e-02 -6.94875080e-04 9.99357379e-01 1.96243346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.07, Y:23.25, Z:19.63 [[ 9.96455805e-01 -7.61223560e-02 -3.57940836e-02 5.52071179e+02] [ 7.61031465e-02 9.97098139e-01 -1.90080113e-03 2.32472995e+01] [ 3.58349076e-02 -8.29978066e-04 9.99357379e-01 1.96254360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.10, Y:23.25, Z:19.63 [[ 9.96168268e-01 -7.97970315e-02 -3.57940836e-02 5.52102247e+02] [ 7.97801912e-02 9.96810668e-01 -1.90080113e-03 2.32476907e+01] [ 3.58316027e-02 -9.62141060e-04 9.99357379e-01 1.96262049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.13, Y:23.25, Z:19.63 [[ 9.95875158e-01 -8.33753488e-02 -3.57941526e-02 5.52133226e+02] [ 8.33608632e-02 9.96517616e-01 -1.89950006e-03 2.32479748e+01] [ 3.58278751e-02 -1.09216654e-03 9.99357379e-01 1.96269416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.16, Y:23.25, Z:19.63 [[ 9.95350318e-01 -8.94232557e-02 -3.57942224e-02 5.52164039e+02] [ 8.94127202e-02 9.95992853e-01 -1.89818509e-03 2.32473667e+01] [ 3.58205315e-02 -1.31109966e-03 9.99357379e-01 1.96271092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.20, Y:23.25, Z:19.63 [[ 9.95147569e-01 -9.16519575e-02 -3.57943266e-02 5.52195192e+02] [ 9.16429316e-02 9.95790127e-01 -1.89621781e-03 2.32481694e+01] [ 3.58174291e-02 -1.39328048e-03 9.99357379e-01 1.96277908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.23, Y:23.25, Z:19.63 [[ 9.94837832e-01 -9.49549706e-02 -3.57944295e-02 5.52226221e+02] [ 9.49481476e-02 9.95480417e-01 -1.89427311e-03 2.32491507e+01] [ 3.58125243e-02 -1.51412022e-03 9.99357379e-01 1.96282820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.26, Y:23.25, Z:19.63 [[ 9.94738078e-01 -9.59943135e-02 -3.57945313e-02 5.52258527e+02] [ 9.59882310e-02 9.95380670e-01 -1.89234787e-03 2.32510916e+01] [ 3.58108392e-02 -1.55346326e-03 9.99357379e-01 1.96300022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.29, Y:23.25, Z:19.63 [[ 9.94688270e-01 -9.65090016e-02 -3.57946667e-02 5.52289583e+02] [ 9.65033437e-02 9.95330866e-01 -1.88978240e-03 2.32529327e+01] [ 3.58099177e-02 -1.57456064e-03 9.99357379e-01 1.96307036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.32, Y:23.25, Z:19.63 [[ 9.94633211e-01 -9.70747205e-02 -3.57948914e-02 5.52321304e+02] [ 9.70695813e-02 9.95275812e-01 -1.88551670e-03 2.32546493e+01] [ 3.58088256e-02 -1.59919759e-03 9.99357379e-01 1.96314250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.35, Y:23.26, Z:19.63 [[ 9.94623968e-01 -9.71693344e-02 -3.57950226e-02 5.52353748e+02] [ 9.71643460e-02 9.95266569e-01 -1.88302285e-03 2.32563122e+01] [ 3.58085614e-02 -1.60510030e-03 9.99357379e-01 1.96325116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.39, Y:23.26, Z:19.63 [[ 9.94556152e-01 -9.78609571e-02 -3.57951574e-02 5.52386153e+02] [ 9.78565077e-02 9.95198758e-01 -1.88045707e-03 2.32589579e+01] [ 3.58073195e-02 -1.63256895e-03 9.99357379e-01 1.96328789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.42, Y:23.26, Z:19.63 [[ 9.94517957e-01 -9.82483082e-02 -3.57952915e-02 5.52417712e+02] [ 9.82442009e-02 9.95160565e-01 -1.87790070e-03 2.32610244e+01] [ 3.58065631e-02 -1.64907384e-03 9.99357379e-01 1.96338047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.45, Y:23.26, Z:19.63 [[ 9.94442600e-01 -9.90081058e-02 -3.57953913e-02 5.52450166e+02] [ 9.90045578e-02 9.95085212e-01 -1.87599626e-03 2.32631868e+01] [ 3.58052034e-02 -1.67833629e-03 9.99357379e-01 1.96346528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.48, Y:23.27, Z:19.64 [[ 9.94343247e-01 -1.00000938e-01 -3.57955226e-02 5.52482229e+02] [ 9.99981217e-02 9.94985862e-01 -1.87348774e-03 2.32655098e+01] [ 3.58033895e-02 -1.71659514e-03 9.99357379e-01 1.96355577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.51, Y:23.27, Z:19.64 [[ 9.94014123e-01 -1.03221094e-01 -3.57956535e-02 5.52514250e+02] [ 1.03220449e-01 9.94656744e-01 -1.87098462e-03 2.32685817e+01] [ 3.57975132e-02 -1.83505829e-03 9.99357379e-01 1.96358920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.55, Y:23.27, Z:19.64 [[ 9.93826413e-01 -1.05012964e-01 -3.57957851e-02 5.52546236e+02] [ 1.05013568e-01 9.94469034e-01 -1.86846364e-03 2.32706667e+01] [ 3.57940127e-02 -1.90211459e-03 9.99357379e-01 1.96372891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.58, Y:23.27, Z:19.64 [[ 9.93659942e-01 -1.06576600e-01 -3.57959221e-02 5.52577419e+02] [ 1.06578310e-01 9.94302561e-01 -1.86583415e-03 2.32723118e+01] [ 3.57908313e-02 -1.96106423e-03 9.99357379e-01 1.96366565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.61, Y:23.28, Z:19.64 [[ 9.93273374e-01 -1.10121063e-01 -3.57960241e-02 5.52609134e+02] [ 1.10125135e-01 9.93915983e-01 -1.86387500e-03 2.32752930e+01] [ 3.57834924e-02 -2.09070460e-03 9.99357379e-01 1.96376178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.64, Y:23.28, Z:19.64 [[ 9.93204847e-01 -1.10737382e-01 -3.57961563e-02 5.52642008e+02] [ 1.10741945e-01 9.93847452e-01 -1.86133243e-03 2.32778218e+01] [ 3.57820378e-02 -2.11545157e-03 9.99357379e-01 1.96392351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.67, Y:23.28, Z:19.64 [[ 9.93182724e-01 -1.10935558e-01 -3.57963612e-02 5.52673606e+02] [ 1.10940391e-01 9.93825327e-01 -1.85738449e-03 2.32806553e+01] [ 3.57813803e-02 -2.12654010e-03 9.99357379e-01 1.96401814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.71, Y:23.28, Z:19.64 [[ 9.93244852e-01 -1.10377863e-01 -3.57965304e-02 5.52706132e+02] [ 1.10382452e-01 9.93887457e-01 -1.85411787e-03 2.32836678e+01] [ 3.57823761e-02 -2.10971578e-03 9.99357379e-01 1.96420982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.74, Y:23.29, Z:19.64 [[ 9.93607133e-01 -1.07067565e-01 -3.57966659e-02 5.52736796e+02] [ 1.07070107e-01 9.94249749e-01 -1.85149710e-03 2.32887211e+01] [ 3.57890614e-02 -1.99309213e-03 9.99357379e-01 1.96442578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.77, Y:23.29, Z:19.65 [[ 9.93922127e-01 -1.04102819e-01 -3.57967668e-02 5.52768610e+02] [ 1.04103514e-01 9.94564748e-01 -1.84954500e-03 2.32924674e+01] [ 3.57947452e-02 -1.88826552e-03 9.99357379e-01 1.96468028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.80, Y:23.30, Z:19.65 [[ 9.94264328e-01 -1.00782084e-01 -3.57969002e-02 5.52800001e+02] [ 1.00780726e-01 9.94906947e-01 -1.84695924e-03 2.32963326e+01] [ 3.58007251e-02 -1.77127189e-03 9.99357379e-01 1.96485750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.83, Y:23.30, Z:19.65 [[ 9.95052506e-01 -9.26773215e-02 -3.57969994e-02 5.52831826e+02] [ 9.26707958e-02 9.95695094e-01 -1.84503488e-03 2.33021883e+01] [ 3.58138896e-02 -1.48142985e-03 9.99357379e-01 1.96522022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.86, Y:23.31, Z:19.65 [[ 9.95414103e-01 -8.87092337e-02 -3.57971359e-02 5.52862695e+02] [ 8.87002413e-02 9.96056661e-01 -1.84238184e-03 2.33058822e+01] [ 3.58194120e-02 -1.34128173e-03 9.99357379e-01 1.96539899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.89, Y:23.31, Z:19.66 [[ 9.95785190e-01 -8.44417705e-02 -3.57972374e-02 5.52893506e+02] [ 8.44300948e-02 9.96427705e-01 -1.84040780e-03 2.33093771e+01] [ 3.58247664e-02 -1.18971332e-03 9.99357379e-01 1.96551266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.93, Y:23.31, Z:19.66 [[ 9.96118532e-01 -8.04140541e-02 -3.57973376e-02 5.52925647e+02] [ 8.03998503e-02 9.96760997e-01 -1.83845651e-03 2.33128972e+01] [ 3.58292277e-02 -1.04677998e-03 9.99357379e-01 1.96565615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.96, Y:23.32, Z:19.66 [[ 9.96686750e-01 -7.30346744e-02 -3.57974729e-02 5.52956516e+02] [ 7.30158076e-02 9.97329094e-01 -1.83581867e-03 2.33176760e+01] [ 3.58359396e-02 -7.84045250e-04 9.99357379e-01 1.96575362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.99, Y:23.32, Z:19.66 [[ 9.96913866e-01 -6.98661434e-02 -3.57975734e-02 5.52987353e+02] [ 6.98453054e-02 9.97556149e-01 -1.83385670e-03 2.33209035e+01] [ 3.58382140e-02 -6.72095275e-04 9.99357379e-01 1.96585290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.02, Y:23.32, Z:19.66 [[ 9.97137782e-01 -6.65940864e-02 -3.57976400e-02 5.53017682e+02] [ 6.65711872e-02 9.97779995e-01 -1.83255675e-03 2.33236295e+01] [ 3.58402065e-02 -5.55779820e-04 9.99357379e-01 1.96583074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.05, Y:23.33, Z:19.66 [[ 9.97322264e-01 -6.37716928e-02 -3.57976730e-02 5.53048496e+02] [ 6.37469992e-02 9.97964410e-01 -1.83191230e-03 2.33265625e+01] [ 3.58416277e-02 -4.54987307e-04 9.99357379e-01 1.96602837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.08, Y:23.33, Z:19.66 [[ 9.97670103e-01 -5.80766196e-02 -3.57976439e-02 5.53078381e+02] [ 5.80482398e-02 9.98312097e-01 -1.83248019e-03 2.33301905e+01] [ 3.58436452e-02 -2.49779522e-04 9.99357379e-01 1.96615868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.11, Y:23.33, Z:19.66 [[ 9.97829100e-01 -5.52776193e-02 -3.57976439e-02 5.53106968e+02] [ 5.52474387e-02 9.98471012e-01 -1.83248019e-03 2.33325026e+01] [ 3.58442049e-02 -1.49226082e-04 9.99357379e-01 1.96621489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.14, Y:23.33, Z:19.66 [[ 9.97974930e-01 -5.25792186e-02 -3.57975448e-02 5.53136859e+02] [ 5.25472329e-02 9.98616755e-01 -1.83441469e-03 2.33348372e+01] [ 3.58444801e-02 -5.03620519e-05 9.99357379e-01 1.96640033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.17, Y:23.34, Z:19.67 [[ 9.98098573e-01 -5.01774821e-02 -3.57974780e-02 5.53165992e+02] [ 5.01439053e-02 9.98740316e-01 -1.83571622e-03 2.33369303e+01] [ 3.58444961e-02 3.72003906e-05 9.99357379e-01 1.96651653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.19, Y:23.34, Z:19.67 [[ 9.98215736e-01 -4.77903663e-02 -3.57970102e-02 5.53193495e+02] [ 4.77549293e-02 9.98857379e-01 -1.84479446e-03 2.33389633e+01] [ 3.58442711e-02 1.32019174e-04 9.99357379e-01 1.96660609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.22, Y:23.34, Z:19.67 [[ 9.98396189e-01 -4.38592789e-02 -3.57968446e-02 5.53220693e+02] [ 4.38212006e-02 9.99037681e-01 -1.84800136e-03 2.33413685e+01] [ 3.58434486e-02 2.76376809e-04 9.99357379e-01 1.96679010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.25, Y:23.34, Z:19.67 [[ 9.98463921e-01 -4.22894361e-02 -3.57966808e-02 5.53247421e+02] [ 4.22502357e-02 9.99105345e-01 -1.85116924e-03 2.33425466e+01] [ 3.58429400e-02 3.35907502e-04 9.99357379e-01 1.96690043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.28, Y:23.34, Z:19.67 [[ 9.98497750e-01 -4.14833493e-02 -3.57963052e-02 5.53275335e+02] [ 4.14433717e-02 9.99139126e-01 -1.85840306e-03 2.33436310e+01] [ 3.58425819e-02 3.72091693e-04 9.99357379e-01 1.96705804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.30, Y:23.34, Z:19.67 [[ 9.98505912e-01 -4.12868810e-02 -3.57957827e-02 5.53304445e+02] [ 4.12464184e-02 9.99147257e-01 -1.86841411e-03 2.33439224e+01] [ 3.58423991e-02 3.89174704e-04 9.99357379e-01 1.96729957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.33, Y:23.34, Z:19.67 [[ 9.98486815e-01 -4.17465614e-02 -3.57953115e-02 5.53330946e+02] [ 4.17060720e-02 9.99128159e-01 -1.87739869e-03 2.33441887e+01] [ 3.58424786e-02 3.81676002e-04 9.99357379e-01 1.96738797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.36, Y:23.34, Z:19.67 [[ 9.98441553e-01 -4.28156224e-02 -3.57950775e-02 5.53359036e+02] [ 4.27756602e-02 9.99082930e-01 -1.88184944e-03 2.33443111e+01] [ 3.58428235e-02 3.47758606e-04 9.99357379e-01 1.96747743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.39, Y:23.34, Z:19.68 [[ 9.98378976e-01 -4.42512345e-02 -3.57945434e-02 5.53387251e+02] [ 4.42118322e-02 9.99020387e-01 -1.89195454e-03 2.33443396e+01] [ 3.58431999e-02 3.06345289e-04 9.99357379e-01 1.96762449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.42, Y:23.34, Z:19.68 [[ 9.98206697e-01 -4.79810386e-02 -3.57940001e-02 5.53415433e+02] [ 4.79436665e-02 9.98848230e-01 -1.90217723e-03 2.33425889e+01] [ 3.58440421e-02 1.82670446e-04 9.99357379e-01 1.96769193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.44, Y:23.34, Z:19.68 [[ 9.98085251e-01 -5.04446238e-02 -3.57934520e-02 5.53443040e+02] [ 5.04084673e-02 9.98726854e-01 -1.91243659e-03 2.33417803e+01] [ 3.58443538e-02 1.04481699e-04 9.99357379e-01 1.96776103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.47, Y:23.34, Z:19.68 [[ 9.97943967e-01 -5.31667888e-02 -3.57928971e-02 5.53469655e+02] [ 5.31320119e-02 9.98585646e-01 -1.92276643e-03 2.33411381e+01] [ 3.58445005e-02 1.70645226e-05 9.99357379e-01 1.96775504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.50, Y:23.34, Z:19.68 [[ 9.97796432e-01 -5.58674006e-02 -3.57926560e-02 5.53498478e+02] [ 5.58341999e-02 9.98438194e-01 -1.92724303e-03 2.33405699e+01] [ 3.58444249e-02 -7.54580880e-05 9.99357379e-01 1.96787601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.485099893 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:553.53, Y:23.34, Z:19.68 [[ 9.97474449e-01 -6.13485586e-02 -3.57921590e-02 5.53526373e+02] [ 6.13185547e-02 9.98116369e-01 -1.93643012e-03 2.33382178e+01] [ 3.58435369e-02 -2.63183894e-04 9.99357379e-01 1.96757599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.56, Y:23.34, Z:19.68 [[ 9.97335456e-01 -6.35671311e-02 -3.57939655e-02 5.53555081e+02] [ 6.35397501e-02 9.97977494e-01 -1.90312803e-03 2.33376548e+01] [ 3.58425483e-02 -3.76282560e-04 9.99357379e-01 1.96785497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.59, Y:23.34, Z:19.68 [[ 9.97051951e-01 -6.78702794e-02 -3.57915043e-02 5.53585203e+02] [ 6.78440464e-02 9.97694036e-01 -1.94834128e-03 2.33356001e+01] [ 3.58412048e-02 -4.85642998e-04 9.99357380e-01 1.96795369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.62, Y:23.34, Z:19.68 [[ 9.96934514e-01 -6.95740269e-02 -3.57914700e-02 5.53616161e+02] [ 6.95488687e-02 9.97576642e-01 -1.94897018e-03 2.33356909e+01] [ 3.58403322e-02 -5.46260614e-04 9.99357380e-01 1.96809171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.65, Y:23.34, Z:19.68 [[ 9.96832527e-01 -7.10203075e-02 -3.57914700e-02 5.53646360e+02] [ 7.09960809e-02 9.97474690e-01 -1.94897018e-03 2.33357689e+01] [ 3.58395020e-02 -5.98257237e-04 9.99357380e-01 1.96815783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.68, Y:23.34, Z:19.68 [[ 9.96722545e-01 -7.25474990e-02 -3.57914700e-02 5.53677032e+02] [ 7.25242564e-02 9.97364745e-01 -1.94897017e-03 2.33358555e+01] [ 3.58385433e-02 -6.53167236e-04 9.99357380e-01 1.96827346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.71, Y:23.34, Z:19.68 [[ 9.96600268e-01 -7.42083313e-02 -3.57914700e-02 5.53707754e+02] [ 7.41861588e-02 9.97242506e-01 -1.94897018e-03 2.33360784e+01] [ 3.58374051e-02 -7.12887480e-04 9.99357380e-01 1.96839012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.74, Y:23.34, Z:19.68 [[ 9.96291000e-01 -7.82509637e-02 -3.57914700e-02 5.53739343e+02] [ 7.82313969e-02 9.96933323e-01 -1.94897018e-03 2.33353566e+01] [ 3.58342179e-02 -8.58275254e-04 9.99357380e-01 1.96844602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.77, Y:23.34, Z:19.68 [[ 9.96113886e-01 -8.04741642e-02 -3.57915403e-02 5.53770036e+02] [ 8.04560773e-02 9.96756252e-01 -1.94767939e-03 2.33356190e+01] [ 3.58321794e-02 -9.39536442e-04 9.99357380e-01 1.96848893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.80, Y:23.34, Z:19.69 [[ 9.95906754e-01 -8.29981576e-02 -3.57916569e-02 5.53801211e+02] [ 8.29817756e-02 9.96549166e-01 -1.94553301e-03 2.33359741e+01] [ 3.58296215e-02 -1.03248578e-03 9.99357380e-01 1.96853033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.83, Y:23.34, Z:19.69 [[ 9.95505191e-01 -8.76833337e-02 -3.57917258e-02 5.53833929e+02] [ 8.76700203e-02 9.96147673e-01 -1.94426504e-03 2.33351122e+01] [ 3.58243240e-02 -1.20233538e-03 9.99357380e-01 1.96861633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.87, Y:23.34, Z:19.69 [[ 9.95317717e-01 -8.97863305e-02 -3.57918684e-02 5.53865406e+02] [ 8.97744689e-02 9.95960228e-01 -1.94163614e-03 2.33355016e+01] [ 3.58216098e-02 -1.28065112e-03 9.99357380e-01 1.96864701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.90, Y:23.34, Z:19.69 [[ 9.95324222e-01 -8.97140920e-02 -3.57921088e-02 5.53898029e+02] [ 8.97023432e-02 9.95966735e-01 -1.93719500e-03 2.33372085e+01] [ 3.58215434e-02 -1.28249893e-03 9.99357380e-01 1.96876406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.93, Y:23.34, Z:19.69 [[ 9.95130393e-01 -9.18390708e-02 -3.57922490e-02 5.53930709e+02] [ 9.18287871e-02 9.95772932e-01 -1.93460132e-03 2.33377630e+01] [ 3.58186247e-02 -1.36157824e-03 9.99357380e-01 1.96883464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.96, Y:23.34, Z:19.69 [[ 9.94973859e-01 -9.35196472e-02 -3.57923890e-02 5.53963084e+02] [ 9.35105419e-02 9.95616415e-01 -1.93200763e-03 2.33386561e+01] [ 3.58161707e-02 -1.42466861e-03 9.99357380e-01 1.96892007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.99, Y:23.34, Z:19.69 [[ 9.94857640e-01 -9.47479391e-02 -3.57925282e-02 5.53994097e+02] [ 9.47397198e-02 9.95500207e-01 -1.92942545e-03 2.33398247e+01] [ 3.58142783e-02 -1.47147044e-03 9.99357380e-01 1.96898455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.03, Y:23.34, Z:19.69 [[ 9.94767087e-01 -9.56938970e-02 -3.57927589e-02 5.54026685e+02] [ 9.56864427e-02 9.95409664e-01 -1.92513649e-03 2.33414052e+01] [ 3.58126819e-02 -1.50981935e-03 9.99357380e-01 1.96915710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.06, Y:23.34, Z:19.69 [[ 9.94703219e-01 -9.63554625e-02 -3.57928980e-02 5.54058904e+02] [ 9.63485286e-02 9.95345802e-01 -1.92254716e-03 2.33429017e+01] [ 3.58115586e-02 -1.53622920e-03 9.99357380e-01 1.96934409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.09, Y:23.34, Z:19.69 [[ 9.94755238e-01 -9.58168835e-02 -3.57930380e-02 5.54090751e+02] [ 9.58096955e-02 9.95397818e-01 -1.91993648e-03 2.33444365e+01] [ 3.58122743e-02 -1.51945320e-03 9.99357380e-01 1.96943449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.12, Y:23.35, Z:19.69 [[ 9.94827938e-01 -9.50590450e-02 -3.57931769e-02 5.54121967e+02] [ 9.50514605e-02 9.95470514e-01 -1.91734383e-03 2.33459936e+01] [ 3.58133130e-02 -1.49476653e-03 9.99357380e-01 1.96949475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.15, Y:23.35, Z:19.70 [[ 9.95060767e-01 -9.25900136e-02 -3.57932801e-02 5.54153523e+02] [ 9.25809039e-02 9.95703323e-01 -1.91541418e-03 2.33481158e+01] [ 3.58168362e-02 -1.40782073e-03 9.99357380e-01 1.96970729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.18, Y:23.35, Z:19.70 [[ 9.95209525e-01 -9.09771158e-02 -3.57933857e-02 5.54184656e+02] [ 9.09670356e-02 9.95852066e-01 -1.91343866e-03 2.33502945e+01] [ 3.58189963e-02 -1.35174582e-03 9.99357380e-01 1.96969945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.22, Y:23.35, Z:19.70 [[ 9.95371207e-01 -8.91907252e-02 -3.57934904e-02 5.54216132e+02] [ 8.91795622e-02 9.96013731e-01 -1.91147859e-03 2.33525749e+01] [ 3.58212941e-02 -1.28941706e-03 9.99357380e-01 1.96979691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.25, Y:23.35, Z:19.70 [[ 9.95509116e-01 -8.76380154e-02 -3.57935555e-02 5.54246573e+02] [ 8.76258940e-02 9.96151622e-01 -1.91025939e-03 2.33548927e+01] [ 3.58232197e-02 -1.23476166e-03 9.99357380e-01 1.96987913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.28, Y:23.36, Z:19.70 [[ 9.95815245e-01 -8.40881500e-02 -3.57935878e-02 5.54278239e+02] [ 8.40737596e-02 9.96457704e-01 -1.90965436e-03 2.33578901e+01] [ 3.58273756e-02 -1.10763857e-03 9.99357380e-01 1.97009865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.31, Y:23.36, Z:19.70 [[ 9.95963474e-01 -8.23138327e-02 -3.57937260e-02 5.54309901e+02] [ 8.22983908e-02 9.96605909e-01 -1.90705918e-03 2.33599142e+01] [ 3.58292162e-02 -1.04640476e-03 9.99357380e-01 1.97019796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.34, Y:23.36, Z:19.70 [[ 9.96076725e-01 -8.09318047e-02 -3.57938635e-02 5.54341660e+02] [ 8.09155642e-02 9.96719140e-01 -1.90447473e-03 2.33619635e+01] [ 3.58305615e-02 -9.99277713e-04 9.99357380e-01 1.97030241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.37, Y:23.36, Z:19.70 [[ 9.96272481e-01 -7.84852687e-02 -3.57939324e-02 5.54372052e+02] [ 7.84674971e-02 9.96914856e-01 -1.90318030e-03 2.33644032e+01] [ 3.58328745e-02 -9.12574126e-04 9.99357380e-01 1.97046168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.40, Y:23.37, Z:19.71 [[ 9.96359312e-01 -7.73751493e-02 -3.57939665e-02 5.54403520e+02] [ 7.73566849e-02 9.97001667e-01 -1.90253883e-03 2.33667946e+01] [ 3.58338535e-02 -8.73290304e-04 9.99357380e-01 1.97061542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.43, Y:23.37, Z:19.71 [[ 9.96400492e-01 -7.68429974e-02 -3.57940340e-02 5.54434442e+02] [ 7.68242357e-02 9.97042839e-01 -1.90126669e-03 2.33691651e+01] [ 3.58342843e-02 -8.55426247e-04 9.99357380e-01 1.97075887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.47, Y:23.37, Z:19.71 [[ 9.96436242e-01 -7.63779929e-02 -3.57941018e-02 5.54465156e+02] [ 7.63589773e-02 9.97078581e-01 -1.89999041e-03 2.33710572e+01] [ 3.58346497e-02 -8.39981700e-04 9.99357380e-01 1.97088906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.50, Y:23.37, Z:19.71 [[ 9.96436718e-01 -7.63717642e-02 -3.57941354e-02 5.54495920e+02] [ 7.63527673e-02 9.97079058e-01 -1.89935675e-03 2.33728422e+01] [ 3.58346400e-02 -8.40392489e-04 9.99357380e-01 1.97106014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.53, Y:23.37, Z:19.71 [[ 9.96340315e-01 -7.76192745e-02 -3.57942023e-02 5.54526728e+02] [ 7.76011271e-02 9.96982679e-01 -1.89809539e-03 2.33746637e+01] [ 3.58335285e-02 -8.86521483e-04 9.99357380e-01 1.97119201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.56, Y:23.38, Z:19.71 [[ 9.96236043e-01 -7.89462887e-02 -3.57942689e-02 5.54558260e+02] [ 7.89290420e-02 9.96878432e-01 -1.89683923e-03 2.33760967e+01] [ 3.58322830e-02 -9.35507746e-04 9.99357380e-01 1.97125850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.59, Y:23.38, Z:19.71 [[ 9.95861760e-01 -8.35351513e-02 -3.57943350e-02 5.54589127e+02] [ 8.35209092e-02 9.96504222e-01 -1.89559078e-03 2.33771652e+01] [ 3.58275544e-02 -1.10182903e-03 9.99357380e-01 1.97135267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.62, Y:23.38, Z:19.71 [[ 9.95639914e-01 -8.61389725e-02 -3.57944046e-02 5.54620772e+02] [ 8.61264577e-02 9.96282412e-01 -1.89427466e-03 2.33786874e+01] [ 3.58245067e-02 -1.19682981e-03 9.99357380e-01 1.97145393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.65, Y:23.38, Z:19.72 [[ 9.95360160e-01 -8.93135078e-02 -3.57945438e-02 5.54652124e+02] [ 8.93031365e-02 9.96002697e-01 -1.89164074e-03 2.33801925e+01] [ 3.58204112e-02 -1.31370120e-03 9.99357380e-01 1.97154389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.68, Y:23.38, Z:19.72 [[ 9.95074817e-01 -9.24383637e-02 -3.57946475e-02 5.54683815e+02] [ 9.24300804e-02 9.95717384e-01 -1.88967619e-03 2.33816321e+01] [ 3.58160314e-02 -1.42813296e-03 9.99357380e-01 1.97164422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.71, Y:23.38, Z:19.72 [[ 9.94444760e-01 -9.89866271e-02 -3.57947842e-02 5.54714914e+02] [ 9.89826670e-02 9.95087368e-01 -1.88708343e-03 2.33831815e+01] [ 3.58057337e-02 -1.66646298e-03 9.99357380e-01 1.97179122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.75, Y:23.39, Z:19.72 [[ 9.94169268e-01 -1.01716234e-01 -3.57948860e-02 5.54747166e+02] [ 1.01714107e-01 9.94811885e-01 -1.88515103e-03 2.33850913e+01] [ 3.58009285e-02 -1.76668566e-03 9.99357380e-01 1.97196323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.78, Y:23.39, Z:19.72 [[ 9.93945562e-01 -1.03879432e-01 -3.57950227e-02 5.54778128e+02] [ 1.03878797e-01 9.94588182e-01 -1.88255217e-03 2.33868375e+01] [ 3.57968650e-02 -1.84718952e-03 9.99357380e-01 1.97209416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.81, Y:23.39, Z:19.72 [[ 9.93766835e-01 -1.05575499e-01 -3.57951245e-02 5.54809105e+02] [ 1.05576031e-01 9.94409455e-01 -1.88061444e-03 2.33886167e+01] [ 3.57935571e-02 -1.91021490e-03 9.99357380e-01 1.97224462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.84, Y:23.39, Z:19.72 [[ 9.93607904e-01 -1.07060892e-01 -3.57952236e-02 5.54841880e+02] [ 1.07062452e-01 9.94250523e-01 -1.87872613e-03 2.33915548e+01] [ 3.57905579e-02 -1.96560726e-03 9.99357380e-01 1.97248296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.87, Y:23.39, Z:19.73 [[ 9.93609730e-01 -1.07043874e-01 -3.57954281e-02 5.54874321e+02] [ 1.07045563e-01 9.94252348e-01 -1.87482213e-03 2.33942560e+01] [ 3.57903766e-02 -1.96890025e-03 9.99357380e-01 1.97261887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.91, Y:23.40, Z:19.73 [[ 9.93639673e-01 -1.06765504e-01 -3.57956344e-02 5.54906172e+02] [ 1.06767155e-01 9.94282291e-01 -1.87087381e-03 2.33969724e+01] [ 3.57907102e-02 -1.96282359e-03 9.99357380e-01 1.97270171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.94, Y:23.40, Z:19.73 [[ 9.93789910e-01 -1.05357782e-01 -3.57959737e-02 5.54938768e+02] [ 1.05358757e-01 9.94432530e-01 -1.86435950e-03 2.34005892e+01] [ 3.57931055e-02 -1.91863763e-03 9.99357380e-01 1.97283715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.97, Y:23.40, Z:19.73 [[ 9.93878567e-01 -1.04518077e-01 -3.57961782e-02 5.54970518e+02] [ 1.04518650e-01 9.94521187e-01 -1.86042599e-03 2.34034510e+01] [ 3.57945057e-02 -1.89233070e-03 9.99357380e-01 1.97294704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.00, Y:23.41, Z:19.73 [[ 9.93968611e-01 -1.03658194e-01 -3.57963471e-02 5.55002675e+02] [ 1.03658328e-01 9.94611232e-01 -1.85716984e-03 2.34063093e+01] [ 3.57959597e-02 -1.86462096e-03 9.99357380e-01 1.97307185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.04, Y:23.41, Z:19.73 [[ 9.94037340e-01 -1.02996987e-01 -3.57964781e-02 5.55035786e+02] [ 1.02996784e-01 9.94679960e-01 -1.85464201e-03 2.34091054e+01] [ 3.57970619e-02 -1.84333873e-03 9.99357380e-01 1.97321957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.07, Y:23.41, Z:19.73 [[ 9.94214690e-01 -1.01270668e-01 -3.57966818e-02 5.55067966e+02] [ 1.01269491e-01 9.94857309e-01 -1.85070079e-03 2.34138967e+01] [ 3.58000122e-02 -1.78511782e-03 9.99357380e-01 1.97332942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.10, Y:23.42, Z:19.73 [[ 9.94523787e-01 -9.81887074e-02 -3.57968501e-02 5.55101808e+02] [ 9.81856555e-02 9.95166400e-01 -1.84744007e-03 2.34152133e+01] [ 3.58052202e-02 -1.67741410e-03 9.99357380e-01 1.97329503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.13, Y:23.42, Z:19.74 [[ 9.94428900e-01 -9.91406211e-02 -3.58092211e-02 5.55131754e+02] [ 9.91468305e-02 9.95071517e-01 -1.60669999e-03 2.34211651e+01] [ 3.57920252e-02 -1.95262188e-03 9.99357353e-01 1.97362922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.16, Y:23.42, Z:19.74 [[ 9.94601319e-01 -9.74001834e-02 -3.57969247e-02 5.55163244e+02] [ 9.73967002e-02 9.95243929e-01 -1.84526204e-03 2.34243894e+01] [ 3.58064009e-02 -1.65120228e-03 9.99357381e-01 1.97372448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.19, Y:23.43, Z:19.74 [[ 9.94974396e-01 -9.35121370e-02 -3.57970943e-02 5.55193885e+02] [ 9.35062606e-02 9.95616988e-01 -1.84196642e-03 2.34297847e+01] [ 3.58124414e-02 -1.51454300e-03 9.99357381e-01 1.97377748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.23, Y:23.43, Z:19.74 [[ 9.95214422e-01 -9.09219826e-02 -3.57973112e-02 5.55225715e+02] [ 9.09145853e-02 9.95856998e-01 -1.83774074e-03 2.34334217e+01] [ 3.58160940e-02 -1.42555162e-03 9.99357381e-01 1.97385703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.27, Y:23.43, Z:19.73 [[ 9.96345721e-01 -7.75483578e-02 -3.57974420e-02 5.55265767e+02] [ 7.75324231e-02 9.96988142e-01 -1.83519116e-03 2.34314990e+01] [ 3.58319412e-02 -9.46977555e-04 9.99357381e-01 1.97337394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.28, Y:23.44, Z:19.74 [[ 9.95996767e-01 -8.18837525e-02 -3.58537607e-02 5.55283844e+02] [ 8.19105521e-02 9.96639422e-01 -7.23236190e-04 2.34425591e+01] [ 3.57924927e-02 -2.21646043e-03 9.99356786e-01 1.97396688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.32, Y:23.45, Z:19.74 [[ 9.96328199e-01 -7.77741507e-02 -3.57952596e-02 5.55315927e+02] [ 7.77577038e-02 9.96970563e-01 -1.85348093e-03 2.34470831e+01] [ 3.58309730e-02 -9.36681871e-04 9.99357426e-01 1.97421964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.35, Y:23.45, Z:19.74 [[ 9.96672257e-01 -7.32331975e-02 -3.57953924e-02 5.55346932e+02] [ 7.32139158e-02 9.97314543e-01 -1.85091270e-03 2.34509868e+01] [ 3.58348136e-02 -7.75967503e-04 9.99357426e-01 1.97434330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.38, Y:23.45, Z:19.74 [[ 9.97147114e-01 -6.64553033e-02 -3.57956140e-02 5.55379751e+02] [ 6.64318094e-02 9.97789259e-01 -1.84661647e-03 2.34527629e+01] [ 3.58391966e-02 -5.36619123e-04 9.99357426e-01 1.97406733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.41, Y:23.46, Z:19.75 [[ 9.97604149e-01 -5.91952984e-02 -3.58033260e-02 5.55409757e+02] [ 5.91724992e-02 9.98246330e-01 -1.69701002e-03 2.34602196e+01] [ 3.58409938e-02 -4.25628045e-04 9.99357415e-01 1.97475358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.44, Y:23.46, Z:19.75 [[ 9.97845974e-01 -5.49736814e-02 -3.57953309e-02 5.55438894e+02] [ 5.49426199e-02 9.98487797e-01 -1.85158115e-03 2.34636371e+01] [ 3.58429893e-02 -1.19096464e-04 9.99357427e-01 1.97491555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.47, Y:23.47, Z:19.75 [[ 9.98042280e-01 -5.12864856e-02 -3.57952976e-02 5.55469354e+02] [ 5.12530297e-02 9.98683982e-01 -1.85222594e-03 2.34668353e+01] [ 3.58431845e-02 1.39823555e-05 9.99357427e-01 1.97510116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.50, Y:23.47, Z:19.75 [[ 9.98183664e-01 -4.84568897e-02 -3.57952976e-02 5.55498292e+02] [ 4.84216148e-02 9.98825268e-01 -1.85222594e-03 2.34693535e+01] [ 3.58430008e-02 1.15595568e-04 9.99357427e-01 1.97513288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.53, Y:23.47, Z:19.75 [[ 9.98312956e-01 -4.57159335e-02 -3.57951979e-02 5.55527079e+02] [ 4.56788281e-02 9.98954457e-01 -1.85415074e-03 2.34715688e+01] [ 3.58425367e-02 2.15940021e-04 9.99357427e-01 1.97527961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.55, Y:23.47, Z:19.75 [[ 9.98301976e-01 -4.59554168e-02 -3.57947410e-02 5.55554889e+02] [ 4.59181505e-02 9.98943468e-01 -1.86292892e-03 2.34730754e+01] [ 3.58425344e-02 2.16137320e-04 9.99357427e-01 1.97538177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.58, Y:23.47, Z:19.75 [[ 9.98258643e-01 -4.68877031e-02 -3.57942066e-02 5.55583180e+02] [ 4.68506697e-02 9.98900148e-01 -1.87314147e-03 2.34744295e+01] [ 3.58426655e-02 1.92897109e-04 9.99357427e-01 1.97548822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.61, Y:23.48, Z:19.76 [[ 9.98189284e-01 -4.83421836e-02 -3.57936639e-02 5.55610519e+02] [ 4.83057151e-02 9.98830822e-01 -1.88345472e-03 2.34758083e+01] [ 3.58428650e-02 1.51005787e-04 9.99357427e-01 1.97555357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.64, Y:23.48, Z:19.76 [[ 9.98068125e-01 -5.07823079e-02 -3.57934956e-02 5.55638444e+02] [ 5.07472934e-02 9.98709744e-01 -1.88664789e-03 2.34771401e+01] [ 3.58431211e-02 6.65801021e-05 9.99357427e-01 1.97567939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.67, Y:23.48, Z:19.76 [[ 9.97775222e-01 -5.62447342e-02 -3.57929502e-02 5.55666590e+02] [ 5.62128632e-02 9.98417005e-01 -1.89693783e-03 2.34773172e+01] [ 3.58429829e-02 -1.19306651e-04 9.99357427e-01 1.97571376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.70, Y:23.48, Z:19.76 [[ 9.97574676e-01 -5.96962614e-02 -3.57927813e-02 5.55696333e+02] [ 5.96664967e-02 9.98216559e-01 -1.90012092e-03 2.34780490e+01] [ 3.58423771e-02 -2.40117350e-04 9.99357427e-01 1.97581045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.73, Y:23.48, Z:19.76 [[ 9.97347480e-01 -6.33789035e-02 -3.57927147e-02 5.55726820e+02] [ 6.33514639e-02 9.97989467e-01 -1.90137372e-03 2.34785004e+01] [ 3.58412593e-02 -3.71190582e-04 9.99357427e-01 1.97593497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.76, Y:23.48, Z:19.76 [[ 9.96809063e-01 -7.13482526e-02 -3.57927147e-02 5.55757997e+02] [ 7.13259449e-02 9.97451249e-01 -1.90137372e-03 2.34772629e+01] [ 3.58371477e-02 -6.57642639e-04 9.99357427e-01 1.97608728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.79, Y:23.48, Z:19.76 [[ 9.96536369e-01 -7.50609236e-02 -3.57927815e-02 5.55789690e+02] [ 7.50410534e-02 9.97178635e-01 -1.90011476e-03 2.34771586e+01] [ 3.58344214e-02 -7.92394571e-04 9.99357427e-01 1.97618631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.82, Y:23.48, Z:19.76 [[ 9.96256117e-01 -7.86931989e-02 -3.57928814e-02 5.55821667e+02] [ 7.86757378e-02 9.96898453e-01 -1.89823163e-03 2.34774020e+01] [ 3.58312460e-02 -9.24906482e-04 9.99357427e-01 1.97634880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.85, Y:23.48, Z:19.77 [[ 9.95765074e-01 -8.46804404e-02 -3.57930114e-02 5.55854268e+02] [ 8.46669290e-02 9.96407506e-01 -1.89577709e-03 2.34768656e+01] [ 3.58249605e-02 -1.14273574e-03 9.99357427e-01 1.97662978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.89, Y:23.48, Z:19.77 [[ 9.95771165e-01 -8.46087316e-02 -3.57931477e-02 5.55886897e+02] [ 8.45952664e-02 9.96413597e-01 -1.89320116e-03 2.34785329e+01] [ 3.58249604e-02 -1.14273574e-03 9.99357427e-01 1.97674688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.92, Y:23.48, Z:19.77 [[ 9.95567373e-01 -8.69738246e-02 -3.57932837e-02 5.55919065e+02] [ 8.69619779e-02 9.96209837e-01 -1.89062522e-03 2.34790828e+01] [ 3.58220563e-02 -1.23040996e-03 9.99357427e-01 1.97690724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.95, Y:23.48, Z:19.77 [[ 9.95356408e-01 -8.93557640e-02 -3.57934212e-02 5.55951631e+02] [ 8.93455483e-02 9.95998900e-01 -1.88801814e-03 2.34798341e+01] [ 3.58189135e-02 -1.31873190e-03 9.99357427e-01 1.97700947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.98, Y:23.48, Z:19.77 [[ 9.95159733e-01 -9.15200857e-02 -3.57935579e-02 5.55983849e+02] [ 9.15113603e-02 9.95802248e-01 -1.88542436e-03 2.34803332e+01] [ 3.58158596e-02 -1.39921876e-03 9.99357427e-01 1.97712722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.02, Y:23.48, Z:19.77 [[ 9.94698717e-01 -9.64016232e-02 -3.57936943e-02 5.56015883e+02] [ 9.63961435e-02 9.95341267e-01 -1.88283029e-03 2.34796815e+01] [ 3.58084490e-02 -1.57752522e-03 9.99357427e-01 1.97717518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.05, Y:23.48, Z:19.77 [[ 9.94452795e-01 -9.89062031e-02 -3.57938639e-02 5.56049370e+02] [ 9.89024575e-02 9.95095358e-01 -1.87960128e-03 2.34801124e+01] [ 3.58042120e-02 -1.67092636e-03 9.99357427e-01 1.97728538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.08, Y:23.48, Z:19.77 [[ 9.94187832e-01 -1.01534917e-01 -3.57940664e-02 5.56082436e+02] [ 1.01533009e-01 9.94830403e-01 -1.87573660e-03 2.34806788e+01] [ 3.57994783e-02 -1.76944476e-03 9.99357427e-01 1.97737104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.12, Y:23.48, Z:19.77 [[ 9.93669006e-01 -1.06492615e-01 -3.57942699e-02 5.56115263e+02] [ 1.06494052e-01 9.94311578e-01 -1.87184518e-03 2.34810484e+01] [ 3.57899947e-02 -1.95188229e-03 9.99357427e-01 1.97744304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.15, Y:23.48, Z:19.77 [[ 9.93457871e-01 -1.08444521e-01 -3.57944726e-02 5.56148430e+02] [ 1.08447360e-01 9.94100438e-01 -1.86796074e-03 2.34824197e+01] [ 3.57858710e-02 -2.02607576e-03 9.99357427e-01 1.97748439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.18, Y:23.48, Z:19.78 [[ 9.93304458e-01 -1.09840773e-01 -3.57946737e-02 5.56180408e+02] [ 1.09844654e-01 9.93947019e-01 -1.86409924e-03 2.34837199e+01] [ 3.57827634e-02 -2.08023545e-03 9.99357427e-01 1.97752443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.21, Y:23.49, Z:19.78 [[ 9.93200337e-01 -1.10778259e-01 -3.57948079e-02 5.56211346e+02] [ 1.10782838e-01 9.93842894e-01 -1.86151965e-03 2.34851611e+01] [ 3.57806313e-02 -2.11658847e-03 9.99357427e-01 1.97752986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.24, Y:23.49, Z:19.78 [[ 9.93173806e-01 -1.11015837e-01 -3.57949076e-02 5.56243723e+02] [ 1.11020639e-01 9.93816361e-01 -1.85959964e-03 2.34875207e+01] [ 3.57800099e-02 -2.12706788e-03 9.99357427e-01 1.97758679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.28, Y:23.49, Z:19.78 [[ 9.93253877e-01 -1.10297100e-01 -3.57950414e-02 5.56276134e+02] [ 1.10301530e-01 9.93896435e-01 -1.85702084e-03 2.34896686e+01] [ 3.57813881e-02 -2.10375470e-03 9.99357427e-01 1.97760893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.31, Y:23.49, Z:19.78 [[ 9.93409976e-01 -1.08882094e-01 -3.57953722e-02 5.56309250e+02] [ 1.08885838e-01 9.94052539e-01 -1.85062221e-03 2.34918926e+01] [ 3.57839802e-02 -2.05918254e-03 9.99357427e-01 1.97776538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.34, Y:23.49, Z:19.78 [[ 9.93593292e-01 -1.07196299e-01 -3.57955737e-02 5.56341142e+02] [ 1.07199094e-01 9.94235859e-01 -1.84671608e-03 2.34944513e+01] [ 3.57872041e-02 -2.00236836e-03 9.99357427e-01 1.97784749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.37, Y:23.50, Z:19.78 [[ 9.94121762e-01 -1.02179193e-01 -3.57957402e-02 5.56373820e+02] [ 1.02178860e-01 9.94764335e-01 -1.84348418e-03 2.34989064e+01] [ 3.57966914e-02 -1.82492017e-03 9.99357427e-01 1.97796395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.41, Y:23.50, Z:19.78 [[ 9.94451682e-01 -9.89166453e-02 -3.57959356e-02 5.56406659e+02] [ 9.89143401e-02 9.95094251e-01 -1.83968199e-03 2.35023135e+01] [ 3.58023049e-02 -1.71125650e-03 9.99357427e-01 1.97810985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.44, Y:23.51, Z:19.78 [[ 9.94807488e-01 -9.52717133e-02 -3.57961342e-02 5.56439352e+02] [ 9.52671925e-02 9.95450045e-01 -1.83581015e-03 2.35057224e+01] [ 3.58081641e-02 -1.58391952e-03 9.99357427e-01 1.97826213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.47, Y:23.51, Z:19.78 [[ 9.95548252e-01 -8.71911707e-02 -3.57963319e-02 5.56471642e+02] [ 8.71815714e-02 9.96190754e-01 -1.83194686e-03 2.35113351e+01] [ 3.58197044e-02 -1.29698897e-03 9.99357427e-01 1.97849487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.50, Y:23.51, Z:19.79 [[ 9.95920904e-01 -8.28261160e-02 -3.57964631e-02 5.56502862e+02] [ 8.28137925e-02 9.96563359e-01 -1.82937883e-03 2.35146421e+01] [ 3.58249639e-02 -1.14252425e-03 9.99357427e-01 1.97860534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.54, Y:23.52, Z:19.79 [[ 9.96268258e-01 -7.85376627e-02 -3.57965606e-02 5.56535161e+02] [ 7.85226419e-02 9.96910656e-01 -1.82746915e-03 2.35177737e+01] [ 3.58294979e-02 -9.90191003e-04 9.99357427e-01 1.97877502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.57, Y:23.52, Z:19.79 [[ 9.96930307e-01 -6.96316055e-02 -3.57966894e-02 5.56566438e+02] [ 6.96109354e-02 9.97572547e-01 -1.82494262e-03 2.35224243e+01] [ 3.58368683e-02 -6.72500428e-04 9.99357427e-01 1.97892641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.60, Y:23.53, Z:19.79 [[ 9.97247297e-01 -6.49339563e-02 -3.57967851e-02 5.56598037e+02] [ 6.49103280e-02 9.97889436e-01 -1.82306431e-03 2.35258283e+01] [ 3.58396124e-02 -5.05535099e-04 9.99357427e-01 1.97914535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.63, Y:23.53, Z:19.79 [[ 9.97518701e-01 -6.06219615e-02 -3.57969204e-02 5.56627858e+02] [ 6.05956528e-02 9.98160735e-01 -1.82040261e-03 2.35293572e+01] [ 3.58414368e-02 -3.53252118e-04 9.99357427e-01 1.97924350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.66, Y:23.53, Z:19.79 [[ 9.97761572e-01 -5.64837776e-02 -3.57970314e-02 5.56657890e+02] [ 5.64548843e-02 9.98403496e-01 -1.81821804e-03 2.35328050e+01] [ 3.58425811e-02 -2.06769174e-04 9.99357427e-01 1.97937868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.69, Y:23.54, Z:19.79 [[ 9.98109799e-01 -4.99539938e-02 -3.57970314e-02 5.56688605e+02] [ 4.99209009e-02 9.98751520e-01 -1.81821804e-03 2.35369517e+01] [ 3.58431667e-02 2.77611867e-05 9.99357427e-01 1.97948686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.72, Y:23.54, Z:19.80 [[ 9.98220746e-01 -4.76855807e-02 -3.57970314e-02 5.56717004e+02] [ 4.76510295e-02 9.98862390e-01 -1.81821804e-03 2.35389598e+01] [ 3.58430111e-02 1.09217570e-04 9.99357427e-01 1.97954633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.74, Y:23.54, Z:19.80 [[ 9.98297697e-01 -4.60468637e-02 -3.57965695e-02 5.56744595e+02] [ 4.60109348e-02 9.98939265e-01 -1.82726692e-03 2.35407139e+01] [ 3.58427387e-02 1.77122736e-04 9.99357427e-01 1.97958017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.77, Y:23.54, Z:19.80 [[ 9.98345091e-01 -4.50077410e-02 -3.57964056e-02 5.56772479e+02] [ 4.49710295e-02 9.98986614e-01 -1.83047210e-03 2.35423058e+01] [ 3.58425154e-02 2.17641629e-04 9.99357427e-01 1.97967411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.80, Y:23.54, Z:19.80 [[ 9.98372923e-01 -4.43865126e-02 -3.57958799e-02 5.56800097e+02] [ 4.43490353e-02 9.99014402e-01 -1.84069533e-03 2.35438781e+01] [ 3.58423016e-02 2.50187638e-04 9.99357427e-01 1.97973525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.83, Y:23.55, Z:19.80 [[ 9.98393349e-01 -4.39251018e-02 -3.57953463e-02 5.56827973e+02] [ 4.38869582e-02 9.99034789e-01 -1.85101427e-03 2.35451610e+01] [ 3.58421022e-02 2.77091473e-04 9.99357427e-01 1.97979718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.86, Y:23.55, Z:19.80 [[ 9.98390097e-01 -4.39993980e-02 -3.57948002e-02 5.56855374e+02] [ 4.39609256e-02 9.99031517e-01 -1.86151555e-03 2.35465099e+01] [ 3.58420391e-02 2.84946147e-04 9.99357427e-01 1.97981727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.88, Y:23.55, Z:19.80 [[ 9.98355804e-01 -4.47709560e-02 -3.57945631e-02 5.56882913e+02] [ 4.47328163e-02 9.98997244e-01 -1.86606301e-03 2.35473614e+01] [ 3.58422153e-02 2.61803223e-04 9.99357427e-01 1.97997165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.91, Y:23.55, Z:19.80 [[ 9.98330648e-01 -4.53288556e-02 -3.57940106e-02 5.56910060e+02] [ 4.52906965e-02 9.98972087e-01 -1.87660168e-03 2.35480003e+01] [ 3.58422817e-02 2.52333305e-04 9.99357427e-01 1.97998965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.94, Y:23.55, Z:19.80 [[ 9.98287161e-01 -4.62768913e-02 -3.57937707e-02 5.56937549e+02] [ 4.62391777e-02 9.98928626e-01 -1.88116559e-03 2.35485345e+01] [ 3.58424767e-02 2.22868932e-04 9.99357427e-01 1.98013309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.97, Y:23.55, Z:19.80 [[ 9.98255734e-01 -4.69503439e-02 -3.57932248e-02 5.56965019e+02] [ 4.69126927e-02 9.98897203e-01 -1.89149552e-03 2.35488797e+01] [ 3.58425585e-02 2.09039695e-04 9.99357427e-01 1.98026939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.99, Y:23.55, Z:19.80 [[ 9.98217497e-01 -4.77568081e-02 -3.57926701e-02 5.56992910e+02] [ 4.77193008e-02 9.98858975e-01 -1.90193504e-03 2.35492898e+01] [ 3.58426601e-02 1.90543649e-04 9.99357427e-01 1.98039675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.02, Y:23.55, Z:19.81 [[ 9.98121271e-01 -4.97275049e-02 -3.57924983e-02 5.57020844e+02] [ 4.96911484e-02 9.98762815e-01 -1.90516364e-03 2.35479507e+01] [ 3.58429553e-02 1.23014008e-04 9.99357427e-01 1.98058457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.05, Y:23.55, Z:19.81 [[ 9.98059114e-01 -5.09599852e-02 -3.57922419e-02 5.57048437e+02] [ 5.09242486e-02 9.98700692e-01 -1.90996680e-03 2.35476775e+01] [ 3.58430687e-02 8.35667493e-05 9.99357427e-01 1.98067911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.08, Y:23.55, Z:19.81 [[ 9.97983044e-01 -5.24287875e-02 -3.57919878e-02 5.57077045e+02] [ 5.23938248e-02 9.98624665e-01 -1.91471801e-03 2.35472940e+01] [ 3.58431481e-02 3.55769761e-05 9.99357427e-01 1.98078584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.11, Y:23.54, Z:19.81 [[ 9.97877735e-01 -5.43966389e-02 -3.57914981e-02 5.57106152e+02] [ 5.43626147e-02 9.98519406e-01 -1.92382841e-03 2.35445720e+01] [ 3.58431552e-02 -2.59738824e-05 9.99357427e-01 1.98083862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.14, Y:23.54, Z:19.81 [[ 9.97838914e-01 -5.51042487e-02 -3.57913940e-02 5.57135615e+02] [ 5.50706102e-02 9.98480605e-01 -1.92576360e-03 2.35438053e+01] [ 3.58431305e-02 -4.94520457e-05 9.99357427e-01 1.98089740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.16, Y:23.55, Z:19.81 [[ 9.97682189e-01 -5.78725333e-02 -3.57913242e-02 5.57164299e+02] [ 5.78406288e-02 9.98323970e-01 -1.92705840e-03 2.35462015e+01] [ 3.58428606e-02 -1.47600853e-04 9.99357427e-01 1.98099600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.20, Y:23.54, Z:19.81 [[ 9.97816588e-01 -5.55162170e-02 -3.57771903e-02 5.57196898e+02] [ 5.54734029e-02 9.98457766e-01 -2.18900393e-03 2.35410452e+01] [ 3.58435388e-02 1.99541931e-04 9.99357394e-01 1.98092189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.23, Y:23.54, Z:19.81 [[ 9.97840486e-01 -5.50758375e-02 -3.57912981e-02 5.57225224e+02] [ 5.50421366e-02 9.98482173e-01 -1.92699460e-03 2.35407590e+01] [ 3.58431039e-02 -4.71962954e-05 9.99357428e-01 1.98096671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.25, Y:23.54, Z:19.81 [[ 9.97739760e-01 -5.68714690e-02 -3.57911680e-02 5.57253690e+02] [ 5.68388363e-02 9.98381502e-01 -1.92940866e-03 2.35435501e+01] [ 3.58429683e-02 -1.09280603e-04 9.99357428e-01 1.98095575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.29, Y:23.54, Z:19.81 [[ 9.97937415e-01 -5.33010875e-02 -3.57758194e-02 5.57285029e+02] [ 5.32560051e-02 9.98578441e-01 -2.21257726e-03 2.35407136e+01] [ 3.58428948e-02 3.02736408e-04 9.99357391e-01 1.98112321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.31, Y:23.54, Z:19.81 [[ 9.98044258e-01 -5.12510445e-02 -3.57909094e-02 5.57313420e+02] [ 5.12146607e-02 9.98685797e-01 -1.93323534e-03 2.35402095e+01] [ 3.58429532e-02 9.64351537e-05 9.99357430e-01 1.98120774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.34, Y:23.54, Z:19.81 [[ 9.98155867e-01 -4.90343385e-02 -3.57840661e-02 5.57342508e+02] [ 4.89919987e-02 9.98797047e-01 -2.05962143e-03 2.35390399e+01] [ 3.58420118e-02 3.02690289e-04 9.99357423e-01 1.98132206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.37, Y:23.54, Z:19.81 [[ 9.98228024e-01 -4.75377562e-02 -3.57906882e-02 5.57370659e+02] [ 4.74988406e-02 9.98869414e-01 -1.93728686e-03 2.35387674e+01] [ 3.58423180e-02 2.33837839e-04 9.99357430e-01 1.98140177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.40, Y:23.54, Z:19.81 [[ 9.98303788e-01 -4.59196415e-02 -3.57901232e-02 5.57397833e+02] [ 4.58793142e-02 9.98945091e-01 -1.94766784e-03 2.35386654e+01] [ 3.58418041e-02 3.02337873e-04 9.99357430e-01 1.98148106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.42, Y:23.54, Z:19.82 [[ 9.98421801e-01 -4.32780669e-02 -3.57898783e-02 5.57424429e+02] [ 4.32358819e-02 9.99062985e-01 -1.95215870e-03 2.35365637e+01] [ 3.58408283e-02 4.01670851e-04 9.99357430e-01 1.98155073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.45, Y:23.54, Z:19.82 [[ 9.98449537e-01 -4.26336281e-02 -3.57896013e-02 5.57452120e+02] [ 4.25908478e-02 9.99090681e-01 -1.95722415e-03 2.35361570e+01] [ 3.58405007e-02 4.29880084e-04 9.99357430e-01 1.98169338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.48, Y:23.54, Z:19.82 [[ 9.98468624e-01 -4.21847457e-02 -3.57890263e-02 5.57479297e+02] [ 4.21413023e-02 9.99109723e-01 -1.96768250e-03 2.35357224e+01] [ 3.58401703e-02 4.56473058e-04 9.99357430e-01 1.98177326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.51, Y:23.53, Z:19.82 [[ 9.98484653e-01 -4.18038508e-02 -3.57887770e-02 5.57507267e+02] [ 4.17600007e-02 9.99125724e-01 -1.97220608e-03 2.35327197e+01] [ 3.58399335e-02 4.74678150e-04 9.99357430e-01 1.98181935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.54, Y:23.53, Z:19.82 [[ 9.98436622e-01 -4.29361906e-02 -3.57882097e-02 5.57535618e+02] [ 4.28927005e-02 9.99077718e-01 -1.98244736e-03 2.35321588e+01] [ 3.58403216e-02 4.44295081e-04 9.99357431e-01 1.98195525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.56, Y:23.53, Z:19.82 [[ 9.98384449e-01 -4.41331841e-02 -3.57876262e-02 5.57563756e+02] [ 4.40900872e-02 9.99025571e-01 -1.99292526e-03 2.35313082e+01] [ 3.58407079e-02 4.11826031e-04 9.99357431e-01 1.98204560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.59, Y:23.53, Z:19.82 [[ 9.98203292e-01 -4.80569920e-02 -3.57870437e-02 5.57590581e+02] [ 4.80160423e-02 9.98844556e-01 -2.00333031e-03 2.35279495e+01] [ 3.58419678e-02 2.81378706e-04 9.99357431e-01 1.98215804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.62, Y:23.53, Z:19.82 [[ 9.98055818e-01 -5.10283157e-02 -3.57867910e-02 5.57618280e+02] [ 5.09891137e-02 9.98697191e-01 -2.00783501e-03 2.35270737e+01] [ 3.58426241e-02 1.79194665e-04 9.99357431e-01 1.98229472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.65, Y:23.53, Z:19.82 [[ 9.97878486e-01 -5.43863463e-02 -3.57862148e-02 5.57646009e+02] [ 5.43489362e-02 9.98519965e-01 -2.01805293e-03 2.35259190e+01] [ 3.58430045e-02 6.88288986e-05 9.99357431e-01 1.98240011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.67, Y:23.52, Z:19.83 [[ 9.97529591e-01 -6.04491822e-02 -3.57856360e-02 5.57674248e+02] [ 6.04153045e-02 9.98171266e-01 -2.02826558e-03 2.35217041e+01] [ 3.58428006e-02 -1.38745161e-04 9.99357431e-01 1.98259206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.70, Y:23.52, Z:19.83 [[ 9.97263143e-01 -6.46983211e-02 -3.57819817e-02 5.57703458e+02] [ 6.46648709e-02 9.97904843e-01 -2.09254845e-03 2.35207813e+01] [ 3.58423972e-02 -2.27015785e-04 9.99357429e-01 1.98261402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.73, Y:23.52, Z:19.83 [[ 9.97023745e-01 -6.82868628e-02 -3.57848556e-02 5.57731346e+02] [ 6.82575293e-02 9.97665645e-01 -2.04219077e-03 2.35199609e+01] [ 3.58407758e-02 -4.06473135e-04 9.99357430e-01 1.98266111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.76, Y:23.52, Z:19.83 [[ 9.97007026e-01 -6.85306770e-02 -3.57845804e-02 5.57760532e+02] [ 6.85013278e-02 9.97648925e-01 -2.04700173e-03 2.35216720e+01] [ 3.58407305e-02 -4.10416165e-04 9.99357430e-01 1.98276609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.79, Y:23.52, Z:19.83 [[ 9.96760376e-01 -7.20295250e-02 -3.57840777e-02 5.57789707e+02] [ 7.20021149e-02 9.97402361e-01 -2.05575194e-03 2.35209510e+01] [ 3.58391984e-02 -5.27437190e-04 9.99357430e-01 1.98292955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.82, Y:23.52, Z:19.83 [[ 9.96298316e-01 -7.81613884e-02 -3.57835518e-02 5.57818692e+02] [ 7.81376019e-02 9.96940445e-01 -2.06486459e-03 2.35183886e+01] [ 3.58354628e-02 -7.38819817e-04 9.99357430e-01 1.98301546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.85, Y:23.52, Z:19.83 [[ 9.96091933e-01 -8.07490359e-02 -3.57834401e-02 5.57848372e+02] [ 8.07268479e-02 9.96734119e-01 -2.06679934e-03 2.35179143e+01] [ 3.58334677e-02 -8.29962172e-04 9.99357430e-01 1.98318369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.88, Y:23.52, Z:19.83 [[ 9.95875280e-01 -8.33785151e-02 -3.57833661e-02 5.57878207e+02] [ 8.33579767e-02 9.96517522e-01 -2.06807918e-03 2.35173012e+01] [ 3.58311847e-02 -9.23280069e-04 9.99357430e-01 1.98324133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.91, Y:23.51, Z:19.83 [[ 9.95469850e-01 -8.80870705e-02 -3.57833294e-02 5.57908065e+02] [ 8.80695466e-02 9.96112180e-01 -2.06871475e-03 2.35145677e+01] [ 3.58264373e-02 -1.09207844e-03 9.99357430e-01 1.98338276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.94, Y:23.51, Z:19.84 [[ 9.95275485e-01 -9.02566723e-02 -3.57832577e-02 5.57938200e+02] [ 9.02405041e-02 9.95917851e-01 -2.06995384e-03 2.35144584e+01] [ 3.58240123e-02 -1.16892490e-03 9.99357430e-01 1.98355793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.97, Y:23.51, Z:19.84 [[ 9.95064006e-01 -9.25590706e-02 -3.57832577e-02 5.57968878e+02] [ 9.25443886e-02 9.95706408e-01 -2.06995384e-03 2.35148425e+01] [ 3.58212120e-02 -1.25180314e-03 9.99357430e-01 1.98368700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.00, Y:23.52, Z:19.84 [[ 9.94865484e-01 -9.46690279e-02 -3.57832941e-02 5.57999697e+02] [ 9.46557308e-02 9.95507916e-01 -2.06932462e-03 2.35152510e+01] [ 3.58184535e-02 -1.32839421e-03 9.99357430e-01 1.98380077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.03, Y:23.51, Z:19.84 [[ 9.94451545e-01 -9.89226023e-02 -3.57832941e-02 5.58030021e+02] [ 9.89120526e-02 9.95094028e-01 -2.06932462e-03 2.35141489e+01] [ 3.58124452e-02 -1.48155600e-03 9.99357430e-01 1.98388488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.06, Y:23.51, Z:19.84 [[ 9.94250948e-01 -1.00918805e-01 -3.57833297e-02 5.58060290e+02] [ 1.00909567e-01 9.94893451e-01 -2.06870838e-03 2.35147139e+01] [ 3.58093720e-02 -1.55406504e-03 9.99357430e-01 1.98397599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.09, Y:23.52, Z:19.84 [[ 9.94066457e-01 -1.02720164e-01 -3.57833297e-02 5.58090312e+02] [ 1.02712090e-01 9.94708976e-01 -2.06870838e-03 2.35153459e+01] [ 3.58064973e-02 -1.61894697e-03 9.99357430e-01 1.98401890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.12, Y:23.52, Z:19.84 [[ 9.93926662e-01 -1.04064095e-01 -3.57834398e-02 5.58121257e+02] [ 1.04056958e-01 9.94569192e-01 -2.06680233e-03 2.35162911e+01] [ 3.58041867e-02 -1.66926596e-03 9.99357430e-01 1.98423193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.15, Y:23.52, Z:19.84 [[ 9.93737604e-01 -1.05854217e-01 -3.57835153e-02 5.58152578e+02] [ 1.05848285e-01 9.94380146e-01 -2.06549382e-03 2.35180106e+01] [ 3.58010584e-02 -1.73506485e-03 9.99357430e-01 1.98421147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.18, Y:23.52, Z:19.84 [[ 9.93670674e-01 -1.06480575e-01 -3.57837721e-02 5.58184523e+02] [ 1.06475209e-01 9.94313221e-01 -2.06103572e-03 2.35203775e+01] [ 3.57997380e-02 -1.76209384e-03 9.99357430e-01 1.98434741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.22, Y:23.52, Z:19.84 [[ 9.93629202e-01 -1.06866836e-01 -3.57839219e-02 5.58216081e+02] [ 1.06861813e-01 9.94271751e-01 -2.05843155e-03 2.35229550e+01] [ 3.57989208e-02 -1.77861707e-03 9.99357430e-01 1.98449127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.25, Y:23.53, Z:19.85 [[ 9.93654293e-01 -1.06633241e-01 -3.57840352e-02 5.58247185e+02] [ 1.06628137e-01 9.94296843e-01 -2.05646017e-03 2.35262530e+01] [ 3.57992402e-02 -1.77217455e-03 9.99357430e-01 1.98458399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.28, Y:23.53, Z:19.85 [[ 9.93783410e-01 -1.05423093e-01 -3.57841474e-02 5.58277473e+02] [ 1.05417277e-01 9.94425953e-01 -2.05450522e-03 2.35292902e+01] [ 3.58012772e-02 -1.73053417e-03 9.99357430e-01 1.98463675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.31, Y:23.53, Z:19.85 [[ 9.93848750e-01 -1.04807379e-01 -3.57781479e-02 5.58307619e+02] [ 1.04797418e-01 9.94491247e-01 -2.15881886e-03 2.35324800e+01] [ 3.58073151e-02 -1.60391809e-03 9.99357425e-01 1.98485773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.34, Y:23.54, Z:19.85 [[ 9.94194583e-01 -1.01472273e-01 -3.57842104e-02 5.58338613e+02] [ 1.01463952e-01 9.94837098e-01 -2.05316058e-03 2.35381466e+01] [ 3.58077989e-02 -1.58956626e-03 9.99357431e-01 1.98507818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.37, Y:23.54, Z:19.85 [[ 9.94415050e-01 -9.92884356e-02 -3.57842830e-02 5.58369209e+02] [ 9.92787483e-02 9.95057546e-01 -2.05189328e-03 2.35420568e+01] [ 3.58111501e-02 -1.51218527e-03 9.99357431e-01 1.98522521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.40, Y:23.55, Z:19.85 [[ 9.94708292e-01 -9.63062662e-02 -3.57843191e-02 5.58399703e+02] [ 9.62946752e-02 9.95350756e-01 -2.05126437e-03 2.35462005e+01] [ 3.58154987e-02 -1.40542971e-03 9.99357431e-01 1.98537335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.43, Y:23.55, Z:19.85 [[ 9.94964659e-01 -9.36234232e-02 -3.57768411e-02 5.58430470e+02] [ 9.36054132e-02 9.95606984e-01 -2.18174771e-03 2.35521044e+01] [ 3.58239355e-02 -1.17814412e-03 9.99357422e-01 1.98549896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.46, Y:23.56, Z:19.86 [[ 9.95127550e-01 -9.18728999e-02 -3.57844816e-02 5.58462223e+02] [ 9.18585537e-02 9.95769959e-01 -2.04826862e-03 2.35557708e+01] [ 3.58212922e-02 -1.24882219e-03 9.99357431e-01 1.98561301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.49, Y:23.56, Z:19.86 [[ 9.95278404e-01 -9.02239359e-02 -3.57846296e-02 5.58493383e+02] [ 9.02086182e-02 9.95920790e-01 -2.04567989e-03 2.35590825e+01] [ 3.58232259e-02 -1.19206097e-03 9.99357431e-01 1.98561310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.52, Y:23.56, Z:19.86 [[ 9.95392204e-01 -8.89596155e-02 -3.57847398e-02 5.58524629e+02] [ 8.89435512e-02 9.96034572e-01 -2.04375070e-03 2.35627161e+01] [ 3.58246492e-02 -1.14848833e-03 9.99357431e-01 1.98567983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.56, Y:23.57, Z:19.86 [[ 9.95578716e-01 -8.68473842e-02 -3.57848108e-02 5.58555238e+02] [ 8.68300017e-02 9.96221049e-01 -2.04250590e-03 2.35681554e+01] [ 3.58269681e-02 -1.07371978e-03 9.99357431e-01 1.98589744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.59, Y:23.57, Z:19.86 [[ 9.95655944e-01 -8.59574486e-02 -3.57848838e-02 5.58586902e+02] [ 8.59395379e-02 9.96298263e-01 -2.04122606e-03 2.35714709e+01] [ 3.58278762e-02 -1.04297752e-03 9.99357431e-01 1.98601836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.62, Y:23.57, Z:19.86 [[ 9.95707167e-01 -8.53620152e-02 -3.57849569e-02 5.58617880e+02] [ 8.53437664e-02 9.96349477e-01 -2.03994447e-03 2.35748174e+01] [ 3.58284569e-02 -1.02283567e-03 9.99357431e-01 1.98613087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.65, Y:23.58, Z:19.86 [[ 9.95778599e-01 -8.45246283e-02 -3.57850306e-02 5.58649369e+02] [ 8.45058858e-02 9.96420895e-01 -2.03865104e-03 2.35793285e+01] [ 3.58292684e-02 -9.94000629e-04 9.99357431e-01 1.98619257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.68, Y:23.58, Z:19.86 [[ 9.95826032e-01 -8.39639286e-02 -3.57851046e-02 5.58679937e+02] [ 8.39448711e-02 9.96468318e-01 -2.03735043e-03 2.35821044e+01] [ 3.58297870e-02 -9.75129398e-04 9.99357431e-01 1.98621889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.71, Y:23.59, Z:19.86 [[ 9.95886997e-01 -8.32376864e-02 -3.57851414e-02 5.58710908e+02] [ 8.32181837e-02 9.96529270e-01 -2.03670505e-03 2.35850701e+01] [ 3.58304714e-02 -9.49646392e-04 9.99357431e-01 1.98631770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.74, Y:23.59, Z:19.86 [[ 9.95977142e-01 -8.21519974e-02 -3.57852140e-02 5.58742090e+02] [ 8.21318404e-02 9.96619395e-01 -2.03542735e-03 2.35882345e+01] [ 3.58314528e-02 -9.11866371e-04 9.99357431e-01 1.98643681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.77, Y:23.59, Z:19.87 [[ 9.96103699e-01 -8.06029367e-02 -3.57852871e-02 5.58773468e+02] [ 8.05818271e-02 9.96745921e-01 -2.03414156e-03 2.35915653e+01] [ 3.58327968e-02 -8.57427888e-04 9.99357431e-01 1.98659532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.80, Y:23.60, Z:19.87 [[ 9.96390286e-01 -7.69792581e-02 -3.57853619e-02 5.58803300e+02] [ 7.69558600e-02 9.97032428e-01 -2.03282449e-03 2.35965686e+01] [ 3.58356516e-02 -7.28406724e-04 9.99357431e-01 1.98672830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.83, Y:23.60, Z:19.87 [[ 9.96530362e-01 -7.51441419e-02 -3.57853991e-02 5.58834634e+02] [ 7.51195847e-02 9.97172462e-01 -2.03217101e-03 2.35997425e+01] [ 3.58369202e-02 -6.63064204e-04 9.99357431e-01 1.98687454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.86, Y:23.60, Z:19.87 [[ 9.96729562e-01 -7.24539818e-02 -3.57854731e-02 5.58864505e+02] [ 7.24277383e-02 9.97371595e-01 -2.03086677e-03 2.36039154e+01] [ 3.58385587e-02 -5.67635935e-04 9.99357431e-01 1.98701574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.89, Y:23.61, Z:19.87 [[ 9.96799141e-01 -7.14903123e-02 -3.57855924e-02 5.58894798e+02] [ 7.14635236e-02 9.97441151e-01 -2.02876117e-03 2.36064197e+01] [ 3.58390593e-02 -5.35097138e-04 9.99357431e-01 1.98717354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.93, Y:23.61, Z:19.87 [[ 9.96850925e-01 -7.07645730e-02 -3.57855924e-02 5.58925489e+02] [ 7.07373169e-02 9.97492915e-01 -2.02876117e-03 2.36087684e+01] [ 3.58394393e-02 -5.09004342e-04 9.99357431e-01 1.98728184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.96, Y:23.61, Z:19.87 [[ 9.96851780e-01 -7.07525234e-02 -3.57855924e-02 5.58955331e+02] [ 7.07252595e-02 9.97493770e-01 -2.02876117e-03 2.36112456e+01] [ 3.58394455e-02 -5.08571127e-04 9.99357431e-01 1.98739065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.99, Y:23.61, Z:19.88 [[ 9.96819600e-01 -7.12044824e-02 -3.57855559e-02 5.58985495e+02] [ 7.11774866e-02 9.97461602e-01 -2.02940491e-03 2.36143290e+01] [ 3.58392207e-02 -5.24175339e-04 9.99357431e-01 1.98751770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.02, Y:23.62, Z:19.88 [[ 9.96766589e-01 -7.19427676e-02 -3.57855559e-02 5.59016132e+02] [ 7.19162472e-02 9.97408610e-01 -2.02940491e-03 2.36162575e+01] [ 3.58388226e-02 -5.50719881e-04 9.99357431e-01 1.98759607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.05, Y:23.62, Z:19.88 [[ 9.96698429e-01 -7.28809746e-02 -3.57855559e-02 5.59046645e+02] [ 7.28550586e-02 9.97340474e-01 -2.02940491e-03 2.36181678e+01] [ 3.58382883e-02 -5.84454094e-04 9.99357431e-01 1.98767937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.08, Y:23.62, Z:19.88 [[ 9.96507477e-01 -7.54469508e-02 -3.57855559e-02 5.59077199e+02] [ 7.54226879e-02 9.97149587e-01 -2.02940491e-03 2.36203309e+01] [ 3.58366647e-02 -6.76725655e-04 9.99357431e-01 1.98772284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.11, Y:23.62, Z:19.88 [[ 9.96379360e-01 -7.71203976e-02 -3.57856806e-02 5.59108012e+02] [ 7.70972922e-02 9.97021513e-01 -2.02720337e-03 2.36221971e+01] [ 3.58354322e-02 -7.39115475e-04 9.99357431e-01 1.98782495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.14, Y:23.62, Z:19.88 [[ 9.96241733e-01 -7.88783180e-02 -3.57857501e-02 5.59138800e+02] [ 7.88563897e-02 9.96883928e-01 -2.02597708e-03 2.36239580e+01] [ 3.58340448e-02 -8.03572133e-04 9.99357431e-01 1.98793687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.17, Y:23.63, Z:19.88 [[ 9.95961689e-01 -8.23388702e-02 -3.57858190e-02 5.59170092e+02] [ 8.23192169e-02 9.96603957e-01 -2.02475815e-03 2.36255651e+01] [ 3.58310052e-02 -9.29279052e-04 9.99357431e-01 1.98806736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.20, Y:23.63, Z:19.88 [[ 9.95845528e-01 -8.37320415e-02 -3.57858928e-02 5.59202618e+02] [ 8.37133335e-02 9.96487824e-01 -2.02345333e-03 2.36273862e+01] [ 3.58296343e-02 -9.80709428e-04 9.99357431e-01 1.98817245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.23, Y:23.63, Z:19.88 [[ 9.95718099e-01 -8.52339524e-02 -3.57860409e-02 5.59234938e+02] [ 8.52163073e-02 9.96360425e-01 -2.02083109e-03 2.36295873e+01] [ 3.58280384e-02 -1.03737617e-03 9.99357431e-01 1.98833482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.27, Y:23.63, Z:19.88 [[ 9.95729705e-01 -8.50982017e-02 -3.57861894e-02 5.59266648e+02] [ 8.50805636e-02 9.96372031e-01 -2.01819862e-03 2.36313017e+01] [ 3.58281033e-02 -1.03512884e-03 9.99357431e-01 1.98845587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.30, Y:23.63, Z:19.89 [[ 9.95773808e-01 -8.45805018e-02 -3.57863376e-02 5.59297684e+02] [ 8.45626243e-02 9.96416128e-01 -2.01556644e-03 2.36331110e+01] [ 3.58285616e-02 -1.01913835e-03 9.99357431e-01 1.98855450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.33, Y:23.64, Z:19.89 [[ 9.95868853e-01 -8.34538709e-02 -3.57865834e-02 5.59329616e+02] [ 8.34354237e-02 9.96511157e-01 -2.01119302e-03 2.36351607e+01] [ 3.58295714e-02 -9.82984259e-04 9.99357431e-01 1.98866232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.36, Y:23.64, Z:19.89 [[ 9.96150583e-01 -8.00207785e-02 -3.57867301e-02 5.59361667e+02] [ 8.00002113e-02 9.96792823e-01 -2.00857916e-03 2.36382109e+01] [ 3.58326838e-02 -8.62098668e-04 9.99357431e-01 1.98881099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.39, Y:23.64, Z:19.89 [[ 9.96323680e-01 -7.78358857e-02 -3.57868757e-02 5.59393061e+02] [ 7.78140033e-02 9.96965876e-01 -2.00598199e-03 2.36408903e+01] [ 3.58344312e-02 -7.86112704e-04 9.99357431e-01 1.98895516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.42, Y:23.64, Z:19.89 [[ 9.96512518e-01 -7.53796834e-02 -3.57869484e-02 5.59424702e+02] [ 7.53562646e-02 9.97154659e-01 -2.00468436e-03 2.36434860e+01] [ 3.58362348e-02 -6.99077691e-04 9.99357431e-01 1.98912233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.45, Y:23.65, Z:19.89 [[ 9.96916791e-01 -6.98297935e-02 -3.57870217e-02 5.59454622e+02] [ 6.98028466e-02 9.97558795e-01 -2.00337446e-03 2.36464559e+01] [ 3.58395535e-02 -5.00838344e-04 9.99357431e-01 1.98930644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.49, Y:23.65, Z:19.89 [[ 9.97301606e-01 -6.40998753e-02 -3.57870581e-02 5.59485059e+02] [ 6.40692629e-02 9.97943445e-01 -2.00272485e-03 2.36490682e+01] [ 3.58418344e-02 -2.95529725e-04 9.99357431e-01 1.98949692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.51, Y:23.65, Z:19.90 [[ 9.97508637e-01 -6.07931454e-02 -3.57870581e-02 5.59514640e+02] [ 6.07604052e-02 9.98150371e-01 -2.00272485e-03 2.36511363e+01] [ 3.58426172e-02 -1.76700819e-04 9.99357431e-01 1.98958905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.54, Y:23.65, Z:19.90 [[ 9.97506439e-01 -6.08292359e-02 -3.57869856e-02 5.59544726e+02] [ 6.07964725e-02 9.98148172e-01 -2.00401881e-03 2.36528493e+01] [ 3.58426172e-02 -1.76700819e-04 9.99357431e-01 1.98969717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.57, Y:23.66, Z:19.90 [[ 9.97830308e-01 -5.52627632e-02 -3.57869131e-02 5.59573702e+02] [ 5.52263734e-02 9.98471846e-01 -2.00531277e-03 2.36556815e+01] [ 3.58430443e-02 2.45804383e-05 9.99357431e-01 1.98982568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.60, Y:23.66, Z:19.90 [[ 9.97949119e-01 -5.30741123e-02 -3.57868051e-02 5.59602727e+02] [ 5.30362465e-02 9.98590571e-01 -2.00723793e-03 2.36576323e+01] [ 3.58428985e-02 1.05123512e-04 9.99357431e-01 1.98991286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.63, Y:23.66, Z:19.90 [[ 9.98032018e-01 -5.14920714e-02 -3.57862842e-02 5.59630791e+02] [ 5.14528573e-02 9.98673389e-01 -2.01648178e-03 2.36595305e+01] [ 3.58426426e-02 1.71206802e-04 9.99357431e-01 1.98998042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.66, Y:23.66, Z:19.90 [[ 9.98084311e-01 -5.04684338e-02 -3.57860998e-02 5.59658144e+02] [ 5.04284448e-02 9.98725634e-01 -2.01974998e-03 2.36608584e+01] [ 3.58424288e-02 2.11243407e-04 9.99357431e-01 1.99002262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.69, Y:23.66, Z:19.90 [[ 9.98074203e-01 -5.06681125e-02 -3.57858466e-02 5.59686434e+02] [ 5.06280913e-02 9.98715525e-01 -2.02422618e-03 2.36614619e+01] [ 3.58424443e-02 2.08558827e-04 9.99357431e-01 1.99002165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.71, Y:23.66, Z:19.90 [[ 9.98059543e-01 -5.09564847e-02 -3.57852604e-02 5.59714768e+02] [ 5.09162791e-02 9.98700853e-01 -2.03453702e-03 2.36631333e+01] [ 3.58424429e-02 2.08536779e-04 9.99357431e-01 1.99012374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.74, Y:23.66, Z:19.90 [[ 9.97991665e-01 -5.22694451e-02 -3.57846699e-02 5.59742384e+02] [ 5.22297128e-02 9.98633003e-01 -2.04486970e-03 2.36638612e+01] [ 3.58426366e-02 1.71739880e-04 9.99357432e-01 1.99015126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.77, Y:23.66, Z:19.90 [[ 9.97874845e-01 -5.44545008e-02 -3.57840799e-02 5.59770337e+02] [ 5.44158044e-02 9.98516248e-01 -2.05514299e-03 2.36646534e+01] [ 3.58428970e-02 1.03556002e-04 9.99357432e-01 1.99024561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.80, Y:23.67, Z:19.90 [[ 9.97700339e-01 -5.75636660e-02 -3.57834823e-02 5.59798388e+02] [ 5.75265971e-02 9.98341837e-01 -2.06549602e-03 2.36655892e+01] [ 3.58430450e-02 2.24410669e-06 9.99357432e-01 1.99034451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.83, Y:23.66, Z:19.90 [[ 9.97280967e-01 -6.44225013e-02 -3.57828723e-02 5.59825775e+02] [ 6.43894670e-02 9.97922686e-01 -2.07601122e-03 2.36647462e+01] [ 3.58422818e-02 -2.33673596e-04 9.99357432e-01 1.99049798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.85, Y:23.66, Z:19.91 [[ 9.97005128e-01 -6.85592736e-02 -3.57826831e-02 5.59855000e+02] [ 6.85287850e-02 9.97646973e-01 -2.07926582e-03 2.36647886e+01] [ 3.58410385e-02 -3.79105111e-04 9.99357432e-01 1.99062591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.89, Y:23.66, Z:19.91 [[ 9.96702361e-01 -7.28286022e-02 -3.57826458e-02 5.59885640e+02] [ 7.28008397e-02 9.97344330e-01 -2.07990747e-03 2.36647609e+01] [ 3.58390957e-02 -5.31957977e-04 9.99357432e-01 1.99077304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.92, Y:23.66, Z:19.91 [[ 9.96061161e-01 -8.11280847e-02 -3.57826458e-02 5.59916285e+02] [ 8.11056704e-02 9.96703338e-01 -2.07990747e-03 2.36625923e+01] [ 3.58334215e-02 -8.30460430e-04 9.99357432e-01 1.99097563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.95, Y:23.66, Z:19.91 [[ 9.95729120e-01 -8.51064859e-02 -3.57827651e-02 5.59947702e+02] [ 8.50867109e-02 9.96371384e-01 -2.07785315e-03 2.36626585e+01] [ 3.58297620e-02 -9.75658906e-04 9.99357432e-01 1.99111834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.98, Y:23.66, Z:19.91 [[ 9.95408298e-01 -8.87801121e-02 -3.57828387e-02 5.59978586e+02] [ 8.87627527e-02 9.96050632e-01 -2.07658550e-03 2.36630260e+01] [ 3.58258786e-02 -1.10913283e-03 9.99357432e-01 1.99125615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.01, Y:23.66, Z:19.91 [[ 9.95121603e-01 -9.19379051e-02 -3.57829121e-02 5.60010056e+02] [ 9.19226293e-02 9.95763990e-01 -2.07532008e-03 2.36633852e+01] [ 3.58221359e-02 -1.22406351e-03 9.99357432e-01 1.99136814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.04, Y:23.66, Z:19.91 [[ 9.94484471e-01 -9.85911376e-02 -3.57830218e-02 5.60042033e+02] [ 9.85802263e-02 9.95126947e-01 -2.07342656e-03 2.36629888e+01] [ 3.58130707e-02 -1.46550788e-03 9.99357432e-01 1.99142551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.07, Y:23.66, Z:19.91 [[ 9.94133084e-01 -1.02073383e-01 -3.57831665e-02 5.60074108e+02] [ 1.02064812e-01 9.94775596e-01 -2.07092689e-03 2.36633429e+01] [ 3.58076073e-02 -1.59342521e-03 9.99357432e-01 1.99149387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.11, Y:23.66, Z:19.92 [[ 9.93806816e-01 -1.05202508e-01 -3.57833107e-02 5.60106493e+02] [ 1.05196049e-01 9.94449352e-01 -2.06843155e-03 2.36637739e+01] [ 3.58022943e-02 -1.70864153e-03 9.99357432e-01 1.99158128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.14, Y:23.66, Z:19.92 [[ 9.93113989e-01 -1.11553348e-01 -3.57834649e-02 5.60138241e+02] [ 1.11551092e-01 9.93756553e-01 -2.06576064e-03 2.36635070e+01] [ 3.57904953e-02 -1.94014882e-03 9.99357432e-01 1.99161739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.17, Y:23.66, Z:19.92 [[ 9.92770532e-01 -1.14569611e-01 -3.57837154e-02 5.60170788e+02] [ 1.14569463e-01 9.93413101e-01 -2.06141206e-03 2.36646902e+01] [ 3.57841869e-02 -2.05321192e-03 9.99357432e-01 1.99170218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.20, Y:23.67, Z:19.92 [[ 9.92493826e-01 -1.16942384e-01 -3.57838625e-02 5.60202659e+02] [ 1.16943864e-01 9.93136392e-01 -2.05885544e-03 2.36658558e+01] [ 3.57790236e-02 -2.14130186e-03 9.99357432e-01 1.99182127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.24, Y:23.67, Z:19.92 [[ 9.92277461e-01 -1.18764243e-01 -3.57840124e-02 5.60235725e+02] [ 1.18766997e-01 9.92920023e-01 -2.05624793e-03 2.36675941e+01] [ 3.57748711e-02 -2.20959120e-03 9.99357432e-01 1.99195521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.27, Y:23.67, Z:19.92 [[ 9.92281760e-01 -1.18728249e-01 -3.57842404e-02 5.60271482e+02] [ 1.18731122e-01 9.92924322e-01 -2.05227125e-03 2.36688700e+01] [ 3.57747052e-02 -2.21227170e-03 9.99357432e-01 1.99200534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.30, Y:23.67, Z:19.92 [[ 9.92009427e-01 -1.20974940e-01 -3.58100697e-02 5.60298447e+02] [ 1.20995539e-01 9.92651763e-01 -1.59934237e-03 2.36732454e+01] [ 3.57404092e-02 -2.74629597e-03 9.99357334e-01 1.99210956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.33, Y:23.68, Z:19.92 [[ 9.92194706e-01 -1.19453629e-01 -3.57840201e-02 5.60330646e+02] [ 1.19456933e-01 9.92837260e-01 -2.05337328e-03 2.36776538e+01] [ 3.57729913e-02 -2.23730318e-03 9.99357437e-01 1.99220656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.36, Y:23.68, Z:19.92 [[ 9.92338822e-01 -1.18250389e-01 -3.57841728e-02 5.60361605e+02] [ 1.18253009e-01 9.92981380e-01 -2.05070757e-03 2.36809256e+01] [ 3.57755143e-02 -2.19658936e-03 9.99357437e-01 1.99222665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.39, Y:23.68, Z:19.92 [[ 9.92499477e-01 -1.16894282e-01 -3.57842864e-02 5.60394068e+02] [ 1.16896095e-01 9.93142037e-01 -2.04872420e-03 2.36843724e+01] [ 3.57783632e-02 -2.14968565e-03 9.99357437e-01 1.99237651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.43, Y:23.69, Z:19.92 [[ 9.92652716e-01 -1.15585726e-01 -3.57844360e-02 5.60425617e+02] [ 1.15586786e-01 9.93295278e-01 -2.04610686e-03 2.36878626e+01] [ 3.57810121e-02 -2.10513443e-03 9.99357437e-01 1.99246450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.46, Y:23.69, Z:19.93 [[ 9.92924587e-01 -1.13226375e-01 -3.57848057e-02 5.60457063e+02] [ 1.13226141e-01 9.93567150e-01 -2.03962161e-03 2.36935163e+01] [ 3.57855463e-02 -2.02658500e-03 9.99357437e-01 1.99259574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.49, Y:23.70, Z:19.93 [[ 9.93048746e-01 -1.12132174e-01 -3.57849547e-02 5.60488821e+02] [ 1.12131326e-01 9.93691308e-01 -2.03700282e-03 2.36974516e+01] [ 3.57876121e-02 -1.98977133e-03 9.99357437e-01 1.99270832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.52, Y:23.70, Z:19.93 [[ 9.93169727e-01 -1.11055482e-01 -3.57851031e-02 5.60520660e+02] [ 1.11054031e-01 9.93812288e-01 -2.03439271e-03 2.37011499e+01] [ 3.57896057e-02 -1.95358269e-03 9.99357437e-01 1.99283590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.55, Y:23.70, Z:19.93 [[ 9.93291073e-01 -1.09964813e-01 -3.57852506e-02 5.60552651e+02] [ 1.09962750e-01 9.93933632e-01 -2.03179566e-03 2.37046826e+01] [ 3.57915901e-02 -1.91688006e-03 9.99357437e-01 1.99296647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.58, Y:23.71, Z:19.93 [[ 9.93519849e-01 -1.07878231e-01 -3.57854340e-02 5.60584757e+02] [ 1.07874934e-01 9.94162403e-01 -2.02855985e-03 2.37103558e+01] [ 3.57953705e-02 -1.84493686e-03 9.99357437e-01 1.99314523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.62, Y:23.71, Z:19.93 [[ 9.93670222e-01 -1.06484186e-01 -3.57855788e-02 5.60617219e+02] [ 1.06480080e-01 9.94312772e-01 -2.02600310e-03 2.37142306e+01] [ 3.57977953e-02 -1.79727232e-03 9.99357437e-01 1.99332600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.65, Y:23.72, Z:19.93 [[ 9.93840774e-01 -1.04880375e-01 -3.57858020e-02 5.60648678e+02] [ 1.04875373e-01 9.94483317e-01 -2.02205248e-03 2.37182461e+01] [ 3.58004567e-02 -1.74345114e-03 9.99357437e-01 1.99342946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.68, Y:23.72, Z:19.94 [[ 9.94258491e-01 -1.00843522e-01 -3.57859865e-02 5.60679838e+02] [ 1.00836029e-01 9.94901010e-01 -2.01878087e-03 2.37248373e+01] [ 3.58070951e-02 -1.60132675e-03 9.99357437e-01 1.99354085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.71, Y:23.73, Z:19.94 [[ 9.94518516e-01 -9.82460050e-02 -3.57860952e-02 5.60712091e+02] [ 9.82369027e-02 9.95161014e-01 -2.01685263e-03 2.37290551e+01] [ 3.58110745e-02 -1.50971787e-03 9.99357437e-01 1.99370045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.74, Y:23.73, Z:19.94 [[ 9.94789439e-01 -9.54636933e-02 -3.57862401e-02 5.60743501e+02] [ 9.54528863e-02 9.95431911e-01 -2.01427936e-03 2.37332490e+01] [ 3.58150559e-02 -1.41211606e-03 9.99357437e-01 1.99380221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.78, Y:23.74, Z:19.94 [[ 9.95067344e-01 -9.25219389e-02 -3.57864753e-02 5.60775500e+02] [ 9.25093827e-02 9.95709784e-01 -2.01009138e-03 2.37374716e+01] [ 3.58189211e-02 -1.31040844e-03 9.99357437e-01 1.99392006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.81, Y:23.74, Z:19.94 [[ 9.95649396e-01 -8.60325408e-02 -3.57866186e-02 5.60807764e+02] [ 8.60158881e-02 9.96291743e-01 -2.00753670e-03 2.37440751e+01] [ 3.58266261e-02 -1.07941508e-03 9.99357437e-01 1.99403574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.84, Y:23.75, Z:19.94 [[ 9.95963837e-01 -8.23124656e-02 -3.57867652e-02 5.60839213e+02] [ 8.22935074e-02 9.96606120e-01 -2.00492031e-03 2.37481750e+01] [ 3.58303391e-02 -9.48190302e-04 9.99357437e-01 1.99407017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.87, Y:23.75, Z:19.94 [[ 9.96272199e-01 -7.84920747e-02 -3.57868742e-02 5.60871496e+02] [ 7.84707232e-02 9.96914406e-01 -2.00297251e-03 2.37524170e+01] [ 3.58336679e-02 -8.12716077e-04 9.99357437e-01 1.99417309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.90, Y:23.76, Z:19.94 [[ 9.96899675e-01 -7.00737258e-02 -3.57870154e-02 5.60903247e+02] [ 7.00470409e-02 9.97541683e-01 -2.00044666e-03 2.37590685e+01] [ 3.58392183e-02 -5.12529908e-04 9.99357437e-01 1.99433450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.93, Y:23.76, Z:19.95 [[ 9.97181321e-01 -6.59446222e-02 -3.57871582e-02 5.60934260e+02] [ 6.59153706e-02 9.97823217e-01 -1.99788845e-03 2.37632107e+01] [ 3.58410073e-02 -3.66666755e-04 9.99357437e-01 1.99453065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.96, Y:23.77, Z:19.95 [[ 9.97462918e-01 -6.15378951e-02 -3.57884703e-02 5.60964276e+02] [ 6.15066512e-02 9.98104721e-01 -1.97437294e-03 2.37665899e+01] [ 3.58421399e-02 -2.31865165e-04 9.99357437e-01 1.99457162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.99, Y:23.77, Z:19.95 [[ 9.97939571e-01 -5.32502600e-02 -3.57913708e-02 5.60994279e+02] [ 5.32155545e-02 9.98581198e-01 -1.92227314e-03 2.37712883e+01] [ 3.58429514e-02 1.36547881e-05 9.99357435e-01 1.99481303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.02, Y:23.77, Z:19.95 [[ 9.98107084e-01 -5.00150959e-02 -3.57874081e-02 5.61023242e+02] [ 4.99757598e-02 9.98748442e-01 -1.99341538e-03 2.37742809e+01] [ 3.58423189e-02 2.01139103e-04 9.99357437e-01 1.99486698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.05, Y:23.78, Z:19.95 [[ 9.98236620e-01 -4.73594243e-02 -3.57873726e-02 5.61051422e+02] [ 4.73183591e-02 9.98877869e-01 -1.99405302e-03 2.37765495e+01] [ 3.58416517e-02 2.97136998e-04 9.99357437e-01 1.99499544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.08, Y:23.78, Z:19.95 [[ 9.98316951e-01 -4.56351208e-02 -3.57868752e-02 5.61078784e+02] [ 4.55926295e-02 9.98958107e-01 -2.00294018e-03 2.37782914e+01] [ 3.58409935e-02 3.67951390e-04 9.99357437e-01 1.99510407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.11, Y:23.78, Z:19.95 [[ 9.98385566e-01 -4.41089868e-02 -3.57863060e-02 5.61106398e+02] [ 4.40651529e-02 9.99026631e-01 -2.01305908e-03 2.37792130e+01] [ 3.58402667e-02 4.32880087e-04 9.99357438e-01 1.99520584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.13, Y:23.78, Z:19.95 [[ 9.98353236e-01 -4.48352270e-02 -3.57857382e-02 5.61132874e+02] [ 4.47914994e-02 9.98994309e-01 -2.02310149e-03 2.37802092e+01] [ 3.58404550e-02 4.16873048e-04 9.99357438e-01 1.99530208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.16, Y:23.78, Z:19.95 [[ 9.98304032e-01 -4.59179548e-02 -3.57854918e-02 5.61160516e+02] [ 4.58747666e-02 9.98945141e-01 -2.02745078e-03 2.37804154e+01] [ 3.58408396e-02 3.82361197e-04 9.99357438e-01 1.99542729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.19, Y:23.78, Z:19.96 [[ 9.98211372e-01 -4.78904618e-02 -3.57849276e-02 5.61188617e+02] [ 4.78481853e-02 9.98852542e-01 -2.03736026e-03 2.37805097e+01] [ 3.58414361e-02 3.21472331e-04 9.99357438e-01 1.99552177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.22, Y:23.78, Z:19.96 [[ 9.98003528e-01 -5.20426485e-02 -3.57843618e-02 5.61215984e+02] [ 5.20026850e-02 9.98644847e-01 -2.04725172e-03 2.37780849e+01] [ 3.58424129e-02 1.82281550e-04 9.99357438e-01 1.99555421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.25, Y:23.78, Z:19.96 [[ 9.97858361e-01 -5.47558068e-02 -3.57839711e-02 5.61245180e+02] [ 5.47173431e-02 9.98499771e-01 -2.05405760e-03 2.37776940e+01] [ 3.58427585e-02 9.16547297e-05 9.99357438e-01 1.99569958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.27, Y:23.77, Z:19.96 [[ 9.97588781e-01 -5.94657004e-02 -3.57834475e-02 5.61273650e+02] [ 5.94299392e-02 9.98230347e-01 -2.06313865e-03 2.37745075e+01] [ 3.58428092e-02 -6.84441404e-05 9.99357438e-01 1.99563053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.30, Y:23.77, Z:19.96 [[ 9.97440484e-01 -6.19034421e-02 -3.57833027e-02 5.61303432e+02] [ 6.18691588e-02 9.98082131e-01 -2.06564737e-03 2.37732932e+01] [ 3.58425457e-02 -1.53522526e-04 9.99357438e-01 1.99571106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.33, Y:23.77, Z:19.96 [[ 9.97280533e-01 -6.44290281e-02 -3.57832320e-02 5.61334023e+02] [ 6.43963259e-02 9.97922262e-01 -2.06687079e-03 2.37721093e+01] [ 3.58420503e-02 -2.43058666e-04 9.99357438e-01 1.99582547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.36, Y:23.77, Z:19.96 [[ 9.97190291e-01 -6.58109755e-02 -3.57832320e-02 5.61362192e+02] [ 6.57791626e-02 9.97832065e-01 -2.06687079e-03 2.37707275e+01] [ 3.58416791e-02 -2.92727552e-04 9.99357438e-01 1.99588488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.39, Y:23.77, Z:19.96 [[ 9.96725097e-01 -7.25209191e-02 -3.57742514e-02 5.61393159e+02] [ 7.24878357e-02 9.97366820e-01 -2.22264291e-03 2.37675289e+01] [ 3.58412394e-02 -3.77834090e-04 9.99357425e-01 1.99609763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.42, Y:23.77, Z:19.96 [[ 9.96532420e-01 -7.51177992e-02 -3.57834173e-02 5.61424142e+02] [ 7.50920924e-02 9.97174468e-01 -2.06371985e-03 2.37665401e+01] [ 3.58373322e-02 -6.30487937e-04 9.99357438e-01 1.99622634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.46, Y:23.77, Z:19.96 [[ 9.96342919e-01 -7.75907815e-02 -3.57834903e-02 5.61455240e+02] [ 7.75667137e-02 9.96985031e-01 -2.06245324e-03 2.37653887e+01] [ 3.58356315e-02 -7.20697067e-04 9.99357438e-01 1.99633536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.49, Y:23.76, Z:19.96 [[ 9.95885120e-01 -8.32608270e-02 -3.57835639e-02 5.61487958e+02] [ 8.32404604e-02 9.96527359e-01 -2.06117626e-03 2.37614126e+01] [ 3.58309156e-02 -9.25945559e-04 9.99357438e-01 1.99642303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.52, Y:23.76, Z:19.96 [[ 9.95636949e-01 -8.61776689e-02 -3.57837146e-02 5.61519700e+02] [ 8.61592778e-02 9.96279249e-01 -2.05855531e-03 2.37601217e+01] [ 3.58279738e-02 -1.03352528e-03 9.99357438e-01 1.99646457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.55, Y:23.76, Z:19.97 [[ 9.95345004e-01 -8.94865423e-02 -3.57838270e-02 5.61551894e+02] [ 8.94703564e-02 9.95987362e-01 -2.05659955e-03 2.37590377e+01] [ 3.58242775e-02 -1.15456567e-03 9.99357438e-01 1.99659435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.58, Y:23.76, Z:19.97 [[ 9.94665474e-01 -9.67476186e-02 -3.57839790e-02 5.61583525e+02] [ 9.67362158e-02 9.95307935e-01 -2.05395238e-03 2.37559158e+01] [ 3.58147932e-02 -1.41861119e-03 9.99357438e-01 1.99664417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.62, Y:23.76, Z:19.97 [[ 9.94354518e-01 -9.98928519e-02 -3.57842262e-02 5.61615303e+02] [ 9.98836360e-02 9.94997014e-01 -2.04963684e-03 2.37550695e+01] [ 3.58099423e-02 -1.53619297e-03 9.99357438e-01 1.99661635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.65, Y:23.76, Z:19.97 [[ 9.94361315e-01 -9.98251343e-02 -3.57843373e-02 5.61647921e+02] [ 9.98159443e-02 9.95003811e-01 -2.04769538e-03 2.37568723e+01] [ 3.58099634e-02 -1.53569834e-03 9.99357438e-01 1.99673346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.68, Y:23.76, Z:19.97 [[ 9.94064574e-01 -1.02737986e-01 -3.57844765e-02 5.61679740e+02] [ 1.02730766e-01 9.94707096e-01 -2.04525933e-03 2.37562956e+01] [ 3.58051985e-02 -1.64304685e-03 9.99357438e-01 1.99689137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.71, Y:23.76, Z:19.97 [[ 9.93788479e-01 -1.05375135e-01 -3.57846241e-02 5.61711401e+02] [ 1.05369712e-01 9.94431019e-01 -2.04267336e-03 2.37557357e+01] [ 3.58005872e-02 -1.74063030e-03 9.99357438e-01 1.99695570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.74, Y:23.76, Z:19.97 [[ 9.93571815e-01 -1.07398791e-01 -3.57847341e-02 5.61743320e+02] [ 1.07394747e-01 9.94214365e-01 -2.04074438e-03 2.37555277e+01] [ 3.57968702e-02 -1.81546636e-03 9.99357438e-01 1.99703100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.77, Y:23.75, Z:19.97 [[ 9.93323295e-01 -1.09673493e-01 -3.57848794e-02 5.61774656e+02] [ 1.09671011e-01 9.93965852e-01 -2.03819329e-03 2.37542234e+01] [ 3.57924839e-02 -1.89997903e-03 9.99357438e-01 1.99707847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.81, Y:23.76, Z:19.97 [[ 9.93288558e-01 -1.09987617e-01 -3.57849877e-02 5.61806954e+02] [ 1.09985407e-01 9.93931116e-01 -2.03629040e-03 2.37550027e+01] [ 3.57917795e-02 -1.91320247e-03 9.99357438e-01 1.99718122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.84, Y:23.76, Z:19.97 [[ 9.93334298e-01 -1.09573704e-01 -3.57851305e-02 5.61839610e+02] [ 1.09571317e-01 9.93976856e-01 -2.03377692e-03 2.37559281e+01] [ 3.57924400e-02 -1.90080350e-03 9.99357438e-01 1.99727119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.87, Y:23.76, Z:19.97 [[ 9.93486335e-01 -1.08186488e-01 -3.57852726e-02 5.61871834e+02] [ 1.08183293e-01 9.94128890e-01 -2.03127479e-03 2.37565252e+01] [ 3.57949298e-02 -1.85332489e-03 9.99357438e-01 1.99731429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.90, Y:23.76, Z:19.98 [[ 9.93606368e-01 -1.07078428e-01 -3.57854135e-02 5.61903592e+02] [ 1.07074606e-01 9.94248919e-01 -2.02878823e-03 2.37576629e+01] [ 3.57968482e-02 -1.81589214e-03 9.99357438e-01 1.99755123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.94, Y:23.76, Z:19.98 [[ 9.93739445e-01 -1.05836241e-01 -3.57855614e-02 5.61935459e+02] [ 1.05831709e-01 9.94381991e-01 -2.02617669e-03 2.37588966e+01] [ 3.57989607e-02 -1.77375544e-03 9.99357438e-01 1.99771152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.97, Y:23.76, Z:19.98 [[ 9.93993726e-01 -1.03420767e-01 -3.57857098e-02 5.61966724e+02] [ 1.03414768e-01 9.94636261e-01 -2.02355192e-03 2.37603969e+01] [ 3.58030419e-02 -1.68937296e-03 9.99357438e-01 1.99784913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.00, Y:23.76, Z:19.98 [[ 9.94127484e-01 -1.02126981e-01 -3.57858203e-02 5.61998252e+02] [ 1.02120216e-01 9.94770011e-01 -2.02159583e-03 2.37624763e+01] [ 3.58051204e-02 -1.64473173e-03 9.99357438e-01 1.99796456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.03, Y:23.76, Z:19.98 [[ 9.94255694e-01 -1.00871117e-01 -3.57859291e-02 5.62029428e+02] [ 1.00863610e-01 9.94898212e-01 -2.01966921e-03 2.37648644e+01] [ 3.58070832e-02 -1.60143038e-03 9.99357438e-01 1.99804668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.06, Y:23.77, Z:19.98 [[ 9.94411436e-01 -9.93239895e-02 -3.57860356e-02 5.62061315e+02] [ 9.93155504e-02 9.95053943e-01 -2.01777906e-03 2.37674916e+01] [ 3.58094498e-02 -1.54760726e-03 9.99357438e-01 1.99834723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.09, Y:23.77, Z:19.99 [[ 9.94713228e-01 -9.62545808e-02 -3.57861795e-02 5.62092999e+02] [ 9.62442506e-02 9.95355707e-01 -2.01522441e-03 2.37709835e+01] [ 3.58139526e-02 -1.43964366e-03 9.99357438e-01 1.99860816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.12, Y:23.77, Z:19.99 [[ 9.94860525e-01 -9.47199755e-02 -3.57863260e-02 5.62123990e+02] [ 9.47087477e-02 9.95502990e-01 -2.01262006e-03 2.37734149e+01] [ 3.58160298e-02 -1.38700187e-03 9.99357438e-01 1.99873840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.16, Y:23.78, Z:19.99 [[ 9.95006079e-01 -9.31785101e-02 -3.57864350e-02 5.62155580e+02] [ 9.31663566e-02 9.95648526e-01 -2.01068013e-03 2.37759251e+01] [ 3.58180634e-02 -1.33345281e-03 9.99357438e-01 1.99884734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.19, Y:23.78, Z:19.99 [[ 9.95251403e-01 -9.05205311e-02 -3.57865784e-02 5.62186779e+02] [ 9.05067536e-02 9.95893817e-01 -2.00812331e-03 2.37793762e+01] [ 3.58214086e-02 -1.24033949e-03 9.99357438e-01 1.99894702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.22, Y:23.78, Z:19.99 [[ 9.95373290e-01 -8.91702100e-02 -3.57866852e-02 5.62218974e+02] [ 8.91556293e-02 9.96015687e-01 -2.00621933e-03 2.37819405e+01] [ 3.58229948e-02 -1.19364730e-03 9.99357438e-01 1.99905018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.25, Y:23.78, Z:19.99 [[ 9.95451086e-01 -8.82974469e-02 -3.57868264e-02 5.62250945e+02] [ 8.82823935e-02 9.96093472e-01 -2.00369663e-03 2.37845339e+01] [ 3.58239455e-02 -1.16476471e-03 9.99357438e-01 1.99920991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.28, Y:23.79, Z:19.99 [[ 9.95559351e-01 -8.70681974e-02 -3.57869704e-02 5.62281689e+02] [ 8.70524433e-02 9.96201720e-01 -2.00112114e-03 2.37876928e+01] [ 3.58252755e-02 -1.12310835e-03 9.99357438e-01 1.99927156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.31, Y:23.79, Z:19.99 [[ 9.95582155e-01 -8.68069523e-02 -3.57872171e-02 5.62312409e+02] [ 8.67911884e-02 9.96224524e-01 -1.99670063e-03 2.37898668e+01] [ 3.58254308e-02 -1.11813558e-03 9.99357438e-01 1.99926967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.34, Y:23.79, Z:19.99 [[ 9.95585730e-01 -8.67659002e-02 -3.57873225e-02 5.62343840e+02] [ 8.67501776e-02 9.96228100e-01 -1.99481020e-03 2.37920630e+01] [ 3.58254178e-02 -1.11855201e-03 9.99357438e-01 1.99942142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.37, Y:23.79, Z:19.99 [[ 9.95595246e-01 -8.66566095e-02 -3.57873926e-02 5.62374694e+02] [ 8.66408617e-02 9.96237616e-01 -1.99355026e-03 2.37941597e+01] [ 3.58255010e-02 -1.11588138e-03 9.99357438e-01 1.99945956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.41, Y:23.80, Z:20.00 [[ 9.95579847e-01 -8.68332537e-02 -3.57876324e-02 5.62405956e+02] [ 8.68177748e-02 9.96222223e-01 -1.98923655e-03 2.37968622e+01] [ 3.58251666e-02 -1.12655880e-03 9.99357438e-01 1.99952757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.44, Y:23.80, Z:20.00 [[ 9.95548522e-01 -8.71916172e-02 -3.57877350e-02 5.62438396e+02] [ 8.71764359e-02 9.96190905e-01 -1.98738853e-03 2.37991198e+01] [ 3.58246998e-02 -1.14130548e-03 9.99357438e-01 1.99984005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.47, Y:23.80, Z:20.00 [[ 9.95525639e-01 -8.74524451e-02 -3.57878746e-02 5.62470338e+02] [ 8.74375225e-02 9.96168028e-01 -1.98487252e-03 2.38012818e+01] [ 3.58243184e-02 -1.15321160e-03 9.99357438e-01 2.00008921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.50, Y:23.80, Z:20.00 [[ 9.95446216e-01 -8.83518488e-02 -3.57880138e-02 5.62502360e+02] [ 8.83375968e-02 9.96088620e-01 -1.98235884e-03 2.38038755e+01] [ 3.58231784e-02 -1.18809553e-03 9.99357438e-01 2.00030604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.53, Y:23.81, Z:20.00 [[ 9.95399933e-01 -8.88717113e-02 -3.57881583e-02 5.62534258e+02] [ 8.88578886e-02 9.96042347e-01 -1.97974711e-03 2.38056457e+01] [ 3.58224647e-02 -1.20942005e-03 9.99357438e-01 2.00044195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.57, Y:23.81, Z:20.01 [[ 9.95359167e-01 -8.93270771e-02 -3.57883051e-02 5.62565041e+02] [ 8.93136437e-02 9.96001588e-01 -1.97708981e-03 2.38074949e+01] [ 3.58218164e-02 -1.22846946e-03 9.99357438e-01 2.00054697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.60, Y:23.81, Z:20.01 [[ 9.95188603e-01 -9.12076444e-02 -3.57884143e-02 5.62597361e+02] [ 9.11954960e-02 9.95831050e-01 -1.97511071e-03 2.38104487e+01] [ 3.58193594e-02 -1.29813453e-03 9.99357438e-01 2.00093108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.63, Y:23.81, Z:20.01 [[ 9.95097843e-01 -9.21925248e-02 -3.57885591e-02 5.62628816e+02] [ 9.21811065e-02 9.95740304e-01 -1.97248431e-03 2.38122480e+01] [ 3.58179590e-02 -1.33621409e-03 9.99357438e-01 2.00105067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.66, Y:23.81, Z:20.01 [[ 9.94970154e-01 -9.35604806e-02 -3.57886669e-02 5.62659879e+02] [ 9.35500159e-02 9.95612631e-01 -1.97052556e-03 2.38138839e+01] [ 3.58160122e-02 -1.38741624e-03 9.99357438e-01 2.00110736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.69, Y:23.82, Z:20.01 [[ 9.94806834e-01 -9.52812514e-02 -3.57889020e-02 5.62692449e+02] [ 9.52720517e-02 9.95449331e-01 -1.96624650e-03 2.38155380e+01] [ 3.58133850e-02 -1.45364667e-03 9.99357438e-01 2.00123119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.485099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:562.72, Y:23.82, Z:20.01 [[ 9.94415083e-01 -9.92863889e-02 -3.57890377e-02 5.62724036e+02] [ 9.92798653e-02 9.95057612e-01 -1.96377355e-03 2.38177939e+01] [ 3.58071304e-02 -1.60032480e-03 9.99357438e-01 2.00137516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.76, Y:23.82, Z:20.02 [[ 9.94193518e-01 -1.01480949e-01 -3.57891760e-02 5.62755862e+02] [ 1.01475934e-01 9.94836061e-01 -1.96124964e-03 2.38197166e+01] [ 3.58033924e-02 -1.68187838e-03 9.99357438e-01 2.00151315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.79, Y:23.82, Z:20.01 [[ 9.93962374e-01 -1.03720408e-01 -3.57893175e-02 5.62787024e+02] [ 1.03716934e-01 9.94604927e-01 -1.95866442e-03 2.38213339e+01] [ 3.57993850e-02 -1.76511954e-03 9.99357438e-01 2.00149384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.82, Y:23.82, Z:20.02 [[ 9.93514862e-01 -1.07922822e-01 -3.57894230e-02 5.62818918e+02] [ 1.07922134e-01 9.94157424e-01 -1.95673497e-03 2.38230314e+01] [ 3.57914969e-02 -1.91842563e-03 9.99357438e-01 2.00163344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.85, Y:23.82, Z:20.02 [[ 9.93346895e-01 -1.09457998e-01 -3.57895609e-02 5.62852015e+02] [ 1.09458394e-01 9.93989457e-01 -1.95420894e-03 2.38248272e+01] [ 3.57883500e-02 -1.97626047e-03 9.99357438e-01 2.00179497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.88, Y:23.83, Z:20.02 [[ 9.93229183e-01 -1.10520955e-01 -3.57897744e-02 5.62884590e+02] [ 1.10522179e-01 9.93871744e-01 -1.95029091e-03 2.38265377e+01] [ 3.57859936e-02 -2.01847802e-03 9.99357438e-01 2.00186610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.92, Y:23.83, Z:20.02 [[ 9.93114913e-01 -1.11543021e-01 -3.57899883e-02 5.62915410e+02] [ 1.11545048e-01 9.93757472e-01 -1.94635808e-03 2.38294580e+01] [ 3.57836710e-02 -2.05923871e-03 9.99357438e-01 2.00189371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.95, Y:23.83, Z:20.02 [[ 9.93108899e-01 -1.11596479e-01 -3.57902202e-02 5.62947485e+02] [ 1.11598694e-01 9.93751458e-01 -1.94208452e-03 2.38323897e+01] [ 3.57833133e-02 -2.06544041e-03 9.99357438e-01 2.00202807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.98, Y:23.84, Z:20.02 [[ 9.93155557e-01 -1.11180440e-01 -3.57903590e-02 5.62978973e+02] [ 1.11182478e-01 9.93798116e-01 -1.93952259e-03 2.38354099e+01] [ 3.57840283e-02 -2.05301317e-03 9.99357438e-01 2.00215731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.01, Y:23.84, Z:20.02 [[ 9.93309495e-01 -1.09796581e-01 -3.57904624e-02 5.63009539e+02] [ 1.09797792e-01 9.93952056e-01 -1.93761324e-03 2.38392720e+01] [ 3.57867470e-02 -2.00506412e-03 9.99357438e-01 2.00229191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.04, Y:23.84, Z:20.02 [[ 9.93393499e-01 -1.09033860e-01 -3.57906780e-02 5.63041671e+02] [ 1.09034721e-01 9.94036061e-01 -1.93362342e-03 2.38418925e+01] [ 3.57880550e-02 -1.98157764e-03 9.99357438e-01 2.00237070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.07, Y:23.84, Z:20.02 [[ 9.93485735e-01 -1.08190166e-01 -3.57908116e-02 5.63073506e+02] [ 1.08190570e-01 9.94128297e-01 -1.93114633e-03 2.38443018e+01] [ 3.57895896e-02 -1.95366198e-03 9.99357438e-01 2.00246329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.10, Y:23.85, Z:20.03 [[ 9.93564459e-01 -1.07464755e-01 -3.57909451e-02 5.63104821e+02] [ 1.07464779e-01 9.94207022e-01 -1.92866924e-03 2.38476021e+01] [ 3.57908729e-02 -1.93000878e-03 9.99357438e-01 2.00250450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.14, Y:23.85, Z:20.03 [[ 9.93599693e-01 -1.07138471e-01 -3.57910444e-02 5.63136495e+02] [ 1.07138350e-01 9.94242255e-01 -1.92682422e-03 2.38501686e+01] [ 3.57914057e-02 -1.92010150e-03 9.99357438e-01 2.00261857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.17, Y:23.85, Z:20.03 [[ 9.93638275e-01 -1.06780007e-01 -3.57911773e-02 5.63169536e+02] [ 1.06779744e-01 9.94280837e-01 -1.92435238e-03 2.38528378e+01] [ 3.57919641e-02 -1.90966256e-03 9.99357438e-01 2.00284660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.20, Y:23.86, Z:20.03 [[ 9.93710418e-01 -1.06106466e-01 -3.57913879e-02 5.63201844e+02] [ 1.06105908e-01 9.94352980e-01 -1.92042824e-03 2.38556106e+01] [ 3.57930430e-02 -1.88932815e-03 9.99357438e-01 2.00285457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.23, Y:23.86, Z:20.03 [[ 9.93948860e-01 -1.03849059e-01 -3.57915619e-02 5.63232953e+02] [ 1.03847158e-01 9.94591420e-01 -1.91717880e-03 2.38603457e+01] [ 3.57970776e-02 -1.81127431e-03 9.99357438e-01 2.00300189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.26, Y:23.86, Z:20.03 [[ 9.94162621e-01 -1.01782313e-01 -3.57916616e-02 5.63264786e+02] [ 1.01779142e-01 9.94805176e-01 -1.91531665e-03 2.38639356e+01] [ 3.58006756e-02 -1.73870841e-03 9.99357438e-01 2.00315126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.30, Y:23.87, Z:20.03 [[ 9.94688529e-01 -9.65073973e-02 -3.57917930e-02 5.63296793e+02] [ 9.65009071e-02 9.95331058e-01 -1.91285773e-03 2.38698219e+01] [ 3.58092881e-02 -1.55124285e-03 9.99357438e-01 2.00345704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.33, Y:23.87, Z:20.04 [[ 9.94983653e-01 -9.34155635e-02 -3.57919322e-02 5.63329740e+02] [ 9.34071701e-02 9.95626161e-01 -1.91024936e-03 2.38736928e+01] [ 3.58138311e-02 -1.44255622e-03 9.99357438e-01 2.00362813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.36, Y:23.88, Z:20.04 [[ 9.95315692e-01 -8.98086609e-02 -3.57921438e-02 5.63361835e+02] [ 8.97980815e-02 9.95958167e-01 -1.90627742e-03 2.38773256e+01] [ 3.58186781e-02 -1.31671801e-03 9.99357438e-01 2.00373259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.39, Y:23.88, Z:20.04 [[ 9.95633904e-01 -8.62092800e-02 -3.57923187e-02 5.63393460e+02] [ 8.61964958e-02 9.96276339e-01 -1.90298686e-03 2.38810491e+01] [ 3.58230954e-02 -1.19049421e-03 9.99357438e-01 2.00389484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.42, Y:23.89, Z:20.04 [[ 9.96209839e-01 -7.92770882e-02 -3.57924580e-02 5.63424065e+02] [ 7.92599268e-02 9.96852172e-01 -1.90036385e-03 2.38864382e+01] [ 3.58304448e-02 -9.43746429e-04 9.99357438e-01 2.00401340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.46, Y:23.89, Z:20.04 [[ 9.96693220e-01 -7.29487349e-02 -3.57925615e-02 5.63455784e+02] [ 7.29275646e-02 9.97335433e-01 -1.89841199e-03 2.38909020e+01] [ 3.58356766e-02 -7.18129977e-04 9.99357438e-01 2.00413166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.49, Y:23.90, Z:20.04 [[ 9.97092983e-01 -6.72641584e-02 -3.57926981e-02 5.63487809e+02] [ 6.72394188e-02 9.97735068e-01 -1.89583336e-03 2.38950660e+01] [ 3.58391517e-02 -5.16358079e-04 9.99357438e-01 2.00417835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.52, Y:23.90, Z:20.04 [[ 9.97377025e-01 -6.29121791e-02 -3.57928347e-02 5.63518341e+02] [ 6.28847304e-02 9.98019001e-01 -1.89325117e-03 2.38987510e+01] [ 3.58410377e-02 -3.62537541e-04 9.99357438e-01 2.00421935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.55, Y:23.90, Z:20.04 [[ 9.97377026e-01 -6.29121029e-02 -3.57929470e-02 5.63549277e+02] [ 6.28847304e-02 9.98019005e-01 -1.89112451e-03 2.39003845e+01] [ 3.58410160e-02 -3.64665680e-04 9.99357438e-01 2.00433040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.58, Y:23.90, Z:20.04 [[ 9.97377026e-01 -6.29121029e-02 -3.57929470e-02 5.63580214e+02] [ 6.28847304e-02 9.98019005e-01 -1.89112451e-03 2.39020190e+01] [ 3.58410160e-02 -3.64665680e-04 9.99357438e-01 2.00444151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.61, Y:23.90, Z:20.05 [[ 9.97557203e-01 -5.99874271e-02 -3.57929470e-02 5.63610777e+02] [ 5.99581724e-02 9.98199099e-01 -1.89112451e-03 2.39048307e+01] [ 3.58419312e-02 -2.59574808e-04 9.99357438e-01 2.00450626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.64, Y:23.91, Z:20.05 [[ 9.97586484e-01 -5.94985060e-02 -3.57929470e-02 5.63640889e+02] [ 5.94689367e-02 9.98228365e-01 -1.89112451e-03 2.39067446e+01] [ 3.58420541e-02 -2.42008247e-04 9.99357438e-01 2.00461970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.67, Y:23.91, Z:20.05 [[ 9.97586484e-01 -5.94985060e-02 -3.57929470e-02 5.63671825e+02] [ 5.94689367e-02 9.98228365e-01 -1.89112451e-03 2.39083791e+01] [ 3.58420541e-02 -2.42008247e-04 9.99357438e-01 2.00473081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.70, Y:23.91, Z:20.05 [[ 9.97585399e-01 -5.95167007e-02 -3.57929470e-02 5.63702715e+02] [ 5.94871431e-02 9.98227280e-01 -1.89112451e-03 2.39098930e+01] [ 3.58420497e-02 -2.42661959e-04 9.99357438e-01 2.00484395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.73, Y:23.91, Z:20.05 [[ 9.97562577e-01 -5.98980008e-02 -3.57929470e-02 5.63733363e+02] [ 5.98686886e-02 9.98204470e-01 -1.89112451e-03 2.39114746e+01] [ 3.58419543e-02 -2.56361755e-04 9.99357438e-01 2.00501104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.76, Y:23.91, Z:20.05 [[ 9.97467212e-01 -6.14656520e-02 -3.57929470e-02 5.63764249e+02] [ 6.14373486e-02 9.98109150e-01 -1.89112451e-03 2.39123282e+01] [ 3.58415071e-02 -3.12689066e-04 9.99357438e-01 2.00511376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.79, Y:23.91, Z:20.05 [[ 9.97400914e-01 -6.25322498e-02 -3.57929470e-02 5.63794142e+02] [ 6.25046328e-02 9.98042882e-01 -1.89112451e-03 2.39134143e+01] [ 3.58411523e-02 -3.51015693e-04 9.99357438e-01 2.00518710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.82, Y:23.91, Z:20.05 [[ 9.97339831e-01 -6.34990423e-02 -3.57929127e-02 5.63824305e+02] [ 6.34720243e-02 9.97981825e-01 -1.89177463e-03 2.39147150e+01] [ 3.58408022e-02 -3.85106430e-04 9.99357438e-01 2.00526463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.85, Y:23.92, Z:20.05 [[ 9.97246377e-01 -6.49502265e-02 -3.57929127e-02 5.63854939e+02] [ 6.49241427e-02 9.97888409e-01 -1.89177463e-03 2.39154547e+01] [ 3.58402039e-02 -4.37258772e-04 9.99357438e-01 2.00534421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.89, Y:23.92, Z:20.05 [[ 9.97241009e-01 -6.50325664e-02 -3.57929465e-02 5.63886264e+02] [ 6.50065585e-02 9.97883045e-01 -1.89113520e-03 2.39165324e+01] [ 3.58401598e-02 -4.40858689e-04 9.99357438e-01 2.00548612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.92, Y:23.92, Z:20.06 [[ 9.97250910e-01 -6.48805246e-02 -3.57930135e-02 5.63916240e+02] [ 6.48544645e-02 9.97892944e-01 -1.88986482e-03 2.39177393e+01] [ 3.58402110e-02 -4.36667316e-04 9.99357438e-01 2.00562712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.95, Y:23.92, Z:20.06 [[ 9.97373642e-01 -6.29656695e-02 -3.57930468e-02 5.63947841e+02] [ 6.29383993e-02 9.98015625e-01 -1.88923406e-03 2.39185524e+01] [ 3.58409769e-02 -3.68484821e-04 9.99357438e-01 2.00586585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.98, Y:23.92, Z:20.06 [[ 9.97451874e-01 -6.17139515e-02 -3.57931150e-02 5.63977922e+02] [ 6.16859221e-02 9.98093825e-01 -1.88794199e-03 2.39202272e+01] [ 3.58413994e-02 -3.24800027e-04 9.99357438e-01 2.00600963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.01, Y:23.92, Z:20.06 [[ 9.97551833e-01 -6.00765035e-02 -3.57932285e-02 5.64008327e+02] [ 6.00474976e-02 9.98193740e-01 -1.88578740e-03 2.39219990e+01] [ 3.58418681e-02 -2.68123128e-04 9.99357438e-01 2.00616394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.04, Y:23.92, Z:20.06 [[ 9.97664192e-01 -5.81807928e-02 -3.57932285e-02 5.64037728e+02] [ 5.81505672e-02 9.98306043e-01 -1.88578740e-03 2.39235216e+01] [ 3.58423129e-02 -2.00013979e-04 9.99357438e-01 2.00629568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.07, Y:23.92, Z:20.06 [[ 9.97843026e-01 -5.50285577e-02 -3.57931954e-02 5.64066928e+02] [ 5.49962819e-02 9.98484777e-01 -1.88641580e-03 2.39245253e+01] [ 3.58427674e-02 -8.61458146e-05 9.99357438e-01 2.00645094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.09, Y:23.93, Z:20.07 [[ 9.97805260e-01 -5.57092028e-02 -3.57931276e-02 5.64094852e+02] [ 5.56773186e-02 9.98447031e-01 -1.88770124e-03 2.39279705e+01] [ 3.58427043e-02 -1.09307139e-04 9.99357438e-01 2.00657823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.13, Y:23.93, Z:20.07 [[ 9.97943270e-01 -5.31896893e-02 -3.57783144e-02 5.64125228e+02] [ 5.31461709e-02 9.98584392e-01 -2.16695684e-03 2.39261231e+01] [ 3.58429261e-02 2.61019585e-04 9.99357402e-01 2.00659924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.15, Y:23.93, Z:20.07 [[ 9.97960285e-01 -5.28597988e-02 -3.57926191e-02 5.64153579e+02] [ 5.28257454e-02 9.98601944e-01 -1.89709348e-03 2.39270290e+01] [ 3.58428590e-02 2.45216424e-06 9.99357438e-01 2.00667239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.18, Y:23.93, Z:20.07 [[ 9.97981909e-01 -5.24502719e-02 -3.57921430e-02 5.64182171e+02] [ 5.24156344e-02 9.98623537e-01 -1.90603447e-03 2.39272392e+01] [ 3.58428485e-02 2.61200326e-05 9.99357438e-01 2.00668869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.21, Y:23.93, Z:20.07 [[ 9.97973408e-01 -5.26121161e-02 -3.57916597e-02 5.64211233e+02] [ 5.25772588e-02 9.98615023e-01 -1.91506759e-03 2.39281307e+01] [ 3.58428448e-02 2.93591749e-05 9.99357438e-01 2.00676032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.24, Y:23.93, Z:20.07 [[ 9.97960409e-01 -5.28584361e-02 -3.57911760e-02 5.64238657e+02] [ 5.28234144e-02 9.98602015e-01 -1.92406549e-03 2.39284623e+01] [ 3.58428435e-02 2.95290634e-05 9.99357438e-01 2.00679343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.27, Y:23.93, Z:20.07 [[ 9.97934261e-01 -5.33499277e-02 -3.57910045e-02 5.64267246e+02] [ 5.33151078e-02 9.98575878e-01 -1.92724976e-03 2.39293351e+01] [ 3.58428524e-02 1.50673040e-05 9.99357438e-01 2.00691457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.29, Y:23.93, Z:20.07 [[ 9.97928379e-01 -5.34601526e-02 -3.57905253e-02 5.64294687e+02] [ 5.34250859e-02 9.98569983e-01 -1.93610787e-03 2.39299669e+01] [ 3.58428489e-02 1.99851011e-05 9.99357438e-01 2.00698393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.32, Y:23.93, Z:20.07 [[ 9.97896573e-01 -5.40507187e-02 -3.57903555e-02 5.64323494e+02] [ 5.40159193e-02 9.98538191e-01 -1.93924261e-03 2.39306992e+01] [ 3.58428543e-02 1.91460380e-06 9.99357438e-01 2.00716446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.35, Y:23.93, Z:20.07 [[ 9.97890026e-01 -5.41717872e-02 -3.57898652e-02 5.64351767e+02] [ 5.41367426e-02 9.98531631e-01 -1.94824844e-03 2.39308924e+01] [ 3.58428526e-02 6.59096013e-06 9.99357438e-01 2.00720502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.38, Y:23.93, Z:20.07 [[ 9.97877693e-01 -5.43985614e-02 -3.57897611e-02 5.64380764e+02] [ 5.43635940e-02 9.98519302e-01 -1.95015986e-03 2.39320061e+01] [ 3.58428531e-02 3.60983494e-07 9.99357438e-01 2.00735659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.41, Y:23.93, Z:20.07 [[ 9.97855960e-01 -5.47960896e-02 -3.57892788e-02 5.64409568e+02] [ 5.47610619e-02 9.98497566e-01 -1.95897010e-03 2.39330539e+01] [ 3.58428517e-02 -5.08892639e-06 9.99357439e-01 2.00748890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.44, Y:23.93, Z:20.08 [[ 9.97799286e-01 -5.58188936e-02 -3.57887818e-02 5.64438799e+02] [ 5.57841994e-02 9.98440910e-01 -1.96800875e-03 2.39332088e+01] [ 3.58428359e-02 -3.27708115e-05 9.99357439e-01 2.00760002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.47, Y:23.93, Z:20.08 [[ 9.97732644e-01 -5.69979849e-02 -3.57882848e-02 5.64467491e+02] [ 5.69637261e-02 9.98374291e-01 -1.97700593e-03 2.39338955e+01] [ 3.58427888e-02 -6.61107042e-05 9.99357439e-01 2.00772620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.50, Y:23.93, Z:20.08 [[ 9.97589688e-01 -5.94478711e-02 -3.57877889e-02 5.64497177e+02] [ 5.94148676e-02 9.98231401e-01 -1.98594172e-03 2.39334408e+01] [ 3.58425547e-02 -1.45171762e-04 9.99357439e-01 2.00787109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.53, Y:23.93, Z:20.08 [[ 9.97491028e-01 -6.10809960e-02 -3.57877170e-02 5.64526826e+02] [ 6.10489967e-02 9.98132792e-01 -1.98723626e-03 2.39343948e+01] [ 3.58422763e-02 -2.02553878e-04 9.99357439e-01 2.00799416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.56, Y:23.94, Z:20.08 [[ 9.97393076e-01 -6.26601736e-02 -3.57876451e-02 5.64557314e+02] [ 6.26291439e-02 9.98034887e-01 -1.98853038e-03 2.39354060e+01] [ 3.58419200e-02 -2.58003144e-04 9.99357439e-01 2.00815244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.59, Y:23.94, Z:20.08 [[ 9.97312932e-01 -6.39230846e-02 -3.57876451e-02 5.64587040e+02] [ 6.38928677e-02 9.97954782e-01 -1.98853038e-03 2.39362234e+01] [ 3.58415646e-02 -3.03388210e-04 9.99357439e-01 2.00828411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.62, Y:23.94, Z:20.08 [[ 9.97156105e-01 -6.63245788e-02 -3.57876091e-02 5.64616105e+02] [ 6.62958844e-02 9.97798025e-01 -1.98917805e-03 2.39360996e+01] [ 3.58407371e-02 -3.89050159e-04 9.99357439e-01 2.00837470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.65, Y:23.94, Z:20.08 [[ 9.97088461e-01 -6.73338698e-02 -3.57875736e-02 5.64645394e+02] [ 6.73058022e-02 9.97730409e-01 -1.98981750e-03 2.39366536e+01] [ 3.58403326e-02 -4.24687283e-04 9.99357439e-01 2.00840942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.68, Y:23.94, Z:20.09 [[ 9.97042977e-01 -6.80040758e-02 -3.57875382e-02 5.64676256e+02] [ 6.79764169e-02 9.97684943e-01 -1.99045314e-03 2.39374028e+01] [ 3.58400470e-02 -4.48141293e-04 9.99357439e-01 2.00851729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.71, Y:23.94, Z:20.09 [[ 9.97023844e-01 -6.82840165e-02 -3.57875382e-02 5.64706910e+02] [ 6.82565378e-02 9.97665817e-01 -1.99045314e-03 2.39379506e+01] [ 3.58399197e-02 -4.58204215e-04 9.99357439e-01 2.00855108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.74, Y:23.94, Z:20.09 [[ 9.97059119e-01 -6.77669772e-02 -3.57875740e-02 5.64737122e+02] [ 6.77391887e-02 9.97701079e-01 -1.98981037e-03 2.39394560e+01] [ 3.58401446e-02 -4.40262654e-04 9.99357439e-01 2.00865920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.77, Y:23.94, Z:20.09 [[ 9.97150068e-01 -6.64152971e-02 -3.57875740e-02 5.64767777e+02] [ 6.63866384e-02 9.97791990e-01 -1.98981037e-03 2.39410682e+01] [ 3.58407085e-02 -3.91677188e-04 9.99357439e-01 2.00875052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.80, Y:23.94, Z:20.09 [[ 9.97280459e-01 -6.44277629e-02 -3.57875740e-02 5.64798599e+02] [ 6.43978248e-02 9.97922322e-01 -1.98981037e-03 2.39429624e+01] [ 3.58414180e-02 -3.20242923e-04 9.99357439e-01 2.00886916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.83, Y:23.95, Z:20.09 [[ 9.97629659e-01 -5.87734048e-02 -3.57875740e-02 5.64827897e+02] [ 5.87398287e-02 9.98271342e-01 -1.98981037e-03 2.39451416e+01] [ 3.58426574e-02 -1.17062126e-04 9.99357439e-01 2.00898750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.86, Y:23.95, Z:20.09 [[ 9.97809952e-01 -5.56286910e-02 -3.57875386e-02 5.64856972e+02] [ 5.55930696e-02 9.98451525e-01 -1.99044721e-03 2.39468248e+01] [ 3.58428484e-02 -3.45109151e-06 9.99357439e-01 2.00910973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.89, Y:23.95, Z:20.09 [[ 9.97965782e-01 -5.27594329e-02 -3.57874330e-02 5.64885845e+02] [ 5.27218990e-02 9.98607246e-01 -1.99234384e-03 2.39486784e+01] [ 3.58427048e-02 1.01509549e-04 9.99357439e-01 2.00926862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.91, Y:23.95, Z:20.09 [[ 9.98088781e-01 -5.03793746e-02 -3.57869340e-02 5.64913901e+02] [ 5.03399911e-02 9.98730134e-01 -2.00126726e-03 2.39504005e+01] [ 3.58423119e-02 1.95928468e-04 9.99357439e-01 2.00940205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.94, Y:23.95, Z:20.10 [[ 9.98263087e-01 -4.67989999e-02 -3.57863626e-02 5.64941571e+02] [ 4.67569517e-02 9.98904271e-01 -2.01143236e-03 2.39514577e+01] [ 3.58412835e-02 3.34677447e-04 9.99357439e-01 2.00955939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.97, Y:23.95, Z:20.10 [[ 9.98290707e-01 -4.62065117e-02 -3.57857857e-02 5.64969769e+02] [ 4.61637170e-02 9.98931842e-01 -2.02164505e-03 2.39523167e+01] [ 3.58409739e-02 3.66184587e-04 9.99357439e-01 2.00963871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.00, Y:23.95, Z:20.10 [[ 9.98243575e-01 -4.72142236e-02 -3.57852088e-02 5.64997878e+02] [ 4.71717119e-02 9.98884729e-01 -2.03180477e-03 2.39515049e+01] [ 3.58412287e-02 3.40186501e-04 9.99357439e-01 2.00965662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.03, Y:23.95, Z:20.10 [[ 9.98155193e-01 -4.90476382e-02 -3.57846339e-02 5.65025389e+02] [ 4.90059431e-02 9.98796400e-01 -2.04187993e-03 2.39515837e+01] [ 3.58417129e-02 2.84453323e-04 9.99357439e-01 2.00968757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.05, Y:23.95, Z:20.10 [[ 9.98039497e-01 -5.13484604e-02 -3.57840602e-02 5.65052958e+02] [ 5.13078847e-02 9.98680775e-01 -2.05188525e-03 2.39515130e+01] [ 3.58422142e-02 2.11858086e-04 9.99357439e-01 2.00975327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.08, Y:23.95, Z:20.10 [[ 9.97879943e-01 -5.43614014e-02 -3.57834754e-02 5.65080309e+02] [ 5.43223981e-02 9.98521319e-01 -2.06203325e-03 2.39514674e+01] [ 3.58426581e-02 1.13817423e-04 9.99357439e-01 2.00980863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.11, Y:23.95, Z:20.10 [[ 9.97685281e-01 -5.78242328e-02 -3.57832214e-02 5.65108505e+02] [ 5.77872979e-02 9.98326779e-01 -2.06643295e-03 2.39512628e+01] [ 3.58428380e-02 -6.16593524e-06 9.99357439e-01 2.00993163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.14, Y:23.95, Z:20.10 [[ 9.97222184e-01 -6.53262556e-02 -3.57826168e-02 5.65136860e+02] [ 6.52937728e-02 9.97863924e-01 -2.07684851e-03 2.39492590e+01] [ 3.58418552e-02 -2.65302642e-04 9.99357439e-01 2.01004702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.17, Y:23.95, Z:20.10 [[ 9.96980970e-01 -6.89100347e-02 -3.57820138e-02 5.65166172e+02] [ 6.88794875e-02 9.97622804e-01 -2.08718684e-03 2.39488267e+01] [ 3.58407811e-02 -3.83761213e-04 9.99357439e-01 2.01017866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.20, Y:23.95, Z:20.10 [[ 9.96525680e-01 -7.52078572e-02 -3.57819377e-02 5.65196770e+02] [ 7.51813191e-02 9.97167693e-01 -2.08849087e-03 2.39460525e+01] [ 3.58376632e-02 -6.08898495e-04 9.99357439e-01 2.01032896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.23, Y:23.95, Z:20.10 [[ 9.96328054e-01 -7.77821455e-02 -3.57819377e-02 5.65227685e+02] [ 7.77572661e-02 9.96970133e-01 -2.08849087e-03 2.39457587e+01] [ 3.58359705e-02 -7.01483612e-04 9.99357439e-01 2.01045140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.26, Y:23.95, Z:20.11 [[ 9.96164003e-01 -7.98557007e-02 -3.57819377e-02 5.65259035e+02] [ 7.98321578e-02 9.96806132e-01 -2.08849087e-03 2.39457833e+01] [ 3.58344328e-02 -7.76069876e-04 9.99357439e-01 2.01057452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.29, Y:23.94, Z:20.11 [[ 9.95966924e-01 -8.22771769e-02 -3.57820133e-02 5.65289192e+02] [ 8.22552417e-02 9.96609110e-01 -2.08719508e-03 2.39449903e+01] [ 3.58324089e-02 -8.64480891e-04 9.99357439e-01 2.01067053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.32, Y:23.95, Z:20.11 [[ 9.95941024e-01 -8.25900768e-02 -3.57820508e-02 5.65320783e+02] [ 8.25683664e-02 9.96583218e-01 -2.08655152e-03 2.39458608e+01] [ 3.58321198e-02 -8.76383225e-04 9.99357439e-01 2.01077566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.35, Y:23.95, Z:20.11 [[ 9.95955520e-01 -8.24150635e-02 -3.57821256e-02 5.65351356e+02] [ 8.23932864e-02 9.96597711e-01 -2.08526760e-03 2.39466873e+01] [ 3.58322420e-02 -8.71373147e-04 9.99357439e-01 2.01081725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.38, Y:23.95, Z:20.11 [[ 9.96080415e-01 -8.08915543e-02 -3.57821628e-02 5.65382802e+02] [ 8.08688179e-02 9.96722574e-01 -2.08462984e-03 2.39466011e+01] [ 3.58335183e-02 -8.17202250e-04 9.99357439e-01 2.01083287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.41, Y:23.95, Z:20.11 [[ 9.96184418e-01 -7.96004851e-02 -3.57822374e-02 5.65414267e+02] [ 7.95769623e-02 9.96826548e-01 -2.08334834e-03 2.39477488e+01] [ 3.58345197e-02 -7.72042600e-04 9.99357439e-01 2.01092965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.44, Y:23.95, Z:20.11 [[ 9.96319080e-01 -7.78968390e-02 -3.57823128e-02 5.65444439e+02] [ 7.78722647e-02 9.96961170e-01 -2.08205254e-03 2.39489599e+01] [ 3.58357618e-02 -7.12061061e-04 9.99357439e-01 2.01095772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.47, Y:23.95, Z:20.11 [[ 9.96645847e-01 -7.35980436e-02 -3.57824376e-02 5.65474919e+02] [ 7.35707767e-02 9.97287829e-01 -2.07990549e-03 2.39504388e+01] [ 3.58384665e-02 -5.59612552e-04 9.99357439e-01 2.01114960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.50, Y:23.95, Z:20.11 [[ 9.96829134e-01 -7.10724563e-02 -3.57824376e-02 5.65504640e+02] [ 7.10435628e-02 9.97471045e-01 -2.07990549e-03 2.39521548e+01] [ 3.58397694e-02 -4.68801458e-04 9.99357439e-01 2.01124833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.53, Y:23.95, Z:20.11 [[ 9.96826593e-01 -7.11081093e-02 -3.57823998e-02 5.65534723e+02] [ 7.10792154e-02 9.97468504e-01 -2.08055486e-03 2.39539327e+01] [ 3.58397612e-02 -4.69432490e-04 9.99357439e-01 2.01135643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.56, Y:23.96, Z:20.11 [[ 9.97016558e-01 -6.83930438e-02 -3.57823254e-02 5.65564032e+02] [ 6.83623559e-02 9.97658386e-01 -2.08183466e-03 2.39556996e+01] [ 3.58409200e-02 -3.70540437e-04 9.99357439e-01 2.01146989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.59, Y:23.96, Z:20.12 [[ 9.97366412e-01 -6.30862123e-02 -3.57822503e-02 5.65592747e+02] [ 6.30520629e-02 9.98008065e-01 -2.08312502e-03 2.39572639e+01] [ 3.58423908e-02 -1.78505764e-04 9.99357439e-01 2.01159078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.62, Y:23.96, Z:20.12 [[ 9.97512232e-01 -6.07372578e-02 -3.57817236e-02 5.65621770e+02] [ 6.07012743e-02 9.98153785e-01 -2.09213290e-03 2.39584620e+01] [ 3.58427332e-02 -8.50680628e-05 9.99357439e-01 2.01167724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.65, Y:23.96, Z:20.12 [[ 9.97594352e-01 -5.93735186e-02 -3.57811972e-02 5.65649653e+02] [ 5.93363365e-02 9.98235836e-01 -2.10109760e-03 2.39598629e+01] [ 3.58428228e-02 -2.70820591e-05 9.99357439e-01 2.01176580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.68, Y:23.96, Z:20.12 [[ 9.97668355e-01 -5.81171501e-02 -3.57805841e-02 5.65676122e+02] [ 5.80787876e-02 9.98309770e-01 -2.11148635e-03 2.39611815e+01] [ 3.58428202e-02 2.84701730e-05 9.99357439e-01 2.01181026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.70, Y:23.96, Z:20.12 [[ 9.97699846e-01 -5.75741871e-02 -3.57803186e-02 5.65703747e+02] [ 5.75353146e-02 9.98341229e-01 -2.11597601e-03 2.39623698e+01] [ 3.58427928e-02 5.24770538e-05 9.99357439e-01 2.01184640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.73, Y:23.96, Z:20.12 [[ 9.97645512e-01 -5.85085045e-02 -3.57797140e-02 5.65731973e+02] [ 5.84698677e-02 9.98286910e-01 -2.12615048e-03 2.39638947e+01] [ 3.58428180e-02 2.91093431e-05 9.99357439e-01 2.01194632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.76, Y:23.97, Z:20.12 [[ 9.97562140e-01 -5.99135482e-02 -3.57791001e-02 5.65760040e+02] [ 5.98754461e-02 9.98203570e-01 -2.13643127e-03 2.39651225e+01] [ 3.58428266e-02 -1.10666311e-05 9.99357439e-01 2.01202987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.79, Y:23.97, Z:20.12 [[ 9.97310338e-01 -6.39686645e-02 -3.57784726e-02 5.65788320e+02] [ 6.39327952e-02 9.97951897e-01 -2.14688921e-03 2.39653319e+01] [ 3.58425282e-02 -1.46302960e-04 9.99357439e-01 2.01215229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.82, Y:23.97, Z:20.12 [[ 9.97147285e-01 -6.64623000e-02 -3.57778397e-02 5.65816292e+02] [ 6.64276586e-02 9.97788911e-01 -2.15738551e-03 2.39661242e+01] [ 3.58421165e-02 -2.25407010e-04 9.99357439e-01 2.01221514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.85, Y:23.97, Z:20.12 [[ 9.96966542e-01 -6.91207771e-02 -3.57775433e-02 5.65845257e+02] [ 6.90876705e-02 9.97608249e-01 -2.16228940e-03 2.39668119e+01] [ 3.58414314e-02 -3.16056941e-04 9.99357440e-01 2.01233510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.87, Y:23.97, Z:20.13 [[ 9.96603694e-01 -7.41692829e-02 -3.57769985e-02 5.65873766e+02] [ 7.41391047e-02 9.97245546e-01 -2.17126531e-03 2.39666346e+01] [ 3.58394936e-02 -4.88583612e-04 9.99357440e-01 2.01250762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.90, Y:23.97, Z:20.13 [[ 9.96448853e-01 -7.62215810e-02 -3.57764506e-02 5.65903764e+02] [ 7.61924019e-02 9.97090750e-01 -2.18025747e-03 2.39675681e+01] [ 3.58385506e-02 -5.53378649e-04 9.99357440e-01 2.01267913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.93, Y:23.97, Z:20.13 [[ 9.96281596e-01 -7.83774696e-02 -3.57764506e-02 5.65933375e+02] [ 7.83496795e-02 9.96923555e-01 -2.18025747e-03 2.39685664e+01] [ 3.58372693e-02 -6.30923047e-04 9.99357440e-01 2.01278794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.96, Y:23.97, Z:20.13 [[ 9.96039370e-01 -8.13979235e-02 -3.57764108e-02 5.65963226e+02] [ 8.13720566e-02 9.96681410e-01 -2.18091035e-03 2.39684688e+01] [ 3.58352051e-02 -7.38927552e-04 9.99357440e-01 2.01287185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.99, Y:23.97, Z:20.13 [[ 9.95961339e-01 -8.23472183e-02 -3.57763329e-02 5.65992675e+02] [ 8.23219175e-02 9.96603402e-01 -2.18218698e-03 2.39693166e+01] [ 3.58345121e-02 -7.71802459e-04 9.99357440e-01 2.01295171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.02, Y:23.97, Z:20.13 [[ 9.95928007e-01 -8.27493889e-02 -3.57762942e-02 5.66022348e+02] [ 8.27243246e-02 9.96570079e-01 -2.18282070e-03 2.39700622e+01] [ 3.58342114e-02 -7.85637502e-04 9.99357440e-01 2.01303105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.05, Y:23.97, Z:20.13 [[ 9.96056136e-01 -8.11925891e-02 -3.57762188e-02 5.66052671e+02] [ 8.11664769e-02 9.96698165e-01 -2.18405692e-03 2.39712496e+01] [ 3.58354208e-02 -7.28386342e-04 9.99357440e-01 2.01321628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.08, Y:23.97, Z:20.13 [[ 9.96205209e-01 -7.93425785e-02 -3.57762188e-02 5.66082760e+02] [ 7.93152739e-02 9.96847189e-01 -2.18405692e-03 2.39730130e+01] [ 3.58367118e-02 -6.61831714e-04 9.99357440e-01 2.01334979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.11, Y:23.97, Z:20.13 [[ 9.96384431e-01 -7.70592538e-02 -3.57762188e-02 5.66112192e+02] [ 7.70304780e-02 9.97026346e-01 -2.18405692e-03 2.39747217e+01] [ 3.58381345e-02 -5.79698924e-04 9.99357440e-01 2.01347375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.14, Y:23.98, Z:20.14 [[ 9.96575344e-01 -7.45496630e-02 -3.57761396e-02 5.66141009e+02] [ 7.45192241e-02 9.97217183e-01 -2.18535296e-03 2.39762002e+01] [ 3.58394985e-02 -4.88141286e-04 9.99357440e-01 2.01359555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.17, Y:23.98, Z:20.14 [[ 9.96909733e-01 -6.99361172e-02 -3.57760218e-02 5.66169710e+02] [ 6.99026387e-02 9.97551421e-01 -2.18728018e-03 2.39773429e+01] [ 3.58413912e-02 -3.20317421e-04 9.99357440e-01 2.01366864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.20, Y:23.98, Z:20.14 [[ 9.97031413e-01 -6.81795198e-02 -3.57759051e-02 5.66198919e+02] [ 6.81448423e-02 9.97673037e-01 -2.18918649e-03 2.39787843e+01] [ 3.58419136e-02 -2.55255718e-04 9.99357440e-01 2.01369593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.23, Y:23.98, Z:20.14 [[ 9.97121886e-01 -6.68436144e-02 -3.57753632e-02 5.66227292e+02] [ 6.68077608e-02 9.97763445e-01 -2.19800710e-03 2.39800828e+01] [ 3.58422724e-02 -1.98390925e-04 9.99357440e-01 2.01373340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.26, Y:23.98, Z:20.14 [[ 9.97165245e-01 -6.61939335e-02 -3.57748233e-02 5.66255566e+02] [ 6.61573479e-02 9.97806763e-01 -2.20675892e-03 2.39814480e+01] [ 3.58424347e-02 -1.66264139e-04 9.99357440e-01 2.01381689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.28, Y:23.98, Z:20.14 [[ 9.97173379e-01 -6.60716271e-02 -3.57741733e-02 5.66283314e+02] [ 6.60345866e-02 9.97814871e-01 -2.21724754e-03 2.39824417e+01] [ 3.58424992e-02 -1.51352523e-04 9.99357440e-01 2.01370531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.31, Y:23.98, Z:20.14 [[ 9.97107474e-01 -6.70589931e-02 -3.57739720e-02 5.66310923e+02] [ 6.70224715e-02 9.97748995e-01 -2.22049062e-03 2.39834380e+01] [ 3.58423485e-02 -1.83592227e-04 9.99357440e-01 2.01374024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.34, Y:23.98, Z:20.14 [[ 9.96868632e-01 -7.05209027e-02 -3.57733401e-02 5.66338419e+02] [ 7.04862452e-02 9.97510257e-01 -2.23062454e-03 2.39835358e+01] [ 3.58415793e-02 -2.97888784e-04 9.99357440e-01 2.01380250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.37, Y:23.98, Z:20.14 [[ 9.96706455e-01 -7.27774536e-02 -3.57726951e-02 5.66366302e+02] [ 7.27438793e-02 9.97348137e-01 -2.24092019e-03 2.39844222e+01] [ 3.58409193e-02 -3.68704995e-04 9.99357440e-01 2.01383205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.40, Y:23.99, Z:20.14 [[ 9.96491509e-01 -7.56637362e-02 -3.57724952e-02 5.66395330e+02] [ 7.56319060e-02 9.97133280e-01 -2.24410715e-03 2.39853293e+01] [ 3.58397430e-02 -4.69308276e-04 9.99357440e-01 2.01396520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.42, Y:23.99, Z:20.14 [[ 9.96252818e-01 -7.87444608e-02 -3.57719466e-02 5.66424012e+02] [ 7.87143024e-02 9.96894670e-01 -2.25281763e-03 2.39861148e+01] [ 3.58382598e-02 -5.71387916e-04 9.99357440e-01 2.01412597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.45, Y:23.99, Z:20.14 [[ 9.96019683e-01 -8.16406677e-02 -3.57713838e-02 5.66453842e+02] [ 8.16120560e-02 9.96661606e-01 -2.26171906e-03 2.39870262e+01] [ 3.58366131e-02 -6.66659483e-04 9.99357440e-01 2.01425720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.48, Y:23.99, Z:20.14 [[ 9.95511290e-01 -8.76224005e-02 -3.57713041e-02 5.66483325e+02] [ 8.75976002e-02 9.96153371e-01 -2.26297953e-03 2.39866680e+01] [ 3.58319929e-02 -8.80658725e-04 9.99357440e-01 2.01443432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.51, Y:23.99, Z:20.15 [[ 9.95258884e-01 -9.04443125e-02 -3.57712234e-02 5.66513162e+02] [ 9.04212868e-02 9.95901031e-01 -2.26425411e-03 2.39873391e+01] [ 3.58293872e-02 -9.80961031e-04 9.99357440e-01 2.01453214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.54, Y:23.99, Z:20.15 [[ 9.95029848e-01 -9.29301889e-02 -3.57712306e-02 5.66542207e+02] [ 9.29087714e-02 9.95672051e-01 -2.26413987e-03 2.39880710e+01] [ 3.58268215e-02 -1.07057434e-03 9.99357440e-01 2.01464292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.57, Y:23.99, Z:20.15 [[ 9.94667364e-01 -9.67329171e-02 -3.57711915e-02 5.66572643e+02] [ 9.67139324e-02 9.95309643e-01 -2.26475794e-03 2.39887131e+01] [ 3.58224885e-02 -1.20689178e-03 9.99357440e-01 2.01482015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.60, Y:23.99, Z:20.15 [[ 9.94517299e-01 -9.82637451e-02 -3.57711915e-02 5.66603823e+02] [ 9.82457489e-02 9.95159607e-01 -2.26475794e-03 2.39904069e+01] [ 3.58205885e-02 -1.26202654e-03 9.99357440e-01 2.01493437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.63, Y:23.99, Z:20.15 [[ 9.94215280e-01 -1.01273850e-01 -3.57712720e-02 5.66634401e+02] [ 1.01257844e-01 9.94857641e-01 -2.26348607e-03 2.39920187e+01] [ 3.58165552e-02 -1.37172943e-03 9.99357440e-01 2.01501280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.67, Y:23.99, Z:20.15 [[ 9.94029352e-01 -1.03082782e-01 -3.57713119e-02 5.66665195e+02] [ 1.03067968e-01 9.94671742e-01 -2.26285478e-03 2.39940106e+01] [ 3.58139745e-02 -1.43753235e-03 9.99357440e-01 2.01515276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.70, Y:24.00, Z:20.15 [[ 9.93824211e-01 -1.05042136e-01 -3.57713119e-02 5.66696442e+02] [ 1.05028588e-01 9.94466628e-01 -2.26285478e-03 2.39960066e+01] [ 3.58110711e-02 -1.50813052e-03 9.99357440e-01 2.01532789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.73, Y:24.00, Z:20.15 [[ 9.93347178e-01 -1.09461366e-01 -3.57713948e-02 5.66728024e+02] [ 1.09450723e-01 9.93989650e-01 -2.26154376e-03 2.39980612e+01] [ 3.58039479e-02 -1.66870690e-03 9.99357440e-01 2.01535441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.76, Y:24.00, Z:20.15 [[ 9.93090911e-01 -1.11762381e-01 -3.57716735e-02 5.66759732e+02] [ 1.11753385e-01 9.93733408e-01 -2.25712708e-03 2.40002871e+01] [ 3.57997689e-02 -1.75607320e-03 9.99357440e-01 2.01549357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.79, Y:24.00, Z:20.16 [[ 9.92849023e-01 -1.13891169e-01 -3.57717549e-02 5.66790470e+02] [ 1.13883596e-01 9.93491539e-01 -2.25583578e-03 2.40026016e+01] [ 3.57958556e-02 -1.83411174e-03 9.99357440e-01 2.01558815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.82, Y:24.01, Z:20.16 [[ 9.92445083e-01 -1.17358981e-01 -3.57718767e-02 5.66821580e+02] [ 1.17353723e-01 9.93087621e-01 -2.25390219e-03 2.40058520e+01] [ 3.57891237e-02 -1.96108877e-03 9.99357440e-01 2.01570174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.85, Y:24.01, Z:20.16 [[ 9.92316473e-01 -1.18441483e-01 -3.57719559e-02 5.66853298e+02] [ 1.18436971e-01 9.92959017e-01 -2.25264565e-03 2.40088840e+01] [ 3.57868928e-02 -2.00138472e-03 9.99357440e-01 2.01583653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.88, Y:24.01, Z:20.16 [[ 9.92168919e-01 -1.19671182e-01 -3.57721221e-02 5.66884791e+02] [ 1.19667561e-01 9.92811469e-01 -2.25000338e-03 2.40121985e+01] [ 3.57842336e-02 -2.04837918e-03 9.99357440e-01 2.01587815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.92, Y:24.02, Z:20.16 [[ 9.92098599e-01 -1.20252715e-01 -3.57722458e-02 5.66915950e+02] [ 1.20249541e-01 9.92741152e-01 -2.24803434e-03 2.40153687e+01] [ 3.57829127e-02 -2.07132444e-03 9.99357440e-01 2.01586283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.95, Y:24.02, Z:20.16 [[ 9.92022793e-01 -1.20876449e-01 -3.57723674e-02 5.66947513e+02] [ 1.20873749e-01 9.92665347e-01 -2.24609784e-03 2.40196945e+01] [ 3.57814898e-02 -2.09575991e-03 9.99357440e-01 2.01592321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.98, Y:24.02, Z:20.16 [[ 9.91909196e-01 -1.21805063e-01 -3.57725299e-02 5.66980358e+02] [ 1.21803058e-01 9.92551753e-01 -2.24350640e-03 2.40237300e+01] [ 3.57793577e-02 -2.13184890e-03 9.99357440e-01 2.01567552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.01, Y:24.03, Z:20.16 [[ 9.92137904e-01 -1.19922695e-01 -3.57900490e-02 5.67009648e+02] [ 1.19929598e-01 9.92780461e-01 -1.96167193e-03 2.40269910e+01] [ 3.57669104e-02 -2.34603713e-03 9.99357406e-01 2.01608295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.04, Y:24.03, Z:20.16 [[ 9.92268544e-01 -1.18842041e-01 -3.57729829e-02 5.67041851e+02] [ 1.18838427e-01 9.92911090e-01 -2.23486778e-03 2.40311998e+01] [ 3.57849877e-02 -2.03361602e-03 9.99357443e-01 2.01626641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.07, Y:24.04, Z:20.17 [[ 9.92729269e-01 -1.14929899e-01 -3.57731360e-02 5.67072676e+02] [ 1.14923840e-01 9.93371797e-01 -2.23241460e-03 2.40376438e+01] [ 3.57925955e-02 -1.89500285e-03 9.99357443e-01 2.01652430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.10, Y:24.04, Z:20.17 [[ 9.93076937e-01 -1.11885980e-01 -3.57732499e-02 5.67104563e+02] [ 1.11878018e-01 9.93719444e-01 -2.23058655e-03 2.40420458e+01] [ 3.57981454e-02 -1.78709623e-03 9.99357443e-01 2.01677307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.14, Y:24.05, Z:20.17 [[ 9.93470492e-01 -1.08335793e-01 -3.57734095e-02 5.67136686e+02] [ 1.08325626e-01 9.94112969e-01 -2.22802476e-03 2.40466568e+01] [ 3.58041851e-02 -1.66170012e-03 9.99357443e-01 2.01693764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.17, Y:24.05, Z:20.17 [[ 9.94297118e-01 -1.00466380e-01 -3.57735694e-02 5.67168568e+02] [ 1.00451218e-01 9.94939496e-01 -2.22545485e-03 2.40533979e+01] [ 3.58161205e-02 -1.38073527e-03 9.99357443e-01 2.01725817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.20, Y:24.06, Z:20.17 [[ 9.94702949e-01 -9.63653600e-02 -3.57737325e-02 5.67200038e+02] [ 9.63476439e-02 9.95345262e-01 -2.22282954e-03 2.40577087e+01] [ 3.58214189e-02 -1.23565974e-03 9.99357443e-01 2.01737468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.23, Y:24.06, Z:20.17 [[ 9.95404293e-01 -8.88286079e-02 -3.57738957e-02 5.67230732e+02] [ 8.88061219e-02 9.96046456e-01 -2.22019941e-03 2.40640815e+01] [ 3.58296793e-02 -9.66944920e-04 9.99357443e-01 2.01727486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.26, Y:24.07, Z:20.17 [[ 9.95691823e-01 -8.55453860e-02 -3.57740172e-02 5.67260816e+02] [ 8.55208527e-02 9.96333911e-01 -2.21824040e-03 2.40680347e+01] [ 3.58326267e-02 -8.50740622e-04 9.99357443e-01 2.01731920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.29, Y:24.07, Z:20.17 [[ 9.95952994e-01 -8.24490426e-02 -3.57741363e-02 5.67292179e+02] [ 8.24225819e-02 9.96595006e-01 -2.21631786e-03 2.40719551e+01] [ 3.58350589e-02 -7.41248271e-04 9.99357443e-01 2.01742330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.32, Y:24.08, Z:20.18 [[ 9.96152300e-01 -8.00050080e-02 -3.57742121e-02 5.67323525e+02] [ 7.99770160e-02 9.96794247e-01 -2.21509394e-03 2.40756683e+01] [ 3.58367474e-02 -6.54543812e-04 9.99357443e-01 2.01759848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.35, Y:24.08, Z:20.18 [[ 9.96491991e-01 -7.56565435e-02 -3.57742905e-02 5.67354432e+02] [ 7.56257955e-02 9.97133812e-01 -2.21382659e-03 2.40799373e+01] [ 3.58392451e-02 -4.99398712e-04 9.99357443e-01 2.01769306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.38, Y:24.08, Z:20.18 [[ 9.96619125e-01 -7.39629202e-02 -3.57743683e-02 5.67384559e+02] [ 7.39311266e-02 9.97260895e-01 -2.21256944e-03 2.40827108e+01] [ 3.58400266e-02 -4.39750328e-04 9.99357443e-01 2.01773698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.41, Y:24.09, Z:20.18 [[ 9.96711274e-01 -7.27105783e-02 -3.57744068e-02 5.67414890e+02] [ 7.26780007e-02 9.97353004e-01 -2.21194649e-03 2.40857199e+01] [ 3.58405440e-02 -3.95340358e-04 9.99357443e-01 2.01794960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.45, Y:24.09, Z:20.18 [[ 9.96711274e-01 -7.27105783e-02 -3.57744068e-02 5.67445810e+02] [ 7.26780007e-02 9.97353004e-01 -2.21194649e-03 2.40876317e+01] [ 3.58405440e-02 -3.95340358e-04 9.99357443e-01 2.01806070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.48, Y:24.09, Z:20.18 [[ 9.96864799e-01 -7.05745236e-02 -3.57744068e-02 5.67475545e+02] [ 7.05405709e-02 9.97506459e-01 -2.21194649e-03 2.40915635e+01] [ 3.58413089e-02 -3.18535482e-04 9.99357443e-01 2.01805421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.51, Y:24.09, Z:20.18 [[ 9.96904442e-01 -7.00122991e-02 -3.57744473e-02 5.67506034e+02] [ 6.99780080e-02 9.97546083e-01 -2.21129166e-03 2.40945412e+01] [ 3.58414774e-02 -2.98978080e-04 9.99357443e-01 2.01820999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.54, Y:24.10, Z:20.18 [[ 9.96950225e-01 -6.93573165e-02 -3.57744473e-02 5.67536358e+02] [ 6.93226038e-02 9.97591844e-01 -2.21129166e-03 2.40970737e+01] [ 3.58416661e-02 -2.75430116e-04 9.99357443e-01 2.01840328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.57, Y:24.10, Z:20.18 [[ 9.96968102e-01 -6.90998750e-02 -3.57744473e-02 5.67565751e+02] [ 6.90649966e-02 9.97609711e-01 -2.21129166e-03 2.40988379e+01] [ 3.58417360e-02 -2.66174832e-04 9.99357443e-01 2.01841654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.60, Y:24.10, Z:20.19 [[ 9.96933615e-01 -6.95956774e-02 -3.57744066e-02 5.67595264e+02] [ 6.95610946e-02 9.97575241e-01 -2.21194844e-03 2.41000091e+01] [ 3.58416044e-02 -2.83341124e-04 9.99357443e-01 2.01850091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.62, Y:24.10, Z:20.19 [[ 9.96839291e-01 -7.09339526e-02 -3.57743320e-02 5.67624839e+02] [ 7.09001878e-02 9.97480960e-01 -2.21315544e-03 2.41013292e+01] [ 3.58412029e-02 -3.30246556e-04 9.99357443e-01 2.01862143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.66, Y:24.10, Z:20.19 [[ 9.96720215e-01 -7.25879887e-02 -3.57742570e-02 5.67655407e+02] [ 7.25552454e-02 9.97361937e-01 -2.21436603e-03 2.41027314e+01] [ 3.58406187e-02 -3.88506608e-04 9.99357443e-01 2.01885313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.69, Y:24.10, Z:20.19 [[ 9.96316736e-01 -7.79305020e-02 -3.57742570e-02 5.67685805e+02] [ 7.79011994e-02 9.96958625e-01 -2.21436603e-03 2.41035993e+01] [ 3.58380208e-02 -5.80647592e-04 9.99357443e-01 2.01896959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.72, Y:24.10, Z:20.19 [[ 9.96034702e-01 -8.14559654e-02 -3.57742570e-02 5.67717022e+02] [ 8.14289346e-02 9.96676690e-01 -2.21436603e-03 2.41044515e+01] [ 3.58357414e-02 -7.07474224e-04 9.99357443e-01 2.01906070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.75, Y:24.11, Z:20.19 [[ 9.95693740e-01 -8.55229352e-02 -3.57743384e-02 5.67747811e+02] [ 8.54985737e-02 9.96335835e-01 -2.21305065e-03 2.41051382e+01] [ 3.58325219e-02 -8.55134226e-04 9.99357443e-01 2.01911707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.78, Y:24.10, Z:20.19 [[ 9.94923447e-01 -9.40613002e-02 -3.57743788e-02 5.67779324e+02] [ 9.40424713e-02 9.95565728e-01 -2.21239765e-03 2.41037954e+01] [ 3.58238465e-02 -1.16314470e-03 9.99357443e-01 2.01908594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.81, Y:24.10, Z:20.19 [[ 9.94521017e-01 -9.82248477e-02 -3.57746477e-02 5.67811007e+02] [ 9.82088638e-02 9.95163375e-01 -2.20804125e-03 2.41040818e+01] [ 3.58185037e-02 -1.31744407e-03 9.99357443e-01 2.01913162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.84, Y:24.10, Z:20.19 [[ 9.94106625e-01 -1.02333642e-01 -3.57749099e-02 5.67843370e+02] [ 1.02320466e-01 9.94749047e-01 -2.20378431e-03 2.41047915e+01] [ 3.58125788e-02 -1.46970886e-03 9.99357443e-01 2.01929352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.87, Y:24.11, Z:20.19 [[ 9.93374920e-01 -1.09208114e-01 -3.57750696e-02 5.67874536e+02] [ 1.09199475e-01 9.94017419e-01 -2.20118828e-03 2.41050702e+01] [ 3.58014300e-02 -1.72001359e-03 9.99357443e-01 2.01939915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.91, Y:24.11, Z:20.20 [[ 9.93064760e-01 -1.11993337e-01 -3.57753365e-02 5.67906901e+02] [ 1.11986656e-01 9.93707282e-01 -2.19684247e-03 2.41064287e+01] [ 3.57962441e-02 -1.82475346e-03 9.99357443e-01 2.01957238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.94, Y:24.11, Z:20.20 [[ 9.92803165e-01 -1.14289064e-01 -3.57754966e-02 5.67938562e+02] [ 1.14283962e-01 9.93445701e-01 -2.19423195e-03 2.41078402e+01] [ 3.57917900e-02 -1.91012508e-03 9.99357443e-01 2.01963557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.97, Y:24.11, Z:20.20 [[ 9.92567113e-01 -1.16321200e-01 -3.57757562e-02 5.67971226e+02] [ 1.16317566e-01 9.93209660e-01 -2.18999131e-03 2.41095159e+01] [ 3.57875691e-02 -1.98763554e-03 9.99357443e-01 2.01981394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.00, Y:24.11, Z:20.20 [[ 9.92278732e-01 -1.18756035e-01 -3.57759972e-02 5.68003156e+02] [ 1.18754119e-01 9.92921286e-01 -2.18604731e-03 2.41112046e+01] [ 3.57823555e-02 -2.07937877e-03 9.99357443e-01 2.01994139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.04, Y:24.11, Z:20.20 [[ 9.92221956e-01 -1.19229417e-01 -3.57761965e-02 5.68035377e+02] [ 1.19227926e-01 9.92864511e-01 -2.18278116e-03 2.41132807e+01] [ 3.57811675e-02 -2.09971830e-03 9.99357443e-01 2.02012946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.07, Y:24.12, Z:20.20 [[ 9.92236918e-01 -1.19104788e-01 -3.57763558e-02 5.68066098e+02] [ 1.19103310e-01 9.92879473e-01 -2.18016693e-03 2.41155114e+01] [ 3.57812776e-02 -2.09784026e-03 9.99357443e-01 2.02025495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.10, Y:24.12, Z:20.20 [[ 9.92403497e-01 -1.17708719e-01 -3.57764743e-02 5.68097823e+02] [ 1.17706406e-01 9.93046050e-01 -2.17822052e-03 2.41189268e+01] [ 3.57840820e-02 -2.04944654e-03 9.99357443e-01 2.02038606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.13, Y:24.12, Z:20.21 [[ 9.92500118e-01 -1.16891180e-01 -3.57766310e-02 5.68129984e+02] [ 1.16888430e-01 9.93142669e-01 -2.17564333e-03 2.41219135e+01] [ 3.57856123e-02 -2.02254798e-03 9.99357443e-01 2.02056194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.16, Y:24.12, Z:20.21 [[ 9.92620980e-01 -1.15860308e-01 -3.57767911e-02 5.68162070e+02] [ 1.15856986e-01 9.93263528e-01 -2.17300701e-03 2.41248215e+01] [ 3.57875471e-02 -1.98801883e-03 9.99357443e-01 2.02066399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.19, Y:24.13, Z:20.21 [[ 9.92792524e-01 -1.14381001e-01 -3.57769497e-02 5.68194244e+02] [ 1.14376816e-01 9.93435068e-01 -2.17039386e-03 2.41279734e+01] [ 3.57903282e-02 -1.93730278e-03 9.99357443e-01 2.02074219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.23, Y:24.13, Z:20.21 [[ 9.92805853e-01 -1.14265202e-01 -3.57771073e-02 5.68225694e+02] [ 1.14261035e-01 9.93448397e-01 -2.16779270e-03 2.41305794e+01] [ 3.57904131e-02 -1.93573202e-03 9.99357443e-01 2.02080324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.26, Y:24.13, Z:20.21 [[ 9.92683737e-01 -1.15321239e-01 -3.57772247e-02 5.68257742e+02] [ 1.15317825e-01 9.93326285e-01 -2.16585348e-03 2.41330175e+01] [ 3.57882266e-02 -1.97574422e-03 9.99357443e-01 2.02092704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.29, Y:24.14, Z:20.21 [[ 9.92613968e-01 -1.15920188e-01 -3.57773795e-02 5.68289001e+02] [ 1.15917254e-01 9.93256518e-01 -2.16329275e-03 2.41355266e+01] [ 3.57868847e-02 -1.99990099e-03 9.99357443e-01 2.02087509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.32, Y:24.14, Z:20.21 [[ 9.92589098e-01 -1.16132914e-01 -3.57774949e-02 5.68320958e+02] [ 1.16130187e-01 9.93231649e-01 -2.16138330e-03 2.41379385e+01] [ 3.57863479e-02 -2.00948165e-03 9.99357443e-01 2.02082399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.35, Y:24.14, Z:20.21 [[ 9.92584874e-01 -1.16168961e-01 -3.57776448e-02 5.68352994e+02] [ 1.16166345e-01 9.93227426e-01 -2.15889829e-03 2.41406044e+01] [ 3.57861350e-02 -2.01326846e-03 9.99357443e-01 2.02082947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.39, Y:24.14, Z:20.21 [[ 9.92733758e-01 -1.14889667e-01 -3.57777954e-02 5.68385788e+02] [ 1.14886313e-01 9.93376306e-01 -2.15639975e-03 2.41444553e+01] [ 3.57885623e-02 -1.96964818e-03 9.99357443e-01 2.02106607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.42, Y:24.15, Z:20.21 [[ 9.92910460e-01 -1.13352330e-01 -3.57780337e-02 5.68417119e+02] [ 1.13348124e-01 9.93553003e-01 -2.15243839e-03 2.41474763e+01] [ 3.57913567e-02 -1.91819442e-03 9.99357443e-01 2.02119808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.45, Y:24.15, Z:20.21 [[ 9.93137177e-01 -1.11348386e-01 -3.57782825e-02 5.68448656e+02] [ 1.11343032e-01 9.93779711e-01 -2.14829571e-03 2.41506006e+01] [ 3.57949405e-02 -1.85011012e-03 9.99357443e-01 2.02137762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.48, Y:24.15, Z:20.22 [[ 9.93425065e-01 -1.08749914e-01 -3.57784395e-02 5.68481053e+02] [ 1.08742973e-01 9.94067584e-01 -2.14567768e-03 2.41541226e+01] [ 3.57995292e-02 -1.75908389e-03 9.99357443e-01 2.02153222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.51, Y:24.16, Z:20.22 [[ 9.94073051e-01 -1.02657979e-01 -3.57785956e-02 5.68512730e+02] [ 1.02647194e-01 9.94715518e-01 -2.14307028e-03 2.41600393e+01] [ 3.58095276e-02 -1.54220402e-03 9.99357443e-01 2.02177286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.54, Y:24.16, Z:20.22 [[ 9.94416190e-01 -9.92790128e-02 -3.57787516e-02 5.68544221e+02] [ 9.92661374e-02 9.95058618e-01 -2.14046316e-03 2.41640235e+01] [ 3.58144582e-02 -1.42310726e-03 9.99357443e-01 2.02192057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.58, Y:24.17, Z:20.22 [[ 9.94742475e-01 -9.59545627e-02 -3.57789089e-02 5.68575313e+02] [ 9.59396345e-02 9.95384858e-01 -2.13783152e-03 2.41674019e+01] [ 3.58189188e-02 -1.30602362e-03 9.99357443e-01 2.02194718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.61, Y:24.17, Z:20.22 [[ 9.95340954e-01 -8.95334975e-02 -3.57790258e-02 5.68607140e+02] [ 8.95144947e-02 9.95983229e-01 -2.13587330e-03 2.41723036e+01] [ 3.58265418e-02 -1.07681925e-03 9.99357443e-01 2.02220080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.64, Y:24.18, Z:20.22 [[ 9.95629242e-01 -8.62685460e-02 -3.57791807e-02 5.68638902e+02] [ 8.62475301e-02 9.96271455e-01 -2.13327419e-03 2.41753938e+01] [ 3.58298109e-02 -9.61915798e-04 9.99357443e-01 2.02234038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.67, Y:24.18, Z:20.22 [[ 9.95923456e-01 -8.28028378e-02 -3.57793358e-02 5.68670615e+02] [ 8.27796804e-02 9.96565595e-01 -2.13067036e-03 2.41780498e+01] [ 3.58328806e-02 -8.39817394e-04 9.99357443e-01 2.02245699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.70, Y:24.18, Z:20.23 [[ 9.96196056e-01 -7.94559373e-02 -3.57794907e-02 5.68703017e+02] [ 7.94307159e-02 9.96838118e-01 -2.12806540e-03 2.41805307e+01] [ 3.58354476e-02 -7.22020200e-04 9.99357443e-01 2.02255282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:568.73, Y:24.18, Z:20.23 [[ 9.96711944e-01 -7.26988149e-02 -3.57796448e-02 5.68733411e+02] [ 7.26693332e-02 9.97353824e-01 -2.12547235e-03 2.41841391e+01] [ 3.58394848e-02 -4.81599247e-04 9.99357443e-01 2.02260212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.76, Y:24.19, Z:20.23 [[ 9.96872043e-01 -7.04718130e-02 -3.57750393e-02 5.68763125e+02] [ 7.04381149e-02 9.97513719e-01 -2.20300879e-03 2.41869321e+01] [ 3.58413425e-02 -3.23808461e-04 9.99357440e-01 2.02285099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.79, Y:24.19, Z:20.23 [[ 9.97061818e-01 -6.77314254e-02 -3.57796874e-02 5.68794366e+02] [ 6.76987720e-02 9.97703544e-01 -2.12473857e-03 2.41891547e+01] [ 3.58414325e-02 -3.03745199e-04 9.99357443e-01 2.02301427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.82, Y:24.19, Z:20.23 [[ 9.97353054e-01 -6.32984473e-02 -3.57797636e-02 5.68824886e+02] [ 6.32629876e-02 9.97994632e-01 -2.12345419e-03 2.41908648e+01] [ 3.58424234e-02 -1.45701218e-04 9.99357443e-01 2.02311484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.85, Y:24.19, Z:20.23 [[ 9.97481233e-01 -6.12453995e-02 -3.57797636e-02 5.68854014e+02] [ 6.12086192e-02 9.98122736e-01 -2.12345419e-03 2.41922310e+01] [ 3.58426474e-02 -7.19242214e-05 9.99357443e-01 2.02319674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.88, Y:24.19, Z:20.23 [[ 9.97563043e-01 -5.99001814e-02 -3.57762854e-02 5.68883815e+02] [ 5.98604366e-02 9.98204371e-01 -2.18199486e-03 2.41929428e+01] [ 3.58427463e-02 3.50933767e-05 9.99357442e-01 2.02320492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.91, Y:24.19, Z:20.23 [[ 9.97587521e-01 -5.94890968e-02 -3.57796805e-02 5.68913803e+02] [ 5.94511379e-02 9.98228955e-01 -2.12482577e-03 2.41941612e+01] [ 3.58427171e-02 -7.44305135e-06 9.99357443e-01 2.02327006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.94, Y:24.20, Z:20.23 [[ 9.97590502e-01 -5.94391320e-02 -3.57796048e-02 5.68942980e+02] [ 5.94010954e-02 9.98231932e-01 -2.12609958e-03 2.41953302e+01] [ 3.58427175e-02 -4.37097004e-06 9.99357443e-01 2.02338285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.97, Y:24.20, Z:20.24 [[ 9.97508119e-01 -6.08060743e-02 -3.57795286e-02 5.68972948e+02] [ 6.07688707e-02 9.98149597e-01 -2.12738090e-03 2.41952329e+01] [ 3.58426798e-02 -5.22018330e-05 9.99357443e-01 2.02352009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.00, Y:24.20, Z:20.24 [[ 9.97505924e-01 -6.08421150e-02 -3.57794518e-02 5.69003027e+02] [ 6.08048883e-02 9.98147401e-01 -2.12867171e-03 2.41970506e+01] [ 3.58426797e-02 -5.22029325e-05 9.99357443e-01 2.02362821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.03, Y:24.20, Z:20.24 [[ 9.97286303e-01 -6.43417962e-02 -3.57793749e-02 5.69031894e+02] [ 6.43067742e-02 9.97927904e-01 -2.12996361e-03 2.41954127e+01] [ 3.58422823e-02 -1.76672645e-04 9.99357443e-01 2.02367882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.06, Y:24.20, Z:20.24 [[ 9.97111284e-01 -6.69994847e-02 -3.57792604e-02 5.69062641e+02] [ 6.69661038e-02 9.97752973e-01 -2.13188574e-03 2.41954898e+01] [ 3.58416987e-02 -2.70270341e-04 9.99357443e-01 2.02381103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.09, Y:24.20, Z:20.24 [[ 9.96888772e-01 -7.02326216e-02 -3.57792604e-02 5.69093246e+02] [ 7.02013218e-02 9.97530566e-01 -2.13188574e-03 2.41954252e+01] [ 3.58406338e-02 -3.86498418e-04 9.99357443e-01 2.02388390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.12, Y:24.19, Z:20.24 [[ 9.96356403e-01 -7.74193895e-02 -3.57792604e-02 5.69124305e+02] [ 7.73927185e-02 9.96998406e-01 -2.13188574e-03 2.41936261e+01] [ 3.58369149e-02 -6.44936223e-04 9.99357443e-01 2.02396630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.16, Y:24.19, Z:20.24 [[ 9.96065234e-01 -8.10795238e-02 -3.57793380e-02 5.69155531e+02] [ 8.10552585e-02 9.96707332e-01 -2.13058284e-03 2.41935071e+01] [ 3.58342751e-02 -7.77903994e-04 9.99357443e-01 2.02402203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.19, Y:24.19, Z:20.24 [[ 9.95771639e-01 -8.46089514e-02 -3.57794540e-02 5.69186433e+02] [ 8.45870318e-02 9.96413821e-01 -2.12863252e-03 2.41932595e+01] [ 3.58312439e-02 -9.06845922e-04 9.99357443e-01 2.02407857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.22, Y:24.19, Z:20.24 [[ 9.95206137e-01 -9.10196303e-02 -3.57794912e-02 5.69218411e+02] [ 9.10018691e-02 9.95848448e-01 -2.12800731e-03 2.41909066e+01] [ 3.58246412e-02 -1.13819464e-03 9.99357443e-01 2.02423519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.25, Y:24.19, Z:20.24 [[ 9.94942451e-01 -9.38580672e-02 -3.57796450e-02 5.69251039e+02] [ 9.38422311e-02 9.95584812e-01 -2.12541894e-03 2.41908631e+01] [ 3.58211588e-02 -1.24297219e-03 9.99357443e-01 2.02437625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.28, Y:24.19, Z:20.24 [[ 9.94485638e-01 -9.85805351e-02 -3.57798010e-02 5.69282524e+02] [ 9.85678434e-02 9.95128069e-01 -2.12278837e-03 2.41893170e+01] [ 3.58147499e-02 -1.41565528e-03 9.99357443e-01 2.02449311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.31, Y:24.19, Z:20.25 [[ 9.94082447e-01 -1.02566501e-01 -3.57799172e-02 5.69314938e+02] [ 1.02556455e-01 9.94724925e-01 -2.12082820e-03 2.41889886e+01] [ 3.58087014e-02 -1.56118338e-03 9.99357443e-01 2.02457722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.35, Y:24.19, Z:20.25 [[ 9.93931591e-01 -1.04018171e-01 -3.57800697e-02 5.69347058e+02] [ 1.04009156e-01 9.94574084e-01 -2.11825185e-03 2.41897637e+01] [ 3.58062668e-02 -1.61605743e-03 9.99357443e-01 2.02468277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.38, Y:24.19, Z:20.25 [[ 9.93939239e-01 -1.03945009e-01 -3.57802254e-02 5.69379674e+02] [ 1.03936041e-01 9.94581733e-01 -2.11561898e-03 2.41916349e+01] [ 3.58062666e-02 -1.61605827e-03 9.99357443e-01 2.02479988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.41, Y:24.19, Z:20.25 [[ 9.93946882e-01 -1.03871846e-01 -3.57803808e-02 5.69412290e+02] [ 1.03862926e-01 9.94589377e-01 -2.11298694e-03 2.41935037e+01] [ 3.58062665e-02 -1.61605826e-03 9.99357443e-01 2.02491698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.44, Y:24.19, Z:20.25 [[ 9.93795230e-01 -1.05312844e-01 -3.57805361e-02 5.69444366e+02] [ 1.05304949e-01 9.94437738e-01 -2.11035489e-03 2.41944322e+01] [ 3.58037628e-02 -1.67060692e-03 9.99357443e-01 2.02498612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.48, Y:24.19, Z:20.25 [[ 9.93538609e-01 -1.07706890e-01 -3.57806924e-02 5.69475863e+02] [ 1.07700640e-01 9.94181135e-01 -2.10770077e-03 2.41942117e+01] [ 3.57995033e-02 -1.75952137e-03 9.99357443e-01 2.02500212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.51, Y:24.19, Z:20.25 [[ 9.93470182e-01 -1.08336144e-01 -3.57809523e-02 5.69506852e+02] [ 1.08330459e-01 9.94112714e-01 -2.10328001e-03 2.41949538e+01] [ 3.57981608e-02 -1.78662101e-03 9.99357443e-01 2.02506367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.54, Y:24.20, Z:20.25 [[ 9.93428891e-01 -1.08714093e-01 -3.57810672e-02 5.69538700e+02] [ 1.08708723e-01 9.94071425e-01 -2.10132334e-03 2.41959371e+01] [ 3.57973799e-02 -1.80219880e-03 9.99357443e-01 2.02513543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.57, Y:24.20, Z:20.25 [[ 9.93441716e-01 -1.08596781e-01 -3.57812172e-02 5.69571118e+02] [ 1.08591426e-01 9.94084251e-01 -2.09876556e-03 2.41975130e+01] [ 3.57974637e-02 -1.80053215e-03 9.99357443e-01 2.02523431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.60, Y:24.20, Z:20.25 [[ 9.93623671e-01 -1.06919096e-01 -3.57813710e-02 5.69602638e+02] [ 1.06912751e-01 9.94266197e-01 -2.09614082e-03 2.41997155e+01] [ 3.58003251e-02 -1.74270966e-03 9.99357443e-01 2.02526323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.63, Y:24.20, Z:20.25 [[ 9.93779455e-01 -1.05461276e-01 -3.57814854e-02 5.69634942e+02] [ 1.05454058e-01 9.94421971e-01 -2.09418602e-03 2.42021076e+01] [ 3.58027508e-02 -1.69214381e-03 9.99357443e-01 2.02539803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.67, Y:24.20, Z:20.25 [[ 9.93991038e-01 -1.03448009e-01 -3.57816399e-02 5.69665970e+02] [ 1.03439585e-01 9.94633539e-01 -2.09154305e-03 2.42043986e+01] [ 3.58059851e-02 -1.62226292e-03 9.99357443e-01 2.02548498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.70, Y:24.21, Z:20.26 [[ 9.94523446e-01 -9.81976633e-02 -3.57817549e-02 5.69697608e+02] [ 9.81859174e-02 9.95165895e-01 -2.08957371e-03 2.42076762e+01] [ 3.58139734e-02 -1.43513439e-03 9.99357443e-01 2.02559356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.73, Y:24.21, Z:20.26 [[ 9.94807355e-01 -9.52784414e-02 -3.57819034e-02 5.69729620e+02] [ 9.52649014e-02 9.95449769e-01 -2.08702764e-03 2.42103796e+01] [ 3.58179362e-02 -1.33256906e-03 9.99357443e-01 2.02571490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.76, Y:24.21, Z:20.26 [[ 9.95075277e-01 -9.24382907e-02 -3.57820522e-02 5.69761398e+02] [ 9.24230088e-02 9.95717652e-01 -2.08447328e-03 2.42129391e+01] [ 3.58215062e-02 -1.23287710e-03 9.99357443e-01 2.02587272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.79, Y:24.22, Z:20.26 [[ 9.95336455e-01 -8.95822271e-02 -3.57822033e-02 5.69792069e+02] [ 8.95651950e-02 9.95978786e-01 -2.08187674e-03 2.42153754e+01] [ 3.58248145e-02 -1.13267220e-03 9.99357443e-01 2.02600505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.82, Y:24.22, Z:20.26 [[ 9.95770910e-01 -8.46163200e-02 -3.57823156e-02 5.69822801e+02] [ 8.45961535e-02 9.96413150e-01 -2.07994421e-03 2.42184921e+01] [ 3.58299670e-02 -9.55898326e-04 9.99357443e-01 2.02618271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.85, Y:24.22, Z:20.26 [[ 9.95927330e-01 -8.27549012e-02 -3.57823888e-02 5.69853290e+02] [ 8.27335795e-02 9.96569533e-01 -2.07868379e-03 2.42212015e+01] [ 3.58316598e-02 -8.90187113e-04 9.99357443e-01 2.02635389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.88, Y:24.22, Z:20.27 [[ 9.96064714e-01 -8.10845508e-02 -3.57824252e-02 5.69884227e+02] [ 8.10621746e-02 9.96706880e-01 -2.07805827e-03 2.42236249e+01] [ 3.58330878e-02 -8.30720681e-04 9.99357443e-01 2.02653884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.92, Y:24.23, Z:20.27 [[ 9.96153845e-01 -7.99820552e-02 -3.57824994e-02 5.69915963e+02] [ 7.99590142e-02 9.96795989e-01 -2.07677838e-03 2.42255752e+01] [ 3.58339569e-02 -7.92342608e-04 9.99357443e-01 2.02667937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.95, Y:24.23, Z:20.27 [[ 9.96212291e-01 -7.92507385e-02 -3.57825734e-02 5.69946723e+02] [ 7.92272719e-02 9.96854419e-01 -2.07550252e-03 2.42268488e+01] [ 3.58345016e-02 -7.67314555e-04 9.99357443e-01 2.02686634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.98, Y:24.23, Z:20.27 [[ 9.96183899e-01 -7.96068160e-02 -3.57826101e-02 5.69978368e+02] [ 7.95836017e-02 9.96826036e-01 -2.07486991e-03 2.42285219e+01] [ 3.58342112e-02 -7.80756991e-04 9.99357443e-01 2.02701872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.01, Y:24.23, Z:20.27 [[ 9.96117313e-01 -8.04356745e-02 -3.57826854e-02 5.70009183e+02] [ 8.04130411e-02 9.96759471e-01 -2.07357106e-03 2.42301907e+01] [ 3.58335197e-02 -8.11874516e-04 9.99357443e-01 2.02716083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.04, Y:24.23, Z:20.27 [[ 9.95883327e-01 -8.32826072e-02 -3.57827603e-02 5.70040735e+02] [ 8.32618558e-02 9.96525549e-01 -2.07227827e-03 2.42314200e+01] [ 3.58310195e-02 -9.15591649e-04 9.99357443e-01 2.02729456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.07, Y:24.23, Z:20.27 [[ 9.95742408e-01 -8.49508485e-02 -3.57828346e-02 5.70070612e+02] [ 8.49312191e-02 9.96384664e-01 -2.07099378e-03 2.42330979e+01] [ 3.58294003e-02 -9.76903432e-04 9.99357443e-01 2.02740247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.10, Y:24.23, Z:20.27 [[ 9.95586806e-01 -8.67553962e-02 -3.57828715e-02 5.70100574e+02] [ 8.67369538e-02 9.96229097e-01 -2.07035634e-03 2.42346496e+01] [ 3.58275523e-02 -1.04247782e-03 9.99357443e-01 2.02745968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.13, Y:24.24, Z:20.28 [[ 9.95047033e-01 -9.27415013e-02 -3.57829069e-02 5.70131815e+02] [ 9.27269441e-02 9.95689424e-01 -2.06974413e-03 2.42375068e+01] [ 3.58206132e-02 -1.25854685e-03 9.99357443e-01 2.02761503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.16, Y:24.24, Z:20.28 [[ 9.94990892e-01 -9.33432921e-02 -3.57792507e-02 5.70162815e+02] [ 9.33268519e-02 9.95633240e-01 -2.13298904e-03 2.42377529e+01] [ 3.58221115e-02 -1.21686016e-03 9.99357441e-01 2.02778669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.19, Y:24.24, Z:20.28 [[ 9.94782590e-01 -9.55361398e-02 -3.57833082e-02 5.70193683e+02] [ 9.55236437e-02 9.95425024e-01 -2.06259834e-03 2.42391225e+01] [ 3.58166531e-02 -1.36631506e-03 9.99357444e-01 2.02794128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.23, Y:24.24, Z:20.28 [[ 9.94348460e-01 -9.99534236e-02 -3.57834163e-02 5.70226009e+02] [ 9.99438484e-02 9.94990945e-01 -2.06072171e-03 2.42399270e+01] [ 3.58101514e-02 -1.52725687e-03 9.99357444e-01 2.02814008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.26, Y:24.24, Z:20.28 [[ 9.94123169e-01 -1.02169773e-01 -3.57835630e-02 5.70258319e+02] [ 1.02161722e-01 9.94765674e-01 -2.05816966e-03 2.42415848e+01] [ 3.58065429e-02 -1.60963627e-03 9.99357444e-01 2.02828606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.29, Y:24.24, Z:20.28 [[ 9.93933090e-01 -1.04002591e-01 -3.57837094e-02 5.70290333e+02] [ 1.03995816e-01 9.94575610e-01 -2.05562212e-03 2.42434023e+01] [ 3.58033946e-02 -1.67820522e-03 9.99357444e-01 2.02843974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.32, Y:24.25, Z:20.28 [[ 9.93694459e-01 -1.06258351e-01 -3.57838564e-02 5.70321628e+02] [ 1.06253126e-01 9.94336994e-01 -2.05306066e-03 2.42454615e+01] [ 3.57993670e-02 -1.76203161e-03 9.99357444e-01 2.02845895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.35, Y:24.25, Z:20.29 [[ 9.93452581e-01 -1.08495246e-01 -3.57875713e-02 5.70352789e+02] [ 1.08493795e-01 9.94095138e-01 -1.98826489e-03 2.42479039e+01] [ 3.57919679e-02 -1.90748255e-03 9.99357442e-01 2.02871177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.38, Y:24.25, Z:20.29 [[ 9.93356999e-01 -1.09368109e-01 -3.57839275e-02 5.70384730e+02] [ 1.09364940e-01 9.93999547e-01 -2.05181439e-03 2.42501915e+01] [ 3.57936108e-02 -1.87532290e-03 9.99357444e-01 2.02884605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.42, Y:24.25, Z:20.29 [[ 9.93271672e-01 -1.10140298e-01 -3.57840814e-02 5.70416739e+02] [ 1.10137726e-01 9.93914223e-01 -2.04912843e-03 2.42522895e+01] [ 3.57919990e-02 -1.90583612e-03 9.99357444e-01 2.02890526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.45, Y:24.25, Z:20.29 [[ 9.93254146e-01 -1.10298172e-01 -3.57842726e-02 5.70449181e+02] [ 1.10295822e-01 9.93896698e-01 -2.04578370e-03 2.42549217e+01] [ 3.57915166e-02 -1.91487262e-03 9.99357444e-01 2.02897759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.48, Y:24.26, Z:20.29 [[ 9.93303265e-01 -1.09854901e-01 -3.57844227e-02 5.70480143e+02] [ 1.09852358e-01 9.93945816e-01 -2.04315421e-03 2.42571947e+01] [ 3.57922277e-02 -1.90153148e-03 9.99357444e-01 2.02901507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.51, Y:24.26, Z:20.29 [[ 9.93361486e-01 -1.09327145e-01 -3.57845344e-02 5.70512291e+02] [ 1.09324332e-01 9.94004036e-01 -2.04119652e-03 2.42597700e+01] [ 3.57931298e-02 -1.88447429e-03 9.99357444e-01 2.02912839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.54, Y:24.26, Z:20.29 [[ 9.93556136e-01 -1.07543767e-01 -3.57846823e-02 5.70544235e+02] [ 1.07539894e-01 9.94198680e-01 -2.03859952e-03 2.42628111e+01] [ 3.57963226e-02 -1.82281787e-03 9.99357444e-01 2.02920350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.58, Y:24.27, Z:20.29 [[ 9.93704192e-01 -1.06166969e-01 -3.57848324e-02 5.70575564e+02] [ 1.06162299e-01 9.94346731e-01 -2.03596117e-03 2.42654229e+01] [ 3.57986830e-02 -1.77585693e-03 9.99357444e-01 2.02925539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.61, Y:24.27, Z:20.29 [[ 9.93900407e-01 -1.04314036e-01 -3.57849440e-02 5.70607648e+02] [ 1.04308239e-01 9.94542937e-01 -2.03399883e-03 2.42682300e+01] [ 3.58018379e-02 -1.71107221e-03 9.99357444e-01 2.02935933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.64, Y:24.27, Z:20.29 [[ 9.94113438e-01 -1.02263873e-01 -3.57850936e-02 5.70638258e+02] [ 1.02256846e-01 9.94755956e-01 -2.03136275e-03 2.42712515e+01] [ 3.58051700e-02 -1.63986580e-03 9.99357444e-01 2.02944776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.67, Y:24.28, Z:20.30 [[ 9.94632512e-01 -9.70854515e-02 -3.57852049e-02 5.70669475e+02] [ 9.70751485e-02 9.95274986e-01 -2.02940040e-03 2.42761871e+01] [ 3.58131445e-02 -1.45534646e-03 9.99357444e-01 2.02951439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.70, Y:24.28, Z:20.30 [[ 9.94919740e-01 -9.40963445e-02 -3.57853151e-02 5.70701752e+02] [ 9.40841809e-02 9.95562181e-01 -2.02745433e-03 2.42795076e+01] [ 3.58172824e-02 -1.34967773e-03 9.99357444e-01 2.02964997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.73, Y:24.28, Z:20.30 [[ 9.95209301e-01 -9.09826821e-02 -3.57854620e-02 5.70733219e+02] [ 9.09686016e-02 9.95851703e-01 -2.02485976e-03 2.42826237e+01] [ 3.58212404e-02 -1.24019417e-03 9.99357444e-01 2.02978502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.76, Y:24.29, Z:20.30 [[ 9.95787653e-01 -8.44176662e-02 -3.57855714e-02 5.70764999e+02] [ 8.43994191e-02 9.96429950e-01 -2.02292439e-03 2.42872242e+01] [ 3.58285857e-02 -1.00587830e-03 9.99357444e-01 2.02994433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.80, Y:24.29, Z:20.30 [[ 9.96070621e-01 -8.10104938e-02 -3.57857164e-02 5.70797352e+02] [ 8.09901417e-02 9.96712855e-01 -2.02035577e-03 2.42907398e+01] [ 3.58317536e-02 -8.85873208e-04 9.99357444e-01 2.03006785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.83, Y:24.29, Z:20.30 [[ 9.96336864e-01 -7.76674027e-02 -3.57858609e-02 5.70829262e+02] [ 7.76449874e-02 9.96979029e-01 -2.01779309e-03 2.42943145e+01] [ 3.58344696e-02 -7.68191078e-04 9.99357444e-01 2.03018632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.86, Y:24.30, Z:20.30 [[ 9.96592324e-01 -7.43175754e-02 -3.57860039e-02 5.70860107e+02] [ 7.42930927e-02 9.97234413e-01 -2.01525363e-03 2.42977100e+01] [ 3.58368034e-02 -6.50266606e-04 9.99357444e-01 2.03034817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.89, Y:24.30, Z:20.31 [[ 9.96979766e-01 -6.89253385e-02 -3.57860765e-02 5.70891512e+02] [ 6.88974289e-02 9.97621716e-01 -2.01396304e-03 2.43028611e+01] [ 3.58397801e-02 -4.57688261e-04 9.99357444e-01 2.03050400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.92, Y:24.31, Z:20.30 [[ 9.97172681e-01 -6.60756826e-02 -3.57861496e-02 5.70920657e+02] [ 6.60459851e-02 9.97814550e-01 -2.01266351e-03 2.43057309e+01] [ 3.58409289e-02 -3.56558437e-04 9.99357444e-01 2.03032570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5550998929999 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:570.95, Y:24.31, Z:20.30 [[ 9.97359997e-01 -6.31875456e-02 -3.57822514e-02 5.70949281e+02] [ 6.31535151e-02 9.98001653e-01 -2.08162941e-03 2.43080480e+01] [ 3.58422791e-02 -1.83641050e-04 9.99357442e-01 2.03037897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:570.98, Y:24.31, Z:20.31 [[ 9.97436391e-01 -6.19738541e-02 -3.57755246e-02 5.70977722e+02] [ 6.19347604e-02 9.98077773e-01 -2.20101297e-03 2.43104646e+01] [ 3.58431611e-02 -2.03781125e-05 9.99357427e-01 2.03061292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.01, Y:24.31, Z:20.31 [[ 9.97523751e-01 -6.05495229e-02 -3.57787936e-02 5.71007088e+02] [ 6.05115977e-02 9.98165194e-01 -2.14290094e-03 2.43132013e+01] [ 3.58428981e-02 -2.74373790e-05 9.99357437e-01 2.03093553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.04, Y:24.32, Z:20.31 [[ 9.97558326e-01 -5.99730158e-02 -3.57858054e-02 5.71036549e+02] [ 5.99391785e-02 9.98199990e-01 -2.01860129e-03 2.43153244e+01] [ 3.58424522e-02 -1.31299252e-04 9.99357444e-01 2.03107661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.07, Y:24.32, Z:20.31 [[ 9.97576271e-01 -5.96738204e-02 -3.57857321e-02 5.71065471e+02] [ 5.96397441e-02 9.98217923e-01 -2.01989892e-03 2.43174935e+01] [ 3.58424942e-02 -1.19248670e-04 9.99357444e-01 2.03115510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.09, Y:24.32, Z:20.31 [[ 9.97547034e-01 -6.01606034e-02 -3.57856958e-02 5.71094973e+02] [ 6.01268170e-02 9.98188701e-01 -2.02054272e-03 2.43192322e+01] [ 3.58424342e-02 -1.36093579e-04 9.99357444e-01 2.03127743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.12, Y:24.32, Z:20.31 [[ 9.97493765e-01 -6.10375210e-02 -3.57856235e-02 5.71124763e+02] [ 6.10042529e-02 9.98135458e-01 -2.02182251e-03 2.43207572e+01] [ 3.58423067e-02 -1.66319877e-04 9.99357444e-01 2.03138375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.15, Y:24.32, Z:20.31 [[ 9.97302012e-01 -6.40943959e-02 -3.57855511e-02 5.71154785e+02] [ 6.40630486e-02 9.97943802e-01 -2.02310283e-03 2.43213255e+01] [ 3.58416385e-02 -2.74886978e-04 9.99357444e-01 2.03143593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.18, Y:24.32, Z:20.32 [[ 9.97155118e-01 -6.63405613e-02 -3.57854771e-02 5.71184794e+02] [ 6.63106128e-02 9.97796976e-01 -2.02440992e-03 2.43226606e+01] [ 3.58409413e-02 -3.54306199e-04 9.99357444e-01 2.03152591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.21, Y:24.32, Z:20.32 [[ 9.96981409e-01 -6.89018845e-02 -3.57854771e-02 5.71214593e+02] [ 6.88735849e-02 9.97623341e-01 -2.02440992e-03 2.43235108e+01] [ 3.58399129e-02 -4.46375039e-04 9.99357444e-01 2.03155725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.25, Y:24.32, Z:20.32 [[ 9.96546793e-01 -7.49259052e-02 -3.57854404e-02 5.71246353e+02] [ 7.49014624e-02 9.97188884e-01 -2.02505845e-03 2.43231550e+01] [ 3.58365727e-02 -6.62316316e-04 9.99357444e-01 2.03160663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.28, Y:24.32, Z:20.32 [[ 9.96292141e-01 -7.82391669e-02 -3.57855138e-02 5.71277499e+02] [ 7.82169059e-02 9.96934311e-01 -2.02376087e-03 2.43237315e+01] [ 3.58341439e-02 -7.82775114e-04 9.99357444e-01 2.03170598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.31, Y:24.32, Z:20.32 [[ 9.96050758e-01 -8.12543951e-02 -3.57856237e-02 5.71308762e+02] [ 8.12341477e-02 9.96692995e-01 -2.02181666e-03 2.43243303e+01] [ 3.58315619e-02 -8.93182622e-04 9.99357444e-01 2.03181281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.34, Y:24.33, Z:20.32 [[ 9.95808559e-01 -8.41706472e-02 -3.57856974e-02 5.71340964e+02] [ 8.41523274e-02 9.96450853e-01 -2.02051003e-03 2.43251259e+01] [ 3.58287564e-02 -9.99408544e-04 9.99357444e-01 2.03189303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.37, Y:24.33, Z:20.32 [[ 9.95582194e-01 -8.68070718e-02 -3.57858454e-02 5.71373287e+02] [ 8.67905469e-02 9.96224538e-01 -2.01788638e-03 2.43259192e+01] [ 3.58259041e-02 -1.09690134e-03 9.99357444e-01 2.03197144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.41, Y:24.33, Z:20.32 [[ 9.95588546e-01 -8.67341352e-02 -3.57859928e-02 5.71405908e+02] [ 8.67176573e-02 9.96230890e-01 -2.01526892e-03 2.43276993e+01] [ 3.58259040e-02 -1.09689880e-03 9.99357444e-01 2.03208854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.44, Y:24.33, Z:20.32 [[ 9.95176808e-01 -9.13371352e-02 -3.57861401e-02 5.71437954e+02] [ 9.13237220e-02 9.95819224e-01 -2.01264892e-03 2.43282372e+01] [ 3.58203559e-02 -1.26518198e-03 9.99357444e-01 2.03218593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.47, Y:24.33, Z:20.32 [[ 9.94984401e-01 -9.34097662e-02 -3.57862861e-02 5.71469619e+02] [ 9.33977844e-02 9.95626845e-01 -2.01004930e-03 2.43295474e+01] [ 3.58175454e-02 -1.34239214e-03 9.99357444e-01 2.03232479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.50, Y:24.33, Z:20.32 [[ 9.94575257e-01 -9.76697935e-02 -3.57864334e-02 5.71501006e+02] [ 9.76606573e-02 9.95217748e-01 -2.00742419e-03 2.43300807e+01] [ 3.58113584e-02 -1.49839218e-03 9.99357444e-01 2.03243817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.53, Y:24.33, Z:20.33 [[ 9.94352768e-01 -9.99094444e-02 -3.57865430e-02 5.71533498e+02] [ 9.99018254e-02 9.94995278e-01 -2.00546806e-03 2.43314382e+01] [ 3.58078065e-02 -1.58099826e-03 9.99357444e-01 2.03256763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.57, Y:24.33, Z:20.33 [[ 9.94150512e-01 -1.01902268e-01 -3.57866867e-02 5.71565198e+02] [ 1.01896029e-01 9.94793038e-01 -2.00290045e-03 2.43328135e+01] [ 3.58044469e-02 -1.65533675e-03 9.99357444e-01 2.03269983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.60, Y:24.33, Z:20.33 [[ 9.93934310e-01 -1.03989860e-01 -3.57868303e-02 5.71597706e+02] [ 1.03985063e-01 9.94576847e-01 -2.00033175e-03 2.43346595e+01] [ 3.58007671e-02 -1.73309744e-03 9.99357444e-01 2.03287544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.63, Y:24.34, Z:20.33 [[ 9.93517672e-01 -1.07897762e-01 -3.57869767e-02 5.71629193e+02] [ 1.07895585e-01 9.94160224e-01 -1.99770915e-03 2.43365559e+01] [ 3.57935371e-02 -1.87649746e-03 9.99357444e-01 2.03302050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.66, Y:24.34, Z:20.33 [[ 9.93331573e-01 -1.09597747e-01 -3.57871590e-02 5.71661150e+02] [ 1.09596788e-01 9.93974128e-01 -1.99443743e-03 2.43388242e+01] [ 3.57900960e-02 -1.94102002e-03 9.99357444e-01 2.03312084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.69, Y:24.34, Z:20.33 [[ 9.93162706e-01 -1.11117544e-01 -3.57873005e-02 5.71693396e+02] [ 1.11117660e-01 9.93805262e-01 -1.99189655e-03 2.43411121e+01] [ 3.57869421e-02 -1.99832371e-03 9.99357444e-01 2.03322540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.72, Y:24.34, Z:20.33 [[ 9.92991754e-01 -1.12634968e-01 -3.57874419e-02 5.71724645e+02] [ 1.12636157e-01 9.93634308e-01 -1.98935115e-03 2.43435776e+01] [ 3.57837006e-02 -2.05555064e-03 9.99357444e-01 2.03324177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.76, Y:24.35, Z:20.33 [[ 9.92705116e-01 -1.15133819e-01 -3.57876681e-02 5.71756356e+02] [ 1.15136771e-01 9.93347665e-01 -1.98527429e-03 2.43463536e+01] [ 3.57781687e-02 -2.14968461e-03 9.99357444e-01 2.03333775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.79, Y:24.35, Z:20.33 [[ 9.92573910e-01 -1.16259479e-01 -3.57878099e-02 5.71789743e+02] [ 1.16263252e-01 9.93216454e-01 -1.98271497e-03 2.43489717e+01] [ 3.57755511e-02 -2.19281603e-03 9.99357444e-01 2.03347219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.82, Y:24.35, Z:20.34 [[ 9.92462343e-01 -1.17207999e-01 -3.57880280e-02 5.71823036e+02] [ 1.17212528e-01 9.93104883e-01 -1.97876964e-03 2.43516879e+01] [ 3.57731930e-02 -2.23095088e-03 9.99357444e-01 2.03359755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.85, Y:24.36, Z:20.34 [[ 9.92245689e-01 -1.19028122e-01 -3.57882465e-02 5.71853909e+02] [ 1.19033972e-01 9.92888218e-01 -1.97481150e-03 2.43550669e+01] [ 3.57687864e-02 -2.30051892e-03 9.99357444e-01 2.03356700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.89, Y:24.36, Z:20.34 [[ 9.92150411e-01 -1.19819630e-01 -3.57885286e-02 5.71886128e+02] [ 1.19826176e-01 9.92792933e-01 -1.96968517e-03 2.43575357e+01] [ 3.57666052e-02 -2.33417858e-03 9.99357444e-01 2.03363825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.92, Y:24.36, Z:20.34 [[ 9.92106017e-01 -1.20186617e-01 -3.57886658e-02 5.71919256e+02] [ 1.20193491e-01 9.92748536e-01 -1.96718818e-03 2.43600561e+01] [ 3.57655753e-02 -2.34990544e-03 9.99357444e-01 2.03378295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.95, Y:24.36, Z:20.34 [[ 9.92176578e-01 -1.19602648e-01 -3.57888791e-02 5.71952455e+02] [ 1.19609283e-01 9.92819100e-01 -1.96330108e-03 2.43639460e+01] [ 3.57666987e-02 -2.33274083e-03 9.99357444e-01 2.03388552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.99, Y:24.37, Z:20.34 [[ 9.92325191e-01 -1.18363238e-01 -3.57890913e-02 5.71985294e+02] [ 1.18369209e-01 9.92967719e-01 -1.95942467e-03 2.43672208e+01] [ 3.57693362e-02 -2.29193999e-03 9.99357444e-01 2.03403362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.02, Y:24.37, Z:20.34 [[ 9.92876882e-01 -1.13642524e-01 -3.57893036e-02 5.72017603e+02] [ 1.13645579e-01 9.93519430e-01 -1.95553870e-03 2.43730305e+01] [ 3.57796009e-02 -2.12568698e-03 9.99357444e-01 2.03428386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.05, Y:24.38, Z:20.34 [[ 9.93245225e-01 -1.10376807e-01 -3.57894438e-02 5.72050432e+02] [ 1.10377841e-01 9.93887779e-01 -1.95297010e-03 2.43771988e+01] [ 3.57862534e-02 -2.01058333e-03 9.99357444e-01 2.03447110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.08, Y:24.38, Z:20.35 [[ 9.93654794e-01 -1.06626689e-01 -3.57896533e-02 5.72081865e+02] [ 1.06625436e-01 9.94297349e-01 -1.94912337e-03 2.43811641e+01] [ 3.57933860e-02 -1.87933160e-03 9.99357444e-01 2.03462890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.12, Y:24.39, Z:20.35 [[ 9.94081263e-01 -1.02574539e-01 -3.57897568e-02 5.72115036e+02] [ 1.02570735e-01 9.94723807e-01 -1.94722101e-03 2.43851773e+01] [ 3.58006584e-02 -1.73528574e-03 9.99357444e-01 2.03480763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.15, Y:24.39, Z:20.35 [[ 9.94891825e-01 -9.43892761e-02 -3.57899634e-02 5.72147282e+02] [ 9.43803201e-02 9.95534318e-01 -1.94341588e-03 2.43913029e+01] [ 3.58135744e-02 -1.44437963e-03 9.99357444e-01 2.03497859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.18, Y:24.39, Z:20.35 [[ 9.95269499e-01 -9.03199524e-02 -3.57901004e-02 5.72178946e+02] [ 9.03084596e-02 9.95911951e-01 -1.94089086e-03 2.43949817e+01] [ 3.58190899e-02 -1.30043936e-03 9.99357444e-01 2.03508533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.21, Y:24.40, Z:20.35 [[ 9.95881243e-01 -8.33043187e-02 -3.57902364e-02 5.72211047e+02] [ 8.32883892e-02 9.96523601e-01 -1.93837806e-03 2.44001480e+01] [ 3.58272906e-02 -1.05051680e-03 9.99357444e-01 2.03518759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.24, Y:24.40, Z:20.35 [[ 9.96168312e-01 -7.97981455e-02 -3.57903732e-02 5.72243606e+02] [ 7.97800457e-02 9.96810612e-01 -1.93585066e-03 2.44033950e+01] [ 3.58307011e-02 -9.26924525e-04 9.99357444e-01 2.03528689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.27, Y:24.41, Z:20.35 [[ 9.96396136e-01 -7.69010799e-02 -3.57905486e-02 5.72274902e+02] [ 7.68812292e-02 9.97038385e-01 -1.93260179e-03 2.44062890e+01] [ 3.58331699e-02 -8.25984413e-04 9.99357444e-01 2.03537918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.31, Y:24.41, Z:20.35 [[ 9.96628692e-01 -7.38260099e-02 -3.57906503e-02 5.72306845e+02] [ 7.38042450e-02 9.97270879e-01 -1.93071646e-03 2.44088636e+01] [ 3.58355104e-02 -7.17294507e-04 9.99357444e-01 2.03542237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.34, Y:24.41, Z:20.35 [[ 9.97043103e-01 -6.80005197e-02 -3.57907844e-02 5.72339278e+02] [ 6.79750916e-02 9.97685155e-01 -1.92822723e-03 2.44125884e+01] [ 3.58390547e-02 -5.10356188e-04 9.99357444e-01 2.03547838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.37, Y:24.42, Z:20.36 [[ 9.97233515e-01 -6.51484989e-02 -3.57909182e-02 5.72370361e+02] [ 6.51213238e-02 9.97875496e-01 -1.92574028e-03 2.44151543e+01] [ 3.58403393e-02 -4.10339222e-04 9.99357444e-01 2.03557862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.40, Y:24.42, Z:20.36 [[ 9.97424737e-01 -6.21522239e-02 -3.57909846e-02 5.72401298e+02] [ 6.21231645e-02 9.98066635e-01 -1.92450461e-03 2.44175276e+01] [ 3.58413999e-02 -3.03900723e-04 9.99357444e-01 2.03570079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.43, Y:24.42, Z:20.36 [[ 9.97580275e-01 -5.96036506e-02 -3.57910506e-02 5.72431530e+02] [ 5.95729953e-02 9.98222099e-01 -1.92327653e-03 2.44197853e+01] [ 3.58420520e-02 -2.13557364e-04 9.99357444e-01 2.03579762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.46, Y:24.42, Z:20.36 [[ 9.97860103e-01 -5.47194256e-02 -3.57910506e-02 5.72461951e+02] [ 5.46856288e-02 9.98501769e-01 -1.92327653e-03 2.44222913e+01] [ 3.58426680e-02 -3.80951935e-05 9.99357444e-01 2.03595524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.49, Y:24.42, Z:20.36 [[ 9.97972925e-01 -5.26216862e-02 -3.57910506e-02 5.72490695e+02] [ 5.25865406e-02 9.98614519e-01 -1.92327653e-03 2.44241426e+01] [ 3.58426689e-02 3.72503649e-05 9.99357444e-01 2.03604918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.52, Y:24.43, Z:20.36 [[ 9.98049808e-01 -5.11428315e-02 -3.57909536e-02 5.72519300e+02] [ 5.11066705e-02 9.98691345e-01 -1.92508015e-03 2.44258557e+01] [ 3.58425697e-02 9.21694009e-05 9.99357444e-01 2.03606738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.55, Y:24.43, Z:20.36 [[ 9.98148270e-01 -4.91840447e-02 -3.57905007e-02 5.72548554e+02] [ 4.91463241e-02 9.98789718e-01 -1.93346480e-03 2.44268909e+01] [ 3.58422797e-02 1.70913003e-04 9.99357444e-01 2.03597454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.58, Y:24.43, Z:20.36 [[ 9.98170800e-01 -4.87250035e-02 -3.57900474e-02 5.72576841e+02] [ 4.86866884e-02 9.98812212e-01 -1.94181910e-03 2.44281856e+01] [ 3.58421516e-02 1.95768234e-04 9.99357444e-01 2.03615437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.60, Y:24.43, Z:20.36 [[ 9.98163588e-01 -4.88729226e-02 -3.57895043e-02 5.72604858e+02] [ 4.88343455e-02 9.98804985e-01 -1.95177766e-03 2.44293169e+01] [ 3.58421244e-02 2.00436375e-04 9.99357445e-01 2.03635867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.63, Y:24.43, Z:20.36 [[ 9.98149320e-01 -4.91638776e-02 -3.57889382e-02 5.72632844e+02] [ 4.91251172e-02 9.98790705e-01 -1.96210375e-03 2.44302371e+01] [ 3.58421235e-02 2.00336740e-04 9.99357445e-01 2.03648350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.66, Y:24.43, Z:20.37 [[ 9.98034834e-01 -5.14357331e-02 -3.57887629e-02 5.72660707e+02] [ 5.13983183e-02 9.98676299e-01 -1.96529682e-03 2.44295070e+01] [ 3.58424757e-02 1.21952462e-04 9.99357445e-01 2.03658308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.69, Y:24.43, Z:20.37 [[ 9.97935101e-01 -5.33360997e-02 -3.57882022e-02 5.72689744e+02] [ 5.32995421e-02 9.98576615e-01 -1.97545487e-03 2.44296925e+01] [ 3.58426248e-02 6.38809667e-05 9.99357445e-01 2.03667516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.72, Y:24.43, Z:20.37 [[ 9.97672770e-01 -5.80369286e-02 -3.57877013e-02 5.72718593e+02] [ 5.80030697e-02 9.98314432e-01 -1.98448699e-03 2.44280074e+01] [ 3.58425522e-02 -9.59278957e-05 9.99357445e-01 2.03663967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.75, Y:24.43, Z:20.37 [[ 9.97527959e-01 -6.04749380e-02 -3.57875948e-02 5.72747892e+02] [ 6.04425786e-02 9.98169699e-01 -1.98640513e-03 2.44276972e+01] [ 3.58422205e-02 -1.81599857e-04 9.99357445e-01 2.03673477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.78, Y:24.43, Z:20.37 [[ 9.97393719e-01 -6.26499919e-02 -3.57875238e-02 5.72777718e+02] [ 6.26189860e-02 9.98035526e-01 -1.98768498e-03 2.44273575e+01] [ 3.58417486e-02 -2.58473931e-04 9.99357445e-01 2.03682027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.81, Y:24.42, Z:20.37 [[ 9.97119360e-01 -6.68747768e-02 -3.57875240e-02 5.72808426e+02] [ 6.68464902e-02 9.97761292e-01 -1.98768000e-03 2.44247319e+01] [ 3.58403319e-02 -4.10316168e-04 9.99357445e-01 2.03694043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.84, Y:24.42, Z:20.37 [[ 9.97011210e-01 -6.84682406e-02 -3.57875240e-02 5.72840099e+02] [ 6.84409800e-02 9.97653187e-01 -1.98768000e-03 2.44242284e+01] [ 3.58396304e-02 -4.67593973e-04 9.99357445e-01 2.03704229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.87, Y:24.42, Z:20.37 [[ 9.96905508e-01 -6.99903958e-02 -3.57875970e-02 5.72871176e+02] [ 6.99641625e-02 9.97547528e-01 -1.98636584e-03 2.44240329e+01] [ 3.58388554e-02 -5.23630205e-04 9.99357445e-01 2.03711440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.90, Y:24.42, Z:20.37 [[ 9.96800797e-01 -7.14661778e-02 -3.57876696e-02 5.72902521e+02] [ 7.14409421e-02 9.97442856e-01 -1.98505605e-03 2.44240258e+01] [ 3.58380198e-02 -5.77999382e-04 9.99357445e-01 2.03720792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.93, Y:24.42, Z:20.37 [[ 9.96596823e-01 -7.42563598e-02 -3.57877783e-02 5.72933030e+02] [ 7.42329920e-02 9.97238953e-01 -1.98309545e-03 2.44224673e+01] [ 3.58362240e-02 -6.80287227e-04 9.99357445e-01 2.03727692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.96, Y:24.42, Z:20.37 [[ 9.96484368e-01 -7.57504944e-02 -3.57878133e-02 5.72964505e+02] [ 7.57281121e-02 9.97126533e-01 -1.98246308e-03 2.44225287e+01] [ 3.58351508e-02 -7.34650064e-04 9.99357445e-01 2.03736320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.00, Y:24.42, Z:20.37 [[ 9.96363560e-01 -7.73232418e-02 -3.57878830e-02 5.72996187e+02] [ 7.73019183e-02 9.97005761e-01 -1.98120312e-03 2.44225914e+01] [ 3.58339186e-02 -7.92473416e-04 9.99357445e-01 2.03744316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:573.03, Y:24.42, Z:20.37 [[ 9.96104902e-01 -8.05868946e-02 -3.57879540e-02 5.73026626e+02] [ 8.05677211e-02 9.96747171e-01 -1.97992129e-03 2.44208520e+01] [ 3.58310976e-02 -9.11144590e-04 9.99357445e-01 2.03742578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.06, Y:24.42, Z:20.38 [[ 9.95926699e-01 -8.27600721e-02 -3.57879891e-02 5.73057915e+02] [ 8.27423228e-02 9.96569009e-01 -1.97928516e-03 2.44210229e+01] [ 3.58290067e-02 -9.89958417e-04 9.99357445e-01 2.03751848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.625099893 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:573.09, Y:24.42, Z:20.38 [[ 9.95737084e-01 -8.50110291e-02 -3.57880582e-02 5.73090521e+02] [ 8.49947765e-02 9.96379433e-01 -1.97803527e-03 2.44214683e+01] [ 3.58266400e-02 -1.07219494e-03 9.99357445e-01 2.03761029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6550998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:573.12, Y:24.42, Z:20.38 [[ 9.95517998e-01 -8.75392525e-02 -3.57881962e-02 5.73122246e+02] [ 8.75247210e-02 9.96160389e-01 -1.97553525e-03 2.44218969e+01] [ 3.58237204e-02 -1.16567100e-03 9.99357445e-01 2.03768342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:573.16, Y:24.42, Z:20.38 [[ 9.94967237e-01 -9.35916289e-02 -3.57883382e-02 5.73155023e+02] [ 9.35810966e-02 9.95609706e-01 -1.97296047e-03 2.44211775e+01] [ 3.58158694e-02 -1.38608091e-03 9.99357445e-01 2.03773406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7150998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:573.19, Y:24.42, Z:20.38 [[ 9.94682697e-01 -9.65687190e-02 -3.57884836e-02 5.73186350e+02] [ 9.65602042e-02 9.95325196e-01 -1.97031958e-03 2.44217661e+01] [ 3.58114506e-02 -1.49590049e-03 9.99357445e-01 2.03780016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.22, Y:24.42, Z:20.38 [[ 9.94100837e-01 -1.02385073e-01 -3.57885919e-02 5.73219024e+02] [ 1.02380387e-01 9.94743375e-01 -1.96835070e-03 2.44214969e+01] [ 3.58019944e-02 -1.70731081e-03 9.99357445e-01 2.03794867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.775099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:573.25, Y:24.42, Z:20.38 [[ 9.93839883e-01 -1.04887812e-01 -3.57887351e-02 5.73250422e+02] [ 1.04884838e-01 9.94482432e-01 -1.96574256e-03 2.44222418e+01] [ 3.57974508e-02 -1.80006231e-03 9.99357445e-01 2.03802721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.28, Y:24.42, Z:20.38 [[ 9.93412235e-01 -1.08863590e-01 -3.57889749e-02 5.73282343e+02] [ 1.08863344e-01 9.94054790e-01 -1.96136763e-03 2.44228976e+01] [ 3.57897234e-02 -1.94766089e-03 9.99357445e-01 2.03807365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.31, Y:24.42, Z:20.38 [[ 9.93274712e-01 -1.10111242e-01 -3.57891160e-02 5.73314839e+02] [ 1.10111896e-01 9.93917267e-01 -1.95878845e-03 2.44247232e+01] [ 3.57871050e-02 -1.99519239e-03 9.99357445e-01 2.03819505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.35, Y:24.43, Z:20.38 [[ 9.93208848e-01 -1.10703697e-01 -3.57893295e-02 5.73347087e+02] [ 1.10704874e-01 9.93851402e-01 -1.95488089e-03 2.44261068e+01] [ 3.57856878e-02 -2.02044822e-03 9.99357445e-01 2.03830348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.38, Y:24.43, Z:20.38 [[ 9.93216821e-01 -1.10632096e-01 -3.57894701e-02 5.73379712e+02] [ 1.10633320e-01 9.93859375e-01 -1.95230277e-03 2.44278270e+01] [ 3.57856877e-02 -2.02044794e-03 9.99357445e-01 2.03842058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.41, Y:24.43, Z:20.39 [[ 9.93136686e-01 -1.11349117e-01 -3.57896106e-02 5.73412249e+02] [ 1.11350897e-01 9.93779239e-01 -1.94972435e-03 2.44296489e+01] [ 3.57840721e-02 -2.04886245e-03 9.99357445e-01 2.03852971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9550998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:573.45, Y:24.43, Z:20.39 [[ 9.93098563e-01 -1.11688548e-01 -3.57898251e-02 5.73445712e+02] [ 1.11690690e-01 9.93741115e-01 -1.94577836e-03 2.44313212e+01] [ 3.57831419e-02 -2.06504055e-03 9.99357445e-01 2.03865427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.48, Y:24.43, Z:20.39 [[ 9.93161447e-01 -1.11127917e-01 -3.57900387e-02 5.73478496e+02] [ 1.11129837e-01 9.93803999e-01 -1.94184171e-03 2.44340228e+01] [ 3.57840764e-02 -2.04877885e-03 9.99357445e-01 2.03879188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.015099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:573.51, Y:24.44, Z:20.39 [[ 9.93274959e-01 -1.10108646e-01 -3.57902539e-02 5.73509414e+02] [ 1.10110049e-01 9.93917513e-01 -1.93786780e-03 2.44380268e+01] [ 3.57859361e-02 -2.01603105e-03 9.99357445e-01 2.03882330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.54, Y:24.44, Z:20.39 [[ 9.93331622e-01 -1.09596250e-01 -3.57903603e-02 5.73541618e+02] [ 1.09597392e-01 9.93974177e-01 -1.93589967e-03 2.44410986e+01] [ 3.57868613e-02 -1.99953980e-03 9.99357445e-01 2.03892072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.57, Y:24.44, Z:20.39 [[ 9.93392826e-01 -1.09040058e-01 -3.57904981e-02 5.73573974e+02] [ 1.09040933e-01 9.94035380e-01 -1.93334819e-03 2.44441427e+01] [ 3.57878338e-02 -1.98205509e-03 9.99357445e-01 2.03904380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.61, Y:24.45, Z:20.39 [[ 9.93432183e-01 -1.08680850e-01 -3.57906375e-02 5.73606197e+02] [ 1.08681585e-01 9.94074738e-01 -1.93076534e-03 2.44468030e+01] [ 3.57884058e-02 -1.97169878e-03 9.99357445e-01 2.03915359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.64, Y:24.45, Z:20.39 [[ 9.93499606e-01 -1.08062727e-01 -3.57907778e-02 5.73638548e+02] [ 1.08063156e-01 9.94142161e-01 -1.92816096e-03 2.44492072e+01] [ 3.57894835e-02 -1.95203724e-03 9.99357445e-01 2.03923122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.67, Y:24.45, Z:20.39 [[ 9.93558358e-01 -1.07521145e-01 -3.57909521e-02 5.73671937e+02] [ 1.07521340e-01 9.94200913e-01 -1.92492017e-03 2.44519061e+01] [ 3.57903669e-02 -1.93577060e-03 9.99357445e-01 2.03940112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.70, Y:24.45, Z:20.39 [[ 9.93640196e-01 -1.06762131e-01 -3.57911642e-02 5.73703571e+02] [ 1.06761977e-01 9.94282752e-01 -1.92096896e-03 2.44547793e+01] [ 3.57916239e-02 -1.91238348e-03 9.99357445e-01 2.03948438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.74, Y:24.46, Z:20.40 [[ 9.93966073e-01 -1.03684264e-01 -3.57913393e-02 5.73735695e+02] [ 1.03682238e-01 9.94608625e-01 -1.91769964e-03 2.44600865e+01] [ 3.57972101e-02 -1.80479777e-03 9.99357445e-01 2.03965616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.255099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:573.77, Y:24.46, Z:20.40 [[ 9.94171199e-01 -1.01698560e-01 -3.57914727e-02 5.73767435e+02] [ 1.01695340e-01 9.94813746e-01 -1.91520706e-03 2.44641013e+01] [ 3.58006228e-02 -1.73578227e-03 9.99357445e-01 2.03978354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.80, Y:24.47, Z:20.40 [[ 9.94657866e-01 -9.68229870e-02 -3.57916059e-02 5.73799133e+02] [ 9.68167055e-02 9.95300390e-01 -1.91271420e-03 2.44698787e+01] [ 3.58085940e-02 -1.56272914e-03 9.99357445e-01 2.03990510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.83, Y:24.47, Z:20.40 [[ 9.94929664e-01 -9.39889137e-02 -3.57917423e-02 5.73831213e+02] [ 9.39808934e-02 9.95572169e-01 -1.91015943e-03 2.44732379e+01] [ 3.58127963e-02 -1.46326564e-03 9.99357445e-01 2.04000558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.86, Y:24.48, Z:20.40 [[ 9.95210647e-01 -9.09654328e-02 -3.57918782e-02 5.73863743e+02] [ 9.09555520e-02 9.95853126e-01 -1.90760813e-03 2.44761752e+01] [ 3.58169802e-02 -1.35699813e-03 9.99357445e-01 2.04012807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.90, Y:24.48, Z:20.40 [[ 9.95479342e-01 -8.79762000e-02 -3.57920137e-02 5.73895649e+02] [ 8.79644812e-02 9.96121790e-01 -1.90506373e-03 2.44790622e+01] [ 3.58208050e-02 -1.25197432e-03 9.99357445e-01 2.04024967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.93, Y:24.48, Z:20.40 [[ 9.96068293e-01 -8.10362765e-02 -3.57921515e-02 5.73926863e+02] [ 8.10201737e-02 9.96710646e-01 -1.90247006e-03 2.44838638e+01] [ 3.58285876e-02 -1.00489623e-03 9.99357445e-01 2.04040072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.96, Y:24.49, Z:20.41 [[ 9.96345946e-01 -7.75478637e-02 -3.57922540e-02 5.73959069e+02] [ 7.75295809e-02 9.96988241e-01 -1.90054046e-03 2.44877242e+01] [ 3.58318392e-02 -8.81362670e-04 9.99357445e-01 2.04058244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.99, Y:24.49, Z:20.41 [[ 9.96628448e-01 -7.38284658e-02 -3.57923917e-02 5.73989878e+02] [ 7.38078789e-02 9.97270673e-01 -1.89794400e-03 2.44912362e+01] [ 3.58348248e-02 -7.50215533e-04 9.99357445e-01 2.04068861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.02, Y:24.49, Z:20.41 [[ 9.96889445e-01 -7.02163197e-02 -3.57924941e-02 5.74021617e+02] [ 7.01934750e-02 9.97531594e-01 -1.89601010e-03 2.44945345e+01] [ 3.58372746e-02 -6.22287082e-04 9.99357445e-01 2.04084662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.05, Y:24.50, Z:20.41 [[ 9.97312768e-01 -6.39228510e-02 -3.57926348e-02 5.74052807e+02] [ 6.38960492e-02 9.97954764e-01 -1.89334987e-03 2.44984679e+01] [ 3.58404588e-02 -3.98745956e-04 9.99357445e-01 2.04091612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.08, Y:24.50, Z:20.41 [[ 9.97466781e-01 -6.14727683e-02 -3.57927395e-02 5.74082578e+02] [ 6.14444606e-02 9.98108712e-01 -1.89136968e-03 2.45005654e+01] [ 3.58413128e-02 -3.12687145e-04 9.99357445e-01 2.04097110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.11, Y:24.50, Z:20.41 [[ 9.97582909e-01 -5.95585157e-02 -3.57927729e-02 5.74112896e+02] [ 5.95289988e-02 9.98224786e-01 -1.89073663e-03 2.45027756e+01] [ 3.58418426e-02 -2.44541391e-04 9.99357445e-01 2.04106430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.14, Y:24.51, Z:20.41 [[ 9.97702767e-01 -5.75157969e-02 -3.57927729e-02 5.74143156e+02] [ 5.74849659e-02 9.98344582e-01 -1.89073663e-03 2.45054781e+01] [ 3.58422681e-02 -1.71153164e-04 9.99357445e-01 2.04106300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.17, Y:24.51, Z:20.41 [[ 9.97716868e-01 -5.72706540e-02 -3.57927729e-02 5.74172646e+02] [ 5.72396652e-02 9.98358676e-01 -1.89073663e-03 2.45079949e+01] [ 3.58423091e-02 -1.62346511e-04 9.99357445e-01 2.04112770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.20, Y:24.51, Z:20.41 [[ 9.97652307e-01 -5.83845307e-02 -3.57927386e-02 5.74202169e+02] [ 5.83542353e-02 9.98294148e-01 -1.89138557e-03 2.45110375e+01] [ 3.58421092e-02 -2.01712718e-04 9.99357445e-01 2.04117907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.23, Y:24.51, Z:20.41 [[ 9.97589943e-01 -5.94406224e-02 -3.57927048e-02 5.74232675e+02] [ 5.94109835e-02 9.98231814e-01 -1.89202477e-03 2.45127699e+01] [ 3.58418798e-02 -2.39014917e-04 9.99357445e-01 2.04129377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.26, Y:24.51, Z:20.41 [[ 9.97517691e-01 -6.06410558e-02 -3.57927048e-02 5.74263053e+02] [ 6.06121893e-02 9.98159598e-01 -1.89202477e-03 2.45143039e+01] [ 3.58415662e-02 -2.82146024e-04 9.99357445e-01 2.04138727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.29, Y:24.52, Z:20.42 [[ 9.97330893e-01 -6.36393910e-02 -3.57927048e-02 5.74293596e+02] [ 6.36124543e-02 9.97972883e-01 -1.89202477e-03 2.45161336e+01] [ 3.58405562e-02 -3.89887050e-04 9.99357445e-01 2.04156678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.32, Y:24.52, Z:20.42 [[ 9.97236489e-01 -6.51019820e-02 -3.57927048e-02 5.74323630e+02] [ 6.50759868e-02 9.97878518e-01 -1.89202477e-03 2.45176401e+01] [ 3.58399458e-02 -4.42449452e-04 9.99357445e-01 2.04170270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.35, Y:24.52, Z:20.42 [[ 9.97121099e-01 -6.68460659e-02 -3.57927048e-02 5.74353925e+02] [ 6.68211937e-02 9.97763172e-01 -1.89202477e-03 2.45192209e+01] [ 3.58391171e-02 -5.05133446e-04 9.99357445e-01 2.04185431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.38, Y:24.52, Z:20.42 [[ 9.96790940e-01 -7.16009939e-02 -3.57927385e-02 5.74381152e+02] [ 7.15792072e-02 9.97433125e-01 -1.89138802e-03 2.45247125e+01] [ 3.58362883e-02 -6.76697407e-04 9.99357445e-01 2.04184256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.41, Y:24.53, Z:20.42 [[ 9.96510531e-01 -7.54143751e-02 -3.57691759e-02 5.74413158e+02] [ 7.53791069e-02 9.97152213e-01 -2.33545286e-03 2.45255035e+01] [ 3.58434396e-02 -3.68945160e-04 9.99357349e-01 2.04198742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.45, Y:24.52, Z:20.42 [[ 9.96522356e-01 -7.52555392e-02 -3.57742488e-02 5.74447094e+02] [ 7.52236116e-02 9.97164175e-01 -2.23951588e-03 2.45232054e+01] [ 3.58413353e-02 -4.59340558e-04 9.99357387e-01 2.04222591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.48, Y:24.52, Z:20.42 [[ 9.96349129e-01 -7.75065154e-02 -3.57932102e-02 5.74478130e+02] [ 7.74890074e-02 9.96991437e-01 -1.87821211e-03 2.45236870e+01] [ 3.58310978e-02 -9.02225336e-04 9.99357453e-01 2.04230097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.51, Y:24.52, Z:20.42 [[ 9.96174940e-01 -7.97140338e-02 -3.57933116e-02 5.74509936e+02] [ 7.96980184e-02 9.96817288e-01 -1.87627898e-03 2.45245717e+01] [ 3.58289575e-02 -9.83553900e-04 9.99357453e-01 2.04244565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.54, Y:24.53, Z:20.43 [[ 9.95782361e-01 -8.44767358e-02 -3.57934405e-02 5.74542388e+02] [ 8.44638807e-02 9.96424780e-01 -1.87381548e-03 2.45252992e+01] [ 3.58237649e-02 -1.15734049e-03 9.99357453e-01 2.04264122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.57, Y:24.53, Z:20.43 [[ 9.95604279e-01 -8.65502114e-02 -3.57935742e-02 5.74573221e+02] [ 8.65387859e-02 9.96246725e-01 -1.87125816e-03 2.45262711e+01] [ 3.58211889e-02 -1.23449983e-03 9.99357453e-01 2.04274501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:574.60, Y:24.53, Z:20.43 [[ 9.95025675e-01 -9.29662221e-02 -3.57936739e-02 5.74601157e+02] [ 9.29590067e-02 9.95668182e-01 -1.86935043e-03 2.45307124e+01] [ 3.58124086e-02 -1.46729269e-03 9.99357453e-01 2.04250187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.64, Y:24.53, Z:20.43 [[ 9.95031087e-01 -9.29159021e-02 -3.57738986e-02 5.74636273e+02] [ 9.28951181e-02 9.95673366e-01 -2.24629247e-03 2.45292757e+01] [ 3.58278343e-02 -1.08808970e-03 9.99357385e-01 2.04298761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.67, Y:24.53, Z:20.43 [[ 9.94852695e-01 -9.47993050e-02 -3.57939658e-02 5.74669166e+02] [ 9.47936012e-02 9.95495210e-01 -1.86021455e-03 2.45307693e+01] [ 3.58090685e-02 -1.54239947e-03 9.99357459e-01 2.04311989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.70, Y:24.53, Z:20.43 [[ 9.94709493e-01 -9.62901938e-02 -3.57941701e-02 5.74700136e+02] [ 9.62855944e-02 9.95352017e-01 -1.85627576e-03 2.45322216e+01] [ 3.58065405e-02 -1.60000782e-03 9.99357459e-01 2.04320327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.73, Y:24.53, Z:20.43 [[ 9.94483942e-01 -9.85923919e-02 -3.57942711e-02 5.74731127e+02] [ 9.85893499e-02 9.95126475e-01 -1.85432485e-03 2.45339875e+01] [ 3.58026492e-02 -1.68483763e-03 9.99357459e-01 2.04322513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.76, Y:24.54, Z:20.43 [[ 9.94441860e-01 -9.90159093e-02 -3.57943710e-02 5.74761972e+02] [ 9.90132102e-02 9.95084395e-01 -1.85239433e-03 2.45360465e+01] [ 3.58018365e-02 -1.70201712e-03 9.99357459e-01 2.04331027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.79, Y:24.54, Z:20.44 [[ 9.94410439e-01 -9.93308913e-02 -3.57945809e-02 5.74794978e+02] [ 9.93285417e-02 9.95052976e-01 -1.84832942e-03 2.45386224e+01] [ 3.58011005e-02 -1.71742546e-03 9.99357459e-01 2.04356561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.83, Y:24.54, Z:20.44 [[ 9.94463678e-01 -9.87963923e-02 -3.57947812e-02 5.74826408e+02] [ 9.87938369e-02 9.95106213e-01 -1.84444286e-03 2.45420688e+01] [ 3.58018335e-02 -1.70207235e-03 9.99357459e-01 2.04369811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.86, Y:24.54, Z:20.44 [[ 9.94520914e-01 -9.82184945e-02 -3.57949465e-02 5.74858509e+02] [ 9.82156811e-02 9.95163449e-01 -1.84122837e-03 2.45447048e+01] [ 3.58026651e-02 -1.68448493e-03 9.99357459e-01 2.04385174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.89, Y:24.55, Z:20.44 [[ 9.94608789e-01 -9.73245594e-02 -3.57950796e-02 5.74890794e+02] [ 9.73212615e-02 9.95251321e-01 -1.83863807e-03 2.45474753e+01] [ 3.58040449e-02 -1.65489672e-03 9.99357459e-01 2.04391621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.92, Y:24.55, Z:20.44 [[ 9.94785040e-01 -9.55061472e-02 -3.57952452e-02 5.74922688e+02] [ 9.55017908e-02 9.95427566e-01 -1.83540893e-03 2.45515879e+01] [ 3.58068666e-02 -1.59267267e-03 9.99357459e-01 2.04408828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.95, Y:24.55, Z:20.44 [[ 9.94895118e-01 -9.43525029e-02 -3.57953800e-02 5.74954887e+02] [ 9.43474960e-02 9.95537639e-01 -1.83277495e-03 2.45544761e+01] [ 3.58085750e-02 -1.55378562e-03 9.99357459e-01 2.04422164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.99, Y:24.56, Z:20.44 [[ 9.95021262e-01 -9.30127262e-02 -3.57955478e-02 5.74987297e+02] [ 9.30069719e-02 9.95663777e-01 -1.82949291e-03 2.45571631e+01] [ 3.58104964e-02 -1.50885116e-03 9.99357459e-01 2.04427103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.02, Y:24.56, Z:20.45 [[ 9.95273965e-01 -9.02684942e-02 -3.57957136e-02 5.75019851e+02] [ 9.02610848e-02 9.95916463e-01 -1.82624309e-03 2.45605832e+01] [ 3.58143927e-02 -1.41334773e-03 9.99357459e-01 2.04454847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.05, Y:24.56, Z:20.45 [[ 9.95420453e-01 -8.86384531e-02 -3.57959084e-02 5.75052077e+02] [ 8.86301289e-02 9.96062939e-01 -1.82241662e-03 2.45628758e+01] [ 3.58165139e-02 -1.35852519e-03 9.99357459e-01 2.04475592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.08, Y:24.57, Z:20.45 [[ 9.95581736e-01 -8.68081216e-02 -3.57960404e-02 5.75084408e+02] [ 8.67987094e-02 9.96224208e-01 -1.81981908e-03 2.45653940e+01] [ 3.58188571e-02 -1.29527148e-03 9.99357459e-01 2.04490447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.12, Y:24.57, Z:20.45 [[ 9.95907702e-01 -8.29848204e-02 -3.57962047e-02 5.75116899e+02] [ 8.29730577e-02 9.96550135e-01 -1.81658268e-03 2.45688828e+01] [ 3.58234614e-02 -1.16097188e-03 9.99357459e-01 2.04511868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.15, Y:24.57, Z:20.45 [[ 9.96083387e-01 -8.08486760e-02 -3.57963341e-02 5.75148834e+02] [ 8.08356272e-02 9.96725795e-01 -1.81402837e-03 2.45710076e+01] [ 3.58257914e-02 -1.08669560e-03 9.99357459e-01 2.04526677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.18, Y:24.57, Z:20.45 [[ 9.96252131e-01 -7.87420157e-02 -3.57964638e-02 5.75181080e+02] [ 7.87277004e-02 9.96894512e-01 -1.81146628e-03 2.45729499e+01] [ 3.58279368e-02 -1.01349614e-03 9.99357459e-01 2.04538606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.21, Y:24.57, Z:20.45 [[ 9.96591133e-01 -7.43284412e-02 -3.57965931e-02 5.75213607e+02] [ 7.43113724e-02 9.97233447e-01 -1.80890767e-03 2.45746671e+01] [ 3.58320132e-02 -8.57352612e-04 9.99357459e-01 2.04546192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.25, Y:24.58, Z:20.46 [[ 9.96757044e-01 -7.20693434e-02 -3.57967213e-02 5.75245629e+02] [ 7.20509101e-02 9.97399320e-01 -1.80636639e-03 2.45760152e+01] [ 3.58338091e-02 -7.78677921e-04 9.99357459e-01 2.04558851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.28, Y:24.58, Z:20.46 [[ 9.96908061e-01 -6.99492908e-02 -3.57968522e-02 5.75277008e+02] [ 6.99295847e-02 9.97550299e-01 -1.80376879e-03 2.45773153e+01] [ 3.58353330e-02 -7.05067363e-04 9.99357459e-01 2.04566678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.31, Y:24.58, Z:20.46 [[ 9.97102831e-01 -6.71157458e-02 -3.57969495e-02 5.75309631e+02] [ 6.70942839e-02 9.97745013e-01 -1.80183547e-03 2.45786508e+01] [ 3.58371594e-02 -6.05155448e-04 9.99357459e-01 2.04578371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.34, Y:24.58, Z:20.46 [[ 9.97475789e-01 -6.13238959e-02 -3.57970791e-02 5.75342214e+02] [ 6.12987975e-02 9.98117839e-01 -1.79925680e-03 2.45802532e+01] [ 3.58400407e-02 -3.99602806e-04 9.99357459e-01 2.04586347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.37, Y:24.58, Z:20.46 [[ 9.97660140e-01 -5.82477841e-02 -3.57972087e-02 5.75372412e+02] [ 5.82207985e-02 9.98302114e-01 -1.79667566e-03 2.45813928e+01] [ 3.58410815e-02 -2.91670380e-04 9.99357459e-01 2.04589087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.40, Y:24.58, Z:20.46 [[ 9.97660140e-01 -5.82477613e-02 -3.57972406e-02 5.75403353e+02] [ 5.82207986e-02 9.98302115e-01 -1.79603877e-03 2.45829448e+01] [ 3.58410763e-02 -2.92307647e-04 9.99357459e-01 2.04600195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.43, Y:24.58, Z:20.46 [[ 9.97803291e-01 -5.57418132e-02 -3.57972406e-02 5.75434098e+02] [ 5.57132381e-02 9.98445196e-01 -1.79603877e-03 2.45839675e+01] [ 3.58416974e-02 -2.02286799e-04 9.99357459e-01 2.04610006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.47, Y:24.58, Z:20.46 [[ 9.98332309e-01 -4.52897152e-02 -3.57972406e-02 5.75474213e+02] [ 4.52544196e-02 9.98973879e-01 -1.79603877e-03 2.45761662e+01] [ 3.58418504e-02 1.73060180e-04 9.99357459e-01 2.04565086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.50, Y:24.58, Z:20.46 [[ 9.98371364e-01 -4.43807103e-02 -3.58465202e-02 5.75500599e+02] [ 4.43801898e-02 9.99014385e-01 -8.10605779e-04 2.45777431e+01] [ 3.58471646e-02 -7.81589773e-04 9.99356978e-01 2.04582475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.52, Y:24.58, Z:20.46 [[ 9.98198116e-01 -4.81346213e-02 -3.58270652e-02 5.75524838e+02] [ 4.81227569e-02 9.98840715e-01 -1.19390966e-03 2.45836137e+01] [ 3.58429998e-02 -5.32338777e-04 9.99357291e-01 2.04632931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.55, Y:24.58, Z:20.46 [[ 9.98238968e-01 -4.73048070e-02 -3.57940961e-02 5.75553193e+02] [ 4.72693522e-02 9.98880491e-01 -1.83660020e-03 2.45836926e+01] [ 3.58409043e-02 1.41402156e-04 9.99357498e-01 2.04645020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.58, Y:24.58, Z:20.47 [[ 9.98273914e-01 -4.65619163e-02 -3.57935801e-02 5.75581085e+02] [ 4.65256255e-02 9.98915390e-01 -1.84660218e-03 2.45813143e+01] [ 3.58407393e-02 1.78096081e-04 9.99357498e-01 2.04659128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.61, Y:24.58, Z:20.47 [[ 9.98270320e-01 -4.66393123e-02 -3.57930418e-02 5.75609353e+02] [ 4.66026993e-02 9.98911778e-01 -1.85697754e-03 2.45806561e+01] [ 3.58406992e-02 1.85713204e-04 9.99357498e-01 2.04669543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.64, Y:24.58, Z:20.47 [[ 9.98249461e-01 -4.70840681e-02 -3.57925051e-02 5.75637111e+02] [ 4.70473720e-02 9.98890914e-01 -1.86726477e-03 2.45797347e+01] [ 3.58407266e-02 1.80052742e-04 9.99357499e-01 2.04681909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.66, Y:24.58, Z:20.47 [[ 9.98235354e-01 -4.73826227e-02 -3.57919569e-02 5.75664481e+02] [ 4.73457437e-02 9.98876797e-01 -1.87771474e-03 2.45787324e+01] [ 3.58407263e-02 1.79804419e-04 9.99357499e-01 2.04691457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.69, Y:24.57, Z:20.47 [[ 9.98186917e-01 -4.83924680e-02 -3.57917189e-02 5.75692774e+02] [ 4.83560758e-02 9.98828387e-01 -1.88224062e-03 2.45746440e+01] [ 3.58408711e-02 1.48080892e-04 9.99357499e-01 2.04706238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.72, Y:24.57, Z:20.47 [[ 9.98155529e-01 -4.90360242e-02 -3.57911717e-02 5.75720902e+02] [ 4.89996744e-02 9.98797001e-01 -1.89258944e-03 2.45730212e+01] [ 3.58409200e-02 1.35342853e-04 9.99357499e-01 2.04712492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.75, Y:24.57, Z:20.47 [[ 9.98093171e-01 -5.02896945e-02 -3.57906201e-02 5.75748405e+02] [ 5.02537785e-02 9.98734668e-01 -1.90296410e-03 2.45679891e+01] [ 3.58410325e-02 1.00721581e-04 9.99357499e-01 2.04711214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.78, Y:24.57, Z:20.47 [[ 9.98035928e-01 -5.14133696e-02 -3.57903806e-02 5.75776119e+02] [ 5.13780147e-02 9.98677456e-01 -1.90745692e-03 2.45662772e+01] [ 3.58411150e-02 6.48718330e-05 9.99357499e-01 2.04718398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.80, Y:24.56, Z:20.47 [[ 9.97993589e-01 -5.22291626e-02 -3.57898287e-02 5.75803432e+02] [ 5.21939626e-02 9.98635125e-01 -1.91775750e-03 2.45641158e+01] [ 3.58411429e-02 4.58967063e-05 9.99357499e-01 2.04722821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.83, Y:24.56, Z:20.47 [[ 9.97867638e-01 -5.45828929e-02 -3.57894414e-02 5.75831813e+02] [ 5.45489479e-02 9.98509242e-01 -1.92495770e-03 2.45579968e+01] [ 3.58411578e-02 -3.14233786e-05 9.99357499e-01 2.04724844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.86, Y:24.56, Z:20.47 [[ 9.97805149e-01 -5.57139152e-02 -3.57888991e-02 5.75859656e+02] [ 5.56803378e-02 9.98446772e-01 -1.93498757e-03 2.45557457e+01] [ 3.58411165e-02 -6.19974332e-05 9.99357499e-01 2.04733440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.89, Y:24.55, Z:20.47 [[ 9.97742504e-01 -5.68250821e-02 -3.57883391e-02 5.75887503e+02] [ 5.67918497e-02 9.98384145e-01 -1.94529031e-03 2.45538759e+01] [ 3.58410516e-02 -9.15871458e-05 9.99357499e-01 2.04744515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.91, Y:24.55, Z:20.48 [[ 9.97700367e-01 -5.75605121e-02 -3.57877737e-02 5.75914119e+02] [ 5.75273815e-02 9.98342013e-01 -1.95563815e-03 2.45519832e+01] [ 3.58410055e-02 -1.07636007e-04 9.99357499e-01 2.04751187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.94, Y:24.55, Z:20.48 [[ 9.97697753e-01 -5.76059509e-02 -3.57875279e-02 5.75941817e+02] [ 5.75726885e-02 9.98339393e-01 -1.96012446e-03 2.45468144e+01] [ 3.58410137e-02 -1.04772424e-04 9.99357499e-01 2.04753358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.97, Y:24.55, Z:20.48 [[ 9.97706098e-01 -5.74613999e-02 -3.57872854e-02 5.75970324e+02] [ 5.74278861e-02 9.98347724e-01 -1.96454244e-03 2.45452877e+01] [ 3.58410403e-02 -9.51521819e-05 9.99357499e-01 2.04757926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.00, Y:24.54, Z:20.48 [[ 9.97806911e-01 -5.56837403e-02 -3.57867218e-02 5.75997303e+02] [ 5.56487171e-02 9.98448457e-01 -1.97475539e-03 2.45402981e+01] [ 3.58411590e-02 -2.10605794e-05 9.99357499e-01 2.04756571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.03, Y:24.54, Z:20.48 [[ 9.97869423e-01 -5.45522103e-02 -3.57864773e-02 5.76025325e+02] [ 5.45163011e-02 9.98510919e-01 -1.97917694e-03 2.45384304e+01] [ 3.58411568e-02 2.40137803e-05 9.99357499e-01 2.04765369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.05, Y:24.54, Z:20.48 [[ 9.97923331e-01 -5.35573936e-02 -3.57859191e-02 5.76052868e+02] [ 5.35204847e-02 9.98564770e-01 -1.98921940e-03 2.45370627e+01] [ 3.58410955e-02 6.98087160e-05 9.99357499e-01 2.04774578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.08, Y:24.54, Z:20.48 [[ 9.97984823e-01 -5.23994321e-02 -3.57853577e-02 5.76079426e+02] [ 5.23614186e-02 9.98626199e-01 -1.99926776e-03 2.45356503e+01] [ 3.58409562e-02 1.21466790e-04 9.99357499e-01 2.04784229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.11, Y:24.53, Z:20.48 [[ 9.98020995e-01 -5.17061848e-02 -3.57849706e-02 5.76110990e+02] [ 5.16674783e-02 9.98662329e-01 -2.00617328e-03 2.45314731e+01] [ 3.58408336e-02 1.53283868e-04 9.99357499e-01 2.04799733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.14, Y:24.53, Z:20.48 [[ 9.98114639e-01 -4.98569945e-02 -3.57972986e-02 5.76135782e+02] [ 4.98249867e-02 9.98756367e-01 -1.78622619e-03 2.45298072e+01] [ 3.58418358e-02 -7.41422368e-07 9.99357475e-01 2.04804242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.16, Y:24.53, Z:20.48 [[ 9.98112587e-01 -4.99074507e-02 -3.57842034e-02 5.76163350e+02] [ 4.98671498e-02 9.98753820e-01 -2.01840804e-03 2.45282045e+01] [ 3.58403434e-02 2.30142238e-04 9.99357502e-01 2.04817967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.19, Y:24.52, Z:20.48 [[ 9.98055828e-01 -5.10303582e-02 -3.57836122e-02 5.76190482e+02] [ 5.09904049e-02 9.98697082e-01 -2.02883572e-03 2.45227928e+01] [ 3.58405213e-02 2.00270442e-04 9.99357502e-01 2.04821012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.22, Y:24.52, Z:20.48 [[ 9.97988397e-01 -5.23326949e-02 -3.57833555e-02 5.76217575e+02] [ 5.22934165e-02 9.98629693e-01 -2.03335239e-03 2.45208925e+01] [ 3.58407321e-02 1.58028182e-04 9.99357502e-01 2.04828783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.25, Y:24.52, Z:20.48 [[ 9.97896457e-01 -5.40576567e-02 -3.57831010e-02 5.76246116e+02] [ 5.40193266e-02 9.98537811e-01 -2.03782171e-03 2.45189225e+01] [ 3.58409392e-02 1.00556041e-04 9.99357502e-01 2.04834620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.27, Y:24.52, Z:20.48 [[ 9.97773924e-01 -5.62743971e-02 -3.57825191e-02 5.76274896e+02] [ 5.62371272e-02 9.98415340e-01 -2.04798939e-03 2.45172022e+01] [ 3.58410653e-02 3.11243318e-05 9.99357502e-01 2.04846949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.30, Y:24.51, Z:20.49 [[ 9.97539503e-01 -6.02871157e-02 -3.57827272e-02 5.76302209e+02] [ 6.02525562e-02 9.98181071e-01 -2.04435724e-03 2.45116221e+01] [ 3.58408893e-02 -1.16673672e-04 9.99357502e-01 2.04853381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.33, Y:24.51, Z:20.49 [[ 9.97396641e-01 -6.26067669e-02 -3.57817515e-02 5.76329565e+02] [ 6.25730920e-02 9.98038255e-01 -2.06129358e-03 2.45100168e+01] [ 3.58406078e-02 -1.83047538e-04 9.99357502e-01 2.04867151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.36, Y:24.51, Z:20.49 [[ 9.97257045e-01 -6.47925264e-02 -3.57814990e-02 5.76358037e+02] [ 6.47601008e-02 9.97898724e-01 -2.06566736e-03 2.45083501e+01] [ 3.58401520e-02 -2.57212161e-04 9.99357502e-01 2.04880294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.39, Y:24.51, Z:20.49 [[ 9.97113101e-01 -6.69715595e-02 -3.57809185e-02 5.76385634e+02] [ 6.69401771e-02 9.97754832e-01 -2.07567425e-03 2.45068427e+01] [ 3.58395955e-02 -3.25499038e-04 9.99357502e-01 2.04894196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.41, Y:24.50, Z:20.49 [[ 9.96815042e-01 -7.12708885e-02 -3.57803388e-02 5.76412933e+02] [ 7.12419168e-02 9.97456886e-01 -2.08561948e-03 2.45023985e+01] [ 3.58379893e-02 -4.70083059e-04 9.99357502e-01 2.04906565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.44, Y:24.50, Z:20.49 [[ 9.96635328e-01 -7.37414920e-02 -3.57800869e-02 5.76440526e+02] [ 7.37139566e-02 9.97277236e-01 -2.08993203e-03 2.45011100e+01] [ 3.58367809e-02 -5.54591675e-04 9.99357502e-01 2.04912814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.47, Y:24.50, Z:20.49 [[ 9.96442057e-01 -7.63089417e-02 -3.57795109e-02 5.76468592e+02] [ 7.62827079e-02 9.97084018e-01 -2.09974685e-03 2.45001457e+01] [ 3.58354080e-02 -6.37081910e-04 9.99357502e-01 2.04923206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.50, Y:24.50, Z:20.49 [[ 9.96268788e-01 -7.85389715e-02 -3.57789310e-02 5.76495971e+02] [ 7.85138214e-02 9.96910793e-01 -2.10958254e-03 2.44988571e+01] [ 3.58340869e-02 -7.07429357e-04 9.99357502e-01 2.04933287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.53, Y:24.49, Z:20.49 [[ 9.96097334e-01 -8.06845532e-02 -3.57785304e-02 5.76526754e+02] [ 8.06605429e-02 9.96739383e-01 -2.11635481e-03 2.44940160e+01] [ 3.58326275e-02 -7.77820303e-04 9.99357502e-01 2.04921800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.55, Y:24.50, Z:20.50 [[ 9.95734986e-01 -8.50346572e-02 -3.57902768e-02 5.76552799e+02] [ 8.50206080e-02 9.96377349e-01 -1.91706809e-03 2.44956007e+01] [ 3.58236384e-02 -1.13401932e-03 9.99357484e-01 2.04957301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.58, Y:24.49, Z:20.50 [[ 9.95372635e-01 -8.91798193e-02 -3.57809731e-02 5.76580483e+02] [ 8.91628063e-02 9.96014906e-01 -2.07405781e-03 2.44936677e+01] [ 3.58233467e-02 -1.12587159e-03 9.99357504e-01 2.04972535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.61, Y:24.49, Z:20.50 [[ 9.95083765e-01 -9.23485178e-02 -3.57778210e-02 5.76608867e+02] [ 9.23316456e-02 9.95726038e-01 -2.12707861e-03 2.44939414e+01] [ 3.58213405e-02 -1.18680369e-03 9.99357505e-01 2.04985729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.64, Y:24.49, Z:20.50 [[ 9.94778049e-01 -9.55856993e-02 -3.57772029e-02 5.76636010e+02] [ 9.55705454e-02 9.95420365e-01 -2.13742339e-03 2.44942238e+01] [ 3.58176635e-02 -1.29298493e-03 9.99357505e-01 2.04991105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.66, Y:24.49, Z:20.50 [[ 9.94126082e-01 -1.02143746e-01 -3.57769345e-02 5.76662711e+02] [ 1.02132667e-01 9.94768481e-01 -2.14190649e-03 2.44943633e+01] [ 3.58085492e-02 -1.52466864e-03 9.99357505e-01 2.04991941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.69, Y:24.50, Z:20.50 [[ 9.93804051e-01 -1.05230876e-01 -3.57766678e-02 5.76690661e+02] [ 1.05221633e-01 9.94446480e-01 -2.14635308e-03 2.44955888e+01] [ 3.58038439e-02 -1.63142502e-03 9.99357505e-01 2.04998165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.72, Y:24.50, Z:20.50 [[ 9.93543304e-01 -1.07665120e-01 -3.57760513e-02 5.76717892e+02] [ 1.07657083e-01 9.94185748e-01 -2.15657948e-03 2.44971005e+01] [ 3.58002287e-02 -1.70889024e-03 9.99357505e-01 2.05003029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.75, Y:24.50, Z:20.50 [[ 9.93153751e-01 -1.11201256e-01 -3.57757838e-02 5.76746135e+02] [ 1.11195347e-01 9.93796219e-01 -2.16100795e-03 2.44993738e+01] [ 3.57941455e-02 -1.83188753e-03 9.99357505e-01 2.05011037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.77, Y:24.50, Z:20.50 [[ 9.93010123e-01 -1.12476805e-01 -3.57751729e-02 5.76773811e+02] [ 1.12471360e-01 9.93652595e-01 -2.17107436e-03 2.45017353e+01] [ 3.57922889e-02 -1.86778353e-03 9.99357505e-01 2.05020039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.80, Y:24.50, Z:20.50 [[ 9.92924844e-01 -1.13227360e-01 -3.57745633e-02 5.76802028e+02] [ 1.13222041e-01 9.93567316e-01 -2.18107346e-03 2.45043130e+01] [ 3.57913941e-02 -1.88482705e-03 9.99357505e-01 2.05030875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.83, Y:24.51, Z:20.50 [[ 9.93004079e-01 -1.12530545e-01 -3.57739434e-02 5.76829718e+02] [ 1.12524411e-01 9.93646545e-01 -2.19119388e-03 2.45088583e+01] [ 3.57932315e-02 -1.84957747e-03 9.99357505e-01 2.05044812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.86, Y:24.51, Z:20.51 [[ 9.93132367e-01 -1.11392871e-01 -3.57733139e-02 5.76857984e+02] [ 1.11385634e-01 9.93774821e-01 -2.20142460e-03 2.45126814e+01] [ 3.57958416e-02 -1.79832723e-03 9.99357505e-01 2.05059307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.89, Y:24.52, Z:20.51 [[ 9.93328562e-01 -1.09629734e-01 -3.57727516e-02 5.76886109e+02] [ 1.09621030e-01 9.93970997e-01 -2.21052395e-03 2.45166371e+01] [ 3.57994167e-02 -1.72566929e-03 9.99357506e-01 2.05072969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.91, Y:24.52, Z:20.51 [[ 9.93551676e-01 -1.07589112e-01 -3.57721906e-02 5.76913756e+02] [ 1.07578763e-01 9.94194087e-01 -2.21956461e-03 2.45208370e+01] [ 3.58033014e-02 -1.64307589e-03 9.99357506e-01 2.05084971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.94, Y:24.53, Z:20.51 [[ 9.94006127e-01 -1.03306264e-01 -3.57719919e-02 5.76941932e+02] [ 1.03293031e-01 9.94648485e-01 -2.22276323e-03 2.45278665e+01] [ 3.58101829e-02 -1.48555722e-03 9.99357506e-01 2.05104091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.97, Y:24.53, Z:20.51 [[ 9.94229202e-01 -1.01137034e-01 -3.57714240e-02 5.76969922e+02] [ 1.01122074e-01 9.94871522e-01 -2.23186433e-03 2.45322061e+01] [ 3.58136952e-02 -1.39829588e-03 9.99357506e-01 2.05112095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.00, Y:24.54, Z:20.51 [[ 9.94458804e-01 -9.88539653e-02 -3.57712228e-02 5.76998083e+02] [ 9.88374139e-02 9.95101085e-01 -2.23508487e-03 2.45361652e+01] [ 3.58169296e-02 -1.31283533e-03 9.99357506e-01 2.05125926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.03, Y:24.54, Z:20.51 [[ 9.94624125e-01 -9.71766915e-02 -3.57706674e-02 5.77026320e+02] [ 9.71587389e-02 9.95266368e-01 -2.24393806e-03 2.45403525e+01] [ 3.58194008e-02 -1.24355801e-03 9.99357506e-01 2.05142667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.05, Y:24.55, Z:20.52 [[ 9.95101695e-01 -9.21581089e-02 -3.57700984e-02 5.77054147e+02] [ 9.21365923e-02 9.95743829e-01 -2.25297200e-03 2.45472481e+01] [ 3.58254844e-02 -1.05379872e-03 9.99357506e-01 2.05155564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.08, Y:24.55, Z:20.52 [[ 9.95357475e-01 -8.93532670e-02 -3.57699774e-02 5.77081910e+02] [ 8.93298719e-02 9.95999543e-01 -2.25489181e-03 2.45514899e+01] [ 3.58283631e-02 -9.50904085e-04 9.99357506e-01 2.05167675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.11, Y:24.56, Z:20.52 [[ 9.95610362e-01 -8.64902405e-02 -3.57693261e-02 5.77110743e+02] [ 8.64646296e-02 9.96252346e-01 -2.26517754e-03 2.45556886e+01] [ 3.58311907e-02 -8.37547296e-04 9.99357506e-01 2.05177416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.14, Y:24.56, Z:20.52 [[ 9.96109621e-01 -8.05370674e-02 -3.57687472e-02 5.77139428e+02] [ 8.05072923e-02 9.96751425e-01 -2.27428214e-03 2.45620335e+01] [ 3.58357137e-02 -6.14210658e-04 9.99357506e-01 2.05181989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.17, Y:24.56, Z:20.52 [[ 9.96085967e-01 -8.08293633e-02 -3.57681612e-02 5.77167771e+02] [ 8.07994471e-02 9.96727764e-01 -2.28346094e-03 2.45638993e+01] [ 3.58356900e-02 -6.15524250e-04 9.99357506e-01 2.05192195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.20, Y:24.57, Z:20.52 [[ 9.96299588e-01 -7.81525276e-02 -3.57674884e-02 5.77195468e+02] [ 7.81205104e-02 9.96941284e-01 -2.29395152e-03 2.45677832e+01] [ 3.58373639e-02 -5.08711494e-04 9.99357506e-01 2.05192929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.22, Y:24.57, Z:20.52 [[ 9.96498232e-01 -7.55776602e-02 -3.57671765e-02 5.77222136e+02] [ 7.55438107e-02 9.97139834e-01 -2.29880454e-03 2.45714459e+01] [ 3.58386147e-02 -4.11234146e-04 9.99357506e-01 2.05194784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.25, Y:24.58, Z:20.52 [[ 9.96806433e-01 -7.13979273e-02 -3.57668935e-02 5.77249768e+02] [ 7.13612297e-02 9.97447878e-01 -2.30319816e-03 2.45766728e+01] [ 3.58400556e-02 -2.56526767e-04 9.99357506e-01 2.05208864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.28, Y:24.58, Z:20.52 [[ 9.96895091e-01 -7.01495095e-02 -3.57662375e-02 5.77277903e+02] [ 7.01116448e-02 9.97536468e-01 -2.31334127e-03 2.45800792e+01] [ 3.58404060e-02 -2.01471184e-04 9.99357506e-01 2.05219694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.31, Y:24.58, Z:20.52 [[ 9.96958322e-01 -6.92454188e-02 -3.57655778e-02 5.77305372e+02] [ 6.92066081e-02 9.97599643e-01 -2.32349541e-03 2.45831218e+01] [ 3.58406191e-02 -1.58786240e-04 9.99357506e-01 2.05233368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.33, Y:24.59, Z:20.52 [[ 9.97011387e-01 -6.84774830e-02 -3.57649034e-02 5.77331723e+02] [ 6.84378076e-02 9.97652655e-01 -2.33383141e-03 2.45859781e+01] [ 3.58407657e-02 -1.20815087e-04 9.99357506e-01 2.05236447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.36, Y:24.59, Z:20.52 [[ 9.97019611e-01 -6.83577924e-02 -3.57646108e-02 5.77358752e+02] [ 6.83178795e-02 9.97660864e-01 -2.33830684e-03 2.45886677e+01] [ 3.58407940e-02 -1.12024588e-04 9.99357506e-01 2.05239124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.39, Y:24.60, Z:20.52 [[ 9.96817905e-01 -7.12389572e-02 -3.57641565e-02 5.77385190e+02] [ 7.12006491e-02 9.97459256e-01 -2.34523370e-03 2.45950150e+01] [ 3.58403610e-02 -2.08660217e-04 9.99357506e-01 2.05232433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.42, Y:24.60, Z:20.53 [[ 9.96656276e-01 -7.34751211e-02 -3.57445570e-02 5.77416632e+02] [ 7.34275967e-02 9.97297050e-01 -2.64225973e-03 2.45952073e+01] [ 3.58420816e-02 8.78783221e-06 9.99357466e-01 2.05276255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.44, Y:24.60, Z:20.53 [[ 9.96417356e-01 -7.66382872e-02 -3.57634713e-02 5.77443127e+02] [ 7.66031019e-02 9.97058884e-01 -2.35505300e-03 2.45970021e+01] [ 3.58387740e-02 -3.92977155e-04 9.99357508e-01 2.05284606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.47, Y:24.60, Z:20.53 [[ 9.96110229e-01 -8.05320197e-02 -3.57631784e-02 5.77470901e+02] [ 8.04991827e-02 9.96751882e-01 -2.35949190e-03 2.45987430e+01] [ 3.58370300e-02 -5.28592613e-04 9.99357508e-01 2.05301096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.50, Y:24.60, Z:20.53 [[ 9.95755333e-01 -8.48077911e-02 -3.57624995e-02 5.77499976e+02] [ 8.47773412e-02 9.96397103e-01 -2.36973725e-03 2.46003142e+01] [ 3.58346231e-02 -6.72171125e-04 9.99357508e-01 2.05313920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.53, Y:24.60, Z:20.53 [[ 9.94911517e-01 -9.41921395e-02 -3.57618996e-02 5.77529477e+02] [ 9.41674178e-02 9.95553534e-01 -2.37875669e-03 2.46011429e+01] [ 3.58269457e-02 -1.00095331e-03 9.99357508e-01 2.05326072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.56, Y:24.60, Z:20.53 [[ 9.94467887e-01 -9.87659537e-02 -3.57618128e-02 5.77558695e+02] [ 9.87441375e-02 9.95110009e-01 -2.38006068e-03 2.46025564e+01] [ 3.58220068e-02 -1.16437544e-03 9.99357508e-01 2.05331449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.59, Y:24.60, Z:20.53 [[ 9.93557198e-01 -1.07541575e-01 -3.57617696e-02 5.77588338e+02] [ 1.07525405e-01 9.94199487e-01 -2.38070939e-03 2.46038001e+01] [ 3.58103582e-02 -1.47992781e-03 9.99357508e-01 2.05335257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.62, Y:24.61, Z:20.53 [[ 9.93098493e-01 -1.11698154e-01 -3.57617829e-02 5.77618693e+02] [ 1.11684679e-01 9.93740844e-01 -2.38050959e-03 2.46055540e+01] [ 3.58038429e-02 -1.62996275e-03 9.99357508e-01 2.05342959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.65, Y:24.61, Z:20.53 [[ 9.92679408e-01 -1.15363285e-01 -3.57617829e-02 5.77649020e+02] [ 1.15352181e-01 9.93321805e-01 -2.38050959e-03 2.46073820e+01] [ 3.57975821e-02 -1.76211681e-03 9.99357508e-01 2.05346464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.68, Y:24.61, Z:20.54 [[ 9.92219962e-01 -1.19250324e-01 -3.57618241e-02 5.77679654e+02] [ 1.19241759e-01 9.92862397e-01 -2.37989097e-03 2.46096901e+01] [ 3.57903731e-02 -1.90292748e-03 9.99357508e-01 2.05356662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.71, Y:24.61, Z:20.54 [[ 9.91803974e-01 -1.22662001e-01 -3.57618675e-02 5.77710518e+02] [ 1.22655669e-01 9.92446435e-01 -2.37923871e-03 2.46121840e+01] [ 3.57835801e-02 -2.02665735e-03 9.99357508e-01 2.05401552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.74, Y:24.62, Z:20.54 [[ 9.91160465e-01 -1.27757639e-01 -3.57619616e-02 5.77741244e+02] [ 1.27754660e-01 9.91802951e-01 -2.37782290e-03 2.46157234e+01] [ 3.57726041e-02 -2.21195319e-03 9.99357508e-01 2.05404682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.77, Y:24.62, Z:20.54 [[ 9.90953506e-01 -1.29353090e-01 -3.57620934e-02 5.77772255e+02] [ 1.29351216e-01 9.91595996e-01 -2.37583967e-03 2.46187222e+01] [ 3.57688708e-02 -2.27152360e-03 9.99357508e-01 2.05401526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.80, Y:24.62, Z:20.54 [[ 9.90895883e-01 -1.29793729e-01 -3.57622217e-02 5.77804703e+02] [ 1.29792210e-01 9.91538374e-01 -2.37390638e-03 2.46222799e+01] [ 3.57677333e-02 -2.28936373e-03 9.99357508e-01 2.05412488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.84, Y:24.63, Z:20.54 [[ 9.90897829e-01 -1.29778828e-01 -3.57623949e-02 5.77836174e+02] [ 1.29777393e-01 9.91540319e-01 -2.37129430e-03 2.46265487e+01] [ 3.57676002e-02 -2.29144002e-03 9.99357508e-01 2.05426709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.87, Y:24.63, Z:20.54 [[ 9.91168912e-01 -1.27691920e-01 -3.57625689e-02 5.77867710e+02] [ 1.27689227e-01 9.91811399e-01 -2.36866755e-03 2.46334564e+01] [ 3.57721832e-02 -2.21874512e-03 9.99357508e-01 2.05445132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.90, Y:24.64, Z:20.55 [[ 9.91343513e-01 -1.26329194e-01 -3.57627422e-02 5.77899811e+02] [ 1.26325712e-01 9.91985996e-01 -2.36604814e-03 2.46381514e+01] [ 3.57750404e-02 -2.17218739e-03 9.99357508e-01 2.05457742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.93, Y:24.64, Z:20.55 [[ 9.91705193e-01 -1.23457787e-01 -3.57629140e-02 5.77931627e+02] [ 1.23452538e-01 9.92347663e-01 -2.36344800e-03 2.46445408e+01] [ 3.57810302e-02 -2.07117883e-03 9.99357508e-01 2.05470687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.96, Y:24.65, Z:20.55 [[ 9.91852191e-01 -1.22271146e-01 -3.57630887e-02 5.77962325e+02] [ 1.22265223e-01 9.92494656e-01 -2.36080123e-03 2.46486294e+01] [ 3.57833323e-02 -2.03101614e-03 9.99357508e-01 2.05469993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.99, Y:24.65, Z:20.55 [[ 9.91940004e-01 -1.21556659e-01 -3.57632189e-02 5.77994439e+02] [ 1.21550345e-01 9.92582465e-01 -2.35882715e-03 2.46529067e+01] [ 3.57846751e-02 -2.00721657e-03 9.99357508e-01 2.05476396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.03, Y:24.66, Z:20.55 [[ 9.92008266e-01 -1.20998267e-01 -3.57633918e-02 5.78025781e+02] [ 1.20991685e-01 9.92650724e-01 -2.35620290e-03 2.46572556e+01] [ 3.57856533e-02 -1.98970029e-03 9.99357508e-01 2.05472928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.06, Y:24.66, Z:20.55 [[ 9.91991919e-01 -1.21132121e-01 -3.57636833e-02 5.78057863e+02] [ 1.21125785e-01 9.92634381e-01 -2.35177037e-03 2.46634736e+01] [ 3.57851365e-02 -1.99896701e-03 9.99357508e-01 2.05478399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.09, Y:24.67, Z:20.55 [[ 9.91912753e-01 -1.21778641e-01 -3.57638511e-02 5.78088827e+02] [ 1.21772816e-01 9.92555219e-01 -2.34921518e-03 2.46690030e+01] [ 3.57836813e-02 -2.02484836e-03 9.99357508e-01 2.05481727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.12, Y:24.67, Z:20.55 [[ 9.91910009e-01 -1.21800954e-01 -3.57639760e-02 5.78121213e+02] [ 1.21795211e-01 9.92552476e-01 -2.34731241e-03 2.46729165e+01] [ 3.57835278e-02 -2.02755833e-03 9.99357508e-01 2.05501658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.15, Y:24.68, Z:20.55 [[ 9.91932273e-01 -1.21619454e-01 -3.57641462e-02 5.78153544e+02] [ 1.21613687e-01 9.92574739e-01 -2.34471689e-03 2.46771785e+01] [ 3.57837513e-02 -2.02360933e-03 9.99357508e-01 2.05519068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.18, Y:24.68, Z:20.55 [[ 9.92148590e-01 -1.19841933e-01 -3.57643176e-02 5.78184747e+02] [ 1.19835109e-01 9.92791046e-01 -2.34209990e-03 2.46845591e+01] [ 3.57871760e-02 -1.96210977e-03 9.99357508e-01 2.05546292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.22, Y:24.69, Z:20.56 [[ 9.92374533e-01 -1.17956312e-01 -3.57644462e-02 5.78216026e+02] [ 1.17948337e-01 9.93016975e-01 -2.34013426e-03 2.46893406e+01] [ 3.57907358e-02 -1.89606732e-03 9.99357508e-01 2.05563944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.25, Y:24.69, Z:20.56 [[ 9.92607352e-01 -1.15980729e-01 -3.57647248e-02 5.78248009e+02] [ 1.15971629e-01 9.93249780e-01 -2.33586761e-03 2.46943062e+01] [ 3.57942207e-02 -1.82909405e-03 9.99357508e-01 2.05580098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.28, Y:24.70, Z:20.56 [[ 9.92889596e-01 -1.13539076e-01 -3.57648942e-02 5.78279758e+02] [ 1.13528490e-01 9.93532001e-01 -2.33327232e-03 2.46990446e+01] [ 3.57984845e-02 -1.74365261e-03 9.99357508e-01 2.05596964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.31, Y:24.70, Z:20.56 [[ 9.93238137e-01 -1.10448464e-01 -3.57650633e-02 5.78310765e+02] [ 1.10435972e-01 9.93880508e-01 -2.33067674e-03 2.47036185e+01] [ 3.58036189e-02 -1.63483250e-03 9.99357508e-01 2.05609299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.34, Y:24.71, Z:20.56 [[ 9.93939805e-01 -1.03944767e-01 -3.57651891e-02 5.78342971e+02] [ 1.03928140e-01 9.94582082e-01 -2.32874513e-03 2.47105408e+01] [ 3.58134771e-02 -1.40237709e-03 9.99357508e-01 2.05623321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.37, Y:24.71, Z:20.56 [[ 9.94276503e-01 -1.00673106e-01 -3.57653569e-02 5.78374432e+02] [ 1.00654458e-01 9.94918725e-01 -2.32616492e-03 2.47148733e+01] [ 3.58178055e-02 -1.28709149e-03 9.99357508e-01 2.05635278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.41, Y:24.72, Z:20.56 [[ 9.94635864e-01 -9.70583649e-02 -3.57655237e-02 5.78406857e+02] [ 9.70374745e-02 9.95278016e-01 -2.32359667e-03 2.47189340e+01] [ 3.58221640e-02 -1.15946352e-03 9.99357508e-01 2.05647572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.44, Y:24.73, Z:20.57 [[ 9.95290890e-01 -9.00936167e-02 -3.57656927e-02 5.78437829e+02] [ 9.00683252e-02 9.95932884e-01 -2.32099383e-03 2.47255194e+01] [ 3.58293362e-02 -9.11292022e-04 9.99357508e-01 2.05659429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.47, Y:24.73, Z:20.57 [[ 9.95596547e-01 -8.66505721e-02 -3.57658184e-02 5.78469089e+02] [ 8.66231299e-02 9.96238453e-01 -2.31905523e-03 2.47296629e+01] [ 3.58322310e-02 -7.89303748e-04 9.99357508e-01 2.05664838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.50, Y:24.73, Z:20.57 [[ 9.95893146e-01 -8.31723416e-02 -3.57659422e-02 5.78500884e+02] [ 8.31427259e-02 9.96534956e-01 -2.31714300e-03 2.47333057e+01] [ 3.58347339e-02 -6.66051095e-04 9.99357508e-01 2.05678079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.53, Y:24.74, Z:20.57 [[ 9.96389788e-01 -7.69946424e-02 -3.57661090e-02 5.78532056e+02] [ 7.69611395e-02 9.97031407e-01 -2.31456657e-03 2.47377342e+01] [ 3.58381432e-02 -4.46390011e-04 9.99357508e-01 2.05682511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.56, Y:24.74, Z:20.57 [[ 9.96592508e-01 -7.43246299e-02 -3.57662330e-02 5.78562745e+02] [ 7.42894768e-02 9.97234037e-01 -2.31264889e-03 2.47411935e+01] [ 3.58391917e-02 -3.52286175e-04 9.99357508e-01 2.05691360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.59, Y:24.74, Z:20.57 [[ 9.96751133e-01 -7.21660984e-02 -3.57663555e-02 5.78593593e+02] [ 7.21296241e-02 9.97392590e-01 -2.31075213e-03 2.47448779e+01] [ 3.58398559e-02 -2.76568974e-04 9.99357508e-01 2.05711962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.62, Y:24.75, Z:20.57 [[ 9.96884407e-01 -7.03010744e-02 -3.57664403e-02 5.78624730e+02] [ 7.02634472e-02 9.97525796e-01 -2.30943945e-03 2.47481830e+01] [ 3.58403029e-02 -2.10829210e-04 9.99357508e-01 2.05720808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.66, Y:24.75, Z:20.57 [[ 9.96993584e-01 -6.87353531e-02 -3.57665250e-02 5.78655483e+02] [ 6.86967657e-02 9.97634917e-01 -2.30812606e-03 2.47519822e+01] [ 3.58405841e-02 -1.55857712e-04 9.99357508e-01 2.05706476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.69, Y:24.76, Z:20.57 [[ 9.96922610e-01 -6.97571463e-02 -3.57666090e-02 5.78686148e+02] [ 6.97192629e-02 9.97563984e-01 -2.30682432e-03 2.47554403e+01] [ 3.58403984e-02 -1.93896293e-04 9.99357508e-01 2.05720021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.72, Y:24.76, Z:20.57 [[ 9.96466547e-01 -7.59945428e-02 -3.57666090e-02 5.78717817e+02] [ 7.59606738e-02 9.97108146e-01 -2.30682432e-03 2.47588417e+01] [ 3.58384832e-02 -4.18182454e-04 9.99357508e-01 2.05734220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.75, Y:24.76, Z:20.57 [[ 9.96210530e-01 -7.92800303e-02 -3.57667039e-02 5.78750129e+02] [ 7.92483301e-02 9.96852240e-01 -2.30535134e-03 2.47610453e+01] [ 3.58368872e-02 -5.37836275e-04 9.99357508e-01 2.05748510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.78, Y:24.76, Z:20.58 [[ 9.96216326e-01 -7.92070871e-02 -3.57668724e-02 5.78782735e+02] [ 7.91754339e-02 9.96858038e-01 -2.30273500e-03 2.47630886e+01] [ 3.58368872e-02 -5.37835441e-04 9.99357508e-01 2.05760219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.82, Y:24.76, Z:20.58 [[ 9.95906345e-01 -8.30136738e-02 -3.57670407e-02 5.78815010e+02] [ 8.29845671e-02 9.96548178e-01 -2.30011780e-03 2.47648788e+01] [ 3.58345205e-02 -6.77410473e-04 9.99357508e-01 2.05772793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.85, Y:24.77, Z:20.58 [[ 9.95548535e-01 -8.71998876e-02 -3.57672087e-02 5.78847117e+02] [ 8.71735735e-02 9.96190489e-01 -2.29750284e-03 2.47663896e+01] [ 3.58312951e-02 -8.30679804e-04 9.99357508e-01 2.05783339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.88, Y:24.77, Z:20.58 [[ 9.95164708e-01 -9.14762210e-02 -3.57673757e-02 5.78877869e+02] [ 9.14527586e-02 9.95806772e-01 -2.29489877e-03 2.47674318e+01] [ 3.58273236e-02 -9.87222919e-04 9.99357508e-01 2.05786305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.91, Y:24.77, Z:20.58 [[ 9.94719056e-01 -9.62012786e-02 -3.57675001e-02 5.78910430e+02] [ 9.61809354e-02 9.95361226e-01 -2.29295904e-03 2.47688476e+01] [ 3.58221683e-02 -1.15930156e-03 9.99357508e-01 2.05802058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.94, Y:24.77, Z:20.58 [[ 9.93787790e-01 -1.05387389e-01 -3.57676674e-02 5.78941319e+02] [ 1.05373074e-01 9.94430123e-01 -2.29034545e-03 2.47691043e+01] [ 3.58098195e-02 -1.49283172e-03 9.99357508e-01 2.05813529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.97, Y:24.77, Z:20.58 [[ 9.93355525e-01 -1.09386774e-01 -3.57677921e-02 5.78974598e+02] [ 1.09375115e-01 9.93997911e-01 -2.28839682e-03 2.47704104e+01] [ 3.58034310e-02 -1.63891474e-03 9.99357508e-01 2.05827429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.01, Y:24.77, Z:20.58 [[ 9.92946313e-01 -1.13040998e-01 -3.57680361e-02 5.79006420e+02] [ 1.13031839e-01 9.93588740e-01 -2.28457650e-03 2.47716829e+01] [ 3.57969688e-02 -1.77446509e-03 9.99357508e-01 2.05849084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.04, Y:24.77, Z:20.59 [[ 9.92291864e-01 -1.18648606e-01 -3.57682035e-02 5.79037178e+02] [ 1.18643171e-01 9.92934334e-01 -2.28195273e-03 2.47725210e+01] [ 3.57862278e-02 -1.97928995e-03 9.99357508e-01 2.05859557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.07, Y:24.77, Z:20.59 [[ 9.92040250e-01 -1.20734290e-01 -3.57683281e-02 5.79069833e+02] [ 1.20730275e-01 9.92682730e-01 -2.27999759e-03 2.47741005e+01] [ 3.57818755e-02 -2.05647073e-03 9.99357508e-01 2.05881647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.10, Y:24.78, Z:20.59 [[ 9.91835813e-01 -1.22402323e-01 -3.57685792e-02 5.79101850e+02] [ 1.22399531e-01 9.92478299e-01 -2.27605226e-03 2.47758868e+01] [ 3.57781327e-02 -2.12058716e-03 9.99357508e-01 2.05889569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.14, Y:24.78, Z:20.59 [[ 9.91848901e-01 -1.22296161e-01 -3.57687869e-02 5.79135304e+02] [ 1.22293418e-01 9.92491388e-01 -2.27278361e-03 2.47779214e+01] [ 3.57781656e-02 -2.12002927e-03 9.99357508e-01 2.05901580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.17, Y:24.78, Z:20.59 [[ 9.91564103e-01 -1.24584137e-01 -3.57690296e-02 5.79168317e+02] [ 1.24583013e-01 9.92206594e-01 -2.26895684e-03 2.47799408e+01] [ 3.57729431e-02 -2.20639734e-03 9.99357508e-01 2.05916426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.20, Y:24.78, Z:20.59 [[ 9.91502878e-01 -1.25070391e-01 -3.57692761e-02 5.79200550e+02] [ 1.25069722e-01 9.92145369e-01 -2.26506439e-03 2.47818231e+01] [ 3.57716142e-02 -2.22783556e-03 9.99357508e-01 2.05923471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.23, Y:24.78, Z:20.59 [[ 9.91449730e-01 -1.25490948e-01 -3.57694801e-02 5.79232374e+02] [ 1.25490668e-01 9.92092222e-01 -2.26183931e-03 2.47838031e+01] [ 3.57704633e-02 -2.24623597e-03 9.99357508e-01 2.05938951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.27, Y:24.79, Z:20.59 [[ 9.91475499e-01 -1.25287139e-01 -3.57696451e-02 5.79265738e+02] [ 1.25286821e-01 9.92117991e-01 -2.25922558e-03 2.47858738e+01] [ 3.57707604e-02 -2.24149832e-03 9.99357508e-01 2.05947583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.30, Y:24.79, Z:20.60 [[ 9.91546577e-01 -1.24723295e-01 -3.57698926e-02 5.79298272e+02] [ 1.24722752e-01 9.92189069e-01 -2.25530045e-03 2.47883004e+01] [ 3.57717850e-02 -2.22508402e-03 9.99357508e-01 2.05960289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.32, Y:24.80, Z:20.60 [[ 9.91274979e-01 -1.26863756e-01 -3.57701410e-02 5.79322693e+02] [ 1.26864742e-01 9.91917471e-01 -2.25135494e-03 2.47968022e+01] [ 3.57666431e-02 -2.30625789e-03 9.99357508e-01 2.05959308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.36, Y:24.79, Z:20.60 [[ 9.92048973e-01 -1.20672677e-01 -3.57342962e-02 5.79359048e+02] [ 1.20649336e-01 9.92691193e-01 -2.81673550e-03 2.47939664e+01] [ 3.58130241e-02 -1.51697954e-03 9.99357357e-01 2.05978819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.39, Y:24.80, Z:20.60 [[ 9.92622328e-01 -1.15850768e-01 -3.57702891e-02 5.79390667e+02] [ 1.15844929e-01 9.93264780e-01 -2.24277391e-03 2.47967326e+01] [ 3.57891954e-02 -1.91757914e-03 9.99357522e-01 2.05993697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.42, Y:24.81, Z:20.60 [[ 9.92389952e-01 -1.17824694e-01 -3.57704523e-02 5.79415574e+02] [ 1.17820226e-01 9.93032414e-01 -2.24016850e-03 2.48054406e+01] [ 3.57851658e-02 -1.99136207e-03 9.99357522e-01 2.05994659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.45, Y:24.80, Z:20.60 [[ 9.93382526e-01 -1.09153783e-01 -3.57296590e-02 5.79451690e+02] [ 1.09120510e-01 9.94024339e-01 -2.88578725e-03 2.48029440e+01] [ 3.58311453e-02 -1.03214800e-03 9.99357325e-01 2.06020978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.48, Y:24.81, Z:20.60 [[ 9.93829855e-01 -1.04989093e-01 -3.57702396e-02 5.79483285e+02] [ 1.04976435e-01 9.94472194e-01 -2.23701842e-03 2.48058033e+01] [ 3.58073712e-02 -1.53181654e-03 9.99357536e-01 2.06030580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.52, Y:24.81, Z:20.61 [[ 9.94726979e-01 -9.61181440e-02 -3.57706433e-02 5.79516390e+02] [ 9.60999879e-02 9.95369186e-01 -2.23054470e-03 2.48107088e+01] [ 3.58193919e-02 -1.21877540e-03 9.99357536e-01 2.06050604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.55, Y:24.81, Z:20.61 [[ 9.95144979e-01 -9.16892266e-02 -3.57708839e-02 5.79548214e+02] [ 9.16683508e-02 9.95787103e-01 -2.22668046e-03 2.48144190e+01] [ 3.58243474e-02 -1.06318805e-03 9.99357536e-01 2.06067118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.58, Y:24.82, Z:20.61 [[ 9.95527974e-01 -8.74327434e-02 -3.57710434e-02 5.79580292e+02] [ 8.74092139e-02 9.96170007e-01 -2.22411425e-03 2.48175142e+01] [ 3.58285010e-02 -9.12550831e-04 9.99357537e-01 2.06087128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.61, Y:24.82, Z:20.61 [[ 9.96170100e-01 -7.97844091e-02 -3.57712052e-02 5.79611304e+02] [ 7.97560430e-02 9.96811937e-01 -2.22150990e-03 2.48202770e+01] [ 3.58344062e-02 -6.39968038e-04 9.99357537e-01 2.06105359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.64, Y:24.82, Z:20.61 [[ 9.96439097e-01 -7.63514097e-02 -3.57713253e-02 5.79642036e+02] [ 7.63209017e-02 9.97080836e-01 -2.21957346e-03 2.48228337e+01] [ 3.58363705e-02 -5.18430031e-04 9.99357537e-01 2.06120315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.67, Y:24.83, Z:20.61 [[ 9.96870099e-01 -7.05011382e-02 -3.57714431e-02 5.79672753e+02] [ 7.04669319e-02 9.97511651e-01 -2.21767386e-03 2.48259787e+01] [ 3.58387798e-02 -3.09971085e-04 9.99357537e-01 2.06119719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.70, Y:24.83, Z:20.61 [[ 9.97027571e-01 -6.82379703e-02 -3.57715200e-02 5.79703693e+02] [ 6.82023523e-02 9.97669047e-01 -2.21643168e-03 2.48280670e+01] [ 3.58393831e-02 -2.29858315e-04 9.99357537e-01 2.06126529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.73, Y:24.83, Z:20.61 [[ 9.97186827e-01 -6.58697572e-02 -3.57715987e-02 5.79734820e+02] [ 6.58326613e-02 9.97828219e-01 -2.21516206e-03 2.48299028e+01] [ 3.58398228e-02 -1.46009118e-04 9.99357537e-01 2.06142441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.225099893 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:579.76, Y:24.83, Z:20.61 [[ 9.97355272e-01 -6.32680715e-02 -3.57716790e-02 5.79763468e+02] [ 6.32293490e-02 9.97996567e-01 -2.21386374e-03 2.48335589e+01] [ 3.58400798e-02 -5.38113100e-05 9.99357537e-01 2.06130469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.79, Y:24.83, Z:20.62 [[ 9.97525040e-01 -6.05427790e-02 -3.57542474e-02 5.79794316e+02] [ 6.04922417e-02 9.98165550e-01 -2.49454147e-03 2.48325979e+01] [ 3.58396845e-02 3.25513006e-04 9.99357499e-01 2.06173856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.82, Y:24.83, Z:20.62 [[ 9.97590857e-01 -5.94379877e-02 -3.57716127e-02 5.79823343e+02] [ 5.93967985e-02 9.98231996e-01 -2.21399293e-03 2.48332053e+01] [ 3.58399636e-02 8.39398362e-05 9.99357539e-01 2.06179650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.85, Y:24.83, Z:20.62 [[ 9.97598013e-01 -5.93178494e-02 -3.57714645e-02 5.79851932e+02] [ 5.92764972e-02 9.98239142e-01 -2.21638391e-03 2.48347615e+01] [ 3.58399472e-02 9.06530706e-05 9.99357539e-01 2.06177585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.88, Y:24.83, Z:20.62 [[ 9.97595751e-01 -5.93642127e-02 -3.57576379e-02 5.79882168e+02] [ 5.93149377e-02 9.98236341e-01 -2.43820979e-03 2.48347498e+01] [ 3.58393160e-02 3.11385661e-04 9.99357517e-01 2.06209565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.91, Y:24.83, Z:20.62 [[ 9.97446991e-01 -6.18057420e-02 -3.57707973e-02 5.79912366e+02] [ 6.17656140e-02 9.98088198e-01 -2.22683668e-03 2.48340154e+01] [ 3.58400419e-02 1.17462852e-05 9.99357539e-01 2.06211872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.94, Y:24.83, Z:20.62 [[ 9.97336682e-01 -6.35609785e-02 -3.57707174e-02 5.79942465e+02] [ 6.35219330e-02 9.97977955e-01 -2.22811835e-03 2.48344651e+01] [ 3.58400088e-02 -5.00409578e-05 9.99357539e-01 2.06227260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.97, Y:24.83, Z:20.62 [[ 9.97228152e-01 -6.52416205e-02 -3.57707174e-02 5.79972630e+02] [ 6.52036558e-02 9.97869490e-01 -2.22811835e-03 2.48347160e+01] [ 3.58398736e-02 -1.10439206e-04 9.99357539e-01 2.06244044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.00, Y:24.83, Z:20.63 [[ 9.97112174e-01 -6.69908059e-02 -3.57707174e-02 5.80001724e+02] [ 6.69539662e-02 9.97753578e-01 -2.22811835e-03 2.48347216e+01] [ 3.58396247e-02 -1.73307479e-04 9.99357539e-01 2.06253997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.03, Y:24.83, Z:20.63 [[ 9.96882404e-01 -7.03273112e-02 -3.57706775e-02 5.80030873e+02] [ 7.02925953e-02 9.97523926e-01 -2.22875951e-03 2.48333754e+01] [ 3.58388493e-02 -2.92602618e-04 9.99357539e-01 2.06263837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.06, Y:24.83, Z:20.63 [[ 9.96774913e-01 -7.18347743e-02 -3.57706385e-02 5.80062615e+02] [ 7.18010061e-02 9.97416485e-01 -2.22938526e-03 2.48341753e+01] [ 3.58383719e-02 -3.46172540e-04 9.99357539e-01 2.06286397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.09, Y:24.83, Z:20.63 [[ 9.96692552e-01 -7.29685673e-02 -3.57707196e-02 5.80092551e+02] [ 7.29355757e-02 9.97334165e-01 -2.22808281e-03 2.48349098e+01] [ 3.58379408e-02 -3.88244489e-04 9.99357539e-01 2.06289696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.12, Y:24.84, Z:20.63 [[ 9.96628083e-01 -7.38438691e-02 -3.57707599e-02 5.80124364e+02] [ 7.38114642e-02 9.97269726e-01 -2.22743645e-03 2.48355531e+01] [ 3.58375784e-02 -4.20366441e-04 9.99357539e-01 2.06303121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.15, Y:24.84, Z:20.63 [[ 9.96588976e-01 -7.43697457e-02 -3.57708396e-02 5.80154307e+02] [ 7.43377253e-02 9.97230639e-01 -2.22615590e-03 2.48357592e+01] [ 3.58373358e-02 -4.40560412e-04 9.99357539e-01 2.06311893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.19, Y:24.83, Z:20.63 [[ 9.96575957e-01 -7.45439915e-02 -3.57708791e-02 5.80185404e+02] [ 7.45121061e-02 9.97217626e-01 -2.22551981e-03 2.48339635e+01] [ 3.58372503e-02 -4.47464010e-04 9.99357539e-01 2.06326505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.22, Y:24.83, Z:20.63 [[ 9.96579338e-01 -7.44987394e-02 -3.57709591e-02 5.80216356e+02] [ 7.44668710e-02 9.97221008e-01 -2.22423385e-03 2.48341222e+01] [ 3.58372545e-02 -4.47125897e-04 9.99357539e-01 2.06338355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.25, Y:24.83, Z:20.64 [[ 9.96639723e-01 -7.36864703e-02 -3.57710393e-02 5.80247595e+02] [ 7.36541253e-02 9.97281369e-01 -2.22294258e-03 2.48335195e+01] [ 3.58375919e-02 -4.19211734e-04 9.99357539e-01 2.06350122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.28, Y:24.83, Z:20.64 [[ 9.96673366e-01 -7.32299659e-02 -3.57711208e-02 5.80277954e+02] [ 7.31973740e-02 9.97315000e-01 -2.22163157e-03 2.48344254e+01] [ 3.58377653e-02 -4.04111091e-04 9.99357539e-01 2.06357287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.31, Y:24.84, Z:20.64 [[ 9.96687558e-01 -7.30365392e-02 -3.57711611e-02 5.80308562e+02] [ 7.30038461e-02 9.97329186e-01 -2.22098224e-03 2.48354773e+01] [ 3.58378358e-02 -3.97806973e-04 9.99357539e-01 2.06367173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.34, Y:24.84, Z:20.64 [[ 9.96728985e-01 -7.24689647e-02 -3.57712009e-02 5.80339142e+02] [ 7.24359293e-02 9.97370596e-01 -2.22034031e-03 2.48361166e+01] [ 3.58380498e-02 -3.78042640e-04 9.99357539e-01 2.06381397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.37, Y:24.83, Z:20.64 [[ 9.96827632e-01 -7.10991792e-02 -3.57712009e-02 5.80368892e+02] [ 7.10652621e-02 9.97469197e-01 -2.22034031e-03 2.48347842e+01] [ 3.58385354e-02 -3.28793198e-04 9.99357539e-01 2.06381692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.40, Y:24.83, Z:20.64 [[ 9.96892716e-01 -7.01807481e-02 -3.57711609e-02 5.80399187e+02] [ 7.01462168e-02 9.97534248e-01 -2.22098467e-03 2.48349511e+01] [ 3.58388285e-02 -2.95128173e-04 9.99357539e-01 2.06395052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.43, Y:24.83, Z:20.64 [[ 9.97050777e-01 -6.78982538e-02 -3.57711609e-02 5.80429006e+02] [ 6.78622538e-02 9.97692228e-01 -2.22098467e-03 2.48346439e+01] [ 3.58394102e-02 -2.13077114e-04 9.99357539e-01 2.06390113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.46, Y:24.84, Z:20.64 [[ 9.97129978e-01 -6.67250265e-02 -3.57711773e-02 5.80459827e+02] [ 6.66882813e-02 9.97771387e-01 -2.22072051e-03 2.48358983e+01] [ 3.58396349e-02 -1.71171339e-04 9.99357539e-01 2.06409916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.49, Y:24.84, Z:20.64 [[ 9.97287009e-01 -6.43354023e-02 -3.57711773e-02 5.80489694e+02] [ 6.42971202e-02 9.97928328e-01 -2.22072051e-03 2.48357458e+01] [ 3.58399421e-02 -8.52879684e-05 9.99357539e-01 2.06420164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.52, Y:24.83, Z:20.64 [[ 9.97327956e-01 -6.36975473e-02 -3.57710957e-02 5.80519100e+02] [ 6.36588079e-02 9.97969247e-01 -2.22203441e-03 2.48315726e+01] [ 3.58399916e-02 -6.10482702e-05 9.99357539e-01 2.06427224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.55, Y:24.83, Z:20.64 [[ 9.97124733e-01 -6.68034768e-02 -3.57709743e-02 5.80547748e+02] [ 6.67666649e-02 9.97766138e-01 -2.22398647e-03 2.48277991e+01] [ 3.58396369e-02 -1.70716741e-04 9.99357539e-01 2.06430094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.58, Y:24.83, Z:20.64 [[ 9.97007501e-01 -6.85312123e-02 -3.57703345e-02 5.80576931e+02] [ 6.84951444e-02 9.97648948e-01 -2.23423032e-03 2.48282482e+01] [ 3.58393511e-02 -2.22549836e-04 9.99357539e-01 2.06440225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.61, Y:24.83, Z:20.64 [[ 9.96891449e-01 -7.01994519e-02 -3.57697672e-02 5.80605620e+02] [ 7.01641328e-02 9.97532938e-01 -2.24327664e-03 2.48285548e+01] [ 3.58389977e-02 -2.73451400e-04 9.99357539e-01 2.06438954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.64, Y:24.83, Z:20.65 [[ 9.96752360e-01 -7.21475249e-02 -3.57696467e-02 5.80635390e+02] [ 7.21133906e-02 9.97393913e-01 -2.24519662e-03 2.48286263e+01] [ 3.58384132e-02 -3.41565471e-04 9.99357539e-01 2.06454252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.67, Y:24.83, Z:20.65 [[ 9.96749765e-01 -7.21834089e-02 -3.57695658e-02 5.80665462e+02] [ 7.21492515e-02 9.97391317e-01 -2.24648340e-03 2.48305435e+01] [ 3.58384132e-02 -3.41565602e-04 9.99357539e-01 2.06465061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.69, Y:24.83, Z:20.65 [[ 9.96595374e-01 -7.42846163e-02 -3.57694850e-02 5.80694237e+02] [ 7.42517654e-02 9.97236994e-01 -2.24777031e-03 2.48303291e+01] [ 3.58376284e-02 -4.15829916e-04 9.99357539e-01 2.06461489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.72, Y:24.83, Z:20.65 [[ 9.96434832e-01 -7.64079770e-02 -3.57693645e-02 5.80723674e+02] [ 7.63764246e-02 9.97076517e-01 -2.24968505e-03 2.48300391e+01] [ 3.58366873e-02 -4.90271635e-04 9.99357539e-01 2.06470330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.75, Y:24.83, Z:20.65 [[ 9.96268557e-01 -7.85462998e-02 -3.57692874e-02 5.80753143e+02] [ 7.85160806e-02 9.96910306e-01 -2.25091082e-03 2.48302882e+01] [ 3.58355720e-02 -5.65952584e-04 9.99357539e-01 2.06489031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.78, Y:24.83, Z:20.65 [[ 9.95920421e-01 -8.28436949e-02 -3.57692088e-02 5.80784072e+02] [ 8.28161998e-02 9.96562294e-01 -2.25215882e-03 2.48298669e+01] [ 3.58328219e-02 -7.19298986e-04 9.99357539e-01 2.06516340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.81, Y:24.83, Z:20.65 [[ 9.95610530e-01 -8.64883569e-02 -3.57692088e-02 5.80813390e+02] [ 8.64632114e-02 9.96252499e-01 -2.25215882e-03 2.48302118e+01] [ 3.58299492e-02 -8.50447629e-04 9.99357539e-01 2.06522335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.84, Y:24.83, Z:20.66 [[ 9.95510872e-01 -8.76280136e-02 -3.57692014e-02 5.80843568e+02] [ 8.76035987e-02 9.96152868e-01 -2.25227669e-03 2.48316203e+01] [ 3.58289551e-02 -8.91344840e-04 9.99357539e-01 2.06552765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.87, Y:24.83, Z:20.66 [[ 9.95468873e-01 -8.81038387e-02 -3.57692014e-02 5.80873717e+02] [ 8.80797307e-02 9.96110882e-01 -2.25227669e-03 2.48326985e+01] [ 3.58285250e-02 -9.08470293e-04 9.99357539e-01 2.06559014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.90, Y:24.83, Z:20.66 [[ 9.95469481e-01 -8.80969553e-02 -3.57692414e-02 5.80903870e+02] [ 8.80728657e-02 9.96111490e-01 -2.25164175e-03 2.48335347e+01] [ 3.58285151e-02 -9.08858950e-04 9.99357539e-01 2.06575631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.93, Y:24.84, Z:20.66 [[ 9.95469481e-01 -8.80969553e-02 -3.57692414e-02 5.80934787e+02] [ 8.80728657e-02 9.96111490e-01 -2.25164175e-03 2.48354809e+01] [ 3.58285151e-02 -9.08858950e-04 9.99357539e-01 2.06586741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.97, Y:24.84, Z:20.66 [[ 9.95606310e-01 -8.65369089e-02 -3.57692414e-02 5.80965034e+02] [ 8.65118132e-02 9.96248280e-01 -2.25164175e-03 2.48360447e+01] [ 3.58298953e-02 -8.52713198e-04 9.99357539e-01 2.06597702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.00, Y:24.84, Z:20.66 [[ 9.95739855e-01 -8.49864861e-02 -3.57692414e-02 5.80995305e+02] [ 8.49603908e-02 9.96381785e-01 -2.25164175e-03 2.48380726e+01] [ 3.58311797e-02 -7.96919300e-04 9.99357539e-01 2.06611800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.03, Y:24.84, Z:20.66 [[ 9.96055089e-01 -8.12085025e-02 -3.57692414e-02 5.81026067e+02] [ 8.11799723e-02 9.96696916e-01 -2.25164175e-03 2.48407319e+01] [ 3.58339450e-02 -6.60986802e-04 9.99357539e-01 2.06641054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.06, Y:24.84, Z:20.67 [[ 9.96052145e-01 -8.12446092e-02 -3.57692414e-02 5.81056141e+02] [ 8.12161022e-02 9.96693973e-01 -2.25164175e-03 2.48426528e+01] [ 3.58339210e-02 -6.62285772e-04 9.99357539e-01 2.06651861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.09, Y:24.84, Z:20.67 [[ 9.96211046e-01 -7.92724312e-02 -3.57691597e-02 5.81085541e+02] [ 7.92426070e-02 9.96852814e-01 -2.25293920e-03 2.48446184e+01] [ 3.58351834e-02 -5.90038542e-04 9.99357539e-01 2.06668668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.12, Y:24.85, Z:20.67 [[ 9.96299662e-01 -7.81508635e-02 -3.57690785e-02 5.81115119e+02] [ 7.81202706e-02 9.96941393e-01 -2.25422773e-03 2.48462344e+01] [ 3.58358448e-02 -5.48403761e-04 9.99357539e-01 2.06680475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.14, Y:24.85, Z:20.67 [[ 9.96358463e-01 -7.73976237e-02 -3.57689976e-02 5.81144865e+02] [ 7.73664996e-02 9.97000169e-01 -2.25550934e-03 2.48473611e+01] [ 3.58362678e-02 -5.20026321e-04 9.99357539e-01 2.06689507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.17, Y:24.85, Z:20.67 [[ 9.96309136e-01 -7.80300649e-02 -3.57689171e-02 5.81173397e+02] [ 7.79993023e-02 9.96950859e-01 -2.25678571e-03 2.48471224e+01] [ 3.58359498e-02 -5.41494363e-04 9.99357539e-01 2.06685800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.20, Y:24.85, Z:20.67 [[ 9.96230700e-01 -7.90252169e-02 -3.57687972e-02 5.81203124e+02] [ 7.89950272e-02 9.96872451e-01 -2.25868470e-03 2.48482026e+01] [ 3.58354216e-02 -5.75386065e-04 9.99357539e-01 2.06689025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.23, Y:24.85, Z:20.67 [[ 9.96026230e-01 -8.15619325e-02 -3.57687184e-02 5.81232466e+02] [ 8.15333324e-02 9.96668053e-01 -2.25993205e-03 2.48489789e+01] [ 3.58338633e-02 -6.65391205e-04 9.99357539e-01 2.06696764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.26, Y:24.85, Z:20.67 [[ 9.95912146e-01 -8.29433679e-02 -3.57686371e-02 5.81260862e+02] [ 8.29156118e-02 9.96554007e-01 -2.26121825e-03 2.48505082e+01] [ 3.58329316e-02 -7.13803707e-04 9.99357539e-01 2.06694000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.29, Y:24.85, Z:20.67 [[ 9.95822687e-01 -8.40106461e-02 -3.57685160e-02 5.81289469e+02] [ 8.39835092e-02 9.96464575e-01 -2.26313195e-03 2.48519424e+01] [ 3.58321862e-02 -7.50287354e-04 9.99357539e-01 2.06704924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.32, Y:24.85, Z:20.67 [[ 9.95781111e-01 -8.45022561e-02 -3.57679698e-02 5.81317706e+02] [ 8.44751274e-02 9.96422999e-01 -2.27173105e-03 2.48534772e+01] [ 3.58319942e-02 -7.59356942e-04 9.99357539e-01 2.06714577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.35, Y:24.85, Z:20.68 [[ 9.95795383e-01 -8.43339555e-02 -3.57678538e-02 5.81347539e+02] [ 8.43066528e-02 9.96437263e-01 -2.27355619e-03 2.48547688e+01] [ 3.58321604e-02 -7.51471275e-04 9.99357539e-01 2.06750215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.38, Y:24.86, Z:20.68 [[ 9.95821656e-01 -8.40231882e-02 -3.57677721e-02 5.81376779e+02] [ 8.39956390e-02 9.96463526e-01 -2.27484060e-03 2.48567723e+01] [ 3.58324197e-02 -7.39001346e-04 9.99357539e-01 2.06771638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.41, Y:24.86, Z:20.68 [[ 9.95839486e-01 -8.38116411e-02 -3.57676902e-02 5.81405869e+02] [ 8.37839094e-02 9.96481347e-01 -2.27612744e-03 2.48589339e+01] [ 3.58326021e-02 -7.30099342e-04 9.99357539e-01 2.06794393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.44, Y:24.86, Z:20.68 [[ 9.95852155e-01 -8.36610104e-02 -3.57676073e-02 5.81435566e+02] [ 8.36331348e-02 9.96494010e-01 -2.27742969e-03 2.48610013e+01] [ 3.58327385e-02 -7.23373861e-04 9.99357539e-01 2.06817716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.46, Y:24.86, Z:20.68 [[ 9.95802417e-01 -8.42509848e-02 -3.57675662e-02 5.81464499e+02] [ 8.42234663e-02 9.96444288e-01 -2.27807576e-03 2.48630363e+01] [ 3.58323171e-02 -7.43955054e-04 9.99357539e-01 2.06825457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.49, Y:24.87, Z:20.68 [[ 9.95771703e-01 -8.46132377e-02 -3.57675256e-02 5.81494424e+02] [ 8.45859299e-02 9.96413583e-01 -2.27871224e-03 2.48650438e+01] [ 3.58320576e-02 -7.56352243e-04 9.99357539e-01 2.06847334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.52, Y:24.87, Z:20.69 [[ 9.95721659e-01 -8.52001658e-02 -3.57674457e-02 5.81523830e+02] [ 8.51731913e-02 9.96363553e-01 -2.27996583e-03 2.48668057e+01] [ 3.58316328e-02 -7.76216137e-04 9.99357539e-01 2.06859050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.55, Y:24.87, Z:20.69 [[ 9.95728781e-01 -8.51169245e-02 -3.57673644e-02 5.81553576e+02] [ 8.50898505e-02 9.96370671e-01 -2.28124148e-03 2.48687048e+01] [ 3.58317251e-02 -7.71941889e-04 9.99357539e-01 2.06864981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.58, Y:24.87, Z:20.69 [[ 9.95729412e-01 -8.51095702e-02 -3.57672829e-02 5.81584452e+02] [ 8.50824457e-02 9.96371300e-01 -2.28251779e-03 2.48709341e+01] [ 3.58317583e-02 -7.70397810e-04 9.99357539e-01 2.06880368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.61, Y:24.87, Z:20.69 [[ 9.95717759e-01 -8.52457920e-02 -3.57672829e-02 5.81614821e+02] [ 8.52187553e-02 9.96359651e-01 -2.28251779e-03 2.48737608e+01] [ 3.58316525e-02 -7.75299831e-04 9.99357539e-01 2.06888674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.64, Y:24.88, Z:20.69 [[ 9.95666769e-01 -8.58393043e-02 -3.57672829e-02 5.81644366e+02] [ 8.58126502e-02 9.96308677e-01 -2.28251779e-03 2.48760519e+01] [ 3.58311840e-02 -7.96658225e-04 9.99357539e-01 2.06892793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.67, Y:24.88, Z:20.69 [[ 9.95575345e-01 -8.68932543e-02 -3.57672416e-02 5.81674893e+02] [ 8.68672565e-02 9.96217279e-01 -2.28316509e-03 2.48782950e+01] [ 3.58303357e-02 -8.33939279e-04 9.99357539e-01 2.06904098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.71, Y:24.88, Z:20.69 [[ 9.95452261e-01 -8.82921292e-02 -3.57672416e-02 5.81705630e+02] [ 8.82670335e-02 9.96094231e-01 -2.28316509e-03 2.48802723e+01] [ 3.58291285e-02 -8.84286459e-04 9.99357539e-01 2.06913616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.74, Y:24.88, Z:20.69 [[ 9.95148064e-01 -9.16571569e-02 -3.57672416e-02 5.81736049e+02] [ 9.16342317e-02 9.95790116e-01 -2.28316509e-03 2.48817443e+01] [ 3.58259341e-02 -1.00541638e-03 9.99357539e-01 2.06917977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.77, Y:24.88, Z:20.69 [[ 9.94990131e-01 -9.33560062e-02 -3.57672416e-02 5.81766543e+02] [ 9.33341773e-02 9.95632221e-01 -2.28316509e-03 2.48833397e+01] [ 3.58241653e-02 -1.06657934e-03 9.99357539e-01 2.06916744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.80, Y:24.89, Z:20.69 [[ 9.94839442e-01 -9.49483357e-02 -3.57672830e-02 5.81798131e+02] [ 9.49275578e-02 9.95481566e-01 -2.28251583e-03 2.48850560e+01] [ 3.58223920e-02 -1.12456405e-03 9.99357539e-01 2.06933102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.83, Y:24.89, Z:20.69 [[ 9.94707367e-01 -9.63221174e-02 -3.57673663e-02 5.81828312e+02] [ 9.63022731e-02 9.95349521e-01 -2.28121030e-03 2.48871762e+01] [ 3.58207619e-02 -1.17534198e-03 9.99357539e-01 2.06940978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.86, Y:24.89, Z:20.69 [[ 9.94551679e-01 -9.79165432e-02 -3.57674076e-02 5.81858642e+02] [ 9.78977516e-02 9.95193865e-01 -2.28056250e-03 2.48900932e+01] [ 3.58188094e-02 -1.23341152e-03 9.99357539e-01 2.06946274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.89, Y:24.89, Z:20.70 [[ 9.94512097e-01 -9.83177420e-02 -3.57674485e-02 5.81890194e+02] [ 9.82992325e-02 9.95154291e-01 -2.27992096e-03 2.48927515e+01] [ 3.58182865e-02 -1.24850375e-03 9.99357539e-01 2.06960200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.92, Y:24.90, Z:20.70 [[ 9.94494831e-01 -9.84922062e-02 -3.57675308e-02 5.81921460e+02] [ 9.84738558e-02 9.95137030e-01 -2.27862817e-03 2.48955681e+01] [ 3.58180215e-02 -1.25608274e-03 9.99357539e-01 2.06969277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.95, Y:24.90, Z:20.70 [[ 9.94495295e-01 -9.84874920e-02 -3.57676130e-02 5.81952300e+02] [ 9.84691849e-02 9.95137495e-01 -2.27733715e-03 2.48982658e+01] [ 3.58179821e-02 -1.25720662e-03 9.99357539e-01 2.06982868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.98, Y:24.90, Z:20.70 [[ 9.94497575e-01 -9.84644331e-02 -3.57676961e-02 5.81984379e+02] [ 9.84461581e-02 9.95139776e-01 -2.27603161e-03 2.49018818e+01] [ 3.58179653e-02 -1.25768435e-03 9.99357539e-01 2.06997344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.02, Y:24.90, Z:20.70 [[ 9.94500244e-01 -9.84374193e-02 -3.57678628e-02 5.82015434e+02] [ 9.84192210e-02 9.95142446e-01 -2.27340928e-03 2.49047849e+01] [ 3.58179070e-02 -1.25933911e-03 9.99357539e-01 2.07008031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.05, Y:24.91, Z:20.70 [[ 9.94485452e-01 -9.85866988e-02 -3.57679868e-02 5.82047394e+02] [ 9.85686670e-02 9.95127659e-01 -2.27145710e-03 2.49078288e+01] [ 3.58176484e-02 -1.26667174e-03 9.99357539e-01 2.07025096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.08, Y:24.91, Z:20.70 [[ 9.94366233e-01 -9.97819339e-02 -3.57681520e-02 5.82078757e+02] [ 9.97647676e-02 9.95008464e-01 -2.26885186e-03 2.49117092e+01] [ 3.58160044e-02 -1.31233170e-03 9.99357539e-01 2.07038703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.11, Y:24.91, Z:20.71 [[ 9.94296268e-01 -1.00476670e-01 -3.57682750e-02 5.82110459e+02] [ 1.00460022e-01 9.94938513e-01 -2.26691209e-03 2.49145250e+01] [ 3.58150061e-02 -1.33929945e-03 9.99357539e-01 2.07060020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.14, Y:24.92, Z:20.71 [[ 9.94254608e-01 -1.00888023e-01 -3.57684397e-02 5.82141508e+02] [ 1.00871734e-01 9.94896862e-01 -2.26430905e-03 2.49170479e+01] [ 3.58143501e-02 -1.35672484e-03 9.99357539e-01 2.07067946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.17, Y:24.92, Z:20.71 [[ 9.94190521e-01 -1.01517522e-01 -3.57687104e-02 5.82173366e+02] [ 1.01501794e-01 9.94832789e-01 -2.26002502e-03 2.49205833e+01] [ 3.58133181e-02 -1.38369283e-03 9.99357539e-01 2.07077901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.20, Y:24.92, Z:20.71 [[ 9.94215069e-01 -1.01276767e-01 -3.57688745e-02 5.82204831e+02] [ 1.01260977e-01 9.94857336e-01 -2.25742556e-03 2.49233612e+01] [ 3.58135519e-02 -1.37762467e-03 9.99357539e-01 2.07082312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.24, Y:24.93, Z:20.71 [[ 9.94261804e-01 -1.00816887e-01 -3.57689966e-02 5.82235773e+02] [ 1.00800869e-01 9.94904065e-01 -2.25548843e-03 2.49268368e+01] [ 3.58141115e-02 -1.36299996e-03 9.99357539e-01 2.07090642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.27, Y:24.93, Z:20.71 [[ 9.94472168e-01 -9.87201934e-02 -3.57691156e-02 5.82266996e+02] [ 9.87028893e-02 9.95114396e-01 -2.25359994e-03 2.49320876e+01] [ 3.58168377e-02 -1.28937264e-03 9.99357539e-01 2.07098804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.30, Y:24.94, Z:20.71 [[ 9.94577761e-01 -9.76505505e-02 -3.57693695e-02 5.82297782e+02] [ 9.76327006e-02 9.95219973e-01 -2.24956287e-03 2.49354530e+01] [ 3.58180620e-02 -1.25489495e-03 9.99357539e-01 2.07108986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.33, Y:24.94, Z:20.71 [[ 9.94678106e-01 -9.66230383e-02 -3.57694458e-02 5.82329785e+02] [ 9.66045686e-02 9.95320301e-01 -2.24834862e-03 2.49388330e+01] [ 3.58192979e-02 -1.21910873e-03 9.99357539e-01 2.07138377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.36, Y:24.94, Z:20.72 [[ 9.94800185e-01 -9.53578928e-02 -3.57696094e-02 5.82361572e+02] [ 9.53387000e-02 9.95442358e-01 -2.24574328e-03 2.49436691e+01] [ 3.58207337e-02 -1.17616223e-03 9.99357539e-01 2.07162495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.39, Y:24.95, Z:20.72 [[ 9.94820450e-01 -9.51461761e-02 -3.57697742e-02 5.82392312e+02] [ 9.51269411e-02 9.95462623e-01 -2.24311487e-03 2.49468678e+01] [ 3.58208971e-02 -1.17117266e-03 9.99357539e-01 2.07172847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.42, Y:24.95, Z:20.72 [[ 9.94815152e-01 -9.52015144e-02 -3.57698967e-02 5.82424692e+02] [ 9.51823853e-02 9.95457327e-01 -2.24115987e-03 2.49499649e+01] [ 3.58207676e-02 -1.17512429e-03 9.99357539e-01 2.07187434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.46, Y:24.95, Z:20.72 [[ 9.94789917e-01 -9.54647745e-02 -3.57700618e-02 5.82455719e+02] [ 9.54459100e-02 9.95432101e-01 -2.23852262e-03 2.49531049e+01] [ 3.58203678e-02 -1.18724637e-03 9.99357539e-01 2.07191956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.49, Y:24.96, Z:20.72 [[ 9.94610169e-01 -9.73195455e-02 -3.57703365e-02 5.82487456e+02] [ 9.73020365e-02 9.95252391e-01 -2.23412320e-03 2.49575519e+01] [ 3.58179368e-02 -1.25844494e-03 9.99357539e-01 2.07197899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.52, Y:24.96, Z:20.72 [[ 9.94458750e-01 -9.88547747e-02 -3.57705000e-02 5.82519507e+02] [ 9.88383512e-02 9.95101000e-01 -2.23150293e-03 2.49603192e+01] [ 3.58158551e-02 -1.31635963e-03 9.99357539e-01 2.07204050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.55, Y:24.96, Z:20.72 [[ 9.94257730e-01 -1.00856458e-01 -3.57706645e-02 5.82550766e+02] [ 1.00841422e-01 9.94900015e-01 -2.22886335e-03 2.49628432e+01] [ 3.58130299e-02 -1.39110007e-03 9.99357539e-01 2.07205469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.58, Y:24.97, Z:20.72 [[ 9.93765111e-01 -1.05599975e-01 -3.57707869e-02 5.82581904e+02] [ 1.05588075e-01 9.94407461e-01 -2.22689630e-03 2.49659536e+01] [ 3.58058976e-02 -1.56395667e-03 9.99357539e-01 2.07211262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.61, Y:24.97, Z:20.72 [[ 9.93521418e-01 -1.07868601e-01 -3.57709064e-02 5.82614028e+02] [ 1.07858236e-01 9.94163795e-01 -2.22497495e-03 2.49683855e+01] [ 3.58021450e-02 -1.64762662e-03 9.99357539e-01 2.07226651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.65, Y:24.97, Z:20.72 [[ 9.93259346e-01 -1.10255621e-01 -3.57710683e-02 5.82645836e+02] [ 1.10246894e-01 9.93901747e-01 -2.22236950e-03 2.49707433e+01] [ 3.57979560e-02 -1.73625990e-03 9.99357539e-01 2.07237846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.68, Y:24.97, Z:20.73 [[ 9.92768675e-01 -1.14589602e-01 -3.57712299e-02 5.82677091e+02] [ 1.14583772e-01 9.93411109e-01 -2.21976514e-03 2.49735923e+01] [ 3.57898992e-02 -1.89508916e-03 9.99357539e-01 2.07254005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.71, Y:24.98, Z:20.73 [[ 9.92565093e-01 -1.16339792e-01 -3.57713502e-02 5.82708555e+02] [ 1.16335165e-01 9.93207537e-01 -2.21782603e-03 2.49763682e+01] [ 3.57863960e-02 -1.96012923e-03 9.99357539e-01 2.07265808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.74, Y:24.98, Z:20.73 [[ 9.92405903e-01 -1.17689959e-01 -3.57714690e-02 5.82740250e+02] [ 1.17686274e-01 9.93048353e-01 -2.21590727e-03 2.49792277e+01] [ 3.57835884e-02 -2.01073146e-03 9.99357540e-01 2.07287141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.77, Y:24.98, Z:20.73 [[ 9.92190524e-01 -1.19492073e-01 -3.57716292e-02 5.82771229e+02] [ 1.19489649e-01 9.92832979e-01 -2.21331866e-03 2.49829267e+01] [ 3.57797272e-02 -2.07830560e-03 9.99357540e-01 2.07300376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.80, Y:24.99, Z:20.73 [[ 9.92133222e-01 -1.19966878e-01 -3.57717484e-02 5.82803719e+02] [ 1.19964830e-01 9.92775679e-01 -2.21139017e-03 2.49858722e+01] [ 3.57786154e-02 -2.09735805e-03 9.99357540e-01 2.07311649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.84, Y:24.99, Z:20.73 [[ 9.92078250e-01 -1.20420582e-01 -3.57719079e-02 5.82836919e+02] [ 1.20418920e-01 9.92720708e-01 -2.20880730e-03 2.49890389e+01] [ 3.57774996e-02 -2.11630484e-03 9.99357540e-01 2.07324338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.87, Y:24.99, Z:20.73 [[ 9.91972477e-01 -1.21288735e-01 -3.57721507e-02 5.82869829e+02] [ 1.21287778e-01 9.92614937e-01 -2.20486710e-03 2.49936145e+01] [ 3.57753967e-02 -2.15155719e-03 9.99357540e-01 2.07332203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.90, Y:25.00, Z:20.73 [[ 9.91915009e-01 -1.21757755e-01 -3.57723920e-02 5.82902856e+02] [ 1.21757242e-01 9.92557469e-01 -2.20094551e-03 2.49972093e+01] [ 3.57741371e-02 -2.17239691e-03 9.99357540e-01 2.07345927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.93, Y:25.00, Z:20.74 [[ 9.91827511e-01 -1.22468395e-01 -3.57726346e-02 5.82934441e+02] [ 1.22468485e-01 9.92469971e-01 -2.19699634e-03 2.50007655e+01] [ 3.57723282e-02 -2.20197894e-03 9.99357540e-01 2.07358927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.97, Y:25.01, Z:20.74 [[ 9.91603221e-01 -1.24271303e-01 -3.57728353e-02 5.82966726e+02] [ 1.24272678e-01 9.92245680e-01 -2.19372276e-03 2.50050693e+01] [ 3.57680581e-02 -2.27028350e-03 9.99357540e-01 2.07373666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.00, Y:25.01, Z:20.74 [[ 9.91503328e-01 -1.25065759e-01 -3.57729959e-02 5.82998921e+02] [ 1.25067743e-01 9.92145785e-01 -2.19110118e-03 2.50079759e+01] [ 3.57660588e-02 -2.30156376e-03 9.99357540e-01 2.07380758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.03, Y:25.01, Z:20.74 [[ 9.91516944e-01 -1.24957653e-01 -3.57733929e-02 5.83032379e+02] [ 1.24959801e-01 9.92159400e-01 -2.18460001e-03 2.50099287e+01] [ 3.57658905e-02 -2.30416813e-03 9.99357540e-01 2.07392759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.06, Y:25.01, Z:20.74 [[ 9.91406598e-01 -1.25830064e-01 -3.57736303e-02 5.83064888e+02] [ 1.25832917e-01 9.92049052e-01 -2.18070544e-03 2.50130154e+01] [ 3.57635943e-02 -2.33953449e-03 9.99357540e-01 2.07405719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.10, Y:25.02, Z:20.74 [[ 9.91312850e-01 -1.26566467e-01 -3.57737868e-02 5.83097993e+02] [ 1.26569889e-01 9.91955301e-01 -2.17813551e-03 2.50161526e+01] [ 3.57616763e-02 -2.36867049e-03 9.99357540e-01 2.07415559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.13, Y:25.02, Z:20.74 [[ 9.91163923e-01 -1.27727434e-01 -3.57740231e-02 5.83130307e+02] [ 1.27731749e-01 9.91806369e-01 -2.17424793e-03 2.50202767e+01] [ 3.57586150e-02 -2.41444242e-03 9.99357540e-01 2.07416152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.16, Y:25.02, Z:20.74 [[ 9.91150859e-01 -1.27828716e-01 -3.57742187e-02 5.83163518e+02] [ 1.27833212e-01 9.91793303e-01 -2.17102378e-03 2.50231817e+01] [ 3.57581497e-02 -2.42132119e-03 9.99357540e-01 2.07433585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.20, Y:25.03, Z:20.74 [[ 9.91131335e-01 -1.27979943e-01 -3.57744548e-02 5.83195633e+02] [ 1.27984677e-01 9.91773778e-01 -2.16712747e-03 2.50272602e+01] [ 3.57575150e-02 -2.43067410e-03 9.99357540e-01 2.07441174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.23, Y:25.03, Z:20.74 [[ 9.91132040e-01 -1.27974436e-01 -3.57746152e-02 5.83226376e+02] [ 1.27979262e-01 9.91774482e-01 -2.16447640e-03 2.50302349e+01] [ 3.57573481e-02 -2.43312692e-03 9.99357540e-01 2.07445508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.26, Y:25.03, Z:20.75 [[ 9.91180289e-01 -1.27600168e-01 -3.57747344e-02 5.83259172e+02] [ 1.27604822e-01 9.91822733e-01 -2.16250361e-03 2.50333338e+01] [ 3.57581307e-02 -2.42159767e-03 9.99357540e-01 2.07450579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.29, Y:25.04, Z:20.75 [[ 9.91238207e-01 -1.27149395e-01 -3.57749703e-02 5.83291521e+02] [ 1.27153897e-01 9.91880652e-01 -2.15859430e-03 2.50366561e+01] [ 3.57589648e-02 -2.40924574e-03 9.99357540e-01 2.07458758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.32, Y:25.04, Z:20.75 [[ 9.91342123e-01 -1.26336592e-01 -3.57751276e-02 5.83323455e+02] [ 1.26340662e-01 9.91984571e-01 -2.15598381e-03 2.50418407e+01] [ 3.57607543e-02 -2.38253573e-03 9.99357540e-01 2.07463987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.36, Y:25.05, Z:20.75 [[ 9.91457351e-01 -1.25429050e-01 -3.57753235e-02 5.83355346e+02] [ 1.25432648e-01 9.92099802e-01 -2.15272819e-03 2.50471446e+01] [ 3.57627060e-02 -2.35305536e-03 9.99357540e-01 2.07495789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.39, Y:25.05, Z:20.75 [[ 9.91471133e-01 -1.25320019e-01 -3.57754805e-02 5.83388807e+02] [ 1.25323640e-01 9.92113583e-01 -2.15011515e-03 2.50490686e+01] [ 3.57627927e-02 -2.35173634e-03 9.99357540e-01 2.07507801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.42, Y:25.05, Z:20.75 [[ 9.91629151e-01 -1.24063388e-01 -3.57757165e-02 5.83419666e+02] [ 1.24066337e-01 9.92271605e-01 -2.14618175e-03 2.50543074e+01] [ 3.57654902e-02 -2.31034570e-03 9.99357540e-01 2.07524405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.45, Y:25.06, Z:20.75 [[ 9.91738022e-01 -1.23189983e-01 -3.57760140e-02 5.83452626e+02] [ 1.23192544e-01 9.92380478e-01 -2.14121155e-03 2.50576761e+01] [ 3.57671937e-02 -2.28381728e-03 9.99357540e-01 2.07539913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.48, Y:25.06, Z:20.76 [[ 9.91855147e-01 -1.22243312e-01 -3.57762430e-02 5.83484972e+02] [ 1.22245398e-01 9.92497604e-01 -2.13737835e-03 2.50627904e+01] [ 3.57691157e-02 -2.25351134e-03 9.99357540e-01 2.07560848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.52, Y:25.07, Z:20.76 [[ 9.91933018e-01 -1.21609775e-01 -3.57763997e-02 5.83517521e+02] [ 1.21611544e-01 9.92575476e-01 -2.13475284e-03 2.50663272e+01] [ 3.57703837e-02 -2.23329138e-03 9.99357540e-01 2.07570065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.55, Y:25.07, Z:20.76 [[ 9.91962207e-01 -1.21371382e-01 -3.57766345e-02 5.83549210e+02] [ 1.21373139e-01 9.92604665e-01 -2.13081046e-03 2.50696361e+01] [ 3.57706737e-02 -2.22863899e-03 9.99357540e-01 2.07573202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.58, Y:25.07, Z:20.76 [[ 9.91979683e-01 -1.21228406e-01 -3.57768284e-02 5.83581672e+02] [ 1.21230187e-01 9.92622141e-01 -2.12754841e-03 2.50726289e+01] [ 3.57707914e-02 -2.22674682e-03 9.99357540e-01 2.07584364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.61, Y:25.08, Z:20.76 [[ 9.91801085e-01 -1.22680929e-01 -3.57770610e-02 5.83613412e+02] [ 1.22683792e-01 9.92443539e-01 -2.12362963e-03 2.50761867e+01] [ 3.57672419e-02 -2.28304735e-03 9.99357540e-01 2.07585461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.65, Y:25.08, Z:20.76 [[ 9.91670977e-01 -1.23728190e-01 -3.57772146e-02 5.83646588e+02] [ 1.23731825e-01 9.92313427e-01 -2.12104034e-03 2.50788771e+01] [ 3.57646429e-02 -2.32340590e-03 9.99357540e-01 2.07594928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.68, Y:25.08, Z:20.76 [[ 9.91528814e-01 -1.24862265e-01 -3.57774481e-02 5.83678801e+02] [ 1.24866776e-01 9.92171258e-01 -2.11709403e-03 2.50813103e+01] [ 3.57617008e-02 -2.36825487e-03 9.99357540e-01 2.07598899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.71, Y:25.08, Z:20.76 [[ 9.91131176e-01 -1.27980229e-01 -3.57778322e-02 5.83710868e+02] [ 1.27986995e-01 9.91773601e-01 -2.11058302e-03 2.50836345e+01] [ 3.57536223e-02 -2.48723258e-03 9.99357540e-01 2.07599478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.74, Y:25.09, Z:20.76 [[ 9.90931878e-01 -1.29514272e-01 -3.57780219e-02 5.83743879e+02] [ 1.29522147e-01 9.91574290e-01 -2.10736160e-03 2.50857702e+01] [ 3.57495001e-02 -2.54579443e-03 9.99357540e-01 2.07618580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.78, Y:25.09, Z:20.76 [[ 9.90776023e-01 -1.30701144e-01 -3.57782561e-02 5.83775479e+02] [ 1.30709932e-01 9.91418423e-01 -2.10337777e-03 2.50877566e+01] [ 3.57461361e-02 -2.59259718e-03 9.99357540e-01 2.07624644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.81, Y:25.09, Z:20.76 [[ 9.90481746e-01 -1.32912705e-01 -3.57788311e-02 5.83808091e+02] [ 1.32923280e-01 9.91124119e-01 -2.09355127e-03 2.50896115e+01] [ 3.57395220e-02 -2.68221528e-03 9.99357540e-01 2.07633785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.84, Y:25.09, Z:20.76 [[ 9.90402327e-01 -1.33503145e-01 -3.57790593e-02 5.83841543e+02] [ 1.33514244e-01 9.91044691e-01 -2.08964483e-03 2.50917077e+01] [ 3.57376209e-02 -2.70742494e-03 9.99357540e-01 2.07643895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.87, Y:25.09, Z:20.77 [[ 9.90354274e-01 -1.33859087e-01 -3.57792881e-02 5.83874330e+02] [ 1.33870558e-01 9.90996631e-01 -2.08571867e-03 2.50941012e+01] [ 3.57363464e-02 -2.72419286e-03 9.99357540e-01 2.07656609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.91, Y:25.10, Z:20.77 [[ 9.90408902e-01 -1.33454237e-01 -3.57795159e-02 5.83906125e+02] [ 1.33465586e-01 9.91051262e-01 -2.08180343e-03 2.50971271e+01] [ 3.57371599e-02 -2.71349740e-03 9.99357540e-01 2.07666686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.94, Y:25.10, Z:20.77 [[ 9.90366475e-01 -1.33768575e-01 -3.57800766e-02 5.83938760e+02] [ 1.33780476e-01 9.91008825e-01 -2.07212308e-03 2.50995622e+01] [ 3.57355566e-02 -2.73451443e-03 9.99357540e-01 2.07678441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.97, Y:25.10, Z:20.77 [[ 9.90340211e-01 -1.33962815e-01 -3.57803011e-02 5.83971592e+02] [ 1.33974981e-01 9.90982556e-01 -2.06823810e-03 2.51016361e+01] [ 3.57347213e-02 -2.74540580e-03 9.99357540e-01 2.07691687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.00, Y:25.10, Z:20.77 [[ 9.90254337e-01 -1.34596066e-01 -3.57805299e-02 5.84003184e+02] [ 1.34608785e-01 9.90896672e-01 -2.06427305e-03 2.51033680e+01] [ 3.57326510e-02 -2.77221832e-03 9.99357540e-01 2.07697268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.04, Y:25.10, Z:20.77 [[ 9.90188849e-01 -1.35076857e-01 -3.57810924e-02 5.84036145e+02] [ 1.35090239e-01 9.90831169e-01 -2.05447572e-03 2.51049374e+01] [ 3.57305338e-02 -2.79935739e-03 9.99357540e-01 2.07705966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.07, Y:25.11, Z:20.77 [[ 9.90163634e-01 -1.35261508e-01 -3.57813171e-02 5.84067809e+02] [ 1.35275151e-01 9.90805949e-01 -2.05055481e-03 2.51063866e+01] [ 3.57297030e-02 -2.80993828e-03 9.99357540e-01 2.07713610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.10, Y:25.11, Z:20.77 [[ 9.90139929e-01 -1.35434779e-01 -3.57818690e-02 5.84101256e+02] [ 1.35448882e-01 9.90782234e-01 -2.04087864e-03 2.51077872e+01] [ 3.57284461e-02 -2.82585873e-03 9.99357540e-01 2.07721904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.13, Y:25.11, Z:20.77 [[ 9.90171269e-01 -1.35205400e-01 -3.57820864e-02 5.84133642e+02] [ 1.35219492e-01 9.90813575e-01 -2.03706087e-03 2.51091941e+01] [ 3.57287985e-02 -2.82139639e-03 9.99357540e-01 2.07729049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.17, Y:25.11, Z:20.77 [[ 9.90222222e-01 -1.34831626e-01 -3.57824435e-02 5.84166467e+02] [ 1.34845701e-01 9.90864528e-01 -2.03076762e-03 2.51108792e+01] [ 3.57293657e-02 -2.81419744e-03 9.99357540e-01 2.07741986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.20, Y:25.11, Z:20.78 [[ 9.90436384e-01 -1.33249283e-01 -3.57826620e-02 5.84198314e+02] [ 1.33262470e-01 9.91078708e-01 -2.02691110e-03 2.51121887e+01] [ 3.57335189e-02 -2.76095941e-03 9.99357540e-01 2.07751350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.23, Y:25.11, Z:20.78 [[ 9.90723046e-01 -1.31100758e-01 -3.57831994e-02 5.84229877e+02] [ 1.31112894e-01 9.91365391e-01 -2.01737889e-03 2.51136913e+01] [ 3.57387054e-02 -2.69297507e-03 9.99357540e-01 2.07776501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.26, Y:25.12, Z:20.78 [[ 9.90897841e-01 -1.29774260e-01 -3.57786378e-02 5.84263440e+02] [ 1.29782625e-01 9.91540250e-01 -2.09846098e-03 2.51153636e+01] [ 3.57482857e-02 -2.56408507e-03 9.99357536e-01 2.07781872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.30, Y:25.12, Z:20.78 [[ 9.91180024e-01 -1.27599657e-01 -3.57839147e-02 5.84296601e+02] [ 1.27609995e-01 9.91822400e-01 -2.00424941e-03 2.51169275e+01] [ 3.57470297e-02 -2.57981320e-03 9.99357541e-01 2.07800883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.33, Y:25.12, Z:20.78 [[ 9.91963884e-01 -1.21355463e-01 -3.57841313e-02 5.84328293e+02] [ 1.21361895e-01 9.92606311e-01 -2.00037516e-03 2.51187554e+01] [ 3.57623110e-02 -2.35853006e-03 9.99357541e-01 2.07816596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.36, Y:25.12, Z:20.78 [[ 9.92410124e-01 -1.17650453e-01 -3.57843101e-02 5.84361630e+02] [ 1.17654601e-01 9.93052570e-01 -1.99717080e-03 2.51212022e+01] [ 3.57706692e-02 -2.22817619e-03 9.99357541e-01 2.07830978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.39, Y:25.12, Z:20.78 [[ 9.92880373e-01 -1.13613524e-01 -3.57845263e-02 5.84394114e+02] [ 1.13615199e-01 9.93522830e-01 -1.99328954e-03 2.51235863e+01] [ 3.57792085e-02 -2.08656800e-03 9.99357541e-01 2.07842811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.43, Y:25.13, Z:20.78 [[ 9.93857112e-01 -1.04725804e-01 -3.57847412e-02 5.84427366e+02] [ 1.04721870e-01 9.94499559e-01 -1.98942542e-03 2.51257146e+01] [ 3.57962535e-02 -1.77024039e-03 9.99357541e-01 2.07845046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.46, Y:25.13, Z:20.79 [[ 9.94336352e-01 -1.00073256e-01 -3.57849557e-02 5.84460797e+02] [ 1.00066454e-01 9.94978775e-01 -1.98555967e-03 2.51274765e+01] [ 3.58039728e-02 -1.60655946e-03 9.99357541e-01 2.07855176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.49, Y:25.13, Z:20.79 [[ 9.95177602e-01 -9.13288688e-02 -3.57851744e-02 5.84492609e+02] [ 9.13165615e-02 9.95819943e-01 -1.98160865e-03 2.51301316e+01] [ 3.58165684e-02 -1.29572654e-03 9.99357541e-01 2.07871531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.52, Y:25.13, Z:20.79 [[ 9.95565743e-01 -8.69957499e-02 -3.57853552e-02 5.84524950e+02] [ 8.69807639e-02 9.96208027e-01 -1.97833849e-03 2.51321059e+01] [ 3.58217652e-02 -1.14307151e-03 9.99357541e-01 2.07887810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.56, Y:25.13, Z:20.79 [[ 9.95904832e-01 -8.30238723e-02 -3.57854956e-02 5.84557542e+02] [ 8.30064158e-02 9.96547054e-01 -1.97579562e-03 2.51340845e+01] [ 3.58259685e-02 -1.00272133e-03 9.99357541e-01 2.07901916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.59, Y:25.14, Z:20.79 [[ 9.96482166e-01 -7.57804517e-02 -3.57857095e-02 5.84589406e+02] [ 7.57584653e-02 9.97124248e-01 -1.97191377e-03 2.51359035e+01] [ 3.58322312e-02 -7.46093530e-04 9.99357541e-01 2.07915707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.62, Y:25.14, Z:20.79 [[ 9.96710194e-01 -7.27197513e-02 -3.57858539e-02 5.84621105e+02] [ 7.26958873e-02 9.97352210e-01 -1.96929012e-03 2.51373882e+01] [ 3.58343068e-02 -6.38672865e-04 9.99357541e-01 2.07927911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.65, Y:25.14, Z:20.79 [[ 9.96902344e-01 -7.00362680e-02 -3.57859970e-02 5.84652590e+02] [ 7.00107692e-02 9.97544297e-01 -1.96668580e-03 2.51386976e+01] [ 3.58358566e-02 -5.44811494e-04 9.99357541e-01 2.07937039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.69, Y:25.14, Z:20.79 [[ 9.97138313e-01 -6.65923440e-02 -3.57861035e-02 5.84685144e+02] [ 6.65646974e-02 9.97780177e-01 -1.96474692e-03 2.51399784e+01] [ 3.58375018e-02 -4.22966719e-04 9.99357541e-01 2.07947444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.72, Y:25.14, Z:20.80 [[ 9.97196748e-01 -6.57114147e-02 -3.57862471e-02 5.84716123e+02] [ 6.56832951e-02 9.97838592e-01 -1.96212832e-03 2.51413939e+01] [ 3.58378326e-02 -3.93930642e-04 9.99357541e-01 2.07955772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.75, Y:25.14, Z:20.80 [[ 9.97198239e-01 -6.56887528e-02 -3.57863190e-02 5.84746307e+02] [ 6.56606658e-02 9.97840083e-01 -1.96081492e-03 2.51425441e+01] [ 3.58378270e-02 -3.94432352e-04 9.99357541e-01 2.07965916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.78, Y:25.14, Z:20.80 [[ 9.97159539e-01 -6.62736098e-02 -3.57863547e-02 5.84777295e+02] [ 6.62459226e-02 9.97801401e-01 -1.96016316e-03 2.51433111e+01] [ 3.58375820e-02 -4.16104690e-04 9.99357541e-01 2.07978127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.81, Y:25.14, Z:20.80 [[ 9.96932524e-01 -6.96051259e-02 -3.57864254e-02 5.84809048e+02] [ 6.95796299e-02 9.97574477e-01 -1.95887256e-03 2.51432934e+01] [ 3.58359722e-02 -5.37142461e-04 9.99357541e-01 2.07997043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.84, Y:25.14, Z:20.80 [[ 9.96760795e-01 -7.20225233e-02 -3.57864966e-02 5.84840392e+02] [ 7.19986308e-02 9.97402810e-01 -1.95756996e-03 2.51438113e+01] [ 3.58345414e-02 -6.25349765e-04 9.99357541e-01 2.08011861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.87, Y:25.14, Z:20.80 [[ 9.96574483e-01 -7.45561409e-02 -3.57866032e-02 5.84872435e+02] [ 7.45339506e-02 9.97216559e-01 -1.95562030e-03 2.51442205e+01] [ 3.58327968e-02 -7.18395617e-04 9.99357541e-01 2.08028208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.90, Y:25.14, Z:20.80 [[ 9.96358935e-01 -7.73833436e-02 -3.57867429e-02 5.84903216e+02] [ 7.73630670e-02 9.97001074e-01 -1.95305971e-03 2.51445262e+01] [ 3.58305554e-02 -8.22623701e-04 9.99357541e-01 2.08044298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.94, Y:25.14, Z:20.81 [[ 9.95798173e-01 -8.42929414e-02 -3.57868470e-02 5.84935573e+02] [ 8.42771881e-02 9.96440439e-01 -1.95115055e-03 2.51435678e+01] [ 3.58239298e-02 -1.07306268e-03 9.99357541e-01 2.08056305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.97, Y:25.14, Z:20.81 [[ 9.95477778e-01 -8.79959406e-02 -3.57869834e-02 5.84967501e+02] [ 8.79826662e-02 9.96120100e-01 -1.94864598e-03 2.51436029e+01] [ 3.58196064e-02 -1.20880044e-03 9.99357541e-01 2.08065132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.00, Y:25.14, Z:20.81 [[ 9.95161338e-01 -9.15051482e-02 -3.57871249e-02 5.85000228e+02] [ 9.14942319e-02 9.95803705e-01 -1.94604409e-03 2.51434385e+01] [ 3.58150246e-02 -1.33768766e-03 9.99357541e-01 2.08074776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.03, Y:25.14, Z:20.81 [[ 9.94595765e-01 -9.74604315e-02 -3.57872672e-02 5.85032866e+02] [ 9.74534546e-02 9.95238186e-01 -1.94342259e-03 2.51420961e+01] [ 3.58062617e-02 -1.55467295e-03 9.99357541e-01 2.08096142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.07, Y:25.14, Z:20.81 [[ 9.94606475e-01 -9.73510220e-02 -3.57874089e-02 5.85066339e+02] [ 9.73440683e-02 9.95248896e-01 -1.94081091e-03 2.51438257e+01] [ 3.58063191e-02 -1.55334887e-03 9.99357541e-01 2.08108155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.10, Y:25.14, Z:20.81 [[ 9.94399964e-01 -9.94382120e-02 -3.57876219e-02 5.85098542e+02] [ 9.94327479e-02 9.95042400e-01 -1.93687499e-03 2.51446040e+01] [ 3.58028005e-02 -1.63243317e-03 9.99357541e-01 2.08126233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.13, Y:25.15, Z:20.81 [[ 9.94220688e-01 -1.01214902e-01 -3.57877979e-02 5.85131101e+02] [ 1.01210703e-01 9.94863134e-01 -1.93361686e-03 2.51456627e+01] [ 3.57996716e-02 -1.69966630e-03 9.99357541e-01 2.08143845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.16, Y:25.15, Z:20.82 [[ 9.94033516e-01 -1.03036823e-01 -3.57880068e-02 5.85164317e+02] [ 1.03033940e-01 9.94675969e-01 -1.92974382e-03 2.51462949e+01] [ 3.57963050e-02 -1.76914931e-03 9.99357541e-01 2.08167058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.20, Y:25.15, Z:20.82 [[ 9.93956038e-01 -1.03781492e-01 -3.57882200e-02 5.85195140e+02] [ 1.03779233e-01 9.94598493e-01 -1.92578181e-03 2.51477933e+01] [ 3.57947701e-02 -1.79993158e-03 9.99357541e-01 2.08177931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.23, Y:25.15, Z:20.82 [[ 9.93881466e-01 -1.04493192e-01 -3.57883252e-02 5.85228420e+02] [ 1.04491463e-01 9.94523923e-01 -1.92382307e-03 2.51492377e+01] [ 3.57933720e-02 -1.82752237e-03 9.99357541e-01 2.08193961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.26, Y:25.15, Z:20.82 [[ 9.93765734e-01 -1.05588098e-01 -3.57885387e-02 5.85259235e+02] [ 1.05587220e-01 9.94408192e-01 -1.91984421e-03 2.51498451e+01] [ 3.57911288e-02 -1.87093693e-03 9.99357541e-01 2.08197146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.29, Y:25.15, Z:20.82 [[ 9.93735315e-01 -1.05873963e-01 -3.57886442e-02 5.85292289e+02] [ 1.05873341e-01 9.94377774e-01 -1.91787533e-03 2.51513229e+01] [ 3.57904854e-02 -1.88320289e-03 9.99357541e-01 2.08205245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.32, Y:25.15, Z:20.82 [[ 9.93745096e-01 -1.05782054e-01 -3.57888509e-02 5.85323955e+02] [ 1.05781511e-01 9.94387554e-01 -1.91400960e-03 2.51529509e+01] [ 3.57904558e-02 -1.88376109e-03 9.99357541e-01 2.08213196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.36, Y:25.16, Z:20.82 [[ 9.93841373e-01 -1.04873609e-01 -3.57889878e-02 5.85355838e+02] [ 1.04872571e-01 9.94483831e-01 -1.91144776e-03 2.51558519e+01] [ 3.57920301e-02 -1.85360728e-03 9.99357541e-01 2.08220084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.39, Y:25.16, Z:20.82 [[ 9.93927403e-01 -1.04055059e-01 -3.57891258e-02 5.85387609e+02] [ 1.04053584e-01 9.94569861e-01 -1.90885899e-03 2.51583071e+01] [ 3.57934123e-02 -1.82671957e-03 9.99357541e-01 2.08230861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.42, Y:25.16, Z:20.82 [[ 9.93994507e-01 -1.03412033e-01 -3.57892636e-02 5.85419055e+02] [ 1.03410236e-01 9.94636964e-01 -1.90627268e-03 2.51609410e+01] [ 3.57944560e-02 -1.80615162e-03 9.99357541e-01 2.08240088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.45, Y:25.16, Z:20.83 [[ 9.94112722e-01 -1.02269337e-01 -3.57893661e-02 5.85451332e+02] [ 1.02266871e-01 9.94755176e-01 -1.90434690e-03 2.51635195e+01] [ 3.57964134e-02 -1.76693099e-03 9.99357541e-01 2.08260235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.48, Y:25.17, Z:20.83 [[ 9.94315856e-01 -1.00275067e-01 -3.57895050e-02 5.85482307e+02] [ 1.00271406e-01 9.94958305e-01 -1.90173143e-03 2.51677494e+01] [ 3.57997615e-02 -1.69774228e-03 9.99357541e-01 2.08269571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.51, Y:25.17, Z:20.83 [[ 9.94435869e-01 -9.90777783e-02 -3.57896085e-02 5.85514234e+02] [ 9.90734135e-02 9.95078313e-01 -1.89978161e-03 2.51706673e+01] [ 3.58016894e-02 -1.65658771e-03 9.99357541e-01 2.08278015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.54, Y:25.18, Z:20.83 [[ 9.94683155e-01 -9.65635158e-02 -3.57897789e-02 5.85544851e+02] [ 9.65576424e-02 9.95325587e-01 -1.89656634e-03 2.51754445e+01] [ 3.58056218e-02 -1.56929409e-03 9.99357541e-01 2.08287712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.58, Y:25.18, Z:20.83 [[ 9.94846023e-01 -9.48707865e-02 -3.57899958e-02 5.85577537e+02] [ 9.48639672e-02 9.95488446e-01 -1.89246406e-03 2.51790529e+01] [ 3.58080669e-02 -1.51247065e-03 9.99357541e-01 2.08306223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.61, Y:25.18, Z:20.83 [[ 9.95017857e-01 -9.30512026e-02 -3.57901980e-02 5.85610140e+02] [ 9.30433460e-02 9.95660268e-01 -1.88863299e-03 2.51827823e+01] [ 3.58106177e-02 -1.45081623e-03 9.99357541e-01 2.08326622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.64, Y:25.19, Z:20.84 [[ 9.95353626e-01 -8.93879507e-02 -3.57904038e-02 5.85643011e+02] [ 8.93778698e-02 9.95996006e-01 -1.88472577e-03 2.51886301e+01] [ 3.58155710e-02 -1.32290142e-03 9.99357541e-01 2.08353876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.67, Y:25.19, Z:20.84 [[ 9.95514430e-01 -8.75788309e-02 -3.57906103e-02 5.85674096e+02] [ 8.75677237e-02 9.96156793e-01 -1.88079623e-03 2.51922468e+01] [ 3.58177775e-02 -1.26174248e-03 9.99357541e-01 2.08359636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.71, Y:25.20, Z:20.84 [[ 9.95678279e-01 -8.56958614e-02 -3.57908385e-02 5.85707080e+02] [ 8.56836956e-02 9.96320623e-01 -1.87644275e-03 2.51957730e+01] [ 3.58199539e-02 -1.19835803e-03 9.99357541e-01 2.08378899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.74, Y:25.20, Z:20.84 [[ 9.95807797e-01 -8.41773948e-02 -3.57910353e-02 5.85740013e+02] [ 8.41643845e-02 9.96450124e-01 -1.87268174e-03 2.51991623e+01] [ 3.58216190e-02 -1.14749938e-03 9.99357541e-01 2.08402580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.77, Y:25.20, Z:20.84 [[ 9.95922716e-01 -8.28065845e-02 -3.57912366e-02 5.85772722e+02] [ 8.27928285e-02 9.96565028e-01 -1.86882635e-03 2.52039683e+01] [ 3.58230458e-02 -1.10205110e-03 9.99357541e-01 2.08420999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.80, Y:25.21, Z:20.84 [[ 9.95926949e-01 -8.27555764e-02 -3.57914364e-02 5.85804556e+02] [ 8.27419251e-02 9.96569263e-01 -1.86499196e-03 2.52069835e+01] [ 3.58229839e-02 -1.10405660e-03 9.99357541e-01 2.08438818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.84, Y:25.21, Z:20.84 [[ 9.95829768e-01 -8.39168494e-02 -3.57915708e-02 5.85835598e+02] [ 8.39040399e-02 9.96472099e-01 -1.86240877e-03 2.52110878e+01] [ 3.58215892e-02 -1.14841529e-03 9.99357541e-01 2.08444047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.87, Y:25.21, Z:20.84 [[ 9.95742248e-01 -8.49490007e-02 -3.57916708e-02 5.85866640e+02] [ 8.49369260e-02 9.96384593e-01 -1.86048550e-03 2.52136606e+01] [ 3.58203157e-02 -1.18747048e-03 9.99357541e-01 2.08447931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.90, Y:25.22, Z:20.85 [[ 9.95649146e-01 -8.60332875e-02 -3.57917693e-02 5.85899979e+02] [ 8.60219804e-02 9.96291506e-01 -1.85858895e-03 2.52161983e+01] [ 3.58189362e-02 -1.22837637e-03 9.99357541e-01 2.08458286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.93, Y:25.22, Z:20.85 [[ 9.95561919e-01 -8.70367739e-02 -3.57919652e-02 5.85933014e+02] [ 8.70262501e-02 9.96204292e-01 -1.85480763e-03 2.52188383e+01] [ 3.58175459e-02 -1.26826467e-03 9.99357541e-01 2.08468324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.96, Y:25.23, Z:20.85 [[ 9.95224333e-01 -9.08154579e-02 -3.57921603e-02 5.85961333e+02] [ 9.08075081e-02 9.95866743e-01 -1.85103642e-03 2.52251418e+01] [ 3.58123248e-02 -1.40800040e-03 9.99357541e-01 2.08511955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.00, Y:25.22, Z:20.85 [[ 9.95313143e-01 -8.98443389e-02 -3.57734906e-02 5.85995905e+02] [ 8.98228447e-02 9.95955305e-01 -2.21079915e-03 2.52249350e+01] [ 3.58274255e-02 -1.01283923e-03 9.99357478e-01 2.08509576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.03, Y:25.23, Z:20.85 [[ 9.95128414e-01 -9.18604381e-02 -3.57924592e-02 5.86027645e+02] [ 9.18534753e-02 9.95770830e-01 -1.84232788e-03 2.52282950e+01] [ 3.58103238e-02 -1.45430895e-03 9.99357546e-01 2.08522803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.06, Y:25.23, Z:20.85 [[ 9.95039887e-01 -9.28143301e-02 -3.57927842e-02 5.86059653e+02] [ 9.28082107e-02 9.95682311e-01 -1.83599152e-03 2.52307846e+01] [ 3.58086484e-02 -1.49497946e-03 9.99357546e-01 2.08539033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.09, Y:25.23, Z:20.85 [[ 9.94936826e-01 -9.39126199e-02 -3.57929158e-02 5.86091934e+02] [ 9.39073019e-02 9.95579257e-01 -1.83342131e-03 2.52333517e+01] [ 3.58068660e-02 -1.53707778e-03 9.99357546e-01 2.08547539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.13, Y:25.24, Z:20.86 [[ 9.94737291e-01 -9.60029500e-02 -3.57932411e-02 5.86125038e+02] [ 9.59992107e-02 9.95379733e-01 -1.82704915e-03 2.52365378e+01] [ 3.58032689e-02 -1.61868897e-03 9.99357547e-01 2.08572056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.16, Y:25.24, Z:20.86 [[ 9.94660108e-01 -9.67992722e-02 -3.57934409e-02 5.86155925e+02] [ 9.67961881e-02 9.95302554e-01 -1.82312692e-03 2.52386848e+01] [ 3.58017805e-02 -1.65127702e-03 9.99357547e-01 2.08582780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.19, Y:25.24, Z:20.86 [[ 9.94572225e-01 -9.76980680e-02 -3.57935396e-02 5.86189184e+02] [ 9.76956342e-02 9.95214674e-01 -1.82118578e-03 2.52409001e+01] [ 3.58001822e-02 -1.68557176e-03 9.99357547e-01 2.08602358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.22, Y:25.24, Z:20.86 [[ 9.94491202e-01 -9.85193274e-02 -3.57937381e-02 5.86221328e+02] [ 9.85175644e-02 9.95133653e-01 -1.81727654e-03 2.52430502e+01] [ 3.57985902e-02 -1.71904637e-03 9.99357547e-01 2.08616648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.25, Y:25.25, Z:20.86 [[ 9.94362355e-01 -9.98113496e-02 -3.57938698e-02 5.86252090e+02] [ 9.98105146e-02 9.95004808e-01 -1.81467997e-03 2.52453833e+01] [ 3.57961982e-02 -1.76815511e-03 9.99357547e-01 2.08628997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.29, Y:25.25, Z:20.86 [[ 9.94281714e-01 -1.00611453e-01 -3.57939679e-02 5.86285237e+02] [ 1.00611204e-01 9.94924168e-01 -1.81274230e-03 2.52474954e+01] [ 3.57946664e-02 -1.79889770e-03 9.99357547e-01 2.08647129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.32, Y:25.25, Z:20.87 [[ 9.94220213e-01 -1.01217326e-01 -3.57941624e-02 5.86317038e+02] [ 1.01217607e-01 9.94862666e-01 -1.80889304e-03 2.52495853e+01] [ 3.57933672e-02 -1.82456144e-03 9.99357547e-01 2.08654646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.35, Y:25.25, Z:20.87 [[ 9.94103493e-01 -1.02357275e-01 -3.57943233e-02 5.86349563e+02] [ 1.02358407e-01 9.94745945e-01 -1.80570484e-03 2.52520435e+01] [ 3.57910850e-02 -1.86879242e-03 9.99357547e-01 2.08668484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.38, Y:25.25, Z:20.87 [[ 9.94038787e-01 -1.02983698e-01 -3.57945174e-02 5.86381408e+02] [ 1.02985374e-01 9.94681238e-01 -1.80184704e-03 2.52536844e+01] [ 3.57896958e-02 -1.89520592e-03 9.99357547e-01 2.08675608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.41, Y:25.26, Z:20.87 [[ 9.94059630e-01 -1.02782259e-01 -3.57946777e-02 5.86413483e+02] [ 1.02783919e-01 9.94702081e-01 -1.79865749e-03 2.52553358e+01] [ 3.57899105e-02 -1.89114446e-03 9.99357547e-01 2.08682458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.45, Y:25.26, Z:20.87 [[ 9.94088488e-01 -1.02502727e-01 -3.57948048e-02 5.86445653e+02] [ 1.02504298e-01 9.94730940e-01 -1.79612426e-03 2.52571489e+01] [ 3.57903075e-02 -1.88361488e-03 9.99357547e-01 2.08680431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.48, Y:25.26, Z:20.87 [[ 9.94120150e-01 -1.02195152e-01 -3.57949349e-02 5.86477552e+02] [ 1.02196617e-01 9.94762602e-01 -1.79352761e-03 2.52587163e+01] [ 3.57907525e-02 -1.87513932e-03 9.99357547e-01 2.08673807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.51, Y:25.26, Z:20.87 [[ 9.94199112e-01 -1.01424041e-01 -3.57950970e-02 5.86509122e+02] [ 1.01425124e-01 9.94841565e-01 -1.79028684e-03 2.52611543e+01] [ 3.57920285e-02 -1.85062057e-03 9.99357547e-01 2.08697099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.54, Y:25.26, Z:20.87 [[ 9.94311581e-01 -1.00315365e-01 -3.57953445e-02 5.86540637e+02] [ 1.00315909e-01 9.94954035e-01 -1.78532470e-03 2.52632513e+01] [ 3.57938179e-02 -1.81567352e-03 9.99357547e-01 2.08705974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.57, Y:25.27, Z:20.87 [[ 9.94435148e-01 -9.90829107e-02 -3.57954398e-02 5.86573126e+02] [ 9.90827278e-02 9.95077601e-01 -1.78341249e-03 2.52652839e+01] [ 3.57959461e-02 -1.77322176e-03 9.99357547e-01 2.08722082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.60, Y:25.27, Z:20.87 [[ 9.94715139e-01 -9.62313385e-02 -3.57955674e-02 5.86604265e+02] [ 9.62294057e-02 9.95357589e-01 -1.78084695e-03 2.52684326e+01] [ 3.58007630e-02 -1.67315076e-03 9.99357547e-01 2.08726866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.64, Y:25.27, Z:20.87 [[ 9.94833282e-01 -9.50021644e-02 -3.57956624e-02 5.86636797e+02] [ 9.49995065e-02 9.95475730e-01 -1.77893553e-03 2.52710042e+01] [ 3.58027159e-02 -1.63082599e-03 9.99357547e-01 2.08736768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.67, Y:25.27, Z:20.87 [[ 9.94882202e-01 -9.44884141e-02 -3.57958511e-02 5.86669315e+02] [ 9.44855610e-02 9.95524649e-01 -1.77513134e-03 2.52734338e+01] [ 3.58033814e-02 -1.61614449e-03 9.99357547e-01 2.08746478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.70, Y:25.28, Z:20.88 [[ 9.94912727e-01 -9.41663958e-02 -3.57960380e-02 5.86702661e+02] [ 9.41634704e-02 9.95555173e-01 -1.77135424e-03 2.52756660e+01] [ 3.58037328e-02 -1.60833629e-03 9.99357547e-01 2.08758509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.74, Y:25.28, Z:20.88 [[ 9.94894293e-01 -9.43608803e-02 -3.57962240e-02 5.86735257e+02] [ 9.43582157e-02 9.95536741e-01 -1.76758611e-03 2.52777140e+01] [ 3.58032472e-02 -1.61910650e-03 9.99357547e-01 2.08766714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.77, Y:25.28, Z:20.88 [[ 9.94882170e-01 -9.44885436e-02 -3.57964093e-02 5.86768213e+02] [ 9.44860965e-02 9.95524619e-01 -1.76382598e-03 2.52789585e+01] [ 3.58028681e-02 -1.62746397e-03 9.99357547e-01 2.08775930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.80, Y:25.28, Z:20.88 [[ 9.94873808e-01 -9.45764773e-02 -3.57965933e-02 5.86799484e+02] [ 9.45742214e-02 9.95516257e-01 -1.76008398e-03 2.52801202e+01] [ 3.58025531e-02 -1.63437349e-03 9.99357547e-01 2.08780552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.83, Y:25.28, Z:20.88 [[ 9.94903935e-01 -9.42589912e-02 -3.57966848e-02 5.86832191e+02] [ 9.42565970e-02 9.95546384e-01 -1.75822232e-03 2.52812611e+01] [ 3.58029883e-02 -1.62481138e-03 9.99357547e-01 2.08792942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.86, Y:25.28, Z:20.88 [[ 9.94928068e-01 -9.40038496e-02 -3.57968665e-02 5.86864624e+02] [ 9.40014238e-02 9.95570517e-01 -1.75451523e-03 2.52823077e+01] [ 3.58032360e-02 -1.61933997e-03 9.99357547e-01 2.08800032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.90, Y:25.28, Z:20.88 [[ 9.94931214e-01 -9.39704992e-02 -3.57969873e-02 5.86897963e+02] [ 9.39681405e-02 9.95573663e-01 -1.75204625e-03 2.52838481e+01] [ 3.58031784e-02 -1.62061083e-03 9.99357547e-01 2.08816190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.93, Y:25.29, Z:20.88 [[ 9.94905566e-01 -9.42415888e-02 -3.57971750e-02 5.86930750e+02] [ 9.42395432e-02 9.95548016e-01 -1.74820236e-03 2.52851603e+01] [ 3.58025599e-02 -1.63421316e-03 9.99357547e-01 2.08826864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.96, Y:25.29, Z:20.88 [[ 9.94779357e-01 -9.55645356e-02 -3.57973642e-02 5.86962713e+02] [ 9.55634837e-02 9.95421809e-01 -1.74431925e-03 2.52858414e+01] [ 3.58001721e-02 -1.68570805e-03 9.99357547e-01 2.08828431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.00, Y:25.29, Z:20.88 [[ 9.94715993e-01 -9.62217832e-02 -3.57975208e-02 5.86996142e+02] [ 9.62212714e-02 9.95358446e-01 -1.74110012e-03 2.52867720e+01] [ 3.57988964e-02 -1.71258283e-03 9.99357547e-01 2.08839138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.03, Y:25.29, Z:20.88 [[ 9.94652388e-01 -9.68769939e-02 -3.57977034e-02 5.87028380e+02] [ 9.68770404e-02 9.95294841e-01 -1.73733799e-03 2.52878839e+01] [ 3.57975776e-02 -1.73992817e-03 9.99357547e-01 2.08842668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.06, Y:25.29, Z:20.89 [[ 9.94608887e-01 -9.73225362e-02 -3.57978544e-02 5.87060847e+02] [ 9.73229824e-02 9.95251340e-01 -1.73422153e-03 2.52879824e+01] [ 3.57966414e-02 -1.75908180e-03 9.99357547e-01 2.08876025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.09, Y:25.29, Z:20.89 [[ 9.94635973e-01 -9.70452776e-02 -3.57979796e-02 5.87093050e+02] [ 9.70456377e-02 9.95278426e-01 -1.73163184e-03 2.52889254e+01] [ 3.57970035e-02 -1.75169444e-03 9.99357547e-01 2.08885937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.13, Y:25.29, Z:20.89 [[ 9.94645901e-01 -9.69433565e-02 -3.57982893e-02 5.87126537e+02] [ 9.69438815e-02 9.95288354e-01 -1.72520638e-03 2.52904416e+01] [ 3.57968677e-02 -1.75445566e-03 9.99357547e-01 2.08897936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.16, Y:25.29, Z:20.89 [[ 9.94739661e-01 -9.59764431e-02 -3.57984654e-02 5.87158402e+02] [ 9.59764750e-02 9.95382114e-01 -1.72154403e-03 2.52911936e+01] [ 3.57983798e-02 -1.72332240e-03 9.99357547e-01 2.08922015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.19, Y:25.29, Z:20.89 [[ 9.94774808e-01 -9.56114108e-02 -3.57985868e-02 5.87190147e+02] [ 9.56112977e-02 9.95417262e-01 -1.71901710e-03 2.52923906e+01] [ 3.57988888e-02 -1.71271443e-03 9.99357547e-01 2.08938405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.22, Y:25.29, Z:20.90 [[ 9.94798787e-01 -9.53615383e-02 -3.57987377e-02 5.87223362e+02] [ 9.53613769e-02 9.95441241e-01 -1.71586706e-03 2.52935259e+01] [ 3.57991676e-02 -1.70687445e-03 9.99357547e-01 2.08953452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.26, Y:25.29, Z:20.90 [[ 9.94834901e-01 -9.49839863e-02 -3.57989237e-02 5.87255291e+02] [ 9.49837207e-02 9.95477354e-01 -1.71197887e-03 2.52944016e+01] [ 3.57996284e-02 -1.69717864e-03 9.99357547e-01 2.08961805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.29, Y:25.29, Z:20.90 [[ 9.94776385e-01 -9.55947695e-02 -3.57992286e-02 5.87287368e+02] [ 9.55951281e-02 9.95418838e-01 -1.70557956e-03 2.52946517e+01] [ 3.57982710e-02 -1.72556158e-03 9.99357547e-01 2.08960602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.32, Y:25.30, Z:20.90 [[ 9.94747450e-01 -9.58953486e-02 -3.57993492e-02 5.87319987e+02] [ 9.58959924e-02 9.95389903e-01 -1.70304258e-03 2.52953631e+01] [ 3.57976246e-02 -1.73891686e-03 9.99357547e-01 2.08963599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.35, Y:25.30, Z:20.90 [[ 9.94721837e-01 -9.61606236e-02 -3.57994721e-02 5.87350888e+02] [ 9.61615316e-02 9.95364289e-01 -1.70045635e-03 2.52958743e+01] [ 3.57970330e-02 -1.75105101e-03 9.99357547e-01 2.08959651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.38, Y:25.30, Z:20.90 [[ 9.94653728e-01 -9.68625433e-02 -3.57995637e-02 5.87381720e+02] [ 9.68639740e-02 9.95296180e-01 -1.69852635e-03 2.52958476e+01] [ 3.57956925e-02 -1.77824243e-03 9.99357547e-01 2.08955628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.41, Y:25.30, Z:20.90 [[ 9.94635066e-01 -9.70539602e-02 -3.57996523e-02 5.87414928e+02] [ 9.70555816e-02 9.95277517e-01 -1.69665560e-03 2.52967982e+01] [ 3.57952562e-02 -1.78700293e-03 9.99357547e-01 2.08983199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.45, Y:25.30, Z:20.90 [[ 9.94716888e-01 -9.62116669e-02 -3.57998392e-02 5.87445789e+02] [ 9.62128862e-02 9.95359340e-01 -1.69270343e-03 2.52978278e+01] [ 3.57965621e-02 -1.76064517e-03 9.99357547e-01 2.08997756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.48, Y:25.30, Z:20.90 [[ 9.94759768e-01 -9.57672069e-02 -3.58000754e-02 5.87477248e+02] [ 9.57683191e-02 9.95402221e-01 -1.68769208e-03 2.52987205e+01] [ 3.57971001e-02 -1.74966486e-03 9.99357547e-01 2.09016941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.51, Y:25.30, Z:20.90 [[ 9.94810502e-01 -9.52387231e-02 -3.58001639e-02 5.87509912e+02] [ 9.52395614e-02 9.95452954e-01 -1.68581360e-03 2.52997038e+01] [ 3.57979336e-02 -1.73252683e-03 9.99357547e-01 2.09033082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.54, Y:25.30, Z:20.90 [[ 9.94807059e-01 -9.52746031e-02 -3.58003432e-02 5.87542147e+02] [ 9.52756017e-02 9.95449512e-01 -1.68199704e-03 2.53007794e+01] [ 3.57976858e-02 -1.73763671e-03 9.99357547e-01 2.09042240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.58, Y:25.30, Z:20.91 [[ 9.94828611e-01 -9.50492458e-02 -3.58004912e-02 5.87575451e+02] [ 9.50502121e-02 9.95471064e-01 -1.67884132e-03 2.53016439e+01] [ 3.57979257e-02 -1.73268490e-03 9.99357547e-01 2.09060183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.61, Y:25.30, Z:20.91 [[ 9.94840046e-01 -9.49294198e-02 -3.58006716e-02 5.87608245e+02] [ 9.49304472e-02 9.95482498e-01 -1.67498447e-03 2.53025607e+01] [ 3.57979474e-02 -1.73223214e-03 9.99357547e-01 2.09073015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.64, Y:25.30, Z:20.91 [[ 9.94879180e-01 -9.45183399e-02 -3.58008512e-02 5.87641765e+02] [ 9.45192399e-02 9.95521632e-01 -1.67113859e-03 2.53024454e+01] [ 3.57984750e-02 -1.72128825e-03 9.99357547e-01 2.09079747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.68, Y:25.30, Z:20.91 [[ 9.94879090e-01 -9.45192148e-02 -3.58010313e-02 5.87675236e+02] [ 9.45202542e-02 9.95521543e-01 -1.66727109e-03 2.53029390e+01] [ 3.57982870e-02 -1.72518943e-03 9.99357547e-01 2.09087253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.71, Y:25.30, Z:20.91 [[ 9.94881949e-01 -9.44890523e-02 -3.58012097e-02 5.87707025e+02] [ 9.44902101e-02 9.95524401e-01 -1.66343042e-03 2.53035225e+01] [ 3.57981538e-02 -1.72794693e-03 9.99357547e-01 2.09092355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.74, Y:25.30, Z:20.91 [[ 9.94865912e-01 -9.46576978e-02 -3.58013572e-02 5.87739917e+02] [ 9.46590787e-02 9.95508364e-01 -1.66025062e-03 2.53041788e+01] [ 3.57977060e-02 -1.73719674e-03 9.99357547e-01 2.09100717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.77, Y:25.30, Z:20.91 [[ 9.94850644e-01 -9.48179635e-02 -3.58015359e-02 5.87772559e+02] [ 9.48195865e-02 9.95493095e-01 -1.65638883e-03 2.53045935e+01] [ 3.57972372e-02 -1.74682733e-03 9.99357547e-01 2.09100954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.80, Y:25.31, Z:20.91 [[ 9.94862401e-01 -9.46944815e-02 -3.58016536e-02 5.87804851e+02] [ 9.46961163e-02 9.95504852e-01 -1.65383895e-03 2.53053977e+01] [ 3.57973293e-02 -1.74493536e-03 9.99357547e-01 2.09107274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.84, Y:25.31, Z:20.91 [[ 9.94987775e-01 -9.33678837e-02 -3.58017712e-02 5.87836308e+02] [ 9.33687534e-02 9.95630227e-01 -1.65129041e-03 2.53059074e+01] [ 3.57995031e-02 -1.69975298e-03 9.99357547e-01 2.09106938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.87, Y:25.31, Z:20.91 [[ 9.95087848e-01 -9.22951845e-02 -3.58018587e-02 5.87868250e+02] [ 9.22954297e-02 9.95730301e-01 -1.64939176e-03 2.53070701e+01] [ 3.58012264e-02 -1.66305823e-03 9.99357547e-01 2.09117030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.90, Y:25.31, Z:20.91 [[ 9.95207275e-01 -9.09983469e-02 -3.58019743e-02 5.87900975e+02] [ 9.09978452e-02 9.95849728e-01 -1.64687710e-03 2.53083846e+01] [ 3.58032495e-02 -1.61891845e-03 9.99357547e-01 2.09124244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.93, Y:25.31, Z:20.91 [[ 9.95539830e-01 -8.72849013e-02 -3.58021476e-02 5.87933072e+02] [ 8.72821384e-02 9.96182277e-01 -1.64310133e-03 2.53104647e+01] [ 3.58088829e-02 -1.48911519e-03 9.99357547e-01 2.09134493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.97, Y:25.31, Z:20.92 [[ 9.95736199e-01 -8.50153949e-02 -3.58022908e-02 5.87965850e+02] [ 8.50112798e-02 9.96378639e-01 -1.63997490e-03 2.53126205e+01] [ 3.58120609e-02 -1.41061619e-03 9.99357547e-01 2.09152835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.00, Y:25.31, Z:20.92 [[ 9.95940296e-01 -8.25900150e-02 -3.58024615e-02 5.87999086e+02] [ 8.25844693e-02 9.96582725e-01 -1.63624113e-03 2.53148447e+01] [ 3.58152518e-02 -1.32712881e-03 9.99357547e-01 2.09174718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.03, Y:25.32, Z:20.92 [[ 9.96330161e-01 -7.77456235e-02 -3.58026420e-02 5.88030593e+02] [ 7.77370957e-02 9.96972557e-01 -1.63228092e-03 2.53169884e+01] [ 3.58211543e-02 -1.15690270e-03 9.99357547e-01 2.09178524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.06, Y:25.32, Z:20.92 [[ 9.96485047e-01 -7.57344213e-02 -3.58029083e-02 5.88062487e+02] [ 7.57248073e-02 9.97127428e-01 -1.62641916e-03 2.53187767e+01] [ 3.58232378e-02 -1.09046596e-03 9.99357547e-01 2.09191808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.09, Y:25.32, Z:20.92 [[ 9.96590767e-01 -7.43302564e-02 -3.58030226e-02 5.88094796e+02] [ 7.43198277e-02 9.97233135e-01 -1.62390001e-03 2.53205903e+01] [ 3.58246654e-02 -1.04251071e-03 9.99357547e-01 2.09209834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.13, Y:25.32, Z:20.92 [[ 9.96668364e-01 -7.32823752e-02 -3.58031404e-02 5.88125768e+02] [ 7.32713645e-02 9.97310723e-01 -1.62129695e-03 2.53222323e+01] [ 3.58256684e-02 -1.00744958e-03 9.99357547e-01 2.09209655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.16, Y:25.32, Z:20.92 [[ 9.96660159e-01 -7.33937912e-02 -3.58033273e-02 5.88157455e+02] [ 7.33830009e-02 9.97302522e-01 -1.61715901e-03 2.53238003e+01] [ 3.58254381e-02 -1.01559765e-03 9.99357547e-01 2.09223570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.19, Y:25.33, Z:20.92 [[ 9.96622339e-01 -7.39055257e-02 -3.58034455e-02 5.88189939e+02] [ 7.38951594e-02 9.97264708e-01 -1.61453773e-03 2.53253411e+01] [ 3.58248359e-02 -1.03661694e-03 9.99357547e-01 2.09237748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.22, Y:25.33, Z:20.92 [[ 9.96493860e-01 -7.56180637e-02 -3.58035653e-02 5.88221258e+02] [ 7.56088967e-02 9.97136248e-01 -1.61187815e-03 2.53264672e+01] [ 3.58229198e-02 -1.10084139e-03 9.99357547e-01 2.09239608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.25, Y:25.33, Z:20.92 [[ 9.96412600e-01 -7.66813497e-02 -3.58036544e-02 5.88252626e+02] [ 7.66729393e-02 9.97054998e-01 -1.60989650e-03 2.53274728e+01] [ 3.58216616e-02 -1.14105026e-03 9.99357547e-01 2.09247876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.29, Y:25.33, Z:20.93 [[ 9.96328859e-01 -7.77617926e-02 -3.58037396e-02 5.88285012e+02] [ 7.77541469e-02 9.96971267e-01 -1.60800010e-03 2.53286944e+01] [ 3.58203406e-02 -1.18179232e-03 9.99357547e-01 2.09263503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.32, Y:25.33, Z:20.93 [[ 9.96162369e-01 -7.98662603e-02 -3.58038554e-02 5.88315991e+02] [ 7.98600643e-02 9.96804792e-01 -1.60541711e-03 2.53301730e+01] [ 3.58176733e-02 -1.26004208e-03 9.99357547e-01 2.09276300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.35, Y:25.33, Z:20.93 [[ 9.96080769e-01 -8.08775606e-02 -3.58039417e-02 5.88348361e+02] [ 8.08720860e-02 9.96723199e-01 -1.60348953e-03 2.53318795e+01] [ 3.58163056e-02 -1.29833437e-03 9.99357547e-01 2.09290013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.38, Y:25.33, Z:20.93 [[ 9.96018645e-01 -8.16390175e-02 -3.58040564e-02 5.88380049e+02] [ 8.16341262e-02 9.96661079e-01 -1.60092419e-03 2.53335009e+01] [ 3.58152074e-02 -1.32828252e-03 9.99357547e-01 2.09305058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.41, Y:25.34, Z:20.93 [[ 9.95879185e-01 -8.33229305e-02 -3.58041704e-02 5.88412582e+02] [ 8.33192170e-02 9.96521627e-01 -1.59837173e-03 2.53350422e+01] [ 3.58128111e-02 -1.39139031e-03 9.99357547e-01 2.09325379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.44, Y:25.34, Z:20.93 [[ 9.95829916e-01 -8.39096663e-02 -3.58042862e-02 5.88444155e+02] [ 8.39064246e-02 9.96472361e-01 -1.59577358e-03 2.53364409e+01] [ 3.58118824e-02 -1.41509056e-03 9.99357547e-01 2.09337447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.48, Y:25.34, Z:20.94 [[ 9.95809776e-01 -8.41483001e-02 -3.58043723e-02 5.88476952e+02] [ 8.41452819e-02 9.96452222e-01 -1.59383802e-03 2.53376423e+01] [ 3.58114651e-02 -1.42560952e-03 9.99357547e-01 2.09351228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.51, Y:25.34, Z:20.94 [[ 9.95762606e-01 -8.47045831e-02 -3.58045428e-02 5.88508538e+02] [ 8.47020616e-02 9.96405055e-01 -1.58999859e-03 2.53396764e+01] [ 3.58105076e-02 -1.44945745e-03 9.99357547e-01 2.09366064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.54, Y:25.34, Z:20.94 [[ 9.95771132e-01 -8.46042356e-02 -3.58046839e-02 5.88541968e+02] [ 8.46017636e-02 9.96413581e-01 -1.58681417e-03 2.53416470e+01] [ 3.58105245e-02 -1.44903566e-03 9.99357547e-01 2.09382807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.58, Y:25.34, Z:20.94 [[ 9.95812570e-01 -8.41150227e-02 -3.58048550e-02 5.88575315e+02] [ 8.41123740e-02 9.96455018e-01 -1.58294464e-03 2.53433968e+01] [ 3.58110769e-02 -1.43531518e-03 9.99357547e-01 2.09394926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.61, Y:25.35, Z:20.94 [[ 9.95862652e-01 -8.35199331e-02 -3.58050267e-02 5.88607778e+02] [ 8.35170402e-02 9.96505098e-01 -1.57905205e-03 2.53450935e+01] [ 3.58117740e-02 -1.41781090e-03 9.99357547e-01 2.09404182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.64, Y:25.35, Z:20.94 [[ 9.95934413e-01 -8.26597697e-02 -3.58051408e-02 5.88639189e+02] [ 8.26564149e-02 9.96576857e-01 -1.57646102e-03 2.53470783e+01] [ 3.58128846e-02 -1.38947279e-03 9.99357547e-01 2.09403379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.67, Y:25.35, Z:20.94 [[ 9.95977999e-01 -8.21328826e-02 -3.58052257e-02 5.88671357e+02] [ 8.21292573e-02 9.96620442e-01 -1.57452991e-03 2.53486608e+01] [ 3.58135405e-02 -1.37245945e-03 9.99357547e-01 2.09411469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.70, Y:25.35, Z:20.94 [[ 9.96017157e-01 -8.16566042e-02 -3.58053377e-02 5.88702955e+02] [ 8.16527633e-02 9.96659598e-01 -1.57197843e-03 2.53505137e+01] [ 3.58140959e-02 -1.35788728e-03 9.99357547e-01 2.09410499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.74, Y:25.35, Z:20.94 [[ 9.96036438e-01 -8.14209985e-02 -3.58055308e-02 5.88735367e+02] [ 8.14171639e-02 9.96678879e-01 -1.56756909e-03 2.53521967e+01] [ 3.58142493e-02 -1.35382883e-03 9.99357547e-01 2.09419613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.77, Y:25.35, Z:20.94 [[ 9.96059303e-01 -8.11407443e-02 -3.58056400e-02 5.88767132e+02] [ 8.11368187e-02 9.96701744e-01 -1.56506861e-03 2.53538916e+01] [ 3.58145347e-02 -1.34625458e-03 9.99357547e-01 2.09431742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.80, Y:25.36, Z:20.94 [[ 9.96093136e-01 -8.07242898e-02 -3.58057757e-02 5.88798840e+02] [ 8.07202072e-02 9.96735576e-01 -1.56195847e-03 2.53554348e+01] [ 3.58149785e-02 -1.33439353e-03 9.99357547e-01 2.09446369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.83, Y:25.36, Z:20.95 [[ 9.96192865e-01 -7.94840577e-02 -3.58058838e-02 5.88829522e+02] [ 7.94792643e-02 9.96835300e-01 -1.55947807e-03 2.53572561e+01] [ 3.58165225e-02 -1.29228437e-03 9.99357547e-01 2.09450121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.86, Y:25.36, Z:20.95 [[ 9.96274455e-01 -7.84547264e-02 -3.58059641e-02 5.88861598e+02] [ 7.84493356e-02 9.96916885e-01 -1.55763154e-03 2.53588003e+01] [ 3.58177737e-02 -1.25712558e-03 9.99357547e-01 2.09465087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.89, Y:25.36, Z:20.95 [[ 9.96347914e-01 -7.75161832e-02 -3.58060729e-02 5.88893613e+02] [ 7.75102770e-02 9.96990340e-01 -1.55512667e-03 2.53606555e+01] [ 3.58188563e-02 -1.22589142e-03 9.99357547e-01 2.09480186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.92, Y:25.36, Z:20.95 [[ 9.96496270e-01 -7.55850548e-02 -3.58061844e-02 5.88924595e+02] [ 7.55779959e-02 9.97138685e-01 -1.55255414e-03 2.53630935e+01] [ 3.58210815e-02 -1.15904525e-03 9.99357547e-01 2.09474903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.96, Y:25.37, Z:20.95 [[ 9.96589005e-01 -7.43523109e-02 -3.58062674e-02 5.88957010e+02] [ 7.43445262e-02 9.97231411e-01 -1.55063794e-03 2.53651717e+01] [ 3.58224281e-02 -1.11665126e-03 9.99357547e-01 2.09506924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.99, Y:25.37, Z:20.95 [[ 9.96656467e-01 -7.34424326e-02 -3.58063763e-02 5.88989124e+02] [ 7.34341518e-02 9.97298866e-01 -1.54811856e-03 2.53672405e+01] [ 3.58233561e-02 -1.08646850e-03 9.99357547e-01 2.09529515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.02, Y:25.37, Z:20.96 [[ 9.96792581e-01 -7.15712621e-02 -3.58064881e-02 5.89021111e+02] [ 7.15618682e-02 9.97434965e-01 -1.54552963e-03 2.53694912e+01] [ 3.58252587e-02 -1.02180672e-03 9.99357547e-01 2.09551797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.05, Y:25.37, Z:20.96 [[ 9.96846957e-01 -7.08098304e-02 -3.58065996e-02 5.89052138e+02] [ 7.08000387e-02 9.97489335e-01 -1.54294206e-03 2.53713553e+01] [ 3.58259567e-02 -9.97031535e-04 9.99357547e-01 2.09561640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.08, Y:25.37, Z:20.96 [[ 9.97003830e-01 -6.85656267e-02 -3.58066826e-02 5.89084006e+02] [ 6.85544582e-02 9.97646186e-01 -1.54101352e-03 2.53737347e+01] [ 3.58280608e-02 -9.18311339e-04 9.99357547e-01 2.09584857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.12, Y:25.38, Z:20.96 [[ 9.97096432e-01 -6.72054918e-02 -3.58067921e-02 5.89115936e+02] [ 6.71935386e-02 9.97738774e-01 -1.53846435e-03 2.53754444e+01] [ 3.58292181e-02 -8.71987755e-04 9.99357547e-01 2.09602688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.15, Y:25.38, Z:20.96 [[ 9.97101266e-01 -6.71336793e-02 -3.58069028e-02 5.89148582e+02] [ 6.71217724e-02 9.97743609e-01 -1.53588251e-03 2.53767871e+01] [ 3.58292179e-02 -8.71992389e-04 9.99357547e-01 2.09614396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.18, Y:25.38, Z:20.96 [[ 9.97196186e-01 -6.57086345e-02 -3.58070132e-02 5.89180659e+02] [ 6.56959022e-02 9.97838513e-01 -1.53330530e-03 2.53784387e+01] [ 3.58303682e-02 -8.23367838e-04 9.99357547e-01 2.09628242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.21, Y:25.38, Z:20.96 [[ 9.97384084e-01 -6.27920328e-02 -3.58071227e-02 5.89213041e+02] [ 6.27775139e-02 9.98026373e-01 -1.53074459e-03 2.53803548e+01] [ 3.58325713e-02 -7.21141847e-04 9.99357547e-01 2.09645215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.24, Y:25.38, Z:20.96 [[ 9.97464983e-01 -6.14934863e-02 -3.58072337e-02 5.89244192e+02] [ 6.14782245e-02 9.98107255e-01 -1.52814345e-03 2.53817265e+01] [ 3.58334306e-02 -6.77095568e-04 9.99357547e-01 2.09641539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.28, Y:25.38, Z:20.97 [[ 9.97544706e-01 -6.01863482e-02 -3.58073163e-02 5.89275777e+02] [ 6.01703144e-02 9.98186958e-01 -1.52620528e-03 2.53831220e+01] [ 3.58342529e-02 -6.32079483e-04 9.99357547e-01 2.09662252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.31, Y:25.38, Z:20.97 [[ 9.97611145e-01 -5.90748318e-02 -3.58073710e-02 5.89307141e+02] [ 5.90581285e-02 9.98253381e-01 -1.52492045e-03 2.53844214e+01] [ 3.58349136e-02 -5.93438677e-04 9.99357547e-01 2.09672477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.34, Y:25.39, Z:20.97 [[ 9.97689510e-01 -5.77362136e-02 -3.58074255e-02 5.89338475e+02] [ 5.77186946e-02 9.98331724e-01 -1.52363981e-03 2.53855099e+01] [ 3.58356580e-02 -5.46638401e-04 9.99357547e-01 2.09683401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.37, Y:25.39, Z:20.97 [[ 9.97729418e-01 -5.70423847e-02 -3.58074801e-02 5.89369446e+02] [ 5.70244651e-02 9.98371621e-01 -1.52235498e-03 2.53857654e+01] [ 3.58360107e-02 -5.23004053e-04 9.99357547e-01 2.09694655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.40, Y:25.39, Z:20.97 [[ 9.97756305e-01 -5.65701049e-02 -3.58075359e-02 5.89399770e+02] [ 5.65519284e-02 9.98398501e-01 -1.52104207e-03 2.53861182e+01] [ 3.58362357e-02 -5.07355895e-04 9.99357547e-01 2.09697844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.43, Y:25.39, Z:20.97 [[ 9.97774629e-01 -5.62459594e-02 -3.58075636e-02 5.89431096e+02] [ 5.62275976e-02 9.98416820e-01 -1.52039083e-03 2.53867873e+01] [ 3.58363896e-02 -4.96365878e-04 9.99357547e-01 2.09717764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.46, Y:25.39, Z:20.97 [[ 9.97814670e-01 -5.55310662e-02 -3.58076188e-02 5.89461312e+02] [ 5.55122911e-02 9.98456848e-01 -1.51908760e-03 2.53872377e+01] [ 3.58367188e-02 -4.71995074e-04 9.99357547e-01 2.09724396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.48, Y:25.40, Z:20.97 [[ 9.97460485e-01 -6.15661309e-02 -3.58077122e-02 5.89482896e+02] [ 6.15513200e-02 9.98102767e-01 -1.51688324e-03 2.53960129e+01] [ 3.58331653e-02 -6.90980864e-04 9.99357547e-01 2.09738818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.52, Y:25.39, Z:20.98 [[ 9.97842704e-01 -5.50503536e-02 -3.57686421e-02 5.89520423e+02] [ 5.49989629e-02 9.98483479e-01 -2.41984769e-03 2.53890389e+01] [ 3.58476117e-02 4.47389140e-04 9.99357168e-01 2.09751122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.55, Y:25.39, Z:20.98 [[ 9.97860193e-01 -5.47074343e-02 -3.58068800e-02 5.89550632e+02] [ 5.46881475e-02 9.98502329e-01 -1.51856845e-03 2.53890790e+01] [ 3.58363300e-02 -4.42892928e-04 9.99357574e-01 2.09756596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.58, Y:25.39, Z:20.98 [[ 9.97853999e-01 -5.48202885e-02 -3.58068800e-02 5.89581381e+02] [ 5.48010742e-02 9.98496137e-01 -1.51856845e-03 2.53876526e+01] [ 3.58362797e-02 -4.46945889e-04 9.99357574e-01 2.09763872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.60, Y:25.40, Z:20.98 [[ 9.97536305e-01 -6.03256864e-02 -3.58068800e-02 5.89604456e+02] [ 6.03100159e-02 9.98178539e-01 -1.51856845e-03 2.53951900e+01] [ 3.58332678e-02 -6.44686341e-04 9.99357574e-01 2.09775849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.63, Y:25.39, Z:20.98 [[ 9.97420166e-01 -6.22357036e-02 -3.57732973e-02 5.89634540e+02] [ 6.21924231e-02 9.98061475e-01 -2.32243381e-03 2.53947784e+01] [ 3.58484882e-02 9.16142804e-05 9.99357232e-01 2.09788378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.67, Y:25.39, Z:20.98 [[ 9.97760663e-01 -5.65219718e-02 -3.57620854e-02 5.89673374e+02] [ 5.64654117e-02 9.98401196e-01 -2.59038747e-03 2.53851398e+01] [ 3.58513227e-02 5.65265843e-04 9.99356975e-01 2.09808787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.70, Y:25.38, Z:20.98 [[ 9.97660850e-01 -5.82288797e-02 -3.58081802e-02 5.89702552e+02] [ 5.82138937e-02 9.98303063e-01 -1.46185343e-03 2.53839429e+01] [ 3.58325381e-02 -6.26099663e-04 9.99357612e-01 2.09811021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.73, Y:25.38, Z:20.98 [[ 9.97405278e-01 -6.24538602e-02 -3.58081829e-02 5.89734015e+02] [ 6.24415966e-02 9.98047549e-01 -1.46178897e-03 2.53802909e+01] [ 3.58295635e-02 -7.77924078e-04 9.99357612e-01 2.09823871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.76, Y:25.38, Z:20.98 [[ 9.97259603e-01 -6.47383554e-02 -3.58082344e-02 5.89764031e+02] [ 6.47276085e-02 9.97901901e-01 -1.46052554e-03 2.53786227e+01] [ 3.58276572e-02 -8.61258253e-04 9.99357612e-01 2.09831863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.80, Y:25.38, Z:20.98 [[ 9.97112630e-01 -6.69639613e-02 -3.58082600e-02 5.89795205e+02] [ 6.69546704e-02 9.97754950e-01 -1.45989815e-03 2.53770450e+01] [ 3.58256292e-02 -9.41847359e-04 9.99357612e-01 2.09847522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.83, Y:25.38, Z:20.99 [[ 9.96970319e-01 -6.90503231e-02 -3.58083112e-02 5.89825115e+02] [ 6.90424214e-02 9.97612659e-01 -1.45864020e-03 2.53756295e+01] [ 3.58235441e-02 -1.01807152e-03 9.99357612e-01 2.09858456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.86, Y:25.37, Z:20.99 [[ 9.96733404e-01 -7.23898076e-02 -3.58083367e-02 5.89857377e+02] [ 7.23840803e-02 9.97375766e-01 -1.45801532e-03 2.53718956e+01] [ 3.58199127e-02 -1.13870094e-03 9.99357612e-01 2.09876670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.89, Y:25.37, Z:20.99 [[ 9.96624645e-01 -7.38719978e-02 -3.58084423e-02 5.89889469e+02] [ 7.38673190e-02 9.97267016e-01 -1.45541687e-03 2.53706815e+01] [ 3.58180929e-02 -1.19456930e-03 9.99357612e-01 2.09891782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.92, Y:25.37, Z:20.99 [[ 9.96460240e-01 -7.60574662e-02 -3.58085479e-02 5.89920417e+02] [ 7.60542896e-02 9.97102620e-01 -1.45281453e-03 2.53665747e+01] [ 3.58152943e-02 -1.27572176e-03 9.99357612e-01 2.09900747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.95, Y:25.36, Z:20.99 [[ 9.96411380e-01 -7.66948727e-02 -3.58086265e-02 5.89953139e+02] [ 7.66921766e-02 9.97053762e-01 -1.45087443e-03 2.53649105e+01] [ 3.58144004e-02 -1.30057371e-03 9.99357612e-01 2.09911265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.99, Y:25.36, Z:20.99 [[ 9.96378759e-01 -7.71174647e-02 -3.58087310e-02 5.89985208e+02] [ 7.71151339e-02 9.97021143e-01 -1.44828890e-03 2.53632693e+01] [ 3.58137503e-02 -1.31835079e-03 9.99357612e-01 2.09920533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.02, Y:25.36, Z:20.99 [[ 9.96362507e-01 -7.73271110e-02 -3.58088349e-02 5.90018035e+02] [ 7.73250076e-02 9.97004891e-01 -1.44571646e-03 2.53586258e+01] [ 3.58133766e-02 -1.32846075e-03 9.99357612e-01 2.09928083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.05, Y:25.36, Z:20.99 [[ 9.96368192e-01 -7.72537702e-02 -3.58089411e-02 5.90050682e+02] [ 7.72517141e-02 9.97010577e-01 -1.44308148e-03 2.53598847e+01] [ 3.58133765e-02 -1.32846159e-03 9.99357612e-01 2.09939792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.06, Y:25.37, Z:21.00 [[ 9.95512337e-01 -8.75950867e-02 -3.58090470e-02 5.90061575e+02] [ 8.75997953e-02 9.96154707e-01 -1.44044734e-03 2.53719553e+01] [ 3.57975269e-02 -1.70288210e-03 9.99357612e-01 2.09966962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.11, Y:25.36, Z:21.00 [[ 9.96352512e-01 -7.74909748e-02 -3.57326337e-02 5.90108902e+02] [ 7.74243984e-02 9.96992944e-01 -3.24524976e-03 2.53553453e+01] [ 3.58766612e-02 4.66835080e-04 9.99356116e-01 2.09983646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.14, Y:25.35, Z:21.00 [[ 9.96287451e-01 -7.82897697e-02 -3.58053936e-02 5.90139241e+02] [ 7.82881276e-02 9.96929720e-01 -1.45003439e-03 2.53511308e+01] [ 3.58089839e-02 -1.35848616e-03 9.99357729e-01 2.09979837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.17, Y:25.35, Z:21.00 [[ 9.96297462e-01 -7.81622681e-02 -3.58054190e-02 5.90170983e+02] [ 7.81605664e-02 9.96939730e-01 -1.44940588e-03 2.53499546e+01] [ 3.58091336e-02 -1.35453243e-03 9.99357729e-01 2.09968142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.18, Y:25.36, Z:20.99 [[ 9.95377793e-01 -8.91123847e-02 -3.58054712e-02 5.90183685e+02] [ 8.91177915e-02 9.96020041e-01 -1.44811705e-03 2.53646335e+01] [ 3.57920120e-02 -1.74948096e-03 9.99357729e-01 2.09947484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.22, Y:25.36, Z:21.00 [[ 9.95739032e-01 -8.50095938e-02 -3.57372346e-02 5.90215518e+02] [ 8.49520521e-02 9.96380130e-01 -3.12827730e-03 2.53620514e+01] [ 3.58738041e-02 7.89963912e-05 9.99356325e-01 2.09975840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.25, Y:25.36, Z:21.00 [[ 9.95814484e-01 -8.41242493e-02 -3.57298695e-02 5.90247652e+02] [ 8.40595541e-02 9.96455229e-01 -3.31170054e-03 2.53610265e+01] [ 3.58818097e-02 2.94402463e-04 9.99355997e-01 2.09982248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.28, Y:25.36, Z:21.00 [[ 9.96177791e-01 -7.97024459e-02 -3.57397377e-02 5.90279115e+02] [ 7.96439590e-02 9.96818679e-01 -3.05944407e-03 2.53585875e+01] [ 3.58698833e-02 2.01296036e-04 9.99356448e-01 2.10022052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.31, Y:25.36, Z:21.00 [[ 9.96426131e-01 -7.65379096e-02 -3.57339270e-02 5.90311591e+02] [ 7.64719326e-02 9.97066562e-01 -3.21147180e-03 2.53572336e+01] [ 3.58749031e-02 4.67351963e-04 9.99356179e-01 2.10040016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.34, Y:25.36, Z:21.00 [[ 9.96659599e-01 -7.34346398e-02 -3.57350927e-02 5.90343382e+02] [ 7.33677777e-02 9.97299881e-01 -3.18056106e-03 2.53555090e+01] [ 3.58721670e-02 5.48132377e-04 9.99356236e-01 2.10049656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.39, Y:25.34, Z:21.01 [[ 9.97481394e-01 -6.12677425e-02 -3.57369808e-02 5.90391072e+02] [ 6.11948783e-02 9.98120929e-01 -3.13018916e-03 2.53365234e+01] [ 3.58616081e-02 9.35385257e-04 9.99356328e-01 2.10073237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.42, Y:25.33, Z:21.01 [[ 9.97535085e-01 -6.03480930e-02 -3.58031066e-02 5.90420006e+02] [ 6.03411694e-02 9.98176997e-01 -1.27488252e-03 2.53341363e+01] [ 3.58147742e-02 -8.88661274e-04 9.99358050e-01 2.10081160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.43, Y:25.35, Z:21.01 [[ 9.96949098e-01 -6.93589065e-02 -3.58027761e-02 5.90434923e+02] [ 6.93574526e-02 9.97591046e-01 -1.28409813e-03 2.53467803e+01] [ 3.58055925e-02 -1.20300888e-03 9.99358050e-01 2.10088634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.47, Y:25.34, Z:21.01 [[ 9.97069121e-01 -6.76419839e-02 -3.57453498e-02 5.90465435e+02] [ 6.75833465e-02 9.97709568e-01 -2.84755069e-03 2.53411092e+01] [ 3.58560915e-02 4.23414499e-04 9.99356874e-01 2.10109234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.51, Y:25.33, Z:21.01 [[ 9.97553097e-01 -6.00844203e-02 -3.57446730e-02 5.90509516e+02] [ 6.00202680e-02 9.98193044e-01 -2.86605561e-03 2.53252224e+01] [ 3.58522892e-02 7.13637794e-04 9.99356845e-01 2.10123808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.53, Y:25.33, Z:21.01 [[ 9.96986225e-01 -6.88240085e-02 -3.58011691e-02 5.90525453e+02] [ 6.88233427e-02 9.97628076e-01 -1.25243592e-03 2.53348201e+01] [ 3.58024492e-02 -1.21529477e-03 9.99358148e-01 2.10116253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.56, Y:25.33, Z:21.01 [[ 9.96929091e-01 -6.96745357e-02 -3.57469909e-02 5.90555923e+02] [ 6.96206983e-02 9.97569744e-01 -2.75014451e-03 2.53282051e+01] [ 3.58517316e-02 2.52968597e-04 9.99357088e-01 2.10132269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.59, Y:25.33, Z:21.01 [[ 9.96880322e-01 -7.03655477e-02 -3.57535000e-02 5.90586046e+02] [ 7.03187720e-02 9.97521272e-01 -2.56564027e-03 2.53254497e+01] [ 3.58454095e-02 4.34940808e-05 9.99357346e-01 2.10142948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.62, Y:25.32, Z:21.02 [[ 9.96787984e-01 -7.16607099e-02 -3.57555395e-02 5.90615734e+02] [ 7.16168651e-02 9.97429065e-01 -2.50714237e-03 2.53226992e+01] [ 3.58432779e-02 -6.16102599e-05 9.99357421e-01 2.10154728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.66, Y:25.31, Z:21.02 [[ 9.97018956e-01 -6.83712444e-02 -3.57571516e-02 5.90655664e+02] [ 6.83269388e-02 9.97659949e-01 -2.46101539e-03 2.53106941e+01] [ 3.58417408e-02 1.05022870e-05 9.99357478e-01 2.10176321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.68, Y:25.31, Z:21.02 [[ 9.96674307e-01 -7.32033023e-02 -3.57994640e-02 5.90683339e+02] [ 7.32069505e-02 9.97316037e-01 -1.21065168e-03 2.53051251e+01] [ 3.57920032e-02 -1.41414417e-03 9.99358260e-01 2.10179046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.70, Y:25.31, Z:21.02 [[ 9.96080183e-01 -8.08869104e-02 -3.57991053e-02 5.90704616e+02] [ 8.08951301e-02 9.96721870e-01 -1.22116623e-03 2.53120655e+01] [ 3.57805276e-02 -1.67959379e-03 9.99358260e-01 2.10175235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.74, Y:25.30, Z:21.02 [[ 9.96363886e-01 -7.73313271e-02 -3.57613316e-02 5.90744063e+02] [ 7.72985675e-02 9.97005337e-01 -2.29982268e-03 2.53019710e+01] [ 3.58320868e-02 -4.72839439e-04 9.99357713e-01 2.10194234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.77, Y:25.30, Z:21.02 [[ 9.95991267e-01 -8.19749173e-02 -3.57981668e-02 5.90772939e+02] [ 8.19840082e-02 9.96632903e-01 -1.21636348e-03 2.52984294e+01] [ 3.57773422e-02 -1.72338980e-03 9.99358300e-01 2.10206659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.80, Y:25.30, Z:21.02 [[ 9.95839527e-01 -8.37982722e-02 -3.57978490e-02 5.90801358e+02] [ 8.38082049e-02 9.96481150e-01 -1.22564738e-03 2.52974842e+01] [ 3.57745889e-02 -1.77960536e-03 9.99358300e-01 2.10218159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.83, Y:25.29, Z:21.02 [[ 9.95484934e-01 -8.79106508e-02 -3.57975304e-02 5.90830577e+02] [ 8.79229023e-02 9.96126517e-01 -1.23488326e-03 2.52947162e+01] [ 3.57674287e-02 -1.91811508e-03 9.99358300e-01 2.10229261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.86, Y:25.29, Z:21.02 [[ 9.95252244e-01 -9.05069711e-02 -3.57974626e-02 5.90860629e+02] [ 9.05208258e-02 9.95893795e-01 -1.23684389e-03 2.52939437e+01] [ 3.57624139e-02 -2.00944422e-03 9.99358300e-01 2.10236923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.89, Y:25.29, Z:21.02 [[ 9.94835477e-01 -9.49785208e-02 -3.57974176e-02 5.90890106e+02] [ 9.49952116e-02 9.95476959e-01 -1.23814542e-03 2.52909938e+01] [ 3.57531017e-02 -2.16883228e-03 9.99358300e-01 2.10239711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.92, Y:25.29, Z:21.02 [[ 9.94407451e-01 -9.93597950e-02 -3.57973724e-02 5.90920114e+02] [ 9.93792646e-02 9.95048856e-01 -1.23945113e-03 2.52889960e+01] [ 3.57432861e-02 -2.32499711e-03 9.99358300e-01 2.10246166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.95, Y:25.29, Z:21.02 [[ 9.93980360e-01 -1.03545140e-01 -3.57973264e-02 5.90949158e+02] [ 1.03567262e-01 9.94621678e-01 -1.24077916e-03 2.52859040e+01] [ 3.57332735e-02 -2.47412097e-03 9.99358300e-01 2.10248594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.98, Y:25.28, Z:21.02 [[ 9.93514442e-01 -1.07924091e-01 -3.57972576e-02 5.90978305e+02] [ 1.07948968e-01 9.94155660e-01 -1.24276103e-03 2.52836182e+01] [ 3.57221701e-02 -2.62957598e-03 9.99358300e-01 2.10229710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.01, Y:25.28, Z:21.02 [[ 9.93383104e-01 -1.09126390e-01 -3.57971895e-02 5.91008073e+02] [ 1.09151973e-01 9.94024294e-01 -1.24471975e-03 2.52840027e+01] [ 3.57191078e-02 -2.67085028e-03 9.99358300e-01 2.10235587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.04, Y:25.29, Z:21.02 [[ 9.93379070e-01 -1.09163127e-01 -3.57971435e-02 5.91038192e+02] [ 1.09188686e-01 9.94020260e-01 -1.24604145e-03 2.52850802e+01] [ 3.57191076e-02 -2.67085156e-03 9.99358300e-01 2.10246391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.07, Y:25.29, Z:21.02 [[ 9.93285646e-01 -1.10009965e-01 -3.57970974e-02 5.91067697e+02] [ 1.10036023e-01 9.93926817e-01 -1.24736443e-03 2.52856304e+01] [ 3.57169176e-02 -2.69998104e-03 9.99358300e-01 2.10245825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.10, Y:25.29, Z:21.03 [[ 9.93281749e-01 -1.10045155e-01 -3.57970745e-02 5.91097816e+02] [ 1.10071213e-01 9.93922920e-01 -1.24802043e-03 2.52867111e+01] [ 3.57168714e-02 -2.70059147e-03 9.99358300e-01 2.10256628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.13, Y:25.29, Z:21.03 [[ 9.93277849e-01 -1.10080367e-01 -3.57970302e-02 5.91127934e+02] [ 1.10106402e-01 9.93919021e-01 -1.24928863e-03 2.52877932e+01] [ 3.57168714e-02 -2.70059147e-03 9.99358300e-01 2.10267433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.16, Y:25.29, Z:21.03 [[ 9.93273948e-01 -1.10115579e-01 -3.57969859e-02 5.91158053e+02] [ 1.10141591e-01 9.93915120e-01 -1.25055683e-03 2.52888763e+01] [ 3.57168714e-02 -2.70059147e-03 9.99358300e-01 2.10278237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.19, Y:25.29, Z:21.03 [[ 9.93090241e-01 -1.11760242e-01 -3.57969416e-02 5.91188133e+02] [ 1.11787271e-01 9.93731372e-01 -1.25182502e-03 2.52898947e+01] [ 3.57124481e-02 -2.75846718e-03 9.99358300e-01 2.10287706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.22, Y:25.29, Z:21.03 [[ 9.93029457e-01 -1.12299064e-01 -3.57968952e-02 5.91217411e+02] [ 1.12326393e-01 9.93670575e-01 -1.25314987e-03 2.52908218e+01] [ 3.57110490e-02 -2.77652138e-03 9.99358300e-01 2.10292801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.25, Y:25.29, Z:21.03 [[ 9.92745539e-01 -1.14781877e-01 -3.57968722e-02 5.91248025e+02] [ 1.14810785e-01 9.93386587e-01 -1.25380742e-03 2.52922066e+01] [ 3.57040470e-02 -2.86515528e-03 9.99358300e-01 2.10302496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.28, Y:25.29, Z:21.03 [[ 9.92673856e-01 -1.15400169e-01 -3.57968722e-02 5.91277140e+02] [ 1.15429476e-01 9.93314887e-01 -1.25380742e-03 2.52931167e+01] [ 3.57022556e-02 -2.88739235e-03 9.99358300e-01 2.10308992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.31, Y:25.29, Z:21.03 [[ 9.92645503e-01 -1.15643808e-01 -3.57968490e-02 5.91307035e+02] [ 1.15673249e-01 9.93286528e-01 -1.25446955e-03 2.52940433e+01] [ 3.57015994e-02 -2.89549428e-03 9.99358300e-01 2.10314809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.34, Y:25.30, Z:21.03 [[ 9.92579985e-01 -1.16204820e-01 -3.57968262e-02 5.91337700e+02] [ 1.16234600e-01 9.93220994e-01 -1.25511856e-03 2.52952737e+01] [ 3.57000101e-02 -2.91502422e-03 9.99358300e-01 2.10331521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.37, Y:25.30, Z:21.03 [[ 9.92567575e-01 -1.16310772e-01 -3.57968262e-02 5.91366681e+02] [ 1.16340621e-01 9.93208581e-01 -1.25511856e-03 2.52966861e+01] [ 3.56996988e-02 -2.91883499e-03 9.99358300e-01 2.10339001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.40, Y:25.30, Z:21.04 [[ 9.92546485e-01 -1.16490618e-01 -3.57968032e-02 5.91397159e+02] [ 1.16520559e-01 9.93187486e-01 -1.25577455e-03 2.52990951e+01] [ 3.56992229e-02 -2.92464890e-03 9.99358300e-01 2.10356736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.43, Y:25.30, Z:21.04 [[ 9.92600670e-01 -1.16028010e-01 -3.57968032e-02 5.91427740e+02] [ 1.16057652e-01 9.93241685e-01 -1.25577455e-03 2.53010727e+01] [ 3.57005821e-02 -2.90801028e-03 9.99358300e-01 2.10376832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.46, Y:25.30, Z:21.04 [[ 9.92634576e-01 -1.15737578e-01 -3.57968032e-02 5.91457711e+02] [ 1.15767033e-01 9.93275600e-01 -1.25577455e-03 2.53033910e+01] [ 3.57014315e-02 -2.89756445e-03 9.99358300e-01 2.10401270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.49, Y:25.30, Z:21.04 [[ 9.92605521e-01 -1.15986498e-01 -3.57968032e-02 5.91486732e+02] [ 1.16016114e-01 9.93246538e-01 -1.25577455e-03 2.53047616e+01] [ 3.57007037e-02 -2.90651723e-03 9.99358300e-01 2.10412290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.52, Y:25.31, Z:21.04 [[ 9.92692322e-01 -1.15241242e-01 -3.57967801e-02 5.91516754e+02] [ 1.15270353e-01 9.93333362e-01 -1.25643359e-03 2.53056954e+01] [ 3.57029288e-02 -2.87905549e-03 9.99358300e-01 2.10429555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.55, Y:25.31, Z:21.04 [[ 9.92755232e-01 -1.14698040e-01 -3.57967801e-02 5.91546366e+02] [ 1.14726799e-01 9.93396287e-01 -1.25643359e-03 2.53075107e+01] [ 3.57044989e-02 -2.85951898e-03 9.99358300e-01 2.10443238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.58, Y:25.31, Z:21.05 [[ 9.92758934e-01 -1.14665990e-01 -3.57967799e-02 5.91576685e+02] [ 1.14694729e-01 9.93399990e-01 -1.25643746e-03 2.53093366e+01] [ 3.57045915e-02 -2.85836245e-03 9.99358300e-01 2.10458504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.61, Y:25.31, Z:21.05 [[ 9.92775602e-01 -1.14521590e-01 -3.57967799e-02 5.91607566e+02] [ 1.14550235e-01 9.93416662e-01 -1.25643746e-03 2.53122316e+01] [ 3.57050069e-02 -2.85316911e-03 9.99358300e-01 2.10471241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.64, Y:25.31, Z:21.05 [[ 9.92796390e-01 -1.14341241e-01 -3.57967799e-02 5.91638468e+02] [ 1.14369771e-01 9.93437455e-01 -1.25643746e-03 2.53142314e+01] [ 3.57055246e-02 -2.84668294e-03 9.99358300e-01 2.10482258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.67, Y:25.32, Z:21.05 [[ 9.92852746e-01 -1.13850832e-01 -3.57968272e-02 5.91669128e+02] [ 1.13879093e-01 9.93493823e-01 -1.25508833e-03 2.53159411e+01] [ 3.57068196e-02 -2.83039230e-03 9.99358300e-01 2.10486518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.70, Y:25.32, Z:21.05 [[ 9.92924522e-01 -1.13223138e-01 -3.57968507e-02 5.91699320e+02] [ 1.13251017e-01 9.93565616e-01 -1.25441965e-03 2.53182862e+01] [ 3.57085493e-02 -2.80848572e-03 9.99358300e-01 2.10483811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.73, Y:25.32, Z:21.05 [[ 9.93005171e-01 -1.12513624e-01 -3.57968507e-02 5.91729760e+02] [ 1.12541045e-01 9.93646285e-01 -1.25441965e-03 2.53201013e+01] [ 3.57105470e-02 -2.78296980e-03 9.99358300e-01 2.10489033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.76, Y:25.32, Z:21.05 [[ 9.93043733e-01 -1.12172772e-01 -3.57968507e-02 5.91760051e+02] [ 1.12199973e-01 9.93684856e-01 -1.25441965e-03 2.53220588e+01] [ 3.57115001e-02 -2.77071211e-03 9.99358300e-01 2.10494901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.79, Y:25.32, Z:21.05 [[ 9.93119858e-01 -1.11496780e-01 -3.57968736e-02 5.91790924e+02] [ 1.11523569e-01 9.93760998e-01 -1.25376349e-03 2.53238905e+01] [ 3.57133275e-02 -2.74705767e-03 9.99358300e-01 2.10508401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.82, Y:25.33, Z:21.05 [[ 9.93345797e-01 -1.09465576e-01 -3.57968736e-02 5.91820945e+02] [ 1.09491053e-01 9.93986991e-01 -1.25376349e-03 2.53269716e+01] [ 3.57188706e-02 -2.67401671e-03 9.99358300e-01 2.10527495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.85, Y:25.33, Z:21.05 [[ 9.93491192e-01 -1.08138028e-01 -3.57968967e-02 5.91851503e+02] [ 1.08162672e-01 9.94132419e-01 -1.25310364e-03 2.53290637e+01] [ 3.57223637e-02 -2.62694058e-03 9.99358300e-01 2.10539473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.88, Y:25.33, Z:21.06 [[ 9.93640166e-01 -1.06760482e-01 -3.57969196e-02 5.91881771e+02] [ 1.06784260e-01 9.94281426e-01 -1.25245085e-03 2.53311568e+01] [ 3.57259245e-02 -2.57806210e-03 9.99358300e-01 2.10553647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.91, Y:25.33, Z:21.06 [[ 9.93971838e-01 -1.03627050e-01 -3.57969196e-02 5.91911514e+02] [ 1.03648807e-01 9.94613169e-01 -1.25245085e-03 2.53342291e+01] [ 3.57338754e-02 -2.46540713e-03 9.99358300e-01 2.10565723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.94, Y:25.34, Z:21.06 [[ 9.94124342e-01 -1.02153685e-01 -3.57968972e-02 5.91941690e+02] [ 1.02174468e-01 9.94765705e-01 -1.25309047e-03 2.53362068e+01] [ 3.57375335e-02 -2.41180121e-03 9.99358300e-01 2.10579945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.97, Y:25.34, Z:21.06 [[ 9.94400064e-01 -9.94338755e-02 -3.57968972e-02 5.91971804e+02] [ 9.94529039e-02 9.95041481e-01 -1.25309047e-03 2.53382438e+01] [ 3.57439973e-02 -2.31403214e-03 9.99358300e-01 2.10592965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.00, Y:25.34, Z:21.06 [[ 9.94444103e-01 -9.89924674e-02 -3.57968972e-02 5.92001284e+02] [ 9.90112111e-02 9.95085529e-01 -1.25309047e-03 2.53398422e+01] [ 3.57450209e-02 -2.29816572e-03 9.99358300e-01 2.10603674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.03, Y:25.34, Z:21.06 [[ 9.94459147e-01 -9.88412286e-02 -3.57968751e-02 5.92031602e+02] [ 9.88598522e-02 9.95100577e-01 -1.25372062e-03 2.53413062e+01] [ 3.57454104e-02 -2.29209985e-03 9.99358300e-01 2.10613195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.06, Y:25.34, Z:21.06 [[ 9.94343454e-01 -9.99983922e-02 -3.57968751e-02 5.92061703e+02] [ 1.00017762e-01 9.94984862e-01 -1.25372062e-03 2.53430199e+01] [ 3.57427189e-02 -2.33369445e-03 9.99358300e-01 2.10620583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.09, Y:25.34, Z:21.06 [[ 9.94225938e-01 -1.01160114e-01 -3.57968751e-02 5.92092604e+02] [ 1.01180234e-01 9.94867322e-01 -1.25372062e-03 2.53442461e+01] [ 3.57399678e-02 -2.37545463e-03 9.99358300e-01 2.10627612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.12, Y:25.35, Z:21.06 [[ 9.94064218e-01 -1.02737110e-01 -3.57968751e-02 5.92122702e+02] [ 1.02758247e-01 9.94705570e-01 -1.25372062e-03 2.53450689e+01] [ 3.57361547e-02 -2.43214531e-03 9.99358300e-01 2.10633030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.15, Y:25.35, Z:21.06 [[ 9.93713974e-01 -1.06071294e-01 -3.57968977e-02 5.92153591e+02] [ 1.06094605e-01 9.94355251e-01 -1.25307591e-03 2.53450186e+01] [ 3.57277486e-02 -2.55265868e-03 9.99358300e-01 2.10637360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.18, Y:25.35, Z:21.06 [[ 9.93562501e-01 -1.07480873e-01 -3.57968977e-02 5.92183902e+02] [ 1.07505094e-01 9.94203744e-01 -1.25307591e-03 2.53457549e+01] [ 3.57240914e-02 -2.60333961e-03 9.99358300e-01 2.10644644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.21, Y:25.35, Z:21.07 [[ 9.93443875e-01 -1.08571860e-01 -3.57968977e-02 5.92213084e+02] [ 1.08596786e-01 9.94085091e-01 -1.25307591e-03 2.53464477e+01] [ 3.57212111e-02 -2.64256743e-03 9.99358300e-01 2.10653043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.24, Y:25.35, Z:21.07 [[ 9.93331930e-01 -1.09591330e-01 -3.57968757e-02 5.92243268e+02] [ 1.09616891e-01 9.93973121e-01 -1.25370516e-03 2.53473996e+01] [ 3.57185274e-02 -2.67859684e-03 9.99358300e-01 2.10661077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.27, Y:25.35, Z:21.07 [[ 9.93134688e-01 -1.11364608e-01 -3.57968757e-02 5.92273814e+02] [ 1.11391313e-01 9.93775832e-01 -1.25370516e-03 2.53478203e+01] [ 3.57136883e-02 -2.74236291e-03 9.99358300e-01 2.10663992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.30, Y:25.35, Z:21.07 [[ 9.93056267e-01 -1.12061745e-01 -3.57968757e-02 5.92303225e+02] [ 1.12088901e-01 9.93697392e-01 -1.25370516e-03 2.53483870e+01] [ 3.57117544e-02 -2.76743267e-03 9.99358300e-01 2.10667110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.33, Y:25.35, Z:21.07 [[ 9.92991125e-01 -1.12637524e-01 -3.57968540e-02 5.92333824e+02] [ 1.12665029e-01 9.93632235e-01 -1.25432449e-03 2.53493855e+01] [ 3.57101920e-02 -2.78752051e-03 9.99358300e-01 2.10673506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.36, Y:25.35, Z:21.07 [[ 9.92904816e-01 -1.13395817e-01 -3.57968540e-02 5.92364152e+02] [ 1.13423812e-01 9.93545905e-01 -1.25432449e-03 2.53498594e+01] [ 3.57080528e-02 -2.81479080e-03 9.99358300e-01 2.10679042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.39, Y:25.35, Z:21.07 [[ 9.92882180e-01 -1.13593842e-01 -3.57968540e-02 5.92394367e+02] [ 1.13621965e-01 9.93523264e-01 -1.25432449e-03 2.53507709e+01] [ 3.57074907e-02 -2.82191244e-03 9.99358300e-01 2.10692372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.42, Y:25.35, Z:21.07 [[ 9.92807557e-01 -1.14244213e-01 -3.57968540e-02 5.92424382e+02] [ 1.14272755e-01 9.93448622e-01 -1.25432449e-03 2.53515874e+01] [ 3.57056345e-02 -2.84530230e-03 9.99358300e-01 2.10715368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.46, Y:25.35, Z:21.07 [[ 9.92742604e-01 -1.14807263e-01 -3.57968540e-02 5.92455177e+02] [ 1.14836169e-01 9.93383652e-01 -1.25432449e-03 2.53523919e+01] [ 3.57040151e-02 -2.86555222e-03 9.99358300e-01 2.10727203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.49, Y:25.35, Z:21.07 [[ 9.92699146e-01 -1.15182426e-01 -3.57968540e-02 5.92485656e+02] [ 1.15211575e-01 9.93340183e-01 -1.25432449e-03 2.53531311e+01] [ 3.57029296e-02 -2.87904506e-03 9.99358300e-01 2.10736573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.52, Y:25.35, Z:21.07 [[ 9.92576169e-01 -1.16237405e-01 -3.57968540e-02 5.92517468e+02] [ 1.16267235e-01 9.93217175e-01 -1.25432449e-03 2.53537191e+01] [ 3.56998496e-02 -2.91698863e-03 9.99358300e-01 2.10738236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.55, Y:25.35, Z:21.07 [[ 9.92530302e-01 -1.16628388e-01 -3.57968998e-02 5.92547065e+02] [ 1.16658517e-01 9.93171295e-01 -1.25301606e-03 2.53542446e+01] [ 3.56985905e-02 -2.93235682e-03 9.99358300e-01 2.10739089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.58, Y:25.36, Z:21.07 [[ 9.92389997e-01 -1.17816285e-01 -3.57968770e-02 5.92576919e+02] [ 1.17847158e-01 9.93030954e-01 -1.25366569e-03 2.53550377e+01] [ 3.56951092e-02 -2.97443494e-03 9.99358300e-01 2.10731636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.61, Y:25.36, Z:21.07 [[ 9.92341578e-01 -1.18223412e-01 -3.57968835e-02 5.92607092e+02] [ 1.18254555e-01 9.92982522e-01 -1.25348099e-03 2.53561557e+01] [ 3.56938704e-02 -2.98926322e-03 9.99358300e-01 2.10746540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.64, Y:25.36, Z:21.08 [[ 9.92286141e-01 -1.18687812e-01 -3.57968835e-02 5.92637919e+02] [ 1.18719254e-01 9.92927071e-01 -1.25348099e-03 2.53572350e+01] [ 3.56924676e-02 -3.00596748e-03 9.99358300e-01 2.10757932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.67, Y:25.36, Z:21.08 [[ 9.92260056e-01 -1.18905684e-01 -3.57969294e-02 5.92668303e+02] [ 1.18937314e-01 9.92900976e-01 -1.25216776e-03 2.53580931e+01] [ 3.56916960e-02 -3.01511457e-03 9.99358300e-01 2.10767896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.70, Y:25.36, Z:21.08 [[ 9.92307455e-01 -1.18509462e-01 -3.57969521e-02 5.92698587e+02] [ 1.18540859e-01 9.92948387e-01 -1.25151734e-03 2.53593943e+01] [ 3.56928425e-02 -3.00151148e-03 9.99358300e-01 2.10776690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.73, Y:25.36, Z:21.08 [[ 9.92368748e-01 -1.17995109e-01 -3.57969521e-02 5.92728915e+02] [ 1.18026174e-01 9.93009696e-01 -1.25151734e-03 2.53605557e+01] [ 3.56943935e-02 -2.98301061e-03 9.99358300e-01 2.10788529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.76, Y:25.36, Z:21.08 [[ 9.92541547e-01 -1.16532634e-01 -3.57969521e-02 5.92759452e+02] [ 1.16562755e-01 9.93182540e-01 -1.25151734e-03 2.53623109e+01] [ 3.56987505e-02 -2.93040839e-03 9.99358300e-01 2.10801906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.79, Y:25.36, Z:21.08 [[ 9.92637533e-01 -1.15712169e-01 -3.57969521e-02 5.92789845e+02] [ 1.15741760e-01 9.93278550e-01 -1.25151734e-03 2.53638069e+01] [ 3.57011605e-02 -2.90089917e-03 9.99358300e-01 2.10809844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.82, Y:25.37, Z:21.08 [[ 9.92714727e-01 -1.15048019e-01 -3.57969750e-02 5.92820923e+02] [ 1.15077204e-01 9.93355763e-01 -1.25086449e-03 2.53652226e+01] [ 3.57030409e-02 -2.87766420e-03 9.99358300e-01 2.10823891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.85, Y:25.37, Z:21.08 [[ 9.92773789e-01 -1.14537231e-01 -3.57970218e-02 5.92851105e+02] [ 1.14566135e-01 9.93414838e-01 -1.24952381e-03 2.53663387e+01] [ 3.57044095e-02 -2.86063194e-03 9.99358300e-01 2.10829664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.88, Y:25.37, Z:21.08 [[ 9.92796417e-01 -1.14340917e-01 -3.57970450e-02 5.92882400e+02] [ 1.14369718e-01 9.93437471e-01 -1.24885862e-03 2.53675289e+01] [ 3.57049214e-02 -2.85423557e-03 9.99358300e-01 2.10841878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.91, Y:25.37, Z:21.09 [[ 9.92740911e-01 -1.14821828e-01 -3.57970906e-02 5.92913403e+02] [ 1.14850986e-01 9.93381948e-01 -1.24754976e-03 2.53683154e+01] [ 3.57034295e-02 -2.87283746e-03 9.99358300e-01 2.10850937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.94, Y:25.37, Z:21.09 [[ 9.92673051e-01 -1.15407012e-01 -3.57971360e-02 5.92943293e+02] [ 1.15436595e-01 9.93314069e-01 -1.24624496e-03 2.53688742e+01] [ 3.57016242e-02 -2.89518569e-03 9.99358300e-01 2.10857726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.97, Y:25.37, Z:21.09 [[ 9.92557144e-01 -1.16399651e-01 -3.57971585e-02 5.92974054e+02] [ 1.16429898e-01 9.93198131e-01 -1.24559751e-03 2.53696892e+01] [ 3.56986581e-02 -2.93153282e-03 9.99358300e-01 2.10872489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.01, Y:25.37, Z:21.09 [[ 9.92557144e-01 -1.16399651e-01 -3.57971585e-02 5.93005015e+02] [ 1.16429898e-01 9.93198131e-01 -1.24559751e-03 2.53707665e+01] [ 3.56986581e-02 -2.93153282e-03 9.99358300e-01 2.10883593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.04, Y:25.37, Z:21.09 [[ 9.92417904e-01 -1.17580898e-01 -3.57971585e-02 5.93035478e+02] [ 1.17611908e-01 9.93058854e-01 -1.24559751e-03 2.53715943e+01] [ 3.56951437e-02 -2.97401885e-03 9.99358300e-01 2.10895701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.07, Y:25.37, Z:21.09 [[ 9.92104699e-01 -1.20194969e-01 -3.57971585e-02 5.93066417e+02] [ 1.20227667e-01 9.92745565e-01 -1.24559751e-03 2.53716298e+01] [ 3.56871849e-02 -3.06804572e-03 9.99358300e-01 2.10911760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.10, Y:25.37, Z:21.09 [[ 9.91969195e-01 -1.21308198e-01 -3.57971585e-02 5.93096943e+02] [ 1.21341616e-01 9.92610025e-01 -1.24559751e-03 2.53719253e+01] [ 3.56837196e-02 -3.10809069e-03 9.99358300e-01 2.10922332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.13, Y:25.37, Z:21.09 [[ 9.91731670e-01 -1.23234970e-01 -3.57971585e-02 5.93128711e+02] [ 1.23269632e-01 9.92372433e-01 -1.24559751e-03 2.53717142e+01] [ 3.56776145e-02 -3.17740405e-03 9.99358300e-01 2.10937198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.16, Y:25.37, Z:21.09 [[ 9.91715870e-01 -1.23362044e-01 -3.57972047e-02 5.93160342e+02] [ 1.23396836e-01 9.92356626e-01 -1.24426809e-03 2.53720570e+01] [ 3.56770888e-02 -3.18330141e-03 9.99358300e-01 2.10948104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.19, Y:25.37, Z:21.10 [[ 9.91717395e-01 -1.23349768e-01 -3.57972508e-02 5.93191953e+02] [ 1.23384600e-01 9.92358149e-01 -1.24294126e-03 2.53729268e+01] [ 3.56770101e-02 -3.18418298e-03 9.99358300e-01 2.10961115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.22, Y:25.37, Z:21.10 [[ 9.91976528e-01 -1.21248182e-01 -3.57972970e-02 5.93221820e+02] [ 1.21281703e-01 9.92617352e-01 -1.24160864e-03 2.53736737e+01] [ 3.56835610e-02 -3.10991053e-03 9.99358300e-01 2.10970049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.25, Y:25.37, Z:21.10 [[ 9.92178756e-01 -1.19582053e-01 -3.57973199e-02 5.93252107e+02] [ 1.19614522e-01 9.92819634e-01 -1.24094750e-03 2.53749772e+01] [ 3.56886771e-02 -3.05063758e-03 9.99358300e-01 2.10977397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.28, Y:25.38, Z:21.10 [[ 9.92464097e-01 -1.17190304e-01 -3.57973425e-02 5.93282526e+02] [ 1.17221251e-01 9.93105050e-01 -1.24029769e-03 2.53761710e+01] [ 3.56958724e-02 -2.96525834e-03 9.99358300e-01 2.10988647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.31, Y:25.38, Z:21.10 [[ 9.93075580e-01 -1.11890317e-01 -3.57973425e-02 5.93312908e+02] [ 1.11917842e-01 9.93716689e-01 -1.24029769e-03 2.53776961e+01] [ 3.57111939e-02 -2.77465197e-03 9.99358300e-01 2.11001333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.34, Y:25.38, Z:21.10 [[ 9.93385513e-01 -1.09104411e-01 -3.57973425e-02 5.93343454e+02] [ 1.09130138e-01 9.94026697e-01 -1.24029769e-03 2.53790721e+01] [ 3.57188360e-02 -2.67447517e-03 9.99358300e-01 2.11011142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.37, Y:25.38, Z:21.10 [[ 9.93708033e-01 -1.06126790e-01 -3.57973425e-02 5.93373616e+02] [ 1.06150595e-01 9.94349291e-01 -1.24029769e-03 2.53802690e+01] [ 3.57266909e-02 -2.56741542e-03 9.99358300e-01 2.11020278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.40, Y:25.38, Z:21.10 [[ 9.94385673e-01 -9.95775223e-02 -3.57973425e-02 5.93403483e+02] [ 9.95971020e-02 9.95027074e-01 -1.24029769e-03 2.53813348e+01] [ 3.57428307e-02 -2.33197731e-03 9.99358300e-01 2.11031459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.43, Y:25.38, Z:21.11 [[ 9.94721911e-01 -9.61606442e-02 -3.57973471e-02 5.93433439e+02] [ 9.61780250e-02 9.95363376e-01 -1.24016399e-03 2.53825685e+01] [ 3.57506232e-02 -2.20929985e-03 9.99358300e-01 2.11051957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.46, Y:25.38, Z:21.11 [[ 9.95055182e-01 -9.26484518e-02 -3.57973471e-02 5.93462339e+02] [ 9.26635679e-02 9.95696703e-01 -1.24016399e-03 2.53838254e+01] [ 3.57581998e-02 -2.08307830e-03 9.99358300e-01 2.11054591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.49, Y:25.38, Z:21.11 [[ 9.95407490e-01 -8.87833575e-02 -3.57972787e-02 5.93490315e+02] [ 8.87959115e-02 9.96049067e-01 -1.24213475e-03 2.53846795e+01] [ 3.57661269e-02 -1.94222176e-03 9.99358300e-01 2.11063463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.52, Y:25.39, Z:21.11 [[ 9.96076820e-01 -8.09291778e-02 -3.57971717e-02 5.93519505e+02] [ 8.09365605e-02 9.96718477e-01 -1.24521245e-03 2.53851712e+01] [ 3.57804764e-02 -1.65697269e-03 9.99358300e-01 2.11088185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.55, Y:25.39, Z:21.11 [[ 9.96385500e-01 -7.70358444e-02 -3.57968534e-02 5.93547124e+02] [ 7.70403936e-02 9.97027183e-01 -1.25429481e-03 2.53859688e+01] [ 3.57870616e-02 -1.50804252e-03 9.99358300e-01 2.11094516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.58, Y:25.39, Z:21.11 [[ 9.96953185e-01 -6.93033775e-02 -3.57964871e-02 5.93575122e+02] [ 6.93025765e-02 9.97594884e-01 -1.26466328e-03 2.53859744e+01] [ 3.57980379e-02 -1.21997870e-03 9.99358300e-01 2.11087332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.60, Y:25.39, Z:21.11 [[ 9.97196426e-01 -6.57108124e-02 -3.57963220e-02 5.93601970e+02] [ 6.57075323e-02 9.97838118e-01 -1.26931869e-03 2.53859412e+01] [ 3.58023426e-02 -1.08632792e-03 9.99358300e-01 2.11092600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.63, Y:25.39, Z:21.11 [[ 9.97399390e-01 -6.25547069e-02 -3.57961642e-02 5.93629542e+02] [ 6.25492371e-02 9.98041067e-01 -1.27375383e-03 2.53858577e+01] [ 3.58057212e-02 -9.68581468e-04 9.99358300e-01 2.11105314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.66, Y:25.39, Z:21.11 [[ 9.97616276e-01 -5.89951451e-02 -3.57957959e-02 5.93657604e+02] [ 5.89870173e-02 9.98257924e-01 -1.28402275e-03 2.53856513e+01] [ 3.58091880e-02 -8.30525239e-04 9.99358300e-01 2.11117122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.69, Y:25.38, Z:21.11 [[ 9.97976468e-01 -5.25514665e-02 -3.57954265e-02 5.93685491e+02] [ 5.25388289e-02 9.98618043e-01 -1.29423818e-03 2.53837593e+01] [ 3.58139729e-02 -5.89030540e-04 9.99358300e-01 2.11128889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.71, Y:25.38, Z:21.11 [[ 9.98116379e-01 -4.98235805e-02 -3.57953120e-02 5.93713456e+02] [ 4.98090761e-02 9.98757915e-01 -1.29739740e-03 2.53825928e+01] [ 3.58154922e-02 -4.87977825e-04 9.99358300e-01 2.11140903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.74, Y:25.38, Z:21.11 [[ 9.98258889e-01 -4.68819094e-02 -3.57949409e-02 5.93740338e+02] [ 4.68651501e-02 9.98900369e-01 -1.30755735e-03 2.53810979e+01] [ 3.58168804e-02 -3.72254529e-04 9.99358300e-01 2.11147926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.77, Y:25.38, Z:21.12 [[ 9.98356001e-01 -4.47663799e-02 -3.57947796e-02 5.93768421e+02] [ 4.47481036e-02 9.98997440e-01 -1.31195621e-03 2.53800882e+01] [ 3.58176248e-02 -2.91949155e-04 9.99358300e-01 2.11161816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.80, Y:25.38, Z:21.12 [[ 9.98538360e-01 -4.04957200e-02 -3.57944083e-02 5.93796648e+02] [ 4.04743399e-02 9.99179704e-01 -1.32200957e-03 2.53757171e+01] [ 3.58185820e-02 -1.28677781e-04 9.99358300e-01 2.11174331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.83, Y:25.37, Z:21.12 [[ 9.98582419e-01 -3.93946643e-02 -3.57940356e-02 5.93825102e+02] [ 3.93722180e-02 9.99223726e-01 -1.33202502e-03 2.53733215e+01] [ 3.58187243e-02 -7.91538075e-05 9.99358300e-01 2.11190946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.85, Y:25.37, Z:21.12 [[ 9.98617522e-01 -3.84949233e-02 -3.57936480e-02 5.93852272e+02] [ 3.84715287e-02 9.99258795e-01 -1.34236028e-03 2.53705832e+01] [ 3.58187917e-02 -3.65318587e-05 9.99358301e-01 2.11196067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.88, Y:25.36, Z:21.12 [[ 9.98602018e-01 -3.88952856e-02 -3.57933808e-02 5.93880833e+02] [ 3.88718941e-02 9.99243291e-01 -1.34944884e-03 2.53636447e+01] [ 3.58187828e-02 -4.37941754e-05 9.99358301e-01 2.11201976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.91, Y:25.36, Z:21.12 [[ 9.98547495e-01 -4.02710956e-02 -3.57929972e-02 5.93908466e+02] [ 4.02482256e-02 9.99188787e-01 -1.35954737e-03 2.53600381e+01] [ 3.58187119e-02 -8.30320076e-05 9.99358301e-01 2.11209519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.94, Y:25.36, Z:21.12 [[ 9.98448694e-01 -4.26508463e-02 -3.57926117e-02 5.93936216e+02] [ 4.26291437e-02 9.99090026e-01 -1.36962228e-03 2.53560648e+01] [ 3.58184569e-02 -1.58310807e-04 9.99358301e-01 2.11219476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.97, Y:25.35, Z:21.12 [[ 9.98183809e-01 -4.84561827e-02 -3.57922144e-02 5.93965021e+02] [ 4.84378403e-02 9.98825246e-01 -1.37992614e-03 2.53460633e+01] [ 3.58170333e-02 -3.56277642e-04 9.99358301e-01 2.11225846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.99, Y:25.34, Z:21.12 [[ 9.98006269e-01 -5.19849274e-02 -3.57918127e-02 5.93991980e+02] [ 5.19684821e-02 9.98647758e-01 -1.39026990e-03 2.53411400e+01] [ 3.58156865e-02 -4.72548102e-04 9.99358301e-01 2.11228088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.02, Y:25.34, Z:21.12 [[ 9.97777641e-01 -5.62027105e-02 -3.57915369e-02 5.94020293e+02] [ 5.61887234e-02 9.98419188e-01 -1.39733220e-03 2.53359053e+01] [ 3.58134911e-02 -6.16853942e-04 9.99358301e-01 2.11240777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.05, Y:25.32, Z:21.12 [[ 9.97265984e-01 -6.46494520e-02 -3.57911307e-02 5.94047761e+02] [ 6.46405273e-02 9.97907621e-01 -1.40766152e-03 2.53236525e+01] [ 3.58072466e-02 -9.09744608e-04 9.99358301e-01 2.11237437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.08, Y:25.32, Z:21.13 [[ 9.96942821e-01 -6.94551542e-02 -3.57909541e-02 5.94075782e+02] [ 6.94491614e-02 9.97584493e-01 -1.41213836e-03 2.53184007e+01] [ 3.58025810e-02 -1.07783054e-03 9.99358301e-01 2.11253883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.10, Y:25.31, Z:21.13 [[ 9.96616728e-01 -7.39873902e-02 -3.57905473e-02 5.94103736e+02] [ 7.39839480e-02 9.97258418e-01 -1.42237401e-03 2.53132216e+01] [ 3.57976623e-02 -1.23036426e-03 9.99358301e-01 2.11266415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.13, Y:25.30, Z:21.13 [[ 9.96000913e-01 -8.18611495e-02 -3.57901305e-02 5.94131545e+02] [ 8.18624051e-02 9.96642611e-01 -1.43278380e-03 2.53019485e+01] [ 3.57872585e-02 -1.50281219e-03 9.99358301e-01 2.11269051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.16, Y:25.30, Z:21.13 [[ 9.95671960e-01 -8.57696215e-02 -3.57899494e-02 5.94159570e+02] [ 8.57732339e-02 9.96313649e-01 -1.43729509e-03 2.52974008e+01] [ 3.57812913e-02 -1.63874528e-03 9.99358301e-01 2.11277686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.19, Y:25.29, Z:21.13 [[ 9.95370633e-01 -8.91987246e-02 -3.57895354e-02 5.94187954e+02] [ 8.92041801e-02 9.96012309e-01 -1.44753045e-03 2.52926370e+01] [ 3.57759356e-02 -1.75174686e-03 9.99358301e-01 2.11288441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.22, Y:25.29, Z:21.13 [[ 9.95075477e-01 -9.24334027e-02 -3.57891177e-02 5.94215942e+02] [ 9.24405759e-02 9.95717136e-01 -1.45778598e-03 2.52880524e+01] [ 3.57705859e-02 -1.85775957e-03 9.99358301e-01 2.11306177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.24, Y:25.28, Z:21.13 [[ 9.94635707e-01 -9.70514351e-02 -3.57886806e-02 5.94242967e+02] [ 9.70612046e-02 9.95277331e-01 -1.46843730e-03 2.52780226e+01] [ 3.57621765e-02 -2.01313228e-03 9.99358301e-01 2.11309959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.27, Y:25.27, Z:21.13 [[ 9.94308360e-01 -1.00349775e-01 -3.57883809e-02 5.94271503e+02] [ 1.00361412e-01 9.94949953e-01 -1.47570723e-03 2.52696067e+01] [ 3.57557348e-02 -2.12446439e-03 9.99358301e-01 2.11328777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.30, Y:25.27, Z:21.13 [[ 9.94190436e-01 -1.01511580e-01 -3.57879464e-02 5.94299449e+02] [ 1.01523591e-01 9.94832022e-01 -1.48617060e-03 2.52660014e+01] [ 3.57538586e-02 -2.15578423e-03 9.99358301e-01 2.11338528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.33, Y:25.26, Z:21.13 [[ 9.94089656e-01 -1.02493950e-01 -3.57875065e-02 5.94327469e+02] [ 1.02506218e-01 9.94731238e-01 -1.49668715e-03 2.52625011e+01] [ 3.57523521e-02 -2.18060072e-03 9.99358301e-01 2.11345999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.36, Y:25.26, Z:21.14 [[ 9.94034722e-01 -1.03025515e-01 -3.57870666e-02 5.94355462e+02] [ 1.03037751e-01 9.94676304e-01 -1.50713302e-03 2.52590418e+01] [ 3.57518203e-02 -2.18927631e-03 9.99358301e-01 2.11354321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.38, Y:25.25, Z:21.14 [[ 9.94095461e-01 -1.02437942e-01 -3.57866232e-02 5.94383996e+02] [ 1.02449424e-01 9.94737057e-01 -1.51759066e-03 2.52513099e+01] [ 3.57537391e-02 -2.15768893e-03 9.99358301e-01 2.11370265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.41, Y:25.25, Z:21.14 [[ 9.94168364e-01 -1.01728137e-01 -3.57861741e-02 5.94411411e+02] [ 1.01738784e-01 9.94809974e-01 -1.52810682e-03 2.52484209e+01] [ 3.57558944e-02 -2.12164638e-03 9.99358301e-01 2.11378754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.44, Y:25.25, Z:21.14 [[ 9.94286513e-01 -1.00566905e-01 -3.57858677e-02 5.94438250e+02] [ 1.00576546e-01 9.94928139e-01 -1.53524811e-03 2.52455638e+01] [ 3.57587619e-02 -2.07274250e-03 9.99358301e-01 2.11377765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.47, Y:25.24, Z:21.14 [[ 9.94503758e-01 -9.83954276e-02 -3.57856761e-02 5.94466198e+02] [ 9.84035080e-02 9.95145406e-01 -1.53970186e-03 2.52384581e+01] [ 3.57634508e-02 -1.99019678e-03 9.99358301e-01 2.11398125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.49, Y:25.24, Z:21.14 [[ 9.94601566e-01 -9.74019653e-02 -3.57852197e-02 5.94494530e+02] [ 9.74090267e-02 9.95243226e-01 -1.55023793e-03 2.52353701e+01] [ 3.57659937e-02 -1.94393435e-03 9.99358302e-01 2.11410312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.52, Y:25.23, Z:21.14 [[ 9.94725858e-01 -9.61244957e-02 -3.57847605e-02 5.94522501e+02] [ 9.61303553e-02 9.95367530e-01 -1.56076573e-03 2.52320984e+01] [ 3.57690165e-02 -1.88746771e-03 9.99358302e-01 2.11421230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.55, Y:25.22, Z:21.14 [[ 9.94993884e-01 -9.33094582e-02 -3.57842975e-02 5.94550093e+02] [ 9.33131239e-02 9.95635572e-01 -1.57131092e-03 2.52245431e+01] [ 3.57747376e-02 -1.77569983e-03 9.99358302e-01 2.11435133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.58, Y:25.22, Z:21.15 [[ 9.95080445e-01 -9.23818920e-02 -3.57839817e-02 5.94577907e+02] [ 9.23847026e-02 9.95722138e-01 -1.57846986e-03 2.52216643e+01] [ 3.57767248e-02 -1.73518802e-03 9.99358302e-01 2.11453822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.61, Y:25.22, Z:21.15 [[ 9.95215713e-01 -9.09132777e-02 -3.57835161e-02 5.94605038e+02] [ 9.09147652e-02 9.95857410e-01 -1.58895583e-03 2.52187509e+01] [ 3.57797368e-02 -1.67189615e-03 9.99358302e-01 2.11461478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.63, Y:25.22, Z:21.15 [[ 9.95318519e-01 -8.97808506e-02 -3.57833137e-02 5.94632988e+02] [ 8.97814449e-02 9.95960217e-01 -1.59349944e-03 2.52158710e+01] [ 3.57818226e-02 -1.62663810e-03 9.99358302e-01 2.11462926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.66, Y:25.21, Z:21.15 [[ 9.95486188e-01 -8.79024340e-02 -3.57828527e-02 5.94661302e+02] [ 8.79014483e-02 9.96127885e-01 -1.60378647e-03 2.52080137e+01] [ 3.57852741e-02 -1.54881729e-03 9.99358302e-01 2.11459221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.69, Y:25.20, Z:21.15 [[ 9.95492538e-01 -8.78305445e-02 -3.57827098e-02 5.94689358e+02] [ 8.78293982e-02 9.96134235e-01 -1.60696867e-03 2.52047160e+01] [ 3.57855231e-02 -1.54304855e-03 9.99358302e-01 2.11482829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.72, Y:25.20, Z:21.15 [[ 9.95523178e-01 -8.74827629e-02 -3.57822363e-02 5.94717760e+02] [ 8.74810167e-02 9.96164874e-01 -1.61744230e-03 2.52009252e+01] [ 3.57865052e-02 -1.52006511e-03 9.99358302e-01 2.11499077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.75, Y:25.20, Z:21.15 [[ 9.95478966e-01 -8.79844848e-02 -3.57820896e-02 5.94745866e+02] [ 8.79829458e-02 9.96120663e-01 -1.62068163e-03 2.51974755e+01] [ 3.57858736e-02 -1.53485917e-03 9.99358302e-01 2.11518087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.77, Y:25.19, Z:21.15 [[ 9.95401729e-01 -8.88542244e-02 -3.57816152e-02 5.94774586e+02] [ 8.88528726e-02 9.96043426e-01 -1.63108822e-03 2.51890498e+01] [ 3.57849717e-02 -1.55571126e-03 9.99358302e-01 2.11534402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.80, Y:25.19, Z:21.15 [[ 9.95403798e-01 -8.88312428e-02 -3.57811346e-02 5.94801311e+02] [ 8.88295004e-02 9.96045494e-01 -1.64156422e-03 2.51853791e+01] [ 3.57854601e-02 -1.54440105e-03 9.99358302e-01 2.11541365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.83, Y:25.19, Z:21.16 [[ 9.95378052e-01 -8.91193563e-02 -3.57809260e-02 5.94829757e+02] [ 8.91176369e-02 9.96019747e-01 -1.64609931e-03 2.51867566e+01] [ 3.57852082e-02 -1.55022044e-03 9.99358302e-01 2.11551570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.86, Y:25.18, Z:21.16 [[ 9.95343788e-01 -8.95014176e-02 -3.57804465e-02 5.94858048e+02] [ 8.94995729e-02 9.95985483e-01 -1.65645669e-03 2.51829449e+01] [ 3.57850605e-02 -1.55359080e-03 9.99358302e-01 2.11562937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.89, Y:25.17, Z:21.16 [[ 9.95445392e-01 -8.83644015e-02 -3.57799499e-02 5.94885561e+02] [ 8.83614414e-02 9.96087083e-01 -1.66711500e-03 2.51738695e+01] [ 3.57872595e-02 -1.50204599e-03 9.99358302e-01 2.11568756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.91, Y:25.17, Z:21.16 [[ 9.95510247e-01 -8.76308077e-02 -3.57797346e-02 5.94913845e+02] [ 8.76272094e-02 9.96151935e-01 -1.67172245e-03 2.51699320e+01] [ 3.57885462e-02 -1.47106147e-03 9.99358302e-01 2.11582976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.94, Y:25.17, Z:21.16 [[ 9.95599593e-01 -8.66100159e-02 -3.57792545e-02 5.94942431e+02] [ 8.66053932e-02 9.96241274e-01 -1.68193582e-03 2.51659851e+01] [ 3.57904426e-02 -1.42414179e-03 9.99358302e-01 2.11599306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.97, Y:25.16, Z:21.16 [[ 9.95734533e-01 -8.50448121e-02 -3.57787680e-02 5.94969527e+02] [ 8.50388116e-02 9.96376203e-01 -1.69222167e-03 2.51617131e+01] [ 3.57930277e-02 -1.35758036e-03 9.99358302e-01 2.11614834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.00, Y:25.15, Z:21.16 [[ 9.95956567e-01 -8.24039561e-02 -3.57785562e-02 5.94998199e+02] [ 8.23960937e-02 9.96598216e-01 -1.69668853e-03 2.51515872e+01] [ 3.57966591e-02 -1.25818518e-03 9.99358302e-01 2.11633815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.01, Y:25.16, Z:21.16 [[ 9.94984746e-01 -9.34092303e-02 -3.57780746e-02 5.95006484e+02] [ 9.34080996e-02 9.95626443e-01 -1.70678286e-03 2.51644771e+01] [ 3.57810264e-02 -1.64373905e-03 9.99358302e-01 2.11643789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.04, Y:25.16, Z:21.17 [[ 9.95116698e-01 -9.20264860e-02 -3.56914960e-02 5.95036080e+02] [ 9.19601284e-02 9.95756539e-01 -3.49987869e-03 2.51599595e+01] [ 3.58621221e-02 2.00593164e-04 9.99356727e-01 2.11658127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.06, Y:25.15, Z:21.17 [[ 9.95264171e-01 -9.04178782e-02 -3.56908600e-02 5.95063057e+02] [ 9.03500185e-02 9.95903878e-01 -3.51292430e-03 2.51542530e+01] [ 3.58622971e-02 2.71617825e-04 9.99356704e-01 2.11669064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.09, Y:25.14, Z:21.17 [[ 9.95316567e-01 -8.98372817e-02 -3.56958697e-02 5.95091998e+02] [ 8.97729322e-02 9.95956439e-01 -3.40466866e-03 2.51415925e+01] [ 3.58573975e-02 1.84200229e-04 9.99356900e-01 2.11689829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.12, Y:25.14, Z:21.17 [[ 9.95296936e-01 -9.00541103e-02 -3.56968614e-02 5.95120235e+02] [ 8.99906779e-02 9.95936862e-01 -3.38298724e-03 2.51353032e+01] [ 3.58564720e-02 1.54692081e-04 9.99356938e-01 2.11696485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.15, Y:25.12, Z:21.17 [[ 9.94855732e-01 -9.48049260e-02 -3.56945196e-02 5.95149589e+02] [ 9.47427068e-02 9.95495869e-01 -3.43434356e-03 2.51222731e+01] [ 3.58593395e-02 3.48809647e-05 9.99356846e-01 2.11708186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.17, Y:25.12, Z:21.17 [[ 9.94974838e-01 -9.35438401e-02 -3.57018549e-02 5.95174124e+02] [ 9.34867740e-02 9.95615158e-01 -3.26810119e-03 2.51155770e+01] [ 3.58510187e-02 -8.59727960e-05 9.99357142e-01 2.11720775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.21, Y:25.11, Z:21.17 [[ 9.94506121e-01 -9.84092343e-02 -3.56819016e-02 5.95207235e+02] [ 9.83391255e-02 9.95146013e-01 -3.71883014e-03 2.51090293e+01] [ 3.58746694e-02 1.89472335e-04 9.99356279e-01 2.11726335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.23, Y:25.10, Z:21.17 [[ 9.94646150e-01 -9.69777280e-02 -3.56981251e-02 5.95231948e+02] [ 9.69200003e-02 9.95286543e-01 -3.34814543e-03 2.51025243e+01] [ 3.58545591e-02 -1.29642334e-04 9.99357010e-01 2.11735144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.26, Y:25.09, Z:21.17 [[ 9.94297160e-01 -1.00497045e-01 -3.56861581e-02 5.95260937e+02] [ 1.00431346e-01 9.94937356e-01 -3.63339134e-03 2.50885399e+01] [ 3.58706369e-02 2.86617947e-05 9.99356441e-01 2.11744513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.30, Y:25.08, Z:21.18 [[ 9.93759420e-01 -1.05682290e-01 -3.56857068e-02 5.95296076e+02] [ 1.05619544e-01 9.94399936e-01 -3.64419666e-03 2.50819768e+01] [ 3.58709916e-02 -1.47653305e-04 9.99356418e-01 2.11752061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.33, Y:25.07, Z:21.18 [[ 9.93425275e-01 -1.08770547e-01 -3.57098080e-02 5.95326704e+02] [ 1.08730872e-01 9.94066523e-01 -3.05694255e-03 2.50665423e+01] [ 3.58304300e-02 -8.45914559e-04 9.99357526e-01 2.11767559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.36, Y:25.06, Z:21.18 [[ 9.93158781e-01 -1.11173863e-01 -3.57212436e-02 5.95356577e+02] [ 1.11145935e-01 9.93800228e-01 -2.77285137e-03 2.50593499e+01] [ 3.58080486e-02 -1.21638932e-03 9.99357946e-01 2.11777511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.38, Y:25.05, Z:21.18 [[ 9.93091287e-01 -1.11773037e-01 -3.57279094e-02 5.95384305e+02] [ 1.11751468e-01 9.93732769e-01 -2.60639404e-03 2.50521746e+01] [ 3.57953189e-02 -1.40425911e-03 9.99358156e-01 2.11775436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.41, Y:25.04, Z:21.18 [[ 9.92508411e-01 -1.16835409e-01 -3.57287110e-02 5.95411713e+02] [ 1.16817828e-01 9.93149992e-01 -2.58640338e-03 2.50400872e+01] [ 3.57861525e-02 -1.60672330e-03 9.99358179e-01 2.11774422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.45, Y:25.02, Z:21.18 [[ 9.92858633e-01 -1.13821560e-01 -3.57265659e-02 5.95454590e+02] [ 1.13800131e-01 9.93500158e-01 -2.63936266e-03 2.50237286e+01] [ 3.57947652e-02 -1.44517389e-03 9.99358117e-01 2.11797069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.46, Y:25.03, Z:21.18 [[ 9.92611460e-01 -1.15942376e-01 -3.57750598e-02 5.95462167e+02] [ 1.15966492e-01 9.93252129e-01 -1.40719311e-03 2.50269509e+01] [ 3.56968077e-02 -2.75191220e-03 9.99358877e-01 2.11797144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.49, Y:25.02, Z:21.18 [[ 9.91920361e-01 -1.21732540e-01 -3.57097493e-02 5.95491486e+02] [ 1.21701177e-01 9.92562073e-01 -3.05873922e-03 2.50160297e+01] [ 3.58164909e-02 -1.31189279e-03 9.99357523e-01 2.11803643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.54, Y:25.00, Z:21.18 [[ 9.91299485e-01 -1.26689076e-01 -3.57100653e-02 5.95538870e+02] [ 1.26661212e-01 9.91941345e-01 -3.05063811e-03 2.50033408e+01] [ 3.58087728e-02 -1.49898417e-03 9.99357536e-01 2.11824624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.55, Y:25.00, Z:21.18 [[ 9.90648037e-01 -1.31668812e-01 -3.57741538e-02 5.95547805e+02] [ 1.31705615e-01 9.91287973e-01 -1.33617465e-03 2.50000535e+01] [ 3.56384209e-02 -3.38797812e-03 9.99359007e-01 2.11836664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.60, Y:24.99, Z:21.18 [[ 9.89875977e-01 -1.37369682e-01 -3.57088203e-02 5.95597182e+02] [ 1.37349540e-01 9.90518013e-01 -3.02823589e-03 2.49887616e+01] [ 3.57862176e-02 -1.90701207e-03 9.99357649e-01 2.11849643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.62, Y:24.98, Z:21.19 [[ 9.89303622e-01 -1.41416819e-01 -3.57718793e-02 5.95624891e+02] [ 1.41460582e-01 9.89943013e-01 -1.31740964e-03 2.49848409e+01] [ 3.55984258e-02 -3.75699273e-03 9.99359113e-01 2.11864737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.63, Y:24.99, Z:21.19 [[ 9.88883930e-01 -1.44322456e-01 -3.57715135e-02 5.95631487e+02] [ 1.44367745e-01 9.89523215e-01 -1.32726914e-03 2.49914261e+01] [ 3.55882977e-02 -3.85173760e-03 9.99359113e-01 2.11867209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.68, Y:24.98, Z:21.19 [[ 9.88328055e-01 -1.48098599e-01 -3.56995800e-02 5.95681774e+02] [ 1.48079361e-01 9.88970314e-01 -3.19698359e-03 2.49798739e+01] [ 3.57792936e-02 -2.12670242e-03 9.99357453e-01 2.11868839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.71, Y:24.98, Z:21.19 [[ 9.87814349e-01 -1.51470834e-01 -3.57686768e-02 5.95708934e+02] [ 1.51521515e-01 9.88453098e-01 -1.30528351e-03 2.49770084e+01] [ 3.55533717e-02 -4.13034633e-03 9.99359244e-01 2.11878714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.74, Y:24.97, Z:21.19 [[ 9.86932713e-01 -1.57112799e-01 -3.57685247e-02 5.95737058e+02] [ 1.57166981e-01 9.87571175e-01 -1.30943796e-03 2.49719850e+01] [ 3.55296934e-02 -4.32930388e-03 9.99359244e-01 2.11892420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.76, Y:24.98, Z:21.19 [[ 9.85895973e-01 -1.63492413e-01 -3.57681710e-02 5.95759049e+02] [ 1.63550381e-01 9.86534101e-01 -1.31902932e-03 2.49766667e+01] [ 3.55021717e-02 -4.54947230e-03 9.99359244e-01 2.11909134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.79, Y:24.97, Z:21.19 [[ 9.86300516e-01 -1.61039207e-01 -3.57444419e-02 5.95794269e+02] [ 1.61072928e-01 9.86940574e-01 -1.95318874e-03 2.49692402e+01] [ 3.55921800e-02 -3.83103085e-03 9.99359055e-01 2.11906465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.82, Y:24.97, Z:21.19 [[ 9.85651462e-01 -1.64960187e-01 -3.57677682e-02 5.95822764e+02] [ 1.65018979e-01 9.86289505e-01 -1.32251612e-03 2.49665393e+01] [ 3.54955369e-02 -4.59882064e-03 9.99359254e-01 2.11915182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.85, Y:24.97, Z:21.19 [[ 9.85463210e-01 -1.66081166e-01 -3.57674123e-02 5.95850460e+02] [ 1.66140342e-01 9.86101218e-01 -1.33207282e-03 2.49660127e+01] [ 3.54915210e-02 -4.62970137e-03 9.99359254e-01 2.11926674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.88, Y:24.97, Z:21.19 [[ 9.85271893e-01 -1.67212484e-01 -3.57670538e-02 5.95878993e+02] [ 1.67272052e-01 9.85909864e-01 -1.34163166e-03 2.49660442e+01] [ 3.54874287e-02 -4.66095652e-03 9.99359254e-01 2.11941393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.91, Y:24.97, Z:21.20 [[ 9.85221660e-01 -1.67508286e-01 -3.57666835e-02 5.95906229e+02] [ 1.67567696e-01 9.85859646e-01 -1.35143012e-03 2.49661278e+01] [ 3.54873057e-02 -4.66188253e-03 9.99359254e-01 2.11950716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.93, Y:24.97, Z:21.20 [[ 9.85313952e-01 -1.66964584e-01 -3.57665229e-02 5.95931803e+02] [ 1.67023490e-01 9.85951985e-01 -1.35566860e-03 2.49666810e+01] [ 3.54904229e-02 -4.63809030e-03 9.99359254e-01 2.11966348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.96, Y:24.97, Z:21.20 [[ 9.85497224e-01 -1.65881730e-01 -3.57557302e-02 5.95961023e+02] [ 1.65929836e-01 9.86136200e-01 -1.63851397e-03 2.49664164e+01] [ 3.55318194e-02 -4.31819146e-03 9.99359216e-01 2.11982789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.99, Y:24.96, Z:21.20 [[ 9.85918666e-01 -1.63357932e-01 -3.57571053e-02 5.95993578e+02] [ 1.63405687e-01 9.86557658e-01 -1.60255422e-03 2.49649110e+01] [ 3.55382360e-02 -4.26292621e-03 9.99359225e-01 2.11987741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.02, Y:24.96, Z:21.20 [[ 9.86615632e-01 -1.59092328e-01 -3.57662729e-02 5.96020485e+02] [ 1.59145919e-01 9.87254132e-01 -1.36180250e-03 2.49645346e+01] [ 3.55270531e-02 -4.34848075e-03 9.99359254e-01 2.11983609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.05, Y:24.97, Z:21.20 [[ 9.86988769e-01 -1.56760823e-01 -3.57661104e-02 5.96048503e+02] [ 1.56812753e-01 9.87627407e-01 -1.36605913e-03 2.49650028e+01] [ 3.55377354e-02 -4.26029722e-03 9.99359254e-01 2.11994420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.08, Y:24.97, Z:21.20 [[ 9.87456483e-01 -1.53787213e-01 -3.57657335e-02 5.96075586e+02] [ 1.53836869e-01 9.88095301e-01 -1.37585498e-03 2.49654168e+01] [ 3.55515422e-02 -4.14349155e-03 9.99359254e-01 2.11997617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.10, Y:24.97, Z:21.20 [[ 9.87911509e-01 -1.50836584e-01 -3.57655693e-02 5.96102624e+02] [ 1.50884179e-01 9.88550484e-01 -1.38011155e-03 2.49655862e+01] [ 3.55642421e-02 -4.03303049e-03 9.99359254e-01 2.12005304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.13, Y:24.96, Z:21.20 [[ 9.88913000e-01 -1.44124645e-01 -3.57654075e-02 5.96130434e+02] [ 1.44167751e-01 9.89552294e-01 -1.38429048e-03 2.49638802e+01] [ 3.55912515e-02 -3.78727551e-03 9.99359254e-01 2.12019462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.16, Y:24.96, Z:21.20 [[ 9.89408670e-01 -1.40681720e-01 -3.57650358e-02 5.96158689e+02] [ 1.40722260e-01 9.90048132e-01 -1.39382892e-03 2.49635171e+01] [ 3.56051931e-02 -3.65387024e-03 9.99359254e-01 2.12033050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.19, Y:24.96, Z:21.20 [[ 9.89854267e-01 -1.37511528e-01 -3.57646553e-02 5.96186505e+02] [ 1.37549672e-01 9.90493876e-01 -1.40352541e-03 2.49632997e+01] [ 3.56176730e-02 -3.53013100e-03 9.99359254e-01 2.12045818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.21, Y:24.96, Z:21.21 [[ 9.90197342e-01 -1.35019038e-01 -3.57642684e-02 5.96214689e+02] [ 1.35055221e-01 9.90837065e-01 -1.41331617e-03 2.49633075e+01] [ 3.56273873e-02 -3.43068927e-03 9.99359255e-01 2.12057617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.24, Y:24.96, Z:21.21 [[ 9.90599584e-01 -1.32035636e-01 -3.57638733e-02 5.96242299e+02] [ 1.32069537e-01 9.91239432e-01 -1.42324364e-03 2.49632250e+01] [ 3.56384804e-02 -3.31345363e-03 9.99359255e-01 2.12063915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.27, Y:24.96, Z:21.21 [[ 9.90939639e-01 -1.29458823e-01 -3.57637506e-02 5.96269630e+02] [ 1.29490950e-01 9.91579578e-01 -1.42631971e-03 2.49628399e+01] [ 3.56472544e-02 -3.21768530e-03 9.99359255e-01 2.12066132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.30, Y:24.96, Z:21.21 [[ 9.91171065e-01 -1.27674924e-01 -3.57635818e-02 5.96297814e+02] [ 1.27705748e-01 9.91811069e-01 -1.43053979e-03 2.49592270e+01] [ 3.56533604e-02 -3.14930531e-03 9.99359255e-01 2.12072689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.32, Y:24.96, Z:21.21 [[ 9.91127662e-01 -1.28011530e-01 -3.57631874e-02 5.96324939e+02] [ 1.28042220e-01 9.91767672e-01 -1.44033495e-03 2.49571226e+01] [ 3.56531525e-02 -3.15164211e-03 9.99359255e-01 2.12079110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.35, Y:24.95, Z:21.21 [[ 9.91055912e-01 -1.28565911e-01 -3.57629179e-02 5.96352289e+02] [ 1.28596720e-01 9.91695916e-01 -1.44699370e-03 2.49544922e+01] [ 3.56519737e-02 -3.16494229e-03 9.99359255e-01 2.12084231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.38, Y:24.95, Z:21.21 [[ 9.90889352e-01 -1.29843440e-01 -3.57627474e-02 5.96380340e+02] [ 1.29874924e-01 9.91529323e-01 -1.45119539e-03 2.49521248e+01] [ 3.56482410e-02 -3.20671004e-03 9.99359255e-01 2.12095807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.41, Y:24.94, Z:21.21 [[ 9.90816728e-01 -1.30396573e-01 -3.57623495e-02 5.96409444e+02] [ 1.30428065e-01 9.91456699e-01 -1.46093705e-03 2.49448335e+01] [ 3.56473221e-02 -3.21689318e-03 9.99359255e-01 2.12089349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.44, Y:24.94, Z:21.21 [[ 9.90619401e-01 -1.31887071e-01 -3.57631355e-02 5.96439188e+02] [ 1.31920215e-01 9.91259289e-01 -1.44171205e-03 2.49428135e+01] [ 3.56406834e-02 -3.28969259e-03 9.99359255e-01 2.12106631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.47, Y:24.94, Z:21.21 [[ 9.90509667e-01 -1.32708979e-01 -3.57620732e-02 5.96467590e+02] [ 1.32741727e-01 9.91149575e-01 -1.46759813e-03 2.49398901e+01] [ 3.56403271e-02 -3.29344921e-03 9.99359255e-01 2.12116667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.50, Y:24.93, Z:21.21 [[ 9.90277665e-01 -1.34429348e-01 -3.57616699e-02 5.96496070e+02] [ 1.34462858e-01 9.90917533e-01 -1.47735927e-03 2.49325219e+01] [ 3.56354662e-02 -3.34562046e-03 9.99359255e-01 2.12123449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.52, Y:24.93, Z:21.22 [[ 9.90650787e-01 -1.31651625e-01 -3.57612644e-02 5.96522553e+02] [ 1.31682991e-01 9.91290764e-01 -1.48711099e-03 2.49341367e+01] [ 3.56455917e-02 -3.23594260e-03 9.99359255e-01 2.12153278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.55, Y:24.93, Z:21.22 [[ 9.91094805e-01 -1.28267235e-01 -3.57575761e-02 5.96552625e+02] [ 1.28293250e-01 9.91735025e-01 -1.57547585e-03 2.49338737e+01] [ 3.56641225e-02 -3.02600973e-03 9.99359252e-01 2.12163208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.58, Y:24.93, Z:21.22 [[ 9.91571646e-01 -1.24526409e-01 -3.57609404e-02 5.96580732e+02] [ 1.24552891e-01 9.92211843e-01 -1.49500270e-03 2.49337490e+01] [ 3.56685959e-02 -2.97172623e-03 9.99359255e-01 2.12178845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.61, Y:24.94, Z:21.22 [[ 9.91537188e-01 -1.24800603e-01 -3.57605253e-02 5.96609271e+02] [ 1.24826909e-01 9.92177393e-01 -1.50486631e-03 2.49350097e+01] [ 3.56685930e-02 -2.97174492e-03 9.99359255e-01 2.12189040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.64, Y:24.93, Z:21.22 [[ 9.92450026e-01 -1.17320759e-01 -3.57601067e-02 5.96636659e+02] [ 1.17341883e-01 9.93090423e-01 -1.51474866e-03 2.49346203e+01] [ 3.56907310e-02 -2.69284590e-03 9.99359255e-01 2.12208869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.67, Y:24.94, Z:21.22 [[ 9.92814942e-01 -1.14191590e-01 -3.57599249e-02 5.96665184e+02] [ 1.14210542e-01 9.93455407e-01 -1.51902891e-03 2.49352827e+01] [ 3.56993511e-02 -2.57604579e-03 9.99359255e-01 2.12218560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.69, Y:24.94, Z:21.22 [[ 9.93098944e-01 -1.11694879e-01 -3.57595061e-02 5.96692566e+02] [ 1.11711869e-01 9.93739463e-01 -1.52882540e-03 2.49360917e+01] [ 3.57063943e-02 -2.47648637e-03 9.99359255e-01 2.12227502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.72, Y:24.94, Z:21.22 [[ 9.93235055e-01 -1.10478036e-01 -3.57593240e-02 5.96720909e+02] [ 1.10494089e-01 9.93875599e-01 -1.53307190e-03 2.49374725e+01] [ 3.57096903e-02 -2.42849316e-03 9.99359255e-01 2.12234446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.75, Y:24.94, Z:21.22 [[ 9.92849414e-01 -1.13891801e-01 -3.57589009e-02 5.96745580e+02] [ 1.13909705e-01 9.93489909e-01 -1.54287870e-03 2.49430058e+01] [ 3.57018284e-02 -2.54143963e-03 9.99359255e-01 2.12225013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.78, Y:24.94, Z:21.22 [[ 9.92714984e-01 -1.15061549e-01 -3.57463312e-02 5.96777796e+02] [ 1.15069886e-01 9.93355711e-01 -1.83085213e-03 2.49419723e+01] [ 3.57194829e-02 -2.29581192e-03 9.99359219e-01 2.12232000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.81, Y:24.94, Z:21.23 [[ 9.91782085e-01 -1.22839885e-01 -3.57583445e-02 5.96805927e+02] [ 1.22863145e-01 9.92422406e-01 -1.55454725e-03 2.49439376e+01] [ 3.56783427e-02 -2.85161056e-03 9.99359257e-01 2.12254726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.83, Y:24.95, Z:21.23 [[ 9.91048825e-01 -1.28621924e-01 -3.57579077e-02 5.96831220e+02] [ 1.28648561e-01 9.91689014e-01 -1.56453192e-03 2.49475809e+01] [ 3.56619573e-02 -3.04967583e-03 9.99359257e-01 2.12273868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.86, Y:24.95, Z:21.23 [[ 9.90810143e-01 -1.30450692e-01 -3.57474255e-02 5.96862187e+02] [ 1.30469986e-01 9.91450621e-01 -1.80248207e-03 2.49464388e+01] [ 3.56769422e-02 -2.87804858e-03 9.99359231e-01 2.12284224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.89, Y:24.95, Z:21.23 [[ 9.90383187e-01 -1.33650807e-01 -3.57575949e-02 5.96889704e+02] [ 1.33680459e-01 9.91023242e-01 -1.57104326e-03 2.49478797e+01] [ 3.56465789e-02 -3.22415687e-03 9.99359258e-01 2.12299732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.92, Y:24.95, Z:21.23 [[ 9.89723488e-01 -1.38451595e-01 -3.57571522e-02 5.96917202e+02] [ 1.38483992e-01 9.90363410e-01 -1.58105685e-03 2.49492926e+01] [ 3.56314750e-02 -3.38698406e-03 9.99359258e-01 2.12295631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.95, Y:24.95, Z:21.23 [[ 9.89553994e-01 -1.39657944e-01 -3.57568501e-02 5.96945399e+02] [ 1.39690878e-01 9.90193889e-01 -1.58785832e-03 2.49519192e+01] [ 3.56279715e-02 -3.42363424e-03 9.99359258e-01 2.12295516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.97, Y:24.96, Z:21.23 [[ 9.89575202e-01 -1.39507704e-01 -3.57564059e-02 5.96973741e+02] [ 1.39540184e-01 9.90215120e-01 -1.59779930e-03 2.49560006e+01] [ 3.56294391e-02 -3.40831292e-03 9.99359258e-01 2.12285125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1750998929999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:597.00, Y:24.96, Z:21.23 [[ 9.89510179e-01 -1.39968274e-01 -3.57559583e-02 5.97002254e+02] [ 1.40000696e-01 9.90150100e-01 -1.60775336e-03 2.49581738e+01] [ 3.56288002e-02 -3.41497076e-03 9.99359258e-01 2.12276576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.03, Y:24.96, Z:21.23 [[ 9.89496341e-01 -1.40066180e-01 -3.57555112e-02 5.97029838e+02] [ 1.40098311e-01 9.90136277e-01 -1.61763683e-03 2.49600340e+01] [ 3.56294049e-02 -3.40864102e-03 9.99359258e-01 2.12273890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.06, Y:24.96, Z:21.23 [[ 9.89708837e-01 -1.38556741e-01 -3.57553725e-02 5.97060003e+02] [ 1.38587787e-01 9.90348827e-01 -1.62069611e-03 2.49614178e+01] [ 3.56348496e-02 -3.35124068e-03 9.99359258e-01 2.12274884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.09, Y:24.96, Z:21.23 [[ 9.89493604e-01 -1.40084856e-01 -3.57580836e-02 5.97088962e+02] [ 1.40119031e-01 9.90133436e-01 -1.56091164e-03 2.49630600e+01] [ 3.56239343e-02 -3.46587594e-03 9.99359256e-01 2.12296519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.12, Y:24.96, Z:21.23 [[ 9.89366949e-01 -1.40977394e-01 -3.57549245e-02 5.97115571e+02] [ 1.41009665e-01 9.90006877e-01 -1.63020142e-03 2.49629459e+01] [ 3.56274427e-02 -3.42892253e-03 9.99359259e-01 2.12311490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.14, Y:24.96, Z:21.23 [[ 9.89324646e-01 -1.41274005e-01 -3.57547309e-02 5.97143349e+02] [ 1.41306316e-01 9.89964572e-01 -1.63443681e-03 2.49638682e+01] [ 3.56268203e-02 -3.43538068e-03 9.99359259e-01 2.12338161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.17, Y:24.96, Z:21.24 [[ 9.89451053e-01 -1.40386057e-01 -3.57542718e-02 5.97172265e+02] [ 1.40417436e-01 9.90091026e-01 -1.64442046e-03 2.49648122e+01] [ 3.56308373e-02 -3.39344961e-03 9.99359259e-01 2.12366755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.20, Y:24.97, Z:21.24 [[ 9.89703625e-01 -1.38594354e-01 -3.57538673e-02 5.97200003e+02] [ 1.38624261e-01 9.90343668e-01 -1.65316714e-03 2.49656264e+01] [ 3.56377358e-02 -3.32020792e-03 9.99359259e-01 2.12377897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.23, Y:24.97, Z:21.24 [[ 9.89930283e-01 -1.36966077e-01 -3.57537238e-02 5.97228380e+02] [ 1.36994820e-01 9.90570379e-01 -1.65626678e-03 2.49664609e+01] [ 3.56434321e-02 -3.25848631e-03 9.99359259e-01 2.12391732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.26, Y:24.97, Z:21.24 [[ 9.90235639e-01 -1.34740806e-01 -3.57532531e-02 5.97256234e+02] [ 1.34767748e-01 9.90875813e-01 -1.66636519e-03 2.49669865e+01] [ 3.56515611e-02 -3.16829122e-03 9.99359259e-01 2.12400657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.28, Y:24.97, Z:21.24 [[ 9.91092765e-01 -1.28284334e-01 -3.57527787e-02 5.97283556e+02] [ 1.28306742e-01 9.91733114e-01 -1.67648324e-03 2.49678183e+01] [ 3.56722810e-02 -2.92577212e-03 9.99359259e-01 2.12395915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.31, Y:24.97, Z:21.24 [[ 9.91541951e-01 -1.24765063e-01 -3.57524554e-02 5.97311277e+02] [ 1.24784951e-01 9.92182384e-01 -1.68334979e-03 2.49692437e+01] [ 3.56829796e-02 -2.79225645e-03 9.99359259e-01 2.12397789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.34, Y:24.97, Z:21.24 [[ 9.92035689e-01 -1.20776605e-01 -3.57519840e-02 5.97337919e+02] [ 1.20793561e-01 9.92676205e-01 -1.69330274e-03 2.49704052e+01] [ 3.56946551e-02 -2.63879269e-03 9.99359259e-01 2.12402252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.37, Y:24.97, Z:21.24 [[ 9.92447149e-01 -1.17347667e-01 -3.57516617e-02 5.97366121e+02] [ 1.17362166e-01 9.93087726e-01 -1.70007883e-03 2.49719299e+01] [ 3.57040367e-02 -2.50865408e-03 9.99359259e-01 2.12413681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.39, Y:24.97, Z:21.24 [[ 9.93220145e-01 -1.10614629e-01 -3.57511786e-02 5.97394421e+02] [ 1.10624421e-01 9.93860812e-01 -1.71017915e-03 2.49727226e+01] [ 3.57208662e-02 -2.25636905e-03 9.99359259e-01 2.12422723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.42, Y:24.97, Z:21.24 [[ 9.93548165e-01 -1.07628672e-01 -3.57506948e-02 5.97421818e+02] [ 1.07636178e-01 9.94188862e-01 -1.72023370e-03 2.49734276e+01] [ 3.57280890e-02 -2.13893311e-03 9.99359259e-01 2.12431633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.45, Y:24.97, Z:21.24 [[ 9.94123085e-01 -1.02182164e-01 -3.57504843e-02 5.97449566e+02] [ 1.02186003e-01 9.94763815e-01 -1.72459786e-03 2.49745655e+01] [ 3.57395112e-02 -1.93873653e-03 9.99359259e-01 2.12447588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.48, Y:24.98, Z:21.25 [[ 9.94373262e-01 -9.97183711e-02 -3.57499985e-02 5.97477112e+02] [ 9.97202628e-02 9.95014000e-01 -1.73460945e-03 2.49759106e+01] [ 3.57447214e-02 -1.84014999e-03 9.99359259e-01 2.12452644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.51, Y:24.98, Z:21.25 [[ 9.94574314e-01 -9.76929188e-02 -3.57495130e-02 5.97505384e+02] [ 9.76931487e-02 9.95215055e-01 -1.74455929e-03 2.49770328e+01] [ 3.57488846e-02 -1.75738863e-03 9.99359259e-01 2.12462550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.53, Y:24.98, Z:21.25 [[ 9.94752955e-01 -9.58570064e-02 -3.57490281e-02 5.97533077e+02] [ 9.58556994e-02 9.95393694e-01 -1.75443858e-03 2.49779136e+01] [ 3.57525324e-02 -1.68151513e-03 9.99359259e-01 2.12473417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.56, Y:24.98, Z:21.25 [[ 9.94876236e-01 -9.45691131e-02 -3.57485432e-02 5.97560642e+02] [ 9.45666243e-02 9.95516972e-01 -1.76426353e-03 2.49787416e+01] [ 3.57551263e-02 -1.62539519e-03 9.99359259e-01 2.12489008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.59, Y:24.98, Z:21.25 [[ 9.95049880e-01 -9.27243985e-02 -3.57480461e-02 5.97588323e+02] [ 9.27203626e-02 9.95690608e-01 -1.77427948e-03 2.49803641e+01] [ 3.57585128e-02 -1.54907522e-03 9.99359259e-01 2.12501269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.62, Y:24.98, Z:21.25 [[ 9.95189911e-01 -9.12092644e-02 -3.57478919e-02 5.97616269e+02] [ 9.12041418e-02 9.95830631e-01 -1.77738145e-03 2.49801749e+01] [ 3.57609594e-02 -1.49152371e-03 9.99359259e-01 2.12517752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.64, Y:24.98, Z:21.25 [[ 9.95280987e-01 -9.02102010e-02 -3.57473903e-02 5.97644438e+02] [ 9.02040755e-02 9.95921699e-01 -1.78741308e-03 2.49811593e+01] [ 3.57628446e-02 -1.44558203e-03 9.99359259e-01 2.12535406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.67, Y:24.98, Z:21.25 [[ 9.95347090e-01 -8.94781036e-02 -3.57468815e-02 5.97672066e+02] [ 8.94711439e-02 9.95987793e-01 -1.79753197e-03 2.49818876e+01] [ 3.57642973e-02 -1.40914616e-03 9.99359259e-01 2.12546394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.70, Y:24.98, Z:21.26 [[ 9.95564362e-01 -8.70275646e-02 -3.57463737e-02 5.97700098e+02] [ 8.70186676e-02 9.96205041e-01 -1.80757430e-03 2.49828549e+01] [ 3.57680264e-02 -1.31104525e-03 9.99359259e-01 2.12562555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.73, Y:24.98, Z:21.26 [[ 9.95775032e-01 -8.45832047e-02 -3.57458661e-02 5.97726776e+02] [ 8.45723770e-02 9.96415681e-01 -1.81755561e-03 2.49835022e+01] [ 3.57714762e-02 -1.21323637e-03 9.99359259e-01 2.12570452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.76, Y:24.99, Z:21.26 [[ 9.96251816e-01 -7.87690812e-02 -3.57456457e-02 5.97755767e+02] [ 7.87543590e-02 9.96892387e-01 -1.82188107e-03 2.49853355e+01] [ 3.57780700e-02 -1.00007309e-03 9.99359260e-01 2.12569326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.78, Y:24.99, Z:21.26 [[ 9.96478956e-01 -7.58417537e-02 -3.57451966e-02 5.97783440e+02] [ 7.58248351e-02 9.97119473e-01 -1.83064902e-03 2.49877809e+01] [ 3.57810713e-02 -8.86170419e-04 9.99359260e-01 2.12568751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.81, Y:24.99, Z:21.26 [[ 9.96639599e-01 -7.37007605e-02 -3.57450374e-02 5.97812723e+02] [ 7.36823546e-02 9.97280075e-01 -1.83375359e-03 2.49893724e+01] [ 3.57829626e-02 -8.06187079e-04 9.99359260e-01 2.12562353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.84, Y:24.99, Z:21.26 [[ 9.97023183e-01 -6.83161475e-02 -3.57445926e-02 5.97840820e+02] [ 6.82939730e-02 9.97663540e-01 -1.84238287e-03 2.49915614e+01] [ 3.57869413e-02 -6.04241807e-04 9.99359260e-01 2.12567717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.87, Y:24.99, Z:21.26 [[ 9.97106884e-01 -6.70837056e-02 -3.57440714e-02 5.97868269e+02] [ 6.70603791e-02 9.97747199e-01 -1.85244051e-03 2.49917538e+01] [ 3.57878157e-02 -5.49929797e-04 9.99359260e-01 2.12574660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.90, Y:24.99, Z:21.26 [[ 9.97274028e-01 -6.45514198e-02 -3.57439099e-02 5.97896522e+02] [ 6.45263559e-02 9.97914278e-01 -1.85555165e-03 2.49935464e+01] [ 3.57891365e-02 -4.55930779e-04 9.99359260e-01 2.12590652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.92, Y:24.99, Z:21.26 [[ 9.97460904e-01 -6.15965078e-02 -3.57437493e-02 5.97924241e+02] [ 6.15694364e-02 9.98101072e-01 -1.85863973e-03 2.49926949e+01] [ 3.57903602e-02 -3.46802037e-04 9.99359260e-01 2.12609602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.95, Y:24.99, Z:21.26 [[ 9.97534862e-01 -6.03870358e-02 -3.57435896e-02 5.97952638e+02] [ 6.03590784e-02 9.98174993e-01 -1.86170478e-03 2.49934033e+01] [ 3.57907802e-02 -3.00334714e-04 9.99359260e-01 2.12622697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.98, Y:24.99, Z:21.26 [[ 9.97646233e-01 -5.85185977e-02 -3.57430768e-02 5.97980288e+02] [ 5.84890905e-02 9.98286294e-01 -1.87149911e-03 2.49947291e+01] [ 3.57913412e-02 -2.23486015e-04 9.99359260e-01 2.12641011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.01, Y:25.00, Z:21.26 [[ 9.97769777e-01 -5.63732467e-02 -3.57425452e-02 5.98007293e+02] [ 5.63420016e-02 9.98409755e-01 -1.88159700e-03 2.49960684e+01] [ 3.57917776e-02 -1.36405925e-04 9.99359260e-01 2.12649076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.04, Y:25.00, Z:21.27 [[ 9.97980974e-01 -5.25021159e-02 -3.57421830e-02 5.98035278e+02] [ 5.24681427e-02 9.98620813e-01 -1.88845326e-03 2.49973805e+01] [ 3.57920356e-02 9.31446731e-06 9.99359260e-01 2.12656825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.06, Y:25.00, Z:21.27 [[ 9.98039025e-01 -5.13871553e-02 -3.57416543e-02 5.98063403e+02] [ 5.13521109e-02 9.98678806e-01 -1.89840687e-03 2.49989949e+01] [ 3.57919864e-02 5.92747403e-05 9.99359260e-01 2.12668858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.09, Y:25.00, Z:21.27 [[ 9.98123863e-01 -4.97124381e-02 -3.57411156e-02 5.98091131e+02] [ 4.96759591e-02 9.98763564e-01 -1.90849437e-03 2.50013026e+01] [ 3.57918000e-02 1.29439579e-04 9.99359260e-01 2.12676882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.12, Y:25.00, Z:21.27 [[ 9.98139171e-01 -4.94045249e-02 -3.57405751e-02 5.98118872e+02] [ 4.93674879e-02 9.98778840e-01 -1.91856455e-03 2.50022430e+01] [ 3.57917159e-02 1.50572018e-04 9.99359260e-01 2.12685761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.15, Y:25.00, Z:21.27 [[ 9.98225215e-01 -4.76347765e-02 -3.57400210e-02 5.98145837e+02] [ 4.75962379e-02 9.98864795e-01 -1.92883151e-03 2.50038698e+01] [ 3.57913282e-02 2.24317705e-04 9.99359260e-01 2.12688950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.17, Y:25.01, Z:21.27 [[ 9.98237904e-01 -4.73683023e-02 -3.57397805e-02 5.98174247e+02] [ 4.73294338e-02 9.98877464e-01 -1.93327723e-03 2.50053117e+01] [ 3.57912374e-02 2.38327036e-04 9.99359260e-01 2.12700791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.20, Y:25.01, Z:21.27 [[ 9.98268251e-01 -4.67247837e-02 -3.57392347e-02 5.98202088e+02] [ 4.66851435e-02 9.98907764e-01 -1.94331509e-03 2.50072557e+01] [ 3.57910000e-02 2.71458455e-04 9.99359260e-01 2.12718192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.23, Y:25.01, Z:21.27 [[ 9.98283558e-01 -4.63970389e-02 -3.57386701e-02 5.98229389e+02] [ 4.63568191e-02 9.98923034e-01 -1.95364348e-03 2.50088917e+01] [ 3.57908241e-02 2.93559105e-04 9.99359260e-01 2.12725474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.26, Y:25.01, Z:21.27 [[ 9.98277935e-01 -4.65180461e-02 -3.57384248e-02 5.98257533e+02] [ 4.64777435e-02 9.98917407e-01 -1.95811986e-03 2.50099156e+01] [ 3.57908226e-02 2.93706506e-04 9.99359260e-01 2.12739851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.28, Y:25.01, Z:21.27 [[ 9.98308035e-01 -4.58679835e-02 -3.57378605e-02 5.98284802e+02] [ 4.58268977e-02 9.98947457e-01 -1.96836583e-03 2.50118383e+01] [ 3.57905298e-02 3.27280143e-04 9.99359260e-01 2.12745444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.31, Y:25.01, Z:21.28 [[ 9.98312028e-01 -4.57811988e-02 -3.57376152e-02 5.98312566e+02] [ 4.57398984e-02 9.98951435e-01 -1.97280942e-03 2.50130049e+01] [ 3.57904596e-02 3.34844487e-04 9.99359260e-01 2.12760462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.34, Y:25.01, Z:21.28 [[ 9.98322459e-01 -4.55535992e-02 -3.57370601e-02 5.98340818e+02] [ 4.55117950e-02 9.98961834e-01 -1.98281493e-03 2.50141343e+01] [ 3.57902834e-02 3.53030930e-04 9.99359260e-01 2.12777408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.37, Y:25.02, Z:21.28 [[ 9.98339633e-01 -4.51761130e-02 -3.57364895e-02 5.98367734e+02] [ 4.51337007e-02 9.98978967e-01 -1.99304651e-03 2.50154316e+01] [ 3.57900394e-02 3.76817305e-04 9.99359260e-01 2.12785225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.40, Y:25.02, Z:21.28 [[ 9.98326877e-01 -4.54573094e-02 -3.57362425e-02 5.98396255e+02] [ 4.54149191e-02 9.98966213e-01 -1.99746412e-03 2.50170952e+01] [ 3.57900982e-02 3.71163557e-04 9.99359260e-01 2.12795441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.42, Y:25.02, Z:21.28 [[ 9.98350516e-01 -4.49356149e-02 -3.57356770e-02 5.98423887e+02] [ 4.48925302e-02 9.98989805e-01 -2.00753044e-03 2.50188188e+01] [ 3.57897867e-02 3.99954086e-04 9.99359260e-01 2.12804621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.45, Y:25.02, Z:21.28 [[ 9.98365980e-01 -4.45911670e-02 -3.57351064e-02 5.98452001e+02] [ 4.45475001e-02 9.99005230e-01 -2.01763735e-03 2.50206539e+01] [ 3.57895270e-02 4.22430832e-04 9.99359260e-01 2.12812768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.48, Y:25.02, Z:21.28 [[ 9.98366652e-01 -4.45765735e-02 -3.57345372e-02 5.98479521e+02] [ 4.45325382e-02 9.99005877e-01 -2.02766896e-03 2.50214527e+01] [ 3.57893992e-02 4.33007424e-04 9.99359260e-01 2.12819176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.51, Y:25.02, Z:21.28 [[ 9.98446311e-01 -4.27553549e-02 -3.57343608e-02 5.98507666e+02] [ 4.27100426e-02 9.99085446e-01 -2.03077260e-03 2.50224667e+01] [ 3.57885062e-02 5.01401335e-04 9.99359260e-01 2.12838725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.54, Y:25.02, Z:21.28 [[ 9.98456649e-01 -4.25137473e-02 -3.57337683e-02 5.98536922e+02] [ 4.24679092e-02 9.99095746e-01 -2.04114511e-03 2.50236729e+01] [ 3.57882327e-02 5.20456478e-04 9.99359260e-01 2.12847180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.57, Y:25.02, Z:21.29 [[ 9.98492930e-01 -4.16533765e-02 -3.57332475e-02 5.98565821e+02] [ 4.16066629e-02 9.99131964e-01 -2.05022180e-03 2.50247596e+01] [ 3.57876285e-02 5.60390790e-04 9.99359261e-01 2.12856134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.59, Y:25.03, Z:21.28 [[ 9.98531874e-01 -4.07095769e-02 -3.57327282e-02 5.98592704e+02] [ 4.06619370e-02 9.99170839e-01 -2.05923387e-03 2.50261960e+01] [ 3.57869306e-02 6.03248715e-04 9.99359261e-01 2.12848171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.62, Y:25.03, Z:21.29 [[ 9.98559544e-01 -4.00253272e-02 -3.57324698e-02 5.98621447e+02] [ 3.99770894e-02 9.99198466e-01 -2.06370716e-03 2.50273793e+01] [ 3.57864296e-02 6.32254343e-04 9.99359261e-01 2.12877494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.65, Y:25.03, Z:21.29 [[ 9.98572778e-01 -3.96942620e-02 -3.57319569e-02 5.98650050e+02] [ 3.96454960e-02 9.99211659e-01 -2.07255076e-03 2.50290803e+01] [ 3.57860563e-02 6.52981614e-04 9.99359261e-01 2.12891032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.68, Y:25.03, Z:21.29 [[ 9.98573769e-01 -3.96697949e-02 -3.57314403e-02 5.98678071e+02] [ 3.96206961e-02 9.99212624e-01 -2.08141817e-03 2.50305738e+01] [ 3.57858757e-02 6.62745043e-04 9.99359261e-01 2.12906524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.71, Y:25.03, Z:21.29 [[ 9.98547204e-01 -4.03330913e-02 -3.57312575e-02 5.98707082e+02] [ 4.02843047e-02 9.99186084e-01 -2.08455191e-03 2.50318752e+01] [ 3.57862517e-02 6.42114621e-04 9.99359261e-01 2.12924420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.74, Y:25.03, Z:21.30 [[ 9.98512042e-01 -4.11948582e-02 -3.57307402e-02 5.98735706e+02] [ 4.11463072e-02 9.99150939e-01 -2.09338132e-03 2.50325740e+01] [ 3.57866392e-02 6.20078442e-04 9.99359261e-01 2.12959380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.76, Y:25.03, Z:21.30 [[ 9.98500340e-01 -4.14779787e-02 -3.57302118e-02 5.98763952e+02] [ 4.14292876e-02 9.99139227e-01 -2.10236184e-03 2.50343850e+01] [ 3.57866579e-02 6.18931787e-04 9.99359261e-01 2.12973734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.79, Y:25.04, Z:21.30 [[ 9.98489394e-01 -4.17408231e-02 -3.57300247e-02 5.98791997e+02] [ 4.16921866e-02 9.99128284e-01 -2.10553668e-03 2.50355046e+01] [ 3.57867651e-02 6.12693188e-04 9.99359261e-01 2.12991774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.82, Y:25.04, Z:21.30 [[ 9.98474434e-01 -4.20976452e-02 -3.57294291e-02 5.98820118e+02] [ 4.20488771e-02 9.99113315e-01 -2.11559628e-03 2.50377591e+01] [ 3.57868100e-02 6.09986427e-04 9.99359261e-01 2.13004186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.85, Y:25.04, Z:21.30 [[ 9.98467708e-01 -4.22573908e-02 -3.57288150e-02 5.98847666e+02] [ 4.22083557e-02 9.99106569e-01 -2.12591661e-03 2.50404627e+01] [ 3.57867295e-02 6.14604551e-04 9.99359261e-01 2.13011929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.88, Y:25.04, Z:21.30 [[ 9.98470903e-01 -4.21823715e-02 -3.57281959e-02 5.98875577e+02] [ 4.21329180e-02 9.99109731e-01 -2.13627053e-03 2.50427688e+01] [ 3.57865012e-02 6.27670818e-04 9.99359261e-01 2.13009656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.90, Y:25.04, Z:21.30 [[ 9.98464677e-01 -4.23297343e-02 -3.57279068e-02 5.98904961e+02] [ 4.22802025e-02 9.99103498e-01 -2.14109585e-03 2.50444148e+01] [ 3.57865086e-02 6.27225440e-04 9.99359261e-01 2.13014284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.93, Y:25.05, Z:21.30 [[ 9.98506588e-01 -4.13297277e-02 -3.57274123e-02 5.98933424e+02] [ 4.12792621e-02 9.99145336e-01 -2.14931521e-03 2.50468879e+01] [ 3.57857080e-02 6.71304174e-04 9.99359261e-01 2.13025031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.96, Y:25.05, Z:21.30 [[ 9.98546777e-01 -4.03475521e-02 -3.57268675e-02 5.98962555e+02] [ 4.02961357e-02 9.99185450e-01 -2.15833402e-03 2.50493808e+01] [ 3.57848496e-02 7.15542776e-04 9.99359261e-01 2.13028758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.99, Y:25.05, Z:21.30 [[ 9.98596678e-01 -3.90935364e-02 -3.57263220e-02 5.98991392e+02] [ 3.90409965e-02 9.99235259e-01 -2.16732588e-03 2.50510760e+01] [ 3.57837290e-02 7.69493217e-04 9.99359261e-01 2.13037633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.02, Y:25.05, Z:21.30 [[ 9.98636039e-01 -3.80753394e-02 -3.57257750e-02 5.99019838e+02] [ 3.80218274e-02 9.99274539e-01 -2.17630528e-03 2.50528142e+01] [ 3.57827209e-02 8.14977639e-04 9.99359261e-01 2.13044947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.05, Y:25.06, Z:21.31 [[ 9.98716263e-01 -3.59100711e-02 -3.57252276e-02 5.99048627e+02] [ 3.58548549e-02 9.99354619e-01 -2.18525392e-03 2.50554113e+01] [ 3.57806438e-02 9.01525780e-04 9.99359261e-01 2.13057210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.08, Y:25.06, Z:21.31 [[ 9.98731336e-01 -3.54889514e-02 -3.57246738e-02 5.99076597e+02] [ 3.54331437e-02 9.99369640e-01 -2.19427012e-03 2.50575688e+01] [ 3.57800268e-02 9.25648831e-04 9.99359261e-01 2.13068710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.11, Y:25.06, Z:21.31 [[ 9.98742291e-01 -3.51799487e-02 -3.57240430e-02 5.99105540e+02] [ 3.51235781e-02 9.99380545e-01 -2.20449302e-03 2.50593366e+01] [ 3.57794675e-02 9.46964194e-04 9.99359261e-01 2.13082984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4550998929999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:599.13, Y:25.06, Z:21.31 [[ 9.98746991e-01 -3.50468413e-02 -3.57234897e-02 5.99134536e+02] [ 3.49900665e-02 9.99385209e-01 -2.21342289e-03 2.50616799e+01] [ 3.57791007e-02 9.60682165e-04 9.99359261e-01 2.13099825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.16, Y:25.06, Z:21.31 [[ 9.98752730e-01 -3.48834632e-02 -3.57229338e-02 5.99162035e+02] [ 3.48262646e-02 9.99390911e-01 -2.22235874e-03 2.50639100e+01] [ 3.57786989e-02 9.75490516e-04 9.99359261e-01 2.13114775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.18, Y:25.08, Z:21.31 [[ 9.98367861e-01 -4.45589604e-02 -3.57227371e-02 5.99175581e+02] [ 4.45078350e-02 9.99006556e-01 -2.22551581e-03 2.50788931e+01] [ 3.57864152e-02 6.31941766e-04 9.99359261e-01 2.13130755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.20, Y:25.08, Z:21.32 [[ 9.98449933e-01 -4.27456537e-02 -3.56446322e-02 5.99203025e+02] [ 4.26477607e-02 9.99084031e-01 -3.50252187e-03 2.50810630e+01] [ 3.57617004e-02 1.97692898e-03 9.99358390e-01 2.13150420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.25, Y:25.07, Z:21.32 [[ 9.98905165e-01 -3.03080580e-02 -3.56355483e-02 5.99246633e+02] [ 3.01970280e-02 9.99537302e-01 -3.64992945e-03 2.50693908e+01] [ 3.57296820e-02 2.56984573e-03 9.99358187e-01 2.13179262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.26, Y:25.08, Z:21.32 [[ 9.98529925e-01 -4.07633590e-02 -3.57258620e-02 5.99258629e+02] [ 4.07125211e-02 9.99168589e-01 -2.14962739e-03 2.50843868e+01] [ 3.57837852e-02 6.91977363e-04 9.99359316e-01 2.13166027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.29, Y:25.09, Z:21.32 [[ 9.98620200e-01 -3.85649331e-02 -3.56432554e-02 5.99286476e+02] [ 3.84628204e-02 9.99253739e-01 -3.54636807e-03 2.50860809e+01] [ 3.57534217e-02 2.17053466e-03 9.99358285e-01 2.13170445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.31, Y:25.09, Z:21.32 [[ 9.98646295e-01 -3.78854220e-02 -3.56408742e-02 5.99312733e+02] [ 3.77814185e-02 9.99279588e-01 -3.58732330e-03 2.50885007e+01] [ 3.57511054e-02 2.23590434e-03 9.99358224e-01 2.13174324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6950998929999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:599.36, Y:25.08, Z:21.32 [[ 9.99079415e-01 -2.38882498e-02 -3.56324856e-02 5.99358195e+02] [ 2.37703113e-02 9.99710488e-01 -3.72988806e-03 2.50752930e+01] [ 3.57112701e-02 2.87945910e-03 9.99358001e-01 2.13197185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.725099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:599.39, Y:25.08, Z:21.32 [[ 9.99117395e-01 -2.20877905e-02 -3.57289947e-02 5.99386158e+02] [ 2.20288359e-02 9.99755249e-01 -2.04291452e-03 2.50763491e+01] [ 3.57653734e-02 1.25404327e-03 9.99359428e-01 2.13186172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.755099893 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:599.41, Y:25.08, Z:21.32 [[ 9.99126733e-01 -2.16615602e-02 -3.57288147e-02 5.99414189e+02] [ 2.16022213e-02 9.99764551e-01 -2.04605777e-03 2.50785570e+01] [ 3.57647232e-02 1.27244926e-03 9.99359428e-01 2.13182220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:599.44, Y:25.08, Z:21.32 [[ 9.99124227e-01 -2.17771452e-02 -3.57286367e-02 5.99443428e+02] [ 2.17177692e-02 9.99762041e-01 -2.04916092e-03 2.50800890e+01] [ 3.57647596e-02 1.27142003e-03 9.99359428e-01 2.13197875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8150998929999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:599.47, Y:25.08, Z:21.32 [[ 9.99111910e-01 -2.23358963e-02 -3.57281204e-02 5.99470664e+02] [ 2.22765569e-02 9.99749728e-01 -2.05812455e-03 2.50814607e+01] [ 3.57651487e-02 1.26039725e-03 9.99359428e-01 2.13202686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.845099893 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:599.50, Y:25.08, Z:21.32 [[ 9.99098367e-01 -2.29340755e-02 -3.57278642e-02 5.99499938e+02] [ 2.28749595e-02 9.99736206e-01 -2.06256092e-03 2.50828531e+01] [ 3.57657424e-02 1.24342780e-03 9.99359428e-01 2.13217815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.875099893 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:599.53, Y:25.08, Z:21.32 [[ 9.99076354e-01 -2.38745801e-02 -3.57273543e-02 5.99528577e+02] [ 2.38157504e-02 9.99714219e-01 -2.07135589e-03 2.50840846e+01] [ 3.57665969e-02 1.21856893e-03 9.99359428e-01 2.13238278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:599.56, Y:25.09, Z:21.32 [[ 9.99060808e-01 -2.45172489e-02 -3.57268403e-02 5.99556786e+02] [ 2.44585143e-02 9.99698682e-01 -2.08018433e-03 2.50856241e+01] [ 3.57670756e-02 1.20440520e-03 9.99359428e-01 2.13249067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9350998929999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:599.59, Y:25.09, Z:21.33 [[ 9.99043380e-01 -2.52176502e-02 -3.57266582e-02 5.99585538e+02] [ 2.51592512e-02 9.99681285e-01 -2.08330801e-03 2.50869615e+01] [ 3.57678077e-02 1.18245911e-03 9.99359428e-01 2.13277064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:599.61, Y:25.09, Z:21.33 [[ 9.99053214e-01 -2.48257454e-02 -3.57261551e-02 5.99614169e+02] [ 2.47667893e-02 9.99691067e-01 -2.09189891e-03 2.50886738e+01] [ 3.57670511e-02 1.20509617e-03 9.99359428e-01 2.13295565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.995099893 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:599.64, Y:25.09, Z:21.33 [[ 9.99082747e-01 -2.36081015e-02 -3.57256443e-02 5.99641574e+02] [ 2.35480578e-02 9.99720499e-01 -2.10058656e-03 2.50904909e+01] [ 3.57652498e-02 1.25739025e-03 9.99359428e-01 2.13301344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.025099893 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:599.67, Y:25.09, Z:21.33 [[ 9.99109134e-01 -2.24640970e-02 -3.57253904e-02 5.99669765e+02] [ 2.24031691e-02 9.99746802e-01 -2.10489601e-03 2.50926283e+01] [ 3.57636294e-02 1.30265887e-03 9.99359428e-01 2.13314222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0550998929999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:599.70, Y:25.10, Z:21.33 [[ 9.99188862e-01 -1.85837601e-02 -3.57248066e-02 5.99698546e+02] [ 1.85200042e-02 9.99826254e-01 -2.11475799e-03 2.50967269e+01] [ 3.57578997e-02 1.45141906e-03 9.99359428e-01 2.13327495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.71, Y:25.12, Z:21.33 [[ 9.98991423e-01 -2.72013260e-02 -3.57242877e-02 5.99705388e+02] [ 2.71427583e-02 9.99629312e-01 -2.12348771e-03 2.51155571e+01] [ 3.57688068e-02 1.15169030e-03 9.99359428e-01 2.13293059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.74, Y:25.12, Z:21.33 [[ 9.99084125e-01 -2.37163995e-02 -3.56152093e-02 5.99736946e+02] [ 2.35907949e-02 9.99713923e-01 -3.94286945e-03 2.51165992e+01] [ 3.56985313e-02 3.09906718e-03 9.99357799e-01 2.13305414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.77, Y:25.12, Z:21.33 [[ 9.99116711e-01 -2.22810507e-02 -3.56279645e-02 5.99765892e+02] [ 2.21621406e-02 9.99747435e-01 -3.72904430e-03 2.51161125e+01] [ 3.57020532e-02 2.93615852e-03 9.99358165e-01 2.13322125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1750998929999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:599.81, Y:25.10, Z:21.34 [[ 9.99248761e-01 -1.52456332e-02 -3.56298101e-02 5.99812527e+02] [ 1.51233792e-02 9.99878796e-01 -3.69823572e-03 2.51013583e+01] [ 3.56818736e-02 3.15661434e-03 9.99358214e-01 2.13369474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:599.84, Y:25.10, Z:21.34 [[ 9.99232872e-01 -1.60456104e-02 -3.57240369e-02 5.99841125e+02] [ 1.59813692e-02 9.99870120e-01 -2.08310559e-03 2.51015325e+01] [ 3.57528218e-02 1.51058856e-03 9.99359522e-01 2.13391291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.235099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:599.85, Y:25.12, Z:21.33 [[ 9.99008776e-01 -2.65574129e-02 -3.57235157e-02 5.99848514e+02] [ 2.64995616e-02 9.99646636e-01 -2.09200717e-03 2.51191194e+01] [ 3.57664505e-02 1.14327602e-03 9.99359522e-01 2.13334776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.265099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:599.88, Y:25.12, Z:21.33 [[ 9.99038067e-01 -2.55829984e-02 -3.56153163e-02 5.99875211e+02] [ 2.54596089e-02 9.99668190e-01 -3.91379827e-03 2.51200825e+01] [ 3.57036255e-02 3.00328143e-03 9.99357910e-01 2.13334033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2950998929999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:599.91, Y:25.12, Z:21.34 [[ 9.99023881e-01 -2.61572450e-02 -3.55961127e-02 5.99908084e+02] [ 2.60227575e-02 9.99652375e-01 -4.23630151e-03 2.51205650e+01] [ 3.56945486e-02 3.30585736e-03 9.99357279e-01 2.13365738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:599.93, Y:25.12, Z:21.34 [[ 9.99104914e-01 -2.28136310e-02 -3.56217504e-02 5.99934031e+02] [ 2.26928316e-02 9.99735294e-01 -3.79185739e-03 2.51206194e+01] [ 3.56988271e-02 2.98010497e-03 9.99358150e-01 2.13358682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.97, Y:25.12, Z:21.34 [[ 9.99048997e-01 -2.51604991e-02 -3.56096951e-02 5.99967941e+02] [ 2.50338216e-02 9.99678607e-01 -3.99886286e-03 2.51188577e+01] [ 3.56988638e-02 3.10361317e-03 9.99357773e-01 2.13392186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.385099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:599.99, Y:25.12, Z:21.34 [[ 9.99084682e-01 -2.36628960e-02 -3.56351667e-02 5.99992262e+02] [ 2.35508783e-02 9.99716301e-01 -3.55999733e-03 2.51188016e+01] [ 3.57092969e-02 2.71749933e-03 9.99358525e-01 2.13369128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4150998929999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:600.02, Y:25.12, Z:21.34 [[ 9.99047757e-01 -2.51971177e-02 -3.56185870e-02 6.00019673e+02] [ 2.50752430e-02 9.99678098e-01 -3.86431529e-03 2.51194771e+01] [ 3.57044909e-02 2.96749081e-03 9.99357986e-01 2.13382005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:600.05, Y:25.12, Z:21.34 [[ 9.98974212e-01 -2.79683705e-02 -3.56131296e-02 6.00045399e+02] [ 2.78446694e-02 9.99604399e-01 -3.96481438e-03 2.51223830e+01] [ 3.57099304e-02 2.96911150e-03 9.99357786e-01 2.13383082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.475099893 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:600.07, Y:25.12, Z:21.34 [[ 9.98886989e-01 -3.09411681e-02 -3.56009545e-02 6.00073633e+02] [ 3.08113821e-02 9.99516440e-01 -4.18858200e-03 2.51221042e+01] [ 3.57133389e-02 3.08700545e-03 9.99357307e-01 2.13404479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.505099893 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:600.10, Y:25.12, Z:21.34 [[ 9.98871428e-01 -3.14341807e-02 -3.56056426e-02 6.00100896e+02] [ 3.13078725e-02 9.99501381e-01 -4.09956559e-03 2.51222901e+01] [ 3.57167554e-02 2.98020202e-03 9.99357509e-01 2.13418085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5350998929999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:600.13, Y:25.12, Z:21.34 [[ 9.98853190e-01 -3.20113227e-02 -3.56030974e-02 6.00129736e+02] [ 3.18836510e-02 9.99482979e-01 -4.14811313e-03 2.51232903e+01] [ 3.57174765e-02 3.00819929e-03 9.99357400e-01 2.13426709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:600.16, Y:25.12, Z:21.34 [[ 9.98881021e-01 -3.11307481e-02 -3.56031181e-02 6.00157718e+02] [ 3.10025351e-02 9.99510700e-01 -4.14772312e-03 2.51242408e+01] [ 3.57148192e-02 3.03929499e-03 9.99357401e-01 2.13436719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.595099893 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:600.18, Y:25.12, Z:21.34 [[ 9.98867451e-01 -3.15543693e-02 -3.56109256e-02 6.00184871e+02] [ 3.14319611e-02 9.99497921e-01 -3.99213810e-03 2.51249151e+01] [ 3.57190155e-02 2.86829558e-03 9.99357756e-01 2.13443286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.625099893 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:600.21, Y:25.13, Z:21.35 [[ 9.98855206e-01 -3.19425400e-02 -3.56083025e-02 6.00213905e+02] [ 3.18184953e-02 9.99485478e-01 -4.04499031e-03 2.51256832e+01] [ 3.57191885e-02 2.90735703e-03 9.99357637e-01 2.13456931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6550998929999 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:600.25, Y:25.13, Z:21.35 [[ 9.98803715e-01 -3.35044292e-02 -3.56173102e-02 6.00245862e+02] [ 3.33866070e-02 9.99434911e-01 -3.89780013e-03 2.51258816e+01] [ 3.57277768e-02 2.70399611e-03 9.99357901e-01 2.13532249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:600.27, Y:25.13, Z:21.35 [[ 9.98760409e-01 -3.47908460e-02 -3.55983414e-02 6.00272470e+02] [ 3.46629030e-02 9.99390214e-01 -4.20513715e-03 2.51276384e+01] [ 3.57229343e-02 2.96598264e-03 9.99357331e-01 2.13490441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7150998929999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:600.30, Y:25.13, Z:21.35 [[ 9.98754273e-01 -3.49562623e-02 -3.56084531e-02 6.00300413e+02] [ 3.48360655e-02 9.99385073e-01 -3.99055613e-03 2.51284298e+01] [ 3.57260515e-02 2.74512658e-03 9.99357851e-01 2.13507069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.745099893 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:600.33, Y:25.13, Z:21.36 [[ 9.98777667e-01 -3.42733272e-02 -3.56161584e-02 6.00332430e+02] [ 3.41573001e-02 9.99409010e-01 -3.86126643e-03 2.51290648e+01] [ 3.57274481e-02 2.63999486e-03 9.99358084e-01 2.13563537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.775099893 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:600.36, Y:25.13, Z:21.35 [[ 9.98784417e-01 -3.40957099e-02 -3.55973565e-02 6.00359139e+02] [ 3.39684465e-02 9.99414190e-01 -4.17394294e-03 2.51308532e+01] [ 3.57188167e-02 2.95968226e-03 9.99357497e-01 2.13521170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:600.39, Y:25.13, Z:21.35 [[ 9.98820481e-01 -3.30141159e-02 -3.56049805e-02 6.00387424e+02] [ 3.28920486e-02 9.99450870e-01 -4.00885075e-03 2.51320062e+01] [ 3.57177774e-02 2.83300148e-03 9.99357901e-01 2.13518265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8350998929999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:600.42, Y:25.13, Z:21.35 [[ 9.98874253e-01 -3.13411907e-02 -3.56083685e-02 6.00415724e+02] [ 3.12207248e-02 9.99504771e-01 -3.93422967e-03 2.51327296e+01] [ 3.57140377e-02 2.81808165e-03 9.99358077e-01 2.13524208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.865099893 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:600.45, Y:25.13, Z:21.35 [[ 9.99097482e-01 -2.31518680e-02 -3.56119663e-02 6.00451024e+02] [ 2.30291296e-02 9.99727370e-01 -3.85293665e-03 2.51261604e+01] [ 3.56914601e-02 3.02934671e-03 9.99358265e-01 2.13536429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.895099893 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:600.47, Y:25.13, Z:21.35 [[ 9.98957098e-01 -2.85416575e-02 -3.56383227e-02 6.00473615e+02] [ 2.84438450e-02 9.99590113e-01 -3.24868675e-03 2.51349848e+01] [ 3.57164380e-02 2.23160776e-03 9.99359473e-01 2.13511929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:600.51, Y:25.13, Z:21.35 [[ 9.99094138e-01 -2.32872552e-02 -3.56175205e-02 6.00505960e+02] [ 2.31685496e-02 9.99724570e-01 -3.74195177e-03 2.51303289e+01] [ 3.56948501e-02 2.91335579e-03 9.99358489e-01 2.13534336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.54, Y:25.12, Z:21.36 [[ 9.99269590e-01 -1.37988350e-02 -3.56353507e-02 6.00544562e+02] [ 1.36894808e-02 9.99900813e-01 -3.31088399e-03 2.51208662e+01] [ 3.56775025e-02 2.82063624e-03 9.99359375e-01 2.13552129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.985099893 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:600.56, Y:25.13, Z:21.36 [[ 9.99123645e-01 -2.18824946e-02 -3.56805037e-02 6.00561345e+02] [ 2.18154925e-02 9.99759446e-01 -2.26612042e-03 2.51317162e+01] [ 3.57215090e-02 1.48574674e-03 9.99360679e-01 2.13565880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.60, Y:25.13, Z:21.35 [[ 9.99248098e-01 -1.53259675e-02 -3.56139421e-02 6.00601554e+02] [ 1.52021080e-02 9.99877424e-01 -3.74604439e-03 2.51260784e+01] [ 3.56669884e-02 3.20182074e-03 9.99358601e-01 2.13526159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:600.61, Y:25.14, Z:21.35 [[ 9.98989469e-01 -2.73414794e-02 -3.56719065e-02 6.00614260e+02] [ 2.72767369e-02 9.99625274e-01 -2.30043709e-03 2.51408256e+01] [ 3.57214367e-02 1.32509922e-03 9.99360907e-01 2.13516892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0750998929999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:600.65, Y:25.13, Z:21.36 [[ 9.99120665e-01 -2.21213518e-02 -3.56166021e-02 6.00650964e+02] [ 2.20042721e-02 9.99751119e-01 -3.67590464e-03 2.51343352e+01] [ 3.56890538e-02 2.88895489e-03 9.99358767e-01 2.13559645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.105099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:600.69, Y:25.13, Z:21.36 [[ 9.99162008e-01 -2.01152527e-02 -3.56462916e-02 6.00685973e+02] [ 2.00252624e-02 9.99795327e-01 -2.87980429e-03 2.51293948e+01] [ 3.56969238e-02 2.16356469e-03 9.99360320e-01 2.13574645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.71, Y:25.13, Z:21.36 [[ 9.99139606e-01 -2.11573125e-02 -3.56709376e-02 6.00714949e+02] [ 2.10919548e-02 9.99775103e-01 -2.20759162e-03 2.51298795e+01] [ 3.57096220e-02 1.45332242e-03 9.99361151e-01 2.13562640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:600.73, Y:25.14, Z:21.36 [[ 9.98896465e-01 -3.05476571e-02 -3.56748149e-02 6.00732428e+02] [ 3.04920480e-02 9.99532799e-01 -2.10193787e-03 2.51400225e+01] [ 3.57223568e-02 1.01182014e-03 9.99361241e-01 2.13560625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.77, Y:25.13, Z:21.36 [[ 9.99111621e-01 -2.24867158e-02 -3.56414913e-02 6.00772448e+02] [ 2.23925521e-02 9.99744636e-01 -3.03900017e-03 2.51314713e+01] [ 3.57007269e-02 2.23819644e-03 9.99360019e-01 2.13576960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.225099893 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:600.79, Y:25.14, Z:21.36 [[ 9.98823439e-01 -3.28433674e-02 -3.56798368e-02 6.00788839e+02] [ 3.27959449e-02 9.99460236e-01 -1.91372004e-03 2.51431137e+01] [ 3.57234312e-02 7.41314465e-04 9.99361440e-01 2.13575910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.83, Y:25.14, Z:21.36 [[ 9.99094945e-01 -2.32219451e-02 -3.56375032e-02 6.00828731e+02] [ 2.31255567e-02 9.99727717e-01 -3.11456786e-03 2.51350954e+01] [ 3.57001261e-02 2.28761191e-03 9.99359929e-01 2.13585413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:600.85, Y:25.14, Z:21.36 [[ 9.98929358e-01 -2.94532871e-02 -3.56741127e-02 6.00848037e+02] [ 2.93987566e-02 9.99565656e-01 -2.05227713e-03 2.51435713e+01] [ 3.57190642e-02 1.00130532e-03 9.99361369e-01 2.13560321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.89, Y:25.14, Z:21.36 [[ 9.99170347e-01 -1.96918041e-02 -3.56489960e-02 6.00885535e+02] [ 1.96035731e-02 9.99803846e-01 -2.82287217e-03 2.51357940e+01] [ 3.56975908e-02 2.12168247e-03 9.99360386e-01 2.13617796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.92, Y:25.13, Z:21.36 [[ 9.99269526e-01 -1.37016359e-02 -3.56746299e-02 6.00916707e+02] [ 1.36382174e-02 9.99904954e-01 -2.02044255e-03 2.51330807e+01] [ 3.56989226e-02 1.53242831e-03 9.99361415e-01 2.13590571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.94, Y:25.14, Z:21.36 [[ 9.99254968e-01 -1.47087024e-02 -3.56814237e-02 6.00940914e+02] [ 1.46534760e-02 9.99890996e-01 -1.80879611e-03 2.51372839e+01] [ 3.57041393e-02 1.28459161e-03 9.99361578e-01 2.13631072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:600.96, Y:25.14, Z:21.36 [[ 9.99193909e-01 -1.84203109e-02 -3.56682681e-02 6.00963405e+02] [ 1.83526220e-02 9.99829102e-01 -2.22423963e-03 2.51444058e+01] [ 3.57031437e-02 1.56784045e-03 9.99361210e-01 2.13617414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.00, Y:25.14, Z:21.37 [[ 9.99337556e-01 -7.32168211e-03 -3.56488649e-02 6.00999286e+02] [ 7.22519529e-03 9.99969880e-01 -2.83466471e-03 2.51357018e+01] [ 3.56685457e-02 2.57521690e-03 9.99360357e-01 2.13678197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:601.03, Y:25.13, Z:21.37 [[ 9.99326600e-01 -8.61685152e-03 -3.56664550e-02 6.01028123e+02] [ 8.54129053e-03 9.99960945e-01 -2.27037332e-03 2.51332197e+01] [ 3.56846255e-02 1.96420690e-03 9.99361171e-01 2.13708441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10147.76 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%| | 0/19683 [00:00